Tutorials/drcsim/1.3/multisense sl data


 * 1) Tutorial: Visualizing Sensor Streams from Simulated Atlas Robot MultiSense SL Head Sensors

This tutorial introduces basic sensor stream visualization from simulated [MultiSense SL](http://www.theroboticschallenge.org/documents/MultiSense_SL.pdf) sensor head using [rviz](http://ros.org/wiki/rviz).

If not done previously, install drc first.
 * 1) Setup ##

Source the environment setup script and start the Atlas robot simulation:
 * 1) Starting Atlas Robot Simulation ##

source /usr/share/drcsim/setup.sh roslaunch atlas_utils atlas.launch

the Gazebo gui should appear:



Next, start [rviz](http://ros.org/wiki/rviz)
 * 1) Using RVIZ for Visualization of Sensor Data ##

source /usr/share/drcsim/setup.sh rosrun rviz rviz

and follow steps in this tutorial to configure rviz properly.

More importantly, repeat the steps to setup camera and laser visualization but substitute ROS topics in the original instructions with following ROS topics:

- camera image streams: `/multisense_sl/left/image_raw` and `/multisense_sl/right/image_raw` for left and right eye. - LIDAR data stream: `/scan`

In addition to visualizing camera images and laser data, to visualize stereo point cloud, click `Add` button under the rviz *Displays* panel, select `PointCloud2` then click `OK`. Set the Topic for the newly added PointCloud2 visual as `/multisense_sl/points2`. It might take a few seconds but a point cloud of the ground plane should appears shortly:




 * 1) Controlling the Head LIDAR spindle ##

To set rotation speed commands to the LIDAR spindle, open a new terminal and type

rostopic pub --once /multisense_sl/set_spindle_speed std_msgs/Float64 '{data: 3.0}'

Setting `Decay Time` under `LaserScan` in the rviz display panel to 5 (seconds), and change the laser scan data to green in rviz yields:




 * 1) Next ##

Next: DRC Robot basic joint control