{"id":32,"date":"2024-04-04T08:01:23","date_gmt":"2024-04-04T05:01:23","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/leia-tuvastatud-ar-margiste-positsiooni-x-komponent\/"},"modified":"2024-04-04T08:03:58","modified_gmt":"2024-04-04T05:03:58","slug":"leia-tuvastatud-ar-margiste-positsiooni-x-komponent","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/leia-tuvastatud-ar-margiste-positsiooni-x-komponent\/","title":{"rendered":"6. AR m\u00e4rgiste positsiooni x-komponent"},"content":{"rendered":"
\n

\n\t\tSeni oleme printinud v\u00e4lja ainult AR m\u00e4rgiste ID-d. AlvarMarkers<\/span> s\u00f5numite teistele komponentidele saame ligi sarnasel viisil.<\/span><\/strong>\n\t<\/p>\n<\/blockquote>\n

\n\tTerveid s\u00f5numeid ar_pose_marker<\/span> rubriigis n\u00e4ed t\u00f6\u00f6riista rostopic echo<\/span> abil tavap\u00e4rasel viisil:<\/span>\n<\/p>\n

rostopic echo \/ar_pose_marker<\/span><\/pre>\n
\n\tIlmselt m\u00e4rkad, et AlvarMarkers<\/span> s\u00f5numid on k\u00f5ik kindla struktuuriga. Natuke sarnast struktuuri oled juba n\u00e4inud robotondi liigutamisel: muutsid Twist t\u00fc\u00fcpi s\u00f5numis (olgu s\u00f5num muutujas msg<\/span>) komponente msg.linear.x<\/span> ja msg.angular.z<\/span>.<\/span>\n<\/p>\n
\n\tN\u00fc\u00fcd proovi AlvarMarkers<\/span> t\u00fc\u00fcpi s\u00f5numitest v\u00e4lja printida markerite positsiooni x-komponendid. Igas s\u00f5numis on msg<\/span> nimeline komponent t\u00fc\u00fcbiga PoseStamped<\/span>. Uuri PoseStamped dokumentatsioonist<\/a>, milliseid osi see s\u00f5num sisaldab. V\u00f5id ka j\u00e4lgida s\u00f5numeid rubriigis ar_pose_marker<\/span>. Iga j\u00e4rgnev paremale taandatud element on hierarhias eelnevast \u00fche v\u00f5rra madalam.\n<\/p>\n
\n
\n\t\tVihje
\n\t<\/h4>\n
\n\t\tAlvarMarkers<\/span> s\u00f5numist saad positsiooni x-komponendi k\u00e4tte, kui s\u00f5numist msg<\/span> k\u00fcsid msg.pose.pose<\/span>\u2026<\/span>\n\t<\/p>\n<\/blockquote>\n
\n\tT\u00e4ienda n\u00fc\u00fcd oma ar_message_handler<\/span> funktsiooni selliselt, et see prindiks v\u00e4lja k\u00f5ikide leitud AR m\u00e4rgiste positsiooni x-komponendi.<\/span><\/p>\n","protected":false},"excerpt":{"rendered":"
Seni oleme printinud v\u00e4lja ainult AR m\u00e4rgiste ID-d. AlvarMarkers s\u00f5numite teistele komponentidele saame ligi sarnasel viisil. Terveid s\u00f5numeid ar_pose_marker rubriigis n\u00e4ed t\u00f6\u00f6riista rostopic echo abil tavap\u00e4rasel viisil: rostopic echo \/ar_pose_marker Ilmselt m\u00e4rkad, et AlvarMarkers s\u00f5numid on k\u00f5ik kindla struktuuriga. Natuke …<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-32","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/32","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=32"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/32\/revisions"}],"predecessor-version":[{"id":369,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/32\/revisions\/369"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=32"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}