6.2. Check Camera Perception functionality and plausibility

Especially after changing the perception code or running a new docker container, one should check functionality and plausibility of the camera perception.

For doing so you will launch a inference plausibility ros launch file. You will either specify a recorded rosbag or use the zed camera to use live images.

See: Running Plausibility

6.2.1. Using a recorded rosbag

  1. Download it and place it inside the as_ros/rosbags folder.

  2. Enter the docker container: docker exec -it as bash

  3. Build workspace: catkin build

  4. Source the catkin workspace: source devel/setup.bash

  5. Start the camera_perception debugging launch file. The command works whether the rosbags contains compressed or uncompressed images:

    roslaunch camera_perception plausibility.launch input_rosbag:=/workspace/as_ros/rosbags/<rosbag_name>.bag

  6. Open the new, recorded rosbag in foxglove and check the /perception/detection_image topic for plausibility.

6.2.2. Using live images from the zed camera

  1. Enter the docker container: docker exec -it as bash

  2. Build workspace: catkin build

  3. Source the catkin workspace: source devel/setup.bash

  4. Start the camera_perception debugging launch file: roslaunch camera_perception plausibility.launch use_zed:=yes

  5. Open foxglove and connect to the live roscore and check the /perception/detection_image topic for plausibility.