This page assumes knowledge of ROS.
In Formant, ROS data which relates to a robot's position and surroundings is encapsulated in a single data type called localization.
Localization combines map, path, point cloud, laser scan, odometry, pose, and goal into a single telemetry stream:
|ROS message type||Formant data type|
This guide will teach you how to ingest ROS localization data into Formant.
- In Formant, in the upper-left corner, open the menu and click Settings.
- Click Devices, and then click on the device you want to configure.
- Click the Telemetry tab, and then click Add Stream.
- Click ROS Localization. This will open the New ROS Localization Stream configuration window:
|Telemetry stream name||Give the stream a name.|
|On demand||If ON, this stream will store data locally on your device, and only upload data to Formant when you click Retrieve on-demand data. |
If OFF, this stream will ingest periodically.
|Video encoding||Only applicable for |
|Validation schema||Only applicable for JSON and text streams. Choose a configuration schema for this stream.|
|Base reference frame||Used to visualize localization state without ingesting the entire transform tree.|
|Odometry topic||Specify the odometry topic with type |
There are additional considerations when configuring an odometry topic for teleoperation. For more information, see Add a navigation stream.
|Map topic||Specify an occupancy grid with type |
|Point cloud topics||Specify the |
There are additional considerations when configuring a point cloud topic for teleoperation. For more information, see Add a navigation stream.
|Path||Specify the ROS topic that indicates the path with type |
|Goal||Specify the goal topic with type |
|Publish goal||This section is configured for teleoperation. We'll discuss this in Add a navigation stream.|
|Cancel goal||This section is configured for teleoperation. We'll discuss this in Add a navigation stream.|
|Add tags (e.g. ||Add tags to each datapoint of this stream. For more information on tags, see Configure access levels.|
|Rate limit (Hz) (optional)||If |
The default rate is 0.5 Hz.
- When you're finished configuring your stream, click Done, and then Save.
Once you've added a stream to your device, your next step is to add it to a view in Formant.
Add the streams you want to visualize, and then move on to Viewing data in Formant.
If you notice an issue with this page or need help, please reach out to us! Use the 'Did this page help you?' buttons below, or get in contact with our Customer Success team via the Intercom messenger in the bottom-right corner of this page, or at [email protected].
Updated 3 months ago