vision/cli_note.txt at main · Final-Project-ROS2/vision · GitHub

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# Build the package first
cd d:\vision
colcon build --packages-select vision

# Source the workspace
source install/setup.bash  # Linux
# or
.\install\setup.ps1  # Windows PowerShell

# Launch everything!
ros2 launch vision sam_gazebo_complete.launch.py


-------------------------------------------------------------------------
# Custom configurations
ros2 launch vision sam_gazebo_complete.launch.py \
    auto_process:=true \
    processing_rate:=2.0 \
    debug_visualization:=true \
    gui:=true

# Headless mode (no GUI)
ros2 launch vision sam_gazebo_complete.launch.py gui:=false headless:=true


-------------------------------------------------------------------------

# In another terminal - check topics
ros2 topic list

# View the debug image with detected objects
ros2 run rqt_image_view rqt_image_view /vision/debug_image

# Manually trigger processing
ros2 service call /vision/process_scene std_srvs/srv/Trigger

# Check grasp poses
ros2 topic echo /vision/grasp_poses --once