1
00:00:02,240 --> 00:00:05,390
As we have discussed, that all of the things are ready.

2
00:00:05,660 --> 00:00:09,640
We are also making things easy for our computer vision.

3
00:00:10,460 --> 00:00:17,310
Now it's time to perform the last creation of the node, and that is going to be made solid work forward.

4
00:00:17,900 --> 00:00:19,580
That is going to be really interesting.

5
00:00:20,090 --> 00:00:25,580
Let me create a Python file or I should just create a copy of my video saver.

6
00:00:25,880 --> 00:00:26,290
Okay.

7
00:00:26,330 --> 00:00:30,920
And I am going to rename this as missile version.

8
00:00:31,250 --> 00:00:31,800
Good bye.

9
00:00:32,750 --> 00:00:40,910
Interesting thing is in this solver, it is going to be almost same as videos.

10
00:00:40,910 --> 00:00:46,460
They were just without the last line of writing this out.

11
00:00:46,460 --> 00:00:52,850
I have deleted that line and one more line that I don't want is video part because we are not going

12
00:00:52,850 --> 00:01:00,290
to be saving the video user base, although we are going to visualize the video and we are also going

13
00:01:00,290 --> 00:01:06,710
to send command velocities to the robot on the command velocity topic.

14
00:01:06,710 --> 00:01:10,400
And for that we are going to be needing driver load as well.

15
00:01:10,970 --> 00:01:17,990
So let's bring diver dude side by side and we are going to bring in the publisher and subscriber only

16
00:01:17,990 --> 00:01:19,730
the publisher here.

17
00:01:19,730 --> 00:01:23,000
And let me just paste it here.

18
00:01:24,290 --> 00:01:26,150
Some indentation issues.

19
00:01:28,070 --> 00:01:34,790
What else is required, command velocity and it is going to be called a timer callback, a function

20
00:01:34,790 --> 00:01:41,350
that is going to be called on every half a second that is going to be sending the velocities.

21
00:01:42,080 --> 00:01:47,930
So there can be two different ways of writing this function, the functionality for command velocity

22
00:01:49,220 --> 00:01:51,920
regarding sending the velocities to the rule board.

23
00:01:51,920 --> 00:01:52,220
Okay.

24
00:01:52,490 --> 00:01:58,550
Let me just show you, when I have all of the things up and running in a queue.

25
00:01:59,330 --> 00:02:06,380
The thing is, first we have a publisher that we are going to be sending the command velocities on the

26
00:02:06,380 --> 00:02:09,920
CMT, very topic with the message type list, the basic stuff.

27
00:02:10,820 --> 00:02:14,390
We have a timer for calling a timer callback.

28
00:02:14,390 --> 00:02:23,180
I will say, Miss Seidel, we and that is going to call this function, which is going to solve the

29
00:02:23,180 --> 00:02:28,570
list and I have to obviously give it to the time required.

30
00:02:28,640 --> 00:02:35,390
So this means all it is going to be called every half a second or whatever the the frequency you want.

31
00:02:35,630 --> 00:02:44,390
Then we have a subscriber and I will do bring subscriber above the publisher and it is not necessary.

32
00:02:44,390 --> 00:02:48,080
I'm just keeping things close to each other.

33
00:02:48,470 --> 00:02:52,370
It is going to be getting a bit from the withdraw as we did in the video saver process.

34
00:02:52,370 --> 00:02:59,240
That information is going and I am got to do the live to get video feed and I'm going to bring that

35
00:02:59,240 --> 00:03:05,480
same as our function callback base solving is going to be the be dealing with the velocity.

36
00:03:06,170 --> 00:03:12,260
Whenever we update the message we will going to get video feedback that is going to be running on one

37
00:03:12,260 --> 00:03:20,630
side and the base solving callbacks after half a second or half a second for now is going to be really

38
00:03:20,630 --> 00:03:21,410
go the other side.

39
00:03:21,410 --> 00:03:27,470
If we are not receiving the images from the video feed, this resolving is going to keep on dragging.

40
00:03:28,040 --> 00:03:34,010
One thing that you can do is to bring this velocity, sending it to that video feed.

41
00:03:34,010 --> 00:03:40,100
But if we do not receive any video that is not going to of your record is not going to work, it's our

42
00:03:40,430 --> 00:03:40,880
choice.

43
00:03:40,880 --> 00:03:47,680
And I do do I and I think the computer vision device will shift be solving it to get video feed that

44
00:03:47,700 --> 00:03:49,970
we will not have another timer function.

45
00:03:50,840 --> 00:03:52,190
I just leave it like this.

46
00:03:52,190 --> 00:03:53,540
It's a basic script.

47
00:03:53,690 --> 00:03:58,310
Let's first test it and then we will make some changes inside of it.

48
00:03:58,850 --> 00:04:02,240
So open up the terminal, move it to our workspace.

49
00:04:03,710 --> 00:04:13,550
Here I am going to perform Vulkan build allow overriding message board and it is I have some error because

50
00:04:13,550 --> 00:04:16,610
I have not written over writing the way it should have been created.

51
00:04:17,210 --> 00:04:21,470
Allow overriding no Ros to launch first.

52
00:04:21,470 --> 00:04:25,640
I need to source that source in style.

53
00:04:25,880 --> 00:04:37,790
Set the bash rice to launch Miss bought and Miss bought camera launch by source installed set up bash

54
00:04:38,330 --> 00:04:43,400
for us to lie across to run at least bought.

55
00:04:45,550 --> 00:04:47,310
And oops.

56
00:04:49,120 --> 00:04:56,290
The Lord has not yet been added into a set of file so it is not going to be available for execution.

57
00:04:58,120 --> 00:05:01,330
I have to copy and paste it here.

58
00:05:01,450 --> 00:05:05,230
It is going to be needs solving.

59
00:05:06,700 --> 00:05:14,420
The name is going to be taken from here and it is simply this so much.

60
00:05:15,250 --> 00:05:17,440
And this time I have not used low over writing.

61
00:05:17,440 --> 00:05:22,480
So it is going to give me a warning that it is not a good practice.

62
00:05:23,140 --> 00:05:23,800
No problem.

63
00:05:24,160 --> 00:05:26,410
Next time I will keep an eye on this.

64
00:05:27,460 --> 00:05:29,050
It is taking a lot of time.

65
00:05:29,050 --> 00:05:31,130
And let's run a video to go.

66
00:05:31,130 --> 00:05:31,980
Oh, no, no, no, no.

67
00:05:31,980 --> 00:05:33,310
Not the video recorder.

68
00:05:35,510 --> 00:05:41,690
Me solve it so we can see that our Lord is running.

69
00:05:41,780 --> 00:05:45,380
It is not regarding the video now, it is just displaying the video.

70
00:05:45,890 --> 00:05:52,160
And if we can see that God is moving, yes, our God is also moving in the linear direction, which

71
00:05:52,160 --> 00:05:59,630
means that our simulation is working at Lord is working and this Lord is very amazing, Lord, as it

72
00:05:59,630 --> 00:06:06,200
is going to make life a life of complete rigidity very easy because they are not very involved in ROS.

73
00:06:06,200 --> 00:06:11,420
They are more focused on the problem solving of these solving through image processing.

74
00:06:11,810 --> 00:06:17,210
So the last thing that I think should be done is we should change the name of Untitled.

75
00:06:17,750 --> 00:06:20,810
This is the camera would do something useful.

76
00:06:20,810 --> 00:06:23,300
Okay be solving do it is also completed.

77
00:06:23,960 --> 00:06:30,050
Let me stop everything and I just need to make some changes here.

78
00:06:30,050 --> 00:06:36,050
Control F Search for I'm Title Yes Selected Press Control F.

79
00:06:36,620 --> 00:06:40,460
There are really two names, so there is nothing that is involving its name.

80
00:06:40,460 --> 00:06:44,150
I'm going to say said light.

81
00:06:44,630 --> 00:06:46,160
I hope I spend it right.

82
00:06:46,160 --> 00:06:46,850
Set light.

83
00:06:47,990 --> 00:06:48,500
I don't know.

84
00:06:49,310 --> 00:06:50,840
I'll fix it if I am wrong.

85
00:06:51,530 --> 00:06:53,240
I think it is satellite.

86
00:06:54,140 --> 00:06:55,190
I have replaced it.

87
00:06:56,060 --> 00:06:56,360
Yes.

88
00:06:56,360 --> 00:07:02,600
Going to perform call can build and we are going to perform ROS launch onto it.

89
00:07:03,080 --> 00:07:06,830
Let's see if our development is complete or not.

90
00:07:07,430 --> 00:07:09,800
This is the last update we are going to be doing.

91
00:07:10,160 --> 00:07:12,800
What are the available models?

92
00:07:12,800 --> 00:07:14,390
Mays bought the role bought.

93
00:07:14,930 --> 00:07:17,540
The next one is BS and the satellite.

94
00:07:17,840 --> 00:07:23,090
I have called this camera to be the satellite, but that's it.

95
00:07:23,450 --> 00:07:24,620
That's it from our site.

96
00:07:24,620 --> 00:07:30,260
I'll just show you how to push it to GitHub and everything else is ready for the computer vision team

97
00:07:30,260 --> 00:07:31,460
to start working on it.