CHAPTER2.md

2. Get stored data

Run the following commands to get data from MongoDB.

Launch

# MongoDB manager
ros2 launch tms_db_manager tms_db_reader.launch.py

# Get static terrain
ros2 launch tms_ur_construction tms_ur_construction_terrain_static_launch.py filename:=demo.pcd voxel_size:=0.0

# Service Client and Publisher node for static terrain data
ros2 run tms_ur_test tms_ur_construction_terrain_static_test

# Get odometry, ground 2D map and terrain data
ros2 launch tms_ur_construction tms_ur_construction_launch.py machine_name:=demo_machine

Rviz2

rviz2 -d ./src/ros2_tms_for_construction/demo/demo2/demo2.rviz

Rviz will show odometry, ground 2D map and terrain data.

Since static terrain data is large, it's may be better to stop the terminal execting tms_ur_test if static terrain is displayed on Rviz.

ROS2-TMS_for_Construction_rviz_compressed.mp4