As described a tutorial on using rviz and a tutorial on the MultiSense head, you can use rviz to view the camera or laser scan data while driving. Now the DRC Vehicle should be driving with Atlas in the passenger's seat.
To place the Atlas robot outside the driver's side door, use the robot exitcar topic with a the pose offset specified below: rostopic pub -once /drc_world/robot_exit_car geometry_msgs/Pose '' Be sure to wait at least 10 seconds after starting the simulation so Atlas can be unpinned (you will see the robot start swaying a little bit), or internal pin joints will fight against each other. I don't even know how AC3 DRC works exactly, or how it'd compare to applying compression 'manually' when encoding. I've read about the DRC setting handbrake has built in but I'm a little confused on the codec situation - the. So Handbrake just uses the DRC information which might be present in an AC3 audio stream, only if you crank up the DRC value, I assume it applies it more enthusiastically. The topics take a pose message as an offset from the default positions relative to the vehicle. DRC for Blu-Ray Source I'm in the process of ripping my Blu-rays to save space on the shelf - I want to apply a 2nd stereo track when encoding to add DRC to my sources for those quiet nights when I want to avoid a large dynamic range. These topics are named: /drc_world/robot_enter_car Currently, these topics can be invoked from anywhere in the world, but that is subject to change in future versions of drcsim. On the Audio tab, each track provides an option to set the level of compression you wish. Dynamic range compression reduces the gap between those extremes. The VRC plugin exposes ROS topics for entering and exiting the vehicle. The dynamic range of an audio track is the difference between the softest and loudest sounds. Launch the simulator using the atlas_drc_vehicle_fire_hose.launch VRC_CHEATS_ENABLED=1 roslaunch drcsim_gazebo atlas_drc_vehicle_fire_hose.launch
#Handbrake drc install#
Install DRC SimulatorĬlick to see the instructions for installing the DRC simulator and associated utilities. In the course of this tutorial, we're going to automatically cause Atlas to enter and exit the DRC Vehicle, which can be used to test perception while driving and manipulation of the vehicle controls. Note that this is a development aid provided for testing and will not be available during the competition.
#Handbrake drc how to#
This tutorial will demonstrate how to automatically place the Atlas robot in the driver's seat of the DRC Vehicle using ROS topics provided by the VRC Plugin.
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