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1. Download the Slamware ROS SDK along with ROS examples.
2. Place the 'src' folder from the ROS SDK into an empty working directory, such as 'catkin_ws'. Also, put the 'slamware_ros_sample' folder from the ROS examples into the 'src' folder.
   

   Code Block
   language bash
   mkdir -p catkin_ws/src cd catkin_ws/src

3. Initialize the workspace using the Catkin tool.
   

   Code Block
   language bash
   catkin_init_workspace

4. Compile.

   Code Block
   language bash
   cd .. catkin_make

5. Set up workspace environment.
   

   Code Block
   language bash
   source devel/setup.bash

   
   
6. Launch the slamware_ros_sdk_server_node node. Select the corresponding IP according to the mode.

   Code Block
   language cpp
   roslaunch slamware_ros_sdk slamware_ros_sdk_server_node.launch ip_address:=10.6.128.141 // Station mode // If in AP mode, the IP address is 192.168.11.1

7. Open another terminal, repeat step 5, and start the view_slamware_ros_sdk_server_node node.

   Code Block
   language bash
   roslaunch slamware_ros_sdk view_slamware_ros_sdk_server_node.launch

8. Open another terminal, repeat step 5, and start the display_virtual_lines_node node.

   Code Block
   language bash
   roslaunch slamware_ros_sample display_virtual_lines.launch

9. Configure and add the display of Marker information in Rviz.: 
   Click 'Add' in the bottom-left corner of Rviz, then in the pop-up window, select 'Marker' and click 'OK'. Upon success, as shown in the image below, a Marker is added to Displays, and the virtual walls are also displayed in the interface.
   

   

   

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