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Apoorva Gupta 2023-04-05 15:35:07 +05:30
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commit 303d8e7742
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@ -237,8 +237,8 @@ $ ros2 launch find-pose find-pose-node.launch.py
``` ```
- This node will output TF topics between `/camera_link` and `/${detected_object_name}`. - This node will output TF topics between `/camera_link` and `/${detected_object_name}`.
- Open RVIZ by running `$ rviz2`. Change `fixed frame` from `map` to `camera_link`. - Open RVIZ by running `$ rviz2`. Change `fixed frame` from `map` to `camera_link`.
- - Go to `Add` button. Under `By Display type`, select `tf`. Once tf is added, select required frames like `camera_link` and `l_trail` to see the tfs. - Go to `Add` button. Under `By Display type`, select `tf`. Once tf is added, select required frames like `camera_link` and `l_trail` to see the tfs.
- - To see the current image with detected object, Go to `Add` Button. Under `By Topic`, select topci called `detection_image`. - To see the current image with detected object, Go to `Add` Button. Under `By Topic`, select topci called `detection_image`.
You can add other topics as per the need and topic names. -You can add other topics as per the need and topic names.
- You can open launch files to update/remap topic name if different camera is being used. - You can open launch files to update/remap topic name if different camera is being used.
- You can also update ros parameter from launch file. Currently, the `pipe_weights.pt` file is the one used. This file can be changed and you can update the parameter name `best_weights` inside the `pipe_detection.launch.py` file. - You can also update ros parameter from launch file. Currently, the `pipe_weights.pt` file is the one used. This file can be changed and you can update the parameter name `best_weights` inside the `pipe_detection.launch.py` file.