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Working ros2 version

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This commit is contained in:
matlabbe
2022-12-10 23:39:35 -08:00
parent b0b5d24c76
commit 634224960d
26 changed files with 1562 additions and 53 deletions
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launch/ros1/find_object_2d.launch
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<launch>
<arg name="gui" default="true"/>
<arg name="image_topic" default="image"/>
<arg name="objects_path" default="~/objects"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<!-- Nodes -->
<node name="find_object_2d" pkg="find_object_2d" type="find_object_2d" output="screen">
<remap from="image" to="$(arg image_topic)"/>
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
</node>
</launch>
launch/ros1/find_object_3d.launch
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<launch>
<!-- Example finding 3D poses of the objects detected -->
<!-- $roslaunch openni_launch openni.launch depth_registration:=true -->
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="approx_sync" default="true"/>
<arg name="pnp" default="true"/>
<arg name="tf_example" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<arg name="rgb_topic" default="camera/rgb/image_rect_color"/>
<arg name="depth_topic" default="camera/depth_registered/image_raw"/>
<arg name="camera_info_topic" default="camera/rgb/camera_info"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="$(arg approx_sync)" type="bool"/>
<param name="pnp" value="$(arg pnp)" type="bool"/>
<remap from="rgb/image_rect_color" to="$(arg rgb_topic)"/>
<remap from="depth_registered/image_raw" to="$(arg depth_topic)"/>
<remap from="depth_registered/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- Example of tf synchronisation with the objectsStamped message -->
<node if="$(arg tf_example)" name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
</node>
</launch>
launch/ros1/find_object_3d_kinect2.launch
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<launch>
<!-- Example finding 3D poses of the objects detected -->
<!-- $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true -->
<!-- Which image resolution: sd, qhd, hd -->
<arg name="resolution" default="qhd" />
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="false" type="bool"/>
<remap from="rgb/image_rect_color" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="depth_registered/image_raw" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="depth_registered/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
</node>
</launch>
launch/ros1/find_object_3d_zed.launch
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<launch>
<!-- Example finding 3D poses of the objects detected -->
<!-- $ roslaunch zed_wrapper zed.launch -->
<arg name="zed_prefix" default="/zed/zed_node"/>
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="false" type="bool"/>
<remap from="rgb/image_rect_color" to="$(arg zed_prefix)/rgb/image_rect_color"/>
<remap from="depth_registered/image_raw" to="$(arg zed_prefix)/depth/depth_registered"/>
<remap from="depth_registered/camera_info" to="$(arg zed_prefix)/rgb/camera_info"/>
</node>
</launch>