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Apoorva Gupta 2023-03-29 12:51:33 +05:30
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@ -172,7 +172,22 @@ This module was provides interface to run neural network as rosnodes. The purpos
This module was needed to build darknet_ros2. This module was needed to build darknet_ros2.
# How to run live detection? # How to run live detection?
Once you have succefully built the ROS Modules specifically, `yolov3_ros` and `find-pose` along with dependencies like `pipe_msgs` and `perception_ros`, `perception_pcl`, you can do the following: Once you have succefully built the ROS Modules specifically, `yolov3_ros` and `find-pose` along with dependencies like `pipe_msgs` and `perception_ros`, `perception_pcl`,you can do the following:
Assumption:
You have the following required data in forms of ros topic:
- /camera/color/image_raw: RGB Image topic
- /camera/aligned_depth_to_color/image_raw: Aligned depth image topic (aligned with rgb image)
- /camera/color/camera_info: Camera calibration parameters topic
How do you get this data?
- This data can come from a pre recorded Rosbag. If this is the case, do following:
```
$ ros2 bag play bag-folder/bag-name.db3
```
- This data can come directly from camera's (D455/ZED2I) ROS Node: Launch your node in a terminal.
- If your camera topics have different names than the default topic names mentioned above, update/remap ONLY the `pipe_detection.launch.py` script stored in `ros2_ws/src/yolov3_ros/launch` folder.
- Once you have updated the launch file, build the code again using `colcon build --packages-select yolov3_ros` and proceedas mentioned below.
Steps to run:
1. Open a terminal. 1. Open a terminal.
2. Run `$ cd greenhouse/ros2_ws/` and `$ . install/setup.bash`. 2. Run `$ cd greenhouse/ros2_ws/` and `$ . install/setup.bash`.
3. Launch node for object detection: 3. Launch node for object detection:
@ -190,4 +205,4 @@ This node will output TF topics between `/camera_link` and `/${detected_object_n
5b. To see the current image with detected object, Go to `Add` Button. Under `By Topic`, select topci called `detection_image`. 5b. 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.
6. You can open launch files to update/remap topic name if different camera is being used. 6. You can open launch files to update/remap topic name if different camera is being used.
7. 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. 7. 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.