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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.
# 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.
2. Run `$ cd greenhouse/ros2_ws/` and `$ . install/setup.bash`.
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`.
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.
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.