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updated with dependencies

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Apoorva Gupta 2023-04-05 15:27:09 +05:30
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README.md
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@ -4,17 +4,52 @@ This repository contains code for detecting heat pipes in the greenhouse as well
Platform: ROS 2, Humble, Ubuntu 22.04 Platform: ROS 2, Humble, Ubuntu 22.04
## How to build the workspace? ## How to install dependencies??
- Install `git`
```
$ sudo apt install git
```
-
- Install `ROS 2 Humble` on `Ubuntu 22.04` by following https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
- Install `colcon build` by following https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html
```
$ sudo apt install python3-colcon-common-extensions
```
- Instal `pip` for python packages
```
$ sudo apt install python3-pip
```
- Now clone the repository
``` ```
$ git clone https://tea.der-space.de/apoorva/greenhouse.git $ git clone https://tea.der-space.de/apoorva/greenhouse.git
``` ```
## How to install dependencies?? - Install `ultralytics` for yolov3 package
``` ```
$ pip install ultralytics
sudo apt-get install ros-humble-$(PACKAGE_NAME)
``` ```
- For `yolov3_ros`, there are a bunch of other requirements. Go to `yolov3` folder and install using following commands:
```
$ cd ~/greenhouse/yolov3
$ pip install -r requirements.txt
```
- Go to `ros2_ws` inside `greenhouse`. Make sure you only have `src` folder.
```
$ cd ~/greenhouse/ros2_ws
$ ls
src
```
- Inside `ros2_ws` folder, start building individual packages in the below sequence to avoid errors.
```
$ colcon build --packages-select pipe_msgs
$ colcon build –packages-select pcl_ros
$ colcon build –allow-overriding pcl_ros
$ colcon build –packages-select pcl_conversions
$ colcon build –allow-overriding pcl_conversions
$ colcon build --packages-select find-pose
$ colcon build –packages-select yolov3_ros
. install/setup.bash
```
- The code should be ready to launch as explained in [How to run Live Detection?](#how-to-run-live-detection)
This section explains what each module is responsible for. This section explains what each module is responsible for.
## perception_pcl ## perception_pcl
This module is responsible for providing `pcl_conversions` and `pcl_ros` modules in `ros 2`. This module is responsible for providing `pcl_conversions` and `pcl_ros` modules in `ros 2`.
@ -189,21 +224,22 @@ $ ros2 bag play bag-folder/bag-name.db3
- Once you have updated the launch file, build the code again using `colcon build --packages-select yolov3_ros` and proceedas mentioned below. - 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: Steps to run:
1. Open a terminal. - Open a terminal.
2. Run `$ cd greenhouse/ros2_ws/` and `$ . install/setup.bash`. - Run `$ cd greenhouse/ros2_ws/` and `$ . install/setup.bash`.
3. Launch node for object detection: - Launch node for object detection:
``` ```
$ ros2 launch yolov3_ros pipe_detection.launch.py $ ros2 launch yolov3_ros pipe_detection.launch.py
``` ```
This node will output two topics: `/bboxes` and `/detection_image`. This node will output two topics: `/bboxes` and `/detection_image`.
4. Launch node for pose estimation: Make sure that you run this launch file from `greenhouse/ros2_ws/` folder since the path of weights is relative (`/src/pipe_weights.pt`) inside the launch file.
- Launch node for pose estimation:
``` ```
$ ros2 launch find-pose find-pose-node.launch.py $ 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}`.
5. 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`.
5a. 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.
5b. 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.
6. 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.
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. - 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.