apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

cleanup

Browse Source
This commit is contained in:
Apoorva Gupta 2023-04-05 15:34:19 +05:30
parent 7e8d3fb2a8
commit db318cf66c
1 changed files with 5 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
README.md
View File

@ -9,7 +9,6 @@ Platform: ROS 2, Humble, Ubuntu 22.04
``` ```
$ sudo apt 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 `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 - Install `colcon build` by following https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html
``` ```
@ -230,16 +229,16 @@ Steps to run:
``` ```
$ 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`.
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. - 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: - 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}`.
- 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.