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cleanup

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Apoorva Gupta 2023-04-05 15:34:19 +05:30
parent 7e8d3fb2a8
commit db318cf66c
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@ -9,7 +9,6 @@ Platform: ROS 2, Humble, Ubuntu 22.04
```
$ 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
```
@ -230,16 +229,16 @@ Steps to run:
```
$ ros2 launch yolov3_ros pipe_detection.launch.py
```
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.
- 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.
- Launch node for pose estimation:
```
$ 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`.
-- 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`.
- - 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`.
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 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.