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rmoss_auto_aim package from rmoss_contrib repormoss_auto_aim |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | RoboMaster OSS中的基础项目，为RoboMaster提供任务级功能模块包，如自动瞄准模块，能量机关模块等。 |
| Checkout URI | https://github.com/robomaster-oss/rmoss_contrib.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2022-09-12 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | ros2 robomaster |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A Simple Implemetation for RoboMaster Vision-based Task Auto-Aim-Task .
Additional Links
No additional links.
Maintainers
- zhenpeng ge
Authors
No additional authors.
rmoss_auto_aim模块
1.简介
rmoss_auto_aim模块是RoboMaster自瞄功能的一个简单实现，为步兵机器人或在其他射击机器人提供自瞄支持，通过摄像头识别敌方装甲板位置，计算出云台所需要转动的角度。
主要文件
- armor_detector.hpp/cpp : 装甲板识别模块 。
- simple_auto_aim_algo.hpp/cpp : 一个简单自瞄算法的实现, 包括装甲板识别，位置解算，预测等等。
- simple_auto_aim_node.hpp/cpp : ROS顶层模块
SimpleAutoAimNode, 主要由SimpleAutoAimAlgo,rmoss_cam::CamClient等模块构造。 - simple_auto_aim_main.cpp :
SimpleAutoAimNode的main入口。
2.快速使用
自瞄测试（图片模拟相机）
launch启动
ros2 launch rmoss_auto_aim simple_auto_aim.launch.py
查看相机图形
ros2 run rqt_image_view rqt_image_view
debug信息（图像处理中间过程信息/TODO）
若想取消图像debug信息，可以修改配置文件config/simple_auto_aim_params.yaml
debug : False
3.自瞄算法说明
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| rclcpp | |
| rmoss_cam | |
| rmoss_util | |
| rmoss_interfaces | |
| rmoss_projectile_motion | |
| Eigen3 | |
| ament_cmake | |
| eigen3_cmake_module | |
| ament_lint_auto | |
| ament_lint_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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