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Repository Summary
| Description | |
| Checkout URI | https://github.com/jiduowang/double-headed-sentinel.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-04-15 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| armors_choose_node | 0.0.0 |
| info_separate | 0.0.0 |
| armor_detector_first | 0.1.0 |
| armor_detector_second | 0.1.0 |
| armor_tracker | 0.1.0 |
| auto_aim_interfaces | 0.0.0 |
| rm_auto_aim | 0.0.0 |
| rm_gimbal_description | 0.0.0 |
| rm_serial_driver | 0.1.0 |
| rm_vision_bringup | 0.0.0 |
| hik_camera_first | 0.0.0 |
| hik_camera_second | 0.0.0 |
| mindvision_camera | 0.1.0 |
README
# Double-headed-Sentinel 该双头哨兵视觉代码基于rm_vision开发，在此十分感谢https://github.com/chenjunnn</br> 本项目的基本思路为通过发布两个detector节点，对装甲板进行识别后进行发送装甲板信息，中间会经过choose节点的选择转发到tracker，最后tracker再对装甲板信息进一步处理并向下发送到电控端</br> </br>
！！！
本项目默认所有的first或1表示云台左边的相机，所有的second或2表示云台右边的相机。请使用本开源的队伍注意该问题。由于相机驱动采用枚举的方式读取设备，因此确认相机左右与线的先后插拔顺序并无关系，而是和相机本身的硬件信息有关，需要采用本开源的队伍自行去进行测试以确定哪个是左哪个是右
相机标定信息应当存放在 hik_camer0a_first/config/camera_info.yaml 及 hik_camera_second/config/camera_info.yaml
相机曝光时间修改位于/rm_vision/rm_vision_bringup/config/node_params.yaml
哨兵坐标信息修改位于 /rm_gimbal_description/urdf/rm_gimbal.urdf.xacro
由于经常拿单独模块进行测试因此没有做太多的解耦，请谅解，有需要的可以直接在/rm_vision/rm_vision_bringup/config/node_params.yaml 处更改文件使其不必在以上文件修改
</br>
启动指令
sudo chmod 777 /dev/ttyACM0
source install/setup.bash
ros2 launch rm_vision_bringup hardware.launch.py
RM_VISION 入口（适用于步兵或英雄）
在此感谢深北莫北极熊战队同学的整理汇总
https://flowus.cn/lihanchen/share/b63e0d4e-10b5-4d3c-8af1-6387158f54c3
CONTRIBUTING
No CONTRIBUTING.md found.
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