No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
Repository Summary
Checkout URI | https://github.com/pagechen04/radar_ros_ws.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-10-17 |
Dev Status | UNMAINTAINED |
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 |
---|---|
dv_trigger | 0.1.0 |
hik_camera | 1.0.0 |
img_recognizer | 0.0.0 |
judge_bridge | 0.1.0 |
livox_v1_lidar | 0.1.0 |
livox_v2_lidar | 0.1.0 |
nn_detector | 1.0.0 |
pc_aligner | 0.0.0 |
pc_detector | 0.1.0 |
radar_bringup | 0.0.0 |
radar_interface | 0.1.0 |
radar_supervisor | 0.0.0 |
radar_utils | 0.0.0 |
result_visualizer | 0.0.0 |
target_matcher | 0.0.0 |
target_multiplexer | 0.1.0 |
target_visualizer | 0.0.0 |
README
南工骁鹰雷达站工作空间
RoboMaster 2024 哈尔滨工业大学(深圳) 南工骁鹰战队 雷达站 完整开源
开源仓促,文档不够完善,还请见谅!
各包功能
livox_v1_lidar 激光雷达驱动(Livox Mid-70)
livox_v2_lidar 激光雷达驱动(Livox HAP)
pc_aligner 点云配准
pc_detector 点云聚类分割
hik_camera 海康相机驱动
img_recognizer 视觉识别
nn_detector 神经网络推理
target_matcher 聚类-识别匹配
judge_bridge 裁判系统驱动
dv_trigger 双倍易伤触发
target_multiplexer 目标选择器(国赛改协议前)
radar_bringup Launch 文件存放
radar_interface 协议
radar_utils 实用工具
target_visualizer 聚类目标可视化
result_visualizer 匹配结果可视化
radar_supervisor 状态监控
参考结构:
部署指南
目标平台: Ubuntu 22.04 (Jammy Jellyfish) + ROS 2 (Humble)
依赖安装
请参考 ROS 文档使用 rosdep
安装。其中有少部分依赖无法自动安装,请手动补全。
https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html#rosdep-operation
编译
最简单的编译方式为:
# 在 Workspace 根目录下
colcon build
为了方便在 VSCode 上进行开发,我们在 .vscode/tasks.json
中预置了大量的编译命令,可直接执行。
运行
利用 radar_bringup
中的 Launch 文件一键运行。
source ./install/setup.bash
ros2 launch radar_bringup 24_national.launch.py
未来方向
- 点云聚类能力优化,提升抗遮挡、抗误合并能力
- 多模态融合,以得到更好的感知能力
- 部署自动化,减少人力消耗
- 单元测试,减少 Bug 的产生
- 与自动兵种紧密结合
本项目以 Mozilla Public License 2.0 授权
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.