Feature/object detector with scene objects mamager#115
Feature/object detector with scene objects mamager#115AntoniRL wants to merge 21 commits intohumble-develfrom
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For the starters, please update the CHANGELOG
| cam_pos_y="-0.016" | ||
| cam_pos_z="1.160" |
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Do we need to the camera position change?
| pos_str = None | ||
| quat_str = None | ||
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| if pose is not None: | ||
| p = pose.pose if hasattr(pose, "pose") else pose | ||
| pos_str = (p.position.x, p.position.y, p.position.z) | ||
| quat_str = ( | ||
| p.orientation.x, | ||
| p.orientation.y, | ||
| p.orientation.z, | ||
| p.orientation.w, | ||
| ) | ||
| else: | ||
| pos_str = position | ||
| quat_str = quat_xyzw | ||
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| self.node.get_logger().info( | ||
| f"Moving to {{position: {position}, quat: {quat_xyzw}}}, max_vel: {max_vel:.2f}, max_accel: {max_accel:.2f}}}" | ||
| f"Moving to {{pos: {pos_str}, quat: {quat_str}}}, " | ||
| f"max_vel: {max_vel:.2f}, max_accel: {max_accel:.2f}" | ||
| ) | ||
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I suggest to move this logic to an auxiliary utility method or function - its very useful.
| return | ||
| rvec, tvec = self.last_object_tf | ||
| tf_camera_name = "cam_scene_rgb_camera_optical_frame" | ||
| tf_camera_name = "cam_scene_rgb_camera_optical_frame_cal" |
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Why we needed to change this tf?
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Has to be tested on the robot before merging. |
DONE. |
| camera: | ||
| i_mx_id: 184430108157970F00 | ||
| i_pipeline_type: RGB # RGB, RGBD | ||
| i_pipeline_type: CamArray # RGB, RGBD, CamArray |
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What does this pipeline change? Does it decrease camera's FPS relative to RGB pipeline?
| cam_pos_x="0.33" | ||
| cam_pos_y="0.014" | ||
| cam_pos_z="1.166" | ||
| cam_pos_y="-0.016" |
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What is the reason for camera's position change?
| right: | ||
| i_publish_topic: true | ||
| i_height: 720 | ||
| i_width: 1280 | ||
| left: | ||
| i_publish_topic: true | ||
| i_height: 720 | ||
| i_width: 1280 | ||
| depth: | ||
| i_publish_topic: true |
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These lines were for debugging purposes. It would be great to save them for later (i vote for commenting them and creating an issue for incorporating them into a proper launch file later).
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Please update the aegis_director changelog
| self.description_cfg_pkg_name = "aegis_description" | ||
| self.description_cfg_pkg = FindPackageShare(self.description_cfg_pkg_name) | ||
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| # TODO if working then remove lines |
3 participants
Description
Made changes to enable object detection using ArUco markers in the
scene_objects_managerpackage.Motivation and context
The PR includes changes to the scene camera position and the startup of the scene object manager node.
How has this been tested?
Tested on the real robot.
Realted PR
Checklist
Clickup task: 869cbbrjb