SRC2-object-detection

Download file from google drive and copy into src folder: https://drive.google.com/file/d/1TRLjFG4XpuVqL1FgiS4T_XAzS-EbcuZ0/view?usp=sharing The bounding box IDs are in plot_boxes_real_time.py

roslaunch src2_object_detection scout_inference.launch

Instructions for launching the Approach base service:

rosrun src2_object_detection inference.py roslaunch driving_control scout_driving_control_all.launch roslaunch laser_tools_src2 scout_laser_tools_R3.launch rosrun range_to_base rangeToBaseService.py rosrunrc2_object_detection approach_base_station_service.py

rosservice call /approach_base_station "approach_base_station: data: true"

For visualizing the bounding boxes from the classifier:

rosrun src2_object_detection plot_boxes_real_time.py rosrun image_view image_view image:=/small_scout_1/BoundingBox/Image

Disparity images frp, wvu vo (used to obtaint point cloud)

roslaunch wvu_vo_ros vo_pipeline.launch

Dependencies:

python2.7 -m pip install Pillow

python2.7 -m pip install setuptools

python2.7 -m pip install tensorflow==2.1.0

python2.7 -m pip install keras==2.3.1