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update the tensorflow and rtab_map

This commit is contained in:
litian.zhuang 2021-07-21 18:47:05 +08:00
parent 1c4870007c
commit 25b8b3c1d0
3 changed files with 34 additions and 33 deletions
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46
src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display.rviz
View File

@ -3,9 +3,10 @@ Panels:
Help Height: 0 Help Height: 0
Name: Displays Name: Displays
Property Tree Widget: Property Tree Widget:
Expanded: ~ Expanded:
Splitter Ratio: 0.494444 - /Image_raw1
Tree Height: 223 Splitter Ratio: 0.49444401264190674
Tree Height: 140
- Class: rviz/Selection - Class: rviz/Selection
Name: Selection Name: Selection
- Class: rviz/Tool Properties - Class: rviz/Tool Properties
@ -14,7 +15,7 @@ Panels:
- /2D Nav Goal1 - /2D Nav Goal1
- /Publish Point1 - /Publish Point1
Name: Tool Properties Name: Tool Properties
Splitter Ratio: 0.588679 Splitter Ratio: 0.5886790156364441
- Class: rviz/Views - Class: rviz/Views
Expanded: Expanded:
- /Current View1 - /Current View1
@ -25,12 +26,16 @@ Panels:
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: Image_raw SyncSource: Image_raw
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager: Visualization Manager:
Class: "" Class: ""
Displays: Displays:
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /camera/rgb/image_raw Image Topic: /camera/color/image_raw
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@ -41,7 +46,7 @@ Visualization Manager:
Unreliable: false Unreliable: false
Value: true Value: true
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: false
Image Topic: /debug_image Image Topic: /debug_image
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
@ -51,10 +56,11 @@ Visualization Manager:
Queue Size: 2 Queue Size: 2
Transport Hint: raw Transport Hint: raw
Unreliable: false Unreliable: false
Value: true Value: false
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
Default Light: true
Fixed Frame: camera_link Fixed Frame: camera_link
Frame Rate: 30 Frame Rate: 30
Name: root Name: root
@ -66,7 +72,10 @@ Visualization Manager:
- Class: rviz/FocusCamera - Class: rviz/FocusCamera
- Class: rviz/Measure - Class: rviz/Measure
- Class: rviz/SetInitialPose - Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal - Class: rviz/SetGoal
Topic: /move_base_simple/goal Topic: /move_base_simple/goal
- Class: rviz/PublishPoint - Class: rviz/PublishPoint
@ -78,32 +87,35 @@ Visualization Manager:
Class: rviz/Orbit Class: rviz/Orbit
Distance: 10 Distance: 10
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.06 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Field of View: 0.7853981852531433
Focal Point: Focal Point:
X: 0 X: 0
Y: 0 Y: 0
Z: 0 Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.01 Near Clip Distance: 0.009999999776482582
Pitch: 0.785398 Pitch: 0.785398006439209
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz) Yaw: 0.785398006439209
Yaw: 0.785398
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 744 Height: 536
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
Image_raw: Image_raw:
collapsed: false collapsed: false
Image_tensorflow: Image_tensorflow:
collapsed: false collapsed: false
QMainWindow State: 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QMainWindow State: 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
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@ -112,6 +124,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 1301 Width: 952
X: 65 X: 72
Y: 24 Y: 27

19
src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch
View File

@ -3,7 +3,7 @@
<launch> <launch>
<!-- camera --> <!-- camera -->
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/> <arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
<arg name="depthtolaser" default="/camera/depth/image_rect_raw"/> <arg name="point2laser" default="/camera/depth_registered/points"/>
<!-- spark底盘驱动，机器人描述,底盘,相机 --> <!-- spark底盘驱动，机器人描述,底盘,相机 -->
<include file="$(find spark_bringup)/launch/driver_bringup.launch"> <include file="$(find spark_bringup)/launch/driver_bringup.launch">
@ -12,20 +12,9 @@
</include> </include>
<!-- Run the depthimage_to_laserscan node --> <include file="$(find spark_slam)/launch/pointcloud2scan.launch">
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen"> <arg name="point2laser" value="$(arg point2laser)"/>
</include>
<!--<remap from="image" to="/camera/depth/image_raw" />-->
<remap from="image" to="$(arg depthtolaser)" />
<!--<remap from="camera_info" to="/camera/depth/camera_info" />-->
<remap from="camera_info" to="/camera/depth/camera_info" />
<remap from="scan" to="/scan" />
<param name="output_frame_id" value="camera_depth_frame" />
<param name="scan_height" value="20" />
</node>
<!-- Move base --> <!-- Move base -->

2
src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch
View File

@ -1,7 +1,7 @@
<!--spark rtabmap--> <!--spark rtabmap-->
<!--SPARK技术讨论与反馈群：8346256--> <!--SPARK技术讨论与反馈群：8346256-->
<launch> <launch>
<arg name="point2laser" default="/camera/depth/points"/> <arg name="point2laser" default="/camera/depth_registered/points"/>
<!-- camera --> <!-- camera -->
<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]" /> <arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]" />
<!-- spark base driver --> <!-- spark base driver -->