update for ubuntu20.04 for 11th nuc

onekey.sh

@@ -539,6 +539,7 @@ spark_DeepLearn(){
 		roslaunch tensorflow_object_detector object_detect.launch camera_type_tel:=${CAMERATYPE}		
 		;;
 		2)
+		print_command "roslaunch darknet_ros deeplearn_darknet_yoloV3.launch camera_type_tel:=${CAMERATYPE}"
 		roslaunch darknet_ros deeplearn_darknet_yoloV3.launch camera_type_tel:=${CAMERATYPE}
 		;;
 		*)

src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch

@@ -16,7 +16,7 @@
 
 	<!-- rviz -->
   	<arg name ="rviz" default="true" />
-  	<arg name ="rviz_file" default="$(find tensorflow_object_detector)/config/display.rviz"/>
+  	<arg name ="rviz_file" default="$(find tensorflow_object_detector)/config/display_$(arg camera_type_tel).rviz"/>
 	<node pkg ="rviz" type="rviz" name="rviz" output="screen" args= "-d $(arg rviz_file)" if="$(arg rviz)"/>
 
 

src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display.rviz

@@ -3,8 +3,7 @@ Panels:
     Help Height: 0
     Name: Displays
     Property Tree Widget:
-      Expanded:
-        - /Image_raw1
+      Expanded: ~
       Splitter Ratio: 0.49444401264190674
     Tree Height: 140
   - Class: rviz/Selection
@@ -46,7 +45,7 @@ Visualization Manager:
       Unreliable: false
       Value: true
     - Class: rviz/Image
-      Enabled: false
+      Enabled: true
       Image Topic: /debug_image
       Max Value: 1
       Median window: 5
@@ -56,7 +55,7 @@ Visualization Manager:
       Queue Size: 2
       Transport Hint: raw
       Unreliable: false
-      Value: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -115,7 +114,7 @@ Window Geometry:
     collapsed: false
   Image_tensorflow:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc020000001afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d000000c9000000c900fffffffa000000010100000002fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb000000100044006900730070006c00610079007301000000000000016a0000015600fffffffb000000120049006d006100670065005f007200610077010000010c000000ab0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002b8000000160000000000000000fb0000000a0049006d0061006700650200000258000000990000032500000274fb0000000a0049006d00610067006500000002520000009c0000000000000000fb0000000a0049006d00610067006501000002c8000000f60000000000000000fb0000000a0049006d0061006700650300000214000000d1000003b5000002dafb0000000a0049006d00610067006501000002f6000000cb0000000000000000fb0000000a0049006d006100670065030000020a000000ee0000039f000002b6fb0000000a0049006d00610067006501000002f4000000ca0000000000000000fb0000000a0049006d0061006700650300000208000000db000002e200000209fb0000000a0049006d006100670065010000016a0000031c0000000000000000fb0000000a0049006d006100670065010000010c0000037a0000000000000000fb0000000a0049006d00610067006503000005bc000001b5000002d0000002a4fb0000000a0049006d00610067006503000001b4000000340000038b00000261fb0000000a0049006d0061006700650100000152000001340000000000000000fb0000000a0049006d00610067006503000001b400000020000003970000027afb0000000a0049006d0061006700650100000156000001300000000000000000fb000000200049006d006100670065005f00740065006e0073006f00720066006c006f007702000000820000001b0000037e0000023d000000010000010f0000033efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000033e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000051500000137fc0100000003fc00000000000005150000000000fffffffa000000000200000001fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000a0049006d00610067006503000001be000000560000048c0000038dfb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:

src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display_astra.rviz

@@ -0,0 +1,129 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Image_raw1
+      Splitter Ratio: 0.49444401264190674
+    Tree Height: 140
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image_raw
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/color/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_raw
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /debug_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_tensorflow
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: camera_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 536
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image_raw:
+    collapsed: false
+  Image_tensorflow:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc020000001afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d000000c9000000c900fffffffa000000010100000002fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb000000100044006900730070006c00610079007301000000000000016a0000015600fffffffb000000120049006d006100670065005f007200610077010000010c000000ab0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006101000002b8000000160000000000000000fb0000000a0049006d0061006700650200000258000000990000032500000274fb0000000a0049006d00610067006500000002520000009c0000000000000000fb0000000a0049006d00610067006501000002c8000000f60000000000000000fb0000000a0049006d0061006700650300000214000000d1000003b5000002dafb0000000a0049006d00610067006501000002f6000000cb0000000000000000fb0000000a0049006d006100670065030000020a000000ee0000039f000002b6fb0000000a0049006d00610067006501000002f4000000ca0000000000000000fb0000000a0049006d0061006700650300000208000000db000002e200000209fb0000000a0049006d006100670065010000016a0000031c0000000000000000fb0000000a0049006d006100670065010000010c0000037a0000000000000000fb0000000a0049006d00610067006503000005bc000001b5000002d0000002a4fb0000000a0049006d00610067006503000001b4000000340000038b00000261fb0000000a0049006d0061006700650100000152000001340000000000000000fb0000000a0049006d00610067006503000001b400000020000003970000027afb0000000a0049006d0061006700650100000156000001300000000000000000fb000000200049006d006100670065005f00740065006e0073006f00720066006c006f007702000000820000001b0000037e0000023d000000010000010f0000033efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000033e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000051500000137fc0100000003fc00000000000005150000000000fffffffa000000000200000001fb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000a0049006d00610067006503000001be000000560000048c0000038dfb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 952
+  X: 72
+  Y: 27

src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display_astrapro.rviz

@@ -0,0 +1,129 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Image_raw1
+      Splitter Ratio: 0.49444401264190674
+    Tree Height: 140
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image_raw
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/color/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_raw
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /debug_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_tensorflow
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: camera_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 536
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image_raw:
+    collapsed: false
+  Image_tensorflow:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 952
+  X: 72
+  Y: 27

src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display_d435.rviz

@@ -0,0 +1,142 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.49444401264190674
+    Tree Height: 140
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image_raw
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /camera/color/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_raw
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /debug_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image_tensorflow
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /debug_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: camera_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.1103976964950562
+      Target Frame: <Fixed Frame>
+      Yaw: 0.7903980016708374
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 536
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  Image_raw:
+    collapsed: false
+  Image_tensorflow:
+    collapsed: false
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+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 952
+  X: 72
+  Y: 27

src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch

@@ -24,6 +24,6 @@
 	
 	<!-- rviz -->
   	<arg name ="rviz" default="true" />
-  	<arg name ="rviz_file" default="$(find tensorflow_object_detector)/config/display.rviz"/>
+  	<arg name ="rviz_file" default="$(find tensorflow_object_detector)/config/display_$(arg camera_type_tel).rviz"/>
 	<node pkg ="rviz" type="rviz" name="rviz" output="screen" args= "-d $(arg rviz_file)" if="$(arg rviz)"/>
 </launch>

src/spark_app/spark_carry/CMakeLists.txt

@@ -122,7 +122,7 @@ catkin_package(
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
-  /usr/include/python2.7
+  /usr/include/python3
 )
 
 ## Declare a C++ library

src/spark_app/spark_carry/nodes/cali_cam_cv3.py

@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
 # -*- coding: UTF-8 -*-
 import roslib
 import sys
@@ -221,10 +221,11 @@ def msg_callback(data):
 
 def main():
 	rospy.init_node('image_converter', anonymous=True)
-
+	print("===============11111======")
 	sub1 = rospy.Subscriber("/camera/rgb/image_raw", Image, image_callback)
 	sub2 = rospy.Subscriber("cali_pix_topic", status, command_callback)
 	sub3 = rospy.Subscriber("start_topic", String, msg_callback)
+	print("=====================")
 	try:
 		rospy.spin()
 	except KeyboardInterrupt:

src/spark_app/spark_carry/nodes/cali_pos.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sys
 import rospy
 import time

src/spark_app/spark_carry/nodes/s_carry_object_amcl.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
 import cv2

src/spark_app/spark_carry/nodes/s_carry_object_cv3.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
 import cv2

src/spark_app/spark_carry/nodes/s_carry_object_nav.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
 import cv2

src/spark_app/spark_voice/scripts/baidu_asr.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: UTF-8 -*-
 import rospy
 from std_msgs.msg import String

src/spark_app/spark_voice/scripts/ekho_tts.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 import rospy
 from std_msgs.msg import String

src/spark_app/spark_voice/scripts/kdxf_asr.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: UTF-8 -*-
 import rospy
 from std_msgs.msg import String

src/spark_app/spark_voice/scripts/local_asr.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import rospy
 from std_msgs.msg import String

src/spark_app/spark_voice/scripts/voice_nav.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 import rospy
 from geometry_msgs.msg import Twist

src/spark_app/spark_voice/scripts/wx_bot.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
 import rospy