diff --git a/onekey.sh b/onekey.sh
index 6eb2fdc..1f1622a 100755
--- a/onekey.sh
+++ b/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}
;;
*)
diff --git a/src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch b/src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch
index 86a5e35..009254e 100755
--- a/src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch
+++ b/src/3rd_app/darknet_ros/darknet_ros/launch/deeplearn_darknet_yoloV3.launch
@@ -16,7 +16,7 @@
-
+
diff --git a/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display.rviz b/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display.rviz
index 63cce15..32fe77c 100644
--- a/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display.rviz
+++ b/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: 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
+ QMainWindow State: 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
Selection:
collapsed: false
Time:
diff --git a/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display_astra.rviz b/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display_astra.rviz
new file mode 100644
index 0000000..63cce15
--- /dev/null
+++ b/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:
+ 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
diff --git a/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display_astrapro.rviz b/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display_astrapro.rviz
new file mode 100644
index 0000000..63cce15
--- /dev/null
+++ b/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:
+ 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
diff --git a/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display_d435.rviz b/src/3rd_app/tensorflow_app/tensorflow_object_detector/config/display_d435.rviz
new file mode 100644
index 0000000..21a7841
--- /dev/null
+++ b/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:
+ 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
+ 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
diff --git a/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch b/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
index 0ddaf11..28d5215 100755
--- a/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
+++ b/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
@@ -24,6 +24,6 @@
-
+
diff --git a/src/spark_app/spark_carry/CMakeLists.txt b/src/spark_app/spark_carry/CMakeLists.txt
index 801f362..68cb465 100755
--- a/src/spark_app/spark_carry/CMakeLists.txt
+++ b/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
diff --git a/src/spark_app/spark_carry/nodes/cali_cam_cv3.py b/src/spark_app/spark_carry/nodes/cali_cam_cv3.py
index 6124257..2e03367 100755
--- a/src/spark_app/spark_carry/nodes/cali_cam_cv3.py
+++ b/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:
diff --git a/src/spark_app/spark_carry/nodes/cali_pos.py b/src/spark_app/spark_carry/nodes/cali_pos.py
index a251627..0da8115 100755
--- a/src/spark_app/spark_carry/nodes/cali_pos.py
+++ b/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
diff --git a/src/spark_app/spark_carry/nodes/s_carry_object_amcl.py b/src/spark_app/spark_carry/nodes/s_carry_object_amcl.py
index 6aecb16..113c9e3 100755
--- a/src/spark_app/spark_carry/nodes/s_carry_object_amcl.py
+++ b/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
diff --git a/src/spark_app/spark_carry/nodes/s_carry_object_cv3.py b/src/spark_app/spark_carry/nodes/s_carry_object_cv3.py
index 0302d7d..91c71a6 100755
--- a/src/spark_app/spark_carry/nodes/s_carry_object_cv3.py
+++ b/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
diff --git a/src/spark_app/spark_carry/nodes/s_carry_object_nav.py b/src/spark_app/spark_carry/nodes/s_carry_object_nav.py
index fd480c6..3989c52 100755
--- a/src/spark_app/spark_carry/nodes/s_carry_object_nav.py
+++ b/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
diff --git a/src/spark_app/spark_voice/scripts/baidu_asr.py b/src/spark_app/spark_voice/scripts/baidu_asr.py
index b777189..78cb50b 100755
--- a/src/spark_app/spark_voice/scripts/baidu_asr.py
+++ b/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
diff --git a/src/spark_app/spark_voice/scripts/ekho_tts.py b/src/spark_app/spark_voice/scripts/ekho_tts.py
index 63ca760..d6ccbcd 100755
--- a/src/spark_app/spark_voice/scripts/ekho_tts.py
+++ b/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
diff --git a/src/spark_app/spark_voice/scripts/kdxf_asr.py b/src/spark_app/spark_voice/scripts/kdxf_asr.py
index dbaaff9..ebc72f9 100755
--- a/src/spark_app/spark_voice/scripts/kdxf_asr.py
+++ b/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
diff --git a/src/spark_app/spark_voice/scripts/local_asr.py b/src/spark_app/spark_voice/scripts/local_asr.py
index 9251840..0774755 100755
--- a/src/spark_app/spark_voice/scripts/local_asr.py
+++ b/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
diff --git a/src/spark_app/spark_voice/scripts/voice_nav.py b/src/spark_app/spark_voice/scripts/voice_nav.py
index d029e93..3089ab8 100755
--- a/src/spark_app/spark_voice/scripts/voice_nav.py
+++ b/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
diff --git a/src/spark_app/spark_voice/scripts/wx_bot.py b/src/spark_app/spark_voice/scripts/wx_bot.py
index 0648f56..afe3313 100755
--- a/src/spark_app/spark_voice/scripts/wx_bot.py
+++ b/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