ROS功能包 find_object的使用

ROSWIKI,GITHUB.

1.功能包的安装

安装依赖

sudo apt-get install ros-melodic-find-object-2d

定位到工作空间 下载源码编译

cd ~/catkin_ws
git clone https://github.com/introlab/find-object src/find_object_2d
catkin_make

2.运行功能包

1.启动roscore

roscore

2.启用摄像头节点

roslaunch usb_cam usb_cam-test.launch

3.启动功能包

rosrun find_object_2d find_object_2d image:=/usb_cam/image_raw

4.实现物体检测

  • 在find_object界面左侧 Objects下面的空白界面，单击鼠标右键->Add objects form scene
  • 按Take picture，选择你准备识别的物体
  • 框出目标物体 点击->next，->end

5.find_object_3d

修改find_object_3d.launch 文件

<launch>
    <!-- Example finding 3D poses of the objects detected -->
    <!-- $roslaunch openni_launch openni.launch depth_registration:=true -->

    <arg name="object_prefix" default="object"/>
    <arg name="objects_path"  default=""/>
    <arg name="gui"           default="true"/>
    <arg name="approx_sync"   default="true"/>
    <arg name="pnp"           default="true"/>
    <arg name="tf_example"    default="true"/>
    <arg name="settings_path" default="~/.ros/find_object_2d.ini"/>

    #修改为深度相机所发布的话题
    <arg name="rgb_topic"         default="camera/color/image_raw"/> 
    <arg name="depth_topic"       default="camera/depth/image_rect_raw"/>
    <arg name="camera_info_topic" default="camera/color/camera_info"/>

    <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
        <param name="gui" value="$(arg gui)" type="bool"/>
        <param name="settings_path" value="$(arg settings_path)" type="str"/>
        <param name="subscribe_depth" value="true" type="bool"/>
        <param name="objects_path" value="$(arg objects_path)" type="str"/>
        <param name="object_prefix" value="$(arg object_prefix)" type="str"/>
        <param name="approx_sync" value="$(arg approx_sync)" type="bool"/>
        <param name="pnp" value="$(arg pnp)" type="bool"/>

        <remap from="rgb/image_rect_color" to="$(arg rgb_topic)"/>
        <remap from="depth_registered/image_raw" to="$(arg depth_topic)"/>
        <remap from="depth_registered/camera_info" to="$(arg camera_info_topic)"/>
    </node>

    <!-- Example of tf synchronisation with the objectsStamped message -->
    <node if="$(arg tf_example)" name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
        <param name="object_prefix" value="$(arg object_prefix)" type="str"/>
    </node>
</launch>

启动3d物体检测

roslaunch realsense_camera rs_rgbd.launch
roslaunch find_object_2d find_object_3d.launch
rviz

玄学问题

catkin_make出错 @LIBTIFF_4.0未定义 ROS工作空间的问题，更换工作空间。