BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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noetic build

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This commit is contained in:
Ronaldson Bellande
2022-05-06 15:10:00 -04:00
parent 77d76182b3
commit 3dff932710
47 changed files with 2233 additions and 2454 deletions
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45
op3_demo/launch/demo.launch
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@@ -1,28 +1,27 @@
<?xml version="1.0"?>
<launch>
<!-- robotis op3 manager -->
<include file="$(find op3_manager)/launch/op3_manager.launch"/>
<!-- robotis op3 manager -->
<include file="$(find op3_manager)/launch/op3_manager.launch" />
<!-- Camera and Ball detector -->
<include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch"/>
<!-- face tracking -->
<include file="$(find op3_demo)/launch/face_detection_op3.launch" />
<!-- Camera and Ball detector -->
<include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
<!-- camera setting tool -->
<include file="$(find op3_camera_setting_tool)/launch/op3_camera_setting_tool.launch" />
<!-- sound player -->
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen"/>
<!-- web setting -->
<include file="$(find op3_web_setting_tool)/launch/web_setting_server.launch" />
<!-- robotis op3 demo -->
<node pkg="op3_demo" type="op_demo_node" name="op3_demo" output="screen">
<param name="grass_demo" type="bool" value="False" />
<param name="p_gain" value="0.45" />
<param name="d_gain" value="0.045" />
</node>
<!-- face tracking -->
<include file="$(find op3_demo)/launch/face_detection_op3.launch" />
<!-- camera setting tool -->
<include file="$(find op3_camera_setting_tool)/launch/op3_camera_setting_tool.launch" />
<!-- sound player -->
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen" />
<!-- web setting -->
<include file="$(find op3_web_setting_tool)/launch/web_setting_server.launch" />
<!-- robotis op3 demo -->
<node pkg="op3_demo" type="op_demo_node" name="op3_demo" output="screen">
<param name="grass_demo" type="bool" value="False" />
<param name="p_gain" value="0.45" />
<param name="d_gain" value="0.045" />
</node>
</launch>

18
op3_demo/launch/face_detection_op3.launch
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@@ -1,22 +1,20 @@
<?xml version="1.0"?>
<launch>
<arg name="face_cascade_name_0" default="$(find face_detection)/include/face_detection/HaarCascades/haarcascade_frontalface_alt.xml" />
<arg name="face_cascade_name_1" default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt2.xml" />
<arg name="face_cascade_name_2" default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt_tree.xml" />
<arg name="face_cascade_name_3" default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_default.xml" />
<arg name="face_cascade_name_4" default="$(find face_detection)/include/face_detection/lbpCascades/lbpcascade_frontalface.xml" />
<arg name="face_cascade_name_0" default="$(find face_detection)/include/face_detection/HaarCascades/haarcascade_frontalface_alt.xml" />
<arg name="face_cascade_name_1" default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt2.xml" />
<arg name="face_cascade_name_2" default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt_tree.xml" />
<arg name="face_cascade_name_3" default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_default.xml" />
<arg name="face_cascade_name_4" default="$(find face_detection)/include/face_detection/lbpCascades/lbpcascade_frontalface.xml" />
<node pkg="face_detection" type="face_tracking" name="face_tracking"
args="$(arg face_cascade_name_0)
<node pkg="face_detection" type="face_tracking" name="face_tracking" args="$(arg face_cascade_name_0)
$(arg face_cascade_name_1)
$(arg face_cascade_name_2)
$(arg face_cascade_name_3)
$(arg face_cascade_name_4)"
output="screen">
$(arg face_cascade_name_4)" output="screen">
<param name="imageInput" type="string" value="/usb_cam_node/image_raw" />
<param name="displayed_Image" type="int" value="0" />
<!-- <param name="publish" type="int" value="2" /> -->
<param name="publish" type="int" value="3" />
<param name="start_condition" type="bool" value="false" />
<param name="start_condition" type="bool" value="false" />
</node>
</launch>

17
op3_demo/launch/self_test.launch
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@@ -1,24 +1,24 @@
<?xml version="1.0"?>
<!-- Launches an UVC camera, the ball detector and its visualization -->
<launch>
<launch>
<!-- robotis op3 manager -->
<include file="$(find op3_manager)/launch/op3_manager.launch"/>
<include file="$(find op3_manager)/launch/op3_manager.launch" />
<!-- Camera and Ball detector -->
<include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch"/>
<include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
<!-- face tracking -->
<include file="$(find op3_demo)/launch/face_detection_op3.launch" />
<!-- camera setting tool -->
<include file="$(find op3_camera_setting_tool)/launch/op3_camera_setting_tool.launch" />
<!-- sound player -->
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen"/>
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen" />
<!-- web setting -->
<include file="$(find op3_web_setting_tool)/launch/web_setting_server.launch" />
<!-- robotis op3 self test demo -->
<node pkg="op3_demo" type="self_test_node" name="op3_self_test" output="screen">
<param name="grass_demo" type="bool" value="False" />
@@ -26,4 +26,3 @@
<param name="d_gain" value="0.045" />
</node>
</launch>