BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

latest pushes

Browse Source
This commit is contained in:
Ronaldson Bellande 2024-07-23 13:50:25 -04:00
parent b2271c014a
commit d69617ee5a
2 changed files with 16 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
humanoid_robot_intelligence_control_system_configure/launch/face_tracker.launch.py
View File

@ -13,7 +13,6 @@
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <https://www.gnu.org/licenses/>.
#!/usr/bin/env python3
import os
import sys
@ -26,7 +25,7 @@ def ros1_launch_description():
args = sys.argv[1:]
# Construct the ROS 1 launch command
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "object_tracker.launch"] + args
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "face_follow.launch"] + args
roslaunch_command.extend([
"usb_cam", "usb_cam_node", "name:=camera",
@ -39,21 +38,22 @@ def ros1_launch_description():
])
roslaunch_command.extend([
"humanoid_robot_intelligence_control_system_object_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
"humanoid_robot_intelligence_control_system_face_tracker", "face_detection_processor.py", "name:=face_detection_processor_node"
])
roslaunch_command.extend([
"humanoid_robot_intelligence_control_system_configure", "object_tracker.py", "name:=object_tracker_node"
"humanoid_robot_intelligence_control_system_configure", "face_tracker.py", "name:=face_tracker_node"
])
roslaunch_command.extend([
"rviz", "rviz", "name:=rviz",
"args:=-d $(find humanoid_robot_intelligence_control_system_object_detector)/rviz/object_tracking_visualization.rviz"
"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
])
# Execute the launch command
subprocess.call(roslaunch_command)
def ros2_launch_description():
nodes_to_launch = []
@ -73,17 +73,17 @@ def ros2_launch_description():
))
nodes_to_launch.append(Node(
package='humanoid_robot_intelligence_control_system_object_detector',
executable='object_detection_processor.py',
name='object_detection_processor_node',
package='humanoid_robot_intelligence_control_system_face_tracker',
executable='face_detection_processor.py',
name='face_detection_processor_node',
output='screen',
parameters=[{'yaml_path': '$(find humanoid_robot_intelligence_control_system_object_detector)/config/object_detection_params.yaml'}]
parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/face_detection_params.yaml'}]
))
nodes_to_launch.append(Node(
package='humanoid_robot_intelligence_control_system_object_detector',
executable='object_tracker.py',
name='object_tracker_node',
package='humanoid_robot_intelligence_control_system_configure',
executable='face_tracker.py',
name='face_tracker_node',
output='screen',
parameters=[{
'p_gain': 0.4,
@ -96,7 +96,7 @@ def ros2_launch_description():
package='rviz2',
executable='rviz2',
name='rviz',
arguments=['-d', '$(find humanoid_robot_intelligence_control_system_object_detector)/rviz/object_tracking_visualization.rviz']
arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
))
return LaunchDescription(nodes_to_launch)

6
humanoid_robot_intelligence_control_system_configure/launch/object_tracker.launch.py
View File

@ -42,7 +42,7 @@ def ros1_launch_description():
])
roslaunch_command.extend([
"humanoid_robot_intelligence_control_system_configure", "object_follower.py", "name:=object_follower_node"
"humanoid_robot_intelligence_control_system_configure", "object_tracker.py", "name:=object_tracker_node"
])
roslaunch_command.extend([
@ -82,8 +82,8 @@ def ros2_launch_description():
nodes_to_launch.append(Node(
package='humanoid_robot_intelligence_control_system_configure',
executable='object_follower.py',
name='object_follower_node',
executable='object_tracker.py',
name='object_tracker_node',
output='screen',
parameters=[{
'p_gain': 0.4,