BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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This commit is contained in:
Ronaldson Bellande 2024-01-01 01:16:07 -05:00
parent cb1c00d180
commit ec1a986318
3 changed files with 38 additions and 30 deletions
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22
humanoid_robot_intelligence_control_system_demo/launch/demo.launch
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@ -1,25 +1,25 @@
<?xml version="1.0"?>
<launch>
<!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system manager -->
<include file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
<include
file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
<!-- Camera and Ball detector -->
<include file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
<!-- face tracking -->
<!-- <include file="$(find humanoid_robot_intelligence_control_system_demo)/launch/face_detection_humanoid_robot_intelligence_control_system.launch" /> -->
<include
file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
<!-- camera setting tool -->
<include file="$(find humanoid_robot_intelligence_control_system_camera_setting_tool)/launch/humanoid_robot_intelligence_control_system_camera_setting_tool.launch" />
<include
file="$(find humanoid_robot_intelligence_control_system_camera_setting_tool)/launch/humanoid_robot_intelligence_control_system_camera_setting_tool.launch" />
<!-- sound player -->
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen" />
<!-- web setting -->
<include file="$(find humanoid_robot_intelligence_control_system_web_setting_tool)/launch/web_setting_server.launch" />
<node pkg="humanoid_robot_intelligence_control_system_player"
type="humanoid_robot_intelligence_control_system_player"
name="humanoid_robot_intelligence_control_system_player" output="screen" />
<!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system demo -->
<node pkg="humanoid_robot_intelligence_control_system_demo" type="op_demo_node" name="humanoid_robot_intelligence_control_system_demo" output="screen">
<node pkg="humanoid_robot_intelligence_control_system_demo" type="op_demo_node"
name="humanoid_robot_intelligence_control_system_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" />

21
humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch
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@ -1,16 +1,23 @@
<?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" />

25
humanoid_robot_intelligence_control_system_demo/launch/self_test.launch
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@ -2,25 +2,26 @@
<!-- Launches an UVC camera, the ball detector and its visualization -->
<launch>
<!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system manager -->
<include file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
<include
file="$(find humanoid_robot_intelligence_control_system_manager)/launch/humanoid_robot_intelligence_control_system_manager.launch" />
<!-- Camera and Ball detector -->
<include file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
<!-- face tracking -->
<include file="$(find humanoid_robot_intelligence_control_system_demo)/launch/face_detection_humanoid_robot_intelligence_control_system.launch" />
<include
file="$(find humanoid_robot_intelligence_control_system_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
<!-- camera setting tool -->
<include file="$(find humanoid_robot_intelligence_control_system_camera_setting_tool)/launch/humanoid_robot_intelligence_control_system_camera_setting_tool.launch" />
<include
file="$(find humanoid_robot_intelligence_control_system_camera_setting_tool)/launch/humanoid_robot_intelligence_control_system_camera_setting_tool.launch" />
<!-- sound player -->
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen" />
<node pkg="humanoid_robot_intelligence_control_system_player"
type="humanoid_robot_intelligence_control_system_player"
name="humanoid_robot_intelligence_control_system_player" output="screen" />
<!-- web setting -->
<include file="$(find humanoid_robot_intelligence_control_system_web_setting_tool)/launch/web_setting_server.launch" />
<!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system self test demo -->
<node pkg="humanoid_robot_intelligence_control_system_demo" type="self_test_node" name="humanoid_robot_intelligence_control_system_self_test" output="screen">
<!-- humanoid_robot_intelligence_control_system humanoid_robot_intelligence_control_system self
test demo -->
<node pkg="humanoid_robot_intelligence_control_system_demo" type="self_test_node"
name="humanoid_robot_intelligence_control_system_self_test" output="screen">
<param name="grass_demo" type="bool" value="False" />
<param name="p_gain" value="0.45" />
<param name="d_gain" value="0.045" />