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Quick test with sample rosbag
koide3 edited this page Aug 20, 2021
·
1 revision
Tested on
- Ubuntu 20.04 with CUDA 11.2 (CUDA >= 10.2 required)
topics: /top_front_camera/camera_info 854 msgs : sensor_msgs/CameraInfo
/top_front_camera/image_raw/compressed 855 msgs : sensor_msgs/CompressedImage
Create ~/.ros/camera_info/top_front_camera.yaml
and write in the following:
image_width: 1920
image_height: 1080
camera_name: top_front_camera
camera_matrix:
rows: 3
cols: 3
data: [698.7720089327581, 0, 948.6984995929716, 0, 694.4581011591363, 616.7070850305417, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.01537233838335354, -0.01014287588454407, 0.0002858743531724768, -0.0007284003454982942, 0]
rectification_matrix:
rows: 3
cols: 3
data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
projection_matrix:
rows: 3
cols: 4
data: [637.4007568359375, 0, 938.8160461941588, 0, 0, 683.8585815429688, 619.8708349350127, 0, 0, 0, 1, 0]
sudo docker pull koide3/monocular_person_following:noetic
Start roscore
:
roscore
Set use_sim_time
to true
and start visualization:
rosparam set use_sim_time true
cd /tmp
wget https://github.com/koide3/monocular_person_following/raw/master/rviz/monocular_person_following.rviz
rviz -d monocular_person_following.rviz
Launch usb_cam
and tf_publishers
in sim mode:
sudo docker run -it --rm \
--net host \
-v $(realpath ~/.ros/camera_info):/root/.ros/camera_info \
koide3/monocular_person_following:noetic \
roslaunch monocular_person_following start_robot.launch webcam:=true publish_dummy_frames:=true camera_xyz:="0 0 1.4" camera_rpy:="0 0 0" sim:=true
Launch tf_openpose
and monocular_person_following
:
sudo docker run -it --rm \
--net host \
--gpus all \
koide3/monocular_person_following:noetic \
roslaunch monocular_person_following jetson_person_following.launch camera_name:=/top_front_camera/qhd allow_growth:=true
Play rosbag:
rosbag play --clock mono00.bag
You can become the target by raising the right hand