Execute these commands to run the whole integrated system
to find camera: ''' cvlc v4l2:///dev/v4l/by-id/usb-ARKMICRO_USB2.0_PC_CAMERA-video-index0 :live-caching=25 ''' new world: ''' rosrun dd2419_simulation json_to_world.py awesome.world ''' Alternatively, use launch files for the whole system and run perception and localization node seperately
roslaunch brain ms4.launch
rosrun localization loc5_filt
roscd perception/scripts
rosrun perception perception.py
roslaunch dd2419_launch base.launch ch:=96
rviz
rqt &
roslaunch dd2419_launch world_publisher.launch world_name:=saal3
rosrun part2 navgoal3
rosrun tf2_ros static_transform_publisher 0.01 0 0.02 -1.57 0 -1.57 cf1/base_link cf1/camera_link
rosrun localization static
rosrun localization loc4_signs
dependecies: PyTorch (python3)
roscd perception/scripts
rosrun perception perception.py
rosrun perception trainsforms.py
rosrun perception intruder.py
Perception runs sign detection and publishes detected markers as markerarrays. Trainsforms publishes detected signs as transforms /perception/detectedX and signs from the map as /perception/signX.
map figure: ''' rosrun pathplanning map_creator ''' animation of path
rosrun Pathplanning a_star.py