Robomaster_2024_Vision [:Async: Code]

quner*2024

Features

• CPU+GPU Inference
• Higer Inference FPS
• Multi threads boosting included
• Linking with ROS2 messages (gary_msgs included written by myaki-moe & W-YXN)

请注意，此版本代码为异步多线程版本 相对于同步线程版本，拥有更高帧率的同时会导致推理延迟增加。

Build & Installation

Environment requirements

• OpenVINO 2023.2 settled in /opt/intel
• ROS2 Humble (other version is OK) settled in /opt/ros Please Install the dependencies and build code then launch vision.

Build

source /opt/ros/install/setup.bash
source ../gary_msgs/install/setup.bash
colcon build

Run

source install/setup.bash
ros2 run quner_vision quner_vision