62 lines
1.9 KiB
Markdown
62 lines
1.9 KiB
Markdown
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# rm_auto_aim
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## Overview
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RoboMaster 装甲板自瞄算法模块
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<img src="docs/rm_vision.svg" alt="rm_vision" width="200" height="200">
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该项目为 [rm_vision](https://github.com/chenjunnn/rm_vision) 的子模块
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若有帮助请Star这个项目，感谢~
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### License
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The source code is released under a [MIT license](rm_auto_aim/LICENSE).
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[](https://opensource.org/licenses/MIT)
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Author: Chen Jun
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运行环境：Ubuntu 22.04 / ROS2 Humble (未在其他环境下测试)
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## Building from Source
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### Building
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在 Ubuntu 22.04 环境下安装 [ROS2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
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创建 ROS 工作空间后 clone 项目，使用 rosdep 安装依赖后编译代码
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cd ros_ws/src
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git clone https://github.com/chenjunnn/rm_auto_aim.git
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cd ..
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rosdep install --from-paths src --ignore-src -r -y
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colcon build --symlink-install --packages-up-to auto_aim_bringup
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### Testing
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Run the tests with
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colcon test --packages-up-to auto_aim_bringup
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## Packages
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- [armor_detector](armor_detector)
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订阅相机参数及图像流进行装甲板的识别并解算三维位置，输出识别到的装甲板在输入frame下的三维位置 (一般是以相机光心为原点的相机坐标系)
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- [armor_tracker](armor_tracker)
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订阅识别节点发布的装甲板三维位置及机器人的坐标转换信息，将装甲板三维位置变换到指定惯性系（一般是以云台中心为原点，IMU 上电时的 Yaw 朝向为 X 轴的惯性系）下，然后将装甲板目标送入跟踪器中，输出跟踪机器人在指定惯性系下的状态
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- auto_aim_interfaces
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定义了识别节点和处理节点的接口以及定义了用于 Debug 的信息
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- auto_aim_bringup
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包含启动识别节点和处理节点的默认参数文件及 launch 文件
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