forked from Hshine/RM_Vison
48 lines
901 B
YAML
48 lines
901 B
YAML
|
/camera_node:
|
||
|
|
ros__parameters:
|
||
|
|
camera_info_url: package://rm_vision_bringup/config/camera_info.yaml
|
||
|
|
exposure_time: 2500
|
||
|
|
gain: 8.0
|
||
|
|
|
||
|
|
/serial_driver:
|
||
|
|
ros__parameters:
|
||
|
|
timestamp_offset: 0.006
|
||
|
|
device_name: /dev/ttyACM0
|
||
|
|
baud_rate: 115200
|
||
|
|
flow_control: none
|
||
|
|
parity: none
|
||
|
|
stop_bits: "1"
|
||
|
|
|
||
|
|
/armor_detector:
|
||
|
|
ros__parameters:
|
||
|
|
debug: false
|
||
|
|
|
||
|
|
detect_color: 0
|
||
|
|
binary_thres: 80
|
||
|
|
|
||
|
|
light.min_ratio: 0.1
|
||
|
|
armor.min_light_ratio: 0.75
|
||
|
|
|
||
|
|
classifier_threshold: 0.8
|
||
|
|
ignore_classes: ["negative","outpost"]
|
||
|
|
|
||
|
|
/armor_tracker:
|
||
|
|
ros__parameters:
|
||
|
|
target_frame: odom
|
||
|
|
max_armor_distance: 10.0
|
||
|
|
|
||
|
|
ekf:
|
||
|
|
sigma2_q_xyz: 0.05 #0.01
|
||
|
|
sigma2_q_yaw: 5.0 #1.0
|
||
|
|
sigma2_q_r: 80.0
|
||
|
|
|
||
|
|
r_xyz_factor: 4e-4
|
||
|
|
r_yaw: 5e-3
|
||
|
|
|
||
|
|
tracker:
|
||
|
|
max_match_distance: 0.25
|
||
|
|
max_match_yaw_diff: 0.85
|
||
|
|
|
||
|
|
tracking_thres: 5
|
||
|
|
lost_time_thres: 1.0
|