rs_v4r

A RoboSherlock package managing the HSRB's perception for v4r

Dependencies

The src folder of your catkin workspace must contain the following packages:

• RoboSherlock (Suturo fork): https://github.com/Suturo1819/robosherlock
• Suturo Msgs: https://github.com/Suturo1819/suturo_msgs

Furthermore, you have to install RoboSherlock before building this package. To do so, follow the installation instructions from RoboSherlock

Setup

• Clone this repository to the src folder of your workspace
• Open a terminal in your workspace folder and use catkin build (do NOT use catkin_make)
• Source your workspace

Run

• In your sourced workspace folder, type rosrun robosherlock run _ae:=v4r_pipeline _vis:=true
  • The _vis tag is optional, if you like to see what the robot sees on your machine
  • The _ae tag however is crucial. It specifies the pipeline processing the vision. Use hsrb as ae
• Sit back, relax and enjoy your view being processed. The infos are published as ObjectDetectionData on the topic /suturo_perception/object_detection