From ae5e38ecdeedcf41eba14f94feacb2a6b18c51f2 Mon Sep 17 00:00:00 2001 From: nathan-gt Date: Sat, 22 Jun 2024 08:52:37 -0400 Subject: [PATCH 1/2] broken a bit but hey --- src/rove_zed/config/zed_body_trck.yaml | 2 +- src/rove_zed/launch/zed_body_trck.launch.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/rove_zed/config/zed_body_trck.yaml b/src/rove_zed/config/zed_body_trck.yaml index e421a25..cd62cfa 100644 --- a/src/rove_zed/config/zed_body_trck.yaml +++ b/src/rove_zed/config/zed_body_trck.yaml @@ -7,7 +7,7 @@ body_format: "BODY_18" # 'BODY_18','BODY_34','BODY_38','BODY_70' allow_reduced_precision_inference: false # Allow inference to run at a lower precision to improve runtime and memory usage max_range: 20.0 # [m] Defines a upper depth range for detections - body_kp_selection: "UPPER_BODY" # 'FULL', 'UPPER_BODY' + body_kp_selection: "FULL" # 'FULL', 'UPPER_BODY' enable_body_fitting: false # Defines if the body fitting will be applied enable_tracking: true # Defines if the object detection will track objects across images flow prediction_timeout_s: 3.0 # During this time [sec], the skeleton will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions diff --git a/src/rove_zed/launch/zed_body_trck.launch.py b/src/rove_zed/launch/zed_body_trck.launch.py index 657b8a9..f3c050b 100644 --- a/src/rove_zed/launch/zed_body_trck.launch.py +++ b/src/rove_zed/launch/zed_body_trck.launch.py @@ -8,7 +8,7 @@ def generate_launch_description(): - camera_model = 'zedm' + camera_model = 'zed2i' pkg_zed_wrapper = get_package_share_directory('zed_wrapper') launch_file_path = os.path.join(pkg_zed_wrapper, 'launch', 'zed_camera.launch.py') From b85029ebce6364e05ebee684a1c412354b938b2c Mon Sep 17 00:00:00 2001 From: nathan-gt Date: Sun, 23 Jun 2024 09:42:53 -0400 Subject: [PATCH 2/2] Implemented pose tracking to vcs and adapted launch file for zed_body_trck --- rove.repos | 4 ++++ src/rove_zed/launch/zed_body_trck.launch.py | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/rove.repos b/rove.repos index c628c9d..8eb12b9 100644 --- a/rove.repos +++ b/rove.repos @@ -1,4 +1,8 @@ repositories: + capra_pose_tracking: + type: git + url: https://github.com/clubcapra/capra-pose-tracking + version: master ovis_ros2: type: git url: https://github.com/clubcapra/ovis_ros2 diff --git a/src/rove_zed/launch/zed_body_trck.launch.py b/src/rove_zed/launch/zed_body_trck.launch.py index f3c050b..e452a81 100644 --- a/src/rove_zed/launch/zed_body_trck.launch.py +++ b/src/rove_zed/launch/zed_body_trck.launch.py @@ -22,7 +22,7 @@ def generate_launch_description(): launch_description_source=launch_file_path, launch_arguments=[ # `ros2 launch rove_zed zed_body_trck.launch.py --show-arguments` ['camera_model', camera_model], - ['camera_name', camera_model], + ['camera_name', 'zed'], ['ros_params_override_path', config_override_path] ] )