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noticebancgazethomas [2019/02/08 13:25] (Version actuelle)
jcombier créée
Ligne 1: Ligne 1:
 +=====Utilisation Ros de Thomas: notice et remarques en fin de stage (août 2018)=====
  
 +compilation de tous les noeuds
 +  cd /​home/​tdedieu/​catkin_ws/​
 +  catkin_make
 +
 +noeud camera:
 +  roscd ueye_cam/
 +pour banc stereo + camera scene
 +  roslaunch ueye_cam master_slaves_tdedieu.launch
 +ou pour  camera scene seule
 +  roslaunch ueye_cam master_slaves_rgb8.launch
 +
 +  rostopic list
 +<file txt listtopic.txt>​
 +/rosout
 +/rosout_agg
 +/​scene/​camera_info
 +/​scene/​image_raw
 +/​scene/​image_raw/​compressed
 +/​scene/​image_raw/​compressed/​parameter_descriptions
 +/​scene/​image_raw/​compressed/​parameter_updates
 +/​scene/​image_raw/​compressedDepth
 +/​scene/​image_raw/​compressedDepth/​parameter_descriptions
 +/​scene/​image_raw/​compressedDepth/​parameter_updates
 +/​scene/​image_raw/​theora
 +/​scene/​image_raw/​theora/​parameter_descriptions
 +/​scene/​image_raw/​theora/​parameter_updates
 +/​stereo/​left/​camera_info
 +/​stereo/​left/​image_raw
 +/​stereo/​left/​image_raw/​compressed
 +/​stereo/​left/​image_raw/​compressed/​parameter_descriptions
 +/​stereo/​left/​image_raw/​compressed/​parameter_updates
 +/​stereo/​left/​image_raw/​compressedDepth
 +/​stereo/​left/​image_raw/​compressedDepth/​parameter_descriptions
 +/​stereo/​left/​image_raw/​compressedDepth/​parameter_updates
 +/​stereo/​left/​image_raw/​theora
 +/​stereo/​left/​image_raw/​theora/​parameter_descriptions
 +/​stereo/​left/​image_raw/​theora/​parameter_updates
 +/​stereo/​right/​camera_info
 +/​stereo/​right/​image_raw
 +/​stereo/​right/​image_raw/​compressed
 +/​stereo/​right/​image_raw/​compressed/​parameter_descriptions
 +/​stereo/​right/​image_raw/​compressed/​parameter_updates
 +/​stereo/​right/​image_raw/​compressedDepth
 +/​stereo/​right/​image_raw/​compressedDepth/​parameter_descriptions
 +/​stereo/​right/​image_raw/​compressedDepth/​parameter_updates
 +/​stereo/​right/​image_raw/​theora
 +/​stereo/​right/​image_raw/​theora/​parameter_descriptions
 +/​stereo/​right/​image_raw/​theora/​parameter_updates
 +/​ueye_cam_nodelet_left/​parameter_descriptions
 +/​ueye_cam_nodelet_left/​parameter_updates
 +/​ueye_cam_nodelet_right/​parameter_descriptions
 +/​ueye_cam_nodelet_right/​parameter_updates
 +/​ueye_cam_nodelet_scene/​parameter_descriptions
 +/​ueye_cam_nodelet_scene/​parameter_updates
 +</​file>​
 +
 +pour visualiser /​scene/​image_raw
 +  roslaunch ueye_cam view_scene.launch ​
 +  roslaunch ueye_cam view_stereo.launch  ​
 +  roslaunch ueye_cam view_me.launch ​
 +
 +
 +roscd eye_tracker/​
 +pwd
 +  /​home/​tdedieu/​catkin_ws/​src/​eye_tracker
 +
 +  roslaunch eye_tracker eye_tracker_dedieu_stereo.launch ​
 + 
 +  cd src/
 +  atom eye_tracker_nodelet.cpp &
 +
 +
 +
 +eye_tracker echoue si image trop sombre: augmenter la duree d'​exposition et/ou baisser le frame rate dans le script launch:
 +  master_slaves_tdedieu.launch
 +    <param name="​exposure"​ type="​double"​ value="​100.0"​ />
 +  <param name="​frame_rate"​ type="​double"​ value="​30.0"​ /> <!-- frame rate settings are ignored in camera_ext_trigger_mode -->
 +  ​
 +
 +pour visualiser les ellipses extraites
 +   ​roslaunch eye_tracker view_pupils.launch
 +
 +
 +pour detection des tags:
 +  roslaunch camera_scene_detection scene.launch
 + roscd camera_scene_detection/​
 +
 +  cd src/  ​
 +  atom camera_scene_detection_nodelet.cpp &
 +
 +
 +
 +noeud optimisation stereo: (dans le paquet eye_tracker)
 +eye_tracker ->​MainTriangulatePupils
 +les messages pupilles sont connus grace a import pupil2D as p2d
 +definis dans  /​home/​tdedieu/​catkin_ws/​src/​eye_tracker/​msg/​Pupil_2D.msg
 +
 +
 +actuellement le noeuds attend 1 message par camera ->​probleme de synchro -> il faudra faire un nodelets qui recupere les pixels candidats pour les 2 cameras et les met dans un seul message.
 +
 +  roslaunch eye_tracker eye_tracker_dedieu_stereo.launch ​
 +et 
 +  roslaunch eye_tracker tri_eye_tracker_stereo.launch
 +
 +pour la synchronisation des messages:
 +  ajouter en sudo nano /​opt/​ros/​kinetic/​lib/​python2.7/​dist-packages/​message_filters/​__init__.py
 +
 +<file txt __init__.py>​
 +"""​
 +Message Filter Objects
 +======================
 +"""​
 +
 +
 +from functools import reduce
 +</​file>​
 +
 +
 +
 +=====catkin=====
 +workspace dans /​mnt/​share/​catkin_ws/​
 +mais envv | grep catkin
 +  ROS_PACKAGE_PATH=/​opt/​ros/​kinetic/​share:/​home/​bvandepo/​catkin_ws/​
 +  LD_LIBRARY_PATH=/​home/​bvandepo/​catkin_ws/​devel/​lib:/​opt/​ros/​hydro/​lib:/​opt/​ros/​kinetic/​lib/​x86_64-linux-gnu:/​home/​bvandepo/​openrobots/​lib/​gearbox
 +  CATKIN_TEST_RESULTS_DIR=/​home/​bvandepo/​catkin_ws/​build/​test_results
 +  CPATH=/​home/​bvandepo/​catkin_ws/​devel/​include:/​opt/​ros/​hydro/​include
 +  ROS_TEST_RESULTS_DIR=/​home/​bvandepo/​catkin_ws/​build/​test_results
 +  PATH=/​home/​bvandepo/​catkin_ws/​devel/​bin:/​opt/​ros/​hydro/​bin:/​usr/​local/​matlab/​bin:/​home/​bvandepo/​bin:/​usr/​local/​bin:/​usr/​local/​sbin:/​usr/​local/​bin:/​usr/​sbin:/​usr/​bin:/​sbin:/​bin:/​usr/​games:/​usr/​local/​games:/​snap/​bin:​.:/​usr/​local/​X11_Contrib/​bin/​unknown:/​home/​bvandepo/​scripts/:/​home/​bvandepo/​openrobots/​bin:/​home/​bvandepo/​scripts
 +  PYTHONPATH=/​home/​bvandepo/​catkin_ws/​devel/​lib/​python2.7/​dist-packages:/​opt/​ros/​hydro/​lib/​python2.7/​dist-packages
 +  PKG_CONFIG_PATH=/​home/​bvandepo/​catkin_ws/​devel/​lib/​pkgconfig:/​opt/​ros/​hydro/​lib/​pkgconfig:/​opt/​ros/​kinetic/​lib/​x86_64-linux-gnu/​pkgconfig
 +  CMAKE_PREFIX_PATH=/​home/​bvandepo/​catkin_ws/​devel:/​opt/​ros/​hydro
 +
 +
 +Il faut faire overlay
 +http://​wiki.ros.org/​catkin/​Tutorials/​workspace_overlaying
noticebancgazethomas.txt · Dernière modification: 2019/02/08 13:25 par jcombier