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fyt2024_vision repository

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

ROS Distro
github

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
armor_detector 0.1.0
armor_solver 0.1.0
rm_auto_aim 0.0.0
rm_bringup 0.0.0
rm_camera_driver 0.0.0
rm_serial_driver 0.1.0
rm_interfaces 0.0.0
rm_robot_description 0.0.0
rm_rune 0.0.0
rune_detector 0.0.0
rune_solver 0.0.0
rm_utils 0.9.0

README

FYT2024 Vision Project

中南大学FYT战队24赛季视觉项目主仓库，该项目在原rm_vision项目上扩展了自瞄选板、能量机关识别与预测、哨兵定位、自主导航等功能，为RoboMaster机器人实现了一套通用的算法框架

一、项目结构

*表示不在本仓库中直接提供，这部分模块已在CSU-RM-Sentry开源

.
│
├── rm_bringup (启动及参数文件)
│
├── rm_robot_description (机器人urdf文件，坐标系的定义)
│
├── rm_interfaces (自定义msg、srv)
│
├── rm_hardware_driver
│   ├── livox_ros_driver2 (*Livox激光雷达驱动)
│   │
│   ├── rm_camera_driver (相机驱动)
│   │
│   └── rm_serial_driver (串口驱动)
│
├── rm_auto_aim (自瞄算法)
│
├── rm_rune (打符算法)
│
├── rm_localization (*定位算法)
│
├── rm_perception (*感知算法)
│
├── rm_navigation (*导航算法)
│
├── rm_decision (*自主决策算法)
│
├── rm_utils (工具包) 
│   ├── math (包括PnP解算、弹道补偿等)
│   │
│   └── logger (日志库)
│
└── rm_upstart (自启动配置)

二、环境

如果你不需要完整功能，可以直接把相关的功能包删除掉

1. 基础

  • Ubuntu 22.04
  • ROS2 Humble
  • 大恒相机驱动

2. 自瞄

  • fmt库
  sudo apt install libfmt-dev
  • Sophus库 (G2O库依赖)
   git clone https://github.com/strasdat/Sophus
   cd Sophus
   mkdir build && cd build
   cmake ..
   make -j
   sudo make install
  • G2O库 (优化装甲板Yaw角度)
    sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
    git clone https://github.com/RainerKuemmerle/g2o
    cd g2o
    mkdir build && cd build
    cmake ..
    make -j
    sudo make install

3. 能量机关

  • OpenVINO库 (能量机关识别)

    参考OpenVINO官方文档，建议同时安装GPU相关依赖

  • Ceres库 (能量机关曲线拟合)

    sudo apt install libceres-dev

4. 导航

    sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
  • PCL库 (导航时对点云的处理)

```

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

fyt2024_vision repository

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

ROS Distro
github

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
armor_detector 0.1.0
armor_solver 0.1.0
rm_auto_aim 0.0.0
rm_bringup 0.0.0
rm_camera_driver 0.0.0
rm_serial_driver 0.1.0
rm_interfaces 0.0.0
rm_robot_description 0.0.0
rm_rune 0.0.0
rune_detector 0.0.0
rune_solver 0.0.0
rm_utils 0.9.0

README

FYT2024 Vision Project

中南大学FYT战队24赛季视觉项目主仓库，该项目在原rm_vision项目上扩展了自瞄选板、能量机关识别与预测、哨兵定位、自主导航等功能，为RoboMaster机器人实现了一套通用的算法框架

一、项目结构

*表示不在本仓库中直接提供，这部分模块已在CSU-RM-Sentry开源

.
│
├── rm_bringup (启动及参数文件)
│
├── rm_robot_description (机器人urdf文件，坐标系的定义)
│
├── rm_interfaces (自定义msg、srv)
│
├── rm_hardware_driver
│   ├── livox_ros_driver2 (*Livox激光雷达驱动)
│   │
│   ├── rm_camera_driver (相机驱动)
│   │
│   └── rm_serial_driver (串口驱动)
│
├── rm_auto_aim (自瞄算法)
│
├── rm_rune (打符算法)
│
├── rm_localization (*定位算法)
│
├── rm_perception (*感知算法)
│
├── rm_navigation (*导航算法)
│
├── rm_decision (*自主决策算法)
│
├── rm_utils (工具包) 
│   ├── math (包括PnP解算、弹道补偿等)
│   │
│   └── logger (日志库)
│
└── rm_upstart (自启动配置)

二、环境

如果你不需要完整功能，可以直接把相关的功能包删除掉

1. 基础

  • Ubuntu 22.04
  • ROS2 Humble
  • 大恒相机驱动

2. 自瞄

  • fmt库
  sudo apt install libfmt-dev
  • Sophus库 (G2O库依赖)
   git clone https://github.com/strasdat/Sophus
   cd Sophus
   mkdir build && cd build
   cmake ..
   make -j
   sudo make install
  • G2O库 (优化装甲板Yaw角度)
    sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
    git clone https://github.com/RainerKuemmerle/g2o
    cd g2o
    mkdir build && cd build
    cmake ..
    make -j
    sudo make install

3. 能量机关

  • OpenVINO库 (能量机关识别)

    参考OpenVINO官方文档，建议同时安装GPU相关依赖

  • Ceres库 (能量机关曲线拟合)

    sudo apt install libceres-dev

4. 导航

    sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
  • PCL库 (导航时对点云的处理)

```

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

fyt2024_vision repository

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

ROS Distro
github

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
armor_detector 0.1.0
armor_solver 0.1.0
rm_auto_aim 0.0.0
rm_bringup 0.0.0
rm_camera_driver 0.0.0
rm_serial_driver 0.1.0
rm_interfaces 0.0.0
rm_robot_description 0.0.0
rm_rune 0.0.0
rune_detector 0.0.0
rune_solver 0.0.0
rm_utils 0.9.0

README

FYT2024 Vision Project

中南大学FYT战队24赛季视觉项目主仓库，该项目在原rm_vision项目上扩展了自瞄选板、能量机关识别与预测、哨兵定位、自主导航等功能，为RoboMaster机器人实现了一套通用的算法框架

一、项目结构

*表示不在本仓库中直接提供，这部分模块已在CSU-RM-Sentry开源

.
│
├── rm_bringup (启动及参数文件)
│
├── rm_robot_description (机器人urdf文件，坐标系的定义)
│
├── rm_interfaces (自定义msg、srv)
│
├── rm_hardware_driver
│   ├── livox_ros_driver2 (*Livox激光雷达驱动)
│   │
│   ├── rm_camera_driver (相机驱动)
│   │
│   └── rm_serial_driver (串口驱动)
│
├── rm_auto_aim (自瞄算法)
│
├── rm_rune (打符算法)
│
├── rm_localization (*定位算法)
│
├── rm_perception (*感知算法)
│
├── rm_navigation (*导航算法)
│
├── rm_decision (*自主决策算法)
│
├── rm_utils (工具包) 
│   ├── math (包括PnP解算、弹道补偿等)
│   │
│   └── logger (日志库)
│
└── rm_upstart (自启动配置)

二、环境

如果你不需要完整功能，可以直接把相关的功能包删除掉

1. 基础

  • Ubuntu 22.04
  • ROS2 Humble
  • 大恒相机驱动

2. 自瞄

  • fmt库
  sudo apt install libfmt-dev
  • Sophus库 (G2O库依赖)
   git clone https://github.com/strasdat/Sophus
   cd Sophus
   mkdir build && cd build
   cmake ..
   make -j
   sudo make install
  • G2O库 (优化装甲板Yaw角度)
    sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
    git clone https://github.com/RainerKuemmerle/g2o
    cd g2o
    mkdir build && cd build
    cmake ..
    make -j
    sudo make install

3. 能量机关

  • OpenVINO库 (能量机关识别)

    参考OpenVINO官方文档，建议同时安装GPU相关依赖

  • Ceres库 (能量机关曲线拟合)

    sudo apt install libceres-dev

4. 导航

    sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
  • PCL库 (导航时对点云的处理)

```

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

fyt2024_vision repository

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

ROS Distro
github

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
armor_detector 0.1.0
armor_solver 0.1.0
rm_auto_aim 0.0.0
rm_bringup 0.0.0
rm_camera_driver 0.0.0
rm_serial_driver 0.1.0
rm_interfaces 0.0.0
rm_robot_description 0.0.0
rm_rune 0.0.0
rune_detector 0.0.0
rune_solver 0.0.0
rm_utils 0.9.0

README

FYT2024 Vision Project

中南大学FYT战队24赛季视觉项目主仓库，该项目在原rm_vision项目上扩展了自瞄选板、能量机关识别与预测、哨兵定位、自主导航等功能，为RoboMaster机器人实现了一套通用的算法框架

一、项目结构

*表示不在本仓库中直接提供，这部分模块已在CSU-RM-Sentry开源

.
│
├── rm_bringup (启动及参数文件)
│
├── rm_robot_description (机器人urdf文件，坐标系的定义)
│
├── rm_interfaces (自定义msg、srv)
│
├── rm_hardware_driver
│   ├── livox_ros_driver2 (*Livox激光雷达驱动)
│   │
│   ├── rm_camera_driver (相机驱动)
│   │
│   └── rm_serial_driver (串口驱动)
│
├── rm_auto_aim (自瞄算法)
│
├── rm_rune (打符算法)
│
├── rm_localization (*定位算法)
│
├── rm_perception (*感知算法)
│
├── rm_navigation (*导航算法)
│
├── rm_decision (*自主决策算法)
│
├── rm_utils (工具包) 
│   ├── math (包括PnP解算、弹道补偿等)
│   │
│   └── logger (日志库)
│
└── rm_upstart (自启动配置)

二、环境

如果你不需要完整功能，可以直接把相关的功能包删除掉

1. 基础

  • Ubuntu 22.04
  • ROS2 Humble
  • 大恒相机驱动

2. 自瞄

  • fmt库
  sudo apt install libfmt-dev
  • Sophus库 (G2O库依赖)
   git clone https://github.com/strasdat/Sophus
   cd Sophus
   mkdir build && cd build
   cmake ..
   make -j
   sudo make install
  • G2O库 (优化装甲板Yaw角度)
    sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
    git clone https://github.com/RainerKuemmerle/g2o
    cd g2o
    mkdir build && cd build
    cmake ..
    make -j
    sudo make install

3. 能量机关

  • OpenVINO库 (能量机关识别)

    参考OpenVINO官方文档，建议同时安装GPU相关依赖

  • Ceres库 (能量机关曲线拟合)

    sudo apt install libceres-dev

4. 导航

    sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
  • PCL库 (导航时对点云的处理)

```

File truncated at 100 lines see the full file

CONTRIBUTING

Repo symbol

fyt2024_vision repository

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

ROS Distro
github

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
armor_detector 0.1.0
armor_solver 0.1.0
rm_auto_aim 0.0.0
rm_bringup 0.0.0
rm_camera_driver 0.0.0
rm_serial_driver 0.1.0
rm_interfaces 0.0.0
rm_robot_description 0.0.0
rm_rune 0.0.0
rune_detector 0.0.0
rune_solver 0.0.0
rm_utils 0.9.0

README

FYT2024 Vision Project

中南大学FYT战队24赛季视觉项目主仓库，该项目在原rm_vision项目上扩展了自瞄选板、能量机关识别与预测、哨兵定位、自主导航等功能，为RoboMaster机器人实现了一套通用的算法框架

一、项目结构

*表示不在本仓库中直接提供，这部分模块已在CSU-RM-Sentry开源

.
│
├── rm_bringup (启动及参数文件)
│
├── rm_robot_description (机器人urdf文件，坐标系的定义)
│
├── rm_interfaces (自定义msg、srv)
│
├── rm_hardware_driver
│   ├── livox_ros_driver2 (*Livox激光雷达驱动)
│   │
│   ├── rm_camera_driver (相机驱动)
│   │
│   └── rm_serial_driver (串口驱动)
│
├── rm_auto_aim (自瞄算法)
│
├── rm_rune (打符算法)
│
├── rm_localization (*定位算法)
│
├── rm_perception (*感知算法)
│
├── rm_navigation (*导航算法)
│
├── rm_decision (*自主决策算法)
│
├── rm_utils (工具包) 
│   ├── math (包括PnP解算、弹道补偿等)
│   │
│   └── logger (日志库)
│
└── rm_upstart (自启动配置)

二、环境

如果你不需要完整功能，可以直接把相关的功能包删除掉

1. 基础

  • Ubuntu 22.04
  • ROS2 Humble
  • 大恒相机驱动

2. 自瞄

  • fmt库
  sudo apt install libfmt-dev
  • Sophus库 (G2O库依赖)
   git clone https://github.com/strasdat/Sophus
   cd Sophus
   mkdir build && cd build
   cmake ..
   make -j
   sudo make install
  • G2O库 (优化装甲板Yaw角度)
    sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
    git clone https://github.com/RainerKuemmerle/g2o
    cd g2o
    mkdir build && cd build
    cmake ..
    make -j
    sudo make install

3. 能量机关

  • OpenVINO库 (能量机关识别)

    参考OpenVINO官方文档，建议同时安装GPU相关依赖

  • Ceres库 (能量机关曲线拟合)

    sudo apt install libceres-dev

4. 导航

    sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
  • PCL库 (导航时对点云的处理)

```

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

fyt2024_vision repository

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

ROS Distro
github

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
armor_detector 0.1.0
armor_solver 0.1.0
rm_auto_aim 0.0.0
rm_bringup 0.0.0
rm_camera_driver 0.0.0
rm_serial_driver 0.1.0
rm_interfaces 0.0.0
rm_robot_description 0.0.0
rm_rune 0.0.0
rune_detector 0.0.0
rune_solver 0.0.0
rm_utils 0.9.0

README

FYT2024 Vision Project

中南大学FYT战队24赛季视觉项目主仓库，该项目在原rm_vision项目上扩展了自瞄选板、能量机关识别与预测、哨兵定位、自主导航等功能，为RoboMaster机器人实现了一套通用的算法框架

一、项目结构

*表示不在本仓库中直接提供，这部分模块已在CSU-RM-Sentry开源

.
│
├── rm_bringup (启动及参数文件)
│
├── rm_robot_description (机器人urdf文件，坐标系的定义)
│
├── rm_interfaces (自定义msg、srv)
│
├── rm_hardware_driver
│   ├── livox_ros_driver2 (*Livox激光雷达驱动)
│   │
│   ├── rm_camera_driver (相机驱动)
│   │
│   └── rm_serial_driver (串口驱动)
│
├── rm_auto_aim (自瞄算法)
│
├── rm_rune (打符算法)
│
├── rm_localization (*定位算法)
│
├── rm_perception (*感知算法)
│
├── rm_navigation (*导航算法)
│
├── rm_decision (*自主决策算法)
│
├── rm_utils (工具包) 
│   ├── math (包括PnP解算、弹道补偿等)
│   │
│   └── logger (日志库)
│
└── rm_upstart (自启动配置)

二、环境

如果你不需要完整功能，可以直接把相关的功能包删除掉

1. 基础

  • Ubuntu 22.04
  • ROS2 Humble
  • 大恒相机驱动

2. 自瞄

  • fmt库
  sudo apt install libfmt-dev
  • Sophus库 (G2O库依赖)
   git clone https://github.com/strasdat/Sophus
   cd Sophus
   mkdir build && cd build
   cmake ..
   make -j
   sudo make install
  • G2O库 (优化装甲板Yaw角度)
    sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
    git clone https://github.com/RainerKuemmerle/g2o
    cd g2o
    mkdir build && cd build
    cmake ..
    make -j
    sudo make install

3. 能量机关

  • OpenVINO库 (能量机关识别)

    参考OpenVINO官方文档，建议同时安装GPU相关依赖

  • Ceres库 (能量机关曲线拟合)

    sudo apt install libceres-dev

4. 导航

    sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
  • PCL库 (导航时对点云的处理)

```

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

fyt2024_vision repository

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

ROS Distro
github

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
armor_detector 0.1.0
armor_solver 0.1.0
rm_auto_aim 0.0.0
rm_bringup 0.0.0
rm_camera_driver 0.0.0
rm_serial_driver 0.1.0
rm_interfaces 0.0.0
rm_robot_description 0.0.0
rm_rune 0.0.0
rune_detector 0.0.0
rune_solver 0.0.0
rm_utils 0.9.0

README

FYT2024 Vision Project

中南大学FYT战队24赛季视觉项目主仓库，该项目在原rm_vision项目上扩展了自瞄选板、能量机关识别与预测、哨兵定位、自主导航等功能，为RoboMaster机器人实现了一套通用的算法框架

一、项目结构

*表示不在本仓库中直接提供，这部分模块已在CSU-RM-Sentry开源

.
│
├── rm_bringup (启动及参数文件)
│
├── rm_robot_description (机器人urdf文件，坐标系的定义)
│
├── rm_interfaces (自定义msg、srv)
│
├── rm_hardware_driver
│   ├── livox_ros_driver2 (*Livox激光雷达驱动)
│   │
│   ├── rm_camera_driver (相机驱动)
│   │
│   └── rm_serial_driver (串口驱动)
│
├── rm_auto_aim (自瞄算法)
│
├── rm_rune (打符算法)
│
├── rm_localization (*定位算法)
│
├── rm_perception (*感知算法)
│
├── rm_navigation (*导航算法)
│
├── rm_decision (*自主决策算法)
│
├── rm_utils (工具包) 
│   ├── math (包括PnP解算、弹道补偿等)
│   │
│   └── logger (日志库)
│
└── rm_upstart (自启动配置)

二、环境

如果你不需要完整功能，可以直接把相关的功能包删除掉

1. 基础

  • Ubuntu 22.04
  • ROS2 Humble
  • 大恒相机驱动

2. 自瞄

  • fmt库
  sudo apt install libfmt-dev
  • Sophus库 (G2O库依赖)
   git clone https://github.com/strasdat/Sophus
   cd Sophus
   mkdir build && cd build
   cmake ..
   make -j
   sudo make install
  • G2O库 (优化装甲板Yaw角度)
    sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
    git clone https://github.com/RainerKuemmerle/g2o
    cd g2o
    mkdir build && cd build
    cmake ..
    make -j
    sudo make install

3. 能量机关

  • OpenVINO库 (能量机关识别)

    参考OpenVINO官方文档，建议同时安装GPU相关依赖

  • Ceres库 (能量机关曲线拟合)

    sudo apt install libceres-dev

4. 导航

    sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
  • PCL库 (导航时对点云的处理)

```

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

fyt2024_vision repository

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

ROS Distro
github

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
armor_detector 0.1.0
armor_solver 0.1.0
rm_auto_aim 0.0.0
rm_bringup 0.0.0
rm_camera_driver 0.0.0
rm_serial_driver 0.1.0
rm_interfaces 0.0.0
rm_robot_description 0.0.0
rm_rune 0.0.0
rune_detector 0.0.0
rune_solver 0.0.0
rm_utils 0.9.0

README

FYT2024 Vision Project

中南大学FYT战队24赛季视觉项目主仓库，该项目在原rm_vision项目上扩展了自瞄选板、能量机关识别与预测、哨兵定位、自主导航等功能，为RoboMaster机器人实现了一套通用的算法框架

一、项目结构

*表示不在本仓库中直接提供，这部分模块已在CSU-RM-Sentry开源

.
│
├── rm_bringup (启动及参数文件)
│
├── rm_robot_description (机器人urdf文件，坐标系的定义)
│
├── rm_interfaces (自定义msg、srv)
│
├── rm_hardware_driver
│   ├── livox_ros_driver2 (*Livox激光雷达驱动)
│   │
│   ├── rm_camera_driver (相机驱动)
│   │
│   └── rm_serial_driver (串口驱动)
│
├── rm_auto_aim (自瞄算法)
│
├── rm_rune (打符算法)
│
├── rm_localization (*定位算法)
│
├── rm_perception (*感知算法)
│
├── rm_navigation (*导航算法)
│
├── rm_decision (*自主决策算法)
│
├── rm_utils (工具包) 
│   ├── math (包括PnP解算、弹道补偿等)
│   │
│   └── logger (日志库)
│
└── rm_upstart (自启动配置)

二、环境

如果你不需要完整功能，可以直接把相关的功能包删除掉

1. 基础

  • Ubuntu 22.04
  • ROS2 Humble
  • 大恒相机驱动

2. 自瞄

  • fmt库
  sudo apt install libfmt-dev
  • Sophus库 (G2O库依赖)
   git clone https://github.com/strasdat/Sophus
   cd Sophus
   mkdir build && cd build
   cmake ..
   make -j
   sudo make install
  • G2O库 (优化装甲板Yaw角度)
    sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
    git clone https://github.com/RainerKuemmerle/g2o
    cd g2o
    mkdir build && cd build
    cmake ..
    make -j
    sudo make install

3. 能量机关

  • OpenVINO库 (能量机关识别)

    参考OpenVINO官方文档，建议同时安装GPU相关依赖

  • Ceres库 (能量机关曲线拟合)

    sudo apt install libceres-dev

4. 导航

    sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
  • PCL库 (导航时对点云的处理)

```

File truncated at 100 lines see the full file

CONTRIBUTING

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Repo symbol

fyt2024_vision repository

armor_detector armor_solver rm_auto_aim rm_bringup rm_camera_driver rm_serial_driver rm_interfaces rm_robot_description rm_rune rune_detector rune_solver rm_utils

ROS Distro
github

Repository Summary

Description 中南大学FYT战队RoboMaster24赛季视觉项目
Checkout URI https://github.com/csu-fyt-vision/fyt2024_vision.git
VCS Type git
VCS Version main
Last Updated 2024-08-27
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
armor_detector 0.1.0
armor_solver 0.1.0
rm_auto_aim 0.0.0
rm_bringup 0.0.0
rm_camera_driver 0.0.0
rm_serial_driver 0.1.0
rm_interfaces 0.0.0
rm_robot_description 0.0.0
rm_rune 0.0.0
rune_detector 0.0.0
rune_solver 0.0.0
rm_utils 0.9.0

README

FYT2024 Vision Project

中南大学FYT战队24赛季视觉项目主仓库，该项目在原rm_vision项目上扩展了自瞄选板、能量机关识别与预测、哨兵定位、自主导航等功能，为RoboMaster机器人实现了一套通用的算法框架

一、项目结构

*表示不在本仓库中直接提供，这部分模块已在CSU-RM-Sentry开源

.
│
├── rm_bringup (启动及参数文件)
│
├── rm_robot_description (机器人urdf文件，坐标系的定义)
│
├── rm_interfaces (自定义msg、srv)
│
├── rm_hardware_driver
│   ├── livox_ros_driver2 (*Livox激光雷达驱动)
│   │
│   ├── rm_camera_driver (相机驱动)
│   │
│   └── rm_serial_driver (串口驱动)
│
├── rm_auto_aim (自瞄算法)
│
├── rm_rune (打符算法)
│
├── rm_localization (*定位算法)
│
├── rm_perception (*感知算法)
│
├── rm_navigation (*导航算法)
│
├── rm_decision (*自主决策算法)
│
├── rm_utils (工具包) 
│   ├── math (包括PnP解算、弹道补偿等)
│   │
│   └── logger (日志库)
│
└── rm_upstart (自启动配置)

二、环境

如果你不需要完整功能，可以直接把相关的功能包删除掉

1. 基础

  • Ubuntu 22.04
  • ROS2 Humble
  • 大恒相机驱动

2. 自瞄

  • fmt库
  sudo apt install libfmt-dev
  • Sophus库 (G2O库依赖)
   git clone https://github.com/strasdat/Sophus
   cd Sophus
   mkdir build && cd build
   cmake ..
   make -j
   sudo make install
  • G2O库 (优化装甲板Yaw角度)
    sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
    git clone https://github.com/RainerKuemmerle/g2o
    cd g2o
    mkdir build && cd build
    cmake ..
    make -j
    sudo make install

3. 能量机关

  • OpenVINO库 (能量机关识别)

    参考OpenVINO官方文档，建议同时安装GPU相关依赖

  • Ceres库 (能量机关曲线拟合)

    sudo apt install libceres-dev

4. 导航

    sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
  • PCL库 (导航时对点云的处理)

```

File truncated at 100 lines see the full file

CONTRIBUTING