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fyt2024_vision repositoryarmor_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 |
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 |
| Tags | No category tags. |
| 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
-
Livox SDK2
-
Navigation2 (导航)
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
- PCL库 (导航时对点云的处理)
```
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CONTRIBUTING
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