From e0dcd91b0e126e8d9b77d85f0b28b08ab8457b5e Mon Sep 17 00:00:00 2001 From: Alexander Boccaccio Date: Fri, 21 Mar 2025 19:50:19 -0400 Subject: [PATCH 01/10] init working for CV Signed-off-by: Alexander Boccaccio --- .../road_detectors/obj_detector_cv.launch.py | 50 +++++++++++++++++++ phoenix_gazebo/launch/sim.launch.py | 4 +- .../include/oakd/dual_cameras.launch.py | 5 +- 3 files changed, 53 insertions(+), 6 deletions(-) create mode 100644 phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py diff --git a/phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py b/phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py new file mode 100644 index 0000000..57eb417 --- /dev/null +++ b/phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py @@ -0,0 +1,50 @@ +# MIT License +# +# Copyright (c) 2021 Intelligent Systems Club +# +# Permission is hereby granted, free of charge, to any person obtaining a copy +# of this software and associated documentation files (the "Software"), to deal +# in the Software without restriction, including without limitation the rights +# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +# copies of the Software, and to permit persons to whom the Software is +# furnished to do so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration + +from launch_ros.actions import Node + + +def generate_launch_description(): + # Launch arguments + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + det = Node( + package='obj_detector_cv', + executable='cv_subscriber', + name='cv_subscriber', + output='screen', + parameters=[{ + 'use_sim_time': use_sim_time, + }], ) + + return LaunchDescription([ + # Launch Arguments + DeclareLaunchArgument('use_sim_time', + default_value='true', + description='Use simulation clock if true'), + # Nodes + det, + ]) \ No newline at end of file diff --git a/phoenix_gazebo/launch/sim.launch.py b/phoenix_gazebo/launch/sim.launch.py index eeeaa67..18b3c79 100644 --- a/phoenix_gazebo/launch/sim.launch.py +++ b/phoenix_gazebo/launch/sim.launch.py @@ -83,7 +83,7 @@ def generate_launch_description(): poly_plan = IncludeLaunchDescription( PythonLaunchDescriptionSource([ os.path.join(pkg_phoenix_gazebo, 'launch'), - '/include/polynomial_planner/polynomial_planner.launch.py' + '/include/polynomial_planner/polynomial_planner_ai.launch.py' ]), launch_arguments={ 'use_sim_time': use_sim_time, @@ -116,7 +116,7 @@ def generate_launch_description(): DeclareLaunchArgument( 'use_ai', - default_value='true', + default_value='false', description='Uses the AI stack if true'), # Nodes diff --git a/phoenix_robot/launch/include/oakd/dual_cameras.launch.py b/phoenix_robot/launch/include/oakd/dual_cameras.launch.py index e40061c..9508ebf 100644 --- a/phoenix_robot/launch/include/oakd/dual_cameras.launch.py +++ b/phoenix_robot/launch/include/oakd/dual_cameras.launch.py @@ -19,10 +19,7 @@ def generate_launch_description(): cameral = GroupAction( actions=[ # Topic remaps - SetRemap('/oakl/stereo/image_raw', '/camera/left/depth'), - SetRemap('/oakl/stereo/camera_info', '/camera/left/depth/camera_info'), - SetRemap('/oakl/stereo/image_raw/compressed', '/camera/left/depth/compressed'), - SetRemap('/oakl/rgb/image_raw', '/camera/left/rgb'), + SetRemap('/oakl/sIncludeLaunchDescriptiongb/image_raw', '/camera/left/rgb'), SetRemap('/oakl/rgb/image_raw/compressed', '/camera/left/rgb/compressed'), SetRemap('/oakl/rgb/image_raw/theora', '/camera/left/rgb/compressed/theora'), SetRemap('/oakl/rgb/camera_info', '/camera/left/rgb/camera_info'), From 54fe2c14b5a3ebeb4899955eeed0b98b6e63c3eb Mon Sep 17 00:00:00 2001 From: Alexander Boccaccio Date: Sat, 22 Mar 2025 15:08:19 -0400 Subject: [PATCH 02/10] update Signed-off-by: Alexander Boccaccio --- phoenix_description/rviz/phoenix_gazebo.rviz | 59 +++++++++++++++----- 1 file changed, 44 insertions(+), 15 deletions(-) diff --git a/phoenix_description/rviz/phoenix_gazebo.rviz b/phoenix_description/rviz/phoenix_gazebo.rviz index 5a28622..5a15618 100644 --- a/phoenix_description/rviz/phoenix_gazebo.rviz +++ b/phoenix_description/rviz/phoenix_gazebo.rviz @@ -8,8 +8,9 @@ Panels: - /Status1 - /RobotModel1 - /Image1 + - /Path1 Splitter Ratio: 0.5 - Tree Height: 401 + Tree Height: 651 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -212,7 +213,7 @@ Visualization Manager: Update Interval: 0 Value: true - Class: rviz_default_plugins/Image - Enabled: true + Enabled: false Max Value: 1 Median window: 5 Min Value: 0 @@ -224,9 +225,9 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /camera/mid/rgb - Value: true + Value: false - Class: rviz_default_plugins/Image - Enabled: true + Enabled: false Max Value: 1 Median window: 5 Min Value: 0 @@ -238,12 +239,12 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /camera/mid/depth - Value: true + Value: false - Class: rviz_default_plugins/Marker Enabled: true Name: Marker Namespaces: - {} + hybrid_pp_ns: true Topic: Depth: 5 Durability Policy: Volatile @@ -256,7 +257,7 @@ Visualization Manager: Enabled: true Name: Marker Namespaces: - {} + hybrid_pp_ns: true Topic: Depth: 5 Durability Policy: Volatile @@ -269,7 +270,7 @@ Visualization Manager: Enabled: true Name: Marker Namespaces: - {} + hybrid_pp_ns: true Topic: Depth: 5 Durability Policy: Volatile @@ -282,7 +283,7 @@ Visualization Manager: Enabled: true Name: Marker Namespaces: - {} + hybrid_pp_ns: true Topic: Depth: 5 Durability Policy: Volatile @@ -295,7 +296,7 @@ Visualization Manager: Enabled: true Name: Marker Namespaces: - {} + hybrid_pp_ns: true Topic: Depth: 5 Durability Policy: Volatile @@ -379,6 +380,34 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /path + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -448,12 +477,12 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 1139 + Height: 1007 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Time: @@ -462,6 +491,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1272 - X: 0 - Y: 31 + Width: 960 + X: 960 + Y: 0 From 6a66fb3ae3126c9962fedc614b8777f748ca7f5f Mon Sep 17 00:00:00 2001 From: Jared Wensley Date: Sat, 5 Apr 2025 18:57:01 -0400 Subject: [PATCH 03/10] Changed launch package to correct name --- phoenix_robot/launch/common.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/phoenix_robot/launch/common.launch.py b/phoenix_robot/launch/common.launch.py index d985def..522aef0 100644 --- a/phoenix_robot/launch/common.launch.py +++ b/phoenix_robot/launch/common.launch.py @@ -127,7 +127,7 @@ def generate_launch_description(): poly_plan = IncludeLaunchDescription( PythonLaunchDescriptionSource([ os.path.join(pkg_phoenix_gazebo, 'launch'), - '/include/polynomial_planner/polynomial_planner.launch.py' + '/include/polynomial_planner/polynomial_planner_ai.launch.py' ]), launch_arguments={ 'use_sim_time': use_sim_time, From 8159ff703068a3021e1395ca4dbf548c345f37ae Mon Sep 17 00:00:00 2001 From: = <=> Date: Mon, 7 Apr 2025 01:37:16 -0400 Subject: [PATCH 04/10] updated rviz wiht path Signed-off-by: = <=> --- phoenix_description/rviz/phoenix_gazebo.rviz | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/phoenix_description/rviz/phoenix_gazebo.rviz b/phoenix_description/rviz/phoenix_gazebo.rviz index 5a15618..de48e03 100644 --- a/phoenix_description/rviz/phoenix_gazebo.rviz +++ b/phoenix_description/rviz/phoenix_gazebo.rviz @@ -454,25 +454,25 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 11.105507850646973 + Distance: 13.665250778198242 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: 1.163252353668213 + Y: -0.00572587177157402 + Z: 1.543514370918274 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5847974419593811 + Pitch: 0.7747976779937744 Target Frame: Value: Orbit (rviz) - Yaw: 3.0503923892974854 + Yaw: 3.1654276847839355 Saved: ~ Window Geometry: Displays: @@ -482,7 +482,11 @@ Window Geometry: Hide Right Dock: true Image: collapsed: false +<<<<<<< Updated upstream QMainWindow State: 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+======= + QMainWindow State: 000000ff00000000fd0000000400000000000001830000032ffc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004c0000032f000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000239000001050000002e01000003fb0000000a0049006d0061006700650000000323000000580000002e01000003fb0000000a0049006d0061006700650100000213000000990000000000000000fb0000000a0049006d0061006700650100000232000000bb0000000000000000000000010000011000000492fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004c00000492000000d301000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003c00000004cfc0100000002fb0000000800540069006d00650100000000000003c0000002bd01000003fb0000000800540069006d006501000000000000045000000000000000000000023c0000032f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 +>>>>>>> Stashed changes Selection: collapsed: false Time: @@ -492,5 +496,9 @@ Window Geometry: Views: collapsed: true Width: 960 +<<<<<<< Updated upstream X: 960 +======= + X: 2880 +>>>>>>> Stashed changes Y: 0 From 2ddcc191ffaffc04c3942d61c4220ac892423bc2 Mon Sep 17 00:00:00 2001 From: Derek Servin <145138732+Derek-Servin@users.noreply.github.com> Date: Tue, 8 Apr 2025 15:54:07 -0400 Subject: [PATCH 05/10] Update Phoenix2.proto to reflect IRL Moved Lidar and white bumper from view Signed-off-by: Derek Servin <145138732+Derek-Servin@users.noreply.github.com> --- .../webots_project/protos/Phoenix2.proto | 62 ++++++++++++------- 1 file changed, 38 insertions(+), 24 deletions(-) diff --git a/phoenix_gazebo/webots_project/protos/Phoenix2.proto b/phoenix_gazebo/webots_project/protos/Phoenix2.proto index 1cf0e06..859a86c 100755 --- a/phoenix_gazebo/webots_project/protos/Phoenix2.proto +++ b/phoenix_gazebo/webots_project/protos/Phoenix2.proto @@ -12,7 +12,7 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/released/proje PROTO Phoenix2 [ field SFVec3f translation 0 0 0 field SFRotation rotation 0 0 1 0 - field SFString name "Phoenix" # Is PHOENIX V2 By Derek Servin + field SFString name "Phoenix" # Is Phoenix2 By Derek Servin field SFString controller "" # Is `Robot.controller`. field MFString controllerArgs [] # Is `Robot.controllerArgs`. field SFBool supervisor FALSE # Is `Robot.supervisor`. @@ -145,7 +145,7 @@ PROTO Phoenix2 [ # Lidar Solid { - translation 1.40000 0.000000 0.250000 + translation 1.2 -0.01 0.25 #1.40000 0.000000 0.250000 children [ SickS300 { enablePhysics FALSE noise 0.05 } ] @@ -191,17 +191,24 @@ PROTO Phoenix2 [ ] } } - DEF Blackstruct Shape { - appearance PBRAppearance { - baseColor 0 0 0 - roughness 0.2 - metalness 0.5 - } - geometry Mesh { - url [ - "../../models/phoenix_elements/phoenix_3Dmodel__blackStructure.obj" - ] - } + DEF Blackstruct Transform { + translation 0 0.04 0 + scale 1 0.9 1 + children [ + DEF Blackstruct Shape { + appearance PBRAppearance { + baseColor 0 0 0 + roughness 0.2 + metalness 0.5 + } + geometry Mesh { + url [ + "/home/derek/Phoenix_ws/src/Phoenix/phoenix_gazebo/models/phoenix_elements/phoenix_3Dmodel__blackStructure.obj" + ] + } + castShadows FALSE + } + ] } DEF RRBumper Shape { appearance PBRAppearance { @@ -216,18 +223,25 @@ PROTO Phoenix2 [ } } Pose { - translation 0 0.04 0 + translation 0 0.04 -0.14 children [ - DEF FRBumper Shape { - appearance PBRAppearance { - roughness 1 - metalness 0 - } - geometry Mesh { - url [ - "../../models/phoenix_elements/phoenix_3Dmodel__frontBumper.obj" - ] - } + Transform { + translation 0 0 0.41 + scale 1 0.8 0.6 + children [ + DEF FRBumper Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Mesh { + url [ + "/home/derek/Phoenix_ws/src/Phoenix/phoenix_gazebo/models/phoenix_elements/phoenix_3Dmodel__frontBumper.obj" + ] + } + castShadows FALSE + } + ] } ] translationStep 0.02 From f47bfc3d3c14727f4892bc1827e6d8caaa11e06b Mon Sep 17 00:00:00 2001 From: Jared Wensley Date: Wed, 9 Apr 2025 16:12:46 -0400 Subject: [PATCH 06/10] adjusted rviz --- phoenix_description/rviz/phoenix_gazebo.rviz | 79 ++++++-------------- 1 file changed, 21 insertions(+), 58 deletions(-) diff --git a/phoenix_description/rviz/phoenix_gazebo.rviz b/phoenix_description/rviz/phoenix_gazebo.rviz index de48e03..5a28622 100644 --- a/phoenix_description/rviz/phoenix_gazebo.rviz +++ b/phoenix_description/rviz/phoenix_gazebo.rviz @@ -8,9 +8,8 @@ Panels: - /Status1 - /RobotModel1 - /Image1 - - /Path1 Splitter Ratio: 0.5 - Tree Height: 651 + Tree Height: 401 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -213,7 +212,7 @@ Visualization Manager: Update Interval: 0 Value: true - Class: rviz_default_plugins/Image - Enabled: false + Enabled: true Max Value: 1 Median window: 5 Min Value: 0 @@ -225,9 +224,9 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /camera/mid/rgb - Value: false + Value: true - Class: rviz_default_plugins/Image - Enabled: false + Enabled: true Max Value: 1 Median window: 5 Min Value: 0 @@ -239,12 +238,12 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /camera/mid/depth - Value: false + Value: true - Class: rviz_default_plugins/Marker Enabled: true Name: Marker Namespaces: - hybrid_pp_ns: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -257,7 +256,7 @@ Visualization Manager: Enabled: true Name: Marker Namespaces: - hybrid_pp_ns: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -270,7 +269,7 @@ Visualization Manager: Enabled: true Name: Marker Namespaces: - hybrid_pp_ns: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -283,7 +282,7 @@ Visualization Manager: Enabled: true Name: Marker Namespaces: - hybrid_pp_ns: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -296,7 +295,7 @@ Visualization Manager: Enabled: true Name: Marker Namespaces: - hybrid_pp_ns: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -380,34 +379,6 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz_default_plugins/Path - Color: 25; 255; 255 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: Path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /path - Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -454,39 +425,35 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 13.665250778198242 + Distance: 11.105507850646973 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 1.163252353668213 - Y: -0.00572587177157402 - Z: 1.543514370918274 + X: 0 + Y: 0 + Z: 0 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.7747976779937744 + Pitch: 0.5847974419593811 Target Frame: Value: Orbit (rviz) - Yaw: 3.1654276847839355 + Yaw: 3.0503923892974854 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1007 + Height: 1139 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false -<<<<<<< Updated upstream - QMainWindow State: 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-======= - QMainWindow State: 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->>>>>>> Stashed changes + QMainWindow State: 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Selection: collapsed: false Time: @@ -495,10 +462,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 960 -<<<<<<< Updated upstream - X: 960 -======= - X: 2880 ->>>>>>> Stashed changes - Y: 0 + Width: 1272 + X: 0 + Y: 31 From 0f88f111318475ba6057697eabee57185534dc8e Mon Sep 17 00:00:00 2001 From: Alexander Boccaccio Date: Thu, 24 Apr 2025 19:37:26 -0400 Subject: [PATCH 07/10] remove lidar test --- phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py | 2 +- .../launch/include/sensor_processor/sensor_processor.launch.py | 3 --- phoenix_gazebo/launch/sim.launch.py | 2 +- 3 files changed, 2 insertions(+), 5 deletions(-) diff --git a/phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py b/phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py index d87c7bc..e8ccf63 100644 --- a/phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py +++ b/phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py @@ -81,7 +81,7 @@ def generate_launch_description(): default_value='4.0', description='Maximum speed'), DeclareLaunchArgument('min_speed', - default_value='0.5', + default_value='1.0', description='Minimum speed'), DeclareLaunchArgument('avoidance_radius', default_value='2.0', diff --git a/phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py b/phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py index c0e5c52..fd7d03e 100644 --- a/phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py +++ b/phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py @@ -37,9 +37,6 @@ def generate_launch_description(): executable='sensor_processor', name='sensor_processor', output='screen', - remappings=[ - ('/lidar/filtered_scan', '/scan'), - ], parameters=[{ 'use_sim_time': use_sim_time }]) diff --git a/phoenix_gazebo/launch/sim.launch.py b/phoenix_gazebo/launch/sim.launch.py index 18b3c79..8af0db8 100644 --- a/phoenix_gazebo/launch/sim.launch.py +++ b/phoenix_gazebo/launch/sim.launch.py @@ -116,7 +116,7 @@ def generate_launch_description(): DeclareLaunchArgument( 'use_ai', - default_value='false', + default_value='true', description='Uses the AI stack if true'), # Nodes From 01fd2e38f7a658eb71bfc6ff260a598cfcf4a75b Mon Sep 17 00:00:00 2001 From: Alexander Boccaccio Date: Thu, 24 Apr 2025 20:00:39 -0400 Subject: [PATCH 08/10] minor change --- phoenix_robot/launch/common.launch.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/phoenix_robot/launch/common.launch.py b/phoenix_robot/launch/common.launch.py index 522aef0..4675c64 100644 --- a/phoenix_robot/launch/common.launch.py +++ b/phoenix_robot/launch/common.launch.py @@ -16,7 +16,7 @@ def generate_launch_description(): pkg_phoenix_robot = get_package_share_directory('phoenix_robot') pkg_robot_state_controller = get_package_share_directory( 'robot_state_controller') - pkg_isc_sick = get_package_share_directory('ros2_sick') + # pkg_isc_sick = get_package_share_directory('ros2_sick') # Launch arguments drive_mode_switch_button = LaunchConfiguration( @@ -67,7 +67,7 @@ def generate_launch_description(): ]), launch_arguments={ 'use_sim_time': use_sim_time, - 'config_file': PathJoinSubstitution([pkg_phoenix_robot, 'config', 'ros2_sick', 'sick_lms111.yaml']) + 'config_file': PathJoinSubstitution([pkg_phoenix_robot, 'config' ]) # , 'ros2_sick', 'sick_lms111.yaml']) }.items(), ) From 65a714bc10bc6a5835919de9037c0348268b0bea Mon Sep 17 00:00:00 2001 From: Alexander Boccaccio Date: Thu, 24 Apr 2025 20:10:58 -0400 Subject: [PATCH 09/10] sending to kart --- phoenix_robot/launch/common.launch.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/phoenix_robot/launch/common.launch.py b/phoenix_robot/launch/common.launch.py index 4675c64..1bd3025 100644 --- a/phoenix_robot/launch/common.launch.py +++ b/phoenix_robot/launch/common.launch.py @@ -16,7 +16,7 @@ def generate_launch_description(): pkg_phoenix_robot = get_package_share_directory('phoenix_robot') pkg_robot_state_controller = get_package_share_directory( 'robot_state_controller') - # pkg_isc_sick = get_package_share_directory('ros2_sick') + pkg_isc_sick = get_package_share_directory('ros2_sick') # Launch arguments drive_mode_switch_button = LaunchConfiguration( @@ -156,7 +156,6 @@ def generate_launch_description(): state_publishers, ekf, camera, - sick, pir, pp, obj_detector_ai, From d6877b426c5de3d89f205d8d970cc4e5725e66dc Mon Sep 17 00:00:00 2001 From: Jared Wensley Date: Fri, 9 May 2025 16:14:43 -0400 Subject: [PATCH 10/10] use CV stack by default. not AI --- phoenix_gazebo/launch/sim.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/phoenix_gazebo/launch/sim.launch.py b/phoenix_gazebo/launch/sim.launch.py index 8af0db8..18b3c79 100644 --- a/phoenix_gazebo/launch/sim.launch.py +++ b/phoenix_gazebo/launch/sim.launch.py @@ -116,7 +116,7 @@ def generate_launch_description(): DeclareLaunchArgument( 'use_ai', - default_value='true', + default_value='false', description='Uses the AI stack if true'), # Nodes