This package is based on ROS-melodic with Ubuntu 18.04.
# Launch all nodes
roslaunch lfi_launch all.launch
# Launch camera nodes
roslaunch lfi_launch camera.launch
# Launch GPS node
roslaunch lfi_launch gps.launch
# Launch data recorder node
roslaunch data_collector dumpper.launch
Robot vision configuration file is at:
cv_perception/config/lawn_mover.json
Please remember to set the camera name(B601A/B601B/601C
) in above configure file to get the right calibration. The camera name can be found at the bottom of the camera.
All the dataset recorded in Nanjing, China were using B601C
, and other two cameras has shipped to US.
- Edit the
camera_record_res
inconfig/lawn_mover.json
Please note that our previous dataset was recorded with 3840 x 2160, and currently the camera record resolution has set to 1280 x 760. So if you want to switch between replay and real time launch mode, please remember to modify this paramter.
"camera_record_res" : [1280, 720]
# single play
rosbag play <dataset_name>
# loop mode
rosbag play -l <dataset_name>
# opencv window
rosrun image_wrapper display_image
# rostopic
rosrun image_wrapper publish_topic
Set the <function_dump>
to 1
in config/lawn_mover.json
, and dump_path
to where you would like to store the data. You can also set which sensor to be recorded and its paramters such as resolution.
"dump_path" : "/data/log3/",
"camera_dump_raw":1,
"camera_dump_raw_width":1280,
"camera_dump_raw_height":760,
"camera_dump_pano": 1,
"camera_dump_pano_width":793,
"camera_dump_pano_height":367,
"imu_dump" : 1,
"gps_dump" : 1
Topic Name | Msg Type | Function | Comment |
---|---|---|---|
/IMU_data | sensor_msgs/Imu | External IMU sensor data | |
/PowerVoltage | std_msgs/Float32 | Battery Voltage | |
/mobile_base/sensors/imu_data | sensor_msgs/Imu | Stm32 onboard IMU sensor data | |
/odom | nav_msgs/Odometry | Chassis Odometry data | |
/ublox_gps/fix | sensor_msgs/NavSatFix | GPS location data | |
/ublox_gps/navheading | sensor_msgs/Imu | GPS IMU data | |
/ublox_gps/navsat | ublox_msgs/NavSAT | GPS localization method | |
/usb_cam/camera_info | sensor_msgs/CameraInfo | Camera raw infomation | |
/usb_cam/image_raw | sensor_msgs/Image | Camera raw image data | |
/camera/wimage | sensor_msgs/Image | Camera unwrap image data |
Provoding panoramic image unwrap function.
display_image
will pop out an opencv style window with the unwrap image.publish_topic
will establish a publisher topic at/camera/wimage
.
Required configure JSON file:
cv_perception/config/<camera_name>.json
If you are viewing recorded data with 3840x2160, it's highly recommended to set the "display_ratio"
to 5
, otherwise please do not change anything.
The default recording resolution will be 1280 x 720, and the unwrap image's resolution will be 793 x 367.
This node could start RTMP streaming and provide a web page to view both the original camera image or the unwrap panoramic image. This node was launched by camera.launch
.
The default web address is http://<device_ip>:8080
.
This node could output the ntrip network RTK localization data to a specific serial port. The configure file is at
cv_perception/lfi_launch/gps.launch
You can replace the content of the in
paramter with your own local ntrip services.
This node will also launch the ublox_gps moudle, which could provide the robot GPS infomation.
This node could record image, IMU, and GPS data to your specific folder.