[ynet][ros] ros환경에서 작동

jeong3.zip

14.41MB

 

 

 

0. 시각화

• rqt_graph

 

1. 카메라 노드 

• ros2 launch realsense2_camera rs_launch.py   align_depth:=true   enable_gyro:=true enable_accel:=true   unite_imu_method:=2   enable_sync:=true   publish_tf:=false

 

 

 

2. yolo 노드

• ros2 run yolo_rt_ros4 run_yolo

 

 

 

3. yolo데이터 처리 노드

• ros2 run yolo_ynet_ros yolo_rst_data_preprocess

[INFO] [1764814021.795137288] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814021.864815549] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814021.934959882] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814022.064658608] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814022.264327860] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814022.334507936] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814022.462491431] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814022.532690004] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814022.596788702] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814022.798525167] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814022.868337704] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814022.999327823] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814023.129171667] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814023.199202228] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814023.465332882] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814023.666898417] [yolo_rst_data_preprocess]: [ID 552] obs_len=8 trajectory published
[INFO] [1764814023.737262179] [yolo_rst_data_preprocess]: [ID 552] obs_len=8 trajectory published
[INFO] [1764814023.803798283] [yolo_rst_data_preprocess]: [ID 552] obs_len=8 trajectory published
[INFO] [1764814023.868337737] [yolo_rst_data_preprocess]: [ID 552] obs_len=8 trajectory published
[INFO] [1764814023.932659963] [yolo_rst_data_preprocess]: [ID 552] obs_len=8 trajectory published
[INFO] [1764814023.934087751] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814024.027853809] [yolo_rst_data_preprocess]: [ID 552] obs_len=8 trajectory published
[INFO] [1764814024.029268124] [yolo_rst_data_preprocess]: [ID 281] obs_len=8 trajectory published
[INFO] [1764814024.089887687] [yolo_rst_data_preprocess]: [ID 552] obs_len=8 tr

 

 

 

4. 추론 노드

• ros2 run pedestrian_prediction ynet_inference_node

[INFO] [1764814026.375741878] [ynet_inference_node]: [track_id=281] pred_traj (resized) 앞 3점:
[[136.59776     4.999997 ]
 [ 14.000013    4.9999957]
 [ 12.99633     5.9999943]]
[INFO] [1764814026.376725130] [ynet_inference_node]: [track_id=281] pred_traj (original px) 앞 3점:
[[546.39105   19.999989]
 [ 56.000053  19.999983]
 [ 51.98532   23.999977]]
[INFO] [1764814026.435801950] [ynet_inference_node]: [track_id=552] pred_traj (resized) 앞 3점:
[[136.9985      5.000001 ]
 [ 14.002647    5.000047 ]
 [ 12.9909      5.9999933]]
[INFO] [1764814026.436835861] [ynet_inference_node]: [track_id=552] pred_traj (original px) 앞 3점:
[[547.994     20.000004]
 [ 56.01059   20.000189]
 [ 51.9636    23.999973]]