cyberdog_tracking

Introduction

Cyberdog_tracking is a package based on ROS2. This package mainly used to estimate the 3D position of the tracking target and provide target point for tracking_base module to plan the path and control the robot. The objects of position estimation include pedestrians and any regular and irregular targets selected by the user.

Dependencies

In addition to the basic msg type and pkgs of ros2, the external dependencies are as follows:

• cyberdog_common
• protocol
• OpenCV4
• yaml-cpp

Installation

You can install this package on Linux system as follows:

• create your workspace
• clone the code from git
• compile and install

colcon build --packages-up-to cyberdog_tracking --install-base=/opt/ros2/cyberdog/ --merge-install

Usage

# 1. Start tracking node
ros2 launch cyberdog_tracking launch.py

# 2. Configure tracking node
ros2 service call /tracking/change_state lifecycle_msgs/srv/ChangeState "{transition: {id: 1}}"

# 3. Activate tracking node
ros2 service call /tracking/change_state lifecycle_msgs/srv/ChangeState "{transition: {id: 3}}"

# 4. Deactivate tracking node
ros2 service call /tracking/change_state lifecycle_msgs/srv/ChangeState "{transition: {id: 4}}"

# 5. Cleanup tracking node
ros2 service call /tracking/change_state lifecycle_msgs/srv/ChangeState "{transition: {id: 2}}"

Node info

/tracking
  Subscribers:
    /camera/aligned_depth_to_extcolor/image_raw: sensor_msgs/msg/Image
    /person: protocol/msg/Person
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /tracking/transition_event: lifecycle_msgs/msg/TransitionEvent
    /tracking_pose: geometry_msgs/msg/PoseStamped
    /tracking_status: protocol/msg/TrackingStatus
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /tracking/change_state: lifecycle_msgs/srv/ChangeState
    /tracking/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /tracking/get_available_states: lifecycle_msgs/srv/GetAvailableStates
    /tracking/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions
    /tracking/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /tracking/get_parameters: rcl_interfaces/srv/GetParameters
    /tracking/get_state: lifecycle_msgs/srv/GetState
    /tracking/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions
    /tracking/list_parameters: rcl_interfaces/srv/ListParameters
    /tracking/set_parameters: rcl_interfaces/srv/SetParameters
    /tracking/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients: