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Co-authored-by: fireblonde <[email protected]>
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common/navigation/lasr_person_following/config/trained_leg_detector_res_TIAGo.yaml
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13 changes: 7 additions & 6 deletions
13
common/navigation/lasr_person_following/launch/joint_leg_tracker.launch
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<launch> | ||
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<!-- params --> | ||
<param name="forest_file" value="$(find leg_tracker)/config/trained_leg_detector_res=0.33.yaml" /> | ||
<param name="forest_file" value="$(find lasr_person_following)/config/trained_leg_detector_res_TIAGo.yaml" /> | ||
<param name="scan_topic" value="/scan" /> | ||
<param name="fixed_frame" value="odom"/> | ||
<param name="scan_frequency" value="10"/> | ||
<param name="max_detect_distance" value="5.0"/> | ||
<param name="dist_travelled_together_to_initiate_leg_pair" value="0.5"/> | ||
<param name="scan_frequency" value="15"/> | ||
<param name="max_detect_distance" value="10.0"/> | ||
<param name="dist_travelled_together_to_initiate_leg_pair" value="0.1"/> | ||
<param name="display_detected_people" value="true"/> | ||
<param name="max_leg_pairing_dist" value="0.5"/> | ||
<param name="max_std" value="0.9"/> | ||
<param name="min_points_per_cluster" value="5"/> | ||
<!-- run detect_leg_clusters --> | ||
<node pkg="leg_tracker" type="detect_leg_clusters" name="detect_leg_clusters" output="screen"/> | ||
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<!-- run joint_leg_tracker --> | ||
<node pkg="leg_tracker" type="joint_leg_tracker.py" name="joint_leg_tracker" output="screen"/> | ||
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<!-- run local_occupancy_grid_mapping --> | ||
<node pkg="leg_tracker" type="local_occupancy_grid_mapping" name="local_occupancy_grid_mapping" output="screen"/> | ||
<node pkg="leg_tracker" type="local_occupancy_grid_mapping" name="local_occupancy_grid_mapping" output="screen"/> | ||
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</launch> | ||
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13 changes: 13 additions & 0 deletions
13
common/vision/lasr_vision_bodypix/launch/gesture_service.launch
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<launch> | ||
<description>Start the BodyPix service</description> | ||
<usage doc="BodyPix service"></usage> | ||
<usage doc="Preload models and enable debug topic">debug:=true preload:=['resnet50', 'mobilenet50']</usage> | ||
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<arg name="debug" default="true" doc="Whether to publish plotted images to /bodypix/debug/model_name" /> | ||
<arg name="preload" default="[]" doc="Array of models to preload when starting the service" /> | ||
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<node name="bodypix_gesture_service" pkg="lasr_vision_bodypix" type="gesture_service.py" output="screen"> | ||
<param name="debug" type="bool" value="$(arg debug)" /> | ||
<param name="preload" type="yaml" value="$(arg preload)" /> | ||
</node> | ||
</launch> |
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