First run dts devel build -H csc22907.local -f to build the executables on the duckie bot
To view just the april tag detection, run the command dts devel run -H csc22907.local -L view-pre-pross-image
Then in another terminal run command dts start_gui_tool then run rqt_image_view to view the image under the topic /camera_apriltag/image/compressed
For the behaviour based on april tag, run command:
dts devel run -H csc22907.local -L april-tag-behavior
The program will stop after execting the behaviour once. To see different behaviour run the program again with different tag.
Run the command
dts devel run -H csc22907.local -L crosswalk-behavior
The program will run twice to show 2 different behaviour: with the peDuckstrian and without peDuckstrian
To see just the peDuckstrian detection in the file packages/my_packages/src/detect_blue_check.py uncomment the line
#self.peduck_detector = PeDuckstrianDetector(True) # 🚶♂️ Detects PeDuckstrians
Then in another terminal run command dts start_gui_tool then run rqt_image_view to view the image under the topic /camera_ducks/image/compressed
And when there are ducks in front, you should see the bounding box around them
Run the command
dts devel run -H csc22907.local -L part3
To see just the duckiebot detection in the file packages/my_packages/src/detect_blue_check.py uncomment the line
#self.duckiebot_detector = DuckiebotDetector(True)
Then in another terminal run command dts start_gui_tool then run rqt_image_view to view the image under the topic camera_ducks/image/compressed
This detects the black dots pattern in the back of the duckiebot so you should see the dots being contoured in the topic