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DISCONTINUATION OF PROJECT.

This project will no longer be maintained by Intel.

Intel has ceased development and contributions including, but not limited to, maintenance, bug fixes, new releases, or updates, to this project.

Intel no longer accepts patches to this project.

If you have an ongoing need to use this project, are interested in independently developing it, or would like to maintain patches for the open source software community, please create your own fork of this project.

ros_object_map

1 Introduction

ros_object_map is ROS package which designes to mark tag of objects on map when SLAM. It uses ros_object_analytics for object detection.

2 Prerequisite

3 Build Dependencies

4 Building

cd ~/catkin_ws/src
git clone https://github.com/intel/ros_object_analytics.git
git clone https://github.com/intel/object_msgs.git
git clone https://github.com/intel/object_map.git
cd ~/catkin_ws
catkin_make install
source install/setup.bash

5 Running the demo

Step1: Launch realsense

- roslaunch realsense_ros_camera rs_camera.launch enable_pointcloud:=true enable_sync:=true enable_infra1:=false enable_infra2:=false

Step2: Launch object_analytics

- roslaunch realsense_ros_camera rs_camera.launch enable_pointcloud:=true enable_sync:=true enable_infra1:=false enable_infra2:=false
- roslaunch object_analytics_visualization rviz.launch

Step3: Launch cartographer and Rviz

- roslaunch cartographer_turtlebot turtlebot_urg_lidar_2d.launch

Step4: Launch Object Map

- roslaunch object_map object_map.launch

6 Interface

6.1 Topic

  • /object_map/Markers : Publish MarkerArray on RVIZ
  • /object_map/map_save : Subscribe map_save topic to save object maps
  • /object_analytics/detection: Subscribe ObjectsInBoxes from object_analytics
  • /object_analytics/tracking: Subscribe TrackedObjects from object_analytics
  • /object_analytics/localization: Subscribe ObjectsInBoxes3D from object_analytics

6.2 Save object map

- rostopic pub --once /object_map/map_save std_msgs/Int32  1
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