autodrive入门教程-三维建图-实时三维建图和目标识别

autodrive多线入门教程-三维建图-实时三维建图和目标识别

说明：

• 介绍实时三维建图并进行目标检测，显示检测到的目标坐标，并记录
• 机型：autodrive

一步执行步骤：

• [racebot] 新开终端，启动底盘，zed，rtabmap，darknet，detect

roslaunch racebot_slam_3d slam_3d.launch 

• [racebot/PC] 启动键盘控制

roslaunch racebot_teleop keyboard.launch 

• [PC] 启动rviz

roslaunch racebot_slam_3d rviz_slam.launch 

分布执行步骤：

• [racebot] 新开终端，启动底盘

roslaunch racebot_slam_3d racebot_slam_3d.launch

• [racebot] 新开终端，启动相机

roslaunch racebot_slam_3d zed.launch

• [racebot] 新开终端，启动三维建图

roslaunch racebot_slam_3d rtabmap.launch  

• [racebot] 新开终端，目标检测

roslaunch racebot_slam_3d darknet.launch  

• [racebot] 新开终端，发布目标坐标

roslaunch racebot_slam_3d detect.launch    

• [PC] 新开终端，启动游戏杆

roslaunch racebot joy.launch 

• [PC] 启动rviz

roslaunch racebot_slam_3d rviz_slam.launch 

• 图示：

演示视频