公司企业网站的选择,磁力猫搜索引擎入口官网,设计网站推荐免费,德州做网站的公司感知系统架构为满足天空端主控制器的诸如RGB-D图像处理等大容量数据吞吐、高速并行计算、实时运动控制以及通信和可视化任务的计算算力需求#xff0c;同时优化功耗表现#xff0c;采用了结构紧凑、功耗表现优异的边缘计算硬件NVIDA IJetson AGXOrin 。该开发者套件包含高性能…感知系统架构为满足天空端主控制器的诸如RGB-D图像处理等大容量数据吞吐、高速并行计算、实时运动控制以及通信和可视化任务的计算算力需求同时优化功耗表现采用了结构紧凑、功耗表现优异的边缘计算硬件NVIDA IJetson AGXOrin 。该开发者套件包含高性能、高能效的 Jetson AGX Orin 模组算力高达 275 TOPS是上一代多个并发 AI 推理管道性能的 8 倍运行于 NVIDIA AI 软件堆栈广泛应用于图像处理、嵌入式控制、并行计算等场景可以为机器人、制造、控制和电力等行业打造先进的机器人和边缘 AI 应用。系统架构如图所示。2. Realsense2 D435i USB Monocular librealsense realsense2_camera ROS package安装SDK库librealsense: V2.50.0 https://github.com/IntelRealSense/librealsense/releases/tag/v2.50.0在/home下进入librealsense,并安装依赖项cd librealsense
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev安装依赖安装依赖项和编译sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules udevadm trigger
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLEStrue
make
sudo make install测试安装结果这时候可以连接摄像头了输入以下命令查看结果realsense-viewer 如果成功可以看到点云图像编译ROS PKG:在工作空间src下克隆项目cd ~/catkin_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/catkin_ws catkin_makeROS中测试roslaunch realsense2_camera rs_camera.launch ERRORundefined symbol: _ZN2cv3MatC1Ev【librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev】https://github.com/IntelRealSense/realsense-ros/issues/2467解决方法Now im testing this solution but it looks promising. (even work with -DFORCE_RSUSB_BACKEND:false):find_package( OpenCV REQUIRED )
include_directories(
include
${realsense2_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
target_link_libraries(${PROJECT_NAME}
${realsense2_LIBRARY}
${catkin_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
${OpenCV_LIBRARIES}
)修改后重新编译加参数 -DFORCE_RSUSB_BACKEND:falsecatkin_make install -DFORCE_RSUSB_BACKEND:falseusb_cam ROS packageROS.org usb_cam介绍http://wiki.ros.org/usb_cam安装usb 相机驱动程序ROS功能包sudo apt-get install ros-melodic-usb-cam
或sudo apt-get install ros-noetic-usb-cam参数表launch文件launch
!--Launch Usb Camera via usb_cam package --node nameusb_cam pkgusb_cam typeusb_cam_node outputscreen param namevideo_device value/dev/Monocular /param nameimage_width value640 /param nameimage_height value480 /param namepixel_format valueyuyv /param namecamera_frame_id valueusb_cam /param nameio_method valuemmap//nodenode nameimage_view pkgimage_view typeimage_view respawnfalse outputscreenremap fromimage to/usb_cam/image_raw/param nameautosize valuetrue //node
/launchRVIZ 数据及图像可视化节点实时显示目标检测结果和视觉传感器图像launch
!-- Launch Multi-sensor drivers and filters, with Lidar range sensor and Usb Camera --!-- Loading param files --rosparam file$(find multisensor_fusion)/cfg/sensor_cfg.yaml commandload /!--rosparam file$(find multisensor_fusion)/cfg/ros_pkg_info.yaml commandload /--!--Launch USB 2.0 Camera launch file --include file$(find contact_force)/launch/contact_force_launch.launch/includeinclude file$(find multisensor_fusion)/launch/usb_camera_launch.launch/include!-- Launch network state monitor and publisher node --nodenamepub_range_sensorpkgmultisensor_fusiontypepub_range_sensor_pub.py /nodenamepub_actuator_powerpkgmultisensor_fusiontypepub_actuator_effort.py /nodenamesensor_statuspkgmultisensor_fusiontypesensor_status /!-- Launch rivz display --!--node namerviz pkgrviz typerviz args-d $(find dual_arm_robot_description)/rviz/dual_arm.rviz outputscreen /--/launch3.GUI 集成控制终端通信架构系统功能
