ros_sonavision_inference

This package implements sonavision inference node, which listens for rectangular sonar image and stereo camera image (in stereo format).

Prerequisites

Tensorflow is must to successfully run this package.

Dynamic Params

There are two dynamic params blur_level and darkness_level which can be (re)configured using dynamic reconfigure. They can also be changed using keybindings defined below using sonavision_keyboard_bindings node.

Keybindings

- UP KEY:    INCREASE DARKNESS FACTOR BY 0.1
- DOWN KEY:  DECREASE DARKNESS FACTOR BY 0.1
- LEFT KEY:  INCREASE BLUR FACTOR BY 0.1
- RIGHT KEY: DECREASE BLUR FACTOR BY 0.1

Usage

run ros1_sonavision_inference node

rosrun ros1_sonavision_inference Sonavision.py

run sonavision_keyboard_bindings

rosrun ros1_sonavision_inference SonavisionKeyboardBindings.py

killing sonavision_keyboard_bindings

rosnode kill /sonavision_keyboard_bindings