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re-enable object detection video with throttled rgb images
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knorth55 authored and jsk-fetchuser committed Sep 17, 2020
1 parent c546923 commit f4dd7d2
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Showing 2 changed files with 23 additions and 11 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,13 @@ plugins:
video_topic_name: /head_camera/rgb/throttled/image_rect_color
video_fps: 5.0
video_codec: XVID
# - name: object_detection_video_recorder_plugin
# type: app_recorder/video_recorder_plugin
# launch_args:
# video_path: /tmp
# video_title: go_to_kitchen_object_detection.avi
# video_topic_name: /edgetpu_object_detector/output/image
# video_fps: 15.0
- name: object_detection_video_recorder_plugin
type: app_recorder/video_recorder_plugin
launch_args:
video_path: /tmp
video_title: go_to_kitchen_object_detection.avi
video_topic_name: /edgetpu_object_detector_visualization/output
video_fps: 5.0
- name: rosbag_recorder_plugin
type: app_recorder/rosbag_recorder_plugin
launch_args:
Expand Down Expand Up @@ -55,11 +55,11 @@ plugins:
plugin_args:
upload_file_paths:
- /tmp/go_to_kitchen_head_camera.avi
# - /tmp/go_to_kitchen_object_detection.avi
- /tmp/go_to_kitchen_object_detection.avi
- /tmp/go_to_kitchen_rosbag.bag
upload_file_titles:
- go_to_kitchen_head_camera.avi
# - go_to_kitchen_object_detection.avi
- go_to_kitchen_object_detection.avi
- go_to_kitchen_rosbag.bag
upload_parents_path: fetch_go_to_kitchen
upload_server_name: /gdrive_server
Expand All @@ -76,14 +76,14 @@ plugins:
plugin_order:
start_plugin_order:
- head_camera_video_recorder_plugin
# - object_detection_video_recorder_plugin
- object_detection_video_recorder_plugin
- rosbag_recorder_plugin
- gdrive_uploader_plugin
- speech_notifier_plugin
- mail_notifier_plugin
stop_plugin_order:
- head_camera_video_recorder_plugin
# - object_detection_video_recorder_plugin
- object_detection_video_recorder_plugin
- rosbag_recorder_plugin
- gdrive_uploader_plugin
- speech_notifier_plugin
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Original file line number Diff line number Diff line change
@@ -1,4 +1,16 @@
<launch>
<node name="go_to_kitchen" pkg="roseus" type="roseus" required="true" output="screen"
args="$(find jsk_fetch_startup)/euslisp/go-to-kitchen.l" />

<node name="edgetpu_object_detector_visualization" pkg="jsk_perception"
type="draw_rects" output="screen">
<remap from="~input" to="/head_camera/rgb/throttled/image_rect_color" />
<remap from="~input/rects" to="/edgetpu_object_detector/output/rects" />
<remap from="~input/class" to="/edgetpu_object_detector/output/class" />
<rosparam>
approximate_sync: true
queue_size: 100
use_classification_result: true
</rosparam>
</node>
</launch>

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