Working IRL

umrover · Jan 19, 2024 · e722684 · e722684
1 parent 65e776f
commit e722684
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Showing 3 changed files with 14 additions and 8 deletions.
diff --git a/launch/zed.launch b/launch/zed.launch
@@ -6,7 +6,7 @@
     <arg name="use_builtin_visual_odom" default="false"/>
 
     <rosparam command="load" file="$(find mrover)/config/perception.yaml" />
-    <node pkg="nodelet" type="nodelet" name="zed_nodelet" respawn="true"
+    <node pkg="nodelet" type="nodelet" name="zed" respawn="true"
           args="load mrover/ZedNodelet nodelet_manager" output="screen">
         <param name="use_builtin_visual_odom" value="$(arg use_builtin_visual_odom)"/>
     </node>

diff --git a/launch/zed_test.launch b/launch/zed_test.launch
@@ -7,6 +7,13 @@
   <arg name="use_rtabmap_stereo_odom" default="false"/>
   <arg name="use_builtin_visual_odom" default="false"/>
 
+  <!-- ZED DETECTION PARAMS -->
+  <arg name="obj_increment_weight" default="3"/>
+  <arg name="obj_decrement_weight" default="1"/>
+  <arg name="obj_hitcount_threshold" default="50"/>
+  <arg name="obj_hitcount_max" default="500"/>
+
+
   <group if="$(arg run_rviz)">
     <arg name="rvizconfig" default="$(find mrover)/config/rviz/zed_test.rviz"/>
     <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)"/>
@@ -21,14 +28,13 @@
           args="manager" output="screen"/>
 
   <include file="$(find mrover)/launch/zed.launch">
-    <arg name="use_rtabmap_stereo_odom" value="$(arg use_rtabmap_stereo_odom)"/>
     <arg name="use_builtin_visual_odom" value="$(arg use_builtin_visual_odom)"/>
   </include>
 
-    <node if="$(arg run_object_detector)"
+    <!-- <node if="$(arg run_object_detector)"
           pkg="nodelet" type="nodelet" name="object_detector" respawn="true"
           args="load mrover/ObjectDetectorNodelet perception_nodelet_manager" output="screen">
-    </node>
+    </node> -->
 
     <node if="$(arg run_tag_detector)"
           pkg="nodelet" type="nodelet" name="tag_detector" respawn="true"

diff --git a/src/perception/object_detector/object_detector.cpp b/src/perception/object_detector/object_detector.cpp
@@ -26,10 +26,10 @@ namespace mrover {
         mNh.param<std::string>("world_frame", mMapFrameId, "map");
 
         //Read ROS Params
-        mNh.param<int>("obj_increment_weight", mObjIncrementWeight, 1);
-        mNh.param<int>("obj_decrement_weight", mObjDecrementWeight, 5);
-        mNh.param<int>("obj_decrement_threshold", mObjHitThreshold, 100);
-        mNh.param<int>("obj_max_hitcount", mObjMaxHitcount, 200);
+        mNh.param<int>("obj_increment_weight", mObjIncrementWeight, 2);
+        mNh.param<int>("obj_decrement_weight", mObjDecrementWeight, 1);
+        mNh.param<int>("obj_hitcount_threshold", mObjHitThreshold, 50);
+        mNh.param<int>("obj_hitcount_max", mObjMaxHitcount, 60);
 
         //Initialize Object Hit Cout to Zeros
         mHitCount = 0;