D435物体检测识别find_object_2d

1.建立工作空间2d_ws
2.下载git clone https://github.com/introlab/find-object.git src/find_object_2d
3.编译
4.实验结果如图所示，步骤根据书上的步骤进行就可以，需要订阅D435发出的话题，找到find_object_3d.launch文件
修改代码为

        <remap from="rgb/image_rect_color" to="camera/color/image_raw"/>
		<remap from="depth_registered/image_raw" to="camera/depth/image_rect_raw"/>
		<remap from="depth_registered/camera_info" to="camera/depth/camera_info"/>

5.运行D435

roslaunch realsense2_camera rs_camera.launch

6.运行检测节点

roslaunch find_object_2d find_object_3d.launch

7.启动rviz，添加TF