修改ork_linemod下的detection.ros.ork文件
将source1部分改为:
(注意不是中文字符的引号)
source1:
type: RosKinect
module: ‘object_recognition_ros.io’
parameters:
rgb_frame_id: ‘camera_color_optical_frame’
rgb_image_topic: ‘/camera/color/image_raw’
rgb_camera_info: ‘/camera/color/camera_info’
depth_frame_id: ‘camera_depth_optical_frame’
depth_image_topic: ‘/camera/depth/image_rect_raw’
depth_camera_info: ‘/camera/depth/camera_info’
分别运行下列指令
~$ roslaunch realsense2_camera rs_camera.launch filters:=pointcloud
~$ rosrun topic_tools relay /camera/depth/image_rect_raw /camera/depth/image
~$ rosrun object_recognition_core detection -c rospack find object_recognition_linemod
/conf/detection.ros.ork
~$ roslaunch robot_vision ork_rviz.launch
节点运行图
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