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cs:fusion:start [2019/04/13 23:16] Andrew Rink created |
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| ====== Fusion ====== | ====== Fusion ====== | ||
| + | |||
| + | ===== Overview ===== | ||
| + | The fusion node is responsible for taking the outputs of our SLAM system and the output of our object detection system, | ||
| + | combining them, and publishing the results to the /tf topic. | ||
| + | |||
| + | ===== Structure ===== | ||
| + | Subscribes to: | ||
| + | * /vision/left - Object detections for left camera | ||
| + | * /SLAMpoints - Points for objects detected in SLAM | ||
| + | |||
| + | Publishes to: | ||
| + | * /tf - Global coordinates provided by SLAM combined with the labels from object detection | ||
| + | |||
| + | ===== How to Run ===== | ||
| + | Relies on the orb_slam node and the object detection node, as well as all their dependencies. To run, execute the following command from any directory: | ||
| + | <code bash> | ||
| + | $ rosrun robosub fusion | ||
| + | </code> | ||
| + | |||
