Kobuki Vision

Description

Kobuki Vision is a submodule of the Kobuki Project, made by 4th year Techinal Computing students at the AUAS. The project is focused on object detection using a stereo vision camera.

Getting it running

Use the init script from the root directory!

./init.sh

And after that, do a catkin_make

cd ${HOME}/catkin_ws

catkin_make

Or when darknet_ros has a hard time, for whatever reason:

catkin_make -DCATKIN_BLACKLIST_PACKAGES="darknet_ros"

Setting the object to detect

To decide what Kobuki Vision needs to deteou can run the following command

rostopic pub /speech/detect std_msgs/String "data: '${object}'" 

where ${object} is the object you'd like to detect. See all available objects here.

Listening to detections

When Kobuki Vision detects a given object to detect, it will publish it on a specific topic. To listen to this topic, run:

rostopic echo /vision/object_detection

Note: when you have not set any object to detect, Kobuki Vision won't publish anything.