Detection

Getting Started

• Follow the README in detection_yolo to install YOLO detection dependencies.
• Update the serial_number argument in detection_control/launch/detection_full.launch to that of your D435 camera.

Building

• First build your workspace using catkin build.
• Ensure that the workspace is sourced correctly using source devel/setup.bash.

Launching

roslaunch detection_control detection_full.launch

• This will launch the D435 camera, Rviz, YOLO detection, and the robot control node.
• Each of these nodes can be toggled through the arguments in the launch file.

Robot Control Node

• The robot control node is setup to publish a Twist message with 0 velocities when a human is detected within the stopping distance.
• This command will be published each time this event occurs.
• A command velocity multiplexer (MUX) is recommended with use of this node.
• A MUX will allow this message to be set with a high priority and long timeout. This will override commands from other velocity publishers for the set timeout duration.
• There are alternatives to a MUX that may be more appropriate for your applications requirements.