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.