# cv_experiments

**Repository Path**: Frederick_Y/cv_experiments

## Basic Information

- **Project Name**: cv_experiments
- **Description**: 基于OpenCV和ROS2的Tello与Robomaster EP视觉实验程序
- **Primary Language**: Python
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-03-12
- **Last Updated**: 2024-03-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# cv_experiments

## 简介

基于OpenCV和ROS2的Tello与Robomaster EP实验程序

face_detection_node：用于Tello，实现跟随人脸功能

color_picker_node：用于EP，测量目标颜色

color_shape_detection_node：用于EP，实现跟随目标色块功能

## 用法

首先clone本仓库到~/ros2_ws/src：

```
git clone https://gitee.com/Frederick_Y/cv_experiments.git
```

然后在~/ros2_ws下编译：

```
cd ~/ros2_ws
colcon build --packages-select cv_experiments
```

### 1. EP跟随色块实验

首先启动EP驱动：

```
cd ~/ros2_ws
source install/setup.bash
ros2 launch robomaster_ros ep.launch conn_type:=ap video_resolution:=720
```

新建一个终端，然后启动color_picker_node：

```
cd ~/ros2_ws
source install/setup.bash
ros2 run cv_experiments color_picker_node
```

测量目标颜色，然后修改color_shape_detection_node。修改完成后，需要重新编译这个ROS包：

```
colcon build --packages-select cv_experiments
```

然后启动color_shape_detection_node：

```
ros2 run cv_experiments color_shape_detection_node
```

#### 注：

本程序需要一定算力，若运行时发现卡顿，首先可以将Ubuntu系统电源方案切换为性能模式。

还可以尝试降低图像分辨率至540p或360p（默认参数）：

```
ros2 launch robomaster_ros ep.launch conn_type:=ap video_resolution:=540
ros2 launch robomaster_ros ep.launch conn_type:=ap
```

还可以尝试安装PyAV（不确定是不是管用）：

```
pip install PyAV
```

### 2. Tello人脸跟随实验

首先启动Tello驱动节点：

```
cd ~/tello_ros_ws
source install/setup.bash
ros2 launch tello_driver teleop_launch.py
```

新建一个终端，然后启动face_detection_node：

```
cd ~/ros2_ws
source install/setup.bash
ros2 run cv_experiments face_detection_node
```

再新建一个终端，控制Tello起飞和降落：

```
cd ~/tello_ros_ws
source install/setup.bash
ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}"
ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'land'}"
```

## 附：其他指令（用不到）

```
colcon build --event-handlers console_direct+ --packages-skip tello_gazebo
ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'rc 0 0 0 20'}"
ros2 service call /tello_action tello_msgs/TelloAction "{cmd: 'battery?'}"
ros2 topic pub /cmd_vel geometry_msgs/Twist  # Sends rc 0 0 0 0
ros2 topic pub /cmd_vel geometry_msgs/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"
```