# rm_vision

**Repository Path**: SMBU-POLARBEAR/rm_vision

## Basic Information

- **Project Name**: rm_vision
- **Description**: 搬运自华师 rm_vision 自瞄系统，本仓库为北极熊队内适配版本
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2023-10-22
- **Last Updated**: 2024-02-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# rm_vison

## 介绍
搬运自华师 rm_vision 自瞄系统，本仓库为北极熊队内适配版本

## 常用命令

- 编译

    ```Shell
    colcon build --symlink-install
    ```

- rm_vision 总启动

    ```Shell
    sudo chmod 777 /dev/ttyACM0
    
    source install/setup.bash
    ros2 launch rm_vision_bringup vision_bringup.launch.py
    ```

- 可视化

    ```Shell
    source install/setup.bash
    ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
    ```


- 单独运行子模块（一般用不上，写在这只为了有时开发要调用 rv 独立模块调试）

    ```Shell
    source install/setup.bash
    ros2 launch auto_aim_bringup auto_aim.launch.py 
    ```


    ```Shell
    source install/setup.bash
    ros2 launch hik_camera hik_camera.launch.py
    ```


    ```Shell
    sudo chmod 777 /dev/ttyACM0

    source install/setup.bash
    ros2 launch rm_serial_driver serial_driver.launch.py
    ```

## 其他文档
rm_vision 部署文档： [部署华师视觉项目](https://flowus.cn/lihanchen/share/0d472992-f136-4e0e-856f-89328e99c684) \
测算相机畸变与内参矩阵：[相机标定](https://flowus.cn/lihanchen/share/02a518a0-f1bb-47a5-8313-55f75bab21b5)