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Stem Detection ROS Node

This package contains the ROS wrapper for the Geometrical Stem Detection library.

Build the package

  cd catkin_ws
  catkin build piros_stemdet

Run nodes with their config files

Launch the node for stem detection and echoing the stem: roslaunch piros_stemdet standalone.launch

or launch with bagfile: roslaunch piros_stemdet example.launch

Config for stem detection

To modify parameters, use the config file in ./config/stemdetection_default.yaml, which contains the following parameters:

  • in_mask: /piros_vegsec/mask mask topic to subscribe to
  • in_rgb: /stereo_rgb/right/image_raw_sync image rgb topic
  • in_nir: /stereo_nir/right/image_raw_sync image nir topic
  • out_mask: /piros_stemdet/mask annotated mask topic which is published if verbose = 2
  • out_stem: /piros_stemdet/stem published stem topic
  • closing_size: 6 Kernel size for the closing operation
  • verbose: 2 0 = just stem topic, 1 = a few words, 2 = a whole novel

Config for stem echo

To modify the parameters of the visualization node, use the config file in ./config/stemecho_default.yaml:

  • text_subscriber_topic: /piros_stemdet/stem subscribed stem topic to echo