Oonga Boonga if see trash turn and pick it up
Run darknet from its own terminal window
source ~/darknet_v4_workspace/devel/setup.bash
roslaunch darknet_ros trash_darknet_ros.launch
Open new terminal window and source the darknet workspace for yolo messages
source ~/darknet_v4_workspace/devel/setup.bash
Right now I just interface with ModeController in the python terminal
cd ~/caveman_mode
python
> from caveman_mode_controller import *
> m = ModeController(True)
> m.StartMapper()
Once mapper is started, run the bag file with orbslam path vector data and RGBD images
To run the visualization in RVIZ, use the rviz config file in ~orb_slam2_ws/OTHER_FOLDERS/rviz
Not 100% on the command or file names but its something like
rosrun rviz rviz -d orb_slam_somethingsomething.rviz
If you can't get that running use rviz normally and subscribe to the relevant topics
top-level object is ModeController() This encapsulates TrashBot and TrashMapper and switches between them ModeController also contains the node ImageController which controls the input data to YOLO and the AntiClutter node which currently takes in the poses from TrashMapper and republishes a PoseArray of trash points (Currently)
ModeController.StartMapper() - starts TrashMapper
ModeController.StopMapper() - stops TrashMapper
ModeController.StartTrashBot() - starts caveman mode
ModeController.StopTrashBot() - Stops trashbot mode
ModeController.Halt() - Stops both modes and image controller