To stop recording, press R again, or simply close the executable ( Esc).The images are captured once every 3 seconds or so. Images are captured from two cameras - one that sees the environment as you do, and one that sees in black&white as shown at the bottom right.Select or create a convenient folder, such as in your Desktop or Documents, and confirm, and recording begins. To begin recording, press R to bring up the dialog and choose where to save the recording.Fire up the executable with the city environment.1-4: Switch camera views (Front/side/top/Iso)Ĭapturing images for deep learning (city only):.To turn on gravity, use the following: $ rosservice call /quad_rotor/gravity "data: true" Note: if gravity is on, a force that small won't lift the quad off the ground To publish an upward thrust of 0.1, use this format: $ rostopic pub /quad_rotor/cmd_force geometry_msgs/Wrench "force: Set the distance of the camera to the Quad, of type SetFloat (see Project/Assets/Scripts/Ros/SetFloat.srv) Examples Poses are:Ġ - Forward / 1 - Side / 2 - Top / 3 - Iso / 4 - Free quad_rotor/camera_distance Service to set the camera's pose, of type SetInt (see Project/Assets/Scripts/Ros/SetInt.srv). Service to set a path to follow, of type SetPath (see Project/Assets/Scripts/Ros/SetPath.srv). Service to reset the path planner's current path, of type SetBool (data ignored) quad_rotor/set_path Service to set the Quad's position and orientation directly, using SetPose (see Assets/Scripts/Ros/SetPose.srv) quad_rotor/clear_path Service to reset the Quad's orientation, of type SetBool (data ignored) quad_rotor/set_pose Services to constrain rotation on an axis using SetBool quad_rotor/reset_orientation Services to constrain movement on an axis using SetBool quad_rotor/x_torque_constrained Use this service to toggle gravity on/off using SetBool quad_rotor/x_force_constrained The Quad publishes its velocity/acceleration using an Imu quad_rotor/gravity The Quad publishes its pose to this topic using PoseStamped quad_rotor/imu Publish linear and angular velocity using a Twist message quad_rotor/pose Publish force and torque using a Wrench message. If nothing is specified, the indoor scene will be loaded.įor issues connecting the sim to your VM or host OS, see the troubleshooting section at the bottom. In the training mode, a human character will spawn in a random place with a random appearance, and a camera follows the person around to record.Įither run from a terminal or edit the app properties, and append either the word indoor or the word outdoor (or city) to the path. The city scene starts with a menu to choose between controlling the quad for the Controls and Deep Learning projects, and setting up to train the neural network for the Deep Learning project.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |