Seo test

src/bringup_pkg/launch/scout_cctv_nav2.launch.py

@@ -13,7 +13,7 @@ def generate_launch_description():
 
     nav2_launch = os.path.join(nav2_share, 'launch', 'bringup_launch.py')
     default_nav2_params = os.path.join(package_share, 'config', 'nav2_params_cctv.yaml')
-    default_map = os.path.join(package_share, 'maps', 'scout_mini_map_3.yaml')
+    default_map = os.path.join(package_share, 'maps', 'map.yaml')
 
     return LaunchDescription([
         DeclareLaunchArgument(

src/bringup_pkg/maps/map.yaml

@@ -0,0 +1,7 @@
+image: map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-40.2, -37.7, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/perception_pkg/CMakeLists.txt

@@ -15,12 +15,24 @@ install(PROGRAMS
   RENAME yolo_detector_node
 )
 
+install(PROGRAMS
+  scripts/cctv_pose_node.py
+  DESTINATION lib/${PROJECT_NAME}
+  RENAME cctv_pose_node
+)
+
 install(PROGRAMS
   scripts/cctv_to_map_node.py
   DESTINATION lib/${PROJECT_NAME}
   RENAME cctv_to_map
 )
 
+install(PROGRAMS
+  scripts/person_direction_node
+  DESTINATION lib/${PROJECT_NAME}
+  RENAME person_direction_node
+)
+
 install(PROGRAMS
   scripts/pixel_picker_node.py
   DESTINATION lib/${PROJECT_NAME}

src/perception_pkg/config/cctv_to_map.yaml

@@ -18,23 +18,27 @@ cctv_to_map:
     source_name: "CCTV"
     image_points:
       [
-        441.0, 366.0,
-        583.0, 200.0,
-        622.0, 152.0,
-        440.0, 157.0,
-        306.0, 163.0,
-        208.0, 199.0,
-        84.0, 243.0,
-        101.0, 411.0,
+        591.0, 158.0,
+        553.0, 170.0,
+        615.0, 196.0,
+        509.0, 225.0,
+        598.0, 324.0,
+        479.0, 408.0,
+        340.0, 334.0,
+        180.0, 386.0,
+        157.0, 294.0,
+        50.0, 304.0,
       ]
     map_points:   # METERS in map frame (NOT image pixels)
       [
-        0.50, 0.30,
-        1.20, 0.90,
-        1.80, 1.40,
-        1.10, 1.60,
-        0.40, 1.55,
-        -0.20, 1.10,
-        -0.70, 0.60,
-        -0.60, -0.10,
+        26.111, -1.849,
+        25.512, -4.229,
+        26.567, -6.492,
+        25.334, -9.291,
+        26.394, -12.259,
+        25.879, -14.008,
+        24.602, -13.670,
+        23.980, -14.808,
+        22.777, -13.670,
+        22.205, -14.244,
       ]

src/perception_pkg/launch/cctv_to_map.launch.py

@@ -20,12 +20,25 @@ def generate_launch_description():
                 output="screen",
                 parameters=[yolo_params],
             ),
+            Node(
+                package="perception_pkg",
+                executable="cctv_pose_node",
+                name="cctv_pose_node",
+                output="screen",
+            ),
             Node(
                 package="perception_pkg",
                 executable="cctv_to_map",
                 name="cctv_to_map",
                 output="screen",
                 parameters=[cctv_to_map_params],
             ),
+            Node(
+                package="perception_pkg",
+                executable="person_direction_node",
+                name="person_direction_node",
+                output="screen",
+                parameters=[cctv_to_map_params],
+            ),
         ]
     )