/smoke

ROS package for smoke detection and recognition

Primary LanguageC++

smoke

ROS package for smoke detection and recognition with Turtlebot.

This package is not sufficient for performing the task.

Prerequisites

Usage

  1. Build libraries and executables (within an ROS workspace)

    catkin_make -DCATKIN_WHITELIST_PACKAGES="smoke"

    If you have Qt5 installed, a gui would be built for simple visualization (as follows). image

    The build may not finish once. Please try again.

  2. Run

    • launch webcam using usb_cam.
    • launch darknet_ros 
      roslaunch darknet_ros darknet_ros.launch
    • launch nodes of this package
      • launch darknetDetector node 
        rosrun smoke darknet_svm_node
      • launch svm server node 
        rosrun smoke svm_server
      • launch kobuki alarm node 
        rosrun smoke kobuki_actSrv.py
      • launch alarm node 
        rosrun smoke alarm_sub.py
      • visualization 
        rosrun smoke appviz_node

launch files

  • smoke.1.launch

    test with real smoke and real robot

  • darknet_ros_smoke.launch

    launch darknet_ros

  • test_darknet.launch

    test the object detection framework

  • test_act.launch

    test the action server for robot pose inference

  • test_srv.launch

    test the service '/kinectdev/smoke/smoke_svm'

You can modify the .launch file to specify which nodes to run. Also modify the config file.