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此更改更改了imu数据处理方式，使得静止状态yaw不会发生偏移，后续应优化陀螺仪数据处理：低通滤波会导致相位延迟、滑动窗口会导致数据有微量误差。

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无法避免运动过程中的yaw偏移。
后续应在运动时也加上零漂偏移
This commit is contained in:
Orange
2026-06-23 22:34:15 +08:00
parent 630cb18277
commit b14befd1cf
29 changed files with 9433 additions and 391 deletions
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14
src/yolov8_launch/config/yolov8workconfig.json Normal file
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@@ -0,0 +1,14 @@
{
"model_file": "/home/sunrise/yiliao_ws/models/obstacle-133.bin",
"task_num": 4,
"dnn_Parser": "yolov8",
"model_output_count": 6,
"reg_max": 16,
"class_num": 1,
"cls_names_list": "/home/sunrise/yiliao_ws/src/yolov8_launch/class_list/cone.list",
"strides": [8, 16, 32],
"score_threshold": 0.5,
"nms_threshold": 0.7,
"nms_top_k": 300,
"output_order": [0,1,2,3,4,5]
}

6
src/yolov8_launch/launch/dnn_node_example.launch.py
View File

@@ -35,10 +35,10 @@ def generate_launch_description():
"dnn_example_dump_render_img", default_value=TextSubstitution(text="0")
)
image_width_launch_arg = DeclareLaunchArgument(
"dnn_example_image_width", default_value=TextSubstitution(text="640")
"dnn_example_image_width", default_value=TextSubstitution(text="1920")
)
image_height_launch_arg = DeclareLaunchArgument(
"dnn_example_image_height", default_value=TextSubstitution(text="480")
"dnn_example_image_height", default_value=TextSubstitution(text="1080")
)
msg_pub_topic_name_launch_arg = DeclareLaunchArgument(
"dnn_example_msg_pub_topic_name", default_value=TextSubstitution(text="hobot_dnn_detection")
@@ -56,7 +56,7 @@ def generate_launch_description():
# usb cam图片发布pkg
usb_cam_device_arg = DeclareLaunchArgument(
'device',
default_value='/dev/video8',
default_value='/dev/video0',
description='usb camera device')
usb_node = IncludeLaunchDescription(