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改了下地图和部分规划参数

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Orange
2026-08-10 19:46:09 +08:00
parent b3d06e1ba8
commit 94609d938d
12 changed files with 299 additions and 76 deletions
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11
src/vlm_detect/launch/vlm_detect.launch.py
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@@ -35,15 +35,16 @@ def generate_launch_description():
default_value=PathJoinSubstitution([
get_package_share_directory('vlm_detect'), 'config', 'vlm_detect.yaml']))
declare_vlm_host = DeclareLaunchArgument('vlm_host', default_value='http://192.168.175.111:8000')
declare_vlm_model = DeclareLaunchArgument('vlm_model', default_value='/home/wisdom/models/gguf/Qwen2-VL-2B-Instruct-Q4_K_M.gguf')
# RDK X5 BPU server (default). For WSL server, use: vlm_host:=http://192.168.175.111:8000
declare_vlm_host = DeclareLaunchArgument('vlm_host', default_value='http://192.168.175.64:8000')
declare_vlm_model = DeclareLaunchArgument('vlm_model', default_value='internvl2.5-qwen2.5-0.5b')
declare_image_topic = DeclareLaunchArgument('image_topic', default_value='/image')
declare_trigger_topic = DeclareLaunchArgument('trigger_topic', default_value='/sign4return')
declare_trigger_sign = DeclareLaunchArgument('trigger_sign', default_value='9')
declare_result_topic = DeclareLaunchArgument('result_topic', default_value='/vlm_result')
declare_prompt_text = DeclareLaunchArgument('prompt_text', default_value='图中是一个2D动漫插画风格的医院病房，有一个病人。请描述这个病人的状态。不要描述边框、背景、环境。20字以内。')
declare_max_tokens = DeclareLaunchArgument('max_tokens', default_value='100')
declare_image_max_dim = DeclareLaunchArgument('image_max_dim', default_value='128')
declare_prompt_text = DeclareLaunchArgument('prompt_text', default_value='请描述这个病人的状态。不要描述边框、背景。15字以内。')
declare_max_tokens = DeclareLaunchArgument('max_tokens', default_value='30')
declare_image_max_dim = DeclareLaunchArgument('image_max_dim', default_value='448')
declare_audio_sink = DeclareLaunchArgument('audio_sink',
default_value='alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo')
declare_tts_speed = DeclareLaunchArgument('tts_speed', default_value='1.5')