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Localization

Summary

This node calculates the real-world positions of objects detected by the object detection node. The node requires current position data to be able to triangulate objects.

What it publishes

  • /triangulation_results_list

    • Message: autoboat_msg/msg/TriangulationResultsList
    • triangulation_results[]: { object_id, class_id, label, latitude, longitude }
    • iou_threshold

  • /object_detection_emergency_stop

    • bool data

What it subscribes to

  • /localization_parameters
    • buffer_window_size. The number of object detections to save for triangulation.
    • iou_threshold. If two objects are triangulated to be within this distance in meters, they are assumed to be the same physical object and the older one is dropped.
    • update_rate. How often to perform triangulation and publish triangulation results in seconds.
  • /object_detection_results_list
  • /heading
  • /position

Running the node

Follow the DeepStream installation instructions

ros2 run object_detection localization

Changing localization parameters while running

See changing CV and localization parameters.