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A Gazebo Simulation Environment aiming Quick Data Collection for Object Detection

For 2024Fall EE211 Course Project

Last Update: 2024-11-25

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Usage

  • Download wall_with_pic, extract it then copy wall_with_pic folder to /usr/share/gazebo-11/models/

  • ros2 launch detection_in_gazebo gazebo.launch.py: Launch Gazebo Environment, then you can publish to topic cmd_vel to control the robot, subscribe /camera/image_raw to obtain the camera image

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  • An Useful script for image collection:

    cd to <path_to_detection_in_gazebo>/detection_in_gazebo/, run python3 image_capture.py, which will gives you an UI interface, press s to save current image, q to quit.

  • For a quick check for the camera image, run ros2 run rqt_image_view rqt_image_view.

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