From 85aa4d9a1ec71f934a0fd34d1150fca35072218f Mon Sep 17 00:00:00 2001 From: Tamas Foldi Date: Sun, 29 Sep 2024 12:35:36 +0200 Subject: [PATCH 1/3] doc: remove rust and update camera/coco info --- README.md | 15 ++------------- 1 file changed, 2 insertions(+), 13 deletions(-) diff --git a/README.md b/README.md index 2970d95..df54b25 100644 --- a/README.md +++ b/README.md @@ -25,7 +25,7 @@ If you are using WebRTC (Wi-Fi) protocol, close the connection with a mobile app 6. Go2 topics info in real time :white_check_mark: 7. Foot force sensors info in real time :white_check_mark: 8. Lidar stream (added pointCloud2) :white_check_mark: -9. Camera stream (Currently is not working with a new Firmware update) +9. Camera stream :white_check_mark: 10. Foxglove bridge :white_check_mark: 11. Laser Scan :white_check_mark: 12. Multi robot support :white_check_mark: @@ -33,7 +33,7 @@ If you are using WebRTC (Wi-Fi) protocol, close the connection with a mobile app 14. Creating a PointCloud map and store it :white_check_mark: 15. SLAM (slam_toolbox) :white_check_mark: 16. Navigation (nav2) :white_check_mark: -17. Object detection +17. Object detection (coco) :white_check_mark: 18. AutoPilot ## Your feedback and support mean the world to us. @@ -91,17 +91,6 @@ cd .. ``` Pay attention to any error messages. If `pip install` does not complete cleanly, various features will not work. For example, `open3d` does not yet support `python3.12` and therefore you will need to set up a 3.11 `venv` first etc. -Install `rust` language support following these [instructions](https://www.rust-lang.org/tools/install). Then, install version 1.79 of `cargo`, the `rust` package manager. -```shell -rustup install 1.79.0 -rustup default 1.79.0 -``` - -`cargo` should now be available in the terminal: -```shell -cargo --version -``` - Build `go2_ros_sdk`. You need to have `ros2` and `rosdep` installed. If you do not, follow these [instructions](https://docs.ros.org/en/humble/Installation.html). Then: ```shell source /opt/ros/$ROS_DISTRO/setup.bash From 130e0b22c23fa4a5df46ed1323d71c7391f13927 Mon Sep 17 00:00:00 2001 From: Tamas Foldi Date: Sun, 29 Sep 2024 12:35:47 +0200 Subject: [PATCH 2/3] chore: update camera topic name --- coco_detector/coco_detector/coco_detector_node.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/coco_detector/coco_detector/coco_detector_node.py b/coco_detector/coco_detector/coco_detector_node.py index 64934a2..61f916c 100644 --- a/coco_detector/coco_detector/coco_detector_node.py +++ b/coco_detector/coco_detector/coco_detector_node.py @@ -38,7 +38,7 @@ def __init__(self): self.get_parameter('detection_threshold').get_parameter_value().double_value self.subscription = self.create_subscription( Image, - "/go2_camera/color/image", + "/camera/image_raw", self.listener_callback, 10) self.detected_objects_publisher = \ From f3b90659361fce9c83fca1422ddf46a8af399a01 Mon Sep 17 00:00:00 2001 From: Tamas Foldi Date: Sun, 29 Sep 2024 12:36:10 +0200 Subject: [PATCH 3/3] chore: check if aiortc is properly installed --- go2_robot_sdk/go2_robot_sdk/__init__.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/go2_robot_sdk/go2_robot_sdk/__init__.py b/go2_robot_sdk/go2_robot_sdk/__init__.py index 2106c52..2a50616 100644 --- a/go2_robot_sdk/go2_robot_sdk/__init__.py +++ b/go2_robot_sdk/go2_robot_sdk/__init__.py @@ -9,7 +9,12 @@ get_package_share_directory('go2_robot_sdk'), 'external_lib' ) -sys.path.insert(0, os.path.join(libs_path, 'aioice')) -sys.path.insert(0, os.path.join(libs_path)) -logger.info('Patched aioice added to sys.path: {}'.format(sys.path)) \ No newline at end of file +if os.path.exists(os.path.join(libs_path, 'aioice','__init__.py')): + sys.path.insert(0, os.path.join(libs_path, 'aioice')) + sys.path.insert(0, os.path.join(libs_path)) + + logger.info('Patched aioice added to sys.path: {}'.format(sys.path)) +else: + logger.error("aioice submodule is not initalized. please init submodules recursively") + exit(-1)