perception

Perception

Detecting things from sensors. Usually compute-intensive and doesn't need to run all the time. So a service to toggle on/off is nice to have!

AUV Detector

Running the Detector

Navigate to the detector folder and run the Python script: Modify _ns:="/Quadrotor" to change the namespace

ros2 run auv_detector auv_buoy_detector --ros-args -r __ns:=/Quadrotor

or

cd /colcon_ws/src/smarc2/perception/alars/auv_detector/auv_detector
python3 auv_buoy_detector.py

Tutorial Video

Tip: On Jetson devices, set self.debug_imshow = 0 in the script to save computational resources and maintain a publishing rate of ~30 Hz.

To enable the AUV detector via ROS 2 service:

ros2 service call /enable_alars_detector std_srvs/srv/Trigger

To disable the AUV detector via ROS 2 service:

ros2 service call /disable_alars_detector std_srvs/srv/Trigger

To test using a recorded ROS 2 bag:

ros2 bag play rosbag2_2025_06_18-09_20_40_20.db3 --loop