sl-perception
c96c68a7c4
- saltybot_object_detection_msgs: DetectedObject, DetectedObjectArray, QueryObjects.srv
- saltybot_object_detection: YOLOv8n TensorRT FP16 node with depth projection
- Message filters for RGB-depth sync, TF2 transform to base_link
- Configurable confidence and class filtering (COCO 80 classes)
- Query service for voice integration ("whats in front of you")
- TensorRT build script with ONNX fallback
- Launch file with parameter configuration
- Full stack integration at t=6s (30 FPS target alongside person tracker)
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
33 lines
991 B
Python
33 lines
991 B
Python
from setuptools import setup, find_packages
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package_name = 'saltybot_object_detection'
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setup(
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name=package_name,
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version='0.1.0',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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('share/' + package_name + '/launch', [
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'launch/object_detection.launch.py',
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]),
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('share/' + package_name + '/config', [
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'config/object_detection_params.yaml',
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]),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='sl-perception',
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maintainer_email='sl-perception@saltylab.local',
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description='YOLOv8n object detection with depth integration',
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license='MIT',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'object_detection = saltybot_object_detection.object_detection_node:main',
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],
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},
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)
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