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
1.1 KiB
XML
33 lines
1.1 KiB
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_object_detection</name>
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<version>0.1.0</version>
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<description>YOLOv8n object detection with depth integration (Issue #468)</description>
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<maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
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<license>MIT</license>
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<buildtool_depend>ament_python</buildtool_depend>
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<depend>rclpy</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>vision_msgs</depend>
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<depend>tf2_ros</depend>
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<depend>cv_bridge</depend>
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<depend>message_filters</depend>
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<depend>opencv-python</depend>
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<depend>numpy</depend>
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<depend>saltybot_object_detection_msgs</depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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