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move test_yopo_ros.py and yopo_planner_node.cpp to single script

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TJU_Lu
2024-12-24 18:03:49 +08:00
parent 09e832c829
commit 1a9f7c9f42
7 changed files with 892 additions and 12 deletions
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README.md
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@@ -184,17 +184,12 @@ source devel/setup.bash
roslaunch so3_quadrotor_simulator simulator.launch
```
**2.3** Start the YOPO inference and the Planner (The implementation of `yopo_planner_node` will be moved to `test_yopo_ros.py` in the future). You can refer to [traj_opt.yaml](./flightlib/configs/traj_opt.yaml) for modification of the flight speed (The given weights are pretrained at 6 m/s and perform smoothly at speeds between 0 - 6 m/s).
**2.3** Start the YOPO inference and the Planner. You can refer to [traj_opt.yaml](./flightlib/configs/traj_opt.yaml) for modification of the flight speed (The given weights are pretrained at 6 m/s and perform smoothly at speeds between 0 - 6 m/s).
```
cd ~/YOPO/run
conda activate yopo
python test_yopo_ros.py --trial=1 --epoch=0 --iter=0
```
```
cd ~/YOPO/flightlib/build
./yopo_planner_node
python test_yopo_ros_new.py --trial=1 --epoch=0 --iter=0
```
**2.4** Visualization: start the RVIZ and publish the map.