Merge pull request #777 from uf-mil/sub8_testing_2022

RoboSub 2022 competition materials

SubjuGator/command/sub8_launch/config/darknet_params/ros.yaml

@@ -0,0 +1,33 @@
+subscribers:
+
+  camera_reading:
+    topic: /camera/front/left/image_raw
+    queue_size: 1
+
+actions:
+
+  camera_reading:
+    name: /darknet_ros/check_for_objects
+
+publishers:
+
+  object_detector:
+    topic: /darknet_ros/found_object
+    queue_size: 1
+    latch: false
+
+  bounding_boxes:
+    topic: /darknet_ros/bounding_boxes
+    queue_size: 1
+    latch: false
+
+  detection_image:
+    topic: /darknet_ros/detection_image
+    queue_size: 1
+    latch: true
+
+image_view:
+
+  enable_opencv: false
+  wait_key_delay: 1
+  enable_console_output: false

SubjuGator/command/sub8_launch/config/darknet_params/yolov4-tiny.cfg

@@ -0,0 +1,279 @@
+[net]
+# Testing
+#batch=1
+#subdivisions=1
+# Training
+batch=64
+subdivisions=24
+width=416
+height=416
+channels=3
+momentum=0.9
+decay=0.0005
+angle=0
+saturation = 1.5
+exposure = 1.5
+hue=.1
+
+learning_rate=0.00261
+burn_in=1000
+max_batches = 10000
+policy=steps
+steps=8000.0,9000.0
+scales=.1,.1
+
+[convolutional]
+batch_normalize=1
+filters=32
+size=3
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=3
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers=-1
+groups=2
+group_id=1
+
+[convolutional]
+batch_normalize=1
+filters=32
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=32
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -1,-2
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -6,-1
+
+[maxpool]
+size=2
+stride=2
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers=-1
+groups=2
+group_id=1
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -1,-2
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -6,-1
+
+[maxpool]
+size=2
+stride=2
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers=-1
+groups=2
+group_id=1
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -1,-2
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[route]
+layers = -6,-1
+
+[maxpool]
+size=2
+stride=2
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+##################################
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=30
+activation=linear
+
+
+
+[yolo]
+mask = 3,4,5
+anchors = 10,14,  23,27,  37,58,  81,82,  135,169,  344,319
+classes=5
+num=6
+jitter=.3
+scale_x_y = 1.05
+cls_normalizer=1.0
+iou_normalizer=0.07
+iou_loss=ciou
+ignore_thresh = .7
+truth_thresh = 1
+random=0
+nms_kind=greedynms
+beta_nms=0.6
+
+[route]
+layers = -4
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[upsample]
+stride=2
+
+[route]
+layers = -1, 23
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=30
+activation=linear
+
+[yolo]
+mask = 1,2,3
+anchors = 10,14,  23,27,  37,58,  81,82,  135,169,  344,319
+classes=5
+num=6
+jitter=.3
+scale_x_y = 1.05
+cls_normalizer=1.0
+iou_normalizer=0.07
+iou_loss=ciou
+ignore_thresh = .7
+truth_thresh = 1
+random=0
+nms_kind=greedynms
+beta_nms=0.6

SubjuGator/command/sub8_launch/config/darknet_params/yolov4-tiny.yaml

@@ -0,0 +1,15 @@
+yolo_model:
+
+  config_file:
+    name: yolov4-tiny.cfg
+  weight_file:
+    name: yolov4-tiny.weights
+  threshold:
+    value: 0.5
+  detection_classes:
+    names:
+      - Badge
+      - Bootlegger
+      - Gun
+      - Gunman
+      - StartGate

SubjuGator/command/sub8_launch/launch/sub8.launch

@@ -6,7 +6,7 @@
   <arg name="simulate_cams" default="true" />
   <param name="/environment" value="$(arg environment)" />
   <param name="/is_simulation" value="$(eval environment != 'real')" />
-  <rosparam param="/autonomous">False</rosparam>
+  <rosparam param="/autonomous">True</rosparam>
 
   <include file="$(find sub8_launch)/launch/tf.launch" >
     <arg name="simulate_cams" value="$(arg simulate_cams)" />
@@ -25,6 +25,8 @@
     <arg name="environment" value="$(arg environment)" />
     <arg name="simulate_cams" value="$(arg simulate_cams)" />
   </include>
+  <include file="$(find sub8_launch)/launch/subsystems/perception.launch" />
+
   <include if="$(eval environment != 'dynsim')" file="$(find sub8_launch)/launch/subsystems/odometry.launch"/>
   <include file="$(find sub8_launch)/launch/subsystems/thruster_mapper.launch"/>
 

SubjuGator/command/sub8_launch/launch/subsystems/calibration.launch

@@ -0,0 +1,8 @@
+<launch>
+  <arg name="HSV" default="True" />
+  <include file="$(find sub8_launch)/launch/subsystems/cameras.launch" />
+  <group ns="calibration">
+    <node if="$(eval ('arg HSV') == False)" pkg="sub8_perception" type="camera_calibration.py" name="camera_calibration" output="screen" />
+    <node if="$(arg HSV)" pkg="sub8_perception" type="hsv_calibration.py" name="hsv_calibration" output="screen" />
+  </group>
+</launch>

SubjuGator/command/sub8_launch/launch/subsystems/passive_sonar.launch

@@ -9,6 +9,7 @@
     <node pkg="mil_passive_sonar" type="sylphase_sonar_ros_bridge" name="sylphase_sonar_ros_bridge" respawn="true">
       <param name="port" value="$(arg port)" />
       <param name="seconds_to_capture" value="0.1" />
+      <param name="is_little_endian" value="true" />
     </node>
   </group>