- modified grpc_ros_adapter package is under grpc_ros_adapter_new
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added volume_disp_publisher.py - controls the bouyacy of the floater to run execute: "ros2 run grpc_ros_adapter volume_disp_publisher"
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added larvaeCountNode.py - uses NN to count the number of larvae -the NN model used is saved with the scripts -it is important to have torchvision installed ("pip install torch torchvision") to run execute: "ros2 run grpc_ros_adapter larvaeCountNode"
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added GNSSSubscriber.py - takes the number of larvae, the position of the floater and plots it to run execute: "ros2 run grpc_ros_adapter GNSSSubscriber"
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added ros2_floater_launch.py - launches all scripts mentioned above to run execute: "ros2 launch grpc_ros_adapter ros2_floater_launch.py "
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setup.py has been modified to allow for building the package
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befor launching the ros2_floater_launch.py it is important to have the Unity simulator running and the "ros2_server_launch.py" launched.
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number of floaters can be changed and needs to be changed in every script in the array "floater_names", these names need to match the names in the Unity simulator (current setup is 2 floater, floater and floater_2)