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BUZZ-Blimps / CatchingBlimp

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Rossify yolov5+rknn msgs #38

Closed Rhyme0730 closed 1 week ago

Rhyme0730 commented 1 month ago

Current conda package has issues integrating with ROS2 Humble python version. Try to downgrade ROS2 python version or install all the packages with ros2 python version

Rhyme0730 commented 1 month ago

image

Rhyme0730 commented 1 month ago

Tried reinstalling rknn-toolkit-lite2 new version. There is problem with input reference image dimension, using img=np.expand_dims(img, axis=0) can solve this issue. But it seems our multi-threading code only works on old rknn-toolkit-lite2 version. Next step is reinstall ros2 humble version with python3.9

Rhyme0730 commented 1 month ago

Can not run ros2 on python 3.9, it should come with the right ubuntu 22.04 default python 3.10. The problem is the same as here. So we need to move the entire rknn and other package into python 3.10 and rewrite the script.

Rhyme0730 commented 1 month ago

Issue solved, find a rknn-toolkit2-lite 1.5.2 version installation package for python3.10 here. Now there is no conflict with ros2 and rknn toolkit lite2. Also notice we don't use conda environment anymore since it has conflicts with ros2 humble. image The ros2 topic echo msg are shown in bash

sah4jpatel commented 1 week ago

Any updates to this @Rhyme0730