hq
/
ros2_office_vlm
1
0
Fork 2
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update

This commit is contained in:
Xu Shiyuan 2026-05-07 18:19:38 +08:00
parent 97dd5d4ca4
commit 1ad9df177a
3 changed files with 17 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
README.md
View File

@ -23,6 +23,7 @@
```bash ```bash
cd /workspace cd /workspace
# pip install -r requirements.txt
colcon build --symlink-install colcon build --symlink-install
source /opt/ros/humble/setup.bash source /opt/ros/humble/setup.bash
source install/setup.bash source install/setup.bash
@ -61,6 +62,8 @@ ros2 launch nav2_bringup navigation_launch.py \
params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml \ params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml \
map:=$NAV2_MAP_PATH map:=$NAV2_MAP_PATH
export __NV_PRIME_RENDER_OFFLOAD=1
export __GLX_VENDOR_LIBRARY_NAME=nvidia
ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
``` ```

2
gzsim_run.sh
View File

@ -27,6 +27,8 @@ kill_port_listeners() {
kill_port_listeners 9002 kill_port_listeners 9002
export __NV_PRIME_RENDER_OFFLOAD=1
export __GLX_VENDOR_LIBRARY_NAME=nvidia
export TURTLEBOT3_MODEL=burger export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_office.launch.py > "${LOG_DIR}/tb3_gzsim.log" 2>&1 & ros2 launch turtlebot3_gazebo turtlebot3_office.launch.py > "${LOG_DIR}/tb3_gzsim.log" 2>&1 &
GZSIM_PID=$! GZSIM_PID=$!

11
requirements.txt Normal file
View File

@ -0,0 +1,11 @@
torch>=2.1.0
torchvision>=0.16.0
torchaudio>=2.1.0
numpy<2
opencv-python<4.11
Pillow
git+https://github.com/openai/CLIP.git
ftfy
regex
tqdm
matplotlib