robotour2025

Author: Helhest

models/enet.json

@@ -1,6 +1,6 @@
 {
     "model": {
-        "model_name": "$(find-pkg-share road_segmentation_plugin)/models/ENet_triple_schoolyard_4_shaves.blob",
+        "model_name": "/media/robot/data/workspaces/helhest_ws/src/road_segmentation_plugin/models/ENet_ales_8.blob",
         "zoo": "path"
     },
     "nn_config": {
@@ -14,4 +14,4 @@
             "sky"
         ]
     }
-}
+}

src/road_segmentation.cpp

@@ -327,7 +327,7 @@ void RoadSegmentation::process_frame(std::vector<float>& nn_output, cv::Mat &mas
 
 void RoadSegmentation::segmentationCB(const std::string& /*name*/, const std::shared_ptr<dai::ADatatype>& data) {
 
-    //RCLCPP_WARN(getLogger(), "segmentationCB called");
+    RCLCPP_WARN(getLogger(), "segmentationCB called");
 
     // Cast input data
     auto in_det = std::dynamic_pointer_cast<dai::NNData>(data);