humble fixs

gbr1 · Aug 6, 2023 · 79aaf97 · 79aaf97
1 parent 497118b
commit 79aaf97
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Showing 11 changed files with 9 additions and 8 deletions.
diff --git a/README.md b/README.md
@@ -1,6 +1,6 @@
 # edgeimpulse_ros
 
-ROS2 wrapper for Edge Impulse on Linux.
+ROS2 Humble wrapper for Edge Impulse on Linux.
 
 ![ezgif-4-3cda6ac695](https://user-images.githubusercontent.com/9216366/193153736-fccd9451-2277-42f2-8141-6027a10f0245.gif)
 
@@ -62,7 +62,6 @@ Here you find some prebuilt models: [https://github.com/gbr1/edgeimpulse_example
 
 ## 6. Known issues
 
-- this wrapper works on foxy, galactic and humble are coming soon (incompatibility on vision msgs by ros-perception)
 - if you use a classification model, topic results is empty
 - you cannot change color of bounding boxes (coming soon)
 - other types (imu and sound based ml) are unavailable

diff --git a/edgeimpulse_ros/__pycache__/__init__.cpython-310.pyc b/edgeimpulse_ros/__pycache__/__init__.cpython-310.pyc
diff --git a/edgeimpulse_ros/__pycache__/__init__.cpython-38.pyc b/edgeimpulse_ros/__pycache__/__init__.cpython-38.pyc
diff --git a/edgeimpulse_ros/__pycache__/device_patches.cpython-38.pyc b/edgeimpulse_ros/__pycache__/device_patches.cpython-38.pyc
diff --git a/edgeimpulse_ros/__pycache__/image_classification.cpython-310.pyc b/edgeimpulse_ros/__pycache__/image_classification.cpython-310.pyc
diff --git a/edgeimpulse_ros/__pycache__/image_classification.cpython-38.pyc b/edgeimpulse_ros/__pycache__/image_classification.cpython-38.pyc
diff --git a/edgeimpulse_ros/image_classification.py b/edgeimpulse_ros/image_classification.py
@@ -157,17 +157,19 @@ def classify_callback(self):
 
                 # object with hypthothesis
                 obj_hyp = ObjectHypothesisWithPose()
-                obj_hyp.id = bb['label'] #str(self.ei_classifier.labels.index(bb['label']))
-                obj_hyp.score = bb['value']
+                obj_hyp.hypothesis.class_id = bb['label'] #str(self.ei_classifier.labels.index(bb['label']))
+                obj_hyp.hypothesis.score = bb['value']
                 obj_hyp.pose.pose.position.x = float(centerX)
                 obj_hyp.pose.pose.position.y = float(centerY)
                 result_msg.results.append(obj_hyp)
 
                 # bounding box
-                result_msg.bbox.center.x = float(centerX)
-                result_msg.bbox.center.y = float(centerY)
+                result_msg.bbox.center.position.x = float(centerX)
+                result_msg.bbox.center.position.y = float(centerY)
+                result_msg.bbox.center.theta = 0.0
                 result_msg.bbox.size_x = float(bb['width'])
                 result_msg.bbox.size_y = float(bb['height'])
+                result_msg.id = bb['label']
 
 
                 results_msg.detections.append(result_msg)

diff --git a/edgeimpulse_ros/submodules/__pycache__/__init__.cpython-310.pyc b/edgeimpulse_ros/submodules/__pycache__/__init__.cpython-310.pyc
diff --git a/edgeimpulse_ros/submodules/__pycache__/device_patches.cpython-310.pyc b/edgeimpulse_ros/submodules/__pycache__/device_patches.cpython-310.pyc
diff --git a/package.xml b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>edgeimpulse_ros</name>
-  <version>0.0.4</version>
+  <version>0.0.5</version>
   <description>ROS2 wrapper for Edge Impulse</description>
   <maintainer email="[email protected]">gbr1</maintainer>
   <license>Apache 2.0</license>

diff --git a/setup.py b/setup.py
@@ -4,7 +4,7 @@
 submodules = 'edgeimpulse_ros/submodules'
 setup(
     name=package_name,
-    version='0.0.4',
+    version='0.0.5',
     packages=[package_name, submodules],
     data_files=[
         ('share/ament_index/resource_index/packages',