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修改yolo追踪

This commit is contained in:
Robin Shaun 2020-04-18 20:32:05 +08:00
parent d70a18954c
commit e6a3cbfae3
1 changed files with 3 additions and 3 deletions
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6
control/yolo_human_tracking.py
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@ -18,15 +18,14 @@ def darknet_callback(data):
twist.angular.x = 0.0
twist.angular.y = 0.0
twist.angular.z = Kp_angular*math.atan(y_error/x_error)
pub.publish(twist)
else:
twist.linear.x = 0.0
twist.linear.y = 0.0
twist.linear.z = 0.0
twist.angular.x = 0.0
twist.angular.y = 0.0
twist.angular.z = 0.0
pub.publish(twist)
twist.angular.z = 0.0
Kp_linear=0.05
Kp_angular=0.2/math.pi
@ -38,3 +37,4 @@ pub = rospy.Publisher('/xtdrone/cmd_vel_flu', Twist, queue_size=10)
rate = rospy.Rate(60)
while(True):
rate.sleep()
pub.publish(twist)