# Follow-me

Source: [https://docs.qualcomm.com/doc/80-65220-2Y/topic/follow-me_5_3_1.html](https://docs.qualcomm.com/doc/80-65220-2Y/topic/follow-me_5_3_1.html)

Follow-me 示例使轮式机器人能够跟随行走的人。该用例使用 RealSense 立体相机捕捉 GB-D 图像，进行人类检测建模，并生成 ROS 主题消息以控制机器人。

图中展示了从 RealSense 立体摄像头捕获 RGB-D 帧、进行目标跟踪、进行人体检测模型推理、通过检测边界框判断并修正跟踪结果、估计目标的位置、进行 PID 控制，以及发布 ROS 主题消息来控制机器人的 pipeline。

Figure : Follow-me pipeline

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有关 pipeline 流程中使用的 ROS 节点和主题的信息，参见 [Follow-me pipeline 流程](https://docs.qualcomm.com/doc/80-65220-2Y/topic/follow-me_5_3_1.html#ID-concept-d32488e5682__section_skj_lpz_vbc)。

## 用例

**前提条件：**

- QIRP SDK 和依赖项已安装，参见[编译软件](https://docs.qualcomm.com/doc/80-65220-2Y/topic/build-the-software_4_1.html)和[刷写和安装](https://docs.qualcomm.com/doc/80-65220-2Y/topic/flash-and-install_4_3.html)。
- 已在“Permissive”模式下按照 [如何使用 SSH](https://docs.qualcomm.com/bundle/publicresource/topics/80-70014-254/how_to.html#how-to-ssh-) 中介绍的步骤启用 `SSH`。
- AMR control ROS 节点已部署。
- RealSense 立体摄像头已部署。
- AMR 可用。

**用例 1：运行开箱即用的 follow-me**

**步骤：**

1. 启动两个终端，并在每个终端运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。 
    `ROS_DOMAIN_ID` 的取值范围：[0, 232]

        ssh root@[ip-addr]
        (ssh) export HOME=/opt
        (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
        (ssh) export ROS_DOMAIN_ID=xx
        (ssh) source /usr/bin/ros_setup.bash
        Copy to clipboard
2. 在终端 1，启动 AMR control ROS 节点。

        (ssh) setenforce 0
        (ssh) ros2 launch qti_robot_amr_ctrl qti_robot_amr_ctrl.launch.py
        Copy to clipboard

Note: 将 `qti_robot_amr_ctrl` 替换为您的机器人启动命令。
3. 在终端 2 中运行` follow_me`。

        (ssh) cd /opt/qcom/qirp-sdk/usr/lib/follow_me
        (ssh) chmod 777 follow_me
        (ssh)./follow_me
        Copy to clipboard

**用例 2：编译并运行 follow-me**

**步骤：**

1. 在主机上编译由 QIRP SDK 提供的 `follow_me`。

        cd [QIRP SDK path]
        source setup.sh
        
        cd sample-code/qirp_nodes/navigation_nodes/followme
        export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
        export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
        
        colcon build --continue-on-error --cmake-args \
          -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
          -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
          -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
          -DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
          -DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
          -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          -DBUILD_TESTING=OFF
        Copy to clipboard
2. 将 `follow_me` 推送到设备。 
Note: 确保设备上已安装 QIRP SDK。

        cd sample-code/qirp_nodes/navigation_nodes/followme/install/followme
        tar czvf follow_me.tar.gz include lib share
        scp follow_me.tar.gz root@[ip-addr]:/opt/qcom/qirp-sdk/
        ssh root@[ip-addr]
        (ssh) tar -zxf /opt/qcom/qirp-sdk/follow_me.tar.gz -C /opt/qcom/qirp-sdk/usr/
        Copy to clipboard
3. 在设备上运行 `follow-me`，参考[用例 1：运行开箱即用的 follow-me](https://docs.qualcomm.com/doc/80-65220-2Y/topic/follow-me_5_3_1.html#ID-concept-d32488e5682__ID-Hx-d48542e1)。

## Follow-me pipeline 流程

Table : Follow-me pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| AMR ControlCopy to clipboard | 订阅 `/cmd_vel` ROS 主题并根据收到的主题消息驱动 AMR 移动。 |

Table : follow-me pipeline 中使用的 ROS 主题

| ROS 主题 | 类型 | 说明 |
| --- | --- | --- |
| /cmd_velCopy to clipboard | <geometry_msgs::msg::Twist>Copy to clipboard | 由 `Follow-me` 节点发布，并由 `AMR control` 节点订阅。 |

## 局限性

在姿态检测中，即使帧中有多个人，模型也只检测一个人。

**Parent Topic:** [专有示例](https://docs.qualcomm.com/doc/80-65220-2Y/topic/proprietary-samples_5_3.html)

Last Published: Aug 09, 2024

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