无人机拦截

无人机拦截

dueen11232024-03-21 23:40

配置yolo

CUDA报错

bash 复制代码

`nvcc fatal : Unsupported gpu architecture 'compute_30'.`

（1）查看显卡匹配型号：https://blog.csdn.net/u013308762/article/details/121658823

（2）查看显卡：nvidia-smi -a

==》NVIDIA GeForce GTX 1070匹配ARCH= -gencode arch=compute_61,code=sm_61

因此，修改darknet_ros/CMakeLists.txt的文件，将多余compute版本注释掉

bash 复制代码

    ${CUDA_NVCC_FLAGS};
    -O3
    #-gencode arch=compute_30,code=sm_30
    #-gencode arch=compute_35,code=sm_35
    #-gencode arch=compute_50,code=[sm_50,compute_50]
    #-gencode arch=compute_52,code=[sm_52,compute_52]
    -gencode arch=compute_61,code=sm_61
    #-gencode arch=compute_62,code=sm_62

OPENCV报错

bash 复制代码

/usr/local/include/opencv2/core/cvdef.h:485:1: error: unknown type name 'namespace'
 namespace cv {
 ^~~~~~~~~

修改如下https://zhuanlan.zhihu.com/p/36933700

更改无人机模型和视觉输入

（1）修改task1.launch

bash 复制代码

  <arg name="image" default="/iris_0/stereo_camera/left/image_raw" />

（2）修改uav0.yaml

bash 复制代码

  camera_reading:
    topic: /iris_0/stereo_camera/left/image_raw

运行

c 复制代码

roslaunch px4 multi_vehicle.launch

bash 复制代码

roslaunch darknet_ros task1.launch

bash 复制代码

cd ~/XTDrone/communication
python multirotor_communication.py iris 0

bash 复制代码

cd ~/catkin_ws_intercept/src/intercept/scripts
python hover.py iris 1 vel

bash 复制代码

cd ~/catkin_ws_intercept/src/intercept/scripts
python yolo_human_intercept.py iris 0

做无人机速度控制时，摄像机方向（前方）为x轴正方向，左为y轴正方向

配置yolo

运行

将yolo模型替换为无人机模型