node-red-node-rdk-tools

[ { "id": "centerpoint_tab", "type": "tab", "label": "LiDAR Object Detection (CenterPoint)", "info": "# LiDAR Object Detection Algorithm (CenterPoint)\n\n**Function Description**: Uses LiDAR point cloud file playback to perform inference. The rendered algorithm results are sent as image messages via WebSocket to be displayed on a PC browser.\n\n## 🎯 Quick Start\n\n### Usage Steps\n1. **Prepare Point Cloud**: Files are downloaded and extracted automatically during installation.\n2. **Start Detection**: Click the \"Start CenterPoint Detection\" button.\n3. **View Results**: Click \"Open Visualization Page\" to view rendered images and algorithm results in the browser.\n4. **Stop Services**: Click \"Stop All Services\" when finished.\n\n## Supported Platforms\n- RDK X3 / X5 / S100\n- TROS Humble\n\n## Core Features\n- LiDAR Point Cloud Object Detection\n- Point Cloud Data Replay\n- Algorithm Result Visualization Rendering\n- Real-time WebSocket Display\n\n## Core Communication Config\n\n### WebSocket Video Stream\n- **Stream URL**: `http://{host}:8000`\n- **Image Topic**: `/image` (Rendered image)\n- **Result Topic**: Configured by launch file\n- **Performance**: Real-time detection, low latency\n\n## Parameters\n- **Data Directory**: `~/centerpoint_data`\n- **QAT Directory**: Linked from `hobot_centerpoint` package\n- **Launch File**: `hobot_centerpoint/hobot_centerpoint.launch.py`\n- **Visualization URL**: http://{host}:8000 (WebSocket Stream)\n\n## Notices\n- Point cloud files need to be downloaded before first use (done automatically during install).\n- Ensure `hobot_centerpoint` ROS2 package is installed.\n- Point cloud files are large, download might take some time." }, { "id": "comment_prepare_section", "type": "comment", "z": "centerpoint_tab", "name": "1️⃣ Prepare Environment (First Run)", "info": "Point cloud files are automatically downloaded and symlinked during installation", "x": 200, "y": 40, "wires": [] }, { "id": "comment_start_section", "type": "comment", "z": "centerpoint_tab", "name": "2️⃣ Start Detection Service", "info": "Start CenterPoint LiDAR Object Detection", "x": 200, "y": 80, "wires": [] }, { "id": "inject_start", "type": "inject", "z": "centerpoint_tab", "name": "Start CenterPoint Detection", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "start_detection", "payload": "start", "payloadType": "str", "x": 160, "y": 120, "wires": [ [ "exec_start_centerpoint" ] ] }, { "id": "exec_start_centerpoint", "type": "exec", "z": "centerpoint_tab", "name": "CenterPoint Launcher", "command": "cd /tmp && source /opt/tros/humble/setup.bash && if [ -L qat ]; then rm qat; fi && ln -s `ros2 pkg prefix hobot_centerpoint`/lib/hobot_centerpoint/qat/ qat && ln -sf ~/centerpoint_data centerpoint_data && echo \"=== Start CenterPoint LiDAR Object Detection ===\" && ros2 launch hobot_centerpoint hobot_centerpoint.launch.py", "addpay": false, "append": "", "useSpawn": false, "timer": "120", "oldrc": false, "x": 400, "y": 120, "wires": [ [ "debug_output" ], [ "debug_error" ], [] ] }, { "id": "comment_browser_section", "type": "comment", "z": "centerpoint_tab", "name": "3️⃣ View Detection Results", "info": "View rendered images and algorithm results in the browser", "x": 200, "y": 160, "wires": [] }, { "id": "inject_browser", "type": "inject", "z": "centerpoint_tab", "name": "Open Visualization Page", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "http://{host}:8000", "payloadType": "str", "x": 160, "y": 200, "wires": [ [ "openurl_browser" ] ] }, { "id": "openurl_browser", "type": "rdk-tools openurl", "z": "centerpoint_tab", "name": "", "x": 400, "y": 200, "wires": [] }, { "id": "comment_stop_section", "type": "comment", "z": "centerpoint_tab", "name": "4️⃣ Stop Services", "info": "Stop all detection related services", "x": 180, "y": 240, "wires": [] }, { "id": "inject_stop", "type": "inject", "z": "centerpoint_tab", "name": "Stop All Services", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "topic": "stop", "payload": "stop", "payloadType": "str", "x": 160, "y": 280, "wires": [ [ "exec_stop_all" ] ] }, { "id": "exec_stop_all", "type": "exec", "z": "centerpoint_tab", "name": "Stop All Services", "command": "sudo pkill -9 -f hobot_usb_cam; sudo pkill -9 -f hobot_centerpoint; sudo pkill -9 -f hobot_codec_republish; sudo pkill -9 -f websocket; sudo pkill -9 -f python3; sudo pkill -9 -f 'ros2 launch'; sudo pkill -9 -f 'ros2 run'; sleep 2; sudo rm -rf /dev/shm/*; ros2 daemon stop 2>/dev/null; sleep 1; echo '✓ Services stopped completely, resources released'", "addpay": false, "append": "", "useSpawn": false, "timer": "10", "oldrc": false, "x": 400, "y": 280, "wires": [ [ "debug_stop_info" ], [], [] ] }, { "id": "debug_output", "type": "debug", "z": "centerpoint_tab", "name": "Detection Output", "active": true, "tosidebar": true, "console": false, "tostatus": true, "complete": "payload", "targetType": "msg", "statusVal": "payload", "statusType": "auto", "x": 650, "y": 100, "wires": [] }, { "id": "debug_error", "type": "debug", "z": "centerpoint_tab", "name": "Error Info", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 650, "y": 140, "wires": [] }, { "id": "debug_stop_info", "type": "debug", "z": "centerpoint_tab", "name": "Stop Service Status", "active": true, "tosidebar": true, "console": false, "tostatus": true, "complete": "payload", "targetType": "msg", "statusVal": "payload", "statusType": "auto", "x": 650, "y": 280, "wires": [] } ]