node-red-node-rdk-tools

[ { "id": "bev_tab", "type": "tab", "label": "BEV感知算法", "disabled": false, "info": "# BEV感知算法\n\n## 功能介绍\n\nBEV感知算法是使用OpenExplorer在nuscenes数据集上训练出来的BEV多任务模型。\n\n算法输入为6组图像数据，分别是前视，左前，右前，后视，左后，右后图。模型输出为10个类别的目标以及对应的3D检测框，包括障碍物、多种类型车辆、交通标志等，以及车道线、人行道、马路边缘的语义分割。\n\n此示例使用本地图像数据作为输入，利用BPU进行算法推理，发布算法感知结果渲染的图片消息，在PC端浏览器上渲染显示算法结果。\n\n## 使用流程\n\n1. **启动BEV算法**：点击\"🚀 启动BEV算法\"按钮\n2. **查看结果**：点击\"👁️ 打开可视化页面\"在浏览器中查看结果\n\n## 支持平台\n\n- RDK Ultra (Ubuntu 20.04 Foxy)\n- RDK S100, RDK S100P (Ubuntu 22.04 Humble)\n\n## 代码仓库\n\nhttps://github.com/D-Robotics/hobot_bev.git\n\n## 注意事项\n\n- 算法结果会发布到 `/image_jpeg` 话题\n- 可以通过WebSocket在浏览器中查看（http://IP:8000）", "env": [] }, { "id": "comment_start", "type": "comment", "z": "bev_tab", "name": "🚀 启动BEV算法", "info": "启动BEV感知算法", "x": 150, "y": 40, "wires": [] }, { "id": "inject_start_bev", "type": "inject", "z": "bev_tab", "name": "🚀 启动BEV算法", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "topic": "", "payload": "", "payloadType": "date", "x": 140, "y": 80, "wires": [ [ "function_build_cmd" ] ] }, { "id": "function_build_cmd", "type": "function", "z": "bev_tab", "name": "构建启动命令", "func": "// 构建BEV算法启动命令\n// 根据用户提供的启动命令：\n// source /opt/tros/humble/setup.bash\n// if [ -L qat ]; then rm qat; fi\n// ln -s `ros2 pkg prefix hobot_bev`/lib/hobot_bev/qat/ qat\n// ln -s ~/hobot_bev_data/nuscenes_bev_val nuscenes_bev_val\n// ros2 launch hobot_bev hobot_bev.launch.py\n\n// 构建启动命令（所有命令用 && 连接，在工作目录中执行）\n// 注意：ln 命令的错误不影响运行，使用 || true 忽略错误\nvar cmd = 'cd ~/hobot_bev_data && ';\ncmd += 'source /opt/tros/humble/setup.bash && ';\ncmd += 'if [ -L qat ]; then rm qat; fi && ';\ncmd += 'ln -s `ros2 pkg prefix hobot_bev`/lib/hobot_bev/qat/ qat && ';\ncmd += '(ln -s ~/hobot_bev_data/nuscenes_bev_val nuscenes_bev_val 2>/dev/null || true) && ';\ncmd += 'ros2 launch hobot_bev hobot_bev.launch.py';\n\nmsg.payload = cmd;\n\nnode.status({\n fill: \"blue\",\n shape: \"dot\",\n text: \"命令已构建\"\n});\n\nreturn msg;", "outputs": 1, "noerr": 0, "initialize": "", "finalize": "", "libs": [], "x": 350, "y": 80, "wires": [ [ "exec_start_bev" ] ] }, { "id": "exec_start_bev", "type": "exec", "z": "bev_tab", "name": "启动BEV算法", "command": "", "addpay": true, "append": "", "useSpawn": true, "timer": "0", "oldrc": false, "x": 550, "y": 80, "wires": [ [ "debug_output" ], [ "debug_error" ], [] ] }, { "id": "debug_output", "type": "debug", "z": "bev_tab", "name": "启动输出", "active": true, "tosidebar": true, "console": false, "tostatus": true, "complete": "payload", "targetType": "msg", "statusVal": "payload", "statusType": "auto", "x": 750, "y": 60, "wires": [] }, { "id": "debug_error", "type": "debug", "z": "bev_tab", "name": "启动错误", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 750, "y": 100, "wires": [] }, { "id": "comment_view", "type": "comment", "z": "bev_tab", "name": "👁️ 查看结果", "info": "在浏览器中查看实时检测结果（视频流）", "x": 150, "y": 160, "wires": [] }, { "id": "inject_browser", "type": "inject", "z": "bev_tab", "name": "打开可视化页面", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "topic": "", "payload": "", "payloadType": "date", "x": 140, "y": 200, "wires": [ [ "function_get_url" ] ] }, { "id": "function_get_url", "type": "function", "z": "bev_tab", "name": "获取URL", "func": "msg.payload = 'http://{host}:8000';\n\nnode.status({\n fill: \"blue\",\n shape: \"dot\",\n text: \"Opening: \" + msg.payload\n});\n\nreturn msg;", "outputs": 1, "noerr": 0, "initialize": "", "finalize": "", "libs": [], "x": 350, "y": 200, "wires": [ [ "openurl" ] ] }, { "id": "openurl", "type": "rdk-tools openurl", "z": "bev_tab", "name": "打开浏览器", "x": 550, "y": 200, "wires": [] }, { "id": "comment_stop", "type": "comment", "z": "bev_tab", "name": "⏹️ 停止服务", "info": "", "x": 150, "y": 260, "wires": [] }, { "id": "inject_stop", "type": "inject", "z": "bev_tab", "name": "停止所有服务", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "topic": "", "payload": "", "payloadType": "date", "x": 140, "y": 300, "wires": [ [ "exec_stop" ] ] }, { "id": "exec_stop", "type": "exec", "z": "bev_tab", "name": "停止服务", "command": "sudo pkill -9 -f hobot_usb_cam; sudo pkill -9 -f hobot_bev; 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 '✓ 服务已彻底停止，资源已释放'", "addpay": false, "append": "", "useSpawn": false, "timer": "10", "oldrc": false, "x": 350, "y": 300, "wires": [ [ "debug_stop" ], [], [] ] }, { "id": "debug_stop", "type": "debug", "z": "bev_tab", "name": "停止状态", "active": true, "tosidebar": true, "console": false, "tostatus": true, "complete": "payload", "targetType": "msg", "statusVal": "payload", "statusType": "auto", "x": 550, "y": 300, "wires": [] } ]