fire_Detection

fire_detection_gazebo.mp4

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https://youtu.be/lRjNnKtEFX4

https://youtu.be/WpX1WeUjrfg

BUILD

cd ~/(workspace)/src

git clone https://github.com/KYH04444/fire_Detection.git

catkin_make

roscd mavros_off_board && cp quad_f450_camera ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models

cd ~/(workspace)/src/fire_Detection/world && cp * ~/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds

cd ~/(workspace)/src/fire_Detection/model && cp * ~/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes 

code CMakeLists.txt

(in file: Add the airframe file(1076_gazebo-classic_quad_f450_camera) at the bottom of the list starting with px4_add_romfs_files(...))

cd ~/PX4-Autopilot/src/modules/simulation/simulator_mavlink && code sitl_targets_gazebo-classic.cmake 

(in file: Add the airframe name (quad_f450_camera) which starts with set(models …) as-well as the world file grass_pad to the line starting with set(worlds... ))

roscd mavros_off_board/worlds/gazebo && cp -r * ~/.gazebo/models/

How to RUN

roslaunch mavros_off_board mavros_posix_sitl.launch

python3 move.py

If you want to change the targeting point.

rostopic pub -1 /target_point fire_detection/TargetPoint "x: 5
y: 5
z: 5"

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REFERENCE

https://github.com/tomasz-lewicki/fire-detect-nn