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cd ~/dev_ws/
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source install/setup.bash
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colcon build --packages-select 包名

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ros2 launch originbot_gazebo originbot_gazebo.launch.py

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ros2 run rviz2 rviz2

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ros2 run teleop_twist_keyboard teleop_twist_keyboard

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ros2 launch origincar_base origincar_bringup.launch.py

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ros2 run teleop_twist_keyboard teleop_twist_keyboard

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ros2 launch rosbridge_server rosbridge_websocket_launch.xml # origincar

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python bridge_client.py <IP> <端口> # Windows

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ros2 launch origincar_bringup usb_websocket_display.launch.py

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ros2 pkg create <包名> --build-type ament_python --dependencies rclpy

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colcon build --packages-select <my_package>
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source install/setup.sh

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ros2 run dataset_tools auto_collector_node <间隔(s)>

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python -c "from ultralytics import YOLO; YOLO('your/path/to/model.pt').export(format='openvino', imgsz=640)"

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ros2 launch yolo camera_preview.launch.py

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ros2 launch lidar_ros2 lidar_launch.py

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ros2 run qrcode qrcode_node

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cp /mnt/e/yhz/Coding/yolo/ultralytics-8.4.14/runs/detect/results/mydata_yolov8n7/weights/best.onnx /home/jizi4/horizon_x5_open_expl
2
orer_v1.2.8-py310_20240926
3

4
docker run -it --rm --gpus all --shm-size=15g -v "$ai_toolchain_package_path":/open_explorer -v "$dataset_path":/data openexplorer/ai_toolchain_ubuntu_20_x5_gpu:v1.2.8-py310
5

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 hb_mapper makertbin --fast-perf --model "./best.onnx" --model-type onnx \
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rch bayes-e \
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  --march bayes-e
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cp ~/horizon_x5_open_explorer_v1.2.8-py310_20240926/model_output/best.bin /mnt/e/yhz/Coding/yolo/ultralytics-8.4.14/runs/detect/results/mydata_yolov8n7/weights