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TJU-Lu 2025-08-08 18:10:34 +08:00
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README.md
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@ -196,7 +196,7 @@ python test_yopo_ros.py --use_tensorrt=1
**4. Adapt to Your Platform**
+ You need to change `env: simulation` at the end of `test_yopo_ros.py` to `env: 435` (this affects the unit of the depth image), and modify the odometry to your own topic (in the NWU frame).
+ Configure your depth camera to match the training configuration (the pre-trained weights use a 16:9 resolution and a 90° FOV; for RealSense, you can set the resolution in launch file to 480×270).
+ Configure your depth camera to match the training configuration (the pre-trained weights use a 16:9 resolution and a 90° FOV; for RealSense, you can set the resolution in ROS-driver file to 480×270).
+ You may want to use the position controller like traditional planners in real flight to make it compatible with your controller. You should change `plan_from_reference: False` to `True` at the end of `test_yopo_ros.py`. You can test the changes in simulation using the position controller: `roslaunch so3_quadrotor_simulator simulator_position_control.launch
`