无人机拦截

配置yolo

CUDA报错

`nvcc fatal : Unsupported gpu architecture 'compute_30'.`

（1）查看显卡匹配型号：https://blog.csdn.net/u013308762/article/details/121658823
（2）查看显卡：nvidia-smi -a
==》NVIDIA GeForce GTX 1070匹配ARCH= -gencode arch=compute_61,code=sm_61
因此，修改darknet_ros/CMakeLists.txt的文件，将多余compute版本注释掉

    ${CUDA_NVCC_FLAGS};-O3#-gencode arch=compute_30,code=sm_30#-gencode arch=compute_35,code=sm_35#-gencode arch=compute_50,code=[sm_50,compute_50]#-gencode arch=compute_52,code=[sm_52,compute_52]-gencode arch=compute_61,code=sm_61#-gencode arch=compute_62,code=sm_62

OPENCV报错

/usr/local/include/opencv2/core/cvdef.h:485:1: error: unknown type name ‘namespace’namespace cv {^~~~~~~~~

修改如下https://zhuanlan.zhihu.com/p/36933700

更改无人机模型和视觉输入
（1）修改task1.launch

  <arg name="image" default="/iris_0/stereo_camera/left/image_raw" />

（2）修改uav0.yaml

  camera_reading:topic: /iris_0/stereo_camera/left/image_raw

运行

roslaunch px4 multi_vehicle.launch

roslaunch darknet_ros task1.launch

cd ~/XTDrone/communication
python multirotor_communication.py iris 0

cd ~/catkin_ws_intercept/src/intercept/scripts
python hover.py iris 1 vel

cd ~/catkin_ws_intercept/src/intercept/scripts
python yolo_human_intercept.py iris 0

做无人机速度控制时，摄像机方向（前方）为x轴正方向，左为y轴正方向

将yolo模型替换为无人机模型