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+ The tutorial package containing basic functional components for the ROB2002 module. + Grzegorz Cielniak + Apache-2.0 + + rclpy + std_msgs + geometry_msgs + sensor_msgs + cv_bridge + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/rob2002_tutorial/resource/rob2002_tutorial b/rob2002_tutorial/resource/rob2002_tutorial new file mode 100644 index 0000000..e69de29 diff --git a/rob2002_tutorial/rob2002_tutorial/__init__.py b/rob2002_tutorial/rob2002_tutorial/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/rob2002_tutorial/rob2002_tutorial/counter_basic.py b/rob2002_tutorial/rob2002_tutorial/counter_basic.py new file mode 100644 index 0000000..1475194 --- /dev/null +++ b/rob2002_tutorial/rob2002_tutorial/counter_basic.py @@ -0,0 +1,43 @@ +import rclpy +from rclpy.node import Node + +from geometry_msgs.msg import PolygonStamped + +class CounterBasic(Node): + + def __init__(self): + super().__init__('counter_basic') + + self.current_stamp = None + self.object_counter = 0 + self.frame_counter = -1 + + self.subscriber = self.create_subscription(PolygonStamped, "/object_polygon", self.counter_callback, 10) + + def counter_callback(self, data): + + if data.header.stamp != self.current_stamp: # new frame detected + # report the current object count + if self.frame_counter >= 0: + print(f'frame {self.frame_counter}: {self.object_counter} objects counted.') + + self.frame_counter += 1 # increment frame counter + self.object_counter = 0 # reset object counter + self.current_stamp = data.header.stamp # refresh the current time stamp + + # keep counting objects + self.object_counter += 1 + + +def main(args=None): + rclpy.init(args=args) + counter_basic = CounterBasic() + + rclpy.spin(counter_basic) + + counter_basic.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/rob2002_tutorial/rob2002_tutorial/detector_basic.py b/rob2002_tutorial/rob2002_tutorial/detector_basic.py new file mode 100644 index 0000000..f52246e --- /dev/null +++ b/rob2002_tutorial/rob2002_tutorial/detector_basic.py @@ -0,0 +1,69 @@ +import rclpy +from rclpy.node import Node +from rclpy import qos + +import cv2 as cv + +from sensor_msgs.msg import Image +from geometry_msgs.msg import Polygon, PolygonStamped, Point32 +from cv_bridge import CvBridge + +class DetectorBasic(Node): + visualisation = True + + def __init__(self): + super().__init__('detector_basic') + self.bridge = CvBridge() + + self.min_area_size = 100.0 + self.countour_color = (255, 255, 0) # cyan + self.countour_width = 1 # in pixels + + self.object_pub = self.create_publisher(PolygonStamped, '/object_polygon', 10) + self.image_sub = self.create_subscription(Image, '/limo/depth_camera_link/image_raw', + self.image_color_callback, qos_profile=qos.qos_profile_sensor_data) + + def image_color_callback(self, data): + bgr_image = self.bridge.imgmsg_to_cv2(data, "bgr8") # convert ROS Image message to OpenCV format + + # detect a color blob in the color image + # provide the right range values for each BGR channel (set to red bright objects) + bgr_thresh = cv.inRange(bgr_image, (0, 0, 80), (50, 50, 255)) + + # finding all separate image regions in the binary image, using connected components algorithm + bgr_contours, _ = cv.findContours( bgr_thresh, + cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE) + + detected_objects = [] + for contour in bgr_contours: + area = cv.contourArea(contour) + # detect only large objects + if area > self.min_area_size: + # get the bounding box of the region + bbx, bby, bbw, bbh = cv.boundingRect(contour) + # append the bounding box of the region into a list + detected_objects.append(Polygon(points = [Point32(x=float(bbx), y=float(bby)), Point32(x=float(bbw), y=float(bbh))])) + if self.visualisation: + cv.rectangle(bgr_image, (bbx, bby), (bbx+bbw, bby+bbh), self.countour_color, self.countour_width) + + # publish individual objects from the list + # the header information is taken from the Image message + for polygon in detected_objects: + self.object_pub.publish(PolygonStamped(polygon=polygon, header=data.header)) + + if self.visualisation: + cv.imshow("colour image", bgr_image) + cv.imshow("detection mask", bgr_thresh) + cv.waitKey(1) + +def main(args=None): + rclpy.init(args=args) + detector_basic = DetectorBasic() + + rclpy.spin(detector_basic) + + detector_basic.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/rob2002_tutorial/rob2002_tutorial/mover_basic.py b/rob2002_tutorial/rob2002_tutorial/mover_basic.py new file mode 100644 index 0000000..a4ec94d --- /dev/null +++ b/rob2002_tutorial/rob2002_tutorial/mover_basic.py @@ -0,0 +1,38 @@ +import rclpy +from rclpy.node import Node + +from geometry_msgs.msg import Twist + +class MoverBasic(Node): + + def __init__(self): + super().__init__('mover_basic') + self.publisher_ = self.create_publisher(Twist, 'cmd_vel', 10) + timer_period = 2.0 # seconds + self.timer = self.create_timer(timer_period, self.timer_callback) + self.i = 0 + + def timer_callback(self): + msg = Twist() + msg.linear.x = 0.1 + self.publisher_.publish(msg) + self.get_logger().info('Publishing: "{0}"'.format(msg)) + self.i += 1 + + +def main(args=None): + rclpy.init(args=args) + + mover_basic = MoverBasic() + + rclpy.spin(mover_basic) + + # Destroy the node explicitly + # (optional - otherwise it will be done automatically + # when the garbage collector destroys the node object) + mover_basic.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/rob2002_tutorial/rob2002_tutorial/mover_laser.py b/rob2002_tutorial/rob2002_tutorial/mover_laser.py new file mode 100644 index 0000000..4eb0730 --- /dev/null +++ b/rob2002_tutorial/rob2002_tutorial/mover_laser.py @@ -0,0 +1,50 @@ +import rclpy +from rclpy.node import Node + +from geometry_msgs.msg import Twist +from sensor_msgs.msg import LaserScan + +class MoverLaser(Node): + """ + A very simple Roamer implementation for LIMO. + It goes straight until any obstacle is within + a specified distance and then just turns left. + A purely reactive approach. + """ + def __init__(self): + """ + On construction of the object, create a Subscriber + to listen to lasr scans and a Publisher to control + the robot + """ + super().__init__('mover_laser') + self.publisher = self.create_publisher(Twist, "/cmd_vel", 10) + self.subscriber = self.create_subscription(LaserScan, "/scan", self.laserscan_callback, 10) + + self.angular_range = 10 + + def laserscan_callback(self, data): + """ + Callback called any time a new laser scan become available + """ + min_dist = min(data.ranges[int(len(data.ranges)/2) - self.angular_range : int(len(data.ranges)/2) + self.angular_range]) + print(f'Min distance: {min_dist:.2f}') + msg = Twist() + if min_dist < 0.5: + msg.angular.z = 0.5 + else: + msg.linear.x = 0.2 + self.publisher.publish(msg) + + +def main(args=None): + rclpy.init(args=args) + mvoer_laser = MoverLaser() + rclpy.spin(mvoer_laser) + + mvoer_laser.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/rob2002_tutorial/setup.cfg b/rob2002_tutorial/setup.cfg new file mode 100644 index 0000000..e18fa8a --- /dev/null +++ b/rob2002_tutorial/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/rob2002_tutorial +[install] +install_scripts=$base/lib/rob2002_tutorial diff --git a/rob2002_tutorial/setup.py b/rob2002_tutorial/setup.py new file mode 100644 index 0000000..c575d5e --- /dev/null +++ b/rob2002_tutorial/setup.py @@ -0,0 +1,29 @@ +from setuptools import find_packages, setup + +package_name = 'rob2002_tutorial' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='Grzegorz Cielniak', + maintainer_email='gcielniak@lincoln.ac.uk', + description='The tutorial package containing basic functional components for the ROB2002 module.', + license='Apache-2.0', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'mover_basic = rob2002_tutorial.mover_basic:main', + 'mover_laser = rob2002_tutorial.mover_laser:main', + 'detector_basic = rob2002_tutorial.detector_basic:main', + 'counter_basic = rob2002_tutorial.counter_basic:main', + ], + }, +) diff --git a/rob2002_tutorial/test/test_copyright.py b/rob2002_tutorial/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/rob2002_tutorial/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/rob2002_tutorial/test/test_flake8.py b/rob2002_tutorial/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/rob2002_tutorial/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/rob2002_tutorial/test/test_pep257.py b/rob2002_tutorial/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/rob2002_tutorial/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings'