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Commit 662d9e1b authored by Younes Oubkis's avatar Younes Oubkis
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/home/youni/mambaforge/envs/ros_env/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
arbotix_ros @ 9a905f70
Subproject commit 9a905f703a639a3745b4a0d02242be18f16c050a
cmake_minimum_required(VERSION 3.0.2)
project(aruco_manager)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
rospy
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES aruco_manager
# CATKIN_DEPENDS rospy
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/aruco_manager.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/aruco_manager_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
src/manager.py
src/queueman.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_aruco_manager.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
<?xml version="1.0"?>
<package format="2">
<name>aruco_manager</name>
<version>0.0.0</version>
<description>The aruco_manager package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="youni@todo.todo">youni</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/aruco_manager</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_export_depend>rospy</build_export_depend>
<exec_depend>rospy</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
#!/usr/bin/env python
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import String, Header # Assuming the /aruco_detection topic publishes String messages
from aruco_opencv_msgs.msg import ArucoDetection, MarkerPose
from geometry_msgs.msg import Pose,Point, Quaternion
class marker_manager():
def __init__(self) -> None:
self.calibrated = False
self.calib_count = 0
self.markers = dict()
rospy.init_node('aruco_mapper_node', anonymous=True)
rospy.Subscriber('/aruco_detections', ArucoDetection, self.aruco_callback)
self.mapper = rospy.Publisher('/aruco_mapped_detections',JointState)
self.top_right_id = 395
self.bot_left_id = 163
rospy.loginfo("Waiting for Calibration...")
def aruco_callback(self,msg):
#rospy.loginfo("Received ArUco Detection: %s", msg.markers)
if(len(msg.markers) < 1):
return
for marker in msg.markers:
if(marker.marker_id == 0 or marker.marker_id == 1023):
continue
pose = marker.pose
if(marker.marker_id not in self.markers.keys()):
self.markers[marker.marker_id] = marker.pose
rospy.loginfo(self.markers.keys())
#rospy.loginfo(f'New Marker detected: Id: {marker.marker_id}\nPos:{pose.position}\nRot:{pose.orientation}')
#self.send_new_markers()
else:
self.markers[marker.marker_id] = pose
pass
k = self.markers.keys()
if(self.bot_left_id in k and self.top_right_id in k and (not self.calibrated or self.calib_count < 140) ):
self.calibrate()
def start(self):
while not rospy.is_shutdown():
if not self.calibrated:
rospy.sleep(1)
continue
pop_keys = []
for key in self.markers:
m = self.map(self.markers[key].position)
x,y = m
if(x > 500 or y > 500 or x < -500 or y < -500):
pop_keys.append(key)
continue
#self.mapper.publish()
js = JointState()
js.header = Header()
js.header.stamp = rospy.Time.now()
js.name = [str(key)]
js.position = [x,y]
self.mapper.publish(js)
for p in pop_keys:
self.markers.pop(p)
pop_keys.clear()
rospy.sleep(1)
def calibrate(self):
rospy.loginfo(f"Calibrating: {round(100.0 * self.calib_count/140.0,1)}%")
self.top_right = self.markers[self.top_right_id].position
self.bot_left = self.markers[self.bot_left_id].position
self.center_x = (self.top_right.x-self.bot_left.x)/2
self.center_z = (self.top_right.z-self.bot_left.z)/2
#rospy.loginfo(f"Center Position: {self.center_x},{self.center_z}")
self.calibration = self.cal((self.bot_left.x,self.bot_left.z),(self.top_right.x,self.top_right.z),(130,-180),(-130,180))
self.calib_count += 1
if(self.calib_count > 140):
self.calibrated = True
def cal(self,measured_point1,measured_point2,mapped_point1,mapped_point2):
x1, y1 = measured_point1
x2, y2 = measured_point2
x_mapped1, y_mapped1 = mapped_point1
x_mapped2, y_mapped2 = mapped_point2
# Calculate the slope and intercept for the linear transformation
if x2 - x1 != 0:
slope_x = (x_mapped2 - x_mapped1) / (x2 - x1)
else:
slope_x = float('inf')
if y2 - y1 != 0:
slope_y = (y_mapped2 - y_mapped1) / (y2 - y1)
else:
slope_y = float('inf')
intercept_x = x_mapped1 - slope_x * x1
intercept_y = y_mapped1 - slope_y * y1
return (slope_x, intercept_x, slope_y, intercept_y)
def map(self,measured_point):
x, y = measured_point.x,measured_point.z
slope_x, intercept_x, slope_y, intercept_y = self.calibration
mapped_x = slope_x * x + intercept_x
mapped_y = slope_y * y + intercept_y
return (mapped_x, mapped_y)
if __name__ == '__main__':
try:
man = marker_manager()
man.start()
except rospy.ROSInterruptException:
pass
#!/usr/bin/env python
import rospy
from sensor_msgs.msg import JointState
from std_msgs.msg import String, Header, Float64 # Assuming the /aruco_detection topic publishes String messages
from aruco_opencv_msgs.msg import ArucoDetection, MarkerPose
from geometry_msgs.msg import Pose,Point, Quaternion
import numpy as np
class queue_manager():
def __init__(self):
self.markers = dict()
rospy.init_node('aruco_arbotix_node', anonymous=True)
self.queue = []
self.finished = []
self.current = None
self.ready = True
rospy.Subscriber("/aruco_mapped_detections",JointState,self.marker_cb)
rospy.Subscriber("/joint_states",JointState,self.robot_state_cb)
self.publisher = rospy.Publisher("/phantomx_reactor_controller/set_position_inv",JointState,queue_size=10)
self.reset_pub = rospy.Publisher("/phantomx_reactor_controller/reset",Float64,queue_size=10)
def marker_cb(self,msg):
if(msg.name[0] not in self.markers.keys()):
self.markers[msg.name[0]] = msg.position
self.queue.append(msg.position)
rospy.loginfo(self.queue)
def robot_state_cb(self,msg):
vel = np.array(msg.velocity)
v = np.linalg.norm(vel)
rospy.loginfo(v)
if(v > 0.5):
rospy.loginfo("in_movement")
self.ready = False
else:
if(not self.ready):
self.reset_pub.publish(0)
rospy.sleep(5)
self.ready = True
rospy.loginfo("idle")
def publish_robo_pos(self,pos):
pos = list(pos)
pos.append(15)
js = JointState()
js.header = Header()
js.header.stamp = rospy.Time.now()
js.name = ["Mapped Pos"]
js.position = pos
self.publisher.publish(js)
def start(self):
while not rospy.is_shutdown():
rospy.sleep(1)
if self.ready:
if(len(self.queue) > 0):
if self.current is not None:
self.finished.append(self.current)
self.current = self.queue.pop()
self.ready = False
self.publish_robo_pos(self.current)
else:
rospy.loginfo("queue empty")
if __name__ == '__main__':
try:
man = queue_manager()
man.start()
except rospy.ROSInterruptException:
pass
control_msgs @ 36e2e305
Subproject commit 36e2e30551e3f2bfd9e55fca553f1ef019f4e4b1
dynamixel_motor @ 3d842328
Subproject commit 3d842328641a8c62f90388a254e5efb12929c1ae
phantomx_reactor_arm @ 5b88ef75
Subproject commit 5b88ef75a2678557a2bd799a90bfdc0deffa5da5
ros_aruco_opencv @ c24d451c
Subproject commit c24d451c642e62bb3328b7cd9fe20ce995619229
usb_cam @ ef97b796
Subproject commit ef97b796a8c604ddfe660835f95475b353c504b9
xacro @ 153b0cf6
Subproject commit 153b0cf67636170ef7c7bf0b5f74af9ae111d57d
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