Skip to content
Snippets Groups Projects
Commit 92153fc9 authored by Younes Oubkis's avatar Younes Oubkis
Browse files

readme

parent 29b62218
No related branches found
No related tags found
No related merge requests found
Show whitespace changes
Inline Side-by-side
.gitignore
+ 4
− 1
View file @ 92153fc9
build/
devel/
install/
.catkin_workspace
CMakeLists.txt
README.md
+ 3
− 2
View file @ 92153fc9
......@@ -16,7 +16,8 @@ Afterwards, source the ```install``` directory.
## Usage
roslaunch and the options
1. ```roslaunch arbotix_aruco pose_tracker.launch````
2. ```roslaunch arbotix_aruco robot_manager.launch````
## Support
For questions and support feel free to reach out to [the Authors](#Authors)
......
src/aruco_manager/CMakeLists.txt deleted 100644 → 0
+ 0
− 207
View file @ 29b62218
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)
src/aruco_manager/package.xml deleted 100644 → 0
+ 0
− 62
View file @ 29b62218
<?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>
src/aruco_manager/src/manager.py deleted 100755 → 0
+ 0
− 123
View file @ 29b62218
#!/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
src/aruco_manager/src/queueman.py deleted 100644 → 0
+ 0
− 80
View file @ 29b62218
#!/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
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment

Impressum Datenschutzerklärung