Commit d9646bca authored by Antonin Raffin's avatar Antonin Raffin
Browse files

First commit, everything works fine, need to add comments

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cmake_minimum_required(VERSION 2.8.3)
project(formation_2020)
## 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
roscpp
rospy
std_msgs
)
## 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 run_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 run_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
# )
################################################
## 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 run_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 you 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 formation_2020
# CATKIN_DEPENDS roscpp rospy std_msgs
# 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/${PROJECT_NAME}/formation_2020.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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/formation_2020_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
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${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_formation_2020.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>
<name>formation_2020</name>
<version>0.0.0</version>
<description>The formation_2020 package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="antonin@todo.todo">antonin</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/formation_2020</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 build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
#!/usr/bin/env python
from __future__ import print_function, division
import rospy
from geometry_msgs.msg import Twist
from std_msgs.msg import Int32
vel_pub = rospy.Publisher("/mobile_base/commands/velocity", Twist, queue_size = 10)
MAX_DIVIATION = 320
def turnCallback(data):
deviation = data.data
kp = None
vel_msg = Twist()
vel_msg.linear.x = 0
vel_msg.linear.y = 0
vel_msg.linear.z = 0
vel_msg.angular.x = 0
vel_msg.angular.y = 0
if abs(deviation) > MAX_DIVIATION/2:
vel_msg.angular.z = -deviation/abs(deviation)
else:
vel_msg.angular.z = -deviation*2.0/320.0
vel_pub.publish(vel_msg)
if __name__=="__main__":
print("Start")
rospy.init_node('turnBot', anonymous=True)
turn_sub = rospy.Subscriber("center_deviation", Int32, turnCallback)
try:
rospy.spin()
except KeyboardInterrupt:
print("Shutting down")
#!/usr/bin/env python
from __future__ import print_function, division
import rospy
import cv2
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image
from std_msgs.msg import Int32
import thread
import numpy as np
class image_converter:
def __init__(self):
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber("/camera/rgb/image_raw",Image,self.callback)
self.center_pub = rospy.Publisher('center_deviation', Int32, queue_size=10)
self.cv_image = np.zeros((100,100,3), np.uint8)
self.hsv = np.zeros((100,100,3), np.uint8)
self.h_min = 0
self.s_min = 0
self.v_min = 0
self.h_max = 179
self.s_max = 255
self.v_max = 255
cv2.namedWindow('RGB')
cv2.namedWindow('Mask')
# Creating track bar
cv2.createTrackbar('h_min', 'Mask',0,179,self.nothing)
cv2.createTrackbar('s_min', 'Mask',0,255,self.nothing)
cv2.createTrackbar('v_min', 'Mask',0,255,self.nothing)
cv2.createTrackbar('h_max', 'Mask',0,179,self.nothing)
cv2.createTrackbar('s_max', 'Mask',0,255,self.nothing)
cv2.createTrackbar('v_max', 'Mask',0,255,self.nothing)
# Initial value, for green
cv2.setTrackbarPos('h_min', 'Mask',29)
cv2.setTrackbarPos('s_min', 'Mask',86)
cv2.setTrackbarPos('v_min', 'Mask',6)
cv2.setTrackbarPos('h_max', 'Mask',84)
cv2.setTrackbarPos('s_max', 'Mask',255)
cv2.setTrackbarPos('v_max', 'Mask',255)
def nothing(self,x):
pass
def callback(self,data):
try:
self.cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
# get info from track bar and appy to result
self.h_min = cv2.getTrackbarPos('h_min','Mask')
self.s_min = cv2.getTrackbarPos('s_min','Mask')
self.v_min = cv2.getTrackbarPos('v_min','Mask')
self.h_max = cv2.getTrackbarPos('h_max','Mask')
self.s_max = cv2.getTrackbarPos('s_max','Mask')
self.v_max = cv2.getTrackbarPos('v_max','Mask')
# Convert to HSV color space
self.hsv = cv2.cvtColor(self.cv_image,cv2.COLOR_RGB2HSV)
# Normal masking algorithm
mask = None
if self.h_min<=self.h_max and self.s_min<=self.s_max and self.v_min<=self.v_max:
lower = np.array([self.h_min, self.s_min, self.v_min])
upper = np.array([self.h_max, self.s_max, self.v_max])
mask = cv2.inRange(self.hsv,lower, upper)
# Erosion and dilation to remove noise
kernel = np.ones((7,7), np.uint8)
mask = cv2.erode(mask,kernel,iterations = 2)
mask = cv2.dilate(mask,kernel,iterations = 2)
# Find contours in the mask
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
radius = 0
if len(cnts) > 0:
# Find largest contour and compute the minimum eclosing circle
c = max(cnts, key = cv2.contourArea)
((x,y),radius) = cv2.minEnclosingCircle(c);
M = cv2.moments(c)
center = (int(M["m10"]/M["m00"]),int(M["m01"]/M["m00"]))
self.mask_image = cv2.bitwise_and(self.cv_image,self.cv_image,mask = mask)
# Only proceed if the radius meets a minimum size
if radius > 10:
# Draw the circle
cv2.circle(self.mask_image,(int(x),int(y)),int(radius),(0,255,255),2)
cv2.circle(self.mask_image,center,5,(0,0,255),-1)
cv2.circle(self.cv_image,(int(x),int(y)),int(radius),(0,255,255),2)
cv2.circle(self.cv_image,center,5,(0,0,255),-1)
cv2.imshow("RGB", self.cv_image)
cv2.imshow("Mask", self.mask_image)
print(center)
# Publishe horizon diviation from the middle
if center is not None:
center_deviation = int(center[0]-320)
print(center_deviation)
self.center_pub.publish(center_deviation)
cv2.waitKey(3)
if __name__ == '__main__':
ic = image_converter()
print("start")
rospy.init_node('image_converter', anonymous=True)
try:
rospy.spin()
except KeyboardInterrupt:
print("Shutting down")
cv2.destroyAllWindows()
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