Commit 2a136f30 authored by CactusSoyeux's avatar CactusSoyeux
Browse files
parents af3fd161 be90810b
/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
### ROS Olympe interface for Parrot Anafi drone
## anafi_base
Package that contains a node that read the drone video and metadata stream and publish relevant infoamtions:
* Image stream
* GPS
* Battery level
* State
* Orientation
## anafi_navigation
Package that takes waypoints or joystick info to convert them into cmd_vel messages.
## anafi_controll
Interface that convert ROS services and cmd_vel in Olympe compatible messages. It also allows the user to change the camera orientation.
\ No newline at end of file
cmake_minimum_required(VERSION 3.0.2)
project(anafi_base)
## 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
geometry_msgs
roscpp
rospy
sensor_msgs
std_msgs
message_generation
actionlib_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 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
TakeOffLand.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
geometry_msgs
sensor_msgs
std_msgs
actionlib_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 anafi_base
CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs 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/${PROJECT_NAME}/anafi_base.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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/anafi_base_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
# scripts/my_python_script
# 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_anafi_base.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)
<launch>
<node name="anafi_control" pkg="anafi_control" type="control_node.py" output="screen"/>
<node name="joy" pkg="joy" type="joy_node" output="screen"/>
<node name="anafi_base" pkg="anafi_base" type="anafi_node.py" output="screen"/>
</launch>
\ No newline at end of file
<?xml version="1.0"?>
<package format="2">
<name>anafi_base</name>
<version>0.0.0</version>
<description>The anafi_base package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="cyver@todo.todo">cyver</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/anafi_base</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>geometry_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>message_runtime</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>message_generation</build_export_depend>
<build_export_depend>message_runtime</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_generation</exec_depend>
<exec_depend>message_runtime</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5676470398902893
Tree Height: 355
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /camera/image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.3053981363773346
Target Frame: <Fixed Frame>
Yaw: 1.065398097038269
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001ee000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000231000000bc0000001600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000282000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1267
X: 72
Y: 27
#!/home/anafi/code/parrot-olympe/out/olympe-linux/pyenv_root/versions/3.9.5/bin/python3
#Generic imports
import os
import queue
import threading
import cv2
import numpy as np
import olympe
#ROS imports
import rospy
#Services types
from anafi_base.srv import TakeOffLand, TakeOffLandResponse
from cv_bridge import CvBridge
from geometry_msgs.msg import Quaternion, Twist, Vector3
#Olympe imports
from olympe.messages.ardrone3.Piloting import Landing, TakeOff
from olympe.messages.ardrone3.PilotingState import FlyingStateChanged
from olympe.messages.ardrone3.SpeedSettings import MaxRotationSpeed
from olympe.messages.ardrone3.SpeedSettingsState import MaxRotationSpeedChanged
from olympe.messages.gimbal import set_max_speed
from olympe.messages.gimbal import max_speed
from olympe.video.pdraw import Pdraw, PdrawState
#Pub types
from sensor_msgs.msg import Image, NavSatFix
from std_msgs.msg import Bool, Float32, Int8, String
#Drone OS param
DRONE_IP = os.environ.get("DRONE_IP", "192.168.42.1")
DRONE_RTSP_PORT = os.environ.get("DRONE_RTSP_PORT", "554")
DRONE_STREAM = f"rtsp://{DRONE_IP}:{DRONE_RTSP_PORT}/live"
#Can be deleted
MEDIA_PATH = '/home/anafi/catkin_ws/src/anafi_base/script/media'
IMG_PATH = os.path.join(MEDIA_PATH , 'output.jpg')
olympe.log.update_config({"loggers": {"olympe": {"level": "WARNING"}}})
class Anafi:
def __init__(self):
#ROS Node init
rospy.init_node('anafi_stream', anonymous=True)
self.br = CvBridge()
self.loop_rate = rospy.Rate(10)
# Create the olympe.Drone object from its IP address
try:
self.drone = olympe.Drone(DRONE_IP)
self.drone.connect()
except Exception as e:
print("Drone connection failed: %s" %e)
#Pdraw init
self.frame_queue = queue.Queue()
self.flush_queue_lock = threading.Lock()
self.timeout = 5
#Initialise Publishers
self.anafi_img = None #cv2.imread(IMG_PATH)
self.bat_perc = 100
self.gnd_dist = None
self.air_speed = None
self.quat = Quaternion(0 , 1, 0, 0)
self.speed = Vector3(0,0,0)
self.state = None
self.sat = None
self.gps = NavSatFix()
#Drone variables
self.vel = Twist()
self.last_vel_time = rospy.get_time()
self.time_thrs = 2
#Olympe settings modifications
max_range_rot = 200
max_range_gimbal_pitch = 180
#Rotation Speed
try:
max_range_rot = self.drone.get_state(MaxRotationSpeedChanged)['max']
self.drone(MaxRotationSpeed(max_range_rot)).wait().success()
print('Setting max rotation speed to max')
except:
print('Failed to change max rotation speed')
#Gimbal pitch speed
try:
self.drone(olympe.messages.gimbal.set_max_speed(gimbal_id=0, roll = 10, pitch=max_range_gimbal_pitch, yaw = 0)).wait().success()
print('Setting max gimbal pitch speed to max')
except :
print('Failed to change max gimbal pitch speed')
'''
for i in self.drone.get_state(olympe.messages.gimbal.max_speed).values():
for k,v in i.items():
if (k == 'max_bound_pitch'):
max_range_gimbal = v
self.drone(olympe.messages.gimbal.set_max_speed(gimbal_id=0, roll = 10, pitch=max_range_gimbal, yaw = 0)).wait().success()
print('Setting max gimbal pitch speed to max')
'''
#Pdraw
self.pdraw = Pdraw()
self.pdraw.set_callbacks(
raw_cb = self.yuv_frame_cb,
flush_raw_cb = self.flush_cb
)
#ROS Publishers init
self.img_pub = rospy.Publisher('camera/image', Image, queue_size=2)
self.bat_pub = rospy.Publisher('meta/battery', Int8, queue_size=2)
self.gnd_dist_pub = rospy.Publisher('meta/gnd_dist', Float32, queue_size=2)
self.air_speed_pub = rospy.Publisher('meta/air_speed', Float32, queue_size=2)
self.quat_pub = rospy.Publisher('meta/quat', Quaternion, queue_size=2)
self.speed_pub = rospy.Publisher('meta/speed', Vector3, queue_size=2)
self.state_pub = rospy.Publisher('meta/state', String, queue_size=2)
self.sat_pub = rospy.Publisher('meta/sat', Bool, queue_size=2)
self.gps_pub = rospy.Publisher('meta/gps', NavSatFix, queue_size=2)
#ROS Subscribers init
rospy.Subscriber("/cmd_cam", Float32, self.camCallback)
rospy.Subscriber("/cmd_vel", Twist, self.velCallback)
#ROS Services init
s = rospy.Service("take_off_land", TakeOffLand, self.handle_take_off_land)
def takeOffLandService(self, str):
rospy.wait_for_service("take_off_land")
try:
take_off_land = rospy.ServiceProxy("take_off_land", TakeOffLand)
resp = take_off_land(str)
return resp.str
except rospy.ServiceException as e:
print("Service call failed: %s" %e)
def handle_take_off_land(self, req):
if req.str == "take_off":
#print("Drone Take Off")
try:
assert self.drone(TakeOff()>> FlyingStateChanged(state="hovering", _timeout=5)).wait().success()
return TakeOffLandResponse("ok_take_off")
except:
return TakeOffLandResponse("fail_take_off")
elif req.str == "land":
#print("Drone Land")
try:
assert self.drone(Landing()>> FlyingStateChanged(state="landed", _timeout=10)).wait().success()
return TakeOffLandResponse("ok_land")
except :
return TakeOffLandResponse("fail_land")
else :
#print("Error")
return TakeOffLandResponse("error")
def camCallback(self, cam_msg):
val = np.float32(cam_msg.data)
pyval = val.item()
self.drone(olympe.messages.gimbal.set_target(gimbal_id=0, control_mode="position", yaw_frame_of_reference="relative", yaw=0.0, pitch_frame_of_reference="relative", pitch= pyval, roll_frame_of_reference="relative", roll=0.0)).wait()
def velCallback(self, vel_msg):
self.vel = vel_msg
#Update last time the drone received a cmd_vel msg
self.last_vel_time = rospy.get_time()
def yuv_frame_cb(self, yuv_frame):
#Get stream MetaData is there is any received
try: