2.3.0

- Conveyor add-on added
- Vision add-on added
- Fixes
- Examples added

.gitignore

@@ -8,4 +8,4 @@ tmp_code_to_execute/
 *_test.py
 /CMakeLists.txt
 *.egg-info
-
+*__pycache__

niryo_one/package.xml

@@ -1,9 +1,10 @@
 <package>
     <name>niryo_one</name>
-    <version>2.2.0</version>
+    <version>2.3.0</version>
     <description>Niryo One metapackage</description>
     <author>Edouard Renard</author>
-    <maintainer email="[email protected]">Edouard Renard</maintainer>
+    <maintainer email="[email protected]">Rémi Lux</maintainer>
+    <maintainer email="[email protected]">Corentin Ducatez</maintainer>
     <license>GPLv3</license>
     <url type="website">https://niryo.com</url>
     <url type="repository">https://github.com/niryorobotics/niryo_one_ros</url>

niryo_one_bringup/config/niryo_one_driver.yaml

@@ -18,7 +18,7 @@ gpio_can_interrupt: 25
 calibration_timeout: 40
 
 #
-#  Read/Write/Check frequencies 
+#  Read/Write/Check frequencies
 #  Those params have been chosen to get a good (connection performance + speed / CPU usage) ratio
 #
 

niryo_one_bringup/config/rpi_ros_processes.yaml

@@ -9,23 +9,32 @@ processes:
       launch_on_startup: true
       delay_before_start: 0.0
       cmd: 'roslaunch niryo_one_bringup controllers.launch'
-      args: 
+      args:
           []
       dependencies:
           []
     - name: 'robot_commander'
       launch_on_startup: true
       delay_before_start: 4.0 # Additional delay for Moveit to load controllers
       cmd: 'roslaunch niryo_one_bringup robot_commander.launch'
-      args: 
+      args:
           []
       dependencies:
           - controllers
     - name: 'user_interface'
       launch_on_startup: true
       delay_before_start: 0.0
       cmd: 'roslaunch niryo_one_bringup user_interface.launch'
-      args: 
+      args:
+        []
+      dependencies:
+          - controllers
+          - robot_commander
+    - name: 'vision_node'
+      launch_on_startup: true
+      delay_before_start: 5.0
+      cmd: 'roslaunch niryo_one_bringup vision.launch'
+      args:
         []
       dependencies:
           - controllers

niryo_one_bringup/config/v2/niryo_one_motors.yaml

@@ -19,6 +19,13 @@ can_required_motors: # Axis 1-3 of Niryo One (stepper 1 -> id 1, stepper 2 -> id
     - 2 # Axis 2 enabled if not commented
     - 3 # Axis 3 enabled if not commented
 
+can_authorized_motors:
+    - 1 # Axis 1 enabled if not commented
+    - 2 # Axis 2 enabled if not commented
+    - 3 # Axis 3 enabled if not commented
+    - 6 # id  for conveyor belt 1
+    - 7 # id for conveyor belt  2
+
 dxl_required_motors: # axis 4, 5 and 6 of Niryo One.
     # Edit only for debug purposes (ex : you want to test some motors separately and detached from the robot)
     # --> Commented ids will make associated motor disable (and thus not trigger an error if not connected)

niryo_one_bringup/config/v2/stepper_params.yaml

@@ -6,6 +6,9 @@ stepper_1_gear_ratio: 6.0625
 stepper_2_gear_ratio: 8.3125
 stepper_3_gear_ratio: 7.875
 
+stepper_6_gear_ratio: 5.0
+stepper_7_gear_ratio: 5.0
+
 stepper_1_offset_position: 3.05433
 stepper_2_offset_position: 0.640187
 stepper_3_offset_position: -1.397485
@@ -18,10 +21,15 @@ stepper_1_direction: -1.0
 stepper_2_direction: -1.0
 stepper_3_direction: 1.0
 
+stepper_6_direction: -1.0
+stepper_7_direction: -1.0
+
 stepper_1_max_effort: 90
 stepper_2_max_effort: 130
 stepper_3_max_effort: 120
 
+stepper_6_max_effort: 90
+stepper_7_max_effort: 90
 
 # Params still used in the driver code but motor 4 will be disabled
 stepper_4_gear_ratio: 5.0

niryo_one_bringup/launch/robot_commander.launch

@@ -3,18 +3,18 @@
 
     <!-- Moveit move_group -->
     <include file="$(find niryo_one_moveit_config)/launch/move_group.launch" />
-    
+
     <!-- Disable Moveit! controller timeout -->
     <param name="move_group/trajectory_execution/execution_duration_monitoring" value="false" />
-    
+
     <!-- Change start tolerance from 0.01 to 0.0 to avoid this error : "Invalid Trajectory: start point deviates from current robot state more than"-->
     <!-- more info http://moveit.ros.org/moveit!/ros/2017/01/03/firstIndigoRelease.html -->
     <param name="/move_group/trajectory_execution/allowed_start_tolerance" value="0.0" />
-  
+
     <!-- Change from 0.1 to 0.3 rad -->
     <!-- Allows joints to be outside of min and max values when starting -->
     <param name="/move_group/start_state_max_bounds_error" value="0.3" />
-  
+
     <!-- Robot commander -->
     <node name="niryo_one_commander" pkg="niryo_one_commander" type="niryo_one_commander_node.py" output="screen" respawn="false">
         <param name="reference_frame"            type="string" value="world" />
@@ -30,4 +30,3 @@
 
     </node>
 </launch>
-

niryo_one_bringup/launch/vision.launch

@@ -0,0 +1,9 @@
+<launch>
+  <node name="niryo_one_pose_converter" pkg="niryo_one_pose_converter" type="pose_converter.py" output="screen">
+    <param name="workspace_dir" type="string" value="~/niryo_one_workspaces/"/>
+    <param name="grip_dir" type="string" value="$(find niryo_one_pose_converter)/grips"/>
+  </node>
+  <node name="niryo_one_vision" pkg="niryo_one_camera" type="camera_publisher_and_services.py" output="screen">
+    <rosparam file="$(find niryo_one_camera)/config/video_server_setup.yaml"/>
+  </node>
+</launch>

niryo_one_bringup/package.xml

@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <package>
   <name>niryo_one_bringup</name>
-  <version>2.2.0</version>
+  <version>2.3.0</version>
   <description>Provides roslaunch scripts to start Niryo One packages and ros params</description>
   <author>Edouard Renard</author>
-  <maintainer email="e.renard@niryo.com">Edouard Renard</maintainer>
+    <maintainer email="r.lux@niryo.com">Rémi Lux</maintainer>
   <license>GPLv3</license>
 
   <buildtool_depend>catkin</buildtool_depend>

niryo_one_camera/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niryo_one_camera)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  std_msgs
+)
+
+catkin_python_setup()
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)

niryo_one_camera/OPENCV_LICENSE

@@ -0,0 +1,42 @@
+By downloading, copying, installing or using the software you agree to this license.
+If you do not agree to this license, do not download, install,
+copy or use the software.
+
+
+                          License Agreement
+               For Open Source Computer Vision Library
+                       (3-clause BSD License)
+
+Copyright (C) 2000-2020, Intel Corporation, all rights reserved.
+Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
+Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved.
+Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved.
+Copyright (C) 2015-2016, OpenCV Foundation, all rights reserved.
+Copyright (C) 2015-2016, Itseez Inc., all rights reserved.
+Copyright (C) 2019-2020, Xperience AI, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  * Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+  * Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+
+  * Neither the names of the copyright holders nor the names of the contributors
+    may be used to endorse or promote products derived from this software
+    without specific prior written permission.
+
+This software is provided by the copyright holders and contributors "as is" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are disclaimed.
+In no event shall copyright holders or contributors be liable for any direct,
+indirect, incidental, special, exemplary, or consequential damages
+(including, but not limited to, procurement of substitute goods or services;
+loss of use, data, or profits; or business interruption) however caused
+and on any theory of liability, whether in contract, strict liability,
+or tort (including negligence or otherwise) arising in any way out of
+the use of this software, even if advised of the possibility of such damage.

niryo_one_camera/README.md

@@ -0,0 +1,40 @@
+# Niryo One Vision
+This package handles the image processing part of the Niryo One.
+It's made from several publishers and services to ease the camera's use
+
+## Setup
+The setup happens in _niryo_one_camera/config/_. In this folder, you must have a
+- _video_server_setup.yaml_ file which will contains several parameters has the frame rate use or the camera port.
+- _XXXXXX.yaml_ file which represents camera intrinsic parameters. The name of the later should be mentionned
+in the field **obj_calib_name** of the file setup file _video_server_setup.yaml_
+
+
+## Launch
+To launch the vision node, you can use the command :
+`roslaunch niryo_one_bringup vision_node.launch`
+
+Note that if you want to run it locally, you can use the following launch file : 
+```xml
+<launch>
+  <node name="niryo_one_vision" pkg="niryo_one_camera" type="camera_publisher_and_services.py" output="screen">
+      <rosparam file="$(find niryo_one_camera)/config/video_server_setup_local.yaml"/>
+  </node>
+</launch>
+```
+
+## Topic list
+
+Publishers list
+- _/niryo_one_vision/compressed_video_stream_ : Publish CompressedImage messages
+each time a image is read and decoded. The actualization rate will vary according
+to the frame rate and the subsampling rate
+
+Services list
+- _/niryo_one_vision/obj_detection_rel_ : Gives a relative position of a 
+specify object. Use ObjDetection srv
+- _/niryo_one_vision/set_calibration_camera_ : Set new camera intrinsics object.
+ Use SetCalibrationCam srv
+- _/niryo_one_vision/get_calibration_camera_ : Get infos about camera intrinsics parameters.
+Use GetCalibrationCam srv
+- _/niryo_one_vision/take_picture_ : Save the last image seen in a specified path. Use TakePicture srv
+- _/niryo_one_vision/start_stop_video_streaming_ : Start and stop video streaming. Use SetBool from std_srvs

niryo_one_camera/config/cam_intrinsics.yaml

@@ -0,0 +1,20 @@
+mtx:
+  - 508.069
+  - 0.0
+  - 332.821
+  - 0.0
+  - 506.445
+  - 242.984
+  - 0.0
+  - 0.0
+  - 1.0
+
+dist:
+  - -0.4146402
+  - 0.2407384
+  - 0.0
+  - 0.0
+  - -0.1040042
+
+width_img: 640
+height_img: 480

niryo_one_camera/config/video_server_setup.yaml

@@ -0,0 +1,20 @@
+# -- Editable settings
+undistort_stream:   false
+frame_rate:         15  # 15, 25 or 30
+subsampling:        5
+camera_port:        -1
+calibration_grid_shape:
+  - 9
+  - 6
+
+# For expert
+obj_calib_name:     "cam_intrinsics"
+frame_size: # Available resolutions : 320x240, 352x288, 640x360, 640x480, 1280x720, 1920x1080
+  - 640  # width
+  - 480  # height
+
+buffer_size: 5
+display:            false # Useful only on computer
+
+stream_compression_quality: 65
+debug_compression_quality: 75

niryo_one_camera/package.xml

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>niryo_one_camera</name>
+  <version>2.3.0</version>
+  <description>Niryo vision package</description>
+  <author>Rémi Lux</author>
+  <author>Andreas Voigt</author>
+  <maintainer email="[email protected]">Rémi Lux</maintainer>
+
+  <license>GPLv3</license>
+
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>message_generation</build_export_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_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>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <export>
+
+  </export>
+</package>