Uploaded Files

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(bio-robotics-project)
+
+## 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
+  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 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
+# )
+
+################################################
+## 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 bio-robotics-project
+#  CATKIN_DEPENDS 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/${PROJECT_NAME}/bio-robotics-project.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/bio-robotics-project_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 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_bio-robotics-project.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)

README.md

@@ -1,2 +1,15 @@
-# bio-inspired-robotics
-Bio Inspired Robotics Project ME335 Project
+# Alligator Inspired Robot
+Bio Inspired Robotics (ME335) Project under Dr. Atul Thakur
+
+This is a simulation based project. The objective is to make a simulated alligator inspired robot go through a set of waypoints. The simulation is done in V-REP and we use ROS and OpenCV to do image processing. Low level commands used for trotting are handled by a Lua script in V-REP.
+
+Check out the [report](Alligator%20Inspired%20Robot%20Report.pdf) to know more.
+
+## Instructions to run the project:
+Install V-REP and ROS and make sure that the `vrep-ros-interface` is working. Put the `alligator.lua` file in the V-REP path such that it is accessible in V-REP. The folder `bio-inspired-robotics` is a ROS package. Put it in the correct place and make sure `catkin_make` runs successfully. Now load `alligator.ttt` in V-REP and start the simulation. Start ROS and in a terminal type `rosrun bio-inspired-robotics alligator-controller.py`.
+
+![](screenshot.png)
+
+Contributers:
+Arya Das
+Shubham Chouksey

bio-inspired-robotics/src/alligator-controller.py

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+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import Int8
+from sensor_msgs.msg import Image
+import cv2
+import numpy as np
+from cv_bridge import CvBridge,CvBridgeError
+
+bridge = CvBridge()
+
+stop, straight, right, left = 0,1,2,3
+dirr = stop
+
+def callback(msg):
+    img = bridge.imgmsg_to_cv2(msg)
+    img = cv2.flip(img,0)
+    imgf = cv2.inRange(img, (0,100,0), (50,255,50))
+
+    count = cv2.countNonZero(imgf)
+    cX, cY, dirr = -1,-1,stop
+
+    if (count > 0):
+        M = cv2.moments(imgf)
+
+        cX = int(M["m10"] / M["m00"])
+        cY = int(M["m01"] / M["m00"])
+
+    if (count == 0):
+        dirr = stop
+    elif (cX < 11):
+        dirr = left
+    elif (cX > 21):
+        dirr = right
+    else:
+        dirr = straight
+
+    print("px count:", count, "centroid:",cX,cY, "direction:",dirr)
+    pub.publish(dirr)
+
+    newimgf = np.ones_like(img)*255
+    newimgf = cv2.bitwise_or(newimgf,newimgf,mask=imgf)
+
+    disp = np.concatenate((img,newimgf), axis=1)
+    disp = cv2.resize(disp,(0,0),fx=10,fy=10,interpolation=cv2.INTER_NEAREST)
+
+    cv2.imshow("Display", disp)
+    cv2.waitKey(1)
+
+rospy.init_node('controller', anonymous=True)
+rospy.Subscriber('image', Image, callback)
+pub = rospy.Publisher('alg_ctrl', Int8, queue_size=10)
+
+rospy.spin()

bio-inspired-robotics/src/alligator.lua

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+jointNames = {
+    'ThighJoint_Front_Right',
+    'KneeJoint_Front_Right',
+    'LowerLeg_Front_Right',
+
+    'ThighJoint_Front_Right0',
+    'KneeJoint_Front_Right0',
+    'LowerLeg_Front_Right0',
+
+    'ThighJoint_Front_Right1',
+    'KneeJoint_Front_Right1',
+    'LowerLeg_Front_Right1',
+
+    'ThighJoint_Front_Right2',
+    'KneeJoint_Front_Right2',
+    'LowerLeg_Front_Right2'
+}
+
+trotParams = {
+    {0, 0.3, 0},
+    {0, 0.0, 1.5},
+    {0, 0, 0},
+
+    {0, 0.3, 1},
+    {0, 0.3, 0.5},
+    {0, 0, 0},
+
+    {0, 0.3, 1},
+    {0, 0.3, 1.5},
+    {0, 0, 0},
+
+    {0, 0.3, 0},
+    {0, 0.0, 0.5},
+    {0, 0, 0}
+}
+
+omega = 2*math.pi
+
+stop, straight, right, left = 0, 1, 2, 3
+
+state = stop
+
+function sysCall_init()
+    handles = {}
+    for i = 1,12 do
+        handles[i] = sim.getObjectHandle(jointNames[i])
+    end
+
+    baseVisionSensor = sim.getObjectHandle('base_vision_sensor')
+
+    pub=simROS.advertise('/image', 'sensor_msgs/Image')
+    simROS.publisherTreatUInt8ArrayAsString(pub)
+
+    sub=simROS.subscribe('/alg_ctrl', 'std_msgs/Int8', 'alg_ctrl_callback')
+end
+
+function sysCall_actuation()
+    if state == stop then
+        for i=1,12 do sim.setJointTargetPosition(handles[i],0) end
+        return
+    elseif state == straight then
+        trotParams[1][2] = 0.3
+        trotParams[4][2] = 0.3
+        trotParams[7][2] = 0.3
+        trotParams[10][2] = 0.3
+    elseif state == right then
+        trotParams[1][2] = 0.0
+        trotParams[4][2] = 0.0
+        trotParams[7][2] = 0.3
+        trotParams[10][2] = 0.3
+    elseif state == left then
+        trotParams[1][2] = 0.3
+        trotParams[4][2] = 0.3
+        trotParams[7][2] = 0.0
+        trotParams[10][2] = 0.0
+    end
+
+    for i=1,12 do
+        angle = trotParams[i][1] + trotParams[i][2]*math.sin(omega*sim.getSimulationTime() + trotParams[i][3]*math.pi)
+        sim.setJointTargetPosition(handles[i],angle)
+    end
+end
+
+function sysCall_sensing()
+    local data,w,h=sim.getVisionSensorCharImage(baseVisionSensor)
+    d={}
+    d['header']={seq=0,stamp=simROS.getTime(), frame_id="a"}
+    d['height']=h
+    d['width']=w
+    d['encoding']='rgb8'
+    d['is_bigendian']=1
+    d['step']=w*3
+    d['data']=data
+    simROS.publish(pub,d)
+end
+
+function alg_ctrl_callback(msg)
+    state = msg.data
+end