diff --git a/.gitmodules b/.gitmodules index 32ff019b..139613cf 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,21 +1,21 @@ -[submodule "ros/opentera-webrtc-ros"] - path = ros/opentera-webrtc-ros - url = https://github.com/introlab/opentera-webrtc-ros.git +[submodule "system/optional"] + path = system/optional + url = https://github.com/TartanLlama/optional.git +[submodule "ros/utils/hbba_lite"] + path = ros/utils/hbba_lite + url = https://github.com/introlab/hbba_lite.git +[submodule "ros/utils/audio_utils"] + path = ros/utils/audio_utils + url = https://github.com/introlab/audio_utils.git [submodule "ros/perceptions/odas_ros"] path = ros/perceptions/odas_ros url = https://github.com/introlab/odas_ros.git -[submodule "ros/utils/recorders/3rd_party/SQLiteCpp"] - path = ros/utils/recorders/3rd_party/SQLiteCpp - url = https://github.com/SRombauts/SQLiteCpp.git [submodule "ros/demos/home_logger/3rd_party/fmt"] path = ros/demos/home_logger/3rd_party/fmt url = https://github.com/fmtlib/fmt.git -[submodule "ros/utils/audio_utils"] - path = ros/utils/audio_utils - url = https://github.com/introlab/audio_utils.git -[submodule "ros/utils/hbba_lite"] - path = ros/utils/hbba_lite - url = https://github.com/introlab/hbba_lite.git -[submodule "system/optional"] - path = system/optional - url = https://github.com/TartanLlama/optional.git +[submodule "ros/utils/recorders/3rd_party/SQLiteCpp"] + path = ros/utils/recorders/3rd_party/SQLiteCpp + url = https://github.com/SRombauts/SQLiteCpp.git +[submodule "ros/utils/opentera-webrtc-ros"] + path = ros/utils/opentera-webrtc-ros + url = https://github.com/introlab/opentera-webrtc-ros.git diff --git a/documentation/assembly/01_COMPUTER_CONFIGURATION.md b/documentation/assembly/01_COMPUTER_CONFIGURATION.md index b9dd8f02..b2786f2e 100644 --- a/documentation/assembly/01_COMPUTER_CONFIGURATION.md +++ b/documentation/assembly/01_COMPUTER_CONFIGURATION.md @@ -712,3 +712,12 @@ export GOOGLE_APPLICATION_CREDENTIALS="[Path to the service account JSON keyfile ```bash export OPEN_WEATHER_MAP_API_KEY="[The key]" ``` + +### C. Setup a Different ROS2 Domain on Each Robot + +1. Add the following line to `~/.bashrc` + +```bash +# Avoid default=0 and make sure each robot has a different domain ID. +export ROS_DOMAIN_ID=[1...101] +``` diff --git a/documentation/assembly/13_CALIBRATION.md b/documentation/assembly/13_CALIBRATION.md index da6b359b..9f713475 100644 --- a/documentation/assembly/13_CALIBRATION.md +++ b/documentation/assembly/13_CALIBRATION.md @@ -4,11 +4,13 @@ 1. Execute the following command. ```bash -roslaunch t_top platform.launch camera_2d_wide_enabled:=true +ros2 launch t_top platform.launch.xml camera_2d_wide_enabled:=true ``` 2. Follow the following [steps](http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration). ```bash -rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.69 image:=/camera_2d_wide_full_hd/image camera:=/camera_2d_wide_full_hd +# Create calibration path +mkdir -p ~/.ros/t-top/calibration +ros2 run camera_calibration cameracalibrator --size 9x6 --square 0.051 --ros-args -r image:=/camera_2d_wide_full_hd/image -r camera/set_camera_info:=/camera_2d_wide_full_hd/set_camera_info ``` ## B. sound_object_person_following @@ -16,5 +18,5 @@ rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.69 image:=/c 1. Place an object having visual features in front of the robot. 2. Execute the following command. ```bash -roslaunch sound_object_person_following calibrate_sound_object_person_following.launch +ros2 launch sound_object_person_following calibrate_sound_object_person_following.launch.xml ``` diff --git a/ros/.gitignore b/ros/.gitignore deleted file mode 100644 index 0c03be98..00000000 --- a/ros/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -.idea/ -venv -__pycache__ diff --git a/ros/behaviors/behavior_msgs/CMakeLists.txt b/ros/behaviors/behavior_msgs/CMakeLists.txt new file mode 100644 index 00000000..35804804 --- /dev/null +++ b/ros/behaviors/behavior_msgs/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 3.5) +project(behavior_msgs) + + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(daemon_ros_client REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +# Generate messages +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/Done.msg" + "msg/GestureName.msg" + "msg/LedAnimation.msg" + "msg/SoundFile.msg" + "msg/SoundStarted.msg" + "msg/Statistics.msg" + "msg/Text.msg" + DEPENDENCIES daemon_ros_client +) + +ament_package() diff --git a/ros/behaviors/gesture/msg/Done.msg b/ros/behaviors/behavior_msgs/msg/Done.msg similarity index 100% rename from ros/behaviors/gesture/msg/Done.msg rename to ros/behaviors/behavior_msgs/msg/Done.msg diff --git a/ros/behaviors/gesture/msg/GestureName.msg b/ros/behaviors/behavior_msgs/msg/GestureName.msg similarity index 100% rename from ros/behaviors/gesture/msg/GestureName.msg rename to ros/behaviors/behavior_msgs/msg/GestureName.msg diff --git a/ros/behaviors/led_animations/msg/Animation.msg b/ros/behaviors/behavior_msgs/msg/LedAnimation.msg similarity index 100% rename from ros/behaviors/led_animations/msg/Animation.msg rename to ros/behaviors/behavior_msgs/msg/LedAnimation.msg diff --git a/ros/behaviors/sound_player/msg/SoundFile.msg b/ros/behaviors/behavior_msgs/msg/SoundFile.msg similarity index 100% rename from ros/behaviors/sound_player/msg/SoundFile.msg rename to ros/behaviors/behavior_msgs/msg/SoundFile.msg diff --git a/ros/behaviors/sound_player/msg/Started.msg b/ros/behaviors/behavior_msgs/msg/SoundStarted.msg similarity index 100% rename from ros/behaviors/sound_player/msg/Started.msg rename to ros/behaviors/behavior_msgs/msg/SoundStarted.msg diff --git a/ros/behaviors/talk/msg/Statistics.msg b/ros/behaviors/behavior_msgs/msg/Statistics.msg similarity index 100% rename from ros/behaviors/talk/msg/Statistics.msg rename to ros/behaviors/behavior_msgs/msg/Statistics.msg diff --git a/ros/behaviors/talk/msg/Text.msg b/ros/behaviors/behavior_msgs/msg/Text.msg similarity index 100% rename from ros/behaviors/talk/msg/Text.msg rename to ros/behaviors/behavior_msgs/msg/Text.msg diff --git a/ros/behaviors/behavior_msgs/package.xml b/ros/behaviors/behavior_msgs/package.xml new file mode 100644 index 00000000..278c7707 --- /dev/null +++ b/ros/behaviors/behavior_msgs/package.xml @@ -0,0 +1,24 @@ + + + + behavior_msgs + 0.0.0 + The behavior_msgs package + Marc-Antoine Maheux + GPL-3.0 license + + ament_cmake + rosidl_default_generators + + daemon_ros_client + + rosidl_default_runtime + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ros/behaviors/behavior_srvs/CMakeLists.txt b/ros/behaviors/behavior_srvs/CMakeLists.txt new file mode 100644 index 00000000..b4b467bc --- /dev/null +++ b/ros/behaviors/behavior_srvs/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.5) +project(behavior_srvs) + + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +# Generate services +rosidl_generate_interfaces(${PROJECT_NAME} + "srv/GenerateSpeechFromText.srv" +) + +ament_package() diff --git a/ros/behaviors/behavior_srvs/package.xml b/ros/behaviors/behavior_srvs/package.xml new file mode 100644 index 00000000..5fe53c23 --- /dev/null +++ b/ros/behaviors/behavior_srvs/package.xml @@ -0,0 +1,22 @@ + + + + behavior_srvs + 0.0.0 + The behavior_srvs package + Marc-Antoine Maheux + GPL-3.0 license + + ament_cmake + rosidl_default_generators + + rosidl_default_runtime + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ros/behaviors/piper_ros/srv/GenerateSpeechFromText.srv b/ros/behaviors/behavior_srvs/srv/GenerateSpeechFromText.srv similarity index 100% rename from ros/behaviors/piper_ros/srv/GenerateSpeechFromText.srv rename to ros/behaviors/behavior_srvs/srv/GenerateSpeechFromText.srv diff --git a/ros/behaviors/dance/CMakeLists.txt b/ros/behaviors/dance/CMakeLists.txt index 6fbe000e..83246a06 100644 --- a/ros/behaviors/dance/CMakeLists.txt +++ b/ros/behaviors/dance/CMakeLists.txt @@ -1,221 +1,43 @@ -cmake_minimum_required(VERSION 2.8.3) - -if (POLICY CMP0048) - cmake_policy(SET CMP0048 NEW) -endif (POLICY CMP0048) - +cmake_minimum_required(VERSION 3.5) project(dance) -## 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 - roscpp - std_msgs - hbba_lite - t_top - daemon_ros_client - ) - -## 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 dance - CATKIN_DEPENDS rospy roscpp std_msgs - # DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - # include - ${catkin_INCLUDE_DIRS} +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(daemon_ros_client REQUIRED) +find_package(std_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(t_top REQUIRED) + +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) + +# Python Nodes +install(PROGRAMS + scripts/head_dance_node.py + scripts/led_dance_node.py + scripts/torso_dance_node.py + DESTINATION lib/${PROJECT_NAME} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/dance.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/audio_utils_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(beat_detector_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 - -catkin_install_python(PROGRAMS - scripts/head_dance_node.py - scripts/torso_dance_node.py - scripts/led_dance_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -## 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 ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# +# Install the movements files +install(DIRECTORY movements DESTINATION share/${PROJECT_NAME}) -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_dance.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/behaviors/dance/README.md b/ros/behaviors/dance/README.md index 3e671ee1..d5ec8661 100644 --- a/ros/behaviors/dance/README.md +++ b/ros/behaviors/dance/README.md @@ -14,19 +14,19 @@ This node makes T-Top head dance on the beat. The moves are randomly chosen. #### Subscribed Topics -- `bpm` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): The bpm topic from the +- `bpm` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The bpm topic from the beat_detector_node. -- `beat` ([std_msgs/Bool](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html)): The beat topic from the +- `beat` ([std_msgs/Bool](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Bool.html)): The beat topic from the beat_detector_node. #### Published Topics -- `dance/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): +- `dance/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The head pose. #### Services -- `pose/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `pose/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. @@ -40,20 +40,20 @@ This node makes T-Top torso dance on the beat. The moves are randomly chosen. #### Subscribed Topics -- `bpm` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): The bpm topic from the +- `bpm` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The bpm topic from the beat_detector_node. -- `beat` ([std_msgs/Bool](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html)): The beat topic from the +- `beat` ([std_msgs/Bool](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Bool.html)): The beat topic from the beat_detector_node. - `daemon/motor_status` ([daemon_ros_client/MotorStatus](../../daemon_ros_client/msg/MotorStatus.msg)): The motor status to get torso orientation. #### Published Topics -- `dance/set_torso_orientation` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): The +- `dance/set_torso_orientation` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The torso orientation. #### Services -- `pose/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `pose/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. @@ -67,7 +67,7 @@ This node makes T-Top torso dance on the beat. The moves are randomly chosen. #### Subscribed Topics -- `beat` ([std_msgs/Bool](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html)): The beat topic from the +- `beat` ([std_msgs/Bool](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Bool.html)): The beat topic from the beat_detector_node. #### Published Topics @@ -77,5 +77,5 @@ This node makes T-Top torso dance on the beat. The moves are randomly chosen. #### Services -- `set_led_colors/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `set_led_colors/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/face_following/src/face_following/__init__.py b/ros/behaviors/dance/dance/__init__.py similarity index 100% rename from ros/behaviors/face_following/src/face_following/__init__.py rename to ros/behaviors/dance/dance/__init__.py diff --git a/ros/behaviors/dance/src/dance/lib_pose_dance_node.py b/ros/behaviors/dance/dance/lib_pose_dance_node.py similarity index 51% rename from ros/behaviors/dance/src/dance/lib_pose_dance_node.py rename to ros/behaviors/dance/dance/lib_pose_dance_node.py index b06b09b5..c8a4985e 100755 --- a/ros/behaviors/dance/src/dance/lib_pose_dance_node.py +++ b/ros/behaviors/dance/dance/lib_pose_dance_node.py @@ -1,11 +1,13 @@ #!/usr/bin/env python3 from abc import ABC, abstractmethod -import threading import json import random -import rospy +import rclpy +import rclpy.node +from rclpy.duration import Duration + from std_msgs.msg import Float32 from std_msgs.msg import Bool @@ -15,39 +17,38 @@ P_CHANGE_MOVEMENT = 0.25 -class PoseDanceNode(ABC): - def __init__(self): - self._lock = threading.Lock() +class PoseDanceNode(rclpy.node.Node, ABC): + def __init__(self, node_name): + super(PoseDanceNode, self).__init__(node_name) - with open(rospy.get_param('~movement_file'), 'r') as f: + movement_file = self.declare_parameter('movement_file', '').get_parameter_value().string_value + with open(movement_file, 'r') as f: self._movements = json.load(f) self._current_movement = self._movements[list(self._movements.keys())[0]] self._current_movement_pose_index = 0 - self._last_pose_time = rospy.Time.now() + self._last_pose_time = self.get_clock().now() self._bpm = 120 self._peak_delay_pose_count = 0 - self._rate = rospy.Rate(100) + self._time = self.create_timer(1 / 100, self._timer_callback) - self._hbba_filter_state = hbba_lite.OnOffHbbaFilterState('pose/filter_state') + self._hbba_filter_state = hbba_lite.OnOffHbbaFilterState(self, 'pose/filter_state') self._hbba_filter_state.on_changed(self._hbba_filter_state_cb) - self._bpm_sub = rospy.Subscriber('bpm', Float32, self._bpm_cb, queue_size=1) - self._beat_sub = rospy.Subscriber('beat', Bool, self._beat_cb, queue_size=1) + self._bpm_sub = self.create_subscription(Float32, 'bpm', self._bpm_cb, 1) + self._beat_sub = self.create_subscription(Bool, 'beat', self._beat_cb, 1) def _hbba_filter_state_cb(self, previous_is_filtering_all_messages, new_is_filtering_all_messages): pass def _bpm_cb(self, msg): if msg.data > 0: - with self._lock: - self._bpm = msg.data + self._bpm = msg.data def _beat_cb(self, msg): if msg.data: - with self._lock: - self._peak_delay_pose_count = self._find_peak_delay_pose_count() + self._peak_delay_pose_count = self._find_peak_delay_pose_count() def _find_peak_delay_pose_count(self): relative_index = float(self._current_movement_pose_index) / (len(self._current_movement['poses']) - 1) @@ -56,24 +57,23 @@ def _find_peak_delay_pose_count(self): return (closest_value - relative_index) * (len(self._current_movement['poses']) - 1) - def run(self): - while not rospy.is_shutdown(): - with self._lock: - if not self._hbba_filter_state.is_filtering_all_messages: - pose_duration = self._get_pose_duration() - if (rospy.Time.now() - self._last_pose_time) > pose_duration: - self._send_pose(self._current_movement['poses'][self._current_movement_pose_index]) - self._current_movement_pose_index += 1 - self._last_pose_time = rospy.Time.now() - - if self._current_movement_pose_index == len(self._current_movement['poses']): - self._current_movement_pose_index = 0 - self._update_movement() - else: + def _timer_callback(self): + if not self._hbba_filter_state.is_filtering_all_messages: + pose_duration = self._get_pose_duration() + if (self.get_clock().now() - self._last_pose_time) > pose_duration: + self._send_pose(self._current_movement['poses'][self._current_movement_pose_index]) + self._current_movement_pose_index += 1 + self._last_pose_time = self.get_clock().now() + + if self._current_movement_pose_index == len(self._current_movement['poses']): self._current_movement_pose_index = 0 - self._last_pose_time = rospy.Time.now() + self._update_movement() + else: + self._current_movement_pose_index = 0 + self._last_pose_time = self.get_clock().now() - self._rate.sleep() + def run(self): + rclpy.spin(self) def _update_movement(self): if random.random() < P_CHANGE_MOVEMENT: @@ -85,22 +85,9 @@ def _get_pose_duration(self): beat_duration = self._current_movement['beat_duration'] pose_count = len(self._current_movement['poses']) + self._peak_delay_pose_count - return rospy.Duration.from_sec(float(beat_duration) / pose_count / self._bpm * 60.0) + return Duration(seconds=float(beat_duration) / pose_count / self._bpm * 60.0) @abstractmethod def _send_pose(self, pose): """ Called with self._lock locked """ pass - - -def main(): - rospy.init_node('dance_node') - dance_node = DanceNode() - dance_node.run() - - -if __name__ == '__main__': - try: - main() - except rospy.ROSInterruptException: - pass diff --git a/ros/behaviors/dance/launch/test_dance.launch.xml b/ros/behaviors/dance/launch/test_dance.launch.xml new file mode 100644 index 00000000..0891b933 --- /dev/null +++ b/ros/behaviors/dance/launch/test_dance.launch.xml @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/behaviors/dance/head_movements.json b/ros/behaviors/dance/movements/head_movements.json similarity index 100% rename from ros/behaviors/dance/head_movements.json rename to ros/behaviors/dance/movements/head_movements.json diff --git a/ros/behaviors/dance/led_colors.json b/ros/behaviors/dance/movements/led_colors.json similarity index 100% rename from ros/behaviors/dance/led_colors.json rename to ros/behaviors/dance/movements/led_colors.json diff --git a/ros/behaviors/dance/torso_movements.json b/ros/behaviors/dance/movements/torso_movements.json similarity index 100% rename from ros/behaviors/dance/torso_movements.json rename to ros/behaviors/dance/movements/torso_movements.json diff --git a/ros/behaviors/dance/package.xml b/ros/behaviors/dance/package.xml index f7134ee3..7c9e0b4f 100644 --- a/ros/behaviors/dance/package.xml +++ b/ros/behaviors/dance/package.xml @@ -1,77 +1,28 @@ - + + dance 0.0.0 The dance package + Marc-Antoine Maheux + GPL-3.0 license - - - - mahm1904 + ament_cmake + rclpy + daemon_ros_client + std_msgs + hbba_lite + t_top - - - - TODO + rosidl_default_runtime + ros2launch + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - rospy - roscpp - std_msgs - hbba_lite - t_top - daemon_ros_client - rospy - roscpp - std_msgs - hbba_lite - t_top - daemon_ros_client - rospy - roscpp - std_msgs - hbba_lite - t_top - daemon_ros_client - - - - - + ament_cmake diff --git a/ros/behaviors/dance/scripts/head_dance_node.py b/ros/behaviors/dance/scripts/head_dance_node.py index a6aa7fd0..3e3ff38b 100755 --- a/ros/behaviors/dance/scripts/head_dance_node.py +++ b/ros/behaviors/dance/scripts/head_dance_node.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 -import rospy +import rclpy + from geometry_msgs.msg import PoseStamped from t_top import HEAD_ZERO_Z @@ -8,8 +9,8 @@ class HeadDanceNode(PoseDanceNode): def __init__(self): - self._head_pose_pub = rospy.Publisher('dance/set_head_pose', PoseStamped, queue_size=5) - super(HeadDanceNode, self).__init__() + super().__init__('head_dance_node') + self._head_pose_pub = self.create_publisher(PoseStamped, 'dance/set_head_pose', 5) def _send_pose(self, pose): """ Called with self._lock locked """ @@ -17,28 +18,33 @@ def _send_pose(self, pose): pose_msg = PoseStamped() pose_msg.header.frame_id = 'stewart_base' - pose_msg.pose.position.x = pose[0] - pose_msg.pose.position.y = pose[1] - pose_msg.pose.position.z = HEAD_ZERO_Z + pose[2] + pose_msg.pose.position.x = float(pose[0]) + pose_msg.pose.position.y = float(pose[1]) + pose_msg.pose.position.z = float(HEAD_ZERO_Z + pose[2]) - pose_msg.pose.orientation.x = pose[3] - pose_msg.pose.orientation.y = pose[4] - pose_msg.pose.orientation.z = pose[5] - pose_msg.pose.orientation.w = pose[6] + pose_msg.pose.orientation.x = float(pose[3]) + pose_msg.pose.orientation.y = float(pose[4]) + pose_msg.pose.orientation.z = float(pose[5]) + pose_msg.pose.orientation.w = float(pose[6]) self._head_pose_pub.publish(pose_msg) else: - rospy.logerr('Invalid pose') + self.get_logger().error('Invalid pose') def main(): - rospy.init_node('head_dance_node') + rclpy.init() head_dance_node = HeadDanceNode() - head_dance_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + head_dance_node.run() + except KeyboardInterrupt: pass + finally: + head_dance_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/dance/scripts/led_dance_node.py b/ros/behaviors/dance/scripts/led_dance_node.py old mode 100644 new mode 100755 index 010d59ca..ef5a1879 --- a/ros/behaviors/dance/scripts/led_dance_node.py +++ b/ros/behaviors/dance/scripts/led_dance_node.py @@ -1,7 +1,10 @@ +#!/usr/bin/env python3 + import json import random -import rospy +import rclpy +import rclpy.node from std_msgs.msg import Bool from daemon_ros_client.msg import LedColors @@ -9,16 +12,19 @@ import hbba_lite -class LedDanceNode: +class LedDanceNode(rclpy.node.Node): def __init__(self): - with open(rospy.get_param('~led_colors_file'), 'r') as f: + super().__init__('led_dance_node') + + led_colors_file = self.declare_parameter('led_colors_file', '').get_parameter_value().string_value + with open(led_colors_file, 'r') as f: self._none_led_colors, self._dance_led_colors = self._load_led_colors(json.load(f)) - self._led_colors_pub = hbba_lite.OnOffHbbaPublisher('dance/set_led_colors', LedColors, queue_size=1, + self._led_colors_pub = hbba_lite.OnOffHbbaPublisher(self, LedColors, 'dance/set_led_colors', 1, state_service_name='set_led_colors/filter_state') self._led_colors_pub.on_filter_state_changing(self._hbba_filter_state_cb) - self._beat_sub = rospy.Subscriber('beat', Bool, self._beat_cb, queue_size=1) + self._beat_sub = self.create_subscription(Bool, 'beat', self._beat_cb, 1) def _load_led_colors(self, json_dict): none_led_colors = LedColors() @@ -49,17 +55,22 @@ def _beat_cb(self, msg): self._led_colors_pub.publish(random.choice(self._dance_led_colors)) def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('led_dance_node') + rclpy.init() led_dance_node = LedDanceNode() - led_dance_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + led_dance_node.run() + except KeyboardInterrupt: pass + finally: + led_dance_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/dance/scripts/torso_dance_node.py b/ros/behaviors/dance/scripts/torso_dance_node.py index 7189f92d..a1177ac4 100755 --- a/ros/behaviors/dance/scripts/torso_dance_node.py +++ b/ros/behaviors/dance/scripts/torso_dance_node.py @@ -1,57 +1,54 @@ #!/usr/bin/env python3 -import threading +import rclpy -import rospy from std_msgs.msg import Float32 from daemon_ros_client.msg import MotorStatus from dance.lib_pose_dance_node import PoseDanceNode -P_CHANGE_MOVEMENT = 0.25 - - class TorsoDanceNode(PoseDanceNode): def __init__(self): - self._current_torso_orientation_lock = threading.Lock() + super().__init__('torso_dance_node') + self._current_torso_orientation = 0.0 self._torso_offset = 0.0 - self._torso_orientation_pub = rospy.Publisher('dance/set_torso_orientation', Float32, queue_size=5) + self._torso_orientation_pub = self.create_publisher(Float32, 'dance/set_torso_orientation', 5) - super(TorsoDanceNode, self).__init__() - - self._motor_status_sub = rospy.Subscriber('daemon/motor_status', MotorStatus, self._motor_status_cb, queue_size=1) + self._motor_status_sub = self.create_subscription(MotorStatus, 'daemon/motor_status', self._motor_status_cb, 1) def _hbba_filter_state_cb(self, previous_is_filtering_all_messages, new_is_filtering_all_messages): if previous_is_filtering_all_messages and not new_is_filtering_all_messages: - with self._lock, self._current_torso_orientation_lock: - self._torso_offset = self._current_torso_orientation + self._torso_offset = self._current_torso_orientation def _motor_status_cb(self, msg): - with self._current_torso_orientation_lock: - self._current_torso_orientation = msg.torso_orientation + self._current_torso_orientation = msg.torso_orientation def _send_pose(self, pose): - """ Called with self._lock locked """ if len(pose) == 1: pose_msg = Float32() - pose_msg.data = pose[0] + self._torso_offset + pose_msg.data = float(pose[0] + self._torso_offset) self._torso_orientation_pub.publish(pose_msg) else: - rospy.logerr('Invalid pose') + self.get_logger().error('Invalid pose') def main(): - rospy.init_node('torso_dance_node') + rclpy.init() torso_dance_node = TorsoDanceNode() - torso_dance_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + torso_dance_node.run() + except KeyboardInterrupt: pass + finally: + torso_dance_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/dance/setup.py b/ros/behaviors/dance/setup.py deleted file mode 100644 index 250d9983..00000000 --- a/ros/behaviors/dance/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from setuptools import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['dance'], - package_dir={'': 'src'}, -) - -setup(**setup_args) diff --git a/ros/behaviors/explore/CMakeLists.txt b/ros/behaviors/explore/CMakeLists.txt index 32770381..35e8da62 100644 --- a/ros/behaviors/explore/CMakeLists.txt +++ b/ros/behaviors/explore/CMakeLists.txt @@ -1,207 +1,32 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(explore) -## 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 - hbba_lite - rospy - t_top - 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 # 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 explore - # CATKIN_DEPENDS hbba_lite rospy t_top - # DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - # include - ${catkin_INCLUDE_DIRS} +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(daemon_ros_client REQUIRED) +find_package(std_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(t_top REQUIRED) + +# Python Nodes +install(PROGRAMS + scripts/explore_node.py + DESTINATION lib/${PROJECT_NAME} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/explore.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/explore_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_explore.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) +ament_package() diff --git a/ros/behaviors/explore/README.md b/ros/behaviors/explore/README.md index b4787c5a..18658c3c 100644 --- a/ros/behaviors/explore/README.md +++ b/ros/behaviors/explore/README.md @@ -10,10 +10,10 @@ This node makes T-Top explore its surrounding. #### Parameters -- `simulation` (bool): Indicates if it's used in the simulation. -- `explore_frequency` (double): The frequency at which T-Top explores its surrounding. -- `torso_speed_rad_sec` (double): The torso speed in rad/s. -- `head_speed_rad_sec` (double): The head speed in rad/s. +- `simulation` (bool): Indicates if it's used in the simulation. The default value is false. +- `explore_frequency` (double): The frequency at which T-Top explores its surrounding. The default value is 0.00833333333. +- `torso_speed_rad_sec` (double): The torso speed in rad/s. The default value is 0.5. +- `head_speed_rad_sec` (double): The head speed in rad/s. The default value is 0.5. #### Subscribed Topics @@ -21,14 +21,14 @@ This node makes T-Top explore its surrounding. #### Published Topics -- `explore/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): +- `explore/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The head pose. -- `explore/set_torso_orientation` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): The +- `explore/set_torso_orientation` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The torso orientation. -- `explore/done` ([std_msgs/Empty](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Empty.html)): Indicates that the +- `explore/done` ([std_msgs/Empty](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Empty.html)): Indicates that the explore moves are finished. #### Services -- `pose/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `pose/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/explore/package.xml b/ros/behaviors/explore/package.xml index d9cff3f7..885224ee 100644 --- a/ros/behaviors/explore/package.xml +++ b/ros/behaviors/explore/package.xml @@ -1,71 +1,27 @@ - + + explore 0.0.0 The explore package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + daemon_ros_client + std_msgs + hbba_lite + t_top - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - hbba_lite - rospy - t_top - std_msgs - hbba_lite - rospy - t_top - std_msgs - hbba_lite - rospy - t_top - std_msgs - - - - - + ament_cmake diff --git a/ros/behaviors/explore/scripts/explore_node.py b/ros/behaviors/explore/scripts/explore_node.py index 44af2f98..5667a89d 100755 --- a/ros/behaviors/explore/scripts/explore_node.py +++ b/ros/behaviors/explore/scripts/explore_node.py @@ -1,6 +1,9 @@ #!/usr/bin/env python3 -import rospy +import rclpy +import rclpy.node +import rclpy.executors + from std_msgs.msg import Empty from t_top import MovementCommands, HEAD_ZERO_Z @@ -9,49 +12,59 @@ INACTIVE_SLEEP_DURATION = 0.1 -class ExploreNode: +class ExploreNode(rclpy.node.Node): def __init__(self): - self._simulation = rospy.get_param('~simulation') - self._rate = rospy.Rate(rospy.get_param('~explore_frequency')) - self._torso_speed = rospy.get_param('~torso_speed_rad_sec') - self._head_speed = rospy.get_param('~head_speed_rad_sec') + super().__init__('explore_node') + + self._simulation = self.declare_parameter('simulation', False).get_parameter_value().bool_value + self._explore_frequency = self.declare_parameter('explore_frequency', 0.00833333333).get_parameter_value().double_value + self._torso_speed = self.declare_parameter('torso_speed_rad_sec', 0.5).get_parameter_value().double_value + self._head_speed = self.declare_parameter('head_speed_rad_sec', 0.5).get_parameter_value().double_value + + self._timer = self.create_timer(1 / self._explore_frequency, self._timer_callback) + + self._movement_commands = MovementCommands(self, self._simulation, namespace='explore') + self._done_pub = self.create_publisher(Empty, 'explore/done', 5) + + def _timer_callback(self): + if self._movement_commands.is_filtering_all_messages: + return + + self._movement_commands.move_torso(0, should_wait=True, speed_rad_sec=self._torso_speed) + self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, -0.3, 0], should_wait=True, speed_rad_sec=self._head_speed) + self._movement_commands.move_torso(1.57, should_wait=False, speed_rad_sec=self._torso_speed) + self._movement_commands.move_torso(3.14, should_wait=True, speed_rad_sec=self._torso_speed) + self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, 0.15, 0], should_wait=True, speed_rad_sec=self._head_speed) + self._movement_commands.move_torso(1.57, should_wait=False, speed_rad_sec=self._torso_speed) + self._movement_commands.move_torso(0, should_wait=False, speed_rad_sec=self._torso_speed) + self._movement_commands.move_torso(-1.57, should_wait=False, speed_rad_sec=self._torso_speed) + self._movement_commands.move_torso(-3.14, should_wait=True, speed_rad_sec=self._torso_speed) + self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, -0.3, 0], should_wait=True, speed_rad_sec=self._head_speed) + self._movement_commands.move_torso(-1.57, should_wait=False, speed_rad_sec=self._torso_speed) + self._movement_commands.move_torso(0, should_wait=True, speed_rad_sec=self._torso_speed) + self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, 0, 0], should_wait=True, speed_rad_sec=self._head_speed) - self._movement_commands = MovementCommands(self._simulation, namespace='explore') - self._done_pub = rospy.Publisher('explore/done', Empty, queue_size=5) + self._done_pub.publish(Empty()) def run(self): - while not rospy.is_shutdown(): - if self._movement_commands.is_filtering_all_messages: - rospy.sleep(INACTIVE_SLEEP_DURATION) - continue - - self._movement_commands.move_torso(0, should_wait=True, speed_rad_sec=self._torso_speed) - self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, -0.3, 0], should_wait=True, speed_rad_sec=self._head_speed) - self._movement_commands.move_torso(1.57, should_wait=False, speed_rad_sec=self._torso_speed) - self._movement_commands.move_torso(3.14, should_wait=True, speed_rad_sec=self._torso_speed) - self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, 0.15, 0], should_wait=True, speed_rad_sec=self._head_speed) - self._movement_commands.move_torso(1.57, should_wait=False, speed_rad_sec=self._torso_speed) - self._movement_commands.move_torso(0, should_wait=False, speed_rad_sec=self._torso_speed) - self._movement_commands.move_torso(-1.57, should_wait=False, speed_rad_sec=self._torso_speed) - self._movement_commands.move_torso(-3.14, should_wait=True, speed_rad_sec=self._torso_speed) - self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, -0.3, 0], should_wait=True, speed_rad_sec=self._head_speed) - self._movement_commands.move_torso(-1.57, should_wait=False, speed_rad_sec=self._torso_speed) - self._movement_commands.move_torso(0, should_wait=True, speed_rad_sec=self._torso_speed) - self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, 0, 0], should_wait=True, speed_rad_sec=self._head_speed) - - self._done_pub.publish(Empty()) - - self._rate.sleep() + executor = rclpy.executors.MultiThreadedExecutor(num_threads=2) + executor.add_node(self) + executor.spin() def main(): - rospy.init_node('explore_node') + rclpy.init() explore_node = ExploreNode() - explore_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + explore_node.run() + except KeyboardInterrupt: pass + finally: + explore_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/face_following/CMakeLists.txt b/ros/behaviors/face_following/CMakeLists.txt index b8336576..e5e87952 100644 --- a/ros/behaviors/face_following/CMakeLists.txt +++ b/ros/behaviors/face_following/CMakeLists.txt @@ -1,212 +1,40 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(face_following) -## 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 - std_msgs - geometry_msgs - hbba_lite - rospy - t_top - tf - video_analyzer - person_identification +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(t_top REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(perception_msgs REQUIRED) + +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) + +# Python Nodes +install(PROGRAMS + scripts/nearest_face_following_node.py + scripts/specific_face_following_node.py + DESTINATION lib/${PROJECT_NAME} ) -## 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 -# geometry_msgs# 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 face_following - # CATKIN_DEPENDS geometry_msgs hbba_lite rospy std_msgs t_top tf - # 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/${PROJECT_NAME}/face_following.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/face_following_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/nearest_face_following_node.py - scripts/specific_face_following_node.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_face_following.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) +ament_package() diff --git a/ros/behaviors/face_following/README.md b/ros/behaviors/face_following/README.md index b97c10ff..4c1b08b7 100644 --- a/ros/behaviors/face_following/README.md +++ b/ros/behaviors/face_following/README.md @@ -10,31 +10,31 @@ This node makes T-Top follow the nearest face. #### Parameters -- `simulation` (bool): Indicates if it's used in the simulation. -- `control_frequency` (double): The frequency at which the pose messages are sent. -- `torso_control_alpha` (double): The low-pass filter parameter for the torso pose. -- `head_control_p_gain` (double): The controller proportional gain for the head pose. -- `head_enabled` (bool): Indicates if the head will move. -- `min_head_pitch_rad` (double): The minimum pitch angle in radian of the head. -- `max_head_pitch_rad` (double): The maximum pitch angle in radian of the head. -- `nose_confidence_threshold` (double): The confidence threshold for the nose keypoint. +- `simulation` (bool): Indicates if it's used in the simulation. The default value is false. +- `control_frequency` (double): The frequency at which the pose messages are sent. The default value is 30. +- `torso_control_alpha` (double): The low-pass filter parameter for the torso pose. The default value is 0.2. +- `head_control_p_gain` (double): The controller proportional gain for the head pose. The default value is 0.175. +- `head_enabled` (bool): Indicates if the head will move. The default value is true. +- `min_head_pitch_rad` (double): The minimum pitch angle in radian of the head. The default value is -0.35. +- `max_head_pitch_rad` (double): The maximum pitch angle in radian of the head. The default value is 0.35. +- `nose_confidence_threshold` (double): The confidence threshold for the nose keypoint. The default value is 0.4. #### Subscribed Topics - `daemon/motor_status` ([daemon_ros_client/MotorStatus](../../daemon_ros_client/msg/MotorStatus.msg)): The motor status. -- `video_analysis` ([video_analyzer/VideoAnalysis](../../perceptions/video_analyzer/msg/VideoAnalysis.msg)): The video +- `video_analysis` ([perception_msgs/VideoAnalysis](../../perceptions/perception_msgs/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. The video analysis must contain 3d positions. #### Published Topics -- `nearest_face_following/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): +- `nearest_face_following/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The head pose. -- `nearest_face_following/set_torso_orientation` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): +- `nearest_face_following/set_torso_orientation` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The torso orientation. #### Services -- `pose/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `pose/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. @@ -44,29 +44,29 @@ This node makes T-Top follow the face of the specified person. #### Parameters -- `simulation` (bool): Indicates if it's used in the simulation. -- `control_frequency` (double): The frequency at which the pose messages are sent. -- `torso_control_alpha` (double): The low-pass filter parameter for the torso pose. -- `head_control_p_gain` (double): The controller proportional gain for the head pose. -- `head_enabled` (bool): Indicates if the head will move. -- `min_head_pitch_rad` (double): The minimum pitch angle in radian of the head. -- `max_head_pitch_rad` (double): The maximum pitch angle in radian of the head. -- `direction_frame_id` (string): The audio analysis frame id. +- `simulation` (bool): Indicates if it's used in the simulation. The default value is false. +- `control_frequency` (double): The frequency at which the pose messages are sent. The default value is 30. +- `torso_control_alpha` (double): The low-pass filter parameter for the torso pose. The default value is 0.2. +- `head_control_p_gain` (double): The controller proportional gain for the head pose. The default value is 0.175. +- `head_enabled` (bool): Indicates if the head will move. The default value is true. +- `min_head_pitch_rad` (double): The minimum pitch angle in radian of the head. The default value is -0.35. +- `max_head_pitch_rad` (double): The maximum pitch angle in radian of the head. The default value is 0.35. +- `direction_frame_id` (string): The audio analysis frame id. The default value is odas. #### Subscribed Topics -- `person_names` ([person_identification/PersonNames](../../perceptions/person_identification/msg/PersonNames.msg)): +- `person_names` ([person_identification/PersonNames](../../perceptions/perception_msgs/msg/PersonNames.msg)): The person names. - `daemon/motor_status` ([daemon_ros_client/MotorStatus](../../daemon_ros_client/msg/MotorStatus.msg)): The motor status. #### Published Topics -- `specific_face_following/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): +- `specific_face_following/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The head pose. -- `specific_face_following/set_torso_orientation` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): +- `specific_face_following/set_torso_orientation` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The torso orientation. #### Services -- `pose/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `pose/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/led_animations/src/led_animations/__init__.py b/ros/behaviors/face_following/face_following/__init__.py similarity index 100% rename from ros/behaviors/led_animations/src/led_animations/__init__.py rename to ros/behaviors/face_following/face_following/__init__.py diff --git a/ros/behaviors/face_following/face_following/lib_face_following_node.py b/ros/behaviors/face_following/face_following/lib_face_following_node.py new file mode 100644 index 00000000..1a643bab --- /dev/null +++ b/ros/behaviors/face_following/face_following/lib_face_following_node.py @@ -0,0 +1,71 @@ +import math + +import rclpy +import rclpy.node +import rclpy.executors + +from t_top import MovementCommands, HEAD_ZERO_Z, HEAD_POSE_PITCH_INDEX + + +TARGET_HEAD_IMAGE_Y = 0.5 + + +class FaceFollowingNode(rclpy.node.Node): + def __init__(self, node_name, namespace): + super().__init__(node_name) + + self._simulation = self.declare_parameter('simulation', False).get_parameter_value().bool_value + self._control_frequency = self.declare_parameter('control_frequency', 30.0).get_parameter_value().double_value + self._torso_control_alpha = self.declare_parameter('torso_control_alpha', 0.2).get_parameter_value().double_value + self._head_control_p_gain = self.declare_parameter('head_control_p_gain', 0.175).get_parameter_value().double_value + self._head_enabled = self.declare_parameter('head_enabled', True).get_parameter_value().bool_value + self._min_head_pitch = self.declare_parameter('min_head_pitch_rad', -0.35).get_parameter_value().double_value + self._max_head_pitch = self.declare_parameter('max_head_pitch_rad', 0.35).get_parameter_value().double_value + + self._target_torso_yaw = None + self._current_head_image_y = None + + self._movement_commands = MovementCommands(self, self._simulation, namespace) + + self._timer = self.create_timer(1 / self._control_frequency, self._timer_callback) + + def _update(self, yaw, head_image_y): + if yaw is None or math.isfinite(yaw): + self._target_torso_yaw = yaw + if head_image_y is None or math.isfinite(head_image_y): + self._current_head_image_y = head_image_y + + def _timer_callback(self): + if self._movement_commands.is_filtering_all_messages: + return + + self._update_torso() + if self._head_enabled: + self._update_head() + + def run(self): + executor = rclpy.executors.MultiThreadedExecutor(num_threads=2) + executor.add_node(self) + executor.spin() + + def _update_torso(self): + if self._target_torso_yaw is None: + return + + distance = self._target_torso_yaw - self._movement_commands.current_torso_pose + if distance < -math.pi: + distance = 2 * math.pi + distance + elif distance > math.pi: + distance = -(2 * math.pi - distance) + + pose = self._movement_commands.current_torso_pose + self._torso_control_alpha * distance + self._movement_commands.move_torso(pose) + + def _update_head(self): + if self._current_head_image_y is None: + return + + current_pitch = self._movement_commands.current_head_pose[HEAD_POSE_PITCH_INDEX] + pitch = current_pitch + self._head_control_p_gain * (self._current_head_image_y - TARGET_HEAD_IMAGE_Y) + pitch = max(self._min_head_pitch, min(pitch, self._max_head_pitch)) + self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, pitch, 0]) diff --git a/ros/behaviors/face_following/package.xml b/ros/behaviors/face_following/package.xml index ca0a9fda..d10e7e65 100644 --- a/ros/behaviors/face_following/package.xml +++ b/ros/behaviors/face_following/package.xml @@ -1,83 +1,30 @@ - + + face_following 0.0.0 The face_following package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + std_msgs + geometry_msgs + hbba_lite + t_top + tf2 + tf2_ros + perception_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - std_msgs - geometry_msgs - hbba_lite - rospy - t_top - tf - video_analyzer - person_identification - std_msgs - geometry_msgs - hbba_lite - rospy - t_top - tf - video_analyzer - person_identification - std_msgs - geometry_msgs - hbba_lite - rospy - t_top - tf - video_analyzer - person_identification - - - - - + ament_cmake diff --git a/ros/behaviors/face_following/scripts/nearest_face_following_node.py b/ros/behaviors/face_following/scripts/nearest_face_following_node.py index a3f464dc..7561d086 100755 --- a/ros/behaviors/face_following/scripts/nearest_face_following_node.py +++ b/ros/behaviors/face_following/scripts/nearest_face_following_node.py @@ -1,11 +1,16 @@ #!/usr/bin/env python3 -import rospy -import tf +import rclpy + +from tf2_ros import TransformException +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener +import tf2_geometry_msgs + from geometry_msgs.msg import PointStamped -from video_analyzer.msg import VideoAnalysis +from perception_msgs.msg import VideoAnalysis -from t_top import vector_to_angles, HEAD_ZERO_Z +from t_top import vector_to_angles from face_following.lib_face_following_node import FaceFollowingNode @@ -15,21 +20,26 @@ class NearestFaceFollowingNode(FaceFollowingNode): def __init__(self): - super().__init__(namespace='nearest_face_following') - self._nose_confidence_threshold = rospy.get_param('~nose_confidence_threshold') + super().__init__(node_name='nearest_face_following_node', namespace='nearest_face_following') + self._nose_confidence_threshold = self.declare_parameter('nose_confidence_threshold', 0.4).get_parameter_value().double_value - self._tf_listener = tf.TransformListener() - self._video_analysis_sub = rospy.Subscriber('video_analysis', VideoAnalysis, self._video_analysis_cb, queue_size=1) + self._tf_buffer = Buffer() + self._tf_listener = TransformListener(self._tf_buffer, self) + + self._video_analysis_sub = self.create_subscription(VideoAnalysis, 'video_analysis', self._video_analysis_cb, 1) def _video_analysis_cb(self, msg): if self._movement_commands.is_filtering_all_messages: return if not msg.contains_3d_positions: - rospy.logerr('The video analysis must contain 3d positions.') + self.get_logger().error('The video analysis must contain 3d positions.') return - yaw, head_image_y = self._find_nearest_face_yaw_head_image_y(msg.objects, msg.header) - self._update(yaw, head_image_y) + try: + yaw, head_image_y = self._find_nearest_face_yaw_head_image_y(msg.objects, msg.header) + self._update(yaw, head_image_y) + except TransformException as ex: + self.get_logger().warn(f'Could not transform: {ex}') def _find_nearest_face_yaw_head_image_y(self, objects, header): nose_points_3d = [] @@ -57,22 +67,27 @@ def _transform_point(self, point, header): temp_in_point.point.y = point.y temp_in_point.point.z = point.z - base_link_point = self._tf_listener.transformPoint('/base_link', temp_in_point) - stewart_base_point = self._tf_listener.transformPoint('/stewart_base', temp_in_point) + transform = self._tf_buffer.lookup_transform('base_link', header.frame_id, rclpy.time.Time.from_msg(header.stamp)) + base_link_point = tf2_geometry_msgs.do_transform_point(temp_in_point, transform) point.x = base_link_point.point.x point.y = base_link_point.point.y - point.z = stewart_base_point.point.z - HEAD_ZERO_Z + point.z = base_link_point.point.z def main(): - rospy.init_node('nearest_face_following_node') - face_following_node = NearestFaceFollowingNode() - face_following_node.run() - + rclpy.init() + nearest_face_following_node = NearestFaceFollowingNode() -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + nearest_face_following_node.run() + except KeyboardInterrupt: pass + finally: + nearest_face_following_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/face_following/scripts/specific_face_following_node.py b/ros/behaviors/face_following/scripts/specific_face_following_node.py index 11a324ff..0a64b9d2 100755 --- a/ros/behaviors/face_following/scripts/specific_face_following_node.py +++ b/ros/behaviors/face_following/scripts/specific_face_following_node.py @@ -1,10 +1,9 @@ #!/usr/bin/env python3 -import threading +import rclpy -import rospy from std_msgs.msg import String -from person_identification.msg import PersonNames +from perception_msgs.msg import PersonNames from t_top import vector_to_angles @@ -13,33 +12,28 @@ class SpecificFaceFollowingNode(FaceFollowingNode): def __init__(self): - super().__init__(namespace='specific_face_following') - self._direction_frame_id = rospy.get_param('~direction_frame_id') + super().__init__(node_name='specific_face_following_node', namespace='specific_face_following') + self._direction_frame_id = self.declare_parameter('direction_frame_id', 'odas').get_parameter_value().string_value - self._target_name_lock = threading.Lock() self._target_name = None - self._target_name_sub = rospy.Subscriber('target_name', String, self._target_name_cb, queue_size=1) - self._person_names_sub = rospy.Subscriber('person_names', PersonNames, self._person_names_cb, queue_size=1) + self._target_name_sub = self.create_subscription(String, 'target_name', self._target_name_cb, 1) + self._person_names_sub = self.create_subscription(PersonNames, 'person_names', self._person_names_cb, 1) def _target_name_cb(self, msg): - with self._target_name_lock: - self._target_name = msg.data + self._target_name = msg.data def _person_names_cb(self, msg): if self._movement_commands.is_filtering_all_messages: return - with self._target_name_lock: - target_name = self._target_name - for person_name in msg.names: - if person_name.detection_type != 'voice' and person_name.name == target_name: + if person_name.detection_type != 'voice' and person_name.name == self._target_name: if person_name.frame_id != self._direction_frame_id: - rospy.logerr(f'Invalid direction frame id ({person_name.frame_id} != {self._direction_frame_id})') + self.get_logger().error(f'Invalid direction frame id ({person_name.frame_id} != {self._direction_frame_id})') return if len(person_name.direction) == 0 or len(person_name.position_2d) == 0: - rospy.logerr(f'The direction and position_2d must not be empty.') + self.get_logger().error(f'The direction and position_2d must not be empty.') return yaw, _ = vector_to_angles(person_name.direction[0]) @@ -49,13 +43,18 @@ def _person_names_cb(self, msg): def main(): - rospy.init_node('specific_face_following_node') - face_following_node = SpecificFaceFollowingNode() - face_following_node.run() - + rclpy.init() + specific_face_following_node = SpecificFaceFollowingNode() -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + specific_face_following_node.run() + except KeyboardInterrupt: pass + finally: + specific_face_following_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/face_following/setup.py b/ros/behaviors/face_following/setup.py deleted file mode 100644 index d3b27af4..00000000 --- a/ros/behaviors/face_following/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from setuptools import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['face_following'], - package_dir={'': 'src'}, -) - -setup(**setup_args) diff --git a/ros/behaviors/face_following/src/face_following/lib_face_following_node.py b/ros/behaviors/face_following/src/face_following/lib_face_following_node.py deleted file mode 100644 index 8e971edc..00000000 --- a/ros/behaviors/face_following/src/face_following/lib_face_following_node.py +++ /dev/null @@ -1,69 +0,0 @@ -import math -import threading - -import rospy - -from t_top import MovementCommands, HEAD_ZERO_Z, HEAD_POSE_PITCH_INDEX - - -TARGET_HEAD_IMAGE_Y = 0.5 - - -class FaceFollowingNode: - def __init__(self, namespace): - self._simulation = rospy.get_param('~simulation') - self._rate = rospy.Rate(rospy.get_param('~control_frequency')) - self._torso_control_alpha = rospy.get_param('~torso_control_alpha') - self._head_control_p_gain = rospy.get_param('~head_control_p_gain') - self._head_enabled = rospy.get_param('~head_enabled') - self._min_head_pitch = rospy.get_param('~min_head_pitch_rad') - self._max_head_pitch = rospy.get_param('~max_head_pitch_rad') - - self._target_lock = threading.Lock() - self._target_torso_yaw = None - self._current_head_image_y = None - - self._movement_commands = MovementCommands(self._simulation, namespace) - - def _update(self, yaw, head_image_y): - with self._target_lock: - if yaw is None or math.isfinite(yaw): - self._target_torso_yaw = yaw - if head_image_y is None or math.isfinite(head_image_y): - self._current_head_image_y = head_image_y - - def run(self): - while not rospy.is_shutdown(): - self._rate.sleep() - if self._movement_commands.is_filtering_all_messages: - continue - - self._update_torso() - if self._head_enabled: - self._update_head() - - def _update_torso(self): - with self._target_lock: - target_torso_yaw = self._target_torso_yaw - if target_torso_yaw is None: - return - - distance = target_torso_yaw - self._movement_commands.current_torso_pose - if distance < -math.pi: - distance = 2 * math.pi + distance - elif distance > math.pi: - distance = -(2 * math.pi - distance) - - pose = self._movement_commands.current_torso_pose + self._torso_control_alpha * distance - self._movement_commands.move_torso(pose) - - def _update_head(self): - with self._target_lock: - current_head_image_y = self._current_head_image_y - if current_head_image_y is None: - return - - current_pitch = self._movement_commands.current_head_pose[HEAD_POSE_PITCH_INDEX] - pitch = current_pitch + self._head_control_p_gain * (current_head_image_y - TARGET_HEAD_IMAGE_Y) - pitch = max(self._min_head_pitch, min(pitch, self._max_head_pitch)) - self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, pitch, 0]) diff --git a/ros/behaviors/gesture/CMakeLists.txt b/ros/behaviors/gesture/CMakeLists.txt index 5efe4fca..c64c1411 100644 --- a/ros/behaviors/gesture/CMakeLists.txt +++ b/ros/behaviors/gesture/CMakeLists.txt @@ -1,205 +1,33 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(gesture) -## 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 - hbba_lite - rospy - std_msgs - message_generation - t_top - ) - -## 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 - GestureName.msg - Done.msg +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(daemon_ros_client REQUIRED) +find_package(std_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(t_top REQUIRED) +find_package(behavior_msgs REQUIRED) + +# Python Nodes +install(PROGRAMS + scripts/gesture_node.py + DESTINATION lib/${PROJECT_NAME} ) -## 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() - -################################################ -## 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 gesture - # CATKIN_DEPENDS hbba_lite rospy std_msgs t_top - # 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/${PROJECT_NAME}/gesture.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/gesture_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/gesture_node.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_gesture.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) +ament_package() diff --git a/ros/behaviors/gesture/README.md b/ros/behaviors/gesture/README.md index 831a1810..dc25624a 100644 --- a/ros/behaviors/gesture/README.md +++ b/ros/behaviors/gesture/README.md @@ -10,23 +10,23 @@ This node makes T-Top perform gestures. #### Parameters -- `simulation` (bool): Indicates if it's used in the simulation. +- `simulation` (bool): Indicates if it's used in the simulation. The default value is false. #### Subscribed Topics - `daemon/motor_status` ([daemon_ros_client/MotorStatus](../../daemon_ros_client/msg/MotorStatus.msg)): The motor status. -- `gesture/name` ([gesture/GestureName](msg/GestureName.msg)): The gesture to perform. +- `gesture/name` ([behavior_msgs/GestureName](../behavior_msgs/msg/GestureName.msg)): The gesture to perform. - Supported values : `yes`, `no`, `maybe`, `origin_all`, `origin_head`, `origin_torso` #### Published Topics -- `gesture/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): +- `gesture/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The head pose. -- `gesture/set_torso_orientation` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): The +- `gesture/set_torso_orientation` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The torso orientation. -- `gesture/done` ([gesture/Done](msg/Done.msg)): Indicates that the gesture is finished. +- `gesture/done` ([behavior_msgs/Done](../behavior_msgs/msg/Done.msg)): Indicates that the gesture is finished. #### Services -- `pose/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `pose/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/gesture/package.xml b/ros/behaviors/gesture/package.xml index 8db55954..9a3ffc9e 100644 --- a/ros/behaviors/gesture/package.xml +++ b/ros/behaviors/gesture/package.xml @@ -1,74 +1,29 @@ - + + gesture 0.0.0 The gesture package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + daemon_ros_client + std_msgs + hbba_lite + t_top + behavior_msgs - - - - TODO + rosidl_default_runtime + ros2launch + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - hbba_lite - rospy - std_msgs - t_top - message_generation - hbba_lite - rospy - std_msgs - t_top - message_generation - hbba_lite - rospy - std_msgs - t_top - message_generation - - - - - + ament_cmake diff --git a/ros/behaviors/gesture/scripts/gesture_node.py b/ros/behaviors/gesture/scripts/gesture_node.py index 8b1902a6..2a46d322 100755 --- a/ros/behaviors/gesture/scripts/gesture_node.py +++ b/ros/behaviors/gesture/scripts/gesture_node.py @@ -1,9 +1,10 @@ #!/usr/bin/env python3 -import threading +import rclpy +import rclpy.node +import rclpy.executors -import rospy -from gesture.msg import GestureName, Done +from behavior_msgs.msg import GestureName, Done from t_top import MovementCommands @@ -17,28 +18,27 @@ MOVE_SAD_TIMEOUT = 5 -class GestureNode: +class GestureNode(rclpy.node.Node): def __init__(self): - self._simulation = rospy.get_param('~simulation') + super().__init__('gesture_node') - self._gesture_lock = threading.Lock() - self._movement_commands = MovementCommands(self._simulation, namespace='gesture') + self._simulation = self.declare_parameter('simulation', False).get_parameter_value().bool_value + self._movement_commands = MovementCommands(self, self._simulation, namespace='gesture') - self._done_pub = rospy.Publisher('gesture/done', Done, queue_size=5) - self._gesture_sub = rospy.Subscriber('gesture/name', GestureName, self._on_gesture_cb) + self._done_pub = self.create_publisher(Done, 'gesture/done', 5) + self._gesture_sub = self.create_subscription(GestureName, 'gesture/name', self._on_gesture_cb, 5) def _on_gesture_cb(self, msg): - with self._gesture_lock: - if self._movement_commands.is_filtering_all_messages: - return + if self._movement_commands.is_filtering_all_messages: + return - try: - ok = self._execute_gesture(msg.name) - except TimeoutError: - rospy.logerr(f'The {msg.name} gesture has timed out.') - ok = False + try: + ok = self._execute_gesture(msg.name) + except TimeoutError: + self.get_logger().error(f'The {msg.name} gesture has timed out.') + ok = False - self._done_pub.publish(Done(id=msg.id, ok=ok)) + self._done_pub.publish(Done(id=msg.id, ok=ok)) def _execute_gesture(self, name): if name == 'yes': @@ -61,23 +61,30 @@ def _execute_gesture(self, name): elif name == 'sad': self._movement_commands.move_head_to_sad(timeout=MOVE_SAD_TIMEOUT) else: - rospy.logerr(f'Invalid gesture name ({name})') + self.get_logger().error(f'Invalid gesture name ({name})') return False return True def run(self): - rospy.spin() + executor = rclpy.executors.MultiThreadedExecutor(num_threads=2) + executor.add_node(self) + executor.spin() def main(): - rospy.init_node('gesture_node') + rclpy.init() gesture_node = GestureNode() - gesture_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + gesture_node.run() + except KeyboardInterrupt: pass + finally: + gesture_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/led_animations/CMakeLists.txt b/ros/behaviors/led_animations/CMakeLists.txt index ef6f5494..51b9bd2b 100644 --- a/ros/behaviors/led_animations/CMakeLists.txt +++ b/ros/behaviors/led_animations/CMakeLists.txt @@ -1,211 +1,36 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(led_animations) -## 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 - daemon_ros_client - hbba_lite - message_generation - rospy - geometry_msgs - sensor_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 - Animation.msg - Done.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 - daemon_ros_client - geometry_msgs - sensor_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 led_animations -# CATKIN_DEPENDS daemon_ros_client hbba_lite message_generation 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/${PROJECT_NAME}/led_animations.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/led_animations_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 -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -catkin_install_python(PROGRAMS +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(daemon_ros_client REQUIRED) +find_package(std_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(t_top REQUIRED) +find_package(behavior_msgs REQUIRED) + +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) + +# Python Nodes +install(PROGRAMS scripts/led_animations_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_led_animations.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) +ament_package() diff --git a/ros/behaviors/led_animations/README.md b/ros/behaviors/led_animations/README.md index 37f56cd1..156a57f4 100644 --- a/ros/behaviors/led_animations/README.md +++ b/ros/behaviors/led_animations/README.md @@ -8,16 +8,19 @@ This folder contains the node to perform animations with the LED strip. This node performs animations with the LED strip. +#### Parameters +- `period_s` (double): The period in seconds of the animation timer. The default value is 0.0333. + #### Subscribed Topics -- `led_animations/name` ([led_animations/Animation](msg/Animation.msg)): The animation parameters. +- `led_animations/name` ([behavior_msgs/Animation](../behavior_msgs/msg/Animation.msg)): The animation parameters. #### Published Topics - `led_animations/set_led_colors` ([daemon_ros_client/LedColors](../../daemon_ros_client/msg/LedColors.msg)): The LED colors. -- `led_animations/done` ([led_animations/Done](msg/Done.msg)): Indicates that the animation is finished. +- `led_animations/done` ([led_animations/Done](../behavior_msgs/msg/Done.msg)): Indicates that the animation is finished. #### Services -- `set_led_colors/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `set_led_colors/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/talk/src/talk/__init__.py b/ros/behaviors/led_animations/led_animations/__init__.py similarity index 100% rename from ros/behaviors/talk/src/talk/__init__.py rename to ros/behaviors/led_animations/led_animations/__init__.py diff --git a/ros/behaviors/led_animations/src/led_animations/lib_led_animations.py b/ros/behaviors/led_animations/led_animations/lib_led_animations.py similarity index 99% rename from ros/behaviors/led_animations/src/led_animations/lib_led_animations.py rename to ros/behaviors/led_animations/led_animations/lib_led_animations.py index e2b91f6f..164f7278 100644 --- a/ros/behaviors/led_animations/src/led_animations/lib_led_animations.py +++ b/ros/behaviors/led_animations/led_animations/lib_led_animations.py @@ -1,6 +1,5 @@ from abc import ABC, abstractmethod import random -from typing import List import numpy as np diff --git a/ros/behaviors/led_animations/msg/Done.msg b/ros/behaviors/led_animations/msg/Done.msg deleted file mode 100644 index dae3f6dd..00000000 --- a/ros/behaviors/led_animations/msg/Done.msg +++ /dev/null @@ -1,2 +0,0 @@ -uint64 id -bool ok diff --git a/ros/behaviors/led_animations/package.xml b/ros/behaviors/led_animations/package.xml index 0f370122..07d6b83c 100644 --- a/ros/behaviors/led_animations/package.xml +++ b/ros/behaviors/led_animations/package.xml @@ -1,75 +1,29 @@ - + + led_animations 0.0.0 The led_animations package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + daemon_ros_client + std_msgs + hbba_lite + t_top + behavior_msgs - - - - TODO + rosidl_default_runtime + ros2launch + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - daemon_ros_client - hbba_lite - message_generation - rospy - geometry_msgs - sensor_msgs - daemon_ros_client - hbba_lite - rospy - geometry_msgs - sensor_msgs - daemon_ros_client - hbba_lite - rospy - geometry_msgs - sensor_msgs - - - - - + ament_cmake diff --git a/ros/behaviors/led_animations/scripts/led_animations_node.py b/ros/behaviors/led_animations/scripts/led_animations_node.py old mode 100644 new mode 100755 index 1e662fbd..61eb0be2 --- a/ros/behaviors/led_animations/scripts/led_animations_node.py +++ b/ros/behaviors/led_animations/scripts/led_animations_node.py @@ -1,10 +1,14 @@ -import json +#!/usr/bin/env python3 + +import traceback import math -import rospy +import rclpy +import rclpy.node +from rclpy.duration import Duration from daemon_ros_client.msg import LedColors -from led_animations.msg import Animation, Done +from behavior_msgs.msg import LedAnimation as LedAnimationMsg, Done import hbba_lite @@ -18,22 +22,25 @@ led_color.blue = 0 -class LedAnimationsNode: +class LedAnimationsNode(rclpy.node.Node): def __init__(self): - self._period_s = rospy.get_param('~period_s', 0.0333) + super().__init__('led_animations_node') + + self._period_s = self.declare_parameter('period_s', 0.0333).get_parameter_value().double_value self._timer = None self._timer_msg_id = -1 - self._timer_start_time_s = 0.0 - self._timer_duration_s = 0.0 + self._timer_start_time = None + self._timer_finite = None + self._timer_duration = None self._timer_animation = None - self._led_colors_pub = hbba_lite.OnOffHbbaPublisher('led_animations/set_led_colors', LedColors, queue_size=1, + self._led_colors_pub = hbba_lite.OnOffHbbaPublisher(self, LedColors, 'led_animations/set_led_colors', 1, state_service_name='set_led_colors/filter_state') self._led_colors_pub.on_filter_state_changing(self._hbba_filter_state_cb) - self._done_pub = rospy.Publisher('led_animations/done', Done, queue_size=5) - self._led_emotion_sub = rospy.Subscriber('led_animations/animation', Animation, self._animation_cb, queue_size=1) + self._done_pub = self.create_publisher(Done, 'led_animations/done', 5) + self._led_emotion_sub = self.create_subscription(LedAnimationMsg, 'led_animations/animation', self._animation_cb, 1) def _hbba_filter_state_cb(self, publish_forced, previous_is_filtering_all_messages, new_is_filtering_all_messages): if not previous_is_filtering_all_messages and new_is_filtering_all_messages: @@ -46,49 +53,56 @@ def _animation_cb(self, msg): try: animation = LedAnimation.from_name(msg.name, self._period_s, msg.speed, msg.colors) + self._start_timer(msg.id, animation, msg.duration_s) except Exception as e: - rospy.logerr(f'Unable to instantiate the LED animation ({e})') + tb = traceback.format_exc() + self.get_logger().error(f'Unable to instantiate the LED animation ({e}): {tb}') self._done_pub.publish(Done(id=msg.id, ok=False)) - self._start_timer(msg.id, animation, msg.duration_s) def _stop_timer(self): if self._timer is not None: - self._timer.shutdown() + self.destroy_timer(self._timer) self._timer = None self._timer_msg_id = -1 - self._timer_start_time_s = 0.0 - self._timer_duration_s = 0.0 + self._timer_start_time = None + self._timer_duration = None self._timer_animation = None def _start_timer(self, id, animation, duration_s): self._stop_timer() self._timer_msg_id = id - self._timer_start_time_s = rospy.get_time() - self._timer_duration_s = duration_s + self._timer_start_time = self.get_clock().now() + self._timer_finite = math.isfinite(duration_s) + self._timer_duration = Duration(seconds=duration_s) if self._timer_finite else None self._timer_animation = animation - self._timer = rospy.Timer(rospy.Duration(self._period_s), self._timer_cb) + self._timer = self.create_timer(self._period_s, self._timer_cb) - def _timer_cb(self, timer_event): - if rospy.get_time() - self._timer_start_time_s > self._timer_duration_s: + def _timer_cb(self): + if not self._timer_finite or self.get_clock().now() - self._timer_start_time < self._timer_duration: + self._led_colors_pub.publish(self._timer_animation.update()) + else: self._led_colors_pub.publish(NONE_LED_COLORS) self._done_pub.publish(Done(id=self._timer_msg_id, ok=True)) self._stop_timer() - else: - self._led_colors_pub.publish(self._timer_animation.update()) def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('led_animations_node') + rclpy.init() led_animations_node = LedAnimationsNode() - led_animations_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + led_animations_node.run() + except KeyboardInterrupt: pass + finally: + led_animations_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/led_animations/setup.py b/ros/behaviors/led_animations/setup.py deleted file mode 100644 index ccbcc699..00000000 --- a/ros/behaviors/led_animations/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from setuptools import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['led_animations'], - package_dir={'': 'src'}, -) - -setup(**setup_args) diff --git a/ros/behaviors/led_emotions/CMakeLists.txt b/ros/behaviors/led_emotions/CMakeLists.txt index 9d019e95..91fea45f 100644 --- a/ros/behaviors/led_emotions/CMakeLists.txt +++ b/ros/behaviors/led_emotions/CMakeLists.txt @@ -1,207 +1,39 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(led_emotions) -## 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 - daemon_ros_client - hbba_lite - 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 # 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 led_emotions -# CATKIN_DEPENDS daemon_ros_client hbba_lite 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/${PROJECT_NAME}/led_emotions.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/led_emotions_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 +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(daemon_ros_client REQUIRED) +find_package(std_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(t_top REQUIRED) + +# Python Nodes +install(PROGRAMS scripts/led_emotions_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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 ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) +# Install the pattern files +install(DIRECTORY led_patterns DESTINATION share/${PROJECT_NAME}) -############# -## Testing ## -############# -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_led_emotions.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/behaviors/led_emotions/README.md b/ros/behaviors/led_emotions/README.md index 177333c3..924a85eb 100644 --- a/ros/behaviors/led_emotions/README.md +++ b/ros/behaviors/led_emotions/README.md @@ -10,11 +10,12 @@ This node makes T-Top express emotions with it LED strip. #### Parameters +- `period_s` (double): The period in second of the animation timer. The default value is 0.0333. - `led_patterns_file` (string): The file path containing the LED patterns #### Subscribed Topics -- `led_emotions/name` ([std_msgs/String](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/String.html)): The emotion names. +- `led_emotions/name` ([std_msgs/String](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/String.html)): The emotion names. #### Published Topics @@ -22,5 +23,5 @@ This node makes T-Top express emotions with it LED strip. #### Services -- `set_led_colors/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `set_led_colors/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/led_emotions/launch/test_led_emotions.launch.xml b/ros/behaviors/led_emotions/launch/test_led_emotions.launch.xml new file mode 100644 index 00000000..cbfd7317 --- /dev/null +++ b/ros/behaviors/led_emotions/launch/test_led_emotions.launch.xml @@ -0,0 +1,5 @@ + + + + + diff --git a/ros/behaviors/led_emotions/led_patterns.json b/ros/behaviors/led_emotions/led_patterns/led_patterns.json similarity index 100% rename from ros/behaviors/led_emotions/led_patterns.json rename to ros/behaviors/led_emotions/led_patterns/led_patterns.json diff --git a/ros/behaviors/led_emotions/package.xml b/ros/behaviors/led_emotions/package.xml index 2ba432bc..13016a47 100644 --- a/ros/behaviors/led_emotions/package.xml +++ b/ros/behaviors/led_emotions/package.xml @@ -1,71 +1,29 @@ - + + led_emotions 0.0.0 The led_emotions package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rosidl_default_generators + rclpy + daemon_ros_client + std_msgs + hbba_lite + t_top - - - - TODO + rosidl_default_runtime + ros2launch + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - daemon_ros_client - hbba_lite - rospy - std_msgs - daemon_ros_client - hbba_lite - rospy - std_msgs - daemon_ros_client - hbba_lite - rospy - std_msgs - - - - - + ament_cmake diff --git a/ros/behaviors/led_emotions/scripts/led_emotions_node.py b/ros/behaviors/led_emotions/scripts/led_emotions_node.py old mode 100644 new mode 100755 index 5250cd68..a66d6162 --- a/ros/behaviors/led_emotions/scripts/led_emotions_node.py +++ b/ros/behaviors/led_emotions/scripts/led_emotions_node.py @@ -1,7 +1,10 @@ +#!/usr/bin/env python3 + import json import math -import rospy +import rclpy +import rclpy.node from std_msgs.msg import String from daemon_ros_client.msg import LedColors @@ -25,21 +28,25 @@ def __init__(self, red, green, blue, period_s, ratio): self.ratio = ratio -class LedEmotionsNode: +class LedEmotionsNode(rclpy.node.Node): def __init__(self): - self._period_s = rospy.get_param('~period_s', 0.0333) - with open(rospy.get_param('~led_patterns_file'), 'r') as f: + super().__init__('led_emotions_node') + + self._period_s = self.declare_parameter('period_s', 0.0333).get_parameter_value().double_value + led_patterns_file = self.declare_parameter('led_patterns_file', '').get_parameter_value().string_value + + with open(led_patterns_file, 'r') as f: self._led_patterns_by_emotion_name = self._load_led_patterns(json.load(f)) self._timer = None self._timer_time_s = 0 self._timer_pattern = None - self._led_colors_pub = hbba_lite.OnOffHbbaPublisher('led_emotions/set_led_colors', LedColors, queue_size=1, + self._led_colors_pub = hbba_lite.OnOffHbbaPublisher(self, LedColors, 'led_emotions/set_led_colors', 1, state_service_name='set_led_colors/filter_state') self._led_colors_pub.on_filter_state_changing(self._hbba_filter_state_cb) - self._led_emotion_sub = rospy.Subscriber('led_emotions/name', String, self._emotion_cb, queue_size=1) + self._led_emotion_sub = self.create_subscription(String, 'led_emotions/name', self._emotion_cb, 1) def _load_led_patterns(self, json_dict): @@ -62,21 +69,22 @@ def _emotion_cb(self, msg): return if msg.data not in self._led_patterns_by_emotion_name: - rospy.logerr(f'Invalid emotion name ({msg.data})') - self._start_timer(self._led_patterns_by_emotion_name[msg.data]) + self.get_logger().error(f'Invalid emotion name ({msg.data})') + else: + self._start_timer(self._led_patterns_by_emotion_name[msg.data]) def _stop_timer(self): if self._timer is not None: - self._timer.shutdown() + self.destroy_timer(self._timer) self._timer = None def _start_timer(self, pattern): self._stop_timer() self._timer_time_s = 0 self._timer_pattern = pattern - self._timer = rospy.Timer(rospy.Duration(self._period_s), self._timer_cb) + self._timer = self.create_timer(self._period_s, self._timer_cb) - def _timer_cb(self, timer_event): + def _timer_cb(self): self._timer_time_s += self._period_s if self._timer_time_s > self._timer_pattern.period_s: self._timer_time_s -= self._timer_pattern.period_s @@ -107,17 +115,22 @@ def _get_brightness(self, t, T, ratio): return 0 def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('led_emotions_node') + rclpy.init() led_emotions_node = LedEmotionsNode() - led_emotions_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + led_emotions_node.run() + except KeyboardInterrupt: pass + finally: + led_emotions_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/piper_ros/CMakeLists.txt b/ros/behaviors/piper_ros/CMakeLists.txt index 948762bd..6e493b0e 100644 --- a/ros/behaviors/piper_ros/CMakeLists.txt +++ b/ros/behaviors/piper_ros/CMakeLists.txt @@ -1,18 +1,20 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(piper_ros) -## Compile as C++11, supported in ROS Kinetic and newer -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) -## 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 - message_generation - roscpp - roslib -) +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() ## System dependencies are found with CMake's conventions # External Dependencies @@ -34,12 +36,11 @@ link_directories(${CMAKE_BINARY_DIR}/install/fmt/lib) # ******* eSpeak NG dependency ******* -set(ESPEAK_NG_DIR "${CMAKE_BINARY_DIR}/install/espeak-ng") ExternalProject_Add( espeak_ng_external PREFIX "${CMAKE_CURRENT_BINARY_DIR}/espeak-ng" URL "https://github.com/rhasspy/espeak-ng/archive/refs/tags/2023.9.7-4.zip" - CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=${ESPEAK_NG_DIR} + CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=${CMAKE_INSTALL_PREFIX} CMAKE_ARGS -DUSE_ASYNC:BOOL=OFF CMAKE_ARGS -DBUILD_SHARED_LIBS:BOOL=ON CMAKE_ARGS -DUSE_MBROLA:BOOL=OFF @@ -50,9 +51,9 @@ ExternalProject_Add( CMAKE_ARGS -DEXTRA_cmn:BOOL=ON CMAKE_ARGS -DEXTRA_ru:BOOL=ON ) -include_directories(${CMAKE_BINARY_DIR}/install/espeak-ng/include) -link_directories(${CMAKE_BINARY_DIR}/install/espeak-ng/lib) -add_compile_definitions(ESPEAK_NG_DATA_PATH="${CMAKE_BINARY_DIR}/install/espeak-ng/share/espeak-ng-data") +include_directories(${CMAKE_INSTALL_PREFIX}/include) +link_directories(${CMAKE_INSTALL_PREFIX}/lib) +add_compile_definitions(ESPEAK_NG_DATA_PATH="${CMAKE_INSTALL_PREFIX}/share/espeak-ng-data") # ******* ONNX Runtime dependency ******* @@ -129,192 +130,23 @@ if (NOT EXISTS ${CMAKE_BINARY_DIR}/piper-${PIPER_TAG}/CMakeLists.txt) endif() include_directories(${CMAKE_BINARY_DIR}/piper-${PIPER_TAG}/src/cpp) - -## 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 - GenerateSpeechFromText.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() - -################################################ -## 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 piper_ros -# CATKIN_DEPENDS message_generation roscpp -# 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/${PROJECT_NAME}/piper_ros.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(behavior_srvs REQUIRED) +find_package(ament_index_cpp REQUIRED) ## 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 +# C++ Nodes add_executable(piper_node src/piper_node.cpp ${CMAKE_BINARY_DIR}/piper-${PIPER_TAG}/src/cpp/piper.cpp) -add_dependencies(piper_node fmt_external) - -## 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(piper_node - ${catkin_LIBRARIES} - piper_phonemize - fmt - spdlog - ${ONNXRUNTIME_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 ## -############# +ament_target_dependencies(piper_node rclcpp behavior_srvs ament_index_cpp) +target_link_libraries(piper_node piper_phonemize fmt spdlog ${ONNXRUNTIME_LIBRARIES}) +install(TARGETS piper_node DESTINATION lib/${PROJECT_NAME}) +add_dependencies(piper_node fmt_external espeak_ng_external) -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_piper_ros.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Install models +install(DIRECTORY models DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/behaviors/piper_ros/README.md b/ros/behaviors/piper_ros/README.md index 126e0a0d..69f0a8d2 100644 --- a/ros/behaviors/piper_ros/README.md +++ b/ros/behaviors/piper_ros/README.md @@ -11,9 +11,9 @@ This node generates speech files with [Piper](https://github.com/rhasspy/piper). #### Parameters -- `use_gpu_if_available` (bool): Indicates whether to use the GPU or not. +- `use_gpu_if_available` (bool): Indicates whether to use the GPU or not. The default value is false. #### Services -- `piper/generate_speech_from_text` ([piper_ros/GenerateSpeechFromText](srv/GenerateSpeechFromText.srv)): +- `piper/generate_speech_from_text` ([behavior_srvs/GenerateSpeechFromText](../behavior_srvs/srv/GenerateSpeechFromText.srv)): The service to generate speech files. diff --git a/ros/behaviors/piper_ros/package.xml b/ros/behaviors/piper_ros/package.xml index 0bd92bfe..476152c5 100644 --- a/ros/behaviors/piper_ros/package.xml +++ b/ros/behaviors/piper_ros/package.xml @@ -1,63 +1,26 @@ - + + piper_ros 0.0.0 The piper_ros package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclcpp + ament_index_cpp + behavior_srvs - - - - TODO + rosidl_default_runtime + ros2launch + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - message_generation - roscpp - roscpp - roscpp - - - - - + ament_cmake diff --git a/ros/behaviors/piper_ros/src/piper_node.cpp b/ros/behaviors/piper_ros/src/piper_node.cpp index 7c0ca43a..882163cb 100644 --- a/ros/behaviors/piper_ros/src/piper_node.cpp +++ b/ros/behaviors/piper_ros/src/piper_node.cpp @@ -1,7 +1,8 @@ -#include +#include -#include -#include +#include + +#include #include @@ -53,12 +54,11 @@ std::optional genderFromString(const std::string& str) } -class PiperNode +class PiperNode : public rclcpp::Node { bool m_useGpuIfAvailable; - ros::NodeHandle m_nodeHandle; - ros::ServiceServer m_generateSpeechFromTextService; + rclcpp::Service::SharedPtr m_generateSpeechFromTextService; piper::PiperConfig m_piperConfig; piper::Voice m_englishFemaleVoice; @@ -67,8 +67,10 @@ class PiperNode piper::Voice m_frenchMaleVoice; public: - explicit PiperNode(bool useGpuIfAvailable) : m_useGpuIfAvailable(useGpuIfAvailable) + explicit PiperNode() : rclcpp::Node("piper_node") { + m_useGpuIfAvailable = declare_parameter("use_gpu_if_available", false); + m_piperConfig.useESpeak = true; m_piperConfig.eSpeakDataPath = ESPEAK_NG_DATA_PATH; @@ -79,19 +81,22 @@ class PiperNode piper::initialize(m_piperConfig); - - m_generateSpeechFromTextService = m_nodeHandle.advertiseService( + m_generateSpeechFromTextService = create_service( "piper/generate_speech_from_text", - &PiperNode::generateSpeechFromTextServiceCallback, - this); + [this] ( + const std::shared_ptr request, + std::shared_ptr response) + { + generateSpeechFromTextServiceCallback(request, response); + }); } - void run() { ros::spin(); } + void run() { rclcpp::spin(shared_from_this()); } private: piper::Voice loadVoice(const char* filename) { - std::string modelFolder = ros::package::getPath("piper_ros") + "/models/"; + std::string modelFolder = ament_index_cpp::get_package_share_directory("piper_ros") + "/models/"; piper::Voice voice; voice.session.options.SetInterOpNumThreads(1); @@ -109,7 +114,7 @@ class PiperNode #else if (m_useGpuIfAvailable) { - ROS_WARN("CUDA is not supported."); + RCLCPP_WARN(get_logger(), "CUDA is not supported."); } #endif @@ -124,30 +129,26 @@ class PiperNode return voice; } - bool generateSpeechFromTextServiceCallback( - piper_ros::GenerateSpeechFromText::Request& request, - piper_ros::GenerateSpeechFromText::Response& response) + void generateSpeechFromTextServiceCallback( + const std::shared_ptr request, + std::shared_ptr response) { - std::optional language = languageFromString(request.language); + std::optional language = languageFromString(request->language); if (language == std::nullopt) { - response.ok = false; - response.message = "Invalid language"; - return true; + response->ok = false; + response->message = "Invalid language"; } - std::optional gender = genderFromString(request.gender); + std::optional gender = genderFromString(request->gender); if (gender == std::nullopt) { - response.ok = false; - response.message = "Invalid gender"; - return true; + response->ok = false; + response->message = "Invalid gender"; } - generateSpeechFromText(*language, *gender, request.length_scale, request.text, request.path); - response.ok = true; - - return true; + generateSpeechFromText(*language, *gender, request->length_scale, request->text, request->path); + response->ok = true; } void generateSpeechFromText( @@ -194,19 +195,12 @@ class PiperNode int main(int argc, char** argv) { - ros::init(argc, argv, "piper_node"); + rclcpp::init(argc, argv); - ros::NodeHandle privateNodeHandle("~"); - - bool useGpuIfAvailable; - if (!privateNodeHandle.getParam("use_gpu_if_available", useGpuIfAvailable)) - { - ROS_ERROR("The parameter use_gpu_if_available is required."); - return -1; - } + auto node = std::make_shared(); + node->run(); - PiperNode node(useGpuIfAvailable); - node.run(); + rclcpp::shutdown(); return 0; } diff --git a/ros/behaviors/sound_following/CMakeLists.txt b/ros/behaviors/sound_following/CMakeLists.txt index 5f51c0e9..e70d1150 100644 --- a/ros/behaviors/sound_following/CMakeLists.txt +++ b/ros/behaviors/sound_following/CMakeLists.txt @@ -1,207 +1,33 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(sound_following) -## 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 - hbba_lite - rospy - t_top - odas_ros - ) - -## 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 -# geometry_msgs# 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 sound_following - # CATKIN_DEPENDS geometry_msgs hbba_lite rospy std_msgs t_top tf - # DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - # include - ${catkin_INCLUDE_DIRS} +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(daemon_ros_client REQUIRED) +find_package(std_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(t_top REQUIRED) +find_package(odas_ros_msgs REQUIRED) + +# Python Nodes +install(PROGRAMS + scripts/sound_following_node.py + DESTINATION lib/${PROJECT_NAME} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/sound_following.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/sound_following_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/sound_following_node.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_sound_following.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) +ament_package() diff --git a/ros/behaviors/sound_following/README.md b/ros/behaviors/sound_following/README.md index fdd72eae..2935afb1 100644 --- a/ros/behaviors/sound_following/README.md +++ b/ros/behaviors/sound_following/README.md @@ -10,32 +10,32 @@ This node makes T-Top follow the loudest sound. #### Parameters -- `simulation` (bool): Indicates if it's used in the simulation. -- `control_frequency` (double): The frequency at which the pose messages are sent. -- `torso_control_alpha` (double): The low-pass filter parameter for the torso pose. -- `head_control_alpha` (double): The low-pass filter parameter for the head pose. -- `head_enabled` (bool): Indicates if the head will move. -- `min_head_pitch_rad` (double): The minimum pitch angle in radian of the head. -- `max_head_pitch_rad` (double): The maximum pitch angle in radian of the head. -- `min_activity` (double): The minimum activity level to consider the sound source valid. -- `min_valid_source_pitch_rad` (double): The minimum pitch angle in radian to consider the sound source valid. -- `max_valid_source_pitch_rad` (double): The maximum pitch angle in radian to consider the sound source valid. -- `direction_frame_id` (string): The audio analysis frame id. +- `simulation` (bool): Indicates if it's used in the simulation. The default value is false. +- `control_frequency` (double): The frequency at which the pose messages are sent. The default value is 30.0. +- `torso_control_alpha` (double): The low-pass filter parameter for the torso pose. The default value is 0.2. +- `head_control_alpha` (double): The low-pass filter parameter for the head pose. The default value is 0.2. +- `head_enabled` (bool): Indicates if the head will move. The default value is false. +- `min_head_pitch_rad` (double): The minimum pitch angle in radian of the head. The default value is -0.35. +- `max_head_pitch_rad` (double): The maximum pitch angle in radian of the head. The default value is 0.35. +- `min_activity` (double): The minimum activity level to consider the sound source valid. The default value is 0.1. +- `min_valid_source_pitch_rad` (double): The minimum pitch angle in radian to consider the sound source valid. The default value is -1.4. +- `max_valid_source_pitch_rad` (double): The maximum pitch angle in radian to consider the sound source valid. The default value is 1.4. +- `direction_frame_id` (string): The audio analysis frame id. The default value is odas. #### Subscribed Topics - `daemon/motor_status` ([daemon_ros_client/MotorStatus](../../daemon_ros_client/msg/MotorStatus.msg)): The motor status. -- `sst` ([odas_ros/OdasSstArrayStamped](https://github.com/introlab/odas_ros/blob/main/msg/OdasSstArrayStamped.msg)): +- `sst` ([odas_ros_msgs/OdasSstArrayStamped](https://github.com/introlab/odas_ros/blob/ros2/odas_ros_msgs/msg/OdasSstArrayStamped.msg)): The sound source tracking information. #### Published Topics -- `sound_following/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): +- `sound_following/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The head pose. -- `sound_following/set_torso_orientation` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): The +- `sound_following/set_torso_orientation` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The torso orientation. #### Services -- `pose/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `pose/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/sound_following/package.xml b/ros/behaviors/sound_following/package.xml index 0c3a0ac3..ba74ab03 100644 --- a/ros/behaviors/sound_following/package.xml +++ b/ros/behaviors/sound_following/package.xml @@ -1,71 +1,28 @@ - + + sound_following 0.0.0 The sound_following package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + daemon_ros_client + std_msgs + hbba_lite + t_top + odas_ros_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - hbba_lite - rospy - t_top - odas_ros - hbba_lite - rospy - t_top - odas_ros - hbba_lite - rospy - t_top - odas_ros - - - - - + ament_cmake diff --git a/ros/behaviors/sound_following/scripts/sound_following_node.py b/ros/behaviors/sound_following/scripts/sound_following_node.py index 8efb11c7..33fcc318 100755 --- a/ros/behaviors/sound_following/scripts/sound_following_node.py +++ b/ros/behaviors/sound_following/scripts/sound_following_node.py @@ -1,10 +1,12 @@ #!/usr/bin/env python3 import math -import threading -import rospy -from odas_ros.msg import OdasSstArrayStamped +import rclpy +import rclpy.node +import rclpy.executors + +from odas_ros_msgs.msg import OdasSstArrayStamped from t_top import MovementCommands, vector_to_angles, HEAD_ZERO_Z, HEAD_POSE_PITCH_INDEX @@ -12,35 +14,38 @@ TARGET_TOLERANCE = 0.02 -class SoundFollowingNode: +class SoundFollowingNode(rclpy.node.Node): def __init__(self): - self._simulation = rospy.get_param('~simulation') - self._rate = rospy.Rate(rospy.get_param('~control_frequency')) - self._torso_control_alpha = rospy.get_param('~torso_control_alpha') - self._head_control_alpha = rospy.get_param('~head_control_alpha') - self._head_enabled = rospy.get_param('~head_enabled') - self._min_head_pitch = rospy.get_param('~min_head_pitch_rad') - self._max_head_pitch = rospy.get_param('~max_head_pitch_rad') - self._min_activity = rospy.get_param('~min_activity') - self._min_valid_source_pitch = rospy.get_param('~min_valid_source_pitch_rad') - self._max_valid_source_pitch = rospy.get_param('~max_valid_source_pitch_rad') - self._direction_frame_id = rospy.get_param('~direction_frame_id') - - self._target_lock = threading.Lock() + super().__init__('sound_following_node') + + self._simulation = self.declare_parameter('simulation', False).get_parameter_value().bool_value + self._control_frequency = self.declare_parameter('control_frequency', 30.0).get_parameter_value().double_value + self._torso_control_alpha = self.declare_parameter('torso_control_alpha', 0.2).get_parameter_value().double_value + self._head_control_alpha = self.declare_parameter('head_control_alpha', 0.2).get_parameter_value().double_value + self._head_enabled = self.declare_parameter('head_enabled', False).get_parameter_value().bool_value + self._min_head_pitch = self.declare_parameter('min_head_pitch_rad', -0.35).get_parameter_value().double_value + self._max_head_pitch = self.declare_parameter('max_head_pitch_rad', 0.35).get_parameter_value().double_value + self._min_activity = self.declare_parameter('min_activity', 0.1).get_parameter_value().double_value + self._min_valid_source_pitch = self.declare_parameter('min_valid_source_pitch_rad', -1.4).get_parameter_value().double_value + self._max_valid_source_pitch = self.declare_parameter('max_valid_source_pitch_rad', 1.4).get_parameter_value().double_value + self._direction_frame_id = self.declare_parameter('direction_frame_id', 'odas').get_parameter_value().string_value + self._target_torso_yaw = None self._target_head_pitch = None - self._movement_commands = MovementCommands(self._simulation, namespace='sound_following') - self._sst_sub = rospy.Subscriber('sst', OdasSstArrayStamped, self._sst_cb, queue_size=10) + self._movement_commands = MovementCommands(self, self._simulation, namespace='sound_following') + self._sst_sub = self.create_subscription(OdasSstArrayStamped, 'sst', self._sst_cb, 10) + + self._timer = self.create_timer(1 / self._control_frequency, self._timer_callback) def _sst_cb(self, sst): if self._movement_commands.is_filtering_all_messages: return if len(sst.sources) > 1: - rospy.logerr(f'Invalid sst (len(sst.sources)={len(sst.sources)})') + self.get_logger().error(f'Invalid sst (len(sst.sources)={len(sst.sources)})') return if sst.header.frame_id != self._direction_frame_id: - rospy.logerr(f'Invalid direction frame id ({sst.header.frame_id} != {self._direction_frame_id})') + self.get_logger().error(f'Invalid direction frame id ({sst.header.frame_id} != {self._direction_frame_id})') return if len(sst.sources) == 0 or sst.sources[0].activity < self._min_activity: return @@ -49,27 +54,27 @@ def _sst_cb(self, sst): if pitch < self._min_valid_source_pitch or pitch > self._max_valid_source_pitch: return - with self._target_lock: - self._target_torso_yaw = yaw - self._target_head_pitch = None if pitch is None else max(self._min_head_pitch, min(pitch, self._max_head_pitch)) + self._target_torso_yaw = yaw + self._target_head_pitch = None if pitch is None else max(self._min_head_pitch, min(pitch, self._max_head_pitch)) - def run(self): - while not rospy.is_shutdown(): - self._rate.sleep() - if self._movement_commands.is_filtering_all_messages: - continue + def _timer_callback(self): + if self._movement_commands.is_filtering_all_messages: + return - self._update_torso() - if self._head_enabled: - self._update_head() + self._update_torso() + if self._head_enabled: + self._update_head() + + def run(self): + executor = rclpy.executors.MultiThreadedExecutor(num_threads=2) + executor.add_node(self) + executor.spin() def _update_torso(self): - with self._target_lock: - target_torso_yaw = self._target_torso_yaw - if target_torso_yaw is None: + if self._target_torso_yaw is None: return - distance = target_torso_yaw - self._movement_commands.current_torso_pose + distance = self._target_torso_yaw - self._movement_commands.current_torso_pose if abs(distance) < TARGET_TOLERANCE: return @@ -82,27 +87,30 @@ def _update_torso(self): self._movement_commands.move_torso(pose) def _update_head(self): - with self._target_lock: - target_head_pitch = self._target_head_pitch - if target_head_pitch is None: + if self._target_head_pitch is None: return current_pitch = self._movement_commands.current_head_pose[HEAD_POSE_PITCH_INDEX] - if abs(target_head_pitch - current_pitch) < TARGET_TOLERANCE: + if abs(self._target_head_pitch - current_pitch) < TARGET_TOLERANCE: return - pitch = self._head_control_alpha * target_head_pitch + (1 - self._head_control_alpha) * current_pitch + pitch = self._head_control_alpha * self._target_head_pitch + (1 - self._head_control_alpha) * current_pitch self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, 0, pitch, 0]) def main(): - rospy.init_node('sound_following_node') + rclpy.init() sound_following_node = SoundFollowingNode() - sound_following_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + sound_following_node.run() + except KeyboardInterrupt: pass + finally: + sound_following_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/sound_object_person_following/.gitignore b/ros/behaviors/sound_object_person_following/.gitignore deleted file mode 100644 index a2a4546e..00000000 --- a/ros/behaviors/sound_object_person_following/.gitignore +++ /dev/null @@ -1 +0,0 @@ -camera_3d_calibration.json diff --git a/ros/behaviors/sound_object_person_following/CMakeLists.txt b/ros/behaviors/sound_object_person_following/CMakeLists.txt index 183dc689..7646ef7e 100644 --- a/ros/behaviors/sound_object_person_following/CMakeLists.txt +++ b/ros/behaviors/sound_object_person_following/CMakeLists.txt @@ -1,215 +1,47 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(sound_object_person_following) -## 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 - hbba_lite - odas_ros - rospy - std_msgs - t_top - tf - video_analyzer - message_filters - sensor_msgs - cv_bridge -) - -## 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 -# geometry_msgs# 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 sound_object_person_following -# CATKIN_DEPENDS geometry_msgs hbba_lite odas_ros rospy std_msgs t_top tf video_analyzer -# 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/${PROJECT_NAME}/sound_object_person_following.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/sound_object_person_following_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 -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -catkin_install_python(PROGRAMS +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(odas_ros_msgs REQUIRED) +find_package(t_top REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(message_filters REQUIRED) +find_package(perception_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(cv_bridge REQUIRED) + +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) + +# Python Nodes +install(PROGRAMS scripts/calibrate_sound_object_person_following_node.py scripts/sound_object_person_following_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_sound_object_person_following.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/behaviors/sound_object_person_following/README.md b/ros/behaviors/sound_object_person_following/README.md index 883d9c3d..0e2db10e 100644 --- a/ros/behaviors/sound_object_person_following/README.md +++ b/ros/behaviors/sound_object_person_following/README.md @@ -10,12 +10,12 @@ This node matches the 3d camera with the 2d wide camera. #### Parameters -- `match_count` (bool): Number of match to use. +- `match_count` (bool): Number of match to use. The default value is 100. #### Subscribed Topics -- `camera_3d/color/image_raw` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): The rectified color image of the 3d camera. -- `camera_2d_wide/image_rect` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): The rectified color image of the 2d wide camera. +- `camera_3d/color/image_raw` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): The rectified color image of the 3d camera. +- `camera_2d_wide/image_rect` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): The rectified color image of the 2d wide camera. ### `sound_object_person_following_node.py` @@ -23,41 +23,40 @@ This node makes T-Top follow the loudest sound, the biggest (nearest) person and #### Parameters -- `simulation` (bool): Indicates if it's used in the simulation. -- `control_frequency` (double): The frequency at which the pose messages are sent. -- `torso_control_alpha` (double): The low-pass filter parameter for the torso pose (sound following). -- `torso_control_p_gain` (double): The controller proportional gain for the torso pose. -- `head_control_p_gain` (double): The controller proportional gain for the head pose. -- `min_head_pitch_rad` (double): The minimum pitch angle in radian of the head. -- `max_head_pitch_rad` (double): The maximum pitch angle in radian of the head. -- `object_person_follower_type` (string): The object person follower type (bounding_box or semantic_segmentation). +- `simulation` (bool): Indicates if it's used in the simulation. The default value is false. +- `control_frequency` (double): The frequency at which the pose messages are sent. The default value is 30. +- `torso_control_alpha` (double): The low-pass filter parameter for the torso pose (sound following). The default value is 0.2. +- `torso_control_p_gain` (double): The controller proportional gain for the torso pose. The default value is 0.45. +- `head_control_p_gain` (double): The controller proportional gain for the head pose. The default value is 0.45. +- `min_head_pitch_rad` (double): The minimum pitch angle in radian of the head. The default value is -0.35. +- `max_head_pitch_rad` (double): The maximum pitch angle in radian of the head. The default value is 0.35. +- `object_person_follower_type` (string): The object person follower type (bounding_box or semantic_segmentation). The default value is bounding_box. - `min_sst_activity` (double): The minimum activity level to consider the sound source valid. - `min_valid_sst_pitch` (double): The minimum pitch angle in radian to consider the sound source valid. - `max_valid_sst_pitch` (double): The maximum pitch angle in radian to consider the sound source valid. - `direction_frame_id` (string): The audio analysis frame id. -- `object_classes` (list of strings): The followed object classes. In launch files, use this syntax : - `[]`. +- `object_classes` (list of strings): The followed object classes. - `padding` (double): The padding of the person and the objects. - `target_lambda` (double): The loss scale factor centering the person. #### Subscribed Topics - `daemon/motor_status` ([daemon_ros_client/MotorStatus](../../daemon_ros_client/msg/MotorStatus.msg)): The motor status. -- `sst` ([odas_ros/OdasSstArrayStamped](https://github.com/introlab/odas_ros/blob/main/msg/OdasSstArrayStamped.msg)): +- `sst` ([odas_ros_msgs/OdasSstArrayStamped](https://github.com/introlab/odas_ros/blob/ros2/odas_ros_msgs/msg/OdasSstArrayStamped.msg)): The sound source tracking information. -- `video_analysis` ([video_analyzer/VideoAnalysis](../../perceptions/video_analyzer/msg/VideoAnalysis.msg)): The video +- `video_analysis` ([perception_msgs/VideoAnalysis](../../perceptions/perception_msgs/msg/VideoAnalysis.msg)): The video analysis containing the detected objects of the 2d wide camera. #### Published Topics -- `sound_object_person_following/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): +- `sound_object_person_following/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The head pose. -- `sound_object_person_following/set_torso_orientation` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): +- `sound_object_person_following/set_torso_orientation` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The torso orientation. #### Services -- `pose/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `pose/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/sound_object_person_following/launch/calibrate_sound_object_person_following.launch b/ros/behaviors/sound_object_person_following/launch/calibrate_sound_object_person_following.launch.xml similarity index 69% rename from ros/behaviors/sound_object_person_following/launch/calibrate_sound_object_person_following.launch rename to ros/behaviors/sound_object_person_following/launch/calibrate_sound_object_person_following.launch.xml index 07f514a5..bced4051 100644 --- a/ros/behaviors/sound_object_person_following/launch/calibrate_sound_object_person_following.launch +++ b/ros/behaviors/sound_object_person_following/launch/calibrate_sound_object_person_following.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/ros/behaviors/sound_object_person_following/package.xml b/ros/behaviors/sound_object_person_following/package.xml index 182ffdb8..b2973a20 100644 --- a/ros/behaviors/sound_object_person_following/package.xml +++ b/ros/behaviors/sound_object_person_following/package.xml @@ -1,92 +1,34 @@ - + + sound_object_person_following 0.0.0 The sound_object_person_following package + Marc-Antoine Maheux + GPL-3.0 license + + ament_cmake + + rclpy + std_msgs + geometry_msgs + hbba_lite + odas_ros_msgs + t_top + tf2 + tf2_ros + message_filters + perception_msgs + sensor_msgs + cv_bridge + + rosidl_default_runtime + rosidl_interface_packages + + ament_lint_auto + ament_lint_common - - - - marc-antoine - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - geometry_msgs - hbba_lite - odas_ros - rospy - std_msgs - t_top - tf - video_analyzer - message_filters - sensor_msgs - cv_bridge - geometry_msgs - hbba_lite - odas_ros - rospy - std_msgs - t_top - tf - video_analyzer - message_filters - sensor_msgs - cv_bridge - geometry_msgs - hbba_lite - odas_ros - rospy - std_msgs - t_top - tf - video_analyzer - message_filters - sensor_msgs - cv_bridge - - - - - + ament_cmake diff --git a/ros/behaviors/sound_object_person_following/scripts/calibrate_sound_object_person_following_node.py b/ros/behaviors/sound_object_person_following/scripts/calibrate_sound_object_person_following_node.py index 8b3002cd..0d5b2a65 100755 --- a/ros/behaviors/sound_object_person_following/scripts/calibrate_sound_object_person_following_node.py +++ b/ros/behaviors/sound_object_person_following/scripts/calibrate_sound_object_person_following_node.py @@ -1,12 +1,13 @@ #!/usr/bin/env python3 -import threading import math import numpy as np import cv2 -import rospy +import rclpy +import rclpy.node + import message_filters from cv_bridge import CvBridge @@ -17,7 +18,6 @@ MIN_MATCH_COUNT = 5 LOWES_RATIO_THRESHOLD = 0.7 -INACTIVE_SLEEP_DURATION = 1.0 class Match: @@ -32,9 +32,11 @@ def __init__(self, source_points, destination_points, self.destination_height = destination_height -class CalibrateSoundObjectPersonFollowingNode: +class CalibrateSoundObjectPersonFollowingNode(rclpy.node.Node): def __init__(self): - self._match_count = rospy.get_param('~match_count') + super().__init__('calibrate_sound_object_person_following_node') + + self._match_count = self.declare_parameter('match_count', 100).get_parameter_value().integer_value if self._match_count < 1: raise ValueError('match_count must be at least 1.') @@ -42,19 +44,17 @@ def __init__(self): self._orb = cv2.ORB_create() self._matcher = cv2.BFMatcher() - self._matches_lock = threading.Lock() self._matches = [] - self._calibration_lock = threading.Lock() try: self._calibration = Camera3dCalibration.load_json_file() except FileNotFoundError: self._calibration = None - self._camera_2d_wide_cropped_image_pub = rospy.Publisher('camera_2d_wide/cropped_image', Image, queue_size=1) + self._camera_2d_wide_cropped_image_pub = self.create_publisher(Image, 'camera_2d_wide/cropped_image', 1) - camera_3d_image_sub = message_filters.Subscriber('camera_3d/color/image_raw', Image) - camera_2d_wide_image_sub = message_filters.Subscriber('camera_2d_wide/image_rect', Image) + camera_3d_image_sub = message_filters.Subscriber(self, Image, 'camera_3d/color/image_raw') + camera_2d_wide_image_sub = message_filters.Subscriber(self, Image, 'camera_2d_wide/image_rect') self._image_ts = message_filters.ApproximateTimeSynchronizer([camera_3d_image_sub, camera_2d_wide_image_sub], 10, 0.1) self._image_ts.registerCallback(self._image_cb) @@ -62,16 +62,12 @@ def _image_cb(self, camera_3d_image_msg, camera_2d_wide_image_msg): camera_3d_image = self._cv_bridge.imgmsg_to_cv2(camera_3d_image_msg, 'bgr8') camera_2d_wide_image = self._cv_bridge.imgmsg_to_cv2(camera_2d_wide_image_msg, 'bgr8') - with self._calibration_lock: - calibration = self._calibration - - if calibration is None: + if self._calibration is None: match = self._match_images(camera_3d_image, camera_2d_wide_image) if match is not None: - with self._matches_lock: - self._matches.append(match) + self._matches.append(match) else: - self._publish_camera_2d_wide_cropped_image(camera_2d_wide_image, calibration) + self._publish_camera_2d_wide_cropped_image(camera_2d_wide_image, self._calibration) def _match_images(self, source_image, destination_image): source_keypoints, source_descriptors = self._orb.detectAndCompute(source_image, None) @@ -84,7 +80,7 @@ def _match_images(self, source_image, destination_image): good_matches.append(m) if len(good_matches) < MIN_MATCH_COUNT: - rospy.logwarn(f'Not enough ORB feature matches (count={len(good_matches)})') + self.get_logger().warn(f'Not enough ORB feature matches (count={len(good_matches)})') return None else: source_points = np.float32([source_keypoints[m.queryIdx].pt for m in good_matches]).reshape(-1,1,2) @@ -106,18 +102,16 @@ def _publish_camera_2d_wide_cropped_image(self, image, calibration): self._camera_2d_wide_cropped_image_pub.publish(self._cv_bridge.cv2_to_imgmsg(camera_2d_wide_image_cropped, 'bgr8')) def run(self): - while not rospy.is_shutdown(): - with self._matches_lock, self._calibration_lock: - match_count = len(self._matches) - has_calibration = self._calibration is not None + while rclpy.ok(): + has_calibration = self._calibration is not None - if match_count >= self._match_count and not has_calibration: + if len(self._matches) >= self._match_count and not has_calibration: self._calibration = self._find_transform(self._matches) else: if not has_calibration: - rospy.loginfo(f'Match count: {len(self._matches)}') + self.get_logger().info(f'Match count: {len(self._matches)}') - rospy.sleep(INACTIVE_SLEEP_DURATION) + rclpy.spin_once(self) def _find_transform(self, matches): source_points = np.concatenate([x.source_points for x in self._matches]) @@ -136,8 +130,8 @@ def _find_transform(self, matches): width = source_width / destination_width * scale height = source_height / destination_height * scale - rospy.loginfo('******* Results *******') - rospy.loginfo(f'scale={scale}, center_x={center_x}, center_y={center_y}, width={width}, height={height}, rotation={rotation}') + self.get_logger().info('******* Results *******') + self.get_logger().info(f'scale={scale}, center_x={center_x}, center_y={center_y}, width={width}, height={height}, rotation={rotation}') calibration = Camera3dCalibration(center_x, center_y, width, height) calibration.save_json_file() @@ -145,13 +139,18 @@ def _find_transform(self, matches): def main(): - rospy.init_node('calibrate_sound_object_person_following_node') - explore_node = CalibrateSoundObjectPersonFollowingNode() - explore_node.run() - + rclpy.init() + calibrate_sound_object_person_following_node = CalibrateSoundObjectPersonFollowingNode() -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + calibrate_sound_object_person_following_node.run() + except KeyboardInterrupt: pass + finally: + calibrate_sound_object_person_following_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/sound_object_person_following/scripts/sound_object_person_following_node.py b/ros/behaviors/sound_object_person_following/scripts/sound_object_person_following_node.py index 393824b7..5952b0d7 100755 --- a/ros/behaviors/sound_object_person_following/scripts/sound_object_person_following_node.py +++ b/ros/behaviors/sound_object_person_following/scripts/sound_object_person_following_node.py @@ -2,14 +2,16 @@ from abc import ABC, abstractmethod import math -import threading import numpy as np from scipy.optimize import dual_annealing -import rospy -from odas_ros.msg import OdasSstArrayStamped -from video_analyzer.msg import VideoAnalysis +import rclpy +import rclpy.node +import rclpy.executors + +from odas_ros_msgs.msg import OdasSstArrayStamped +from perception_msgs.msg import VideoAnalysis from t_top import MovementCommands, vector_to_angles, HEAD_POSE_PITCH_INDEX, HEAD_ZERO_Z @@ -43,27 +45,27 @@ def target(self): class SoundFollower(Follower): - def __init__(self, movement_commands): + def __init__(self, node, movement_commands): + self._node = node self._movement_commands = movement_commands - self._min_sst_activity = rospy.get_param('~min_sst_activity') - self._min_valid_sst_pitch = rospy.get_param('~min_valid_sst_pitch') - self._max_valid_sst_pitch = rospy.get_param('~max_valid_sst_pitch') - self._direction_frame_id = rospy.get_param('~direction_frame_id') + self._min_sst_activity = self._node.declare_parameter('min_sst_activity', 0.1).get_parameter_value().double_value + self._min_valid_sst_pitch = self._node.declare_parameter('min_valid_sst_pitch', -1.4).get_parameter_value().double_value + self._max_valid_sst_pitch = self._node.declare_parameter('max_valid_sst_pitch', 1.4).get_parameter_value().double_value + self._direction_frame_id = self._node.declare_parameter('direction_frame_id', 'odas').get_parameter_value().string_value - self._target_lock = threading.Lock() self._target = None - self._sst_sub = rospy.Subscriber('sst', OdasSstArrayStamped, self._sst_cb, queue_size=1) + self._sst_sub = self._node.create_subscription(OdasSstArrayStamped, 'sst', self._sst_cb, 1) def _sst_cb(self, sst): if self._movement_commands.is_filtering_all_messages: return if len(sst.sources) > 1: - rospy.logerr(f'Invalid sst (len(sst.sources)={len(sst.sources)})') + self._node.get_logger().error(f'Invalid sst (len(sst.sources)={len(sst.sources)})') return if sst.header.frame_id != self._direction_frame_id: - rospy.logerr(f'Invalid direction frame id ({sst.header.frame_id} != {self._direction_frame_id})') + self._node.get_logger().error(f'Invalid direction frame id ({sst.header.frame_id} != {self._direction_frame_id})') return if len(sst.sources) == 0 or sst.sources[0].activity < self._min_sst_activity: return @@ -72,29 +74,27 @@ def _sst_cb(self, sst): if pitch < self._min_valid_sst_pitch or pitch > self._max_valid_sst_pitch: return - with self._target_lock: - self._target = Target.from_sound_following(yaw) + self._target = Target.from_sound_following(yaw) @property def target(self): - with self._target_lock: - return self._target + return self._target class ObjectPersonFollower(Follower): - def __init__(self, camera_3d_calibration, movement_commands): + def __init__(self, node, camera_3d_calibration, movement_commands): + self._node = node self._camera_3d_calibration = camera_3d_calibration self._movement_commands = movement_commands - self._object_classes = set(rospy.get_param('~object_classes')) - self._padding = rospy.get_param('~padding') - self._target_lambda = rospy.get_param('~target_lambda') + self._object_classes = set(self._node.declare_parameter('object_classes', ['all']).get_parameter_value().string_array_value) + self._padding = self._node.declare_parameter('padding', 0.075).get_parameter_value().double_value + self._target_lambda = self._node.declare_parameter('target_lambda', 0.005).get_parameter_value().double_value _verify_padding(self._camera_3d_calibration, self._padding) - self._target_lock = threading.Lock() self._target = None - self._video_analysis_sub = rospy.Subscriber('video_analysis', VideoAnalysis, self._video_analysis_cb, queue_size=1) + self._video_analysis_sub = self._node.create_subscription(VideoAnalysis, 'video_analysis', self._video_analysis_cb, 1) def _video_analysis_cb(self, msg): if self._movement_commands.is_filtering_all_messages: @@ -106,8 +106,7 @@ def _video_analysis_cb(self, msg): else: target = self._find_target(msg, person) - with self._target_lock: - self._target = target + self._target = target def _find_biggest_person(self, objects): person_area_pairs = [(o, o.width_2d * o.height_2d) for o in objects if o.object_class == PERSON_CLASS] @@ -141,8 +140,7 @@ def _find_target_range(self, person): @property def target(self): - with self._target_lock: - return self._target + return self._target def _verify_padding(camera_3d_calibration, padding): @@ -205,7 +203,7 @@ def _get_object_bounding_boxes(self, objects): class SemanticSegmentationObjectPersonFollower(ObjectPersonFollower): def _find_target(self, msg, person, eps=1e-6): if len(msg.semantic_segmentation) == 0: - rospy.logerr('The video analysis must have semantic segmentation.') + self._node.get_logger().error('The video analysis must have semantic segmentation.') return min_x, max_x, min_y, max_y = self._find_target_range(person) @@ -246,39 +244,46 @@ def _get_mask_from_semantic_segmentation(self, semantic_segmentation): return np.isin(class_indexes, desired_class_indexes) -class SoundObjectPersonFollowingNode: +class SoundObjectPersonFollowingNode(rclpy.node.Node): def __init__(self): - self._simulation = rospy.get_param('~simulation') - self._rate = rospy.Rate(rospy.get_param('~control_frequency')) - self._torso_control_alpha = rospy.get_param('~torso_control_alpha') - self._torso_control_p_gain = rospy.get_param('~torso_control_p_gain') - self._head_control_p_gain = rospy.get_param('~head_control_p_gain') - self._min_head_pitch = rospy.get_param('~min_head_pitch_rad') - self._max_head_pitch = rospy.get_param('~max_head_pitch_rad') - self._object_person_follower_type = rospy.get_param('~object_person_follower_type') + super().__init__('sound_object_person_following_node') + + self._simulation = self.declare_parameter('simulation', False).get_parameter_value().bool_value + self._control_frequency = self.declare_parameter('control_frequency', 30.0).get_parameter_value().double_value + self._torso_control_alpha = self.declare_parameter('torso_control_alpha', 0.2).get_parameter_value().double_value + self._torso_control_p_gain = self.declare_parameter('torso_control_p_gain', 0.45).get_parameter_value().double_value + self._head_control_p_gain = self.declare_parameter('head_control_p_gain', 0.45).get_parameter_value().double_value + self._min_head_pitch = self.declare_parameter('min_head_pitch_rad', -0.35).get_parameter_value().double_value + self._max_head_pitch = self.declare_parameter('max_head_pitch_rad', 0.35).get_parameter_value().double_value + self._object_person_follower_type = self.declare_parameter('object_person_follower_type', 'bounding_box').get_parameter_value().string_value self._camera_3d_calibration = Camera3dCalibration.load_json_file() - self._movement_commands = MovementCommands(self._simulation, namespace='sound_object_person_following') - self._sound_follower = SoundFollower(self._movement_commands) + self._movement_commands = MovementCommands(self, self._simulation, namespace='sound_object_person_following') + self._sound_follower = SoundFollower(self, self._movement_commands) if self._object_person_follower_type == 'bounding_box': - self._object_person_follower = BoundingBoxObjectPersonFollower(self._camera_3d_calibration, self._movement_commands) + self._object_person_follower = BoundingBoxObjectPersonFollower(self, self._camera_3d_calibration, self._movement_commands) elif self._object_person_follower_type == 'semantic_segmentation': - self._object_person_follower = SemanticSegmentationObjectPersonFollower(self._camera_3d_calibration, self._movement_commands) + self._object_person_follower = SemanticSegmentationObjectPersonFollower(self, self._camera_3d_calibration, self._movement_commands) else: - raise ValueError(f'Invalid object_person_follower_type (object_person_follower_type={object_person_follower_type})') + raise ValueError(f'Invalid object_person_follower_type (object_person_follower_type={self._object_person_follower_type})') - def run(self): - while not rospy.is_shutdown(): - self._rate.sleep() - if self._movement_commands.is_filtering_all_messages: - continue + self._timer = self.create_timer(1 / self._control_frequency, self._timer_callback) + + def _timer_callback(self): + if self._movement_commands.is_filtering_all_messages: + return + + target = self._object_person_follower.target + if target is None: + target = self._sound_follower.target - target = self._object_person_follower.target - if target is None: - target = self._sound_follower.target + if target is not None: + self._update_from_target(target) - if target is not None: - self._update_from_target(target) + def run(self): + executor = rclpy.executors.MultiThreadedExecutor(num_threads=2) + executor.add_node(self) + executor.spin() def _update_from_target(self, target): if target.yaw is not None: @@ -312,13 +317,18 @@ def _update_head_from_image_y(self, current_image_y): def main(): - rospy.init_node('sound_object_person_following_node') - explore_node = SoundObjectPersonFollowingNode() - explore_node.run() - + rclpy.init() + sound_object_person_following_node = SoundObjectPersonFollowingNode() -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + sound_object_person_following_node.run() + except KeyboardInterrupt: pass + finally: + sound_object_person_following_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/sound_object_person_following/setup.py b/ros/behaviors/sound_object_person_following/setup.py deleted file mode 100644 index 41aff439..00000000 --- a/ros/behaviors/sound_object_person_following/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from setuptools import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['sound_object_person_following'], - package_dir={'': 'src'}, -) - -setup(**setup_args) diff --git a/ros/behaviors/sound_object_person_following/src/sound_object_person_following/__init__.py b/ros/behaviors/sound_object_person_following/sound_object_person_following/__init__.py similarity index 81% rename from ros/behaviors/sound_object_person_following/src/sound_object_person_following/__init__.py rename to ros/behaviors/sound_object_person_following/sound_object_person_following/__init__.py index b2878844..cad79278 100644 --- a/ros/behaviors/sound_object_person_following/src/sound_object_person_following/__init__.py +++ b/ros/behaviors/sound_object_person_following/sound_object_person_following/__init__.py @@ -1,11 +1,7 @@ import os import json -import rospkg - - -PACKAGE_PATH = rospkg.RosPack().get_path('sound_object_person_following') -CAMERA_3D_CALIBRATION_FILE_PATH = os.path.join(PACKAGE_PATH, 'camera_3d_calibration.json') +CAMERA_3D_CALIBRATION_FILE_PATH = os.path.join(os.environ['HOME'], '.ros', 't-top', 'sound_object_person_following', 'camera_3d_calibration.json') class Camera3dCalibration: @@ -27,6 +23,7 @@ def load_json_file(): return Camera3dCalibration(data['center_x'], data['center_y'], data['width'], data['height']) def save_json_file(self): + os.makedirs(os.path.dirname(CAMERA_3D_CALIBRATION_FILE_PATH), exist_ok=True) with open(CAMERA_3D_CALIBRATION_FILE_PATH, 'w') as file: data = { 'center_x': self.center_x, diff --git a/ros/behaviors/sound_player/CMakeLists.txt b/ros/behaviors/sound_player/CMakeLists.txt index 95e1fb4a..4154d67d 100644 --- a/ros/behaviors/sound_player/CMakeLists.txt +++ b/ros/behaviors/sound_player/CMakeLists.txt @@ -1,205 +1,31 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(sound_player) -## 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 - audio_utils - message_generation - rospy - hbba_lite - ) - -## 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 - SoundFile.msg - Started.msg - Done.msg +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(audio_utils_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(behavior_msgs REQUIRED) +find_package(time_utils REQUIRED) + +# Python Nodes +install(PROGRAMS + scripts/sound_player_node.py + DESTINATION lib/${PROJECT_NAME} ) -## 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() - -################################################ -## 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 sound_player - # CATKIN_DEPENDS audio_utils message_generation 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/${PROJECT_NAME}/sound_player.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/sound_player_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_sound_player.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) +ament_package() diff --git a/ros/behaviors/sound_player/README.md b/ros/behaviors/sound_player/README.md index b336d21a..de776c82 100644 --- a/ros/behaviors/sound_player/README.md +++ b/ros/behaviors/sound_player/README.md @@ -10,20 +10,20 @@ This node plays sound files. #### Parameters -- `sampling_frequency` (int): The output sampling frequency. -- `frame_sample_count` (double): The number of sample in each audio frame. +- `sampling_frequency` (int): The output sampling frequency. The default value is 16000. +- `frame_sample_count` (double): The number of sample in each audio frame. The default value is 1024. #### Subscribed Topics -- `sound_player/file` ([sound_player/SoundFile](msg/SoundFile.msg)): The sound file to play. +- `sound_player/file` ([behavior_msgs/SoundFile](../behavior_msgs/msg/SoundFile.msg)): The sound file to play. #### Published Topics -- `audio_out` ([audio_utils/AudioFrame](https://github.com/introlab/audio_utils/blob/main/msg/AudioFrame.msg)): The +- `audio_out` ([audio_utils_msgs/AudioFrame](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/AudioFrame.msg)): The sound (mono, float format). -- `sound_player/done` ([sound_player/Done](msg/Done.msg)): Indicates that the speech is finished. +- `sound_player/done` ([behavior_msgs/Done](../behavior_msgs/msg/Done.msg)): Indicates that the speech is finished. #### Services -- `audio_out/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA +- `audio_out/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/sound_player/msg/Done.msg b/ros/behaviors/sound_player/msg/Done.msg deleted file mode 100644 index dae3f6dd..00000000 --- a/ros/behaviors/sound_player/msg/Done.msg +++ /dev/null @@ -1,2 +0,0 @@ -uint64 id -bool ok diff --git a/ros/behaviors/sound_player/package.xml b/ros/behaviors/sound_player/package.xml index c223ce79..238a50bc 100644 --- a/ros/behaviors/sound_player/package.xml +++ b/ros/behaviors/sound_player/package.xml @@ -1,69 +1,28 @@ - + + sound_player 0.0.0 The sound_player package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + audio_utils_msgs + hbba_lite + behavior_msgs + time_utils - - - - TODO + rosidl_default_runtime + ros2launch + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - audio_utils - message_generation - rospy - hbba_lite - audio_utils - rospy - hbba_lite - audio_utils - rospy - hbba_lite - - - - - + ament_cmake diff --git a/ros/behaviors/sound_player/scripts/sound_player_node.py b/ros/behaviors/sound_player/scripts/sound_player_node.py index 61b006ee..b61ba1b4 100755 --- a/ros/behaviors/sound_player/scripts/sound_player_node.py +++ b/ros/behaviors/sound_player/scripts/sound_player_node.py @@ -1,48 +1,52 @@ #!/usr/bin/env python3 -import threading +import time from pathlib import Path import numpy as np import librosa -import rospy -from sound_player.msg import SoundFile, Started, Done -from audio_utils.msg import AudioFrame +import rclpy +import rclpy.node + +from behavior_msgs.msg import SoundFile, SoundStarted, Done +from audio_utils_msgs.msg import AudioFrame import hbba_lite +import time_utils -class SoundPlayerNode: +class SoundPlayerNode(rclpy.node.Node): def __init__(self): - self._sampling_frequency = rospy.get_param('~sampling_frequency') - self._frame_sample_count = rospy.get_param('~frame_sample_count') + super().__init__('sound_player_node') + + self._sampling_frequency = self.declare_parameter('sampling_frequency', 16000).get_parameter_value().integer_value + self._frame_sample_count = self.declare_parameter('frame_sample_count', 1024).get_parameter_value().integer_value - self._audio_pub = hbba_lite.OnOffHbbaPublisher('audio_out', AudioFrame, queue_size=5) - self._started_pub = rospy.Publisher('sound_player/started', Started, queue_size=5) - self._done_pub = rospy.Publisher('sound_player/done', Done, queue_size=5) + self._audio_pub = hbba_lite.OnOffHbbaPublisher(self, AudioFrame, 'audio_out', 5) + self._started_pub = self.create_publisher(SoundStarted, 'sound_player/started', 5) + self._done_pub = self.create_publisher(Done, 'sound_player/done', 5) - self._file_sub_lock = threading.Lock() - self._file_sub = rospy.Subscriber('sound_player/file', SoundFile, self._on_file_received_cb, queue_size=1) + self._file_sub = self.create_subscription(SoundFile, 'sound_player/file', self._on_file_received_cb, 1) def _on_file_received_cb(self, msg): - with self._file_sub_lock: - if self._audio_pub.is_filtering_all_messages: - return + if self._audio_pub.is_filtering_all_messages: + return - try: - self._play_audio(msg.id, msg.path) - ok = True - except Exception as e: - rospy.logerr(f'Unable to play the sound ({e})') - ok = False - self._done_pub.publish(Done(id=msg.id, ok=ok)) + try: + self._play_audio(msg.id, msg.path) + ok = True + except Exception as e: + self.get_logger().error(f'Unable to play the sound ({e})') + ok = False + + self._done_pub.publish(Done(id=msg.id, ok=ok)) def _play_audio(self, id, path): frames = self._load_frames(Path(path).expanduser().resolve()) - self._started_pub.publish(Started(id=id)) + self._started_pub.publish(SoundStarted(id=id)) audio_frame = AudioFrame() audio_frame.format = 'float' @@ -50,12 +54,12 @@ def _play_audio(self, id, path): audio_frame.sampling_frequency = self._sampling_frequency audio_frame.frame_sample_count = self._frame_sample_count - rate = rospy.Rate(self._sampling_frequency / self._frame_sample_count) + rate = time_utils.Rate(self._sampling_frequency / self._frame_sample_count) for frame in frames: if self._audio_pub.is_filtering_all_messages: break - audio_frame.header.stamp = rospy.Time.now() + audio_frame.header.stamp = self.get_clock().now().to_msg() audio_frame.data = frame.tobytes() self._audio_pub.publish(audio_frame) @@ -63,23 +67,29 @@ def _play_audio(self, id, path): def _load_frames(self, file_path): waveform, _ = librosa.load(file_path, sr=self._sampling_frequency, res_type='kaiser_fast') + waveform = librosa.to_mono(waveform) pad = (self._frame_sample_count - (waveform.shape[0] % self._frame_sample_count)) % self._frame_sample_count waveform.resize(waveform.shape[0] + pad, refcheck=False) frames = np.split(waveform, np.arange(self._frame_sample_count, len(waveform), self._frame_sample_count)) return frames def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('sound_player_node') + rclpy.init() sound_player_node = SoundPlayerNode() - sound_player_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + sound_player_node.run() + except KeyboardInterrupt: pass + finally: + sound_player_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/talk/.gitignore b/ros/behaviors/talk/.gitignore deleted file mode 100644 index 57293dd7..00000000 --- a/ros/behaviors/talk/.gitignore +++ /dev/null @@ -1 +0,0 @@ -audio_files/ diff --git a/ros/behaviors/talk/CMakeLists.txt b/ros/behaviors/talk/CMakeLists.txt index e4dfaee0..7c0730c1 100644 --- a/ros/behaviors/talk/CMakeLists.txt +++ b/ros/behaviors/talk/CMakeLists.txt @@ -1,211 +1,35 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(talk) -## 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 - message_generation - audio_utils - hbba_lite - piper_ros - ) - -## 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 - Text.msg - Done.msg - Statistics.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 talk - 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 - ${catkin_INCLUDE_DIRS} +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(audio_utils_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(behavior_srvs REQUIRED) +find_package(behavior_msgs REQUIRED) +find_package(time_utils REQUIRED) + +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) + +# Python Nodes +install(PROGRAMS + scripts/talk_node.py + DESTINATION lib/${PROJECT_NAME} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/talk.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/talk_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/talk_node.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_talk.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) +ament_package() diff --git a/ros/behaviors/talk/README.md b/ros/behaviors/talk/README.md index 29cf5e3c..c0f51275 100644 --- a/ros/behaviors/talk/README.md +++ b/ros/behaviors/talk/README.md @@ -10,28 +10,28 @@ This node makes T-Top talk and move its lips accordingly. It uses Google Cloud T #### Parameters -- `language` (string): The language (en or fr). -- `gender` (string): The gender (female or male). -- `speaking_rate` (doule): The speaking rate (range: [0.25, 4.0]). -- `generator_type` (string): The generator type (google or piper). The Google generator uses the cloud and the Piper generator does not. -- `mouth_signal_gain` (double): The gain to apply after the filter calculating the mouth signal. -- `sampling_frequency` (int): The output sampling frequency. -- `frame_sample_count` (double): The number of sample in each audio frame. -- `done_delay_s` (double): The delay before sending the talk done message (default: 0.5). +- `language` (string): The language (en or fr). The default value is en. +- `gender` (string): The gender (female or male). The default value is male. +- `speaking_rate` (doule): The speaking rate (range: [0.25, 4.0]). The default value is 1.0. +- `generator_type` (string): The generator type (google or piper). The Google generator uses the cloud and the Piper generator does not. The default value is piper. +- `mouth_signal_gain` (double): The gain to apply after the filter calculating the mouth signal. The default value is 0.04. +- `sampling_frequency` (int): The output sampling frequency. The default value is 16000. +- `frame_sample_count` (double): The number of sample in each audio frame. The default value is 1024. +- `done_delay_s` (double): The delay before sending the talk done message. The default value is 0.5. #### Subscribed Topics -- `talk/text` ([talk/Text](msg/Text.msg)): The text to be said. +- `talk/text` ([behavior_msgs/Text](../behavior_msgs/msg/Text.msg)): The text to be said. #### Published Topics -- `face/mouth_signal_scale` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): +- `face/mouth_signal_scale` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): Indicates how much the mouth must be open. -- `audio_out` ([audio_utils/AudioFrame](https://github.com/introlab/audio_utils/blob/main/msg/AudioFrame.msg)): The +- `audio_out` ([audio_utils_msgs/AudioFrame](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/AudioFrame.msg)): The speech sound (mono, float format). -- `talk/done` ([talk/Done](msg/Done.msg)): Indicates that the speech is finished. +- `talk/done` ([behavior_msgs/Done](../behavior_msgs/msg/Done.msg)): Indicates that the speech is finished. #### Services -- `audio_out/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA +- `audio_out/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/talk/msg/Done.msg b/ros/behaviors/talk/msg/Done.msg deleted file mode 100644 index dae3f6dd..00000000 --- a/ros/behaviors/talk/msg/Done.msg +++ /dev/null @@ -1,2 +0,0 @@ -uint64 id -bool ok diff --git a/ros/behaviors/talk/package.xml b/ros/behaviors/talk/package.xml index a18c5100..461c6713 100644 --- a/ros/behaviors/talk/package.xml +++ b/ros/behaviors/talk/package.xml @@ -1,80 +1,30 @@ - + + talk 0.0.0 The talk package + Marc-Antoine Maheux + GPL-3.0 license - - - - alexandre + ament_cmake + rclpy + std_msgs + audio_utils_msgs + hbba_lite + behavior_srvs + behavior_msgs + time_utils - - - - TODO + rosidl_default_runtime + ros2launch + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - audio_utils - hbba_lite - message_generation - piper_ros - roscpp - rospy - std_msgs - audio_utils - hbba_lite - message_generation - piper_ros - roscpp - rospy - std_msgs - audio_utils - hbba_lite - message_generation - piper_ros - - - - - + ament_cmake diff --git a/ros/behaviors/talk/scripts/talk_node.py b/ros/behaviors/talk/scripts/talk_node.py index b6444590..b734b906 100755 --- a/ros/behaviors/talk/scripts/talk_node.py +++ b/ros/behaviors/talk/scripts/talk_node.py @@ -2,7 +2,7 @@ # -*- encoding: utf-8 -*- import os -import threading +import time from datetime import datetime import numpy as np @@ -10,83 +10,84 @@ import librosa -import rospy -import rospkg +import rclpy +import rclpy.node +import rclpy.executors + from std_msgs.msg import Float32 -from talk.msg import Text, Done, Statistics -from audio_utils.msg import AudioFrame +from behavior_msgs.msg import Text, Done, Statistics +from audio_utils_msgs.msg import AudioFrame import hbba_lite +import time_utils from talk.lib_voice_generator import Language, Gender from talk.lib_voice_generator import GoogleVoiceGenerator, PiperVoiceGenerator, CachedVoiceGenerator -class TalkNode: +class TalkNode(rclpy.node.Node): def __init__(self): - language = Language.from_name(rospy.get_param('~language')) - gender = Gender.from_name(rospy.get_param('~gender')) - speaking_rate = rospy.get_param('~speaking_rate') - generator_type = rospy.get_param('~generator_type') - cache_size = rospy.get_param('~cache_size') + super().__init__('talk_node') + + language = Language.from_name(self.declare_parameter('language', 'en').get_parameter_value().string_value) + gender = Gender.from_name(self.declare_parameter('gender', 'male').get_parameter_value().string_value) + speaking_rate = self.declare_parameter('speaking_rate', 1.0).get_parameter_value().double_value + generator_type = self.declare_parameter('generator_type', 'piper').get_parameter_value().string_value + cache_size = self.declare_parameter('cache_size', 2000).get_parameter_value().integer_value - self._mouth_signal_gain = rospy.get_param('~mouth_signal_gain') - self._sampling_frequency = rospy.get_param('~sampling_frequency') - self._frame_sample_count = rospy.get_param('~frame_sample_count') - self._done_delay_s = rospy.get_param('~done_delay_s', 0.5) + self._mouth_signal_gain = self.declare_parameter('mouth_signal_gain', 0.04).get_parameter_value().double_value + self._sampling_frequency = self.declare_parameter('sampling_frequency', 16000).get_parameter_value().integer_value + self._frame_sample_count = self.declare_parameter('frame_sample_count', 1024).get_parameter_value().integer_value + self._done_delay_s = self.declare_parameter('done_delay_s', 0.5).get_parameter_value().double_value - self._rospack = rospkg.RosPack() - self._pkg_path = self._rospack.get_path('talk') - audio_directory_path = os.path.join(self._pkg_path, 'audio_files') + audio_directory_path = os.path.join(os.environ['HOME'], '.ros', 't-top', 'talk', 'audio_files') if generator_type == 'google': self._voice_generator = GoogleVoiceGenerator(audio_directory_path, language, gender, speaking_rate) elif generator_type == 'piper': - self._voice_generator = PiperVoiceGenerator(audio_directory_path, language, gender, speaking_rate) + self._voice_generator = PiperVoiceGenerator(self, audio_directory_path, language, gender, speaking_rate) else: raise ValueError(f'Invalid generator type ({generator_type})') if cache_size > 0: self._voice_generator = CachedVoiceGenerator(self._voice_generator, cache_size) - self._mouth_signal_scale_pub = rospy.Publisher('face/mouth_signal_scale', Float32, queue_size=5) - self._audio_pub = hbba_lite.OnOffHbbaPublisher('audio_out', AudioFrame, queue_size=5) - self._done_talking_pub = rospy.Publisher('talk/done', Done, queue_size=5) - self._stats_pub = rospy.Publisher('talk/statistics', Statistics, queue_size=5) + self._mouth_signal_scale_pub = self.create_publisher(Float32, 'face/mouth_signal_scale', 5) + self._audio_pub = hbba_lite.OnOffHbbaPublisher(self, AudioFrame, 'audio_out', 5) + self._done_talking_pub = self.create_publisher(Done, 'talk/done', 5) + self._stats_pub = self.create_publisher(Statistics, 'talk/statistics', 5) - self._text_sub_lock = threading.Lock() - self._text_sub = rospy.Subscriber('talk/text', Text, self._on_text_received_cb, queue_size=1) + self._text_sub = self.create_subscription(Text, 'talk/text', self._on_text_received_cb, 1) def _on_text_received_cb(self, msg): - with self._text_sub_lock: - if self._audio_pub.is_filtering_all_messages: - return + if self._audio_pub.is_filtering_all_messages: + return - try: - if msg.text != '': - start_time = datetime.now() - file_path = self._voice_generator.generate(msg.text) - frames = self._load_frames(file_path) - processing_time_s = (datetime.now() - start_time).total_seconds() + try: + if msg.text != '': + start_time = datetime.now() + file_path = self._voice_generator.generate(msg.text) + frames = self._load_frames(file_path) + processing_time_s = (datetime.now() - start_time).total_seconds() - self._publish_stats(msg.text, frames, processing_time_s) + self._publish_stats(msg.text, frames, processing_time_s) - self._play_audio(frames) - self._voice_generator.delete_generated_file(file_path) - rospy.sleep(self._done_delay_s) + self._play_audio(frames) + self._voice_generator.delete_generated_file(file_path) + time.sleep(self._done_delay_s) - ok = True - except Exception as e: - rospy.logerr(f'Unable to talk ({e})') - ok = False + ok = True + except Exception as e: + self.get_logger().error(f'Unable to talk ({e})') + ok = False - self._done_talking_pub.publish(Done(id=msg.id, ok=ok)) + self._done_talking_pub.publish(Done(id=msg.id, ok=ok)) def _publish_stats(self, text, frames, processing_time_s): stats = Statistics() stats.text = text stats.processing_time_s = processing_time_s - stats.header.stamp = rospy.Time.now() + stats.header.stamp = self.get_clock().now().to_msg() stats.total_samples_count = 0 for frame in frames: @@ -106,7 +107,7 @@ def _play_audio(self, frames): audio_frame.sampling_frequency = self._sampling_frequency audio_frame.frame_sample_count = self._frame_sample_count - rate = rospy.Rate(self._sampling_frequency / self._frame_sample_count) + rate = time_utils.Rate(self._sampling_frequency / self._frame_sample_count) for frame in frames: if self._audio_pub.is_filtering_all_messages: break @@ -124,9 +125,10 @@ def _play_audio(self, frames): mouth_signal_msg.data = max(0.0, min(mouth_signal[0] * self._mouth_signal_gain, 1.0)) self._mouth_signal_scale_pub.publish(mouth_signal_msg) - audio_frame.header.stamp = rospy.Time.now() + audio_frame.header.stamp = self.get_clock().now().to_msg() audio_frame.data = frame.tobytes() self._audio_pub.publish(audio_frame) + rate.sleep() mouth_signal_msg.data = 0.0 @@ -134,6 +136,7 @@ def _play_audio(self, frames): def _load_frames(self, file_path): waveform, _ = librosa.load(file_path, sr=self._sampling_frequency, res_type='kaiser_fast') + waveform = librosa.to_mono(waveform) pad = (self._frame_sample_count - (waveform.shape[0] % self._frame_sample_count)) % self._frame_sample_count waveform = np.pad(waveform, (0, pad), 'constant', constant_values=0) frames = np.split(waveform, np.arange(self._frame_sample_count, len(waveform), self._frame_sample_count)) @@ -156,17 +159,28 @@ def _initialize_mouth_signal_filter(self): return mouth_signal_filter_sos, mouth_signal_filter_zi def run(self): - rospy.spin() + executer_thread_count = self._voice_generator.executer_thread_count + if executer_thread_count == 1: + rclpy.spin(self) + else: + executor = rclpy.executors.MultiThreadedExecutor(num_threads=executer_thread_count) + executor.add_node(self) + executor.spin() def main(): - rospy.init_node('talk_node') + rclpy.init() talk_node = TalkNode() - talk_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + talk_node.run() + except KeyboardInterrupt: pass + finally: + talk_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/behaviors/talk/setup.py b/ros/behaviors/talk/setup.py deleted file mode 100644 index 01b86310..00000000 --- a/ros/behaviors/talk/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from setuptools import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['talk'], - package_dir={'': 'src'}, -) - -setup(**setup_args) diff --git a/ros/perceptions/video_analyzer/src/video_analyzer/__init__.py b/ros/behaviors/talk/talk/__init__.py similarity index 100% rename from ros/perceptions/video_analyzer/src/video_analyzer/__init__.py rename to ros/behaviors/talk/talk/__init__.py diff --git a/ros/behaviors/talk/src/talk/lib_voice_generator.py b/ros/behaviors/talk/talk/lib_voice_generator.py similarity index 86% rename from ros/behaviors/talk/src/talk/lib_voice_generator.py rename to ros/behaviors/talk/talk/lib_voice_generator.py index 27962381..1cb542bd 100644 --- a/ros/behaviors/talk/src/talk/lib_voice_generator.py +++ b/ros/behaviors/talk/talk/lib_voice_generator.py @@ -5,11 +5,15 @@ import json import random from enum import Enum +import asyncio from google.cloud import texttospeech -import rospy -from piper_ros.srv import GenerateSpeechFromText, GenerateSpeechFromTextRequest +import rclpy +import rclpy.node +from rclpy.callback_groups import MutuallyExclusiveCallbackGroup + +from behavior_srvs.srv import GenerateSpeechFromText class Language(Enum): @@ -52,6 +56,10 @@ def __init__(self, directory: str, language: Language, gender: Gender, speaking_ @abstractmethod def generate(self, text: str) -> str: pass + + @property + def executer_thread_count(self): + return 1 def delete_generated_file(self, file_path: str): if os.path.exists(file_path): @@ -102,24 +110,33 @@ def generate(self, text: str) -> str: class PiperVoiceGenerator(VoiceGenerator): - def __init__(self, directory: str, language: Language, gender: Gender, speaking_rate: float): + def __init__(self, node: rclpy.node.Node, directory: str, language: Language, gender: Gender, speaking_rate: float): super().__init__(directory, language, gender, speaking_rate) - self._piper_service = rospy.ServiceProxy('piper/generate_speech_from_text', GenerateSpeechFromText) + self._node = node + self._piper_service = node.create_client(GenerateSpeechFromText, 'piper/generate_speech_from_text', + callback_group=MutuallyExclusiveCallbackGroup()) def generate(self, text: str) -> str: - request = GenerateSpeechFromTextRequest() + request = GenerateSpeechFromText.Request() request.language = self._language.value request.gender = self._gender.value request.length_scale = 1.0 / self._speaking_rate request.text = text request.path = self._generate_random_path('.wav') - response = self._piper_service(request) + future = self._piper_service.call_async(request) + async def wait_future(): + return await future + response = asyncio.run(wait_future()) + if not response.ok: raise RuntimeError(response.message) - return request.path + + @property + def executer_thread_count(self): + return 2 class CachedVoiceGenerator(VoiceGenerator): @@ -186,5 +203,9 @@ def _get_cache_key(self, text: str) -> str: return (f'{type(self._voice_generator).__name__}__{self._language.value}__{self._gender.value}__' f'{self._speaking_rate}__{text}') + @property + def executer_thread_count(self): + return self._voice_generator.executer_thread_count + def delete_generated_file(self, file_path: str): pass diff --git a/ros/behaviors/teleoperation/CMakeLists.txt b/ros/behaviors/teleoperation/CMakeLists.txt index 60b4bfdf..0845a600 100644 --- a/ros/behaviors/teleoperation/CMakeLists.txt +++ b/ros/behaviors/teleoperation/CMakeLists.txt @@ -1,205 +1,21 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(teleoperation) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## 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 - hbba_lite - rospy - std_msgs - t_top - geometry_msgs - opentera_webrtc_ros_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 -# GestureName.msg -# Done.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# DoAction.srv -# ) +find_package(ament_cmake REQUIRED) -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) +find_package(rclpy REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(opentera_webrtc_ros_msgs REQUIRED) -## Generate added messages and services with any dependencies listed here -# generate_messages() +find_package(t_top REQUIRED) -################################################ -## 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 gesture - CATKIN_DEPENDS hbba_lite rospy std_msgs t_top opentera_webrtc_ros_msgs - # DEPENDS system_lib +install(PROGRAMS + scripts/teleoperation_node.py + DESTINATION lib/${PROJECT_NAME} ) -########### -## 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/${PROJECT_NAME}/gesture.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/gesture_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/teleoperation_node.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_gesture.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) +ament_package() diff --git a/ros/behaviors/teleoperation/README.md b/ros/behaviors/teleoperation/README.md index 1b8c0e29..5a6c43ab 100644 --- a/ros/behaviors/teleoperation/README.md +++ b/ros/behaviors/teleoperation/README.md @@ -15,20 +15,20 @@ This node allows T-Top to be teleoperated using twist commands. #### Subscribed Topics - `daemon/motor_status` ([daemon_ros_client/MotorStatus](../../daemon_ros_client/msg/MotorStatus.msg)): The motor status. -- `teleoperation/cmd_vel` ([geometry_msgs/Twist]): The twist commands. +- `teleoperation/cmd_vel` ([geometry_msgs/Twist](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/Twist.html)): The twist commands. #### Published Topics -- `teleoperation/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): +- `teleoperation/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The head pose. -- `teleoperation/set_torso_orientation` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): The +- `teleoperation/set_torso_orientation` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The torso orientation. #### Services -- `pose/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `pose/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. -- `teleop_do_action` ([teleoperation/DoAction])(srv/DoAction.srv)): The name of a specific action to do: +- `teleop_do_action` ([opentera_webrtc_ros_msgs/SetString](https://github.com/introlab/opentera-webrtc-ros/blob/ros2/opentera_webrtc_ros_msgs/srv/SetString.srv)): The name of a specific action to do: - do_yes - do_no - do_maybe diff --git a/ros/behaviors/teleoperation/package.xml b/ros/behaviors/teleoperation/package.xml index b2e8f7e7..d36f4b81 100644 --- a/ros/behaviors/teleoperation/package.xml +++ b/ros/behaviors/teleoperation/package.xml @@ -1,76 +1,25 @@ - + + teleoperation 0.0.0 The teleoperation package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy - - - - TODO + geometry_msgs + opentera_webrtc_ros_msgs + t_top - - - - + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - hbba_lite - rospy - std_msgs - t_top - geometry_msgs - opentera_webrtc_ros_msgs - hbba_lite - rospy - std_msgs - t_top - geometry_msgs - opentera_webrtc_ros_msgs - hbba_lite - rospy - std_msgs - t_top - opentera_webrtc_ros_msgs - - - - - + ament_cmake diff --git a/ros/behaviors/teleoperation/scripts/teleoperation_node.py b/ros/behaviors/teleoperation/scripts/teleoperation_node.py index 813a3995..d4387f8f 100755 --- a/ros/behaviors/teleoperation/scripts/teleoperation_node.py +++ b/ros/behaviors/teleoperation/scripts/teleoperation_node.py @@ -1,11 +1,21 @@ #!/usr/bin/env python3 -import rospy -from geometry_msgs.msg import Twist from contextlib import contextmanager -from t_top import MovementCommands, HEAD_ZERO_Z -from opentera_webrtc_ros_msgs.srv import SetString, SetStringRequest, SetStringResponse +import rclpy +import rclpy.executors +import rclpy.node +from geometry_msgs.msg import Twist +from opentera_webrtc_ros_msgs.srv import SetString +from t_top import HEAD_ZERO_Z, MovementCommands + +MOVE_YES_TIMEOUT = 10 +MOVE_NO_TIMEOUT = 10 +MOVE_MAYBE_TIMEOUT = 10 +MOVE_HEAD_TO_ORIGIN_TIMEOUT = 5 +MOVE_TORSO_TO_ORIGIN_TIMEOUT = 30 +MOVE_THINKING_TIMEOUT = 5 +MOVE_SAD_TIMEOUT = 5 def twist_is_null(twist: Twist) -> bool: @@ -32,23 +42,23 @@ def __init__(self) -> None: self.is_moving = False -class TeleoperationNode: +class TeleoperationNode(rclpy.node.Node): def __init__(self): - self._simulation = rospy.get_param('~simulation', False) + super().__init__('teleoperation_node') + self._simulation = self.declare_parameter('simulation', False).get_parameter_value().bool_value - self._movement_commands = MovementCommands(self._simulation, namespace='teleoperation') + self._movement_commands = MovementCommands(self, self._simulation, namespace='teleoperation') self._state = TeleopState() - self._twist_sub = rospy.Subscriber( - 'teleoperation/cmd_vel', Twist, self._on_twist_cb, queue_size=1) + self._twist_sub = self.create_subscription( + Twist, 'teleoperation/cmd_vel', self._on_twist_cb, 1) - self._timer = rospy.Timer(rospy.Duration( - self._movement_commands.sleep_time), self._on_timer_cb) + self._timer = self.create_timer(self._movement_commands.sleep_time, self._on_timer_cb) - self._origin_serv = rospy.Service( - "teleop_do_action", SetString, self._do_action_cb) + self._origin_serv = self.create_service( + SetString, "teleop_do_action", self._do_action_cb) - def _on_twist_cb(self, msg): + def _on_twist_cb(self, msg: Twist): if self._movement_commands.is_filtering_all_messages: self._state.is_moving = False return @@ -60,7 +70,7 @@ def _on_twist_cb(self, msg): else: self._move(msg) - def _on_timer_cb(self, _): + def _on_timer_cb(self): if self._state.is_moving: self._movement_commands.move_torso_speed( speed_rad_sec_torso=self._state.current_speed.torso_angle, should_sleep=False) @@ -90,7 +100,7 @@ def _move(self, msg: Twist) -> None: self._state.current_speed = TeleopAngles( torso_angle=msg.angular.z/0.15, head_angle=-1.1*msg.linear.x/0.15) - def _do_action_cb(self, req: SetStringRequest) -> SetStringResponse: + def _do_action_cb(self, req: SetString.Request, res: SetString.Response) -> SetString.Response: jump_table = { "goto_origin": self._goto_origin, "do_yes": self._do_yes, @@ -102,13 +112,19 @@ def _do_action_cb(self, req: SetStringRequest) -> SetStringResponse: if req.data in jump_table: if self._movement_commands.is_filtering_all_messages: - return SetStringResponse(success=False, message="HBBA filter is active") + res.success = False + res.message = "HBBA filter is active" + return res jump_table[req.data]() - return SetStringResponse(success=True, message="") + res.success = True + res.message = "" + return res else: - return SetStringResponse(success=False, message=f"'{req.data}' not in {list(jump_table.keys())}") + res.success = False + res.message = f"'{req.data}' not in {list(jump_table.keys())}" + return res @contextmanager def _pause_moving(self): @@ -121,41 +137,46 @@ def _pause_moving(self): def _goto_origin(self) -> None: with self._pause_moving(): - self._movement_commands.move_head_to_origin(False) - self._movement_commands.move_torso_to_origin(False) + self._movement_commands.move_head_to_origin(False, timeout=MOVE_HEAD_TO_ORIGIN_TIMEOUT) + self._movement_commands.move_torso_to_origin(False, timeout=MOVE_TORSO_TO_ORIGIN_TIMEOUT) def _do_yes(self) -> None: with self._pause_moving(): - self._movement_commands.move_yes(count=1) + self._movement_commands.move_yes(count=1, timeout=MOVE_YES_TIMEOUT) def _do_no(self) -> None: with self._pause_moving(): - self._movement_commands.move_no(count=1) + self._movement_commands.move_no(count=1, timeout=MOVE_NO_TIMEOUT) def _do_maybe(self) -> None: with self._pause_moving(): - self._movement_commands.move_maybe(count=1) + self._movement_commands.move_maybe(count=1, timeout=MOVE_MAYBE_TIMEOUT) def _goto_origin_head(self) -> None: with self._pause_moving(): - self._movement_commands.move_head_to_origin(False) + self._movement_commands.move_head_to_origin(False, timeout=MOVE_HEAD_TO_ORIGIN_TIMEOUT) def _goto_origin_torso(self) -> None: with self._pause_moving(): - self._movement_commands.move_torso_to_origin(False) + self._movement_commands.move_torso_to_origin(False, timeout=MOVE_TORSO_TO_ORIGIN_TIMEOUT) def run(self): - rospy.spin() - + executor = rclpy.executors.MultiThreadedExecutor(num_threads=2) + executor.add_node(self) + executor.spin() def main(): - rospy.init_node('teleoperation_node') + rclpy.init() teleop_node = TeleoperationNode() - teleop_node.run() + + try: + teleop_node.run() + except KeyboardInterrupt: + pass + teleop_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() if __name__ == '__main__': - try: - main() - except rospy.ROSInterruptException: - pass + main() diff --git a/ros/behaviors/too_close_reaction/CMakeLists.txt b/ros/behaviors/too_close_reaction/CMakeLists.txt index b0f9313f..51ab2b59 100644 --- a/ros/behaviors/too_close_reaction/CMakeLists.txt +++ b/ros/behaviors/too_close_reaction/CMakeLists.txt @@ -1,208 +1,32 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(too_close_reaction) -## 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 - cv_bridge - geometry_msgs - hbba_lite - rospy - sensor_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 -# geometry_msgs# sensor_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 too_close_reaction -# CATKIN_DEPENDS cv_bridge geometry_msgs hbba_lite rospy sensor_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/${PROJECT_NAME}/too_close_reaction.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/too_close_reaction_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 +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(sensor_msgs REQUIRED) + +# Python Nodes +install(PROGRAMS scripts/too_close_reaction_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_too_close_reaction.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) +ament_package() diff --git a/ros/behaviors/too_close_reaction/README.md b/ros/behaviors/too_close_reaction/README.md index 76a011dc..3c8b1850 100644 --- a/ros/behaviors/too_close_reaction/README.md +++ b/ros/behaviors/too_close_reaction/README.md @@ -10,21 +10,21 @@ This node makes T-Top move back its head when someone is too close to T-Top. #### Parameters -- `max_offset_m` (double): The maximum distance in meter to move back the head. -- `too_close_start_distance_m` (double): The start distance to move back the head. -- `too_close_end_distance_m` (double): The end distance to move back the head. -- `pixel_ratio` (double): The pixel ratio to measure de distance. +- `max_offset_m` (double): The maximum distance in meter to move back the head. The default value is 0.01. +- `too_close_start_distance_m` (double): The start distance to move back the head. The default value is 0.5. +- `too_close_end_distance_m` (double): The end distance to move back the head. The default value is 0.25. +- `pixel_ratio` (double): The pixel ratio to measure de distance. The default value is 0.01. #### Subscribed Topics -- `depth_image_raw` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): The depth image. +- `depth_image_raw` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): The depth image. #### Published Topics -- `too_close_reaction/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): +- `too_close_reaction/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The head pose offset. #### Services -- `depth_image_raw/filter_state` ([hbba_lite/SetOnOffFilterState](../../utils/hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter +- `depth_image_raw/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the behavior. diff --git a/ros/behaviors/too_close_reaction/package.xml b/ros/behaviors/too_close_reaction/package.xml index ff46b2e2..04f9a2f8 100644 --- a/ros/behaviors/too_close_reaction/package.xml +++ b/ros/behaviors/too_close_reaction/package.xml @@ -1,74 +1,28 @@ - + + too_close_reaction 0.0.0 The too_close_reaction package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + cv_bridge + geometry_msgs + hbba_lite + sensor_msgs - - - - TODO + rosidl_default_runtime + ros2launch + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - cv_bridge - geometry_msgs - hbba_lite - rospy - sensor_msgs - cv_bridge - geometry_msgs - hbba_lite - rospy - sensor_msgs - cv_bridge - geometry_msgs - hbba_lite - rospy - sensor_msgs - - - - - + ament_cmake diff --git a/ros/behaviors/too_close_reaction/scripts/too_close_reaction_node.py b/ros/behaviors/too_close_reaction/scripts/too_close_reaction_node.py index f9f208ff..7586fe10 100755 --- a/ros/behaviors/too_close_reaction/scripts/too_close_reaction_node.py +++ b/ros/behaviors/too_close_reaction/scripts/too_close_reaction_node.py @@ -2,7 +2,9 @@ import numpy as np import cv2 -import rospy +import rclpy +import rclpy.node + from cv_bridge import CvBridge from geometry_msgs.msg import PoseStamped @@ -11,24 +13,26 @@ import hbba_lite -class TooCloseReactionNode: +class TooCloseReactionNode(rclpy.node.Node): def __init__(self): - self._max_offset_m = rospy.get_param('~max_offset_m', 0.01) - self._too_close_start_distance_m = rospy.get_param('~too_close_start_distance_m', 0.5) - self._too_close_end_distance_m = rospy.get_param('~too_close_end_distance_m', 0.25) - self._pixel_ratio = rospy.get_param('~pixel_ratio', 0.01) + super().__init__('too_close_reaction_node') + + self._max_offset_m = self.declare_parameter('max_offset_m', 0.01).get_parameter_value().double_value + self._too_close_start_distance_m = self.declare_parameter('too_close_start_distance_m', 0.5).get_parameter_value().double_value + self._too_close_end_distance_m = self.declare_parameter('too_close_end_distance_m', 0.25).get_parameter_value().double_value + self._pixel_ratio = self.declare_parameter('pixel_ratio', 0.01).get_parameter_value().double_value self._cv_bridge = CvBridge() self._current_offset_m = 0.0 - self._head_pose_pub = rospy.Publisher('too_close_reaction/set_head_pose', PoseStamped, queue_size=1) - self._depth_image_sub = hbba_lite.OnOffHbbaSubscriber('depth_image_raw', Image, self._image_cb, queue_size=1) + self._head_pose_pub = self.create_publisher(PoseStamped, 'too_close_reaction/set_head_pose', 1) + self._depth_image_sub = hbba_lite.OnOffHbbaSubscriber(self, Image, 'depth_image_raw', self._image_cb, 1) self._depth_image_sub.on_filter_state_changed(self._hbba_filter_state_cb) def _image_cb(self, msg): if msg.encoding != '16UC1': - rospy.logerr('Invalid depth image encoding') + self.get_logger().error('Invalid depth image encoding') depth_image = self._cv_bridge.imgmsg_to_cv2(msg, '16UC1') distance_m = self._compute_distance(depth_image) - self._current_offset_m @@ -63,29 +67,34 @@ def _send_pose(self, offset_m): pose_msg = PoseStamped() pose_msg.header.frame_id = 'stewart_base' - pose_msg.pose.position.x = -offset_m - pose_msg.pose.position.y = 0 - pose_msg.pose.position.z = 0 + pose_msg.pose.position.x = float(-offset_m) + pose_msg.pose.position.y = 0.0 + pose_msg.pose.position.z = 0.0 - pose_msg.pose.orientation.x = 0 - pose_msg.pose.orientation.y = 0 - pose_msg.pose.orientation.z = 0 - pose_msg.pose.orientation.w = 1 + pose_msg.pose.orientation.x = 0.0 + pose_msg.pose.orientation.y = 0.0 + pose_msg.pose.orientation.z = 0.0 + pose_msg.pose.orientation.w = 1.0 self._head_pose_pub.publish(pose_msg) def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('too_close_reaction_node') + rclpy.init() too_close_reaction_node = TooCloseReactionNode() - too_close_reaction_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + too_close_reaction_node.run() + except KeyboardInterrupt: pass + finally: + too_close_reaction_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/daemon_ros_client/CMakeLists.txt b/ros/daemon_ros_client/CMakeLists.txt index 3c997763..404f2dff 100644 --- a/ros/daemon_ros_client/CMakeLists.txt +++ b/ros/daemon_ros_client/CMakeLists.txt @@ -1,148 +1,44 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(daemon_ros_client) -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) -## 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 - message_generation - roscpp - sensor_msgs - std_msgs - tf2 - tf2_ros -) - -## 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() +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -################################################ -## Declare ROS messages, services and actions ## -################################################ +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -## 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 ...) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## Generate messages in the 'msg' folder -add_message_files( - FILES - BaseStatus.msg - MotorStatus.msg - LedColor.msg - LedColors.msg -) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(rosidl_default_generators REQUIRED) -## 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 +# Generate messages +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/BaseStatus.msg" + "msg/MotorStatus.msg" + "msg/LedColor.msg" + "msg/LedColors.msg" + DEPENDENCIES std_msgs geometry_msgs sensor_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 daemon_ros_client -# CATKIN_DEPENDS geometry_msgs message_generation roscpp sensor_msgs std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - include(../../system/common/common.cmake) -## 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/${PROJECT_NAME}/daemon_ros_client.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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 +# C++ Nodes set(app_headers src/DaemonRosClientNode.h @@ -156,75 +52,10 @@ set (app_sources qt5_wrap_cpp(app_headers_moc_srcs ${app_headers}) -add_executable(${PROJECT_NAME}_node ${app_headers} ${app_sources} ${app_headers_moc_srcs}) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${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} - serial_communication_common -) - -############# -## 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_daemon_ros_client.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +add_executable(daemon_ros_client_node ${app_headers} ${app_sources} ${app_headers_moc_srcs}) +ament_target_dependencies(daemon_ros_client_node rclcpp std_msgs geometry_msgs sensor_msgs tf2 tf2_ros) +target_link_libraries(daemon_ros_client_node serial_communication_common) +rosidl_target_interfaces(daemon_ros_client_node ${PROJECT_NAME} "rosidl_typesupport_cpp") +install(TARGETS daemon_ros_client_node DESTINATION lib/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/daemon_ros_client/launch/client.launch b/ros/daemon_ros_client/launch/client.launch deleted file mode 100644 index 85a90f28..00000000 --- a/ros/daemon_ros_client/launch/client.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/ros/daemon_ros_client/msg/BaseStatus.msg b/ros/daemon_ros_client/msg/BaseStatus.msg index e94d5e1a..c33c698f 100644 --- a/ros/daemon_ros_client/msg/BaseStatus.msg +++ b/ros/daemon_ros_client/msg/BaseStatus.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header bool is_psu_connected bool has_charger_error bool is_battery_charging diff --git a/ros/daemon_ros_client/msg/MotorStatus.msg b/ros/daemon_ros_client/msg/MotorStatus.msg index b99b436c..2f9df2ad 100644 --- a/ros/daemon_ros_client/msg/MotorStatus.msg +++ b/ros/daemon_ros_client/msg/MotorStatus.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float32 torso_orientation int16 torso_servo_speed diff --git a/ros/daemon_ros_client/package.xml b/ros/daemon_ros_client/package.xml index 2637506a..bae8edb9 100644 --- a/ros/daemon_ros_client/package.xml +++ b/ros/daemon_ros_client/package.xml @@ -1,78 +1,31 @@ - + + daemon_ros_client 0.0.0 The daemon_ros_client package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rosidl_default_generators + rclcpp - - - - TODO + std_msgs + geometry_msgs + sensor_msgs + tf2 + tf2_ros + rosidl_default_runtime + ros2launch + rosidl_interface_packages - - - - + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - geometry_msgs - message_generation - roscpp - sensor_msgs - std_msgs - tf2 - tf2_ros - geometry_msgs - roscpp - sensor_msgs - std_msgs - tf2 - tf2_ros - geometry_msgs - roscpp - sensor_msgs - std_msgs - tf2 - tf2_ros - - - - - + ament_cmake diff --git a/ros/daemon_ros_client/src/DaemonRosClientNode.cpp b/ros/daemon_ros_client/src/DaemonRosClientNode.cpp index c6b0da68..5c19c536 100644 --- a/ros/daemon_ros_client/src/DaemonRosClientNode.cpp +++ b/ros/daemon_ros_client/src/DaemonRosClientNode.cpp @@ -2,25 +2,38 @@ #include "QtUtils.h" -DaemonRosClientNode::DaemonRosClientNode(int &argc, char* argv[], ros::NodeHandle& nodeHandle, DaemonRosClientNodeConfiguration configuration) - : QCoreApplication(argc, argv), m_websocketProtocolWrapper(nullptr), m_nodeHandle(nodeHandle), m_configuration(move(configuration)) +DaemonRosClientNode::DaemonRosClientNode() : rclcpp::Node("daemon_ros_client_node"), m_tfBroadcaster(*this) { - initWebSocketProtocolWrapper(); + m_baseLinkTorsoBaseDeltaZ = declare_parameter("base_link_torso_base_delta_z", 0.0); + initROS(); + initWebSocketProtocolWrapper(); } void DaemonRosClientNode::initROS() { - m_baseStatusPub = m_nodeHandle.advertise("daemon/base_status", PubQueueSize); - m_startButtonPressedPub = m_nodeHandle.advertise("daemon/start_button_pressed", PubQueueSize); - m_stopButtonPressedPub = m_nodeHandle.advertise("daemon/stop_button_pressed", PubQueueSize); - m_imuPub = m_nodeHandle.advertise("daemon/imu/data_raw", PubQueueSize); - m_motorStatusPub = m_nodeHandle.advertise("daemon/motor_status", PubQueueSize); - - m_setVolumeSub = m_nodeHandle.subscribe("daemon/set_volume", SubQueueSize, &DaemonRosClientNode::setVolumeCallback, this); - m_setLedColorsSub = m_nodeHandle.subscribe("daemon/set_led_colors", SubQueueSize, &DaemonRosClientNode::setLedColorsCallback, this); - m_setTorsoOrientationSub = m_nodeHandle.subscribe("daemon/set_torso_orientation", SubQueueSize, &DaemonRosClientNode::setTorsoOrientationCallback, this); - m_setHeadPoseSub = m_nodeHandle.subscribe("daemon/set_head_pose", SubQueueSize, &DaemonRosClientNode::setHeadPoseCallback, this); + m_baseStatusPub = create_publisher("daemon/base_status", PubQueueSize); + m_startButtonPressedPub = create_publisher("daemon/start_button_pressed", PubQueueSize); + m_stopButtonPressedPub = create_publisher("daemon/stop_button_pressed", PubQueueSize); + m_imuPub = create_publisher("daemon/imu/data_raw", PubQueueSize); + m_motorStatusPub = create_publisher("daemon/motor_status", PubQueueSize); + + m_setVolumeSub = create_subscription( + "daemon/set_volume", + SubQueueSize, + [this](const std_msgs::msg::UInt8::SharedPtr msg) { setVolumeCallback(msg); }); + m_setLedColorsSub = create_subscription( + "daemon/set_led_colors", + SubQueueSize, + [this](const daemon_ros_client::msg::LedColors::SharedPtr msg) { setLedColorsCallback(msg); }); + m_setTorsoOrientationSub = create_subscription( + "daemon/set_torso_orientation", + SubQueueSize, + [this](const std_msgs::msg::Float32::SharedPtr msg) { setTorsoOrientationCallback(msg); }); + m_setHeadPoseSub = create_subscription( + "daemon/set_head_pose", + SubQueueSize, + [this](const geometry_msgs::msg::PoseStamped::SharedPtr msg) { setHeadPoseCallback(msg); }); } void DaemonRosClientNode::initWebSocketProtocolWrapper() @@ -30,13 +43,33 @@ void DaemonRosClientNode::initWebSocketProtocolWrapper() // Connect only useful signals // WARNING Using direct connection, handleXXX functions must be thread safe) - connect(m_websocketProtocolWrapper, &WebSocketProtocolWrapper::newBaseStatus, this, &DaemonRosClientNode::handleBaseStatus, Qt::DirectConnection); - connect(m_websocketProtocolWrapper, &WebSocketProtocolWrapper::newButtonPressed, this, &DaemonRosClientNode::handleButtonPressed, Qt::DirectConnection); - connect(m_websocketProtocolWrapper, &WebSocketProtocolWrapper::newImuData, this, &DaemonRosClientNode::handleImuData, Qt::DirectConnection); - connect(m_websocketProtocolWrapper, &WebSocketProtocolWrapper::newMotorStatus, this, &DaemonRosClientNode::handleMotorStatus, Qt::DirectConnection); + connect( + m_websocketProtocolWrapper, + &WebSocketProtocolWrapper::newBaseStatus, + this, + &DaemonRosClientNode::handleBaseStatus, + Qt::DirectConnection); + connect( + m_websocketProtocolWrapper, + &WebSocketProtocolWrapper::newButtonPressed, + this, + &DaemonRosClientNode::handleButtonPressed, + Qt::DirectConnection); + connect( + m_websocketProtocolWrapper, + &WebSocketProtocolWrapper::newImuData, + this, + &DaemonRosClientNode::handleImuData, + Qt::DirectConnection); + connect( + m_websocketProtocolWrapper, + &WebSocketProtocolWrapper::newMotorStatus, + this, + &DaemonRosClientNode::handleMotorStatus, + Qt::DirectConnection); } -void DaemonRosClientNode::setVolumeCallback(const std_msgs::UInt8::ConstPtr& msg) +void DaemonRosClientNode::setVolumeCallback(const std_msgs::msg::UInt8::SharedPtr& msg) { SetVolumePayload payload; payload.volume = msg->data; @@ -51,10 +84,10 @@ void DaemonRosClientNode::setVolumeCallback(const std_msgs::UInt8::ConstPtr& msg }); } -void DaemonRosClientNode::setLedColorsCallback(const daemon_ros_client::LedColors::ConstPtr& msg) +void DaemonRosClientNode::setLedColorsCallback(const daemon_ros_client::msg::LedColors::SharedPtr& msg) { SetLedColorsPayload payload; - for (size_t i = 0; i < SetLedColorsPayload::LED_COUNT; i++) + for (size_t i = 0; i < SetLedColorsPayload::LED_COUNT; i++) { payload.colors[i].red = msg->colors[i].red; payload.colors[i].green = msg->colors[i].green; @@ -71,7 +104,7 @@ void DaemonRosClientNode::setLedColorsCallback(const daemon_ros_client::LedColor }); } -void DaemonRosClientNode::setTorsoOrientationCallback(const std_msgs::Float32::ConstPtr& msg) +void DaemonRosClientNode::setTorsoOrientationCallback(const std_msgs::msg::Float32::SharedPtr& msg) { SetTorsoOrientationPayload payload; payload.torsoOrientation = msg->data; @@ -86,11 +119,11 @@ void DaemonRosClientNode::setTorsoOrientationCallback(const std_msgs::Float32::C }); } -void DaemonRosClientNode::setHeadPoseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg) +void DaemonRosClientNode::setHeadPoseCallback(const geometry_msgs::msg::PoseStamped::SharedPtr& msg) { if (msg->header.frame_id != HEAD_POSE_FRAME_ID) { - ROS_ERROR_STREAM("Invalid head pose frame id (" << msg->header.frame_id << ")"); + RCLCPP_ERROR_STREAM(get_logger(), "Invalid head pose frame id (" << msg->header.frame_id << ")"); return; } @@ -116,8 +149,8 @@ void DaemonRosClientNode::setHeadPoseCallback(const geometry_msgs::PoseStamped:: void DaemonRosClientNode::handleBaseStatus(Device source, const BaseStatusPayload& payload) { // WARNING must be tread safe, called from Qt Thread - daemon_ros_client::BaseStatus msg; - msg.header.stamp = ros::Time::now(); + daemon_ros_client::msg::BaseStatus msg; + msg.header.stamp = get_clock()->now(); msg.is_psu_connected = payload.isPsuConnected; msg.has_charger_error = payload.hasChargerError; msg.is_battery_charging = payload.isBatteryCharging; @@ -134,7 +167,7 @@ void DaemonRosClientNode::handleBaseStatus(Device source, const BaseStatusPayloa msg.volume = payload.volume; msg.maximum_volume = payload.maximumVolume; - m_baseStatusPub.publish(msg); + m_baseStatusPub->publish(msg); } void DaemonRosClientNode::handleButtonPressed(Device source, const ButtonPressedPayload& payload) @@ -143,13 +176,13 @@ void DaemonRosClientNode::handleButtonPressed(Device source, const ButtonPressed switch (payload.button) { case Button::START: - m_startButtonPressedPub.publish(std_msgs::Empty()); + m_startButtonPressedPub->publish(std_msgs::msg::Empty()); break; case Button::STOP: - m_stopButtonPressedPub.publish(std_msgs::Empty()); + m_stopButtonPressedPub->publish(std_msgs::msg::Empty()); break; default: - ROS_ERROR_STREAM("Not handled buttons (" << static_cast(payload.button) << ")"); + RCLCPP_ERROR_STREAM(get_logger(), "Not handled buttons (" << static_cast(payload.button) << ")"); break; } } @@ -157,31 +190,31 @@ void DaemonRosClientNode::handleButtonPressed(Device source, const ButtonPressed void DaemonRosClientNode::handleImuData(Device source, const ImuDataPayload& payload) { // WARNING must be tread safe, called from Qt Thread - sensor_msgs::Imu msg; - msg.header.stamp = ros::Time::now(); + sensor_msgs::msg::Imu msg; + msg.header.stamp = get_clock()->now(); msg.header.frame_id = "dynamixel_control_imu"; msg.orientation.x = 0; msg.orientation.y = 0; msg.orientation.z = 0; msg.orientation.w = 0; - msg.orientation_covariance.assign(-1.0); + msg.orientation_covariance.fill(-1.0); msg.angular_velocity.x = payload.angularRateX; msg.angular_velocity.y = payload.angularRateY; msg.angular_velocity.z = payload.angularRateZ; - msg.angular_velocity_covariance.assign(0.0); + msg.angular_velocity_covariance.fill(0.0); msg.linear_acceleration.x = payload.accelerationX; msg.linear_acceleration.y = payload.accelerationY; msg.linear_acceleration.z = payload.accelerationZ; - msg.linear_acceleration_covariance.assign(0.0); + msg.linear_acceleration_covariance.fill(0.0); - m_imuPub.publish(msg); + m_imuPub->publish(msg); } void DaemonRosClientNode::handleMotorStatus(Device source, const MotorStatusPayload& payload) { // WARNING must be tread safe, called from Qt Thread - daemon_ros_client::MotorStatus msg; - msg.header.stamp = ros::Time::now(); + daemon_ros_client::msg::MotorStatus msg; + msg.header.stamp = get_clock()->now(); msg.torso_orientation = payload.torsoOrientation; msg.torso_servo_speed = payload.torsoServoSpeed; @@ -210,19 +243,19 @@ void DaemonRosClientNode::handleMotorStatus(Device source, const MotorStatusPayl sendTorsoTf(msg.header.stamp, msg.torso_orientation); sendHeadTf(msg.header.stamp, msg.head_pose); - m_motorStatusPub.publish(msg); + m_motorStatusPub->publish(msg); } -void DaemonRosClientNode::sendTorsoTf(const ros::Time& stamp, float torsoOrientation) +void DaemonRosClientNode::sendTorsoTf(const rclcpp::Time& stamp, float torsoOrientation) { - geometry_msgs::TransformStamped transformStamped; + geometry_msgs::msg::TransformStamped transformStamped; transformStamped.header.stamp = stamp; transformStamped.header.frame_id = "base_link"; transformStamped.child_frame_id = "torso_base"; transformStamped.transform.translation.x = 0; transformStamped.transform.translation.y = 0; - transformStamped.transform.translation.z = m_configuration.baseLinkTorsoBaseDeltaZ; + transformStamped.transform.translation.z = m_baseLinkTorsoBaseDeltaZ; tf2::Quaternion q; q.setRPY(0, 0, torsoOrientation); @@ -234,9 +267,9 @@ void DaemonRosClientNode::sendTorsoTf(const ros::Time& stamp, float torsoOrienta m_tfBroadcaster.sendTransform(transformStamped); } -void DaemonRosClientNode::sendHeadTf(const ros::Time& stamp, const geometry_msgs::Pose& pose) +void DaemonRosClientNode::sendHeadTf(const rclcpp::Time& stamp, const geometry_msgs::msg::Pose& pose) { - geometry_msgs::TransformStamped transformStamped; + geometry_msgs::msg::TransformStamped transformStamped; transformStamped.header.stamp = stamp; transformStamped.header.frame_id = HEAD_POSE_FRAME_ID; @@ -256,7 +289,7 @@ void DaemonRosClientNode::sendHeadTf(const ros::Time& stamp, const geometry_msgs void DaemonRosClientNode::cleanup() { SetLedColorsPayload payload; - for (size_t i = 0; i < SetLedColorsPayload::LED_COUNT; i++) + for (size_t i = 0; i < SetLedColorsPayload::LED_COUNT; i++) { payload.colors[i].red = 0; payload.colors[i].green = 0; diff --git a/ros/daemon_ros_client/src/DaemonRosClientNode.h b/ros/daemon_ros_client/src/DaemonRosClientNode.h index 4a514fc8..cdee2545 100644 --- a/ros/daemon_ros_client/src/DaemonRosClientNode.h +++ b/ros/daemon_ros_client/src/DaemonRosClientNode.h @@ -1,24 +1,23 @@ #ifndef _DAEMON_ROS_CLIENT_NODE_H_ #define _DAEMON_ROS_CLIENT_NODE_H_ -#include #include "WebSocketProtocolWrapper.h" -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include @@ -29,59 +28,45 @@ constexpr uint32_t PubQueueSize = 1; constexpr uint32_t SubQueueSize = 10; constexpr const char* HEAD_POSE_FRAME_ID = "stewart_base"; -struct DaemonRosClientNodeConfiguration -{ - double baseLinkTorsoBaseDeltaZ; - - DaemonRosClientNodeConfiguration() : baseLinkTorsoBaseDeltaZ(0.0) - { - - } -}; - -class DaemonRosClientNode : public QCoreApplication +class DaemonRosClientNode : public QObject, public rclcpp::Node { + Q_OBJECT - WebSocketProtocolWrapper *m_websocketProtocolWrapper; + double m_baseLinkTorsoBaseDeltaZ; - ros::NodeHandle& m_nodeHandle; - DaemonRosClientNodeConfiguration m_configuration; + WebSocketProtocolWrapper* m_websocketProtocolWrapper; - ros::Publisher m_baseStatusPub; - ros::Publisher m_startButtonPressedPub; - ros::Publisher m_stopButtonPressedPub; - ros::Publisher m_imuPub; - ros::Publisher m_motorStatusPub; + rclcpp::Publisher::SharedPtr m_baseStatusPub; + rclcpp::Publisher::SharedPtr m_startButtonPressedPub; + rclcpp::Publisher::SharedPtr m_stopButtonPressedPub; + rclcpp::Publisher::SharedPtr m_imuPub; + rclcpp::Publisher::SharedPtr m_motorStatusPub; - ros::Subscriber m_setVolumeSub; - ros::Subscriber m_setLedColorsSub; - ros::Subscriber m_setTorsoOrientationSub; - ros::Subscriber m_setHeadPoseSub; + rclcpp::Subscription::SharedPtr m_setVolumeSub; + rclcpp::Subscription::SharedPtr m_setLedColorsSub; + rclcpp::Subscription::SharedPtr m_setTorsoOrientationSub; + rclcpp::Subscription::SharedPtr m_setHeadPoseSub; tf2_ros::TransformBroadcaster m_tfBroadcaster; - Q_OBJECT - - public: - - DaemonRosClientNode(int &argc, char* argv[], ros::NodeHandle& nodeHandle, DaemonRosClientNodeConfiguration configuration); +public: + DaemonRosClientNode(); void cleanup(); - private: - +private: void initROS(); void initWebSocketProtocolWrapper(); - void setVolumeCallback(const std_msgs::UInt8::ConstPtr& msg); - void setLedColorsCallback(const daemon_ros_client::LedColors::ConstPtr& msg); - void setTorsoOrientationCallback(const std_msgs::Float32::ConstPtr& msg); - void setHeadPoseCallback(const geometry_msgs::PoseStamped::ConstPtr& msg); + void setVolumeCallback(const std_msgs::msg::UInt8::SharedPtr& msg); + void setLedColorsCallback(const daemon_ros_client::msg::LedColors::SharedPtr& msg); + void setTorsoOrientationCallback(const std_msgs::msg::Float32::SharedPtr& msg); + void setHeadPoseCallback(const geometry_msgs::msg::PoseStamped::SharedPtr& msg); void handleBaseStatus(Device source, const BaseStatusPayload& payload); void handleButtonPressed(Device source, const ButtonPressedPayload& payload); void handleImuData(Device source, const ImuDataPayload& payload); void handleMotorStatus(Device source, const MotorStatusPayload& payload); - void sendTorsoTf(const ros::Time& stamp, float torsoOrientation); - void sendHeadTf(const ros::Time& stamp, const geometry_msgs::Pose& pose); + void sendTorsoTf(const rclcpp::Time& stamp, float torsoOrientation); + void sendHeadTf(const rclcpp::Time& stamp, const geometry_msgs::msg::Pose& pose); }; -#endif //_DAEMON_ROS_CLIENT_NODE_H_ +#endif //_DAEMON_ROS_CLIENT_NODE_H_ diff --git a/ros/daemon_ros_client/src/daemon_ros_client_node.cpp b/ros/daemon_ros_client/src/daemon_ros_client_node.cpp index 462e888c..ec69e922 100644 --- a/ros/daemon_ros_client/src/daemon_ros_client_node.cpp +++ b/ros/daemon_ros_client/src/daemon_ros_client_node.cpp @@ -1,5 +1,8 @@ #include "DaemonRosClientNode.h" + +#include + #include #include @@ -28,31 +31,27 @@ void catchUnixSignals(std::initializer_list quitSignals) int main(int argc, char** argv) { - ros::init(argc, argv, "daemon_ros_client_node"); + QCoreApplication app(argc, argv); - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); + rclcpp::init(argc, argv); - DaemonRosClientNodeConfiguration configuration; + auto node = std::make_shared(); - if (!privateNodeHandle.getParam("base_link_torso_base_delta_z", configuration.baseLinkTorsoBaseDeltaZ)) - { - ROS_ERROR("The parameter base_link_torso_base_delta_z is required."); - return -1; - } + catchUnixSignals({SIGQUIT, SIGINT, SIGTERM, SIGHUP}); // Run ROS in background - ros::AsyncSpinner spinner(1); - spinner.start(); - - catchUnixSignals({SIGQUIT, SIGINT, SIGTERM, SIGHUP}); + rclcpp::executors::SingleThreadedExecutor rosExecutor; + rosExecutor.add_node(node); + std::thread spinThread([&rosExecutor]() { rosExecutor.spin(); }); // Initialize and start Qt App - DaemonRosClientNode app(argc, argv, nodeHandle, configuration); - app.exec(); + int returnCode = app.exec(); + + node->cleanup(); + rosExecutor.cancel(); + spinThread.join(); - app.cleanup(); + rclcpp::shutdown(); - // Stop ROS spinner - spinner.stop(); + return returnCode; } diff --git a/ros/demos/connect4/CMakeLists.txt b/ros/demos/connect4/CMakeLists.txt index 6e43d399..30e54162 100644 --- a/ros/demos/connect4/CMakeLists.txt +++ b/ros/demos/connect4/CMakeLists.txt @@ -1,158 +1,40 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(connect4) -## Set compile options -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) - -## 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 - daemon_ros_client - hbba_lite - roscpp - sensor_msgs - t_top_hbba_lite - opentera_webrtc_ros_msgs - led_animations - daemon_ros_client - opentera_webrtc_ros - opentera_webrtc_ros_msgs - tf - t_top - std_msgs - geometry_msgs - video_analyzer -) - -## System dependencies are found with CMake's conventions - -add_compile_definitions(WEBRTC_POSIX QT_NO_KEYWORDS) - -set(connect4_qt_components Core Widgets Network WebSockets) -find_package(Qt5 COMPONENTS ${connect4_qt_components} REQUIRED) - - -## 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 -# sensor_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 connect4 -# CATKIN_DEPENDS daemon_ros_client hbba_lite roscpp sensor_msgs t_top_hbba_lite -# 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/${PROJECT_NAME}/connect4.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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 +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(daemon_ros_client REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclpy REQUIRED) +find_package(t_top_hbba_lite REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(perception_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(opentera_webrtc_ros_msgs REQUIRED) + +set(connect4_components Core Widgets Gui WebSockets Network) +find_package(Qt5 COMPONENTS ${connect4_components} REQUIRED) + +# C++ Nodes set(moc_headers - src/ImageDisplay.h src/Connect4Widget.h + src/ImageDisplay.h ) set(other_headers @@ -168,76 +50,35 @@ set(srcs qt5_wrap_cpp(project_moc_srcs ${moc_headers}) add_executable(${PROJECT_NAME}_node ${srcs} ${uis} ${moc_headers} ${other_headers} ${project_moc_uis} ${project_moc_srcs}) -qt5_use_modules(${PROJECT_NAME}_node ${connect4_qt_components}) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${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} - ${connect4_qt_components_link} +qt5_use_modules(${PROJECT_NAME}_node ${connect4_components}) +ament_target_dependencies(${PROJECT_NAME}_node + rclcpp + t_top_hbba_lite + perception_msgs + opentera_webrtc_ros_msgs ) +install(TARGETS ${PROJECT_NAME}_node DESTINATION lib/${PROJECT_NAME}) -############# -## 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/nearest_face_orientation_node.py +# Python Nodes +install(PROGRAMS scripts/nearest_face_following_orientation_replication_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + scripts/nearest_face_orientation_node.py + DESTINATION lib/${PROJECT_NAME} ) -## 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_connect4.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/ros/demos/connect4/launch/connect4.launch b/ros/demos/connect4/launch/connect4.launch.xml similarity index 65% rename from ros/demos/connect4/launch/connect4.launch rename to ros/demos/connect4/launch/connect4.launch.xml index 6696cfc3..9729fe2e 100644 --- a/ros/demos/connect4/launch/connect4.launch +++ b/ros/demos/connect4/launch/connect4.launch.xml @@ -9,26 +9,26 @@ - - - + + + - + - - - + + + - - - + + + @@ -42,17 +42,17 @@ - + - - - - + + + + - + @@ -63,9 +63,9 @@ - + - + @@ -81,38 +81,38 @@ - + - - - + + + - + - + - + - - + + - - + + diff --git a/ros/demos/connect4/launch/test_face_orientation.launch b/ros/demos/connect4/launch/test_face_orientation.launch.xml similarity index 75% rename from ros/demos/connect4/launch/test_face_orientation.launch rename to ros/demos/connect4/launch/test_face_orientation.launch.xml index 4bdcc63e..020b03bb 100644 --- a/ros/demos/connect4/launch/test_face_orientation.launch +++ b/ros/demos/connect4/launch/test_face_orientation.launch.xml @@ -1,29 +1,34 @@ - + - + - + - + - + + + + + + - + @@ -32,9 +37,9 @@ - + - + @@ -45,20 +50,17 @@ - - + - - + - diff --git a/ros/demos/connect4/package.xml b/ros/demos/connect4/package.xml index fda1b92a..4b99331e 100644 --- a/ros/demos/connect4/package.xml +++ b/ros/demos/connect4/package.xml @@ -1,104 +1,29 @@ - + + connect4 0.0.0 - The connect4 package + Connect4 game + Marc-Antoine Maheux + GPL-3.0 license + + ament_cmake + + daemon_ros_client + sensor_msgs + rclcpp + rclpy + t_top_hbba_lite + tf2 + tf2_ros + perception_msgs + geometry_msgs + opentera_webrtc_ros_msgs + + ament_lint_auto + ament_lint_common - - - - marc-antoine - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - daemon_ros_client - hbba_lite - roscpp - sensor_msgs - t_top_hbba_lite - opentera_webrtc_ros_msgs - led_animations - daemon_ros_client - opentera_webrtc_ros - opentera_webrtc_ros_msgs - tf - t_top - std_msgs - geometry_msgs - video_analyzer - daemon_ros_client - hbba_lite - roscpp - sensor_msgs - t_top_hbba_lite - opentera_webrtc_ros_msgs - led_animations - daemon_ros_client - opentera_webrtc_ros - opentera_webrtc_ros_msgs - tf - t_top - std_msgs - geometry_msgs - video_analyzer - daemon_ros_client - hbba_lite - roscpp - sensor_msgs - t_top_hbba_lite - opentera_webrtc_ros_msgs - led_animations - daemon_ros_client - opentera_webrtc_ros - opentera_webrtc_ros_msgs - tf - t_top - std_msgs - geometry_msgs - video_analyzer - - - - - + ament_cmake diff --git a/ros/demos/connect4/scripts/nearest_face_following_orientation_replication_node.py b/ros/demos/connect4/scripts/nearest_face_following_orientation_replication_node.py index 8ca381c6..919079e5 100755 --- a/ros/demos/connect4/scripts/nearest_face_following_orientation_replication_node.py +++ b/ros/demos/connect4/scripts/nearest_face_following_orientation_replication_node.py @@ -5,10 +5,18 @@ import numpy as np -import rospy -import tf + +import rclpy +import rclpy.node +import rclpy.executors + +from tf2_ros import TransformException +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener +import tf2_geometry_msgs + from geometry_msgs.msg import PointStamped -from video_analyzer.msg import VideoAnalysis +from perception_msgs.msg import VideoAnalysis from std_msgs.msg import String from opentera_webrtc_ros_msgs.msg import PeerData @@ -18,47 +26,54 @@ PERSON_POSE_NOSE_INDEX = 0 -class NearestFaceFollowingOrientationReplicationNode: +class NearestFaceFollowingOrientationReplicationNode(rclpy.node.Node): def __init__(self): - self._simulation = rospy.get_param('~simulation') - self._rate = rospy.Rate(rospy.get_param('~control_frequency')) - self._torso_control_alpha = rospy.get_param('~torso_control_alpha') - self._head_control_alpha = rospy.get_param('~head_control_alpha') - self._head_control_pitch_up_alpha_gain = rospy.get_param('~head_control_pitch_up_alpha_gain') - self._min_head_roll = rospy.get_param('~min_head_roll_rad') - self._max_head_roll = rospy.get_param('~max_head_roll_rad') - self._min_head_pitch = rospy.get_param('~min_head_pitch_rad') - self._max_head_pitch = rospy.get_param('~max_head_pitch_rad') - - self._nose_confidence_threshold = rospy.get_param('~nose_confidence_threshold') + super().__init__('nearest_face_following_orientation_replication_node') + self._simulation = self.declare_parameter('simulation', False).get_parameter_value().bool_value + self._control_frequency = self.declare_parameter('control_frequency', 30.0).get_parameter_value().double_value + self._torso_control_alpha = self.declare_parameter('torso_control_alpha', 0.2).get_parameter_value().double_value + self._head_control_alpha = self.declare_parameter('head_control_alpha', 0.1).get_parameter_value().double_value + self._head_control_pitch_up_alpha_gain = self.declare_parameter('head_control_pitch_up_alpha_gain', 2.0).get_parameter_value().double_value + self._min_head_roll = self.declare_parameter('min_head_roll_rad', -0.3).get_parameter_value().double_value + self._max_head_roll = self.declare_parameter('max_head_roll_rad', 0.3).get_parameter_value().double_value + self._min_head_pitch = self.declare_parameter('min_head_pitch_rad', -0.15).get_parameter_value().double_value + self._max_head_pitch = self.declare_parameter('max_head_pitch_rad', 0.3).get_parameter_value().double_value + self._nose_confidence_threshold = self.declare_parameter('nose_confidence_threshold', 0.4).get_parameter_value().double_value self._target_lock = threading.Lock() self._target_torso_yaw = None self._target_head_roll = 0.0 self._target_head_pitch = 0.0 - self._movement_commands = MovementCommands(self._simulation, 'other') + self._movement_commands = MovementCommands(self, self._simulation, 'other') + + self._tf_buffer = Buffer() + self._tf_listener = TransformListener(self._tf_buffer, self) - self._tf_listener = tf.TransformListener() - self._video_analysis_sub = rospy.Subscriber('video_analysis', VideoAnalysis, self._video_analysis_cb, queue_size=1) - self._face_orientation_sub = rospy.Subscriber('face_orientation', String, self._face_orientation_cb, queue_size=1) - self._face_orientation_peer_data_sub = rospy.Subscriber('face_orientation_peer_data', PeerData, self._face_orientation_cb, queue_size=1) + self._video_analysis_sub = self.create_subscription(VideoAnalysis, 'video_analysis', self._video_analysis_cb, 1) + self._face_orientation_sub = self.create_subscription(String, 'face_orientation', self._face_orientation_cb, 1) + self._face_orientation_peer_data_sub = self.create_subscription(PeerData, 'face_orientation_peer_data', self._face_orientation_cb, 1) + + self._timer = self.create_timer(1 / self._control_frequency, self._timer_callback) def _video_analysis_cb(self, msg): if self._movement_commands.is_filtering_all_messages: return if not msg.contains_3d_positions: - rospy.logerr('The video analysis must contain 3d positions.') + self.get_logger().error('The video analysis must contain 3d positions.') return - face_position = self._find_nearest_face_position(msg.objects, msg.header) - if face_position is None: - return + try: + face_position = self._find_nearest_face_position(msg.objects, msg.header) + if face_position is None: + return - target_torso_yaw, _ = vector_to_angles(face_position) - if math.isfinite(target_torso_yaw): - with self._target_lock: - self._target_torso_yaw = target_torso_yaw + target_torso_yaw, _ = vector_to_angles(face_position) + if math.isfinite(target_torso_yaw): + with self._target_lock: + self._target_torso_yaw = target_torso_yaw + except TransformException as e: + self.get_logger().error(f'Could not transform: {e}') def _find_nearest_face_position(self, objects, header): nose_points_3d = [] @@ -85,7 +100,8 @@ def _transform_point(self, point, header): temp_in_point.point.y = point.y temp_in_point.point.z = point.z - base_link_point = self._tf_listener.transformPoint('/base_link', temp_in_point) + transform = self._tf_buffer.lookup_transform('base_link', header.frame_id, rclpy.time.Time.from_msg(header.stamp)) + base_link_point = tf2_geometry_msgs.do_transform_point(temp_in_point, transform) point.x = base_link_point.point.x point.y = base_link_point.point.y @@ -94,7 +110,7 @@ def _transform_point(self, point, header): def _face_orientation_cb(self, msg): fields = msg.data.split(',') if len(fields) != 2: - rospy.logerr('Invalid face orientation message') + self.get_logger().error('Invalid face orientation message') return roll = np.clip(float(fields[0]), self._min_head_roll, self._max_head_roll) @@ -104,14 +120,12 @@ def _face_orientation_cb(self, msg): self._target_head_roll = roll self._target_head_pitch = pitch - def run(self): - while not rospy.is_shutdown(): - self._rate.sleep() - if self._movement_commands.is_filtering_all_messages: - continue + def _timer_callback(self): + if self._movement_commands.is_filtering_all_messages: + return - self._update_torso() - self._update_head() + self._update_torso() + self._update_head() def _update_torso(self): with self._target_lock: @@ -146,15 +160,24 @@ def _update_head(self): self._movement_commands.move_head([0, 0, HEAD_ZERO_Z, roll, pitch, 0]) + def run(self): + executor = rclpy.executors.MultiThreadedExecutor(num_threads=2) + executor.add_node(self) + executor.spin() def main(): - rospy.init_node('nearest_face_following_orientation_replication_node') + rclpy.init() nearest_face_following_orientation_replication_node = NearestFaceFollowingOrientationReplicationNode() - nearest_face_following_orientation_replication_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + nearest_face_following_orientation_replication_node.run() + except KeyboardInterrupt: pass + finally: + nearest_face_following_orientation_replication_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/demos/connect4/scripts/nearest_face_orientation_node.py b/ros/demos/connect4/scripts/nearest_face_orientation_node.py index 876464f0..03260136 100755 --- a/ros/demos/connect4/scripts/nearest_face_orientation_node.py +++ b/ros/demos/connect4/scripts/nearest_face_orientation_node.py @@ -5,10 +5,16 @@ import numpy as np from scipy.spatial.transform import Rotation as R -import rospy -import tf +import rclpy +import rclpy.node + +from tf2_ros import TransformException +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener +import tf2_geometry_msgs + from geometry_msgs.msg import PointStamped, Point, Vector3 -from video_analyzer.msg import VideoAnalysis +from perception_msgs.msg import VideoAnalysis from std_msgs.msg import String from t_top import vector_to_angles @@ -19,30 +25,36 @@ PERSON_POSE_RIGHT_EYE_INDEX = 2 -class NearestFaceOrientationNode: +class NearestFaceOrientationNode(rclpy.node.Node): def __init__(self): - self._nose_confidence_threshold = rospy.get_param('~nose_confidence_threshold') - self._pitch_offset_rad = rospy.get_param('~pitch_offset_rad') - self._filter_alpha = rospy.get_param('~filter_alpha') - self._roll_dead_zone = rospy.get_param('~roll_dead_zone') + super().__init__('nearest_face_orientation_node') + + self._nose_confidence_threshold = self.declare_parameter('nose_confidence_threshold', 0.4).get_parameter_value().double_value + self._pitch_offset_rad = self.declare_parameter('pitch_offset_rad', -0.8).get_parameter_value().double_value + self._filter_alpha = self.declare_parameter('filter_alpha', 0.65).get_parameter_value().double_value + self._roll_dead_zone = self.declare_parameter('roll_dead_zone', 0.05).get_parameter_value().double_value self._roll = 0.0 self._pitch = 0.0 - self._tf_listener = tf.TransformListener() + self._tf_buffer = Buffer() + self._tf_listener = TransformListener(self._tf_buffer, self) - self._face_orientation_pub = rospy.Publisher('face_orientation', String, queue_size=1) - self._video_analysis_sub = rospy.Subscriber('video_analysis', VideoAnalysis, self._video_analysis_cb, queue_size=1) + self._face_orientation_pub = self.create_publisher(String, 'face_orientation', 1) + self._video_analysis_sub = self.create_subscription(VideoAnalysis, 'video_analysis', self._video_analysis_cb, 1) def _video_analysis_cb(self, msg): if not msg.contains_3d_positions: - rospy.logerr('The video analysis must contain 3d positions.') + self.get_logger().error('The video analysis must contain 3d positions.') return - self._update_nearest_face_orientation(msg.objects, msg.header) - msg = String() - msg.data = f'{self._roll},{self._pitch}' - self._face_orientation_pub.publish(msg) + try: + self._update_nearest_face_orientation(msg.objects, msg.header) + msg = String() + msg.data = f'{self._roll},{self._pitch}' + self._face_orientation_pub.publish(msg) + except TransformException as e: + self.get_logger().error(f'Could not transform: {e}') def _update_nearest_face_orientation(self, objects, header): poses = [] @@ -97,7 +109,8 @@ def _transform_point(self, point, header): temp_in_point.point.y = point.y temp_in_point.point.z = point.z - stewart_base_point = self._tf_listener.transformPoint('/stewart_base', temp_in_point) + transform = self._tf_buffer.lookup_transform('stewart_base', header.frame_id, rclpy.time.Time.from_msg(header.stamp)) + stewart_base_point = tf2_geometry_msgs.do_transform_point(temp_in_point, transform) point.x = stewart_base_point.point.x point.y = stewart_base_point.point.y @@ -113,7 +126,7 @@ def _vector_from_to(self, from_p, to_p): def _vector_to_yaw(self, vector): vector = np.array([vector.x, vector.y, vector.z]) vector /= np.linalg.norm(vector) - + return np.arctan2(vector[0], vector[1]) def _rotate_point_yaw(self, point, yaw): @@ -141,17 +154,22 @@ def _vector_to_roll_pitch(self, vector): return roll, pitch def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('nearest_face_orientation_node') + rclpy.init() nearest_face_orientation_node = NearestFaceOrientationNode() - nearest_face_orientation_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + nearest_face_orientation_node.run() + except KeyboardInterrupt: pass + finally: + nearest_face_orientation_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/demos/connect4/src/Connect4Widget.cpp b/ros/demos/connect4/src/Connect4Widget.cpp index 52af1ec1..de74658e 100644 --- a/ros/demos/connect4/src/Connect4Widget.cpp +++ b/ros/demos/connect4/src/Connect4Widget.cpp @@ -2,7 +2,6 @@ #include "QtUtils.h" #include -#include #include #include @@ -14,12 +13,11 @@ constexpr float ENABLED_VOLUME = 1; constexpr float DISABLED_VOLUME = 0; constexpr int SET_VOLUME_TIMER_INTERVAL_MS = 500; - constexpr int WEB_SOCKET_STATUS_TIMEOUT_MS = 1000; -Connect4Widget::Connect4Widget(ros::NodeHandle& nodeHandle, std::shared_ptr desireSet, QWidget* parent) - : m_nodeHandle(nodeHandle), +Connect4Widget::Connect4Widget(rclcpp::Node::SharedPtr node, std::shared_ptr desireSet, QWidget* parent) + : m_node(std::move(node)), m_desireSet(std::move(desireSet)), m_enabled(false), m_connect4ManagerConnectionRequested(false) @@ -29,20 +27,33 @@ Connect4Widget::Connect4Widget(ros::NodeHandle& nodeHandle, std::shared_ptraddWidget(m_imageDisplay); setLayout(layout); - m_startButtonPressedSub = - m_nodeHandle.subscribe("daemon/start_button_pressed", 1, &Connect4Widget::startButtonPressedCallback, this); - m_stopButtonPressedSub = - m_nodeHandle.subscribe("daemon/stop_button_pressed", 1, &Connect4Widget::stopButtonPressedCallback, this); - m_remoteImageSub = m_nodeHandle.subscribe("/webrtc_image", 1, &Connect4Widget::remoteImageCallback, this); + m_startButtonPressedSub = m_node->create_subscription( + "daemon/start_button_pressed", + 1, + [this](const std_msgs::msg::Empty::SharedPtr msg) { startButtonPressedCallback(msg); }); + m_stopButtonPressedSub = m_node->create_subscription( + "daemon/stop_button_pressed", + 1, + [this](const std_msgs::msg::Empty::SharedPtr msg) { stopButtonPressedCallback(msg); }); + + m_remoteImageSub = m_node->create_subscription( + "webrtc_image", + 1, + [this](const opentera_webrtc_ros_msgs::msg::PeerImage::SharedPtr msg) { remoteImageCallback(msg); }); + + m_openteraEventSubscriber = m_node->create_subscription( + "events", + 1, + [this](const opentera_webrtc_ros_msgs::msg::OpenTeraEvent::SharedPtr msg) { openteraEventCallback(msg); }); + - m_volumePub = m_nodeHandle.advertise("volume", 1); + + m_volumePub = m_node->create_publisher("volume", 1); m_setVolumeTimer = new QTimer(this); connect(m_setVolumeTimer, &QTimer::timeout, this, &Connect4Widget::onSetVolumeTimerTimeout); m_setVolumeTimer->start(SET_VOLUME_TIMER_INTERVAL_MS); - m_openteraEventSubscriber = m_nodeHandle.subscribe("events", 10, &Connect4Widget::openteraEventCallback, this); - m_connect4ManagerWebSocketTimer = new QTimer(this); connect(m_connect4ManagerWebSocketTimer, &QTimer::timeout, this, &Connect4Widget::onConnect4ManagerWebSocketTimeout); m_connect4ManagerWebSocketTimer->start(WEB_SOCKET_STATUS_TIMEOUT_MS); @@ -91,12 +102,12 @@ void Connect4Widget::onConnect4ManagerWebSocketSslErrors(const QList& { errorString += error.errorString() + ", "; } - ROS_ERROR_STREAM("Connect 4 manager web socket SSL errors: " << errorString.toStdString()); + RCLCPP_ERROR_STREAM(m_node->get_logger(), "Connect 4 manager web socket SSL errors: " << errorString.toStdString()); } void Connect4Widget::onConnect4ManagerWebSocketConnected() { - ROS_INFO("Connect 4 manager web socket connected"); + RCLCPP_INFO(m_node->get_logger(), "Connect 4 manager web socket connected"); QJsonObject dataObject; dataObject.insert("participant_name", m_observedParticipantName); @@ -105,24 +116,25 @@ void Connect4Widget::onConnect4ManagerWebSocketConnected() void Connect4Widget::onConnect4ManagerWebSocketDisconnected() { - ROS_INFO("Connect 4 manager web socket disconnected"); + RCLCPP_INFO(m_node->get_logger(), "Connect 4 manager web socket disconnected"); } void Connect4Widget::onConnect4ManagerWebSocketErrorOccurred(QAbstractSocket::SocketError error) { - ROS_ERROR_STREAM("Connect 4 manager web socket error: " << + RCLCPP_ERROR_STREAM(m_node->get_logger(), "Connect 4 manager web socket error: " << QMetaEnum::fromType().valueToKey(error)); } void Connect4Widget::onConnect4ManagerWebSocketTextMessageReceived(const QString& message) { - ROS_INFO_STREAM("Connect 4 manager web socket message: " << message.toStdString()); + RCLCPP_INFO_STREAM(m_node->get_logger(), "Connect 4 manager web socket message: " << message.toStdString()); QJsonParseError jsonParseError; QJsonDocument jsonMessage = QJsonDocument::fromJson(message.toUtf8(), &jsonParseError); if (jsonParseError.error != QJsonParseError::NoError) { - ROS_ERROR_STREAM("onnect 4 manager web socket message parsing error:" << jsonParseError.errorString().toStdString()); + RCLCPP_ERROR_STREAM(m_node->get_logger(), "Connect 4 manager web socket message parsing error: " << + jsonParseError.errorString().toStdString()); return; } @@ -132,7 +144,7 @@ void Connect4Widget::onConnect4ManagerWebSocketTextMessageReceived(const QString } } -void Connect4Widget::startButtonPressedCallback(const std_msgs::EmptyConstPtr& msg) +void Connect4Widget::startButtonPressedCallback(const std_msgs::msg::Empty::SharedPtr msg) { m_enabled = true; setVolume(ENABLED_VOLUME); @@ -141,7 +153,7 @@ void Connect4Widget::startButtonPressedCallback(const std_msgs::EmptyConstPtr& m m_desireSet->addDesire(); } -void Connect4Widget::stopButtonPressedCallback(const std_msgs::EmptyConstPtr& msg) +void Connect4Widget::stopButtonPressedCallback(const std_msgs::msg::Empty::SharedPtr msg) { m_enabled = false; setVolume(DISABLED_VOLUME); @@ -152,11 +164,11 @@ void Connect4Widget::stopButtonPressedCallback(const std_msgs::EmptyConstPtr& ms invokeLater([this]() { m_imageDisplay->setImage(QImage()); }); } -void Connect4Widget::remoteImageCallback(const opentera_webrtc_ros_msgs::PeerImageConstPtr& msg) +void Connect4Widget::remoteImageCallback(const opentera_webrtc_ros_msgs::msg::PeerImage::SharedPtr msg) { if (msg->frame.encoding != "bgr8") { - ROS_ERROR("Not support image encoding (Connect4Widget::remoteImageCallback)."); + RCLCPP_ERROR(m_node->get_logger(), "Not support image encoding (Connect4Widget::remoteImageCallback)."); return; } @@ -173,12 +185,12 @@ void Connect4Widget::remoteImageCallback(const opentera_webrtc_ros_msgs::PeerIma void Connect4Widget::setVolume(float volume) { - std_msgs::Float32 msg; + std_msgs::msg::Float32 msg; msg.data = volume; - m_volumePub.publish(msg); + m_volumePub->publish(msg); } -void Connect4Widget::openteraEventCallback(const opentera_webrtc_ros_msgs::OpenTeraEventConstPtr& msg) +void Connect4Widget::openteraEventCallback(const opentera_webrtc_ros_msgs::msg::OpenTeraEvent::SharedPtr msg) { if (!msg->join_session_events.empty()) { @@ -194,7 +206,7 @@ void Connect4Widget::openteraEventCallback(const opentera_webrtc_ros_msgs::OpenT parseSessionUrl(sessionUrl, m_connect4ManagerWebSocketUrl, m_connect4ManagerWebSocketPassword); m_observedParticipantName = getParticipantName(deviceName, sessionParameters); - ROS_INFO_STREAM("Connect4 Manager Web Socket: Connection (sessionUrl=" << sessionUrl << + RCLCPP_INFO_STREAM(m_node->get_logger(), "Connect4 Manager Web Socket: Connection (sessionUrl=" << sessionUrl << ", webSocketUrl=" << m_connect4ManagerWebSocketUrl.toStdString() << ", password=" << m_connect4ManagerWebSocketPassword.toStdString() << ", deviceName=" << deviceName << @@ -242,7 +254,8 @@ QString Connect4Widget::getParticipantName(const std::string& deviceName, const if (jsonParseError.error != QJsonParseError::NoError) { - ROS_ERROR_STREAM("Connect4 Game Data Channel: getParticipantName error: " << jsonParseError.errorString().toStdString()); + RCLCPP_ERROR_STREAM(m_node->get_logger(), "Connect4 Game Data Channel: getParticipantName error: " << + jsonParseError.errorString().toStdString()); return ""; } @@ -251,7 +264,7 @@ QString Connect4Widget::getParticipantName(const std::string& deviceName, const QString participant2 = jsonObject["participant2"].toString(); QString robot1 = jsonObject["robot1"].toString(); QString robot2 = jsonObject["robot2"].toString(); - + QString qDeviceName(deviceName.c_str()); if (qDeviceName == robot1) { @@ -263,7 +276,7 @@ QString Connect4Widget::getParticipantName(const std::string& deviceName, const } else { - ROS_ERROR("Connect4 Game Data Channel: Device name not found"); + RCLCPP_ERROR(m_node->get_logger(), "Connect4 Game Data Channel: Device name not found"); return ""; } } @@ -307,14 +320,14 @@ void Connect4Widget::addRotatingSinDesire(uint8_t r, uint8_t g, uint8_t b) constexpr double SPEED = 2.0; constexpr double DURATION_S = 4.0; - daemon_ros_client::LedColor c; + daemon_ros_client::msg::LedColor c; c.red = r; c.green = g; c.blue = b; m_desireSet->addDesire( "rotating_sin", - std::vector{c}, + std::vector{c}, SPEED, DURATION_S); } diff --git a/ros/demos/connect4/src/Connect4Widget.h b/ros/demos/connect4/src/Connect4Widget.h index 4ca71ec1..35be5d01 100644 --- a/ros/demos/connect4/src/Connect4Widget.h +++ b/ros/demos/connect4/src/Connect4Widget.h @@ -8,11 +8,12 @@ #include #include -#include +#include #include -#include -#include -#include +#include +#include +#include +#include #include #include @@ -21,19 +22,21 @@ class Connect4Widget : public QWidget { Q_OBJECT - ros::NodeHandle& m_nodeHandle; + rclcpp::Node::SharedPtr m_node; std::shared_ptr m_desireSet; std::atomic_bool m_enabled; - ros::Subscriber m_startButtonPressedSub; - ros::Subscriber m_stopButtonPressedSub; - ros::Subscriber m_remoteImageSub; + rclcpp::Subscription::SharedPtr m_startButtonPressedSub; + rclcpp::Subscription::SharedPtr m_stopButtonPressedSub; + rclcpp::Subscription::SharedPtr m_remoteImageSub; + rclcpp::Subscription::SharedPtr m_openteraEventSubscriber; + + rclcpp::Publisher::SharedPtr m_volumePub; - ros::Publisher m_volumePub; QTimer* m_setVolumeTimer; - ros::Subscriber m_openteraEventSubscriber; + QString m_connect4ManagerWebSocketUrl; QString m_connect4ManagerWebSocketPassword; QString m_observedParticipantName; @@ -43,7 +46,7 @@ class Connect4Widget : public QWidget QWebSocket* m_connect4ManagerWebSocket; public: - Connect4Widget(ros::NodeHandle& nodeHandle, std::shared_ptr desireSet, QWidget* parent = nullptr); + Connect4Widget(rclcpp::Node::SharedPtr node, std::shared_ptr desireSet, QWidget* parent = nullptr); private Q_SLOTS: void onSetVolumeTimerTimeout(); @@ -57,13 +60,13 @@ private Q_SLOTS: void onConnect4ManagerWebSocketTextMessageReceived(const QString& message); private: - void startButtonPressedCallback(const std_msgs::EmptyConstPtr& msg); - void stopButtonPressedCallback(const std_msgs::EmptyConstPtr& msg); - void remoteImageCallback(const opentera_webrtc_ros_msgs::PeerImageConstPtr& msg); + void startButtonPressedCallback(const std_msgs::msg::Empty::SharedPtr msg); + void stopButtonPressedCallback(const std_msgs::msg::Empty::SharedPtr msg); + void remoteImageCallback(const opentera_webrtc_ros_msgs::msg::PeerImage::SharedPtr msg); void setVolume(float volume); - void openteraEventCallback(const opentera_webrtc_ros_msgs::OpenTeraEventConstPtr& msg); + void openteraEventCallback(const opentera_webrtc_ros_msgs::msg::OpenTeraEvent::SharedPtr msg); bool sendConnect4ManagerEvent(const QString& event, const QJsonObject& data); QString getParticipantName(const std::string& deviceName, const std::string& sessionParameters); diff --git a/ros/demos/connect4/src/connect4_node.cpp b/ros/demos/connect4/src/connect4_node.cpp index 571058a1..63c8eee5 100644 --- a/ros/demos/connect4/src/connect4_node.cpp +++ b/ros/demos/connect4/src/connect4_node.cpp @@ -2,7 +2,7 @@ #include -#include +#include #include #include @@ -15,23 +15,21 @@ using namespace std; constexpr bool WAIT_FOR_SERVICE = true; +constexpr const char* NODE_NAME = "connnect4_node"; int startNode(int argc, char* argv[]) { - ros::init(argc, argv, "control_panel_node"); - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); + auto node = rclcpp::Node::make_shared(NODE_NAME); - bool fullscreen = false; - privateNodeHandle.param("fullscreen", fullscreen, false); + bool fullscreen = node->declare_parameter("fullscreen", false); auto desireSet = make_shared(); - auto filterPool = make_shared(nodeHandle, WAIT_FOR_SERVICE); + auto filterPool = make_shared(node, WAIT_FOR_SERVICE); vector> strategies; strategies.emplace_back(createTelepresenceStrategy(filterPool)); strategies.emplace_back(createNearestFaceFollowingStrategy(filterPool)); - strategies.emplace_back(createLedAnimationStrategy(filterPool, desireSet, nodeHandle)); + strategies.emplace_back(createLedAnimationStrategy(filterPool, desireSet, node)); strategies.emplace_back(createCamera3dRecordingStrategy(filterPool)); @@ -40,7 +38,7 @@ int startNode(int argc, char* argv[]) HbbaLite hbba(desireSet, move(strategies), {{"sound", 1}}, move(solver)); QApplication application(argc, argv); - Connect4Widget connect4Widget(nodeHandle, desireSet); + Connect4Widget connect4Widget(node, desireSet); if (fullscreen) { connect4Widget.setWindowState(Qt::WindowFullScreen); @@ -51,26 +49,33 @@ int startNode(int argc, char* argv[]) } connect4Widget.show(); - ros::AsyncSpinner spinner(1); - spinner.start(); + // Run ROS in background + rclcpp::executors::SingleThreadedExecutor rosExecutor; + rosExecutor.add_node(node); + std::thread spinThread([&rosExecutor]() { rosExecutor.spin(); }); desireSet->addDesire(); int returnCode = application.exec(); - spinner.stop(); + rosExecutor.cancel(); + spinThread.join(); return returnCode; } int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + try { return startNode(argc, argv); } catch (const std::exception& e) { - ROS_ERROR_STREAM("Control panel crashed (" << e.what() << ")"); + RCLCPP_ERROR_STREAM(rclcpp::get_logger(NODE_NAME), "Control panel crashed (" << e.what() << ")"); return -1; } + + rclcpp::shutdown(); } diff --git a/ros/demos/control_panel/CMakeLists.txt b/ros/demos/control_panel/CMakeLists.txt index c33627c7..56897513 100644 --- a/ros/demos/control_panel/CMakeLists.txt +++ b/ros/demos/control_panel/CMakeLists.txt @@ -1,153 +1,32 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(control_panel) -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) -## 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 - audio_analyzer - audio_utils - gesture - person_identification - roscpp - std_msgs - sensor_msgs - talk - video_analyzer - hbba_lite - t_top_hbba_lite - speech_to_text - led_animations - daemon_ros_client -) - -## System dependencies are found with CMake's conventions - -set(control_panel_components Core Widgets Gui OpenGL WebKitWidgets) -find_package(Qt5 COMPONENTS ${control_panel_components} REQUIRED) - - -## 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 ## -################################################ +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -## 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 ...) +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(perception_msgs REQUIRED) +find_package(t_top_hbba_lite REQUIRED) +find_package(rosidl_typesupport_cpp REQUIRED) -## 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 control_panel - # CATKIN_DEPENDS audio_analyzer gesture person_identification roscpp std_msgs talk video_analyzer - # 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/${PROJECT_NAME}/control_panel.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/control_panel_node.cpp) +set(control_panel_components Core Widgets Gui OpenGL WebKitWidgets) +find_package(Qt5 COMPONENTS ${control_panel_components} REQUIRED) +# C++ Nodes set(moc_headers src/widgets/ImageDisplay.h src/widgets/ControlPanel.h @@ -179,74 +58,14 @@ qt5_wrap_cpp(project_moc_srcs ${moc_headers}) add_executable(${PROJECT_NAME}_node ${srcs} ${uis} ${moc_headers} ${other_headers} ${project_moc_uis} ${project_moc_srcs}) qt5_use_modules(${PROJECT_NAME}_node ${control_panel_components}) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${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} - ${control_panel_components_link} +ament_target_dependencies(${PROJECT_NAME}_node + rclcpp + t_top_hbba_lite + perception_msgs ) +install(TARGETS ${PROJECT_NAME}_node DESTINATION lib/${PROJECT_NAME}) -############# -## 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_control_panel.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/demos/control_panel/launch/control_panel.launch b/ros/demos/control_panel/launch/control_panel.launch.xml similarity index 51% rename from ros/demos/control_panel/launch/control_panel.launch rename to ros/demos/control_panel/launch/control_panel.launch.xml index 9b98984d..a8e0c165 100644 --- a/ros/demos/control_panel/launch/control_panel.launch +++ b/ros/demos/control_panel/launch/control_panel.launch.xml @@ -2,13 +2,13 @@ - - + + - - - + + + diff --git a/ros/demos/control_panel/package.xml b/ros/demos/control_panel/package.xml index 1079ce60..014f4f46 100644 --- a/ros/demos/control_panel/package.xml +++ b/ros/demos/control_panel/package.xml @@ -1,101 +1,26 @@ - + + control_panel 0.0.0 The control_panel package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclcpp + audio_utils_msgs + t_top_hbba_lite + perception_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - audio_analyzer - audio_utils - gesture - person_identification - roscpp - std_msgs - talk - video_analyzer - sensor_msgs - hbba_lite - t_top_hbba_lite - speech_to_text - led_animations - daemon_ros_client - audio_analyzer - audio_utils - gesture - person_identification - roscpp - std_msgs - talk - video_analyzer - sensor_msgs - hbba_lite - t_top_hbba_lite - speech_to_text - led_animations - daemon_ros_client - audio_analyzer - audio_utils - gesture - person_identification - roscpp - std_msgs - talk - video_analyzer - sensor_msgs - hbba_lite - t_top_hbba_lite - speech_to_text - led_animations - daemon_ros_client - - - - - + ament_cmake diff --git a/ros/demos/control_panel/src/control_panel_node.cpp b/ros/demos/control_panel/src/control_panel_node.cpp index 957d5e4b..e0f61ebd 100644 --- a/ros/demos/control_panel/src/control_panel_node.cpp +++ b/ros/demos/control_panel/src/control_panel_node.cpp @@ -2,7 +2,7 @@ #include -#include +#include #include #include @@ -17,19 +17,17 @@ using namespace std; constexpr bool WAIT_FOR_SERVICE = true; +constexpr const char* NODE_NAME = "control_panel_node"; int startNode(int argc, char* argv[]) { - ros::init(argc, argv, "control_panel_node"); - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); + auto node = rclcpp::Node::make_shared(NODE_NAME); - bool camera2dWideEnabled = false; - privateNodeHandle.param("camera_2d_wide_enabled", camera2dWideEnabled, false); + bool camera2dWideEnabled = node->declare_parameter("camera_2d_wide_enabled", false); auto desireSet = make_shared(); - auto rosFilterPool = make_unique(nodeHandle, WAIT_FOR_SERVICE); - auto filterPool = make_shared(move(rosFilterPool)); + auto rosFilterPool = make_unique(node, WAIT_FOR_SERVICE); + auto filterPool = make_shared(node, move(rosFilterPool)); vector> strategies; strategies.emplace_back(createRobotNameDetectorStrategy(filterPool)); @@ -37,17 +35,16 @@ int startNode(int argc, char* argv[]) strategies.emplace_back(createAudioAnalyzerStrategy(filterPool)); strategies.emplace_back(createVadStrategy(filterPool)); strategies.emplace_back(createSpeechToTextStrategy(filterPool)); - strategies.emplace_back(createExploreStrategy(filterPool)); - strategies.emplace_back(createFaceAnimationStrategy(filterPool, nodeHandle)); - strategies.emplace_back(createLedEmotionStrategy(filterPool, nodeHandle)); - strategies.emplace_back(createLedAnimationStrategy(filterPool, desireSet, nodeHandle)); + strategies.emplace_back(createFaceAnimationStrategy(filterPool, node)); + strategies.emplace_back(createLedEmotionStrategy(filterPool, node)); + strategies.emplace_back(createLedAnimationStrategy(filterPool, desireSet, node)); strategies.emplace_back(createSoundFollowingStrategy(filterPool)); strategies.emplace_back(createNearestFaceFollowingStrategy(filterPool)); - strategies.emplace_back(createSpecificFaceFollowingStrategy(filterPool, nodeHandle)); + strategies.emplace_back(createSpecificFaceFollowingStrategy(filterPool, node)); strategies.emplace_back(createSoundObjectPersonFollowingStrategy(filterPool)); - strategies.emplace_back(createTalkStrategy(filterPool, desireSet, nodeHandle)); - strategies.emplace_back(createGestureStrategy(filterPool, desireSet, nodeHandle)); + strategies.emplace_back(createTalkStrategy(filterPool, desireSet, node)); + strategies.emplace_back(createGestureStrategy(filterPool, desireSet, node)); strategies.emplace_back(createDanceStrategy(filterPool)); strategies.emplace_back(createTooCloseReactionStrategy(filterPool)); @@ -57,31 +54,40 @@ int startNode(int argc, char* argv[]) } auto solver = make_unique(); - auto strategyStateLogger = make_unique(); + auto strategyStateLogger = make_unique(node); HbbaLite hbba(desireSet, move(strategies), {{"sound", 1}}, move(solver), move(strategyStateLogger)); QApplication application(argc, argv); - ControlPanel controlPanel(nodeHandle, desireSet, camera2dWideEnabled); + ControlPanel controlPanel(node, desireSet, camera2dWideEnabled); // controlPanel.setFixedSize(600, 900); controlPanel.show(); - ros::AsyncSpinner spinner(1); - spinner.start(); + // Run ROS in background + rclcpp::executors::SingleThreadedExecutor rosExecutor; + rosExecutor.add_node(node); + std::thread spinThread([&rosExecutor]() { rosExecutor.spin(); }); + int returnCode = application.exec(); - spinner.stop(); + + rosExecutor.cancel(); + spinThread.join(); return returnCode; } int main(int argc, char* argv[]) { + rclcpp::init(argc, argv); + try { return startNode(argc, argv); } catch (const std::exception& e) { - ROS_ERROR_STREAM("Control panel crashed (" << e.what() << ")"); + RCLCPP_ERROR_STREAM(rclcpp::get_logger(NODE_NAME), "Control panel crashed (" << e.what() << ")"); return -1; } + + rclcpp::shutdown(); } diff --git a/ros/demos/control_panel/src/widgets/ControlPanel.cpp b/ros/demos/control_panel/src/widgets/ControlPanel.cpp index 1bd8ca1a..0191387e 100644 --- a/ros/demos/control_panel/src/widgets/ControlPanel.cpp +++ b/ros/demos/control_panel/src/widgets/ControlPanel.cpp @@ -5,8 +5,6 @@ #include #include -#include - using namespace std; constexpr int AUDIO_POWER_AMPLIFIER_MIN_VOLUME = 0; @@ -14,30 +12,32 @@ constexpr int AUDIO_POWER_AMPLIFIER_MAX_VOLUME = 63; constexpr int AUDIO_POWER_AMPLIFIER_DEFAULT_VOLUME = 24; ControlPanel::ControlPanel( - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, shared_ptr desireSet, bool camera2dWideEnabled, QWidget* parent) : QWidget(parent), - m_nodeHandle(nodeHandle), + m_node(std::move(node)), m_desireSet(std::move(desireSet)) { - m_volumePublisher = nodeHandle.advertise("daemon/set_volume", 1); + m_volumePublisher = m_node->create_publisher("daemon/set_volume", 1); createUi(camera2dWideEnabled); - m_baseStatusSubscriber = - nodeHandle.subscribe("daemon/base_status", 1, &ControlPanel::baseStatusSubscriberCallback, this); + m_baseStatusSubscriber = m_node->create_subscription( + "daemon/base_status", + 1, + [this](const daemon_ros_client::msg::BaseStatus::SharedPtr msg) { baseStatusSubscriberCallback(msg); }); } void ControlPanel::onVolumeChanged(int volume) { - std_msgs::UInt8 msg; + std_msgs::msg::UInt8 msg; msg.data = volume; - m_volumePublisher.publish(msg); + m_volumePublisher->publish(msg); } -void ControlPanel::baseStatusSubscriberCallback(const daemon_ros_client::BaseStatus::ConstPtr& msg) +void ControlPanel::baseStatusSubscriberCallback(const daemon_ros_client::msg::BaseStatus::SharedPtr msg) { int stateOfCharge = static_cast(msg->state_of_charge); int volume = msg->volume; @@ -59,11 +59,11 @@ void ControlPanel::createUi(bool camera2dWideEnabled) setWindowTitle("Control Panel"); m_avatarTab = new AvatarTab(m_desireSet); - m_speechTab = new SpeechTab(m_nodeHandle, m_desireSet); - m_gestureTab = new GestureTab(m_nodeHandle, m_desireSet); + m_speechTab = new SpeechTab(m_node, m_desireSet); + m_gestureTab = new GestureTab(m_desireSet); m_behaviorsTab = new BehaviorsTab(m_desireSet, camera2dWideEnabled); - m_ledTab = new LedTab(m_nodeHandle, m_desireSet); - m_perceptionsTab = new PerceptionsTab(m_nodeHandle, m_desireSet, camera2dWideEnabled); + m_ledTab = new LedTab(m_desireSet); + m_perceptionsTab = new PerceptionsTab(m_node, m_desireSet, camera2dWideEnabled); m_tabWidget = new QTabWidget; m_tabWidget->addTab(m_avatarTab, "Avatar"); diff --git a/ros/demos/control_panel/src/widgets/ControlPanel.h b/ros/demos/control_panel/src/widgets/ControlPanel.h index 4be7b2cd..06997e11 100644 --- a/ros/demos/control_panel/src/widgets/ControlPanel.h +++ b/ros/demos/control_panel/src/widgets/ControlPanel.h @@ -12,9 +12,11 @@ #include #include -#include -#include -#include +#include + +#include + +#include #include @@ -25,15 +27,16 @@ class ControlPanel : public QWidget { Q_OBJECT - ros::NodeHandle& m_nodeHandle; - ros::Publisher m_volumePublisher; - ros::Subscriber m_baseStatusSubscriber; + rclcpp::Node::SharedPtr m_node; + + rclcpp::Publisher::SharedPtr m_volumePublisher; + rclcpp::Subscription::SharedPtr m_baseStatusSubscriber; std::shared_ptr m_desireSet; public: ControlPanel( - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::shared_ptr desireSet, bool camera2dWideEnabled, QWidget* parent = nullptr); @@ -42,7 +45,7 @@ private slots: void onVolumeChanged(int volume); private: - void baseStatusSubscriberCallback(const daemon_ros_client::BaseStatus::ConstPtr& msg); + void baseStatusSubscriberCallback(const daemon_ros_client::msg::BaseStatus::SharedPtr msg); void createUi(bool camera2dWideEnabled); diff --git a/ros/demos/control_panel/src/widgets/GestureTab.cpp b/ros/demos/control_panel/src/widgets/GestureTab.cpp index 7298ed52..1615ec68 100644 --- a/ros/demos/control_panel/src/widgets/GestureTab.cpp +++ b/ros/demos/control_panel/src/widgets/GestureTab.cpp @@ -7,9 +7,8 @@ using namespace std; -GestureTab::GestureTab(ros::NodeHandle& nodeHandle, shared_ptr desireSet, QWidget* parent) +GestureTab::GestureTab(shared_ptr desireSet, QWidget* parent) : QWidget(parent), - m_nodeHandle(nodeHandle), m_desireSet(std::move(desireSet)) { createUi(); @@ -50,7 +49,10 @@ void GestureTab::setEnabledAllButtons(bool enabled) m_maybeButton->setEnabled(enabled); m_originAllButton->setEnabled(enabled); m_originHeadButton->setEnabled(enabled); + m_slowOriginHeadButton->setEnabled(enabled); m_originTorsoButton->setEnabled(enabled); + m_thinkingButton->setEnabled(enabled); + m_sadButton->setEnabled(enabled); } void GestureTab::createUi() @@ -70,16 +72,28 @@ void GestureTab::createUi() m_originHeadButton = new QPushButton("Origin Head"); connect(m_originHeadButton, &QPushButton::clicked, this, [this]() { onGestureButtonClicked("origin_head"); }); + m_slowOriginHeadButton = new QPushButton("Slow Origin Head"); + connect(m_slowOriginHeadButton, &QPushButton::clicked, this, [this]() { onGestureButtonClicked("slow_origin_head"); }); + m_originTorsoButton = new QPushButton("Origin Torso"); connect(m_originTorsoButton, &QPushButton::clicked, this, [this]() { onGestureButtonClicked("origin_torso"); }); + m_thinkingButton = new QPushButton("Thinking"); + connect(m_thinkingButton, &QPushButton::clicked, this, [this]() { onGestureButtonClicked("thinking"); }); + + m_sadButton = new QPushButton("Sad"); + connect(m_sadButton, &QPushButton::clicked, this, [this]() { onGestureButtonClicked("sad"); }); + auto globalLayout = new QVBoxLayout; globalLayout->addWidget(m_yesButton); globalLayout->addWidget(m_noButton); globalLayout->addWidget(m_maybeButton); globalLayout->addWidget(m_originAllButton); globalLayout->addWidget(m_originHeadButton); + globalLayout->addWidget(m_slowOriginHeadButton); globalLayout->addWidget(m_originTorsoButton); + globalLayout->addWidget(m_thinkingButton); + globalLayout->addWidget(m_sadButton); globalLayout->addStretch(); setLayout(globalLayout); diff --git a/ros/demos/control_panel/src/widgets/GestureTab.h b/ros/demos/control_panel/src/widgets/GestureTab.h index d01f92e2..9dfc3f22 100644 --- a/ros/demos/control_panel/src/widgets/GestureTab.h +++ b/ros/demos/control_panel/src/widgets/GestureTab.h @@ -5,9 +5,6 @@ #include #include -#include -#include - #include #include @@ -17,13 +14,11 @@ class GestureTab : public QWidget, public DesireSetObserver { Q_OBJECT - ros::NodeHandle& m_nodeHandle; - std::shared_ptr m_desireSet; QVariant m_gestureDesireId; public: - GestureTab(ros::NodeHandle& nodeHandle, std::shared_ptr desireSet, QWidget* parent = nullptr); + GestureTab(std::shared_ptr desireSet, QWidget* parent = nullptr); ~GestureTab() override; void onDesireSetChanged(const std::vector>& _) override; @@ -42,7 +37,10 @@ private slots: QPushButton* m_maybeButton; QPushButton* m_originAllButton; QPushButton* m_originHeadButton; + QPushButton* m_slowOriginHeadButton; QPushButton* m_originTorsoButton; + QPushButton* m_thinkingButton; + QPushButton* m_sadButton; }; #endif diff --git a/ros/demos/control_panel/src/widgets/LedTab.cpp b/ros/demos/control_panel/src/widgets/LedTab.cpp index 506f0ae7..4aab28cb 100644 --- a/ros/demos/control_panel/src/widgets/LedTab.cpp +++ b/ros/demos/control_panel/src/widgets/LedTab.cpp @@ -9,9 +9,9 @@ using namespace std; -daemon_ros_client::LedColor color(uint8_t r, uint8_t g, uint8_t b) +daemon_ros_client::msg::LedColor color(uint8_t r, uint8_t g, uint8_t b) { - daemon_ros_client::LedColor c; + daemon_ros_client::msg::LedColor c; c.red = r; c.green = g; c.blue = b; @@ -19,10 +19,7 @@ daemon_ros_client::LedColor color(uint8_t r, uint8_t g, uint8_t b) } -LedTab::LedTab(ros::NodeHandle& nodeHandle, shared_ptr desireSet, QWidget* parent) - : QWidget(parent), - m_nodeHandle(nodeHandle), - m_desireSet(std::move(desireSet)) +LedTab::LedTab(shared_ptr desireSet, QWidget* parent) : QWidget(parent), m_desireSet(std::move(desireSet)) { createUi(); } @@ -54,7 +51,7 @@ void LedTab::onConstantAnimationButtonToggled(bool checked) uncheckOtherAnimationButtons(m_constantAnimationButton); auto desire = - make_unique("constant", vector{color(255, 255, 255)}); + make_unique("constant", vector{color(255, 255, 255)}); m_ledAnimationDesireId = static_cast(desire->id()); m_desireSet->addDesire(std::move(desire)); } @@ -72,7 +69,7 @@ void LedTab::onRotatingSinAnimationButtonToggled(bool checked) uncheckOtherAnimationButtons(m_rotatingSinAnimationButton); auto desire = - make_unique("rotating_sin", vector{color(0, 255, 0)}); + make_unique("rotating_sin", vector{color(0, 255, 0)}); m_ledAnimationDesireId = static_cast(desire->id()); m_desireSet->addDesire(std::move(desire)); } diff --git a/ros/demos/control_panel/src/widgets/LedTab.h b/ros/demos/control_panel/src/widgets/LedTab.h index 45481968..8bfa0ecd 100644 --- a/ros/demos/control_panel/src/widgets/LedTab.h +++ b/ros/demos/control_panel/src/widgets/LedTab.h @@ -5,8 +5,6 @@ #include #include -#include - #include #include @@ -16,14 +14,12 @@ class LedTab : public QWidget { Q_OBJECT - ros::NodeHandle& m_nodeHandle; - std::shared_ptr m_desireSet; QVariant m_ledEmotionDesireId; QVariant m_ledAnimationDesireId; public: - LedTab(ros::NodeHandle& nodeHandle, std::shared_ptr desireSet, QWidget* parent = nullptr); + LedTab(std::shared_ptr desireSet, QWidget* parent = nullptr); ~LedTab() override; private slots: diff --git a/ros/demos/control_panel/src/widgets/PerceptionsTab.cpp b/ros/demos/control_panel/src/widgets/PerceptionsTab.cpp index 591102c1..0c0d64b2 100644 --- a/ros/demos/control_panel/src/widgets/PerceptionsTab.cpp +++ b/ros/demos/control_panel/src/widgets/PerceptionsTab.cpp @@ -53,13 +53,15 @@ vector getSemanticSegmentationPaletteFromClassCount(size_t classCount) return palette; } -QImage semanticSegmentationToImage(const video_analyzer::SemanticSegmentation& semanticSegmentation) +QImage semanticSegmentationToImage( + rclcpp::Node& node, + const perception_msgs::msg::SemanticSegmentation& semanticSegmentation) { int width = semanticSegmentation.width; int height = semanticSegmentation.height; if (semanticSegmentation.class_indexes.size() != width * height) { - ROS_ERROR("Invalid semantic segmentation (class_indexes.size() != width * height)"); + RCLCPP_ERROR(node.get_logger(), "Invalid semantic segmentation (class_indexes.size() != width * height)"); return QImage(); } @@ -83,39 +85,46 @@ QImage semanticSegmentationToImage(const video_analyzer::SemanticSegmentation& s } PerceptionsTab::PerceptionsTab( - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, shared_ptr desireSet, bool camera2dWideEnabled, QWidget* parent) : QWidget(parent), - m_nodeHandle(nodeHandle), + m_node(std::move(node)), m_desireSet(std::move(desireSet)), m_camera2dWideEnabled(camera2dWideEnabled) { createUi(); - m_analyzedImage3dSubscriber = - nodeHandle.subscribe("camera_3d/analysed_image", 1, &PerceptionsTab::analyzedImage3dSubscriberCallback, this); + m_analyzedImage3dSubscriber = m_node->create_subscription( + "camera_3d/analysed_image", + 1, + [this](const sensor_msgs::msg::Image::SharedPtr msg) { analyzedImage3dSubscriberCallback(msg); }); if (m_camera2dWideEnabled) { - m_analyzedImage2dWideSubscriber = nodeHandle.subscribe( + m_analyzedImage2dWideSubscriber = m_node->create_subscription( "camera_2d_wide/analysed_image", 1, - &PerceptionsTab::analyzedImage2dWideSubscriberCallback, - this); - m_videoAnalysis2dWideSubscriber = nodeHandle.subscribe( + [this](const sensor_msgs::msg::Image::SharedPtr msg) { analyzedImage2dWideSubscriberCallback(msg); }); + m_videoAnalysis2dWideSubscriber = m_node->create_subscription( "camera_2d_wide/video_analysis", 1, - &PerceptionsTab::videoAnalysis2dWideSubscriberCallback, - this); + [this](const perception_msgs::msg::VideoAnalysis::SharedPtr msg) + { videoAnalysis2dWideSubscriberCallback(msg); }); } - m_audioAnalysisSubscriber = - nodeHandle.subscribe("audio_analysis", 1, &PerceptionsTab::audioAnalysisSubscriberCallback, this); - m_robotNameDetectedSubscriber = - nodeHandle.subscribe("robot_name_detected", 1, &PerceptionsTab::robotNameDetectedSubscriberCallback, this); - m_personNamesSubscriber = - nodeHandle.subscribe("person_names", 1, &PerceptionsTab::personNamesSubscriberCallback, this); + m_audioAnalysisSubscriber = m_node->create_subscription( + "audio_analysis", + 1, + [this](const perception_msgs::msg::AudioAnalysis::SharedPtr msg) { audioAnalysisSubscriberCallback(msg); }); + m_robotNameDetectedSubscriber = m_node->create_subscription( + "robot_name_detected", + 1, + [this](const std_msgs::msg::Empty::SharedPtr msg) { robotNameDetectedSubscriberCallback(msg); }); + m_personNamesSubscriber = m_node->create_subscription( + "person_names", + 1, + [this](const perception_msgs::msg::PersonNames::SharedPtr msg) { personNamesSubscriberCallback(msg); }); } void PerceptionsTab::onVideoAnalyzer3dButtonToggled(bool checked) @@ -138,7 +147,7 @@ void PerceptionsTab::onRobotNameDetectorButtonToggled(bool checked) toggleDesire(checked, m_robotNameDetectorDesireId); } -void PerceptionsTab::analyzedImage3dSubscriberCallback(const sensor_msgs::Image::ConstPtr& msg) +void PerceptionsTab::analyzedImage3dSubscriberCallback(const sensor_msgs::msg::Image::SharedPtr msg) { if (msg->encoding != "rgb8") { @@ -152,7 +161,7 @@ void PerceptionsTab::analyzedImage3dSubscriberCallback(const sensor_msgs::Image: }); } -void PerceptionsTab::analyzedImage2dWideSubscriberCallback(const sensor_msgs::Image::ConstPtr& msg) +void PerceptionsTab::analyzedImage2dWideSubscriberCallback(const sensor_msgs::msg::Image::SharedPtr msg) { if (msg->encoding != "rgb8") { @@ -167,7 +176,7 @@ void PerceptionsTab::analyzedImage2dWideSubscriberCallback(const sensor_msgs::Im }); } -void PerceptionsTab::videoAnalysis2dWideSubscriberCallback(const video_analyzer::VideoAnalysis::ConstPtr& msg) +void PerceptionsTab::videoAnalysis2dWideSubscriberCallback(const perception_msgs::msg::VideoAnalysis::SharedPtr msg) { if (msg->semantic_segmentation.empty()) { @@ -178,23 +187,23 @@ void PerceptionsTab::videoAnalysis2dWideSubscriberCallback(const video_analyzer: [this, msg]() { m_videoAnalyzer2dWideSegmentationcImageDisplay->setImage( - semanticSegmentationToImage(msg->semantic_segmentation[0])); + semanticSegmentationToImage(*m_node, msg->semantic_segmentation[0])); }); } -void PerceptionsTab::audioAnalysisSubscriberCallback(const audio_analyzer::AudioAnalysis::ConstPtr& msg) +void PerceptionsTab::audioAnalysisSubscriberCallback(const perception_msgs::msg::AudioAnalysis::SharedPtr msg) { QString classes = mergeStdStrings(msg->audio_classes); invokeLater([this, classes]() { m_soundClassesLineEdit->setText(classes); }); } -void PerceptionsTab::robotNameDetectedSubscriberCallback(const std_msgs::Empty::ConstPtr& msg) +void PerceptionsTab::robotNameDetectedSubscriberCallback(const std_msgs::msg::Empty::SharedPtr msg) { auto currentTime = QDateTime::currentDateTime(); invokeLater([this, currentTime]() { m_robotNameDetectionTimeLineEdit->setText(currentTime.toString()); }); } -void PerceptionsTab::personNamesSubscriberCallback(const person_identification::PersonNames::ConstPtr& msg) +void PerceptionsTab::personNamesSubscriberCallback(const perception_msgs::msg::PersonNames::SharedPtr msg) { vector names; names.reserve(msg->names.size()); @@ -203,7 +212,7 @@ void PerceptionsTab::personNamesSubscriberCallback(const person_identification:: msg->names.begin(), msg->names.end(), back_inserter(names), - [](const person_identification::PersonName& name) { return name.name; }); + [](const perception_msgs::msg::PersonName& name) { return name.name; }); QString mergedNames = mergeStdStrings(names); invokeLater([this, mergedNames]() { m_identifiedPersonsLineEdit->setText(mergedNames); }); diff --git a/ros/demos/control_panel/src/widgets/PerceptionsTab.h b/ros/demos/control_panel/src/widgets/PerceptionsTab.h index a3380842..4e5226ca 100644 --- a/ros/demos/control_panel/src/widgets/PerceptionsTab.h +++ b/ros/demos/control_panel/src/widgets/PerceptionsTab.h @@ -8,12 +8,13 @@ #include #include -#include -#include -#include -#include -#include -#include +#include + +#include +#include +#include +#include +#include #include @@ -24,13 +25,14 @@ class PerceptionsTab : public QWidget { Q_OBJECT - ros::NodeHandle& m_nodeHandle; - ros::Subscriber m_analyzedImage3dSubscriber; - ros::Subscriber m_analyzedImage2dWideSubscriber; - ros::Subscriber m_videoAnalysis2dWideSubscriber; - ros::Subscriber m_audioAnalysisSubscriber; - ros::Subscriber m_robotNameDetectedSubscriber; - ros::Subscriber m_personNamesSubscriber; + rclcpp::Node::SharedPtr m_node; + + rclcpp::Subscription::SharedPtr m_analyzedImage3dSubscriber; + rclcpp::Subscription::SharedPtr m_analyzedImage2dWideSubscriber; + rclcpp::Subscription::SharedPtr m_videoAnalysis2dWideSubscriber; + rclcpp::Subscription::SharedPtr m_audioAnalysisSubscriber; + rclcpp::Subscription::SharedPtr m_robotNameDetectedSubscriber; + rclcpp::Subscription::SharedPtr m_personNamesSubscriber; std::shared_ptr m_desireSet; QVariant m_videoAnalyzer3dDesireId; @@ -42,7 +44,7 @@ class PerceptionsTab : public QWidget public: PerceptionsTab( - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::shared_ptr desireSet, bool camera2dWideEnabled, QWidget* parent = nullptr); @@ -54,12 +56,12 @@ private slots: void onRobotNameDetectorButtonToggled(bool checked); private: - void analyzedImage3dSubscriberCallback(const sensor_msgs::Image::ConstPtr& msg); - void analyzedImage2dWideSubscriberCallback(const sensor_msgs::Image::ConstPtr& msg); - void videoAnalysis2dWideSubscriberCallback(const video_analyzer::VideoAnalysis::ConstPtr& msg); - void audioAnalysisSubscriberCallback(const audio_analyzer::AudioAnalysis::ConstPtr& msg); - void robotNameDetectedSubscriberCallback(const std_msgs::Empty::ConstPtr& msg); - void personNamesSubscriberCallback(const person_identification::PersonNames::ConstPtr& msg); + void analyzedImage3dSubscriberCallback(const sensor_msgs::msg::Image::SharedPtr msg); + void analyzedImage2dWideSubscriberCallback(const sensor_msgs::msg::Image::SharedPtr msg); + void videoAnalysis2dWideSubscriberCallback(const perception_msgs::msg::VideoAnalysis::SharedPtr msg); + void audioAnalysisSubscriberCallback(const perception_msgs::msg::AudioAnalysis::SharedPtr msg); + void robotNameDetectedSubscriberCallback(const std_msgs::msg::Empty::SharedPtr msg); + void personNamesSubscriberCallback(const perception_msgs::msg::PersonNames::SharedPtr msg); void createUi(); diff --git a/ros/demos/control_panel/src/widgets/SpeechTab.cpp b/ros/demos/control_panel/src/widgets/SpeechTab.cpp index b10356e6..9180101a 100644 --- a/ros/demos/control_panel/src/widgets/SpeechTab.cpp +++ b/ros/demos/control_panel/src/widgets/SpeechTab.cpp @@ -9,17 +9,22 @@ using namespace std; -SpeechTab::SpeechTab(ros::NodeHandle& nodeHandle, shared_ptr desireSet, QWidget* parent) +SpeechTab::SpeechTab(rclcpp::Node::SharedPtr node, shared_ptr desireSet, QWidget* parent) : QWidget(parent), - m_nodeHandle(nodeHandle), + m_node(std::move(node)), m_desireSet(std::move(desireSet)) { createUi(); m_desireSet->addObserver(this); - m_speechToTextSubscriber = - nodeHandle.subscribe("speech_to_text/transcript", 1, &SpeechTab::speechToTextSubscriberCallback, this); - m_vadSubscriber = nodeHandle.subscribe("voice_activity", 1, &SpeechTab::vadSubscriberCallback, this); + m_speechToTextSubscriber = m_node->create_subscription( + "speech_to_text/transcript", + 1, + [this](const perception_msgs::msg::Transcript::SharedPtr msg) { speechToTextSubscriberCallback(msg); }); + m_vadSubscriber = m_node->create_subscription( + "voice_activity", + 1, + [this](const audio_utils_msgs::msg::VoiceActivity::SharedPtr msg) { vadSubscriberCallback(msg); }); } SpeechTab::~SpeechTab() @@ -80,12 +85,12 @@ void SpeechTab::onVadButtonToggled(bool checked) } } -void SpeechTab::speechToTextSubscriberCallback(const speech_to_text::Transcript::ConstPtr& msg) +void SpeechTab::speechToTextSubscriberCallback(const perception_msgs::msg::Transcript::SharedPtr msg) { invokeLater([=]() { m_listenedTextTextEdit->append(QString::fromStdString(msg->text)); }); } -void SpeechTab::vadSubscriberCallback(const audio_utils::VoiceActivity::ConstPtr& msg) +void SpeechTab::vadSubscriberCallback(const audio_utils_msgs::msg::VoiceActivity::SharedPtr msg) { invokeLater( [=]() diff --git a/ros/demos/control_panel/src/widgets/SpeechTab.h b/ros/demos/control_panel/src/widgets/SpeechTab.h index a72719c2..c3e119b4 100644 --- a/ros/demos/control_panel/src/widgets/SpeechTab.h +++ b/ros/demos/control_panel/src/widgets/SpeechTab.h @@ -7,10 +7,10 @@ #include #include -#include -#include -#include -#include +#include + +#include +#include #include @@ -21,9 +21,10 @@ class SpeechTab : public QWidget, public DesireSetObserver { Q_OBJECT - ros::NodeHandle& m_nodeHandle; - ros::Subscriber m_speechToTextSubscriber; - ros::Subscriber m_vadSubscriber; + rclcpp::Node::SharedPtr m_node; + + rclcpp::Subscription::SharedPtr m_speechToTextSubscriber; + rclcpp::Subscription::SharedPtr m_vadSubscriber; std::shared_ptr m_desireSet; QVariant m_talkDesireId; @@ -31,7 +32,7 @@ class SpeechTab : public QWidget, public DesireSetObserver QVariant m_vadDesireId; public: - SpeechTab(ros::NodeHandle& nodeHandle, std::shared_ptr desireSet, QWidget* parent = nullptr); + SpeechTab(rclcpp::Node::SharedPtr node, std::shared_ptr desireSet, QWidget* parent = nullptr); ~SpeechTab() override; void onDesireSetChanged(const std::vector>& _) override; @@ -42,8 +43,8 @@ private slots: void onVadButtonToggled(bool checked); private: - void speechToTextSubscriberCallback(const speech_to_text::Transcript::ConstPtr& msg); - void vadSubscriberCallback(const audio_utils::VoiceActivity::ConstPtr& msg); + void speechToTextSubscriberCallback(const perception_msgs::msg::Transcript::SharedPtr msg); + void vadSubscriberCallback(const audio_utils_msgs::msg::VoiceActivity::SharedPtr msg); void createUi(); diff --git a/ros/demos/home_logger/CMakeLists.txt b/ros/demos/home_logger/CMakeLists.txt index 93f9e552..d3cafec3 100644 --- a/ros/demos/home_logger/CMakeLists.txt +++ b/ros/demos/home_logger/CMakeLists.txt @@ -1,148 +1,35 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(home_logger) -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) -## 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 - audio_analyzer - cloud_data - gesture - hbba_lite - person_identification - roscpp - rospy - sensor_msgs - speech_to_text - std_msgs - t_top_hbba_lite - talk - tf - video_analyzer - recorders - led_animations - daemon_ros_client -) - -## 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 -# sensor_msgs# 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 +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -if(CMAKE_BUILD_TYPE MATCHES Debug) - set(_FMT_LIB_NAME fmtd) -else() - set(_FMT_LIB_NAME fmt) +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) endif() -catkin_package( - INCLUDE_DIRS include 3rd_party/fmt/include - LIBRARIES home_logger_common ${_FMT_LIB_NAME} -# CATKIN_DEPENDS audio_analyzer cloud_data gesture hbba_lite person_identification roscpp rospy sensor_msgs speech_to_text std_msgs t_top_hbba_lite talk tf video_analyzer recorders -# DEPENDS system_lib -) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -unset(_FMT_LIB_NAME) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(cloud_data REQUIRED) +find_package(t_top_hbba_lite REQUIRED) +find_package(recorders REQUIRED) +find_package(tf2 REQUIRED) +find_package(perception_msgs REQUIRED) +# C++ Library add_subdirectory(3rd_party/fmt) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( include - ${catkin_INCLUDE_DIRS} 3rd_party/fmt/include ) @@ -164,15 +51,14 @@ add_library(home_logger_common src/home_logger_common/managers/AlarmManager.cpp src/home_logger_common/managers/ReminderManager.cpp ) +ament_target_dependencies(home_logger_common + rclcpp + t_top_hbba_lite + recorders + perception_msgs +) +target_link_libraries(home_logger_common ${recorders_LIBRARIES}) -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/home_logger_node.cpp src/managers/VolumeManager.cpp @@ -204,100 +90,53 @@ add_executable(${PROJECT_NAME}_node src/states/specific/AlarmState.cpp src/states/specific/TellReminderState.cpp ) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${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(home_logger_common - ${catkin_LIBRARIES} - fmt +ament_target_dependencies(${PROJECT_NAME}_node + rclcpp + cloud_data + t_top_hbba_lite + tf2 ) - target_link_libraries(${PROJECT_NAME}_node - ${catkin_LIBRARIES} home_logger_common fmt ) - -############# -## 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(home_logger_common-test - test/home_logger_common/main.cpp - test/home_logger_common/loadStringResources.cpp - test/home_logger_common/StringUtilsTests.cpp - test/home_logger_common/DateTimeTests.cpp - test/home_logger_common/PropertiesTests.cpp - test/home_logger_common/commands/CommandsTests.cpp - test/home_logger_common/commands/CommandParsersTests.cpp - test/home_logger_common/commands/AllCommandParserTests.cpp - test/home_logger_common/parameters/CommandParametersParserTests.cpp - test/home_logger_common/parameters/WeatherCommandParametersParserTests.cpp - test/home_logger_common/parameters/SetVolumeCommandParametersParserTests.cpp - test/home_logger_common/parameters/AlarmCommandParametersParsersTests.cpp - test/home_logger_common/parameters/ReminderCommandParametersParsersTests.cpp - test/home_logger_common/language/LanguageTests.cpp - test/home_logger_common/language/StringResourcesTests.cpp - test/home_logger_common/language/FormatterTests.cpp - test/home_logger_common/managers/AlarmManagerTests.cpp - test/home_logger_common/managers/ReminderManagerTests.cpp -) -if(TARGET home_logger_common-test) - find_package(Boost REQUIRED COMPONENTS system filesystem) - target_link_libraries(home_logger_common-test home_logger_common ${Boost_LIBRARIES} ${catkin_LIBRARIES} fmt) +install(TARGETS ${PROJECT_NAME}_node DESTINATION lib/${PROJECT_NAME}) + +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) + +# Resources files +install(DIRECTORY resources DESTINATION share/${PROJECT_NAME}) + +# Tests +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + ament_add_gtest(${PROJECT_NAME}_test + test/home_logger_common/main.cpp + test/home_logger_common/loadStringResources.cpp + test/home_logger_common/StringUtilsTests.cpp + test/home_logger_common/DateTimeTests.cpp + test/home_logger_common/PropertiesTests.cpp + test/home_logger_common/commands/CommandsTests.cpp + test/home_logger_common/commands/CommandParsersTests.cpp + test/home_logger_common/commands/AllCommandParserTests.cpp + test/home_logger_common/parameters/CommandParametersParserTests.cpp + test/home_logger_common/parameters/WeatherCommandParametersParserTests.cpp + test/home_logger_common/parameters/SetVolumeCommandParametersParserTests.cpp + test/home_logger_common/parameters/AlarmCommandParametersParsersTests.cpp + test/home_logger_common/parameters/ReminderCommandParametersParsersTests.cpp + test/home_logger_common/language/LanguageTests.cpp + test/home_logger_common/language/StringResourcesTests.cpp + test/home_logger_common/language/FormatterTests.cpp + test/home_logger_common/managers/AlarmManagerTests.cpp + test/home_logger_common/managers/ReminderManagerTests.cpp + ) + ament_target_dependencies(${PROJECT_NAME}_test + rclcpp + t_top_hbba_lite + ) + target_link_libraries(${PROJECT_NAME}_test ${recorders_LIBRARIES} home_logger_common fmt) endif() -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) + +ament_package() diff --git a/ros/demos/home_logger/launch/home_logger.launch b/ros/demos/home_logger/launch/home_logger.launch.xml similarity index 52% rename from ros/demos/home_logger/launch/home_logger.launch rename to ros/demos/home_logger/launch/home_logger.launch.xml index 40811175..191df3be 100644 --- a/ros/demos/home_logger/launch/home_logger.launch +++ b/ros/demos/home_logger/launch/home_logger.launch.xml @@ -4,43 +4,43 @@ - - + + - - + + - - - + + + - + - + - - + + - - - + + + - + diff --git a/ros/demos/home_logger/package.xml b/ros/demos/home_logger/package.xml index 77310516..f635ca56 100644 --- a/ros/demos/home_logger/package.xml +++ b/ros/demos/home_logger/package.xml @@ -1,110 +1,28 @@ - + + home_logger 0.0.0 The home_logger package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclcpp + cloud_data + t_top_hbba_lite + recorders + tf2 + perception_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - audio_analyzer - cloud_data - gesture - hbba_lite - person_identification - roscpp - rospy - sensor_msgs - speech_to_text - std_msgs - t_top_hbba_lite - talk - tf - video_analyzer - recorders - led_animations - daemon_ros_client - audio_analyzer - cloud_data - gesture - hbba_lite - person_identification - roscpp - rospy - sensor_msgs - speech_to_text - std_msgs - t_top_hbba_lite - talk - tf - video_analyzer - recorders - led_animations - daemon_ros_client - audio_analyzer - cloud_data - gesture - hbba_lite - person_identification - roscpp - rospy - sensor_msgs - speech_to_text - std_msgs - t_top_hbba_lite - talk - tf - video_analyzer - recorders - led_animations - daemon_ros_client - - - - - + ament_cmake diff --git a/ros/demos/home_logger/src/executors/AllCommandExecutor.cpp b/ros/demos/home_logger/src/executors/AllCommandExecutor.cpp index 9ac935d4..7ffd1040 100644 --- a/ros/demos/home_logger/src/executors/AllCommandExecutor.cpp +++ b/ros/demos/home_logger/src/executors/AllCommandExecutor.cpp @@ -12,14 +12,14 @@ using namespace std; AllCommandExecutor::AllCommandExecutor( StateManager& stateManager, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, VolumeManager& volumeManager, AlarmManager& alarmManager, ReminderManager& reminderManager) { vector> executors; - executors.emplace_back(make_unique(stateManager, nodeHandle)); + executors.emplace_back(make_unique(stateManager, node)); executors.emplace_back(make_unique(stateManager, volumeManager)); executors.emplace_back(make_unique(stateManager, volumeManager)); diff --git a/ros/demos/home_logger/src/executors/AllCommandExecutor.h b/ros/demos/home_logger/src/executors/AllCommandExecutor.h index 319f40b5..33abbaea 100644 --- a/ros/demos/home_logger/src/executors/AllCommandExecutor.h +++ b/ros/demos/home_logger/src/executors/AllCommandExecutor.h @@ -17,7 +17,7 @@ class AllCommandExecutor public: AllCommandExecutor( StateManager& stateManager, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, VolumeManager& volumeManager, AlarmManager& alarmManager, ReminderManager& reminderManager); diff --git a/ros/demos/home_logger/src/executors/WeatherCommandExecutor.cpp b/ros/demos/home_logger/src/executors/WeatherCommandExecutor.cpp index 7d23c87f..fec7d8bb 100644 --- a/ros/demos/home_logger/src/executors/WeatherCommandExecutor.cpp +++ b/ros/demos/home_logger/src/executors/WeatherCommandExecutor.cpp @@ -7,17 +7,25 @@ #include #include -#include -#include - #include using namespace std; -WeatherCommandExecutor::WeatherCommandExecutor(StateManager& stateManager, ros::NodeHandle& nodeHandle) +constexpr chrono::seconds WEATHER_SERVICE_TIMEOUT(20); + +WeatherCommandExecutor::WeatherCommandExecutor(StateManager& stateManager, rclcpp::Node::SharedPtr node) : SpecificCommandExecutor(stateManager), - m_nodeHandle(nodeHandle) + m_node(move(node)) { + m_weatherClientCallbackGroup = m_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + m_currentWeatherClient = m_node->create_client( + "cloud_data/current_local_weather", + rmw_qos_profile_services_default, + m_weatherClientCallbackGroup); + m_weatherForecastClient = m_node->create_client( + "cloud_data/local_weather_forecast", + rmw_qos_profile_services_default, + m_weatherClientCallbackGroup); } WeatherCommandExecutor::~WeatherCommandExecutor() {} @@ -71,95 +79,118 @@ void WeatherCommandExecutor::executeSpecific(const shared_ptr& c void WeatherCommandExecutor::getCurrentWeatherText(string& text, bool& ok) { - ros::ServiceClient service = - m_nodeHandle.serviceClient("cloud_data/current_local_weather"); + auto request = make_shared(); + auto future = m_currentWeatherClient->async_send_request(request); + + if (future.wait_for(WEATHER_SERVICE_TIMEOUT) != future_status::ready) + { + ok = false; + return; + } - cloud_data::CurrentLocalWeather srv; - ok = service.exists() && service.call(srv); - if (!ok) + auto response = future.get(); + if (!response->ok) { + ok = false; return; } + ok = true; text = Formatter::format( StringResources::getValue("dialogs.commands.weather.current"), - fmt::arg("temperature_celsius", srv.response.temperature_celsius), - fmt::arg("weather_description", srv.response.weather_description)); + fmt::arg("temperature_celsius", response->temperature_celsius), + fmt::arg("weather_description", response->weather_description)); } void WeatherCommandExecutor::getTodayWeatherForecastText(string& text, bool& ok) { - ros::ServiceClient service = - m_nodeHandle.serviceClient("cloud_data/local_weather_forecast"); + auto request = make_shared(); + request->relative_day = 0; + auto future = m_weatherForecastClient->async_send_request(request); - cloud_data::LocalWeatherForecast srv; - srv.request.relative_day = 0; - ok = service.exists() && service.call(srv); - if (!ok) + if (future.wait_for(WEATHER_SERVICE_TIMEOUT) != future_status::ready) { + ok = false; return; } + auto response = future.get(); + if (!response->ok) + { + ok = false; + return; + } + + ok = true; + stringstream ss; auto currentTime = Time::now(); if (currentTime < Time(12, 00)) { ss << Formatter::format( StringResources::getValue("dialogs.commands.weather.today.morning"), - fmt::arg("temperature_celsius", srv.response.temperature_morning_celsius)); + fmt::arg("temperature_celsius", response->temperature_morning_celsius)); ss << "\n"; } if (currentTime < Time(17, 00)) { ss << Formatter::format( StringResources::getValue("dialogs.commands.weather.today.day"), - fmt::arg("temperature_celsius", srv.response.temperature_day_celsius)); + fmt::arg("temperature_celsius", response->temperature_day_celsius)); ss << "\n"; } if (currentTime < Time(21, 00)) { ss << Formatter::format( StringResources::getValue("dialogs.commands.weather.today.evening"), - fmt::arg("temperature_celsius", srv.response.temperature_evening_celsius)); + fmt::arg("temperature_celsius", response->temperature_evening_celsius)); ss << "\n"; } ss << Formatter::format( StringResources::getValue("dialogs.commands.weather.today.night"), - fmt::arg("temperature_celsius", srv.response.temperature_night_celsius)); + fmt::arg("temperature_celsius", response->temperature_night_celsius)); text = ss.str(); } void WeatherCommandExecutor::getTomorrowWeatherForecastText(string& text, bool& ok) { - ros::ServiceClient service = - m_nodeHandle.serviceClient("cloud_data/local_weather_forecast"); + auto request = make_shared(); + request->relative_day = 1; + auto future = m_weatherForecastClient->async_send_request(request); - cloud_data::LocalWeatherForecast srv; - srv.request.relative_day = 0; - ok = service.exists() && service.call(srv); - if (!ok) + if (future.wait_for(WEATHER_SERVICE_TIMEOUT) != future_status::ready) { + ok = false; return; } + auto response = future.get(); + if (!response->ok) + { + ok = false; + return; + } + + ok = true; + stringstream ss; ss << Formatter::format( StringResources::getValue("dialogs.commands.weather.tomorrow.morning"), - fmt::arg("temperature_celsius", srv.response.temperature_morning_celsius)); + fmt::arg("temperature_celsius", response->temperature_morning_celsius)); ss << "\n"; ss << Formatter::format( StringResources::getValue("dialogs.commands.weather.tomorrow.day"), - fmt::arg("temperature_celsius", srv.response.temperature_day_celsius)); + fmt::arg("temperature_celsius", response->temperature_day_celsius)); ss << "\n"; ss << Formatter::format( StringResources::getValue("dialogs.commands.weather.tomorrow.evening"), - fmt::arg("temperature_celsius", srv.response.temperature_evening_celsius)); + fmt::arg("temperature_celsius", response->temperature_evening_celsius)); ss << "\n"; ss << Formatter::format( StringResources::getValue("dialogs.commands.weather.tomorrow.night"), - fmt::arg("temperature_celsius", srv.response.temperature_night_celsius)); + fmt::arg("temperature_celsius", response->temperature_night_celsius)); text = ss.str(); } @@ -169,21 +200,30 @@ void WeatherCommandExecutor::getWeekWeatherForecastText(string& text, bool& ok) constexpr int DAY_COUNT = 7; float temperatures[DAY_COUNT]; - ros::ServiceClient service = - m_nodeHandle.serviceClient("cloud_data/local_weather_forecast"); + auto request = make_shared(); + for (size_t i = 0; i < DAY_COUNT; i++) { - cloud_data::LocalWeatherForecast srv; - srv.request.relative_day = i; - ok = service.exists() && service.call(srv); - if (!ok) + request->relative_day = i; + auto future = m_weatherForecastClient->async_send_request(request); + if (future.wait_for(WEATHER_SERVICE_TIMEOUT) != future_status::ready) { + ok = false; return; } - temperatures[i] = srv.response.temperature_day_celsius; + auto response = future.get(); + if (!response->ok) + { + ok = false; + return; + } + + temperatures[i] = response->temperature_day_celsius; } + ok = true; + int currentWeekDay = Date::now().weekDay(); string temperatureSentence = StringResources::getValue("dialogs.commands.weather.week.temperature"); diff --git a/ros/demos/home_logger/src/executors/WeatherCommandExecutor.h b/ros/demos/home_logger/src/executors/WeatherCommandExecutor.h index 52b1e5cf..157545ba 100644 --- a/ros/demos/home_logger/src/executors/WeatherCommandExecutor.h +++ b/ros/demos/home_logger/src/executors/WeatherCommandExecutor.h @@ -3,12 +3,19 @@ #include "CommandExecutor.h" +#include +#include + class WeatherCommandExecutor : public SpecificCommandExecutor { - ros::NodeHandle& m_nodeHandle; + rclcpp::Node::SharedPtr m_node; + + rclcpp::CallbackGroup::SharedPtr m_weatherClientCallbackGroup; + rclcpp::Client::SharedPtr m_currentWeatherClient; + rclcpp::Client::SharedPtr m_weatherForecastClient; public: - WeatherCommandExecutor(StateManager& stateManager, ros::NodeHandle& nodeHandle); + WeatherCommandExecutor(StateManager& stateManager, rclcpp::Node::SharedPtr node); ~WeatherCommandExecutor() override; protected: diff --git a/ros/demos/home_logger/src/home_logger_node.cpp b/ros/demos/home_logger/src/home_logger_node.cpp index 5688363c..8cbe73a1 100644 --- a/ros/demos/home_logger/src/home_logger_node.cpp +++ b/ros/demos/home_logger/src/home_logger_node.cpp @@ -17,7 +17,7 @@ #include #include -#include +#include #include #include @@ -28,11 +28,13 @@ #include #include +#include using namespace std; constexpr bool WAIT_FOR_SERVICE = true; -constexpr double STARTUP_DELAY_S = 30.0; +constexpr int STARTUP_DELAY_S = 30; +constexpr const char* NODE_NAME = "home_logger_node"; void loadResources(Language language, const string& englishStringResourcePath, const string& frenchStringResourcesPath) { @@ -51,7 +53,7 @@ void loadResources(Language language, const string& englishStringResourcePath, c } void startNode( - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, Language language, const string& englishStringResourcePath, const string& frenchStringResourcesPath, @@ -69,7 +71,7 @@ void startNode( Formatter::initialize(language); auto desireSet = make_shared(); - auto filterPool = make_shared(nodeHandle, WAIT_FOR_SERVICE); + auto filterPool = make_shared(node, WAIT_FOR_SERVICE); vector> strategies; if (recordSession) @@ -86,52 +88,44 @@ void startNode( strategies.emplace_back(createAudioAnalyzerStrategy(filterPool)); strategies.emplace_back(createSpeechToTextStrategy(filterPool)); - strategies.emplace_back(createFaceAnimationStrategy(filterPool, nodeHandle)); + strategies.emplace_back(createFaceAnimationStrategy(filterPool, node)); strategies.emplace_back(createNearestFaceFollowingStrategy(filterPool)); strategies.emplace_back(createSoundFollowingStrategy(filterPool)); - strategies.emplace_back(createTalkStrategy(filterPool, desireSet, nodeHandle)); - strategies.emplace_back(createGestureStrategy(filterPool, desireSet, nodeHandle)); - strategies.emplace_back(createPlaySoundStrategy(filterPool, desireSet, nodeHandle)); + strategies.emplace_back(createTalkStrategy(filterPool, desireSet, node)); + strategies.emplace_back(createGestureStrategy(filterPool, desireSet, node)); + strategies.emplace_back(createPlaySoundStrategy(filterPool, desireSet, node)); auto solver = make_unique(); - auto strategyStateLogger = make_unique(nodeHandle); + auto strategyStateLogger = make_unique(node); HbbaLite hbba(desireSet, move(strategies), {{"sound", 1}}, move(solver), move(strategyStateLogger)); - VolumeManager volumeManager(nodeHandle); + VolumeManager volumeManager(node); SQLite::Database database(databasePath, SQLite::OPEN_READWRITE | SQLite::OPEN_CREATE); AlarmManager alarmManager(database); ReminderManager reminderManager(database); - StateManager stateManager(desireSet, nodeHandle); - stateManager.addState(make_unique(stateManager, desireSet, nodeHandle)); + StateManager stateManager(desireSet, node); + stateManager.addState(make_unique(stateManager, desireSet, node)); stateManager.addState(make_unique( stateManager, desireSet, - nodeHandle, + node, alarmManager, reminderManager, sleepTime, wakeUpTime, faceDescriptorThreshold)); - stateManager.addState(make_unique(stateManager, desireSet, nodeHandle, sleepTime, wakeUpTime)); - stateManager.addState(make_unique(stateManager, desireSet, nodeHandle)); - stateManager.addState(make_unique( - stateManager, - desireSet, - nodeHandle, - volumeManager, - alarmManager, - reminderManager)); - stateManager.addState(make_unique(stateManager, desireSet, nodeHandle)); - stateManager.addState(make_unique( - stateManager, - desireSet, - nodeHandle, - noseConfidenceThreshold)); + stateManager.addState(make_unique(stateManager, desireSet, node, sleepTime, wakeUpTime)); + stateManager.addState(make_unique(stateManager, desireSet, node)); + stateManager.addState( + make_unique(stateManager, desireSet, node, volumeManager, alarmManager, reminderManager)); + stateManager.addState(make_unique(stateManager, desireSet, node)); + stateManager.addState( + make_unique(stateManager, desireSet, node, noseConfidenceThreshold)); - stateManager.addState(make_unique(stateManager, desireSet, nodeHandle, alarmManager, alarmPath)); - stateManager.addState(make_unique(stateManager, desireSet, nodeHandle, reminderManager)); + stateManager.addState(make_unique(stateManager, desireSet, node, alarmManager, alarmPath)); + stateManager.addState(make_unique(stateManager, desireSet, node, reminderManager)); if (recordSession) @@ -151,117 +145,99 @@ void startNode( stateManager.switchTo(); - ros::spin(); + rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 2); + executor.add_node(node); + executor.spin(); } -int startNode(int argc, char** argv) +int startNode() { - ros::init(argc, argv, "home_logger_node"); - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); + auto node = rclcpp::Node::make_shared(NODE_NAME); - string languageString; + string languageString = node->declare_parameter("language", ""); Language language; - privateNodeHandle.param("language", languageString, ""); if (!languageFromString(languageString, language)) { - ROS_ERROR("Language must be English (language=en) or French (language=fr)."); + RCLCPP_ERROR(node->get_logger(), "Language must be English (language=en) or French (language=fr)."); return -1; } - string englishStringResourcePath; - if (!privateNodeHandle.getParam("english_string_resource_path", englishStringResourcePath)) + string englishStringResourcePath = node->declare_parameter("english_string_resource_path", ""); + if (englishStringResourcePath == "") { - ROS_ERROR("The parameter english_string_resource_path must be set."); + RCLCPP_ERROR(node->get_logger(), "The parameter english_string_resource_path must be set."); return -1; } - string frenchStringResourcesPath; - if (!privateNodeHandle.getParam("french_string_resources_path", frenchStringResourcesPath)) + string frenchStringResourcesPath = node->declare_parameter("french_string_resources_path", ""); + if (frenchStringResourcesPath == "") { - ROS_ERROR("The parameter french_string_resources_path must be set."); + RCLCPP_ERROR(node->get_logger(), "The parameter french_string_resources_path must be set."); return -1; } - string databasePath; - if (!privateNodeHandle.getParam("database_path", databasePath)) + string databasePath = node->declare_parameter("database_path", ""); + if (databasePath == "") { - ROS_ERROR("The parameter database_path is required."); + RCLCPP_ERROR(node->get_logger(), "The parameter database_path is required."); return -1; } - int sleepTimeHour; - int sleepTimeMinute; - int wakeUpTimeHour; - int wakeUpTimeMinute; - if (!privateNodeHandle.getParam("sleep_time_hour", sleepTimeHour)) + int sleepTimeHour = node->declare_parameter("sleep_time_hour", -1); + int sleepTimeMinute = node->declare_parameter("sleep_time_minute", -1); + int wakeUpTimeHour = node->declare_parameter("wake_up_time_hour", -1); + int wakeUpTimeMinute = node->declare_parameter("wake_up_time_minute", -1); + if (sleepTimeHour == -1) { - ROS_ERROR("The parameter sleep_time_hour must be set."); + RCLCPP_ERROR(node->get_logger(), "The parameter sleep_time_hour must be set."); return -1; } - if (!privateNodeHandle.getParam("sleep_time_minute", sleepTimeMinute)) + if (sleepTimeMinute == -1) { - ROS_ERROR("The parameter sleep_time_minute must be set."); + RCLCPP_ERROR(node->get_logger(), "The parameter sleep_time_minute must be set."); return -1; } - if (!privateNodeHandle.getParam("wake_up_time_hour", wakeUpTimeHour)) + if (wakeUpTimeHour == -1) { - ROS_ERROR("The parameter wake_up_time_hour must be set."); + RCLCPP_ERROR(node->get_logger(), "The parameter wake_up_time_hour must be set."); return -1; } - if (!privateNodeHandle.getParam("wake_up_time_minute", wakeUpTimeMinute)) - { - ROS_ERROR("The parameter wake_up_time_minute must be set."); - return -1; - } - - string alarmPath; - if (!privateNodeHandle.getParam("alarm_path", alarmPath)) + if (wakeUpTimeMinute == -1) { - ROS_ERROR("The parameter alarm_path must be set."); + RCLCPP_ERROR(node->get_logger(), "The parameter wake_up_time_minute must be set."); return -1; } - float faceDescriptorThreshold; - if (!privateNodeHandle.getParam("face_descriptor_threshold", faceDescriptorThreshold)) + string alarmPath = node->declare_parameter("alarm_path", ""); + if (alarmPath == "") { - ROS_ERROR("The parameter face_descriptor_threshold must be set."); + RCLCPP_ERROR(node->get_logger(), "The parameter alarm_path must be set."); return -1; } - float noseConfidenceThreshold; - if (!privateNodeHandle.getParam("nose_confidence_threshold", noseConfidenceThreshold)) + float faceDescriptorThreshold = node->declare_parameter("face_descriptor_threshold", -1.f); + if (faceDescriptorThreshold == -1.f) { - ROS_ERROR("The parameter nose_confidence_threshold must be set."); + RCLCPP_ERROR(node->get_logger(), "The parameter face_descriptor_threshold must be set."); return -1; } - - bool camera2dWideEnabled; - if (!privateNodeHandle.getParam("camera_2d_wide_enabled", camera2dWideEnabled)) + float noseConfidenceThreshold = node->declare_parameter("nose_confidence_threshold", -1.f); + if (noseConfidenceThreshold == -1.f) { - ROS_ERROR("The parameter camera_2d_wide_enabled must be set."); + RCLCPP_ERROR(node->get_logger(), "The parameter nose_confidence_threshold must be set."); return -1; } - bool recordSession; - if (!privateNodeHandle.getParam("record_session", recordSession)) - { - ROS_ERROR("The parameter record_session must be set."); - return -1; - } - bool logPerceptions; - if (!privateNodeHandle.getParam("log_perceptions", logPerceptions)) - { - ROS_ERROR("The parameter log_perceptions must be set."); - return -1; - } + bool camera2dWideEnabled = node->declare_parameter("camera_2d_wide_enabled", false); + bool recordSession = node->declare_parameter("record_session", false); + bool logPerceptions = node->declare_parameter("log_perceptions", false); - ROS_INFO("Waiting nodes."); - ros::Duration(STARTUP_DELAY_S).sleep(); + RCLCPP_INFO(node->get_logger(), "Waiting nodes."); + this_thread::sleep_for(chrono::seconds(STARTUP_DELAY_S)); startNode( - nodeHandle, + node, language, englishStringResourcePath, frenchStringResourcesPath, @@ -280,13 +256,17 @@ int startNode(int argc, char** argv) int main(int argc, char** argv) { + rclcpp::init(argc, argv); + try { - return startNode(argc, argv); + return startNode(); } catch (const exception& e) { - ROS_ERROR_STREAM("Home logger crashed (" << e.what() << ")"); + RCLCPP_ERROR_STREAM(rclcpp::get_logger(NODE_NAME), "Home logger crashed (" << e.what() << ")"); return -1; } + + rclcpp::shutdown(); } diff --git a/ros/demos/home_logger/src/managers/VolumeManager.cpp b/ros/demos/home_logger/src/managers/VolumeManager.cpp index 2d11525a..b3d469d9 100644 --- a/ros/demos/home_logger/src/managers/VolumeManager.cpp +++ b/ros/demos/home_logger/src/managers/VolumeManager.cpp @@ -6,10 +6,16 @@ using namespace std; constexpr float MAXIMUM_INT_VOLUME_VALUE = 63.f; -VolumeManager::VolumeManager(ros::NodeHandle& nodeHandle) : m_currentVolumePercent(35), m_maximumVolumePercent(100.f) +VolumeManager::VolumeManager(rclcpp::Node::SharedPtr node) + : m_node(move(node)), + m_currentVolumePercent(35), + m_maximumVolumePercent(100.f) { - m_volumePublisher = nodeHandle.advertise("daemon/set_volume", 1); - m_baseStatusSubscriber = nodeHandle.subscribe("daemon/base_status", 1, &VolumeManager::baseStatusSubscriberCallback, this); + m_volumePublisher = node->create_publisher("daemon/set_volume", 1); + m_baseStatusSubscriber = node->create_subscription( + "daemon/base_status", + 1, + [this](const daemon_ros_client::msg::BaseStatus::SharedPtr msg) { baseStatusSubscriberCallback(msg); }); setVolume(m_currentVolumePercent); } @@ -21,7 +27,7 @@ void VolumeManager::setVolume(float volume) volume = max(10.f, min(volume, m_maximumVolumePercent)); m_currentVolumePercent = volume; - m_volumePublisher.publish(volumeToMsg(m_currentVolumePercent)); + m_volumePublisher->publish(volumeToMsg(m_currentVolumePercent)); } float VolumeManager::getVolume() const @@ -29,15 +35,15 @@ float VolumeManager::getVolume() const return m_currentVolumePercent; } -void VolumeManager::baseStatusSubscriberCallback(const daemon_ros_client::BaseStatus::ConstPtr& msg) +void VolumeManager::baseStatusSubscriberCallback(const daemon_ros_client::msg::BaseStatus::SharedPtr msg) { m_currentVolumePercent = volumeIntToPercent(msg->volume); m_maximumVolumePercent = volumeIntToPercent(msg->maximum_volume); } -std_msgs::UInt8 VolumeManager::volumeToMsg(float volumePercent) +std_msgs::msg::UInt8 VolumeManager::volumeToMsg(float volumePercent) { - std_msgs::UInt8 msg; + std_msgs::msg::UInt8 msg; msg.data = volumePercentToInt(volumePercent); return msg; } diff --git a/ros/demos/home_logger/src/managers/VolumeManager.h b/ros/demos/home_logger/src/managers/VolumeManager.h index 190306fc..833bc599 100644 --- a/ros/demos/home_logger/src/managers/VolumeManager.h +++ b/ros/demos/home_logger/src/managers/VolumeManager.h @@ -1,22 +1,24 @@ #ifndef HOME_LOGGER_MANAGERS_VOLUME_MANAGER_H #define HOME_LOGGER_MANAGERS_VOLUME_MANAGER_H -#include -#include -#include +#include +#include +#include #include class VolumeManager { + rclcpp::Node::SharedPtr m_node; + float m_currentVolumePercent; float m_maximumVolumePercent; - ros::Publisher m_volumePublisher; - ros::Subscriber m_baseStatusSubscriber; + rclcpp::Publisher::SharedPtr m_volumePublisher; + rclcpp::Subscription::SharedPtr m_baseStatusSubscriber; public: - VolumeManager(ros::NodeHandle& nodeHandle); + VolumeManager(rclcpp::Node::SharedPtr node); virtual ~VolumeManager(); DECLARE_NOT_COPYABLE(VolumeManager); @@ -26,9 +28,9 @@ class VolumeManager float getVolume() const; private: - void baseStatusSubscriberCallback(const daemon_ros_client::BaseStatus::ConstPtr& msg); + void baseStatusSubscriberCallback(const daemon_ros_client::msg::BaseStatus::SharedPtr msg); - std_msgs::UInt8 volumeToMsg(float volumePercent); + std_msgs::msg::UInt8 volumeToMsg(float volumePercent); float volumeIntToPercent(uint8_t v); uint8_t volumePercentToInt(float v); }; diff --git a/ros/demos/home_logger/src/states/State.cpp b/ros/demos/home_logger/src/states/State.cpp index 6eb89414..6302c4d4 100644 --- a/ros/demos/home_logger/src/states/State.cpp +++ b/ros/demos/home_logger/src/states/State.cpp @@ -15,11 +15,11 @@ string StateParameter::toString() const StateType::StateType(type_index type) : m_type(type) {} -State::State(StateManager& stateManager, shared_ptr desireSet, ros::NodeHandle& nodeHandle) +State::State(StateManager& stateManager, shared_ptr desireSet, rclcpp::Node::SharedPtr node) : m_enabled(false), m_stateManager(stateManager), m_desireSet(desireSet), - m_nodeHandle(nodeHandle) + m_node(move(node)) { } @@ -45,19 +45,17 @@ void State::disable() void State::onDesireSetChanged(const vector>& desires) {} -void State::onSpeechToTextTranscriptReceived(const speech_to_text::Transcript::ConstPtr& msg) {} +void State::onSpeechToTextTranscriptReceived(const perception_msgs::msg::Transcript::SharedPtr& msg) {} void State::onRobotNameDetected() {} -void State::onVideoAnalysisReceived(const video_analyzer::VideoAnalysis::ConstPtr& msg) {} +void State::onVideoAnalysisReceived(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) {} -void State::onAudioAnalysisReceived(const audio_analyzer::AudioAnalysis::ConstPtr& msg) {} +void State::onAudioAnalysisReceived(const perception_msgs::msg::AudioAnalysis::SharedPtr& msg) {} -void State::onPersonNamesDetected(const person_identification::PersonNames::ConstPtr& msg) {} +void State::onPersonNamesDetected(const perception_msgs::msg::PersonNames::SharedPtr& msg) {} -void State::onBaseStatusChanged(const daemon_ros_client::BaseStatus::ConstPtr& msg) -{ -} +void State::onBaseStatusChanged(const daemon_ros_client::msg::BaseStatus::SharedPtr& msg) {} void State::onStateTimeout() {} @@ -66,7 +64,7 @@ void State::onEveryMinuteTimeout() {} void State::onEveryTenMinutesTimeout() {} -bool containsAtLeastOnePerson(const video_analyzer::VideoAnalysis::ConstPtr& msg) +bool containsAtLeastOnePerson(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) { for (auto& object : msg->objects) { diff --git a/ros/demos/home_logger/src/states/State.h b/ros/demos/home_logger/src/states/State.h index 62361903..bbf2a163 100644 --- a/ros/demos/home_logger/src/states/State.h +++ b/ros/demos/home_logger/src/states/State.h @@ -1,18 +1,18 @@ #ifndef HOME_LOGGER_STATES_STATE_H #define HOME_LOGGER_STATES_STATE_H -#include +#include -#include -#include +#include +#include #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include #include @@ -117,7 +117,10 @@ namespace std } #define DECLARE_STATE_PROTECTED_METHODS(className) \ - StateType type() const override { return StateType::get(); } + StateType type() const override \ + { \ + return StateType::get(); \ + } class State { @@ -126,10 +129,10 @@ class State protected: StateManager& m_stateManager; std::shared_ptr m_desireSet; - ros::NodeHandle& m_nodeHandle; + rclcpp::Node::SharedPtr m_node; public: - State(StateManager& stateManager, std::shared_ptr desireSet, ros::NodeHandle& nodeHandle); + State(StateManager& stateManager, std::shared_ptr desireSet, rclcpp::Node::SharedPtr node); virtual ~State(); DECLARE_NOT_COPYABLE(State); @@ -147,12 +150,12 @@ class State virtual void onDesireSetChanged(const std::vector>& desires); - virtual void onSpeechToTextTranscriptReceived(const speech_to_text::Transcript::ConstPtr& msg); + virtual void onSpeechToTextTranscriptReceived(const perception_msgs::msg::Transcript::SharedPtr& msg); virtual void onRobotNameDetected(); - virtual void onVideoAnalysisReceived(const video_analyzer::VideoAnalysis::ConstPtr& msg); - virtual void onAudioAnalysisReceived(const audio_analyzer::AudioAnalysis::ConstPtr& msg); - virtual void onPersonNamesDetected(const person_identification::PersonNames::ConstPtr& msg); - virtual void onBaseStatusChanged(const daemon_ros_client::BaseStatus::ConstPtr& msg); + virtual void onVideoAnalysisReceived(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg); + virtual void onAudioAnalysisReceived(const perception_msgs::msg::AudioAnalysis::SharedPtr& msg); + virtual void onPersonNamesDetected(const perception_msgs::msg::PersonNames::SharedPtr& msg); + virtual void onBaseStatusChanged(const daemon_ros_client::msg::BaseStatus::SharedPtr& msg); virtual void onStateTimeout(); virtual void onEveryMinuteTimeout(); @@ -166,6 +169,6 @@ inline bool State::enabled() const return m_enabled; } -bool containsAtLeastOnePerson(const video_analyzer::VideoAnalysis::ConstPtr& msg); +bool containsAtLeastOnePerson(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg); #endif diff --git a/ros/demos/home_logger/src/states/StateManager.cpp b/ros/demos/home_logger/src/states/StateManager.cpp index fc9c0556..aea28f40 100644 --- a/ros/demos/home_logger/src/states/StateManager.cpp +++ b/ros/demos/home_logger/src/states/StateManager.cpp @@ -2,30 +2,45 @@ using namespace std; -const double TIMEOUT_S = 30.0; -const double ONE_MINUTE_S = 60.0; -const double TEN_MINUTES_S = 600.0; +const int TIMEOUT_S = 30; +const int ONE_MINUTE_S = 60; +const int TEN_MINUTES_S = 600; -StateManager::StateManager(shared_ptr desireSet, ros::NodeHandle& nodeHandle) +StateManager::StateManager(shared_ptr desireSet, rclcpp::Node::SharedPtr node) : m_desireSet(desireSet), - m_nodeHandle(nodeHandle), + m_node(move(node)), m_currentState(nullptr) { m_desireSet->addObserver(this); - m_speechToTextSubscriber = - nodeHandle.subscribe("speech_to_text/transcript", 1, &StateManager::onSpeechToTextTranscriptReceived, this); - m_robotNameDetectedSubscriber = - nodeHandle.subscribe("robot_name_detected", 1, &StateManager::onRobotNameDetected, this); - m_videoAnalysisSubscriber = nodeHandle.subscribe("video_analysis", 1, &StateManager::onVideoAnalysisReceived, this); - m_audioAnalysisSubscriber = nodeHandle.subscribe("audio_analysis", 1, &StateManager::onAudioAnalysisReceived, this); - m_personNamesSubscriber = nodeHandle.subscribe("person_names", 1, &StateManager::onPersonNamesDetected, this); - m_baseStatusSubscriber = nodeHandle.subscribe("daemon/base_status", 1, &StateManager::onBaseStatusChanged, this); - - m_everyMinuteTimer = - m_nodeHandle.createTimer(ros::Duration(ONE_MINUTE_S), &StateManager::onEveryMinuteTimeout, this); + m_speechToTextSubscriber = m_node->create_subscription( + "speech_to_text/transcript", + 1, + [this](const perception_msgs::msg::Transcript::SharedPtr msg) { onSpeechToTextTranscriptReceived(msg); }); + m_robotNameDetectedSubscriber = m_node->create_subscription( + "robot_name_detected", + 1, + [this](const std_msgs::msg::Empty::SharedPtr msg) { onRobotNameDetected(msg); }); + m_videoAnalysisSubscriber = m_node->create_subscription( + "video_analysis", + 1, + [this](const perception_msgs::msg::VideoAnalysis::SharedPtr msg) { onVideoAnalysisReceived(msg); }); + m_audioAnalysisSubscriber = m_node->create_subscription( + "audio_analysis", + 1, + [this](const perception_msgs::msg::AudioAnalysis::SharedPtr msg) { onAudioAnalysisReceived(msg); }); + m_personNamesSubscriber = m_node->create_subscription( + "person_names", + 1, + [this](const perception_msgs::msg::PersonNames::SharedPtr msg) { onPersonNamesDetected(msg); }); + m_baseStatusSubscriber = m_node->create_subscription( + "daemon/base_status", + 1, + [this](const daemon_ros_client::msg::BaseStatus::SharedPtr msg) { onBaseStatusChanged(msg); }); + + m_everyMinuteTimer = m_node->create_wall_timer(chrono::seconds(ONE_MINUTE_S), [this]() { onEveryMinuteTimeout(); }); m_everyTenMinuteTimer = - m_nodeHandle.createTimer(ros::Duration(TEN_MINUTES_S), &StateManager::onEveryTenMinutesTimeout, this); + m_node->create_wall_timer(chrono::seconds(TEN_MINUTES_S), [this]() { onEveryTenMinutesTimeout(); }); } StateManager::~StateManager() @@ -40,9 +55,10 @@ void StateManager::addState(unique_ptr state) void StateManager::switchTo(StateType type, const StateParameter& parameter) { - if (m_stateTimeoutTimer.isValid()) + if (m_stateTimeoutTimer) { - m_stateTimeoutTimer.stop(); + m_stateTimeoutTimer->cancel(); + m_stateTimeoutTimer = nullptr; } auto transaction = m_desireSet->beginTransaction(); @@ -50,18 +66,16 @@ void StateManager::switchTo(StateType type, const StateParameter& parameter) StateType previousStateType = StateType::null(); if (m_currentState != nullptr) { - ROS_INFO_STREAM("Disabling " << m_currentState->type().name()); + RCLCPP_INFO_STREAM(m_node->get_logger(), "Disabling " << m_currentState->type().name()); m_currentState->disable(); previousStateType = m_currentState->type(); } - ROS_INFO_STREAM("Enabling " << type.name() << "(" << parameter.toString() << ")"); + RCLCPP_INFO_STREAM(m_node->get_logger(), "Enabling " << type.name() << "(" << parameter.toString() << ")"); m_currentState = m_states.at(type).get(); m_currentState->enable(parameter, previousStateType); - constexpr bool ONE_SHOT = true; - m_stateTimeoutTimer = - m_nodeHandle.createTimer(ros::Duration(TIMEOUT_S), &StateManager::onStateTimeout, this, ONE_SHOT); + m_stateTimeoutTimer = m_node->create_wall_timer(chrono::seconds(TIMEOUT_S), [this]() { onStateTimeout(); }); } void StateManager::onDesireSetChanged(const vector>& desires) @@ -72,7 +86,7 @@ void StateManager::onDesireSetChanged(const vector>& desires) } } -void StateManager::onSpeechToTextTranscriptReceived(const speech_to_text::Transcript::ConstPtr& msg) +void StateManager::onSpeechToTextTranscriptReceived(const perception_msgs::msg::Transcript::SharedPtr& msg) { if (m_currentState != nullptr) { @@ -80,7 +94,7 @@ void StateManager::onSpeechToTextTranscriptReceived(const speech_to_text::Transc } } -void StateManager::onRobotNameDetected(const std_msgs::Empty::ConstPtr& msg) +void StateManager::onRobotNameDetected(const std_msgs::msg::Empty::SharedPtr& msg) { if (m_currentState != nullptr) { @@ -88,7 +102,7 @@ void StateManager::onRobotNameDetected(const std_msgs::Empty::ConstPtr& msg) } } -void StateManager::onVideoAnalysisReceived(const video_analyzer::VideoAnalysis::ConstPtr& msg) +void StateManager::onVideoAnalysisReceived(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) { if (m_currentState != nullptr) { @@ -96,7 +110,7 @@ void StateManager::onVideoAnalysisReceived(const video_analyzer::VideoAnalysis:: } } -void StateManager::onAudioAnalysisReceived(const audio_analyzer::AudioAnalysis::ConstPtr& msg) +void StateManager::onAudioAnalysisReceived(const perception_msgs::msg::AudioAnalysis::SharedPtr& msg) { if (m_currentState != nullptr) { @@ -104,7 +118,7 @@ void StateManager::onAudioAnalysisReceived(const audio_analyzer::AudioAnalysis:: } } -void StateManager::onPersonNamesDetected(const person_identification::PersonNames::ConstPtr& msg) +void StateManager::onPersonNamesDetected(const perception_msgs::msg::PersonNames::SharedPtr& msg) { if (m_currentState != nullptr) { @@ -112,7 +126,7 @@ void StateManager::onPersonNamesDetected(const person_identification::PersonName } } -void StateManager::onBaseStatusChanged(const daemon_ros_client::BaseStatus::ConstPtr& msg) +void StateManager::onBaseStatusChanged(const daemon_ros_client::msg::BaseStatus::SharedPtr& msg) { if (m_currentState != nullptr) { @@ -120,7 +134,7 @@ void StateManager::onBaseStatusChanged(const daemon_ros_client::BaseStatus::Cons } } -void StateManager::onStateTimeout(const ros::TimerEvent& event) +void StateManager::onStateTimeout() { if (m_currentState != nullptr) { @@ -128,7 +142,7 @@ void StateManager::onStateTimeout(const ros::TimerEvent& event) } } -void StateManager::onEveryMinuteTimeout(const ros::TimerEvent& event) +void StateManager::onEveryMinuteTimeout() { if (m_currentState != nullptr) { @@ -136,7 +150,7 @@ void StateManager::onEveryMinuteTimeout(const ros::TimerEvent& event) } } -void StateManager::onEveryTenMinutesTimeout(const ros::TimerEvent& event) +void StateManager::onEveryTenMinutesTimeout() { if (m_currentState != nullptr) { diff --git a/ros/demos/home_logger/src/states/StateManager.h b/ros/demos/home_logger/src/states/StateManager.h index 16a196b7..2f9f4a8a 100644 --- a/ros/demos/home_logger/src/states/StateManager.h +++ b/ros/demos/home_logger/src/states/StateManager.h @@ -8,24 +8,24 @@ class StateManager : private DesireSetObserver { std::shared_ptr m_desireSet; - ros::NodeHandle& m_nodeHandle; + rclcpp::Node::SharedPtr m_node; std::unordered_map> m_states; State* m_currentState; - ros::Subscriber m_speechToTextSubscriber; - ros::Subscriber m_robotNameDetectedSubscriber; - ros::Subscriber m_videoAnalysisSubscriber; - ros::Subscriber m_audioAnalysisSubscriber; - ros::Subscriber m_personNamesSubscriber; - ros::Subscriber m_baseStatusSubscriber; + rclcpp::Subscription::SharedPtr m_speechToTextSubscriber; + rclcpp::Subscription::SharedPtr m_robotNameDetectedSubscriber; + rclcpp::Subscription::SharedPtr m_videoAnalysisSubscriber; + rclcpp::Subscription::SharedPtr m_audioAnalysisSubscriber; + rclcpp::Subscription::SharedPtr m_personNamesSubscriber; + rclcpp::Subscription::SharedPtr m_baseStatusSubscriber; - ros::Timer m_stateTimeoutTimer; - ros::Timer m_everyMinuteTimer; - ros::Timer m_everyTenMinuteTimer; + rclcpp::TimerBase::SharedPtr m_stateTimeoutTimer; + rclcpp::TimerBase::SharedPtr m_everyMinuteTimer; + rclcpp::TimerBase::SharedPtr m_everyTenMinuteTimer; public: - StateManager(std::shared_ptr desireSet, ros::NodeHandle& nodeHandle); + StateManager(std::shared_ptr desireSet, rclcpp::Node::SharedPtr node); virtual ~StateManager(); DECLARE_NOT_COPYABLE(StateManager); @@ -40,16 +40,16 @@ class StateManager : private DesireSetObserver private: void onDesireSetChanged(const std::vector>& desires) override; - void onSpeechToTextTranscriptReceived(const speech_to_text::Transcript::ConstPtr& msg); - void onRobotNameDetected(const std_msgs::Empty::ConstPtr& msg); - void onVideoAnalysisReceived(const video_analyzer::VideoAnalysis::ConstPtr& msg); - void onAudioAnalysisReceived(const audio_analyzer::AudioAnalysis::ConstPtr& msg); - void onPersonNamesDetected(const person_identification::PersonNames::ConstPtr& msg); - void onBaseStatusChanged(const daemon_ros_client::BaseStatus::ConstPtr& msg); + void onSpeechToTextTranscriptReceived(const perception_msgs::msg::Transcript::SharedPtr& msg); + void onRobotNameDetected(const std_msgs::msg::Empty::SharedPtr& msg); + void onVideoAnalysisReceived(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg); + void onAudioAnalysisReceived(const perception_msgs::msg::AudioAnalysis::SharedPtr& msg); + void onPersonNamesDetected(const perception_msgs::msg::PersonNames::SharedPtr& msg); + void onBaseStatusChanged(const daemon_ros_client::msg::BaseStatus::SharedPtr& msg); - void onStateTimeout(const ros::TimerEvent& event); - void onEveryMinuteTimeout(const ros::TimerEvent& event); - void onEveryTenMinutesTimeout(const ros::TimerEvent& event); + void onStateTimeout(); + void onEveryMinuteTimeout(); + void onEveryTenMinutesTimeout(); }; template diff --git a/ros/demos/home_logger/src/states/common/SoundFaceFollowingState.cpp b/ros/demos/home_logger/src/states/common/SoundFaceFollowingState.cpp index 57ca4c48..8d18249c 100644 --- a/ros/demos/home_logger/src/states/common/SoundFaceFollowingState.cpp +++ b/ros/demos/home_logger/src/states/common/SoundFaceFollowingState.cpp @@ -9,8 +9,8 @@ using namespace std; SoundFaceFollowingState::SoundFaceFollowingState( StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : State(stateManager, move(desireSet), nodeHandle), + rclcpp::Node::SharedPtr node) + : State(stateManager, move(desireSet), move(node)), m_followingDesireType(DesireType::null()), m_videoAnalysisWithoutPersonCount(0) { @@ -29,7 +29,7 @@ void SoundFaceFollowingState::onDisabling() setFollowingDesire(nullptr); } -void SoundFaceFollowingState::onVideoAnalysisReceived(const video_analyzer::VideoAnalysis::ConstPtr& msg) +void SoundFaceFollowingState::onVideoAnalysisReceived(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) { bool containsAPerson = containsAtLeastOnePerson(msg); diff --git a/ros/demos/home_logger/src/states/common/SoundFaceFollowingState.h b/ros/demos/home_logger/src/states/common/SoundFaceFollowingState.h index 6ddd735a..89560fae 100644 --- a/ros/demos/home_logger/src/states/common/SoundFaceFollowingState.h +++ b/ros/demos/home_logger/src/states/common/SoundFaceFollowingState.h @@ -15,7 +15,7 @@ class SoundFaceFollowingState : public State SoundFaceFollowingState( StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~SoundFaceFollowingState() override; protected: @@ -24,7 +24,7 @@ class SoundFaceFollowingState : public State void onEnabling(const StateParameter& parameter, const StateType& previousStateType) override; void onDisabling() override; - void onVideoAnalysisReceived(const video_analyzer::VideoAnalysis::ConstPtr& msg) override; + void onVideoAnalysisReceived(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) override; private: void setFollowingDesire(std::unique_ptr desire); diff --git a/ros/demos/home_logger/src/states/common/TalkState.cpp b/ros/demos/home_logger/src/states/common/TalkState.cpp index 9cf6d01b..4638823d 100644 --- a/ros/demos/home_logger/src/states/common/TalkState.cpp +++ b/ros/demos/home_logger/src/states/common/TalkState.cpp @@ -60,8 +60,8 @@ string TalkStateParameter::toString() const } -TalkState::TalkState(StateManager& stateManager, shared_ptr desireSet, ros::NodeHandle& nodeHandle) - : State(stateManager, move(desireSet), nodeHandle) +TalkState::TalkState(StateManager& stateManager, shared_ptr desireSet, rclcpp::Node::SharedPtr node) + : State(stateManager, move(desireSet), move(node)) { } diff --git a/ros/demos/home_logger/src/states/common/TalkState.h b/ros/demos/home_logger/src/states/common/TalkState.h index c9bf840a..f3c2c33f 100644 --- a/ros/demos/home_logger/src/states/common/TalkState.h +++ b/ros/demos/home_logger/src/states/common/TalkState.h @@ -39,7 +39,7 @@ class TalkState : public State std::optional m_faceAnimationDesireId; public: - TalkState(StateManager& stateManager, std::shared_ptr desireSet, ros::NodeHandle& nodeHandle); + TalkState(StateManager& stateManager, std::shared_ptr desireSet, rclcpp::Node::SharedPtr node); ~TalkState() override; protected: diff --git a/ros/demos/home_logger/src/states/specific/AlarmState.cpp b/ros/demos/home_logger/src/states/specific/AlarmState.cpp index e4bf7e26..9bc1357f 100644 --- a/ros/demos/home_logger/src/states/specific/AlarmState.cpp +++ b/ros/demos/home_logger/src/states/specific/AlarmState.cpp @@ -22,10 +22,10 @@ string AlarmStateParameter::toString() const AlarmState::AlarmState( StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, AlarmManager& alarmManager, string alarmPath) - : SoundFaceFollowingState(stateManager, move(desireSet), nodeHandle), + : SoundFaceFollowingState(stateManager, move(desireSet), move(node)), m_alarmManager(alarmManager), m_alarmPath(move(alarmPath)) { diff --git a/ros/demos/home_logger/src/states/specific/AlarmState.h b/ros/demos/home_logger/src/states/specific/AlarmState.h index 9f6f2141..591c4914 100644 --- a/ros/demos/home_logger/src/states/specific/AlarmState.h +++ b/ros/demos/home_logger/src/states/specific/AlarmState.h @@ -29,7 +29,7 @@ class AlarmState : public SoundFaceFollowingState AlarmState( StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, AlarmManager& alarmManager, std::string alarmPath); ~AlarmState() override; diff --git a/ros/demos/home_logger/src/states/specific/ExecuteCommandState.cpp b/ros/demos/home_logger/src/states/specific/ExecuteCommandState.cpp index 31900b3c..6efc9816 100644 --- a/ros/demos/home_logger/src/states/specific/ExecuteCommandState.cpp +++ b/ros/demos/home_logger/src/states/specific/ExecuteCommandState.cpp @@ -42,12 +42,12 @@ string ExecuteCommandStateParameter::toString() const ExecuteCommandState::ExecuteCommandState( StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, VolumeManager& volumeManager, AlarmManager& alarmManager, ReminderManager& reminderManager) - : SoundFaceFollowingState(stateManager, move(desireSet), nodeHandle), - m_allCommandExecutor(stateManager, nodeHandle, volumeManager, alarmManager, reminderManager), + : SoundFaceFollowingState(stateManager, move(desireSet), node), + m_allCommandExecutor(stateManager, node, volumeManager, alarmManager, reminderManager), m_allCommandParametersAsker(stateManager) { } diff --git a/ros/demos/home_logger/src/states/specific/ExecuteCommandState.h b/ros/demos/home_logger/src/states/specific/ExecuteCommandState.h index 913f5be7..5d8838f3 100644 --- a/ros/demos/home_logger/src/states/specific/ExecuteCommandState.h +++ b/ros/demos/home_logger/src/states/specific/ExecuteCommandState.h @@ -39,7 +39,7 @@ class ExecuteCommandState : public SoundFaceFollowingState ExecuteCommandState( StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, VolumeManager& volumeManager, AlarmManager& alarmManager, ReminderManager& reminderManager); diff --git a/ros/demos/home_logger/src/states/specific/IdleState.cpp b/ros/demos/home_logger/src/states/specific/IdleState.cpp index 0327cb27..5db37a05 100644 --- a/ros/demos/home_logger/src/states/specific/IdleState.cpp +++ b/ros/demos/home_logger/src/states/specific/IdleState.cpp @@ -19,13 +19,13 @@ constexpr chrono::hours GREATING_INTERVAL(4); IdleState::IdleState( StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, AlarmManager& alarmManager, ReminderManager& reminderManager, Time sleepTime, Time wakeUpTime, float faceDescriptorThreshold) - : SoundFaceFollowingState(stateManager, move(desireSet), nodeHandle), + : SoundFaceFollowingState(stateManager, move(desireSet), move(node)), m_alarmManager(alarmManager), m_reminderManager(reminderManager), m_sleepTime(sleepTime), @@ -73,7 +73,7 @@ void IdleState::onDisabling() } } -void IdleState::onVideoAnalysisReceived(const video_analyzer::VideoAnalysis::ConstPtr& msg) +void IdleState::onVideoAnalysisReceived(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) { SoundFaceFollowingState::onVideoAnalysisReceived(msg); @@ -119,7 +119,7 @@ void IdleState::onRobotNameDetected() StateType::get())); } -void IdleState::onBaseStatusChanged(const daemon_ros_client::BaseStatus::ConstPtr& msg) +void IdleState::onBaseStatusChanged(const daemon_ros_client::msg::BaseStatus::SharedPtr& msg) { m_chargeNeeded = msg->state_of_charge <= LOW_STATE_OF_CHARGE && !msg->is_psu_connected; } @@ -147,7 +147,7 @@ void IdleState::onEveryTenMinutesTimeout() m_todayReminders = m_reminderManager.listReminders(Date::now()); } -optional IdleState::findReminder(const video_analyzer::VideoAnalysis::ConstPtr& msg) +optional IdleState::findReminder(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) { for (auto& object : msg->objects) { diff --git a/ros/demos/home_logger/src/states/specific/IdleState.h b/ros/demos/home_logger/src/states/specific/IdleState.h index 91f5b4af..c71755d1 100644 --- a/ros/demos/home_logger/src/states/specific/IdleState.h +++ b/ros/demos/home_logger/src/states/specific/IdleState.h @@ -32,7 +32,7 @@ class IdleState : public SoundFaceFollowingState IdleState( StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, AlarmManager& alarmManager, ReminderManager& reminderManager, Time sleepTime, @@ -46,14 +46,14 @@ class IdleState : public SoundFaceFollowingState void onEnabling(const StateParameter& parameter, const StateType& previousStateType) override; void onDisabling() override; - void onVideoAnalysisReceived(const video_analyzer::VideoAnalysis::ConstPtr& msg) override; + void onVideoAnalysisReceived(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) override; void onRobotNameDetected() override; - void onBaseStatusChanged(const daemon_ros_client::BaseStatus::ConstPtr& msg) override; + void onBaseStatusChanged(const daemon_ros_client::msg::BaseStatus::SharedPtr& msg) override; void onEveryMinuteTimeout() override; void onEveryTenMinutesTimeout() override; private: - std::optional findReminder(const video_analyzer::VideoAnalysis::ConstPtr& msg); + std::optional findReminder(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg); void switchToAlarmState(std::vector> alarms); }; diff --git a/ros/demos/home_logger/src/states/specific/SleepState.cpp b/ros/demos/home_logger/src/states/specific/SleepState.cpp index d71c7de0..134155e6 100644 --- a/ros/demos/home_logger/src/states/specific/SleepState.cpp +++ b/ros/demos/home_logger/src/states/specific/SleepState.cpp @@ -9,10 +9,10 @@ using namespace std; SleepState::SleepState( StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, Time sleepTime, Time wakeUpTime) - : State(stateManager, move(desireSet), nodeHandle), + : State(stateManager, move(desireSet), move(node)), m_sleepTime(sleepTime), m_wakeUpTime(wakeUpTime), m_wasForced(false), diff --git a/ros/demos/home_logger/src/states/specific/SleepState.h b/ros/demos/home_logger/src/states/specific/SleepState.h index 516bfda5..204f8695 100644 --- a/ros/demos/home_logger/src/states/specific/SleepState.h +++ b/ros/demos/home_logger/src/states/specific/SleepState.h @@ -26,7 +26,7 @@ class SleepState : public State SleepState( StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, Time sleepTime, Time wakeUpTime); ~SleepState() override; diff --git a/ros/demos/home_logger/src/states/specific/TellReminderState.cpp b/ros/demos/home_logger/src/states/specific/TellReminderState.cpp index 3e89076c..a189525a 100644 --- a/ros/demos/home_logger/src/states/specific/TellReminderState.cpp +++ b/ros/demos/home_logger/src/states/specific/TellReminderState.cpp @@ -24,9 +24,9 @@ string TellReminderStateParameter::toString() const TellReminderState::TellReminderState( StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, ReminderManager& reminderManager) - : TalkState(stateManager, desireSet, nodeHandle), + : TalkState(stateManager, desireSet, move(node)), m_reminderManager(reminderManager) { } diff --git a/ros/demos/home_logger/src/states/specific/TellReminderState.h b/ros/demos/home_logger/src/states/specific/TellReminderState.h index 2f58dfd9..ead945e9 100644 --- a/ros/demos/home_logger/src/states/specific/TellReminderState.h +++ b/ros/demos/home_logger/src/states/specific/TellReminderState.h @@ -27,7 +27,7 @@ class TellReminderState : public TalkState TellReminderState( StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, ReminderManager& reminderManager); ~TellReminderState() override; diff --git a/ros/demos/home_logger/src/states/specific/WaitCommandParameterState.cpp b/ros/demos/home_logger/src/states/specific/WaitCommandParameterState.cpp index 58934351..d26ac167 100644 --- a/ros/demos/home_logger/src/states/specific/WaitCommandParameterState.cpp +++ b/ros/demos/home_logger/src/states/specific/WaitCommandParameterState.cpp @@ -32,8 +32,8 @@ string WaitCommandParameterStateParameter::toString() const WaitCommandParameterState::WaitCommandParameterState( StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : SoundFaceFollowingState(stateManager, move(desireSet), nodeHandle), + rclcpp::Node::SharedPtr node) + : SoundFaceFollowingState(stateManager, move(desireSet), move(node)), m_transcriptReceived(false) { } @@ -69,7 +69,7 @@ void WaitCommandParameterState::onDisabling() } } -void WaitCommandParameterState::onSpeechToTextTranscriptReceived(const speech_to_text::Transcript::ConstPtr& msg) +void WaitCommandParameterState::onSpeechToTextTranscriptReceived(const perception_msgs::msg::Transcript::SharedPtr& msg) { m_transcriptReceived = true; m_parameterResponse = msg->text; diff --git a/ros/demos/home_logger/src/states/specific/WaitCommandParameterState.h b/ros/demos/home_logger/src/states/specific/WaitCommandParameterState.h index 9602da1c..2afec15b 100644 --- a/ros/demos/home_logger/src/states/specific/WaitCommandParameterState.h +++ b/ros/demos/home_logger/src/states/specific/WaitCommandParameterState.h @@ -32,7 +32,7 @@ class WaitCommandParameterState : public SoundFaceFollowingState WaitCommandParameterState( StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~WaitCommandParameterState() override; protected: @@ -41,7 +41,7 @@ class WaitCommandParameterState : public SoundFaceFollowingState void onEnabling(const StateParameter& parameter, const StateType& previousStateType) override; void onDisabling() override; - void onSpeechToTextTranscriptReceived(const speech_to_text::Transcript::ConstPtr& msg) override; + void onSpeechToTextTranscriptReceived(const perception_msgs::msg::Transcript::SharedPtr& msg) override; void onStateTimeout() override; private: diff --git a/ros/demos/home_logger/src/states/specific/WaitCommandState.cpp b/ros/demos/home_logger/src/states/specific/WaitCommandState.cpp index f07d25ea..de35c529 100644 --- a/ros/demos/home_logger/src/states/specific/WaitCommandState.cpp +++ b/ros/demos/home_logger/src/states/specific/WaitCommandState.cpp @@ -13,8 +13,8 @@ using namespace std; WaitCommandState::WaitCommandState( StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : SoundFaceFollowingState(stateManager, move(desireSet), nodeHandle), + rclcpp::Node::SharedPtr node) + : SoundFaceFollowingState(stateManager, move(desireSet), move(node)), m_transcriptReceived(false) { } @@ -48,7 +48,7 @@ void WaitCommandState::onDisabling() } } -void WaitCommandState::onSpeechToTextTranscriptReceived(const speech_to_text::Transcript::ConstPtr& msg) +void WaitCommandState::onSpeechToTextTranscriptReceived(const perception_msgs::msg::Transcript::SharedPtr& msg) { m_transcriptReceived = true; m_commands = m_parser.parse(msg->text); diff --git a/ros/demos/home_logger/src/states/specific/WaitCommandState.h b/ros/demos/home_logger/src/states/specific/WaitCommandState.h index 11c0f8ba..124d9d69 100644 --- a/ros/demos/home_logger/src/states/specific/WaitCommandState.h +++ b/ros/demos/home_logger/src/states/specific/WaitCommandState.h @@ -15,7 +15,7 @@ class WaitCommandState : public SoundFaceFollowingState std::optional m_speechToTextDesireId; public: - WaitCommandState(StateManager& stateManager, std::shared_ptr desireSet, ros::NodeHandle& nodeHandle); + WaitCommandState(StateManager& stateManager, std::shared_ptr desireSet, rclcpp::Node::SharedPtr node); ~WaitCommandState() override; protected: @@ -24,7 +24,7 @@ class WaitCommandState : public SoundFaceFollowingState void onEnabling(const StateParameter& parameter, const StateType& previousStateType) override; void onDisabling() override; - void onSpeechToTextTranscriptReceived(const speech_to_text::Transcript::ConstPtr& msg) override; + void onSpeechToTextTranscriptReceived(const perception_msgs::msg::Transcript::SharedPtr& msg) override; void onStateTimeout() override; private: diff --git a/ros/demos/home_logger/src/states/specific/WaitFaceDescriptorCommandParameterState.cpp b/ros/demos/home_logger/src/states/specific/WaitFaceDescriptorCommandParameterState.cpp index 048ef112..a5996024 100644 --- a/ros/demos/home_logger/src/states/specific/WaitFaceDescriptorCommandParameterState.cpp +++ b/ros/demos/home_logger/src/states/specific/WaitFaceDescriptorCommandParameterState.cpp @@ -5,7 +5,8 @@ #include #include -#include + +#include using namespace std; @@ -32,9 +33,9 @@ string WaitFaceDescriptorCommandParameterStateParameter::toString() const WaitFaceDescriptorCommandParameterState::WaitFaceDescriptorCommandParameterState( StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, float noseConfidenceThreshold) - : SoundFaceFollowingState(stateManager, move(desireSet), nodeHandle), + : SoundFaceFollowingState(stateManager, move(desireSet), move(node)), m_noseConfidenceThreshold(noseConfidenceThreshold) { } @@ -74,7 +75,7 @@ void WaitFaceDescriptorCommandParameterState::onDisabling() } void WaitFaceDescriptorCommandParameterState::onVideoAnalysisReceived( - const video_analyzer::VideoAnalysis::ConstPtr& msg) + const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) { auto faceDescriptor = findNearestFaceDescriptor(msg); if (faceDescriptor.has_value()) @@ -94,7 +95,7 @@ void WaitFaceDescriptorCommandParameterState::onStateTimeout() } optional WaitFaceDescriptorCommandParameterState::findNearestFaceDescriptor( - const video_analyzer::VideoAnalysis::ConstPtr& msg) + const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) { constexpr size_t PERSON_POSE_NOSE_INDEX = 0; @@ -111,7 +112,7 @@ optional WaitFaceDescriptorCommandParameterState::findNearestFac } auto nosePoint = object.person_pose_3d[PERSON_POSE_NOSE_INDEX]; - float distance = tf::Vector3(nosePoint.x, nosePoint.y, nosePoint.z).length(); + float distance = tf2::Vector3(nosePoint.x, nosePoint.y, nosePoint.z).length(); if (distance < nearestDistance) { nearestDistance = distance; diff --git a/ros/demos/home_logger/src/states/specific/WaitFaceDescriptorCommandParameterState.h b/ros/demos/home_logger/src/states/specific/WaitFaceDescriptorCommandParameterState.h index 548eeff1..474c7ce5 100644 --- a/ros/demos/home_logger/src/states/specific/WaitFaceDescriptorCommandParameterState.h +++ b/ros/demos/home_logger/src/states/specific/WaitFaceDescriptorCommandParameterState.h @@ -31,7 +31,7 @@ class WaitFaceDescriptorCommandParameterState : public SoundFaceFollowingState WaitFaceDescriptorCommandParameterState( StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, float noseConfidenceThreshold); ~WaitFaceDescriptorCommandParameterState() override; @@ -41,11 +41,11 @@ class WaitFaceDescriptorCommandParameterState : public SoundFaceFollowingState void onEnabling(const StateParameter& parameter, const StateType& previousStateType) override; void onDisabling() override; - void onVideoAnalysisReceived(const video_analyzer::VideoAnalysis::ConstPtr& msg) override; + void onVideoAnalysisReceived(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg) override; void onStateTimeout() override; private: - std::optional findNearestFaceDescriptor(const video_analyzer::VideoAnalysis::ConstPtr& msg); + std::optional findNearestFaceDescriptor(const perception_msgs::msg::VideoAnalysis::SharedPtr& msg); void switchState(); }; diff --git a/ros/demos/home_logger/test/home_logger_common/PropertiesTests.cpp b/ros/demos/home_logger/test/home_logger_common/PropertiesTests.cpp index 32e43429..2c16a995 100644 --- a/ros/demos/home_logger/test/home_logger_common/PropertiesTests.cpp +++ b/ros/demos/home_logger/test/home_logger_common/PropertiesTests.cpp @@ -1,11 +1,11 @@ #include -#include +#include #include using namespace std; -namespace fs = boost::filesystem; +namespace fs = std::filesystem; TEST(PropertiesTests, constructor_map_shouldCopyTheMap) { diff --git a/ros/demos/home_logger/test/home_logger_common/language/StringResourcesTests.cpp b/ros/demos/home_logger/test/home_logger_common/language/StringResourcesTests.cpp index 23dd0c69..63e20f56 100644 --- a/ros/demos/home_logger/test/home_logger_common/language/StringResourcesTests.cpp +++ b/ros/demos/home_logger/test/home_logger_common/language/StringResourcesTests.cpp @@ -1,11 +1,11 @@ #include -#include +#include #include using namespace std; -namespace fs = boost::filesystem; +namespace fs = std::filesystem; TEST(StringResourcesTests, getValue_notInitialized_shouldThrowRuntimeError) { diff --git a/ros/demos/home_logger/test/home_logger_common/loadStringResources.cpp b/ros/demos/home_logger/test/home_logger_common/loadStringResources.cpp index d9b89f15..34eb296c 100644 --- a/ros/demos/home_logger/test/home_logger_common/loadStringResources.cpp +++ b/ros/demos/home_logger/test/home_logger_common/loadStringResources.cpp @@ -1,9 +1,9 @@ #include #include -#include +#include -namespace fs = boost::filesystem; +namespace fs = std::filesystem; void loadFrenchStringResources() { diff --git a/ros/demos/home_logger/test/home_logger_common/parameters/ReminderCommandParametersParsersTests.cpp b/ros/demos/home_logger/test/home_logger_common/parameters/ReminderCommandParametersParsersTests.cpp index 86a2ff5c..a920aa89 100644 --- a/ros/demos/home_logger/test/home_logger_common/parameters/ReminderCommandParametersParsersTests.cpp +++ b/ros/demos/home_logger/test/home_logger_common/parameters/ReminderCommandParametersParsersTests.cpp @@ -82,8 +82,7 @@ TEST(AddReminderCommandParametersParserTests, parse_faceDescriptor_shouldReturnA loadFrenchStringResources(); AddReminderCommandParametersParser testee; - auto command = - testee.parse(make_shared("a"), nullopt, nullopt, FaceDescriptor({11.f})); + auto command = testee.parse(make_shared("a"), nullopt, nullopt, FaceDescriptor({11.f})); auto addReminderCommand = dynamic_pointer_cast(command); EXPECT_EQ(addReminderCommand->transcript(), "a"); EXPECT_EQ(addReminderCommand->text(), nullopt); @@ -129,8 +128,7 @@ TEST(RemoveReminderCommandParametersParserTests, parse_parameterNothing_shouldRe TEST(RemoveReminderCommandParametersParserTests, parse_transcriptCurrent_shouldReturnACopyWithVolume) { RemoveReminderCommandParametersParser testee; - auto command = - testee.parse(make_shared("Alarme 15"), nullopt, nullopt, nullopt); + auto command = testee.parse(make_shared("Alarme 15"), nullopt, nullopt, nullopt); auto removeReminderCommand = dynamic_pointer_cast(command); EXPECT_EQ(removeReminderCommand->transcript(), "Alarme 15"); EXPECT_EQ(removeReminderCommand->id(), 15); diff --git a/ros/demos/smart_speaker/CMakeLists.txt b/ros/demos/smart_speaker/CMakeLists.txt index 54de5462..4ce9fb0d 100644 --- a/ros/demos/smart_speaker/CMakeLists.txt +++ b/ros/demos/smart_speaker/CMakeLists.txt @@ -1,152 +1,31 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(smart_speaker) -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) -## 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 - audio_analyzer - cloud_data - gesture - hbba_lite - person_identification - rospy - roscpp - sensor_msgs - std_msgs - talk - video_analyzer - t_top_hbba_lite - tf - speech_to_text - sound_player - led_animations - daemon_ros_client -) - -## 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 -# sensor_msgs# 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 smart_speaker - # CATKIN_DEPENDS audio_analyzer cloud_data gesture hbba_lite person_identification roscpp sensor_msgs std_msgs talk video_analyzer - # DEPENDS system_lib -) - -########### -## Build ## -########### +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - # include - ${catkin_INCLUDE_DIRS} -) +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/smart_speaker.cpp -# ) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(cloud_data REQUIRED) +find_package(t_top_hbba_lite REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) +find_package(perception_msgs REQUIRED) -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide add_executable(${PROJECT_NAME}_rss_node src/${PROJECT_NAME}_rss_node.cpp src/StringUtils.cpp @@ -168,6 +47,16 @@ add_executable(${PROJECT_NAME}_rss_node src/states/rss/RssValidTaskState.cpp src/states/rss/RssStoryState.cpp ) +ament_target_dependencies(${PROJECT_NAME}_rss_node + rclcpp + cloud_data + t_top_hbba_lite + tf2 + tf2_ros + tf2_geometry_msgs + perception_msgs +) +install(TARGETS ${PROJECT_NAME}_rss_node DESTINATION lib/${PROJECT_NAME}) add_executable(${PROJECT_NAME}_smart_node src/${PROJECT_NAME}_smart_node.cpp @@ -188,77 +77,21 @@ add_executable(${PROJECT_NAME}_smart_node src/states/smart/SmartAskOtherTaskState.cpp src/states/smart/SmartThankYouState.cpp ) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${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}_rss_node - ${catkin_LIBRARIES} -) - -target_link_libraries(${PROJECT_NAME}_smart_node - ${catkin_LIBRARIES} +ament_target_dependencies(${PROJECT_NAME}_smart_node + rclcpp + cloud_data + t_top_hbba_lite + tf2 + tf2_ros + tf2_geometry_msgs + perception_msgs ) +install(TARGETS ${PROJECT_NAME}_smart_node DESTINATION lib/${PROJECT_NAME}) -############# -## 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/script.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 ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_smart_speaker.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Resources files +install(DIRECTORY resources DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/demos/smart_speaker/launch/smart_speaker_rss.launch b/ros/demos/smart_speaker/launch/smart_speaker_rss.launch deleted file mode 100644 index 3f643a5f..00000000 --- a/ros/demos/smart_speaker/launch/smart_speaker_rss.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/ros/demos/smart_speaker/launch/smart_speaker_rss.launch.xml b/ros/demos/smart_speaker/launch/smart_speaker_rss.launch.xml new file mode 100644 index 00000000..79008e18 --- /dev/null +++ b/ros/demos/smart_speaker/launch/smart_speaker_rss.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ros/demos/smart_speaker/launch/smart_speaker_smart.launch b/ros/demos/smart_speaker/launch/smart_speaker_smart.launch deleted file mode 100644 index 24ead048..00000000 --- a/ros/demos/smart_speaker/launch/smart_speaker_smart.launch +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - name: Ça fait rire les oiseaux - keywords: - - rire - - oiseau - path: ~/.ros/ttop/audio/fr/Compagnie_créole_ca_fait_rire_les_oiseaux_30s.mp3 - - name: La dame en bleu, - keywords: - - dame - - bleu - path: ~/.ros/ttop/audio/fr/Michel_Louvain_La_Dame_En_Bleu_30s.mp3 - - name: Un amour qui ne veut pas mourir, - keywords: - - amour - - mourir - path: ~/.ros/ttop/audio/fr/Renee_Martel_Un_Amour_Qui_Ne_Veut_Pas_Mourir_30s.mp3 - - - - name: Can't Buy Me Love - keywords: - - buy - - love - path: ~/.ros/ttop/audio/en/The_Beatles_Cant_Buy_Me_Love_30s.mp3 - - name: Surfin' USA - keywords: - - surf - - usa - path: ~/.ros/ttop/audio/en/The_Beach_Boys_Surfin_USA_30s.mp3 - - name: The Locomotion - keywords: - - locomotion - path: ~/.ros/ttop/audio/en/Little_Eva_The_Locomotion_30s.mp3 - - - - - - - - - - - - - diff --git a/ros/demos/smart_speaker/launch/smart_speaker_smart.launch.xml b/ros/demos/smart_speaker/launch/smart_speaker_smart.launch.xml new file mode 100644 index 00000000..703bd993 --- /dev/null +++ b/ros/demos/smart_speaker/launch/smart_speaker_smart.launch.xml @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/demos/smart_speaker/package.xml b/ros/demos/smart_speaker/package.xml index fbe3b6f0..f39cc496 100644 --- a/ros/demos/smart_speaker/package.xml +++ b/ros/demos/smart_speaker/package.xml @@ -1,107 +1,29 @@ - + + smart_speaker 0.0.0 The smart_speaker package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclcpp + cloud_data + t_top_hbba_lite + tf2 + tf2_ros + tf2_geometry_msgs + perception_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - audio_analyzer - cloud_data - gesture - hbba_lite - person_identification - roscpp - sensor_msgs - std_msgs - talk - video_analyzer - t_top_hbba_lite - tf - speech_to_text - sound_player - led_animations - daemon_ros_client - audio_analyzer - cloud_data - gesture - hbba_lite - person_identification - roscpp - sensor_msgs - std_msgs - talk - video_analyzer - t_top_hbba_lite - tf - speech_to_text - sound_player - led_animations - daemon_ros_client - audio_analyzer - cloud_data - gesture - hbba_lite - person_identification - roscpp - sensor_msgs - std_msgs - talk - video_analyzer - t_top_hbba_lite - tf - speech_to_text - sound_player - led_animations - daemon_ros_client - - - - - + ament_cmake diff --git a/ros/demos/smart_speaker/admiralbob_wanderer.mp3 b/ros/demos/smart_speaker/resources/admiralbob_wanderer.mp3 similarity index 100% rename from ros/demos/smart_speaker/admiralbob_wanderer.mp3 rename to ros/demos/smart_speaker/resources/admiralbob_wanderer.mp3 diff --git a/ros/demos/smart_speaker/story_en.txt b/ros/demos/smart_speaker/resources/story_en.txt similarity index 100% rename from ros/demos/smart_speaker/story_en.txt rename to ros/demos/smart_speaker/resources/story_en.txt diff --git a/ros/demos/smart_speaker/story_fr.txt b/ros/demos/smart_speaker/resources/story_fr.txt similarity index 100% rename from ros/demos/smart_speaker/story_fr.txt rename to ros/demos/smart_speaker/resources/story_fr.txt diff --git a/ros/demos/smart_speaker/src/smart_speaker_rss_node.cpp b/ros/demos/smart_speaker/src/smart_speaker_rss_node.cpp index 357cf847..56834911 100644 --- a/ros/demos/smart_speaker/src/smart_speaker_rss_node.cpp +++ b/ros/demos/smart_speaker/src/smart_speaker_rss_node.cpp @@ -15,7 +15,7 @@ #include "states/common/AfterTaskDelayState.h" -#include +#include #include #include @@ -30,18 +30,19 @@ using namespace std; constexpr bool WAIT_FOR_SERVICE = true; +constexpr const char* NODE_NAME = "smart_speaker_rss_node"; void startNode( Language language, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, const string& englishStoryPath, const string& frenchStoryPath, const string& songPath, bool useAfterTaskDelayDurationTopic, - const ros::Duration& afterTaskDelayDuration) + const chrono::milliseconds& afterTaskDelayDurationMs) { auto desireSet = make_shared(); - auto filterPool = make_shared(nodeHandle, WAIT_FOR_SERVICE); + auto filterPool = make_shared(node, WAIT_FOR_SERVICE); vector> strategies; strategies.emplace_back(createRobotNameDetectorStrategy(filterPool)); @@ -51,42 +52,41 @@ void startNode( strategies.emplace_back(createSpeechToTextStrategy(filterPool)); strategies.emplace_back(createExploreStrategy(filterPool)); - strategies.emplace_back(createFaceAnimationStrategy(filterPool, nodeHandle)); + strategies.emplace_back(createFaceAnimationStrategy(filterPool, node)); strategies.emplace_back(createSoundFollowingStrategy(filterPool)); strategies.emplace_back(createNearestFaceFollowingStrategy(filterPool)); - strategies.emplace_back(createTalkStrategy(filterPool, desireSet, nodeHandle)); - strategies.emplace_back(createGestureStrategy(filterPool, desireSet, nodeHandle)); + strategies.emplace_back(createTalkStrategy(filterPool, desireSet, node)); + strategies.emplace_back(createGestureStrategy(filterPool, desireSet, node)); strategies.emplace_back(createDanceStrategy(filterPool)); - strategies.emplace_back(createPlaySoundStrategy(filterPool, desireSet, nodeHandle)); + strategies.emplace_back(createPlaySoundStrategy(filterPool, desireSet, node)); auto solver = make_unique(); - auto strategyStateLogger = make_unique(nodeHandle); + auto strategyStateLogger = make_unique(node); HbbaLite hbba(desireSet, move(strategies), {{"sound", 1}}, move(solver), move(strategyStateLogger)); - StateManager stateManager; + StateManager stateManager(node); type_index idleStateType(typeid(RssIdleState)); type_index afterTaskDelayStateType(typeid(AfterTaskDelayState)); - stateManager.addState(make_unique(language, stateManager, desireSet, nodeHandle)); - stateManager.addState(make_unique(language, stateManager, desireSet, nodeHandle)); - stateManager.addState(make_unique(language, stateManager, desireSet, nodeHandle)); - stateManager.addState(make_unique(language, stateManager, desireSet, nodeHandle)); - stateManager.addState(make_unique(language, stateManager, desireSet, nodeHandle)); - stateManager.addState(make_unique(language, stateManager, desireSet, nodeHandle, idleStateType)); + stateManager.addState(make_unique(language, stateManager, desireSet, node)); + stateManager.addState(make_unique(language, stateManager, desireSet, node)); + stateManager.addState(make_unique(language, stateManager, desireSet, node)); + stateManager.addState(make_unique(language, stateManager, desireSet, node)); + stateManager.addState(make_unique(language, stateManager, desireSet, node)); + stateManager.addState(make_unique(language, stateManager, desireSet, node, idleStateType)); stateManager.addState( - make_unique(language, stateManager, desireSet, nodeHandle, afterTaskDelayStateType)); + make_unique(language, stateManager, desireSet, node, afterTaskDelayStateType)); stateManager.addState( - make_unique(language, stateManager, desireSet, nodeHandle, afterTaskDelayStateType)); + make_unique(language, stateManager, desireSet, node, afterTaskDelayStateType)); stateManager.addState( - make_unique(language, stateManager, desireSet, nodeHandle, englishStoryPath, frenchStoryPath)); - stateManager.addState( - make_unique(language, stateManager, desireSet, nodeHandle, afterTaskDelayStateType)); + make_unique(language, stateManager, desireSet, node, englishStoryPath, frenchStoryPath)); + stateManager.addState(make_unique(language, stateManager, desireSet, node, afterTaskDelayStateType)); stateManager.addState(make_unique( language, stateManager, desireSet, - nodeHandle, + node, afterTaskDelayStateType, vector{songPath})); @@ -94,83 +94,80 @@ void startNode( language, stateManager, desireSet, - nodeHandle, + node, idleStateType, useAfterTaskDelayDurationTopic, - afterTaskDelayDuration)); + afterTaskDelayDurationMs)); stateManager.switchTo(); - ros::spin(); + rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 2); + executor.add_node(node); + executor.spin(); } -int startNode(int argc, char** argv) +int startNode() { - ros::init(argc, argv, "smart_speaker_rss_node"); - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); + auto node = rclcpp::Node::make_shared(NODE_NAME); - string languageString; + string languageString = node->declare_parameter("language", ""); Language language; - privateNodeHandle.param("language", languageString, ""); if (!languageFromString(languageString, language)) { - ROS_ERROR("Language must be English (language=en) or French (language=fr)."); + RCLCPP_ERROR(node->get_logger(), "Language must be English (language=en) or French (language=fr)."); return -1; } - string englishStoryPath; - privateNodeHandle.param("story_path_en", englishStoryPath, ""); + string englishStoryPath = node->declare_parameter("story_path_en", ""); if (englishStoryPath == "") { - ROS_ERROR("A valid path must be set for the English story."); + RCLCPP_ERROR(node->get_logger(), "A valid path must be set for the English story."); return -1; } - string frenchStoryPath; - privateNodeHandle.param("story_path_fr", frenchStoryPath, ""); + string frenchStoryPath = node->declare_parameter("story_path_fr", ""); if (frenchStoryPath == "") { - ROS_ERROR("A valid path must be set for the French story."); + RCLCPP_ERROR(node->get_logger(), "A valid path must be set for the French story."); return -1; } - string songPath; - privateNodeHandle.param("song_path", songPath, ""); + string songPath = node->declare_parameter("song_path", ""); if (songPath == "") { - ROS_ERROR("A valid path must be set for the song."); + RCLCPP_ERROR(node->get_logger(), "A valid path must be set for the song."); return -1; } - bool useAfterTaskDelayDurationTopic = false; - privateNodeHandle.param("use_after_task_delay_duration_topic", useAfterTaskDelayDurationTopic, false); - - double afterTaskDelayDurationS; - privateNodeHandle.param("after_task_delay_duration_s", afterTaskDelayDurationS, 0.0); - ros::Duration afterTaskDelayDuration(afterTaskDelayDurationS); + bool useAfterTaskDelayDurationTopic = node->declare_parameter("use_after_task_delay_duration_topic", false); + double afterTaskDelayDurationS = node->declare_parameter("after_task_delay_duration_s", 0.0); + chrono::milliseconds afterTaskDelayDurationMs(static_cast(afterTaskDelayDurationS * 1000)); startNode( language, - nodeHandle, + node, englishStoryPath, frenchStoryPath, songPath, useAfterTaskDelayDurationTopic, - afterTaskDelayDuration); + afterTaskDelayDurationMs); return 0; } int main(int argc, char** argv) { + rclcpp::init(argc, argv); + try { - return startNode(argc, argv); + return startNode(); } catch (const std::exception& e) { - ROS_ERROR_STREAM("Smart speaker crashed (" << e.what() << ")"); + RCLCPP_ERROR_STREAM(rclcpp::get_logger(NODE_NAME), "Smart speaker crashed (" << e.what() << ")"); return -1; } + + rclcpp::shutdown(); } diff --git a/ros/demos/smart_speaker/src/smart_speaker_smart_node.cpp b/ros/demos/smart_speaker/src/smart_speaker_smart_node.cpp index 67a9ecb4..62bb9db9 100644 --- a/ros/demos/smart_speaker/src/smart_speaker_smart_node.cpp +++ b/ros/demos/smart_speaker/src/smart_speaker_smart_node.cpp @@ -1,3 +1,5 @@ +#include "StringUtils.h" + #include "states/StateManager.h" #include "states/smart/SmartIdleState.h" @@ -13,7 +15,7 @@ #include "states/smart/SmartThankYouState.h" #include "states/common/AfterTaskDelayState.h" -#include +#include #include #include @@ -28,11 +30,27 @@ using namespace std; constexpr bool WAIT_FOR_SERVICE = true; +constexpr const char* NODE_NAME = "smart_speaker_smart_node"; + +void logSongs( + rclcpp::Node::SharedPtr& node, + const vector& songNames, + const vector>& songKeywords, + const vector& songPaths) +{ + for (size_t i = 0; i < songNames.size(); i++) + { + RCLCPP_INFO_STREAM(node->get_logger(), "Song " << (i + 1)); + RCLCPP_INFO_STREAM(node->get_logger(), "\tname=" << songNames[i]); + RCLCPP_INFO_STREAM(node->get_logger(), "\tkeywords=" << mergeStrings(songKeywords[i], ",")); + RCLCPP_INFO_STREAM(node->get_logger(), "\tpath=" << songPaths[i]); + } +} void startNode( bool recordSession, Language language, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, double personDistanceThreshold, const std::string& personDistanceFrameId, double noseConfidenceThreshold, @@ -43,10 +61,10 @@ void startNode( const vector& songPaths, bool singleTaskPerPerson, bool useAfterTaskDelayDurationTopic, - const ros::Duration& afterTaskDelayDuration) + const chrono::milliseconds& afterTaskDelayDurationMs) { auto desireSet = make_shared(); - auto filterPool = make_shared(nodeHandle, WAIT_FOR_SERVICE); + auto filterPool = make_shared(node, WAIT_FOR_SERVICE); vector> strategies; strategies.emplace_back(createCamera3dRecordingStrategy(filterPool)); @@ -54,58 +72,52 @@ void startNode( strategies.emplace_back(createFastVideoAnalyzer3dStrategy(filterPool)); strategies.emplace_back(createSpeechToTextStrategy(filterPool)); - strategies.emplace_back(createFaceAnimationStrategy(filterPool, nodeHandle)); + strategies.emplace_back(createFaceAnimationStrategy(filterPool, node)); strategies.emplace_back(createNearestFaceFollowingStrategy(filterPool)); - strategies.emplace_back(createTalkStrategy(filterPool, desireSet, nodeHandle)); - strategies.emplace_back(createGestureStrategy(filterPool, desireSet, nodeHandle)); + strategies.emplace_back(createTalkStrategy(filterPool, desireSet, node)); + strategies.emplace_back(createGestureStrategy(filterPool, desireSet, node)); strategies.emplace_back(createDanceStrategy(filterPool)); - strategies.emplace_back(createPlaySoundStrategy(filterPool, desireSet, nodeHandle)); + strategies.emplace_back(createPlaySoundStrategy(filterPool, desireSet, node)); auto solver = make_unique(); - auto strategyStateLogger = make_unique(nodeHandle); + auto strategyStateLogger = make_unique(node); HbbaLite hbba(desireSet, move(strategies), {{"sound", 1}}, move(solver), move(strategyStateLogger)); - StateManager stateManager; + StateManager stateManager(node); type_index askOtherTaskStateType(typeid(SmartAskOtherTaskState)); stateManager.addState(make_unique( language, stateManager, desireSet, - nodeHandle, + node, personDistanceThreshold, personDistanceFrameId, noseConfidenceThreshold, videoAnalysisMessageCountThreshold, videoAnalysisMessageCountTolerance)); - stateManager.addState(make_unique(language, stateManager, desireSet, nodeHandle, songNames)); - stateManager.addState( - make_unique(language, stateManager, desireSet, nodeHandle, songKeywords)); - stateManager.addState(make_unique(language, stateManager, desireSet, nodeHandle)); + stateManager.addState(make_unique(language, stateManager, desireSet, node, songNames)); + stateManager.addState(make_unique(language, stateManager, desireSet, node, songKeywords)); + stateManager.addState(make_unique(language, stateManager, desireSet, node)); stateManager.addState( - make_unique(language, stateManager, desireSet, nodeHandle, askOtherTaskStateType)); + make_unique(language, stateManager, desireSet, node, askOtherTaskStateType)); stateManager.addState( - make_unique(language, stateManager, desireSet, nodeHandle, askOtherTaskStateType)); - stateManager.addState(make_unique( - language, - stateManager, - desireSet, - nodeHandle, - askOtherTaskStateType, - songPaths)); + make_unique(language, stateManager, desireSet, node, askOtherTaskStateType)); + stateManager.addState( + make_unique(language, stateManager, desireSet, node, askOtherTaskStateType, songPaths)); stateManager.addState( - make_unique(language, stateManager, desireSet, nodeHandle, singleTaskPerPerson)); - stateManager.addState(make_unique(language, stateManager, desireSet, nodeHandle)); + make_unique(language, stateManager, desireSet, node, singleTaskPerPerson)); + stateManager.addState(make_unique(language, stateManager, desireSet, node)); stateManager.addState(make_unique( language, stateManager, desireSet, - nodeHandle, + node, typeid(SmartIdleState), useAfterTaskDelayDurationTopic, - afterTaskDelayDuration)); + afterTaskDelayDurationMs)); stateManager.switchTo(); @@ -114,175 +126,123 @@ void startNode( desireSet->addDesire(make_unique()); } - ros::spin(); -} - -bool getSongStrings(ros::NodeHandle& privateNodeHandle, vector& values, const std::string& key) -{ - string value; - - XmlRpc::XmlRpcValue songs; - privateNodeHandle.getParam("songs", songs); - if (songs.getType() != XmlRpc::XmlRpcValue::TypeArray) - { - ROS_ERROR("Invalid songs format"); - return false; - } - - for (size_t i = 0; i < songs.size(); i++) - { - if (!songs[i].hasMember(key) || (value = static_cast(songs[i][key])).empty()) - { - ROS_ERROR_STREAM("Invalid songs[" << i << "] " << key); - return false; - } - - values.emplace_back(move(value)); - } - - return values.size() > 0; + rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 2); + executor.add_node(node); + executor.spin(); } -bool getSongVectors(ros::NodeHandle& privateNodeHandle, vector>& values, const std::string& key) +int startNode() { - vector value; + auto node = rclcpp::Node::make_shared(NODE_NAME); - XmlRpc::XmlRpcValue songs; - privateNodeHandle.getParam("songs", songs); - if (songs.getType() != XmlRpc::XmlRpcValue::TypeArray) - { - ROS_ERROR("Invalid songs format"); - return false; - } + bool recordSession = node->declare_parameter("record_session", false); - for (size_t i = 0; i < songs.size(); i++) - { - if (!songs[i].hasMember(key) || songs[i][key].getType() != XmlRpc::XmlRpcValue::TypeArray) - { - ROS_ERROR_STREAM("Invalid songs[" << i << "] " << key); - return false; - } - - for (size_t j = 0; j < songs[i][key].size(); j++) - { - value.emplace_back(songs[i][key][j]); - } - - values.emplace_back(move(value)); - } - - return values.size() > 0; -} - -int startNode(int argc, char** argv) -{ - ros::init(argc, argv, "smart_speaker_smart_node"); - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); - - bool recordSession; - if (!privateNodeHandle.getParam("record_session", recordSession)) - { - ROS_ERROR("The parameter record_session must be set."); - return -1; - } - - string languageString; + string languageString = node->declare_parameter("language", ""); Language language; - privateNodeHandle.param("language", languageString, ""); if (!languageFromString(languageString, language)) { - ROS_ERROR("Language must be English (language=en) or French (language=fr)."); + RCLCPP_ERROR(node->get_logger(), "Language must be English (language=en) or French (language=fr)."); return -1; } - double personDistanceThreshold = -1.0; - if (!privateNodeHandle.getParam("person_distance_threshold", personDistanceThreshold) || - personDistanceThreshold < 0.0) + double personDistanceThreshold = node->declare_parameter("person_distance_threshold", -1.0); + if (personDistanceThreshold < 0.0) { - ROS_ERROR("The parameter person_distance_threshold must be set and greater than 0."); + RCLCPP_ERROR(node->get_logger(), "The parameter person_distance_threshold must be set and greater than 0."); return -1; } - std::string personDistanceFrameId; - if (!privateNodeHandle.getParam("person_distance_frame_id", personDistanceFrameId) || personDistanceFrameId == "") + std::string personDistanceFrameId = node->declare_parameter("person_distance_frame_id", ""); + if (personDistanceFrameId == "") { - ROS_ERROR("The parameter person_distance_frame_id must be set and not empty."); + RCLCPP_ERROR(node->get_logger(), "The parameter person_distance_frame_id must be set and not empty."); return -1; } - double noseConfidenceThreshold = -1.0; - if (!privateNodeHandle.getParam("nose_confidence_threshold", noseConfidenceThreshold) || - noseConfidenceThreshold < 0.0) + double noseConfidenceThreshold = node->declare_parameter("nose_confidence_threshold", -1.0); + if (noseConfidenceThreshold < 0.0) { - ROS_ERROR("The parameter nose_confidence_threshold must be set and not empty."); + RCLCPP_ERROR(node->get_logger(), "The parameter nose_confidence_threshold must be set and not empty."); return -1; } - int videoAnalysisMessageCountThreshold = -1; - if (!privateNodeHandle.getParam("video_analysis_message_count_threshold", videoAnalysisMessageCountThreshold) || - videoAnalysisMessageCountThreshold < 1) + int videoAnalysisMessageCountThreshold = node->declare_parameter("video_analysis_message_count_threshold", -1); + if (videoAnalysisMessageCountThreshold < 1) { - ROS_ERROR("The parameter video_analysis_message_count_threshold must be set and greater than 0."); + RCLCPP_ERROR( + node->get_logger(), + "The parameter video_analysis_message_count_threshold must be set and greater than 0."); return -1; } - int videoAnalysisMessageCountTolerance = -1; - if (!privateNodeHandle.getParam("video_analysis_message_count_tolerance", videoAnalysisMessageCountTolerance) || - videoAnalysisMessageCountTolerance < 0) + int videoAnalysisMessageCountTolerance = node->declare_parameter("video_analysis_message_count_tolerance", -1); + if (videoAnalysisMessageCountTolerance < 0) { - ROS_ERROR("The parameter video_analysis_message_count_tolerance must be set and greater than or equal to 0."); + RCLCPP_ERROR( + node->get_logger(), + "The parameter video_analysis_message_count_tolerance must be set and greater than or equal to 0."); return -1; } - bool singleTaskPerPerson = false; - privateNodeHandle.param("single_task_per_person", singleTaskPerPerson, false); + bool singleTaskPerPerson = node->declare_parameter("single_task_per_person", false); + bool useAfterTaskDelayDurationTopic = node->declare_parameter("use_after_task_delay_duration_topic", false); - bool useAfterTaskDelayDurationTopic = false; - privateNodeHandle.param("use_after_task_delay_duration_topic", useAfterTaskDelayDurationTopic, false); + double afterTaskDelayDurationS = node->declare_parameter("after_task_delay_duration_s", 0.0); + chrono::milliseconds afterTaskDelayDurationMs(static_cast(afterTaskDelayDurationS * 1000)); - double afterTaskDelayDurationS; - privateNodeHandle.param("after_task_delay_duration_s", afterTaskDelayDurationS, 0.0); - ros::Duration afterTaskDelayDuration(afterTaskDelayDurationS); - - vector songNames; - vector> songKeywords; - vector songPaths; - if (!getSongStrings(privateNodeHandle, songNames, "name") || - !getSongVectors(privateNodeHandle, songKeywords, "keywords") || - !getSongStrings(privateNodeHandle, songPaths, "path")) + vector songNames = node->declare_parameter("song_names", vector{}); + vector songKeywords = node->declare_parameter("song_keywords", vector{}); + vector songPaths = node->declare_parameter("song_paths", vector{}); + if (songNames.size() != songKeywords.size() || songNames.size() != songPaths.size() || songNames.size() < 1) { + RCLCPP_ERROR( + node->get_logger(), + "The parameters song_names, song_keywords and song_paths must have the same size and contain at least one " + "item."); return -1; } + vector> splittedSongKeywords; + std::transform( + songKeywords.begin(), + songKeywords.end(), + std::back_inserter(splittedSongKeywords), + [](auto& x) { return splitStrings(x, ";"); }); + + + logSongs(node, songNames, splittedSongKeywords, songPaths); startNode( recordSession, language, - nodeHandle, + node, personDistanceThreshold, personDistanceFrameId, noseConfidenceThreshold, videoAnalysisMessageCountThreshold, videoAnalysisMessageCountTolerance, songNames, - songKeywords, + splittedSongKeywords, songPaths, singleTaskPerPerson, useAfterTaskDelayDurationTopic, - afterTaskDelayDuration); + afterTaskDelayDurationMs); return 0; } int main(int argc, char** argv) { + rclcpp::init(argc, argv); + try { - return startNode(argc, argv); + return startNode(); } catch (const std::exception& e) { - ROS_ERROR_STREAM("Smart speaker crashed (" << e.what() << ")"); + RCLCPP_ERROR_STREAM(rclcpp::get_logger(NODE_NAME), "Smart speaker crashed (" << e.what() << ")"); return -1; } + + rclcpp::shutdown(); } diff --git a/ros/demos/smart_speaker/src/states/State.cpp b/ros/demos/smart_speaker/src/states/State.cpp index a28b8b15..00e8aab4 100644 --- a/ros/demos/smart_speaker/src/states/State.cpp +++ b/ros/demos/smart_speaker/src/states/State.cpp @@ -6,12 +6,12 @@ State::State( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) + rclcpp::Node::SharedPtr node) : m_enabled(false), m_language(language), m_stateManager(stateManager), m_desireSet(move(desireSet)), - m_nodeHandle(nodeHandle), + m_node(move(node)), m_previousStageType(typeid(State)) { } diff --git a/ros/demos/smart_speaker/src/states/State.h b/ros/demos/smart_speaker/src/states/State.h index c125c170..e2c6790b 100644 --- a/ros/demos/smart_speaker/src/states/State.h +++ b/ros/demos/smart_speaker/src/states/State.h @@ -4,14 +4,14 @@ #include #include -#include +#include #include #include #include #include -constexpr double TIMEOUT_S = 30; +constexpr int TIMEOUT_S = 30; constexpr uint64_t MAX_DESIRE_ID = std::numeric_limits::max(); // TODO change to optional with C++17 constexpr int FLOAT_NUMBER_PRECISION = 3; @@ -50,7 +50,7 @@ class State protected: StateManager& m_stateManager; std::shared_ptr m_desireSet; - ros::NodeHandle& m_nodeHandle; + rclcpp::Node::SharedPtr m_node; std::vector m_desireIds; @@ -59,7 +59,7 @@ class State Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); virtual ~State() = default; DECLARE_NOT_COPYABLE(State); diff --git a/ros/demos/smart_speaker/src/states/StateManager.cpp b/ros/demos/smart_speaker/src/states/StateManager.cpp index 61ae9aa7..7d56ea0c 100644 --- a/ros/demos/smart_speaker/src/states/StateManager.cpp +++ b/ros/demos/smart_speaker/src/states/StateManager.cpp @@ -2,7 +2,7 @@ using namespace std; -StateManager::StateManager() : m_currentState(nullptr) {} +StateManager::StateManager(rclcpp::Node::SharedPtr node) : m_currentState(nullptr), m_node(move(node)) {} StateManager::~StateManager() { diff --git a/ros/demos/smart_speaker/src/states/StateManager.h b/ros/demos/smart_speaker/src/states/StateManager.h index 66110cbb..4c0b80ac 100644 --- a/ros/demos/smart_speaker/src/states/StateManager.h +++ b/ros/demos/smart_speaker/src/states/StateManager.h @@ -3,7 +3,7 @@ #include "State.h" -#include +#include #include @@ -15,8 +15,10 @@ class StateManager std::unordered_map> m_states; State* m_currentState; + rclcpp::Node::SharedPtr m_node; + public: - StateManager(); + StateManager(rclcpp::Node::SharedPtr node); virtual ~StateManager(); DECLARE_NOT_COPYABLE(StateManager); @@ -40,12 +42,12 @@ inline void StateManager::switchTo(std::type_index stateType, const std::string& std::type_index previousStageType(typeid(State)); if (m_currentState != nullptr) { - ROS_INFO("Disabling %s", m_currentState->type().name()); + RCLCPP_INFO(m_node->get_logger(), "Disabling %s", m_currentState->type().name()); m_currentState->disable(); previousStageType = m_currentState->type(); } - ROS_INFO("Enabling %s (%s)", stateType.name(), parameter.c_str()); + RCLCPP_INFO(m_node->get_logger(), "Enabling %s (%s)", stateType.name(), parameter.c_str()); m_currentState = m_states.at(stateType).get(); m_currentState->enable(parameter, previousStageType); } diff --git a/ros/demos/smart_speaker/src/states/common/AfterTaskDelayState.cpp b/ros/demos/smart_speaker/src/states/common/AfterTaskDelayState.cpp index fcf03358..31510423 100644 --- a/ros/demos/smart_speaker/src/states/common/AfterTaskDelayState.cpp +++ b/ros/demos/smart_speaker/src/states/common/AfterTaskDelayState.cpp @@ -8,19 +8,21 @@ AfterTaskDelayState::AfterTaskDelayState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, type_index nextStateType, bool useAfterTaskDelayDurationTopic, - ros::Duration duration) - : State(language, stateManager, desireSet, nodeHandle), + std::chrono::milliseconds durationMs) + : State(language, stateManager, desireSet, move(node)), m_nextStateType(nextStateType), m_useAfterTaskDelayDurationTopic(useAfterTaskDelayDurationTopic), - m_duration(duration) + m_durationMs(durationMs) { if (m_useAfterTaskDelayDurationTopic) { - m_readySubscriber = - nodeHandle.subscribe("after_task_delay_state_ready", 1, &AfterTaskDelayState::readyCallback, this); + m_startButtonSubscriber = m_node->create_subscription( + "daemon/start_button_pressed", + 1, + [this](const std_msgs::msg::Empty::SharedPtr msg) { startButtonCallback(msg); }); } } @@ -30,9 +32,7 @@ void AfterTaskDelayState::enable(const string& parameter, const type_index& prev if (!m_useAfterTaskDelayDurationTopic) { - constexpr bool oneshot = true; - m_timeoutTimer = - m_nodeHandle.createTimer(m_duration, &AfterTaskDelayState::timeoutTimerCallback, this, oneshot); + m_timeoutTimer = m_node->create_wall_timer(m_durationMs, [this]() { timeoutTimerCallback(); }); } } @@ -40,13 +40,14 @@ void AfterTaskDelayState::disable() { State::disable(); - if (m_timeoutTimer.isValid()) + if (m_timeoutTimer) { - m_timeoutTimer.stop(); + m_timeoutTimer->cancel(); + m_timeoutTimer = nullptr; } } -void AfterTaskDelayState::readyCallback(const std_msgs::Empty::ConstPtr& msg) +void AfterTaskDelayState::startButtonCallback(const std_msgs::msg::Empty::SharedPtr msg) { if (!enabled() || !m_useAfterTaskDelayDurationTopic) { @@ -56,7 +57,7 @@ void AfterTaskDelayState::readyCallback(const std_msgs::Empty::ConstPtr& msg) m_stateManager.switchTo(m_nextStateType); } -void AfterTaskDelayState::timeoutTimerCallback(const ros::TimerEvent& event) +void AfterTaskDelayState::timeoutTimerCallback() { if (!enabled()) { diff --git a/ros/demos/smart_speaker/src/states/common/AfterTaskDelayState.h b/ros/demos/smart_speaker/src/states/common/AfterTaskDelayState.h index f355c285..c2cba9f4 100644 --- a/ros/demos/smart_speaker/src/states/common/AfterTaskDelayState.h +++ b/ros/demos/smart_speaker/src/states/common/AfterTaskDelayState.h @@ -3,27 +3,27 @@ #include "../State.h" -#include +#include class AfterTaskDelayState : public State { std::type_index m_nextStateType; bool m_useAfterTaskDelayDurationTopic; - ros::Duration m_duration; + std::chrono::milliseconds m_durationMs; - ros::Subscriber m_readySubscriber; - ros::Timer m_timeoutTimer; + rclcpp::Subscription::SharedPtr m_startButtonSubscriber; + rclcpp::TimerBase::SharedPtr m_timeoutTimer; public: AfterTaskDelayState( Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::type_index nextStateType, bool useAfterTaskDelayDurationTopic, - ros::Duration duration); + std::chrono::milliseconds durationMs); ~AfterTaskDelayState() override = default; DECLARE_NOT_COPYABLE(AfterTaskDelayState); @@ -36,8 +36,8 @@ class AfterTaskDelayState : public State void disable() override; private: - void readyCallback(const std_msgs::Empty::ConstPtr& msg); - void timeoutTimerCallback(const ros::TimerEvent& event); + void startButtonCallback(const std_msgs::msg::Empty::SharedPtr msg); + void timeoutTimerCallback(); }; inline std::type_index AfterTaskDelayState::type() const diff --git a/ros/demos/smart_speaker/src/states/common/InvalidTaskState.cpp b/ros/demos/smart_speaker/src/states/common/InvalidTaskState.cpp index 625f83b5..a9769772 100644 --- a/ros/demos/smart_speaker/src/states/common/InvalidTaskState.cpp +++ b/ros/demos/smart_speaker/src/states/common/InvalidTaskState.cpp @@ -10,9 +10,9 @@ InvalidTaskState::InvalidTaskState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, type_index nextStateType) - : State(language, stateManager, desireSet, nodeHandle), + : State(language, stateManager, desireSet, move(node)), m_nextStateType(nextStateType), m_talkDesireId(MAX_DESIRE_ID), m_gestureDesireId(MAX_DESIRE_ID) diff --git a/ros/demos/smart_speaker/src/states/common/InvalidTaskState.h b/ros/demos/smart_speaker/src/states/common/InvalidTaskState.h index 050e0ceb..0f3043b0 100644 --- a/ros/demos/smart_speaker/src/states/common/InvalidTaskState.h +++ b/ros/demos/smart_speaker/src/states/common/InvalidTaskState.h @@ -15,7 +15,7 @@ class InvalidTaskState : public State, public DesireSetObserver Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::type_index nextStateType); ~InvalidTaskState() override; diff --git a/ros/demos/smart_speaker/src/states/common/TalkState.cpp b/ros/demos/smart_speaker/src/states/common/TalkState.cpp index e93e700b..970a9818 100644 --- a/ros/demos/smart_speaker/src/states/common/TalkState.cpp +++ b/ros/demos/smart_speaker/src/states/common/TalkState.cpp @@ -10,9 +10,9 @@ TalkState::TalkState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, type_index nextStateType) - : State(language, stateManager, desireSet, nodeHandle), + : State(language, stateManager, desireSet, move(node)), m_nextStateType(nextStateType), m_talkDesireId(MAX_DESIRE_ID) { diff --git a/ros/demos/smart_speaker/src/states/common/TalkState.h b/ros/demos/smart_speaker/src/states/common/TalkState.h index 08e7b215..9bcc9a2d 100644 --- a/ros/demos/smart_speaker/src/states/common/TalkState.h +++ b/ros/demos/smart_speaker/src/states/common/TalkState.h @@ -14,7 +14,7 @@ class TalkState : public State, public DesireSetObserver Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::type_index nextStateType); ~TalkState() override; diff --git a/ros/demos/smart_speaker/src/states/common/ValidTaskState.cpp b/ros/demos/smart_speaker/src/states/common/ValidTaskState.cpp index bbc2ddde..6064c46b 100644 --- a/ros/demos/smart_speaker/src/states/common/ValidTaskState.cpp +++ b/ros/demos/smart_speaker/src/states/common/ValidTaskState.cpp @@ -10,8 +10,8 @@ ValidTaskState::ValidTaskState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : State(language, stateManager, desireSet, nodeHandle), + rclcpp::Node::SharedPtr node) + : State(language, stateManager, desireSet, move(node)), m_talkDesireId(MAX_DESIRE_ID), m_gestureDesireId(MAX_DESIRE_ID) { diff --git a/ros/demos/smart_speaker/src/states/common/ValidTaskState.h b/ros/demos/smart_speaker/src/states/common/ValidTaskState.h index a00db252..fdbf4e28 100644 --- a/ros/demos/smart_speaker/src/states/common/ValidTaskState.h +++ b/ros/demos/smart_speaker/src/states/common/ValidTaskState.h @@ -15,7 +15,7 @@ class ValidTaskState : public State, public DesireSetObserver Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~ValidTaskState() override; DECLARE_NOT_COPYABLE(ValidTaskState); diff --git a/ros/demos/smart_speaker/src/states/common/WaitAnswerState.cpp b/ros/demos/smart_speaker/src/states/common/WaitAnswerState.cpp index 8d467fc1..4190e755 100644 --- a/ros/demos/smart_speaker/src/states/common/WaitAnswerState.cpp +++ b/ros/demos/smart_speaker/src/states/common/WaitAnswerState.cpp @@ -23,12 +23,14 @@ WaitAnswerState::WaitAnswerState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : State(language, stateManager, desireSet, nodeHandle), + rclcpp::Node::SharedPtr node) + : State(language, stateManager, desireSet, move(node)), m_transcriptReceived(false) { - m_speechToTextSubscriber = - nodeHandle.subscribe("speech_to_text/transcript", 1, &WaitAnswerState::speechToTextSubscriberCallback, this); + m_speechToTextSubscriber = m_node->create_subscription( + "speech_to_text/transcript", + 1, + [this](const perception_msgs::msg::Transcript::SharedPtr msg) { speechToTextSubscriberCallback(msg); }); } void WaitAnswerState::enable(const string& parameter, const type_index& previousStageType) @@ -50,21 +52,21 @@ void WaitAnswerState::enable(const string& parameter, const type_index& previous m_desireSet->addDesire(move(faceAnimationDesire)); constexpr bool ONE_SHOT = true; - m_timeoutTimer = - m_nodeHandle.createTimer(ros::Duration(TIMEOUT_S), &WaitAnswerState::timeoutTimerCallback, this, ONE_SHOT); + m_timeoutTimer = m_node->create_wall_timer(chrono::seconds(TIMEOUT_S), [this]() { timeoutTimerCallback(); }); } void WaitAnswerState::disable() { State::disable(); - if (m_timeoutTimer.isValid()) + if (m_timeoutTimer) { - m_timeoutTimer.stop(); + m_timeoutTimer->cancel(); + m_timeoutTimer = nullptr; } } -void WaitAnswerState::speechToTextSubscriberCallback(const speech_to_text::Transcript::ConstPtr& msg) +void WaitAnswerState::speechToTextSubscriberCallback(const perception_msgs::msg::Transcript::SharedPtr msg) { if (!enabled()) { @@ -75,7 +77,7 @@ void WaitAnswerState::speechToTextSubscriberCallback(const speech_to_text::Trans switchStateAfterTranscriptReceived(msg->text, msg->is_final); } -void WaitAnswerState::timeoutTimerCallback(const ros::TimerEvent& event) +void WaitAnswerState::timeoutTimerCallback() { if (!enabled()) { diff --git a/ros/demos/smart_speaker/src/states/common/WaitAnswerState.h b/ros/demos/smart_speaker/src/states/common/WaitAnswerState.h index 7aa55c77..e25fa11c 100644 --- a/ros/demos/smart_speaker/src/states/common/WaitAnswerState.h +++ b/ros/demos/smart_speaker/src/states/common/WaitAnswerState.h @@ -3,12 +3,12 @@ #include "../State.h" -#include +#include class WaitAnswerState : public State { - ros::Subscriber m_speechToTextSubscriber; - ros::Timer m_timeoutTimer; + rclcpp::Subscription::SharedPtr m_speechToTextSubscriber; + rclcpp::TimerBase::SharedPtr m_timeoutTimer; bool m_transcriptReceived; @@ -17,7 +17,7 @@ class WaitAnswerState : public State Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~WaitAnswerState() override = default; DECLARE_NOT_COPYABLE(WaitAnswerState); @@ -31,8 +31,8 @@ class WaitAnswerState : public State virtual void switchStateAfterTimeout(bool transcriptReceived) = 0; private: - void speechToTextSubscriberCallback(const speech_to_text::Transcript::ConstPtr& msg); - void timeoutTimerCallback(const ros::TimerEvent& event); + void speechToTextSubscriberCallback(const perception_msgs::msg::Transcript::SharedPtr msg); + void timeoutTimerCallback(); }; #endif diff --git a/ros/demos/smart_speaker/src/states/rss/RssAskTaskState.cpp b/ros/demos/smart_speaker/src/states/rss/RssAskTaskState.cpp index d5fb0b77..d74004a2 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssAskTaskState.cpp +++ b/ros/demos/smart_speaker/src/states/rss/RssAskTaskState.cpp @@ -11,8 +11,8 @@ RssAskTaskState::RssAskTaskState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : TalkState(language, stateManager, desireSet, nodeHandle, type_index(typeid(RssWaitAnswerState))) + rclcpp::Node::SharedPtr node) + : TalkState(language, stateManager, desireSet, move(node), type_index(typeid(RssWaitAnswerState))) { } diff --git a/ros/demos/smart_speaker/src/states/rss/RssAskTaskState.h b/ros/demos/smart_speaker/src/states/rss/RssAskTaskState.h index 715e4f28..5f04fef4 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssAskTaskState.h +++ b/ros/demos/smart_speaker/src/states/rss/RssAskTaskState.h @@ -10,7 +10,7 @@ class RssAskTaskState : public TalkState Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~RssAskTaskState() override = default; DECLARE_NOT_COPYABLE(RssAskTaskState); diff --git a/ros/demos/smart_speaker/src/states/rss/RssIdleState.cpp b/ros/demos/smart_speaker/src/states/rss/RssIdleState.cpp index 8bf1badc..ec8f6dfa 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssIdleState.cpp +++ b/ros/demos/smart_speaker/src/states/rss/RssIdleState.cpp @@ -14,13 +14,17 @@ RssIdleState::RssIdleState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : State(language, stateManager, desireSet, nodeHandle) + rclcpp::Node::SharedPtr node) + : State(language, stateManager, desireSet, move(node)) { - m_robotNameDetectedSubscriber = - nodeHandle.subscribe("robot_name_detected", 1, &RssIdleState::robotNameDetectedSubscriberCallback, this); - m_personNamesSubscriber = - nodeHandle.subscribe("person_names", 1, &RssIdleState::personNamesSubscriberCallback, this); + m_robotNameDetectedSubscriber = m_node->create_subscription( + "robot_name_detected", + 1, + [this](const std_msgs::msg::Empty::SharedPtr msg) { robotNameDetectedSubscriberCallback(msg); }); + m_personNamesSubscriber = m_node->create_subscription( + "person_names", + 1, + [this](const perception_msgs::msg::PersonNames::SharedPtr msg) { personNamesSubscriberCallback(msg); }); } void RssIdleState::enable(const string& parameter, const type_index& previousStageType) @@ -44,7 +48,7 @@ void RssIdleState::enable(const string& parameter, const type_index& previousSta m_desireSet->addDesire(move(faceAnimationDesire)); } -void RssIdleState::robotNameDetectedSubscriberCallback(const std_msgs::Empty::ConstPtr& msg) +void RssIdleState::robotNameDetectedSubscriberCallback(const std_msgs::msg::Empty::SharedPtr msg) { if (!enabled()) { @@ -54,7 +58,7 @@ void RssIdleState::robotNameDetectedSubscriberCallback(const std_msgs::Empty::Co m_stateManager.switchTo(); } -void RssIdleState::personNamesSubscriberCallback(const person_identification::PersonNames::ConstPtr& msg) +void RssIdleState::personNamesSubscriberCallback(const perception_msgs::msg::PersonNames::SharedPtr msg) { if (!enabled() || msg->names.size() == 0) { @@ -66,7 +70,7 @@ void RssIdleState::personNamesSubscriberCallback(const person_identification::Pe msg->names.begin(), msg->names.end(), back_inserter(names), - [](const person_identification::PersonName& name) { return name.name; }); + [](const perception_msgs::msg::PersonName& name) { return name.name; }); auto mergedNames = mergeNames(names, getAndWord()); m_stateManager.switchTo(mergedNames); diff --git a/ros/demos/smart_speaker/src/states/rss/RssIdleState.h b/ros/demos/smart_speaker/src/states/rss/RssIdleState.h index 502dd825..a3993e45 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssIdleState.h +++ b/ros/demos/smart_speaker/src/states/rss/RssIdleState.h @@ -3,20 +3,20 @@ #include "../State.h" -#include -#include +#include +#include class RssIdleState : public State { - ros::Subscriber m_robotNameDetectedSubscriber; - ros::Subscriber m_personNamesSubscriber; + rclcpp::Subscription::SharedPtr m_robotNameDetectedSubscriber; + rclcpp::Subscription::SharedPtr m_personNamesSubscriber; public: RssIdleState( Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~RssIdleState() override = default; DECLARE_NOT_COPYABLE(RssIdleState); @@ -28,8 +28,8 @@ class RssIdleState : public State void enable(const std::string& parameter, const std::type_index& previousStageType) override; private: - void robotNameDetectedSubscriberCallback(const std_msgs::Empty::ConstPtr& msg); - void personNamesSubscriberCallback(const person_identification::PersonNames::ConstPtr& msg); + void robotNameDetectedSubscriberCallback(const std_msgs::msg::Empty::SharedPtr msg); + void personNamesSubscriberCallback(const perception_msgs::msg::PersonNames::SharedPtr msg); }; inline std::type_index RssIdleState::type() const diff --git a/ros/demos/smart_speaker/src/states/rss/RssStoryState.cpp b/ros/demos/smart_speaker/src/states/rss/RssStoryState.cpp index 11b06826..e9cdd5b6 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssStoryState.cpp +++ b/ros/demos/smart_speaker/src/states/rss/RssStoryState.cpp @@ -18,10 +18,10 @@ RssStoryState::RssStoryState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, const std::string& englishStoryPath, const std::string& frenchStoryPath) - : State(language, stateManager, desireSet, nodeHandle), + : State(language, stateManager, desireSet, move(node)), m_talkDesireId(MAX_DESIRE_ID), m_faceAnimationDesireId(MAX_DESIRE_ID) { diff --git a/ros/demos/smart_speaker/src/states/rss/RssStoryState.h b/ros/demos/smart_speaker/src/states/rss/RssStoryState.h index aec84735..3075cc4f 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssStoryState.h +++ b/ros/demos/smart_speaker/src/states/rss/RssStoryState.h @@ -3,8 +3,6 @@ #include "../State.h" -#include - #include struct StoryLine @@ -26,7 +24,7 @@ class RssStoryState : public State, public DesireSetObserver Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, const std::string& englishStoryPath, const std::string& frenchStoryPath); ~RssStoryState() override; diff --git a/ros/demos/smart_speaker/src/states/rss/RssValidTaskState.cpp b/ros/demos/smart_speaker/src/states/rss/RssValidTaskState.cpp index fb51f852..abedf5f0 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssValidTaskState.cpp +++ b/ros/demos/smart_speaker/src/states/rss/RssValidTaskState.cpp @@ -15,8 +15,8 @@ RssValidTaskState::RssValidTaskState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : ValidTaskState(language, stateManager, desireSet, nodeHandle) + rclcpp::Node::SharedPtr node) + : ValidTaskState(language, stateManager, desireSet, move(node)) { } @@ -44,7 +44,7 @@ void RssValidTaskState::switchState(const string& task) } else { - ROS_ERROR_STREAM("Invalid task (" << task << ")"); + RCLCPP_ERROR_STREAM(m_node->get_logger(), "Invalid task (" << task << ")"); m_stateManager.switchTo(); } } diff --git a/ros/demos/smart_speaker/src/states/rss/RssValidTaskState.h b/ros/demos/smart_speaker/src/states/rss/RssValidTaskState.h index e703f151..ed0af36b 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssValidTaskState.h +++ b/ros/demos/smart_speaker/src/states/rss/RssValidTaskState.h @@ -16,7 +16,7 @@ class RssValidTaskState : public ValidTaskState Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~RssValidTaskState() override = default; DECLARE_NOT_COPYABLE(RssValidTaskState); diff --git a/ros/demos/smart_speaker/src/states/rss/RssWaitAnswerState.cpp b/ros/demos/smart_speaker/src/states/rss/RssWaitAnswerState.cpp index 0221cf9b..76fa6b9c 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssWaitAnswerState.cpp +++ b/ros/demos/smart_speaker/src/states/rss/RssWaitAnswerState.cpp @@ -30,8 +30,8 @@ RssWaitAnswerState::RssWaitAnswerState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : WaitAnswerState(language, stateManager, desireSet, nodeHandle) + rclcpp::Node::SharedPtr node) + : WaitAnswerState(language, stateManager, desireSet, move(node)) { switch (language) { diff --git a/ros/demos/smart_speaker/src/states/rss/RssWaitAnswerState.h b/ros/demos/smart_speaker/src/states/rss/RssWaitAnswerState.h index ee8c177c..996cd1a5 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssWaitAnswerState.h +++ b/ros/demos/smart_speaker/src/states/rss/RssWaitAnswerState.h @@ -3,8 +3,6 @@ #include "../common/WaitAnswerState.h" -#include - class RssWaitAnswerState : public WaitAnswerState { std::string m_weatherWord; @@ -18,7 +16,7 @@ class RssWaitAnswerState : public WaitAnswerState Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~RssWaitAnswerState() override = default; DECLARE_NOT_COPYABLE(RssWaitAnswerState); diff --git a/ros/demos/smart_speaker/src/states/rss/RssWaitPersonIdentificationState.cpp b/ros/demos/smart_speaker/src/states/rss/RssWaitPersonIdentificationState.cpp index f7887d33..492a77c6 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssWaitPersonIdentificationState.cpp +++ b/ros/demos/smart_speaker/src/states/rss/RssWaitPersonIdentificationState.cpp @@ -14,11 +14,13 @@ RssWaitPersonIdentificationState::RssWaitPersonIdentificationState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : State(language, stateManager, desireSet, nodeHandle) + rclcpp::Node::SharedPtr node) + : State(language, stateManager, desireSet, move(node)) { - m_personNamesSubscriber = - nodeHandle.subscribe("person_names", 1, &RssWaitPersonIdentificationState::personNamesSubscriberCallback, this); + m_personNamesSubscriber = m_node->create_subscription( + "person_names", + 1, + [this](const perception_msgs::msg::PersonNames::SharedPtr msg) { personNamesSubscriberCallback(msg); }); } void RssWaitPersonIdentificationState::enable(const string& parameter, const type_index& previousStageType) @@ -41,26 +43,22 @@ void RssWaitPersonIdentificationState::enable(const string& parameter, const typ m_desireSet->addDesire(move(soundFollowingDesire)); m_desireSet->addDesire(move(faceAnimationDesire)); - constexpr bool oneshot = true; - m_timeoutTimer = m_nodeHandle.createTimer( - ros::Duration(TIMEOUT_S), - &RssWaitPersonIdentificationState::timeoutTimerCallback, - this, - oneshot); + m_timeoutTimer = m_node->create_wall_timer(chrono::seconds(TIMEOUT_S), [this]() { timeoutTimerCallback(); }); } void RssWaitPersonIdentificationState::disable() { State::disable(); - if (m_timeoutTimer.isValid()) + if (m_timeoutTimer) { - m_timeoutTimer.stop(); + m_timeoutTimer->cancel(); + m_timeoutTimer = nullptr; } } void RssWaitPersonIdentificationState::personNamesSubscriberCallback( - const person_identification::PersonNames::ConstPtr& msg) + const perception_msgs::msg::PersonNames::SharedPtr msg) { if (!enabled() || msg->names.size() == 0) { @@ -72,13 +70,13 @@ void RssWaitPersonIdentificationState::personNamesSubscriberCallback( msg->names.begin(), msg->names.end(), back_inserter(names), - [](const person_identification::PersonName& name) { return name.name; }); + [](const perception_msgs::msg::PersonName& name) { return name.name; }); auto mergedNames = mergeNames(names, getAndWord()); m_stateManager.switchTo(mergedNames); } -void RssWaitPersonIdentificationState::timeoutTimerCallback(const ros::TimerEvent& event) +void RssWaitPersonIdentificationState::timeoutTimerCallback() { if (!enabled()) { diff --git a/ros/demos/smart_speaker/src/states/rss/RssWaitPersonIdentificationState.h b/ros/demos/smart_speaker/src/states/rss/RssWaitPersonIdentificationState.h index 2d484ff8..1182d1cd 100644 --- a/ros/demos/smart_speaker/src/states/rss/RssWaitPersonIdentificationState.h +++ b/ros/demos/smart_speaker/src/states/rss/RssWaitPersonIdentificationState.h @@ -3,19 +3,19 @@ #include "../State.h" -#include +#include class RssWaitPersonIdentificationState : public State { - ros::Subscriber m_personNamesSubscriber; - ros::Timer m_timeoutTimer; + rclcpp::Subscription::SharedPtr m_personNamesSubscriber; + rclcpp::TimerBase::SharedPtr m_timeoutTimer; public: RssWaitPersonIdentificationState( Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~RssWaitPersonIdentificationState() override = default; DECLARE_NOT_COPYABLE(RssWaitPersonIdentificationState); @@ -28,8 +28,8 @@ class RssWaitPersonIdentificationState : public State void disable() override; private: - void personNamesSubscriberCallback(const person_identification::PersonNames::ConstPtr& msg); - void timeoutTimerCallback(const ros::TimerEvent& event); + void personNamesSubscriberCallback(const perception_msgs::msg::PersonNames::SharedPtr msg); + void timeoutTimerCallback(); }; inline std::type_index RssWaitPersonIdentificationState::type() const diff --git a/ros/demos/smart_speaker/src/states/smart/SmartAskOtherTaskState.cpp b/ros/demos/smart_speaker/src/states/smart/SmartAskOtherTaskState.cpp index 4c4bb152..c63167f3 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartAskOtherTaskState.cpp +++ b/ros/demos/smart_speaker/src/states/smart/SmartAskOtherTaskState.cpp @@ -14,9 +14,9 @@ SmartAskOtherTaskState::SmartAskOtherTaskState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, bool singleTaskPerPerson) - : TalkState(language, stateManager, desireSet, nodeHandle, type_index(typeid(SmartWaitAnswerState))), + : TalkState(language, stateManager, desireSet, move(node), type_index(typeid(SmartWaitAnswerState))), m_singleTaskPerPerson(singleTaskPerPerson) { } diff --git a/ros/demos/smart_speaker/src/states/smart/SmartAskOtherTaskState.h b/ros/demos/smart_speaker/src/states/smart/SmartAskOtherTaskState.h index 410875ab..e3e5a321 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartAskOtherTaskState.h +++ b/ros/demos/smart_speaker/src/states/smart/SmartAskOtherTaskState.h @@ -15,7 +15,7 @@ class SmartAskOtherTaskState : public TalkState Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, bool singleTaskPerPerson); ~SmartAskOtherTaskState() override = default; diff --git a/ros/demos/smart_speaker/src/states/smart/SmartAskTaskState.cpp b/ros/demos/smart_speaker/src/states/smart/SmartAskTaskState.cpp index 8ea9833b..f19caf23 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartAskTaskState.cpp +++ b/ros/demos/smart_speaker/src/states/smart/SmartAskTaskState.cpp @@ -13,9 +13,9 @@ SmartAskTaskState::SmartAskTaskState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, vector songNames) - : TalkState(language, stateManager, desireSet, nodeHandle, type_index(typeid(SmartWaitAnswerState))), + : TalkState(language, stateManager, desireSet, move(node), type_index(typeid(SmartWaitAnswerState))), m_songNames(move(songNames)) { } diff --git a/ros/demos/smart_speaker/src/states/smart/SmartAskTaskState.h b/ros/demos/smart_speaker/src/states/smart/SmartAskTaskState.h index 220b9218..ede28ef9 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartAskTaskState.h +++ b/ros/demos/smart_speaker/src/states/smart/SmartAskTaskState.h @@ -15,7 +15,7 @@ class SmartAskTaskState : public TalkState Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::vector songNames); ~SmartAskTaskState() override = default; diff --git a/ros/demos/smart_speaker/src/states/smart/SmartIdleState.cpp b/ros/demos/smart_speaker/src/states/smart/SmartIdleState.cpp index 25312c21..e14ff749 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartIdleState.cpp +++ b/ros/demos/smart_speaker/src/states/smart/SmartIdleState.cpp @@ -7,6 +7,10 @@ #include +#include +#include +#include + #include #include #include @@ -17,13 +21,13 @@ SmartIdleState::SmartIdleState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, double personDistanceThreshold, std::string personDistanceFrameId, double noseConfidenceThreshold, size_t videoAnalysisMessageCountThreshold, size_t videoAnalysisMessageCountTolerance) - : State(language, stateManager, desireSet, nodeHandle), + : State(language, stateManager, desireSet, move(node)), m_personDistanceThreshold(personDistanceThreshold), m_personDistanceFrameId(personDistanceFrameId), m_noseConfidenceThreshold(noseConfidenceThreshold), @@ -32,11 +36,18 @@ SmartIdleState::SmartIdleState( m_videoAnalysisValidMessageCount(0), m_videoAnalysisInvalidMessageCount(0) { - m_personNamesSubscriber = - nodeHandle.subscribe("person_names", 1, &SmartIdleState::personNamesSubscriberCallback, this); - - m_videoAnalysisSubscriber = - nodeHandle.subscribe("video_analysis", 1, &SmartIdleState::videoAnalysisSubscriberCallback, this); + m_personNamesSubscriber = m_node->create_subscription( + "person_names", + 1, + [this](const perception_msgs::msg::PersonNames::SharedPtr msg) { personNamesSubscriberCallback(msg); }); + + m_videoAnalysisSubscriber = m_node->create_subscription( + "video_analysis", + 1, + [this](const perception_msgs::msg::VideoAnalysis::SharedPtr msg) { videoAnalysisSubscriberCallback(msg); }); + + m_tfBuffer = make_unique(m_node->get_clock()); + m_tfListener = make_shared(*m_tfBuffer); } void SmartIdleState::enable(const string& parameter, const type_index& previousStageType) @@ -57,7 +68,7 @@ void SmartIdleState::enable(const string& parameter, const type_index& previousS m_desireSet->addDesire(move(faceAnimationDesire)); } -void SmartIdleState::personNamesSubscriberCallback(const person_identification::PersonNames::ConstPtr& msg) +void SmartIdleState::personNamesSubscriberCallback(const perception_msgs::msg::PersonNames::SharedPtr msg) { if (!enabled() || msg->names.size() == 0) { @@ -75,7 +86,7 @@ void SmartIdleState::personNamesSubscriberCallback(const person_identification:: } } -void SmartIdleState::videoAnalysisSubscriberCallback(const video_analyzer::VideoAnalysis::ConstPtr& msg) +void SmartIdleState::videoAnalysisSubscriberCallback(const perception_msgs::msg::VideoAnalysis::SharedPtr msg) { if (!enabled() || msg->objects.size() == 0) { @@ -83,20 +94,22 @@ void SmartIdleState::videoAnalysisSubscriberCallback(const video_analyzer::Video } if (!msg->contains_3d_positions) { - ROS_ERROR("The video analysis must contain 3d positions."); + RCLCPP_ERROR(m_node->get_logger(), "The video analysis must contain 3d positions."); return; } - tf::StampedTransform transform; + geometry_msgs::msg::TransformStamped transformMsg; try { - m_tfListener.lookupTransform(m_personDistanceFrameId, msg->header.frame_id, msg->header.stamp, transform); + transformMsg = m_tfBuffer->lookupTransform(m_personDistanceFrameId, msg->header.frame_id, msg->header.stamp); } - catch (tf::TransformException& ex) + catch (tf2::TransformException& ex) { - ROS_ERROR("%s", ex.what()); + RCLCPP_ERROR(m_node->get_logger(), "%s", ex.what()); return; } + tf2::Stamped transform; + tf2::convert(transformMsg, transform); bool faceFound = false; for (auto& object : msg->objects) @@ -125,7 +138,7 @@ void SmartIdleState::videoAnalysisSubscriberCallback(const video_analyzer::Video } } -double SmartIdleState::personNameDistance(const person_identification::PersonName& name) +double SmartIdleState::personNameDistance(const perception_msgs::msg::PersonName& name) { if (name.position_3d.size() == 0) { @@ -134,23 +147,25 @@ double SmartIdleState::personNameDistance(const person_identification::PersonNam try { - tf::StampedTransform transform; - m_tfListener.lookupTransform(m_personDistanceFrameId, name.frame_id, ros::Time(0), transform); + geometry_msgs::msg::TransformStamped transformMsg = + m_tfBuffer->lookupTransform(m_personDistanceFrameId, name.frame_id, tf2::TimePointZero); + tf2::Stamped transform; + tf2::convert(transformMsg, transform); - tf::Vector3 p(name.position_3d[0].x, name.position_3d[0].y, name.position_3d[0].z); + tf2::Vector3 p(name.position_3d[0].x, name.position_3d[0].y, name.position_3d[0].z); p = transform * p; return p.length(); } - catch (tf::TransformException& ex) + catch (tf2::TransformException& ex) { - ROS_ERROR("%s", ex.what()); + RCLCPP_ERROR(m_node->get_logger(), "%s", ex.what()); return numeric_limits::infinity(); } } double SmartIdleState::faceDistance( - const video_analyzer::VideoAnalysisObject& object, - const tf::StampedTransform& transform) + const perception_msgs::msg::VideoAnalysisObject& object, + const tf2::Stamped& transform) { constexpr size_t PERSON_POSE_NOSE_INDEX = 0; @@ -162,7 +177,7 @@ double SmartIdleState::faceDistance( } auto nosePoint = object.person_pose_3d[PERSON_POSE_NOSE_INDEX]; - tf::Vector3 p(nosePoint.x, nosePoint.y, nosePoint.z); + tf2::Vector3 p(nosePoint.x, nosePoint.y, nosePoint.z); p = transform * p; return p.length(); } diff --git a/ros/demos/smart_speaker/src/states/smart/SmartIdleState.h b/ros/demos/smart_speaker/src/states/smart/SmartIdleState.h index ab89ee38..84024f2b 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartIdleState.h +++ b/ros/demos/smart_speaker/src/states/smart/SmartIdleState.h @@ -3,11 +3,12 @@ #include "../State.h" -#include +#include +#include +#include -#include -#include -#include +#include +#include class SmartIdleState : public State { @@ -20,17 +21,18 @@ class SmartIdleState : public State size_t m_videoAnalysisValidMessageCount; size_t m_videoAnalysisInvalidMessageCount; - tf::TransformListener m_tfListener; + std::unique_ptr m_tfBuffer; + std::shared_ptr m_tfListener; - ros::Subscriber m_personNamesSubscriber; - ros::Subscriber m_videoAnalysisSubscriber; + rclcpp::Subscription::SharedPtr m_personNamesSubscriber; + rclcpp::Subscription::SharedPtr m_videoAnalysisSubscriber; public: SmartIdleState( Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, double personDistanceThreshold, std::string personDistanceFrameId, double noseConfidenceThreshold, @@ -47,11 +49,13 @@ class SmartIdleState : public State void enable(const std::string& parameter, const std::type_index& previousStageType) override; private: - void personNamesSubscriberCallback(const person_identification::PersonNames::ConstPtr& msg); - void videoAnalysisSubscriberCallback(const video_analyzer::VideoAnalysis::ConstPtr& msg); + void personNamesSubscriberCallback(const perception_msgs::msg::PersonNames::SharedPtr msg); + void videoAnalysisSubscriberCallback(const perception_msgs::msg::VideoAnalysis::SharedPtr msg); - double personNameDistance(const person_identification::PersonName& name); - double faceDistance(const video_analyzer::VideoAnalysisObject& object, const tf::StampedTransform& transform); + double personNameDistance(const perception_msgs::msg::PersonName& name); + double faceDistance( + const perception_msgs::msg::VideoAnalysisObject& object, + const tf2::Stamped& transform); }; inline std::type_index SmartIdleState::type() const diff --git a/ros/demos/smart_speaker/src/states/smart/SmartThankYouState.cpp b/ros/demos/smart_speaker/src/states/smart/SmartThankYouState.cpp index 757269ba..2de3c255 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartThankYouState.cpp +++ b/ros/demos/smart_speaker/src/states/smart/SmartThankYouState.cpp @@ -12,8 +12,8 @@ SmartThankYouState::SmartThankYouState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : TalkState(language, stateManager, desireSet, nodeHandle, type_index(typeid(AfterTaskDelayState))) + rclcpp::Node::SharedPtr node) + : TalkState(language, stateManager, desireSet, move(node), type_index(typeid(AfterTaskDelayState))) { } diff --git a/ros/demos/smart_speaker/src/states/smart/SmartThankYouState.h b/ros/demos/smart_speaker/src/states/smart/SmartThankYouState.h index e1fc6ffa..f10e78fa 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartThankYouState.h +++ b/ros/demos/smart_speaker/src/states/smart/SmartThankYouState.h @@ -2,9 +2,6 @@ #define SMART_SPEAKER_STATES_SMART_SMART_THANK_YOU_STATE_H #include "../common/TalkState.h" - -#include - #include #include @@ -15,7 +12,7 @@ class SmartThankYouState : public TalkState Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~SmartThankYouState() override = default; DECLARE_NOT_COPYABLE(SmartThankYouState); diff --git a/ros/demos/smart_speaker/src/states/smart/SmartValidTaskState.cpp b/ros/demos/smart_speaker/src/states/smart/SmartValidTaskState.cpp index 02bd42b6..c6b7788b 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartValidTaskState.cpp +++ b/ros/demos/smart_speaker/src/states/smart/SmartValidTaskState.cpp @@ -14,8 +14,8 @@ SmartValidTaskState::SmartValidTaskState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) - : ValidTaskState(language, stateManager, desireSet, nodeHandle) + rclcpp::Node::SharedPtr node) + : ValidTaskState(language, stateManager, desireSet, move(node)) { } @@ -32,7 +32,7 @@ void SmartValidTaskState::switchState(const string& task) } else { - ROS_ERROR_STREAM("Invalid task (" << task << ")"); + RCLCPP_ERROR_STREAM(m_node->get_logger(), "Invalid task (" << task << ")"); m_stateManager.switchTo(); } } diff --git a/ros/demos/smart_speaker/src/states/smart/SmartValidTaskState.h b/ros/demos/smart_speaker/src/states/smart/SmartValidTaskState.h index 317da1fa..b155bbdf 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartValidTaskState.h +++ b/ros/demos/smart_speaker/src/states/smart/SmartValidTaskState.h @@ -13,7 +13,7 @@ class SmartValidTaskState : public ValidTaskState Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + rclcpp::Node::SharedPtr node); ~SmartValidTaskState() override = default; DECLARE_NOT_COPYABLE(SmartValidTaskState); diff --git a/ros/demos/smart_speaker/src/states/smart/SmartWaitAnswerState.cpp b/ros/demos/smart_speaker/src/states/smart/SmartWaitAnswerState.cpp index cbc8fb19..08f5ffd3 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartWaitAnswerState.cpp +++ b/ros/demos/smart_speaker/src/states/smart/SmartWaitAnswerState.cpp @@ -29,9 +29,9 @@ SmartWaitAnswerState::SmartWaitAnswerState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, vector> songKeywords) - : WaitAnswerState(language, stateManager, desireSet, nodeHandle), + : WaitAnswerState(language, stateManager, desireSet, move(node)), m_songKeywords(move(songKeywords)) { if (m_songKeywords.size() == 0) @@ -82,7 +82,7 @@ void SmartWaitAnswerState::switchStateAfterTranscriptReceived(const std::string& } else if (isFinal) { - ROS_WARN_STREAM("Invalid task (" << text << ")"); + RCLCPP_WARN_STREAM(m_node->get_logger(), "Invalid task (" << text << ")"); m_stateManager.switchTo(); } } diff --git a/ros/demos/smart_speaker/src/states/smart/SmartWaitAnswerState.h b/ros/demos/smart_speaker/src/states/smart/SmartWaitAnswerState.h index 9d519828..d3bb2e11 100644 --- a/ros/demos/smart_speaker/src/states/smart/SmartWaitAnswerState.h +++ b/ros/demos/smart_speaker/src/states/smart/SmartWaitAnswerState.h @@ -3,8 +3,6 @@ #include "../common/WaitAnswerState.h" -#include - #include class SmartWaitAnswerState : public WaitAnswerState @@ -20,7 +18,7 @@ class SmartWaitAnswerState : public WaitAnswerState Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::vector> songKeywords); ~SmartWaitAnswerState() override = default; diff --git a/ros/demos/smart_speaker/src/states/task/CurrentWeatherState.cpp b/ros/demos/smart_speaker/src/states/task/CurrentWeatherState.cpp index 9d12eb22..24d582e4 100644 --- a/ros/demos/smart_speaker/src/states/task/CurrentWeatherState.cpp +++ b/ros/demos/smart_speaker/src/states/task/CurrentWeatherState.cpp @@ -8,31 +8,38 @@ using namespace std; +constexpr chrono::seconds WEATHER_SERVICE_TIMEOUT(20); + CurrentWeatherState::CurrentWeatherState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, type_index nextStateType) - : TalkState(language, stateManager, desireSet, nodeHandle, nextStateType) + : TalkState(language, stateManager, desireSet, move(node), nextStateType) { + m_weatherClientCallbackGroup = m_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + m_weatherClient = m_node->create_client( + "cloud_data/current_local_weather", + rmw_qos_profile_services_default, + m_weatherClientCallbackGroup); } string CurrentWeatherState::generateEnglishText(const string& _) { bool ok; - cloud_data::CurrentLocalWeather srv; - getCurrentLocalWeather(ok, srv); + cloud_data::srv::CurrentLocalWeather::Response response; + getCurrentLocalWeather(ok, response); stringstream ss; ss.precision(FLOAT_NUMBER_PRECISION); if (ok) { - ss << "The current temperature is " << srv.response.temperature_celsius << " degree Celsius and "; - ss << " it feels like " << srv.response.feels_like_temperature_celsius << " degree Celsius. "; - ss << "Humidity is " << srv.response.humidity_percent << "% and "; - ss << " wind speed is " << srv.response.wind_speed_kph << " kilometers per hour. "; + ss << "The current temperature is " << response.temperature_celsius << " degree Celsius and "; + ss << " it feels like " << response.feels_like_temperature_celsius << " degree Celsius. "; + ss << "Humidity is " << response.humidity_percent << "% and "; + ss << " wind speed is " << response.wind_speed_kph << " kilometers per hour. "; } else { @@ -45,18 +52,19 @@ string CurrentWeatherState::generateEnglishText(const string& _) string CurrentWeatherState::generateFrenchText(const string& _) { bool ok; - cloud_data::CurrentLocalWeather srv; - getCurrentLocalWeather(ok, srv); + cloud_data::srv::CurrentLocalWeather::Response response; + getCurrentLocalWeather(ok, response); stringstream ss; ss.precision(FLOAT_NUMBER_PRECISION); if (ok) { - ss << "La température courante est de " << srv.response.temperature_celsius << " degré Celsius. "; - ss << "La température courante ressentie est de " << srv.response.feels_like_temperature_celsius << " degré Celsius. "; - ss << "L'humidité courante est de " << srv.response.humidity_percent << "%. "; - ss << "La vitesse courante du vent est de " << srv.response.wind_speed_kph << " kilomètres par heure. "; + ss << "La température courante est de " << response.temperature_celsius << " degré Celsius. "; + ss << "La température courante ressentie est de " << response.feels_like_temperature_celsius + << " degré Celsius. "; + ss << "L'humidité courante est de " << response.humidity_percent << "%. "; + ss << "La vitesse courante du vent est de " << response.wind_speed_kph << " kilomètres par heure. "; } else { @@ -66,10 +74,18 @@ string CurrentWeatherState::generateFrenchText(const string& _) return ss.str(); } -void CurrentWeatherState::getCurrentLocalWeather(bool& ok, cloud_data::CurrentLocalWeather& srv) +void CurrentWeatherState::getCurrentLocalWeather(bool& ok, cloud_data::srv::CurrentLocalWeather::Response& response) { - ros::ServiceClient service = - m_nodeHandle.serviceClient("cloud_data/current_local_weather"); - - ok = service.exists() && service.call(srv); + auto request = make_shared(); + auto future = m_weatherClient->async_send_request(request); + auto status = future.wait_for(WEATHER_SERVICE_TIMEOUT); + if (status == future_status::ready) + { + response = *future.get(); + ok = response.ok; + } + else + { + ok = false; + } } diff --git a/ros/demos/smart_speaker/src/states/task/CurrentWeatherState.h b/ros/demos/smart_speaker/src/states/task/CurrentWeatherState.h index fca757a2..1bbe728a 100644 --- a/ros/demos/smart_speaker/src/states/task/CurrentWeatherState.h +++ b/ros/demos/smart_speaker/src/states/task/CurrentWeatherState.h @@ -3,16 +3,19 @@ #include "../common/TalkState.h" -#include +#include class CurrentWeatherState : public TalkState { + rclcpp::CallbackGroup::SharedPtr m_weatherClientCallbackGroup; + rclcpp::Client::SharedPtr m_weatherClient; + public: CurrentWeatherState( Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::type_index nextStateType); ~CurrentWeatherState() override = default; @@ -26,7 +29,7 @@ class CurrentWeatherState : public TalkState std::string generateFrenchText(const std::string& _) override; private: - void getCurrentLocalWeather(bool& ok, cloud_data::CurrentLocalWeather& srv); + void getCurrentLocalWeather(bool& ok, cloud_data::srv::CurrentLocalWeather::Response& response); }; inline std::type_index CurrentWeatherState::type() const diff --git a/ros/demos/smart_speaker/src/states/task/DancePlayedSongState.cpp b/ros/demos/smart_speaker/src/states/task/DancePlayedSongState.cpp index 17427a3e..4cc81f2d 100644 --- a/ros/demos/smart_speaker/src/states/task/DancePlayedSongState.cpp +++ b/ros/demos/smart_speaker/src/states/task/DancePlayedSongState.cpp @@ -10,10 +10,10 @@ DancePlayedSongState::DancePlayedSongState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, type_index nextStateType, vector songPaths) - : State(language, stateManager, desireSet, nodeHandle), + : State(language, stateManager, desireSet, move(node)), m_nextStateType(nextStateType), m_songPaths(move(songPaths)), m_songDesireId(MAX_DESIRE_ID) @@ -25,8 +25,10 @@ DancePlayedSongState::DancePlayedSongState( m_desireSet->addObserver(this); - m_songStartedSubscriber = - nodeHandle.subscribe("sound_player/started", 1, &DancePlayedSongState::songStartedSubscriberCallback, this); + m_songStartedSubscriber = m_node->create_subscription( + "sound_player/started", + 1, + [this](const behavior_msgs::msg::SoundStarted::SharedPtr msg) { songStartedSubscriberCallback(msg); }); } DancePlayedSongState::~DancePlayedSongState() @@ -51,7 +53,7 @@ void DancePlayedSongState::enable(const string& parameter, const type_index& pre size_t songIndex = atoi(parameter.c_str()); if (songIndex >= m_songPaths.size()) { - ROS_ERROR("The song index is invalid."); + RCLCPP_ERROR(m_node->get_logger(), "The song index is invalid."); m_stateManager.switchTo(m_nextStateType); } else @@ -75,7 +77,7 @@ void DancePlayedSongState::disable() m_songDesireId = MAX_DESIRE_ID; } -void DancePlayedSongState::songStartedSubscriberCallback(const sound_player::Started::ConstPtr& msg) +void DancePlayedSongState::songStartedSubscriberCallback(const behavior_msgs::msg::SoundStarted::SharedPtr msg) { if (!enabled() || msg->id != m_songDesireId) { diff --git a/ros/demos/smart_speaker/src/states/task/DancePlayedSongState.h b/ros/demos/smart_speaker/src/states/task/DancePlayedSongState.h index 9ad1c327..365e227c 100644 --- a/ros/demos/smart_speaker/src/states/task/DancePlayedSongState.h +++ b/ros/demos/smart_speaker/src/states/task/DancePlayedSongState.h @@ -3,13 +3,13 @@ #include "../State.h" -#include +#include class DancePlayedSongState : public State, public DesireSetObserver { std::type_index m_nextStateType; - ros::Subscriber m_songStartedSubscriber; + rclcpp::Subscription::SharedPtr m_songStartedSubscriber; std::vector m_songPaths; uint64_t m_songDesireId; @@ -19,7 +19,7 @@ class DancePlayedSongState : public State, public DesireSetObserver Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::type_index nextStateType, std::vector songPaths); ~DancePlayedSongState() override; @@ -36,7 +36,7 @@ class DancePlayedSongState : public State, public DesireSetObserver void disable() override; private: - void songStartedSubscriberCallback(const sound_player::Started::ConstPtr& msg); + void songStartedSubscriberCallback(const behavior_msgs::msg::SoundStarted::SharedPtr msg); }; inline std::type_index DancePlayedSongState::type() const diff --git a/ros/demos/smart_speaker/src/states/task/DanceState.cpp b/ros/demos/smart_speaker/src/states/task/DanceState.cpp index 2ff23e04..c51760e1 100644 --- a/ros/demos/smart_speaker/src/states/task/DanceState.cpp +++ b/ros/demos/smart_speaker/src/states/task/DanceState.cpp @@ -10,9 +10,9 @@ DanceState::DanceState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, type_index nextStateType) - : State(language, stateManager, desireSet, nodeHandle), + : State(language, stateManager, desireSet, move(node)), m_nextStateType(nextStateType) { } @@ -31,22 +31,21 @@ void DanceState::enable(const string& parameter, const type_index& previousStage m_desireSet->addDesire(move(danceDesire)); m_desireSet->addDesire(move(faceAnimationDesire)); - constexpr bool oneshot = true; - m_timeoutTimer = - m_nodeHandle.createTimer(ros::Duration(DANCE_TIMEOUT_S), &DanceState::timeoutTimerCallback, this, oneshot); + m_timeoutTimer = m_node->create_wall_timer(chrono::seconds(DANCE_TIMEOUT_S), [this]() { timeoutTimerCallback(); }); } void DanceState::disable() { State::disable(); - if (m_timeoutTimer.isValid()) + if (m_timeoutTimer) { - m_timeoutTimer.stop(); + m_timeoutTimer->cancel(); + m_timeoutTimer = nullptr; } } -void DanceState::timeoutTimerCallback(const ros::TimerEvent& event) +void DanceState::timeoutTimerCallback() { if (!enabled()) { diff --git a/ros/demos/smart_speaker/src/states/task/DanceState.h b/ros/demos/smart_speaker/src/states/task/DanceState.h index d02f5af3..37bffaec 100644 --- a/ros/demos/smart_speaker/src/states/task/DanceState.h +++ b/ros/demos/smart_speaker/src/states/task/DanceState.h @@ -3,20 +3,20 @@ #include "../State.h" -constexpr double DANCE_TIMEOUT_S = 60; +constexpr int DANCE_TIMEOUT_S = 60; class DanceState : public State { std::type_index m_nextStateType; - ros::Timer m_timeoutTimer; + rclcpp::TimerBase::SharedPtr m_timeoutTimer; public: DanceState( Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::type_index nextStateType); ~DanceState() override = default; @@ -30,7 +30,7 @@ class DanceState : public State void disable() override; private: - void timeoutTimerCallback(const ros::TimerEvent& event); + void timeoutTimerCallback(); }; inline std::type_index DanceState::type() const diff --git a/ros/demos/smart_speaker/src/states/task/WeatherForecastState.cpp b/ros/demos/smart_speaker/src/states/task/WeatherForecastState.cpp index 052ab1c6..37c95248 100644 --- a/ros/demos/smart_speaker/src/states/task/WeatherForecastState.cpp +++ b/ros/demos/smart_speaker/src/states/task/WeatherForecastState.cpp @@ -8,49 +8,56 @@ using namespace std; +constexpr chrono::seconds WEATHER_SERVICE_TIMEOUT(20); + WeatherForecastState::WeatherForecastState( Language language, StateManager& stateManager, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::type_index nextStateType) - : TalkState(language, stateManager, desireSet, nodeHandle, nextStateType) + : TalkState(language, stateManager, desireSet, move(node), nextStateType) { + m_weatherClientCallbackGroup = m_node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + m_weatherClient = m_node->create_client( + "cloud_data/local_weather_forecast", + rmw_qos_profile_services_default, + m_weatherClientCallbackGroup); } string WeatherForecastState::generateEnglishText(const string& _) { bool ok; - cloud_data::LocalWeatherForecast srv; - getLocalWeatherForecast(ok, srv); + cloud_data::srv::LocalWeatherForecast::Response response; + getLocalWeatherForecast(ok, response); stringstream ss; ss.precision(FLOAT_NUMBER_PRECISION); if (ok) { - ss << "Tomorrow morning, the temperature will be " << srv.response.temperature_morning_celsius + ss << "Tomorrow morning, the temperature will be " << response.temperature_morning_celsius << " degree Celsius and "; - ss << "the feels like temperature will be " << srv.response.feals_like_temperature_morning_celsius + ss << "the feels like temperature will be " << response.feals_like_temperature_morning_celsius << " degree Celsius. "; - ss << "During the day of tomorrow, the temperature will be " << srv.response.temperature_day_celsius + ss << "During the day of tomorrow, the temperature will be " << response.temperature_day_celsius << " degree Celsius and "; - ss << "the feels like temperature will be " << srv.response.feals_like_temperature_day_celsius + ss << "the feels like temperature will be " << response.feals_like_temperature_day_celsius << " degree Celsius. "; - ss << "Tomorrow evening, the temperature will be " << srv.response.temperature_evening_celsius + ss << "Tomorrow evening, the temperature will be " << response.temperature_evening_celsius << " degree Celsius and "; - ss << "the feels like temperature will be " << srv.response.feals_like_temperature_evening_celsius + ss << "the feels like temperature will be " << response.feals_like_temperature_evening_celsius << " degree Celsius. "; - ss << "Tomorrow night, the temperature will be " << srv.response.temperature_night_celsius + ss << "Tomorrow night, the temperature will be " << response.temperature_night_celsius << " degree Celsius and "; - ss << "the feels like temperature will be " << srv.response.feals_like_temperature_night_celsius + ss << "the feels like temperature will be " << response.feals_like_temperature_night_celsius << " degree Celsius. "; - ss << "Tomorrow, the humidity will be " << srv.response.humidity_percent << "%, "; - ss << "the wind speed will be " << srv.response.wind_speed_kph << " kilometers per hour,"; + ss << "Tomorrow, the humidity will be " << response.humidity_percent << "%, "; + ss << "the wind speed will be " << response.wind_speed_kph << " kilometers per hour,"; } else { @@ -63,28 +70,33 @@ string WeatherForecastState::generateEnglishText(const string& _) string WeatherForecastState::generateFrenchText(const string& _) { bool ok; - cloud_data::LocalWeatherForecast srv; - getLocalWeatherForecast(ok, srv); + cloud_data::srv::LocalWeatherForecast::Response response; + getLocalWeatherForecast(ok, response); stringstream ss; ss.precision(FLOAT_NUMBER_PRECISION); if (ok) { - ss << "Demain matin, la température sera de " << srv.response.temperature_morning_celsius << " degré Celsius et "; - ss << "la température ressentie sera de " << srv.response.feals_like_temperature_morning_celsius << " degré Celsius. "; + ss << "Demain matin, la température sera de " << response.temperature_morning_celsius << " degré Celsius et "; + ss << "la température ressentie sera de " << response.feals_like_temperature_morning_celsius + << " degré Celsius. "; - ss << "Demain en journée, la température sera de " << srv.response.temperature_day_celsius << " degré Celsius et "; - ss << "la température ressentie sera de " << srv.response.feals_like_temperature_day_celsius << " degré Celsius. "; + ss << "Demain en journée, la température sera de " << response.temperature_day_celsius << " degré Celsius et "; + ss << "la température ressentie sera de " << response.feals_like_temperature_day_celsius << " degré Celsius. "; - ss << "Demain en soirée, la température sera de " << srv.response.temperature_evening_celsius << " degré Celsius et "; - ss << "la température ressentie sera de " << srv.response.feals_like_temperature_evening_celsius << " degré Celsius. "; + ss << "Demain en soirée, la température sera de " << response.temperature_evening_celsius + << " degré Celsius et "; + ss << "la température ressentie sera de " << response.feals_like_temperature_evening_celsius + << " degré Celsius. "; - ss << "La nuit prochaine, la température sera de " << srv.response.temperature_night_celsius << " degré Celsius et "; - ss << "la température ressentie sera de " << srv.response.feals_like_temperature_night_celsius << " degré Celsius. "; + ss << "La nuit prochaine, la température sera de " << response.temperature_night_celsius + << " degré Celsius et "; + ss << "la température ressentie sera de " << response.feals_like_temperature_night_celsius + << " degré Celsius. "; - ss << "Demain, l'humidité sera de " << srv.response.humidity_percent << "%, "; - ss << "la vitesse du vent sera de " << srv.response.wind_speed_kph << " kilomètres par heure, "; + ss << "Demain, l'humidité sera de " << response.humidity_percent << "%, "; + ss << "la vitesse du vent sera de " << response.wind_speed_kph << " kilomètres par heure, "; } else { @@ -94,11 +106,20 @@ string WeatherForecastState::generateFrenchText(const string& _) return ss.str(); } -void WeatherForecastState::getLocalWeatherForecast(bool& ok, cloud_data::LocalWeatherForecast& srv) +void WeatherForecastState::getLocalWeatherForecast(bool& ok, cloud_data::srv::LocalWeatherForecast::Response& response) { - ros::ServiceClient service = - m_nodeHandle.serviceClient("cloud_data/local_weather_forecast"); + auto request = make_shared(); + request->relative_day = 1; // tomorow - srv.request.relative_day = 1; // tomorow - ok = service.exists() && service.call(srv); + auto future = m_weatherClient->async_send_request(request); + auto status = future.wait_for(WEATHER_SERVICE_TIMEOUT); + if (status == future_status::ready) + { + response = *future.get(); + ok = response.ok; + } + else + { + ok = false; + } } diff --git a/ros/demos/smart_speaker/src/states/task/WeatherForecastState.h b/ros/demos/smart_speaker/src/states/task/WeatherForecastState.h index 26987f94..af346131 100644 --- a/ros/demos/smart_speaker/src/states/task/WeatherForecastState.h +++ b/ros/demos/smart_speaker/src/states/task/WeatherForecastState.h @@ -3,17 +3,19 @@ #include "../common/TalkState.h" -#include -#include +#include class WeatherForecastState : public TalkState { + rclcpp::CallbackGroup::SharedPtr m_weatherClientCallbackGroup; + rclcpp::Client::SharedPtr m_weatherClient; + public: WeatherForecastState( Language language, StateManager& stateManager, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + rclcpp::Node::SharedPtr node, std::type_index nextStateType); ~WeatherForecastState() override = default; @@ -27,7 +29,7 @@ class WeatherForecastState : public TalkState std::string generateFrenchText(const std::string& _) override; private: - void getLocalWeatherForecast(bool& ok, cloud_data::LocalWeatherForecast& srv); + void getLocalWeatherForecast(bool& ok, cloud_data::srv::LocalWeatherForecast::Response& response); }; inline std::type_index WeatherForecastState::type() const diff --git a/ros/demos/t_top_opentera/CMakeLists.txt b/ros/demos/t_top_opentera/CMakeLists.txt index 242895e5..0c4d49cd 100644 --- a/ros/demos/t_top_opentera/CMakeLists.txt +++ b/ros/demos/t_top_opentera/CMakeLists.txt @@ -1,215 +1,53 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.8) project(t_top_opentera) -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -## 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 - hbba_lite - roscpp - sensor_msgs - std_msgs - t_top_hbba_lite - opentera_webrtc_ros_msgs - opentera_webrtc_ros - map_image_generator - led_animations - daemon_ros_client -) - -## 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 -# ) +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) +find_package(ament_cmake REQUIRED) -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# sensor_msgs# 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 smart_speaker - # CATKIN_DEPENDS audio_analyzer cloud_data gesture hbba_lite person_identification roscpp sensor_msgs std_msgs talk video_analyzer - # DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - # include - ${catkin_INCLUDE_DIRS} -) +find_package(rclcpp REQUIRED) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/smart_speaker.cpp -# ) +find_package(std_srvs REQUIRED) +find_package(opentera_webrtc_ros_msgs REQUIRED) -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +find_package(t_top_hbba_lite REQUIRED) -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide add_executable(${PROJECT_NAME}_node src/${PROJECT_NAME}_node.cpp ) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${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 ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -target_link_libraries(${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_smart_speaker.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +target_include_directories(${PROJECT_NAME}_node PRIVATE src) +ament_target_dependencies(${PROJECT_NAME}_node + rclcpp + std_srvs + t_top_hbba_lite + opentera_webrtc_ros_msgs +) +install(TARGETS ${PROJECT_NAME}_node DESTINATION lib/${PROJECT_NAME}) + +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/ros/demos/t_top_opentera/README.md b/ros/demos/t_top_opentera/README.md index b858f525..aa3faf65 100644 --- a/ros/demos/t_top_opentera/README.md +++ b/ros/demos/t_top_opentera/README.md @@ -5,8 +5,9 @@ This folder contains a node that makes T-Top a telepresence robot using OpenTera ## Installation 1. Follow the installation guide for [T-Top](../../../documentation/assembly/01_COMPUTER_CONFIGURATION.md) dependencies. -2. Install the requirements for OpenTera from the [system](../../opentera-webrtc-ros/README.md#Requirements) and for [Python](../../opentera-webrtc-ros/README.md#3---Install-the-Python-requirements). -3. Build the ROS workspace using `catkin_make`. +2. Clone the [opentera-webrtc-ros](https://github.com/introlab/opentera-webrtc-ros) repository in the workspace. +3. Install the requirements for OpenTera from the [system](../../../../opentera-webrtc-ros/README.md#Requirements) and for [Python](../../../../opentera-webrtc-ros/README.md#3---Install-the-Python-requirements). +4. Build the ROS workspace using `colcon build`. ## How to Launch The OpenTera telepresence stack can be launched in stand-alone mode or using the OpenTera servers. @@ -17,7 +18,7 @@ To launch in stand-alone mode, you will need to generate CA certificates and key 1. Start the ROS stack. ```bash export DISPLAY=:0.0 -roslaunch t_top_opentera t_top_opentera.launch +ros2 launch t_top_opentera t_top_opentera.launch.xml ``` 2. On your developpement machine, navigate to `https://:8080/index.html#/user?pwd=abc&robot=TTOP`, where `` is the IP address of your robot on the LAN. @@ -28,14 +29,14 @@ To launch using the OpenTera servers, you will need to configure the OpenTera se 2. Copy the template config file to the destination: ```bash mkdir -p ~/.ros/opentera -cp $(rospack find opentera_client_ros)/config/client_config.json ~/.ros/opentera/client_config.json +cp $(ros2 pkg prefix --share opentera_client_ros)/config/client_config.json ~/.ros/opentera/client_config.json ``` 3. Edit the file `~/.ros/opentera/client_config.json` to set the token and url to the token from step 1 and `https://telesante.3it.usherbrooke.ca:40075`, respectively. 1. Start the ROS stack. ```bash export DISPLAY=:0.0 -roslaunch t_top_opentera t_top_opentera_online.launch +ros2 launch t_top_opentera t_top_opentera_online.launch.xml ``` 2. On your developpement machine, navigate to `https://telesante.3it.usherbrooke.ca:40075/robot/#/login`. diff --git a/ros/demos/t_top_opentera/launch/t_top_opentera.launch b/ros/demos/t_top_opentera/launch/t_top_opentera.launch deleted file mode 100644 index 57044dec..00000000 --- a/ros/demos/t_top_opentera/launch/t_top_opentera.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/ros/demos/t_top_opentera/launch/t_top_opentera.launch.xml b/ros/demos/t_top_opentera/launch/t_top_opentera.launch.xml new file mode 100644 index 00000000..addcc59b --- /dev/null +++ b/ros/demos/t_top_opentera/launch/t_top_opentera.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ros/demos/t_top_opentera/launch/t_top_opentera_online.launch b/ros/demos/t_top_opentera/launch/t_top_opentera_online.launch deleted file mode 100644 index a1649c82..00000000 --- a/ros/demos/t_top_opentera/launch/t_top_opentera_online.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ros/demos/t_top_opentera/launch/t_top_opentera_online.launch.xml b/ros/demos/t_top_opentera/launch/t_top_opentera_online.launch.xml new file mode 100644 index 00000000..e9df92e2 --- /dev/null +++ b/ros/demos/t_top_opentera/launch/t_top_opentera_online.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ros/demos/t_top_opentera/package.xml b/ros/demos/t_top_opentera/package.xml index 097e17e2..fd98020e 100644 --- a/ros/demos/t_top_opentera/package.xml +++ b/ros/demos/t_top_opentera/package.xml @@ -1,89 +1,25 @@ - + + t_top_opentera 0.0.0 The t_top_opentera package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclcpp - - - - TODO + std_srvs + opentera_webrtc_ros_msgs + t_top_hbba_lite - - - - + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - hbba_lite - roscpp - sensor_msgs - std_msgs - t_top_hbba_lite - opentera_webrtc_ros_msgs - opentera_webrtc_ros - map_image_generator - led_animations - daemon_ros_client - hbba_lite - roscpp - sensor_msgs - std_msgs - t_top_hbba_lite - opentera_webrtc_ros_msgs - opentera_webrtc_ros - map_image_generator - led_animations - daemon_ros_client - hbba_lite - roscpp - sensor_msgs - std_msgs - t_top_hbba_lite - opentera_webrtc_ros_msgs - opentera_webrtc_ros - map_image_generator - led_animations - daemon_ros_client - - - - - + ament_cmake diff --git a/ros/demos/t_top_opentera/src/t_top_opentera_node.cpp b/ros/demos/t_top_opentera/src/t_top_opentera_node.cpp index de4ac2fd..2ca1538a 100644 --- a/ros/demos/t_top_opentera/src/t_top_opentera_node.cpp +++ b/ros/demos/t_top_opentera/src/t_top_opentera_node.cpp @@ -3,128 +3,151 @@ #include #include #include -#include -#include -#include +#include +#include +#include #include +#include -using namespace std; +#include "utils.h" constexpr bool WAIT_FOR_SERVICE = true; class Node { public: - explicit Node(ros::NodeHandle& nodeHandle); - ~Node() = default; + Node(); - static void run() { ros::spin(); } + void run() + { + rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 2); + executor.add_node(m_node); + executor.spin(); + } + + rclcpp::Logger get_logger() const { return m_node->get_logger(); } private: - ros::NodeHandle& m_nodeHandle; + std::shared_ptr m_node; std::shared_ptr m_desireSet; std::shared_ptr m_filterPool; std::unique_ptr m_hbbaLite; - optional m_activeMovementModeId; + std::optional m_activeMovementModeId; - ros::ServiceServer m_setMovementModeService; - ros::ServiceServer m_listActiveStrategiesService; - ros::ServiceServer m_listActiveDesiresService; + rclcpp::Service::SharedPtr m_setMovementModeService; + rclcpp::Service::SharedPtr m_listActiveStrategiesService; + rclcpp::Service::SharedPtr m_listActiveDesiresService; - bool listActiveStrategiesCb(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response); - bool listActiveDesiresCb(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response); + void listActiveStrategiesCb( + const std_srvs::srv::SetBool::Request::ConstSharedPtr& request, + const std_srvs::srv::SetBool::Response::SharedPtr& response); + void listActiveDesiresCb( + const std_srvs::srv::SetBool::Request::ConstSharedPtr& request, + const std_srvs::srv::SetBool::Response::SharedPtr& response); - bool setMovementModeCb( - opentera_webrtc_ros_msgs::SetString::Request& request, - opentera_webrtc_ros_msgs::SetString::Response& response); + void setMovementModeCb( + const opentera_webrtc_ros_msgs::srv::SetString::Request::ConstSharedPtr& request, + const opentera_webrtc_ros_msgs::srv::SetString::Response::SharedPtr& response); template void setMovementModeDesire(); + + std::vector> makeStrategies(); }; -Node::Node(ros::NodeHandle& nodeHandle) - : m_nodeHandle{nodeHandle}, - m_desireSet{make_shared()}, - m_filterPool{make_shared(nodeHandle, WAIT_FOR_SERVICE)} +std::vector> Node::makeStrategies() { - vector> strategies; + std::vector> strategies; + strategies.emplace_back(createTelepresenceStrategy(m_filterPool)); strategies.emplace_back(createTeleoperationStrategy(m_filterPool)); strategies.emplace_back(createSoundFollowingStrategy(m_filterPool)); strategies.emplace_back(createNearestFaceFollowingStrategy(m_filterPool)); - m_hbbaLite = make_unique( - m_desireSet, - move(strategies), - std::unordered_map{{"sound", 1}}, - make_unique()); + return strategies; +} - auto telepresenceDesire = make_unique(); +Node::Node() + : m_node{std::make_shared("t_top_opentera_node")}, + m_desireSet{std::make_shared()}, + m_filterPool{std::make_shared(m_node, WAIT_FOR_SERVICE)}, + m_hbbaLite{std::make_unique( + m_desireSet, + makeStrategies(), + std::unordered_map{{"sound", 1}}, + std::make_unique())}, + m_activeMovementModeId{}, + m_setMovementModeService{m_node->create_service( + "set_movement_mode", + bind_this(this, &Node::setMovementModeCb))}, + m_listActiveStrategiesService{m_node->create_service( + "hbba/list_active_strategies", + bind_this(this, &Node::listActiveStrategiesCb))}, + m_listActiveDesiresService{m_node->create_service( + "hbba/list_active_desires", + bind_this(this, &Node::listActiveDesiresCb))} +{ + auto telepresenceDesire = std::make_unique(); m_desireSet->addDesire(std::move(telepresenceDesire)); setMovementModeDesire(); +} - m_setMovementModeService = m_nodeHandle.advertiseService("set_movement_mode", &Node::setMovementModeCb, this); - - m_listActiveStrategiesService = - m_nodeHandle.advertiseService("hbba/list_active_strategies", &Node::listActiveStrategiesCb, this); - m_listActiveDesiresService = - m_nodeHandle.advertiseService("hbba/list_active_desires", &Node::listActiveDesiresCb, this); -}; - -bool Node::listActiveStrategiesCb(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response) +void Node::listActiveStrategiesCb( + [[maybe_unused]] const std_srvs::srv::SetBool::Request::ConstSharedPtr& request, + const std_srvs::srv::SetBool::Response::SharedPtr& response) { - response.message = ""; - response.success = true; + response->message = ""; + response->success = true; for (const auto& strategy : m_hbbaLite->getActiveStrategies()) { - response.message += strategy + ";"; + response->message += strategy + ";"; } - - return true; } -bool Node::listActiveDesiresCb(std_srvs::SetBool::Request& request, std_srvs::SetBool::Response& response) +void Node::listActiveDesiresCb( + [[maybe_unused]] const std_srvs::srv::SetBool::Request::ConstSharedPtr& request, + const std_srvs::srv::SetBool::Response::SharedPtr& response) { - response.message = ""; - response.success = true; + response->message = ""; + response->success = true; for (const auto& desire : m_hbbaLite->getActiveDesireNames()) { - response.message += desire + ";"; + response->message += desire + ";"; } - - return true; } -bool Node::setMovementModeCb( - opentera_webrtc_ros_msgs::SetString::Request& request, - opentera_webrtc_ros_msgs::SetString::Response& response) +void Node::setMovementModeCb( + const opentera_webrtc_ros_msgs::srv::SetString::Request::ConstSharedPtr& request, + const opentera_webrtc_ros_msgs::srv::SetString::Response::SharedPtr& response) { - response.message = ""; - response.success = true; + response->success = false; + response->message = "Unknown movement mode"; + + const auto set_success = [&response]() + { + response->message = ""; + response->success = true; + }; - if (request.data == "teleop") + if (request->data == "teleop") { setMovementModeDesire(); + set_success(); } - else if (request.data == "sound") + else if (request->data == "sound") { setMovementModeDesire(); + set_success(); } - else if (request.data == "face") + else if (request->data == "face") { setMovementModeDesire(); + set_success(); } - else - { - response.success = false; - response.message = "Unknown movement mode"; - } - - return true; } template @@ -136,19 +159,25 @@ void Node::setMovementModeDesire() m_desireSet->removeDesire(m_activeMovementModeId.value()); } - auto movementModeDesire = make_unique(); + auto movementModeDesire = std::make_unique(); m_activeMovementModeId = movementModeDesire->id(); m_desireSet->addDesire(std::move(movementModeDesire)); } int main(int argc, char** argv) { - ros::init(argc, argv, "t_top_opentera_node"); - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); + rclcpp::init(argc, argv); - Node node{nodeHandle}; - Node::run(); + Node node; + + try + { + node.run(); + } + catch (const std::exception& e) + { + RCLCPP_ERROR_STREAM(node.get_logger(), "T-Top OpenTera Node crashed (" << e.what() << ")"); + } return 0; } diff --git a/ros/demos/t_top_opentera/src/utils.h b/ros/demos/t_top_opentera/src/utils.h new file mode 100644 index 00000000..54752ccb --- /dev/null +++ b/ros/demos/t_top_opentera/src/utils.h @@ -0,0 +1,55 @@ +#ifndef UTILS_H +#define UTILS_H + +#include +#include + +namespace details +{ + template + struct has_request_type : std::false_type + { + }; + + template + struct has_request_type> : std::true_type + { + }; + + + template + struct has_response_type : std::false_type + { + }; + + template + struct has_response_type> : std::true_type + { + }; + + template + struct has_request_response_types : std::conjunction, has_response_type> + { + }; +} + +template +inline auto bind_this(This* self, Func&& func) -> std::enable_if_t< + !details::has_request_response_types::value, + std::function> +{ + return [self, func](const typename MessageT::SharedPtr msg) { (self->*func)(msg); }; +} + +template +inline auto bind_this(This* self, Func&& func) + -> std::enable_if_t< + details::has_request_response_types::value, + std::function> +{ + return + [self, func](const typename MessageT::Request::SharedPtr req, const typename MessageT::Response::SharedPtr res) + { (self->*func)(req, res); }; +} + +#endif diff --git a/ros/opentera-webrtc-ros b/ros/opentera-webrtc-ros deleted file mode 160000 index 1df7ee0c..00000000 --- a/ros/opentera-webrtc-ros +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 1df7ee0cb2a1589703cf08d59f1b3a52779e186f diff --git a/ros/perceptions/audio_analyzer/CMakeLists.txt b/ros/perceptions/audio_analyzer/CMakeLists.txt index 00ad2178..c314321f 100644 --- a/ros/perceptions/audio_analyzer/CMakeLists.txt +++ b/ros/perceptions/audio_analyzer/CMakeLists.txt @@ -1,212 +1,37 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(audio_analyzer) -## 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 - dnn_utils - rospy - std_msgs - message_generation - message_filters - sensor_msgs - odas_ros - audio_utils - hbba_lite -) - -## 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 - AudioAnalysis.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 - audio_utils -) - -################################################ -## 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 audio_analyzer - CATKIN_DEPENDS dnn_utils rospy std_msgs message_runtime -# 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/${PROJECT_NAME}/audio_analyzer.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/audio_analyzer_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 +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(odas_ros_msgs REQUIRED) +find_package(audio_utils_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(perception_msgs REQUIRED) + +# Python Nodes +install(PROGRAMS scripts/audio_analyzer_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_audio_analyzer.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/perceptions/audio_analyzer/README.md b/ros/perceptions/audio_analyzer/README.md index 0af94f19..74713197 100644 --- a/ros/perceptions/audio_analyzer/README.md +++ b/ros/perceptions/audio_analyzer/README.md @@ -6,17 +6,17 @@ This folder contains the node to analyze the audio. This node classifies the audio and extracts a general audio embedding. If the audio contains a voice, it extracts a voice embedding. #### Parameters - - `inference_type` (string): Indicates where to run the neural network (cpu, torch_gpu or trt_gpu). - - `interval` (int): The interval between inferences in sample (low_quality_audio_in). - - `voice_probability_threshold` (double): The voice probability threshold for the voice embedding. - - `class_probability_threshold` (double): The class probability threshold for the audio analysis. + - `inference_type` (string): Indicates where to run the neural network (cpu, torch_gpu or trt_gpu). The default value is `cpu`. + - `interval` (int): The interval between inferences in sample (low_quality_audio_in). The default value is 16000. + - `voice_probability_threshold` (double): The voice probability threshold for the voice embedding. The default value is 0.5. + - `class_probability_threshold` (double): The class probability threshold for the audio analysis. The default value is 0.5. #### Subscribed Topics - - `audio_in` ([audio_utils/AudioFrame](https://github.com/introlab/audio_utils/blob/main/msg/AudioFrame.msg)): The sound topic processed, which must be signed_16, at 16000 Hz and 1 channel. - - `sst` ([odas_ros/OdasSstArrayStamped](https://github.com/introlab/odas_ros/blob/main/msg/OdasSstArrayStamped.msg)): The sound source tracking information. + - `audio_in` ([audio_utils_msgs/AudioFrame](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/AudioFrame.msg)): The sound topic processed, which must be signed_16, at 16000 Hz and 1 channel. + - `sst` ([odas_ros_msgs/OdasSstArrayStamped](https://github.com/introlab/odas_ros/blob/ros2/odas_ros_msgs/msg/OdasSstArrayStamped.msg)): The sound source tracking information. #### Published Topics - - `audio_analysis` ([audio_analyzer/AudioAnalysis](msg/AudioAnalysis.msg)): The audio analysis containing the audio classes, general audio embedding, voice embedding and the sound direction. + - `audio_analysis` ([perception_msgs/AudioAnalysis](../perception_msgs/msg/AudioAnalysis.msg)): The audio analysis containing the audio classes, general audio embedding, voice embedding and the sound direction. #### Services - - `audio_in/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the processing. + - `audio_in/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the processing. diff --git a/ros/t_top/launch/tests/test_audio_analyzer.launch b/ros/perceptions/audio_analyzer/launch/test_audio_analyzer.launch.xml similarity index 63% rename from ros/t_top/launch/tests/test_audio_analyzer.launch rename to ros/perceptions/audio_analyzer/launch/test_audio_analyzer.launch.xml index fc0174c8..2eeafcd0 100644 --- a/ros/t_top/launch/tests/test_audio_analyzer.launch +++ b/ros/perceptions/audio_analyzer/launch/test_audio_analyzer.launch.xml @@ -1,28 +1,26 @@ - + - + - - - - + + + - diff --git a/ros/perceptions/audio_analyzer/package.xml b/ros/perceptions/audio_analyzer/package.xml index e32cd5ad..2aadd205 100644 --- a/ros/perceptions/audio_analyzer/package.xml +++ b/ros/perceptions/audio_analyzer/package.xml @@ -1,79 +1,30 @@ - + + audio_analyzer 0.0.0 The audio_analyzer package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + dnn_utils + std_msgs + sensor_msgs + odas_ros_msgs + audio_utils_msgs + hbba_lite + perception_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - dnn_utils - rospy - std_msgs - message_generation - odas_ros - audio_utils - hbba_lite - dnn_utils - rospy - std_msgs - odas_ros - audio_utils - hbba_lite - dnn_utils - rospy - std_msgs - message_runtime - odas_ros - audio_utils - hbba_lite - - - - - + ament_cmake diff --git a/ros/perceptions/audio_analyzer/scripts/audio_analyzer_node.py b/ros/perceptions/audio_analyzer/scripts/audio_analyzer_node.py index f14c498a..ce63fc66 100755 --- a/ros/perceptions/audio_analyzer/scripts/audio_analyzer_node.py +++ b/ros/perceptions/audio_analyzer/scripts/audio_analyzer_node.py @@ -6,12 +6,12 @@ import torch -import rospy -from std_msgs.msg import Bool +import rclpy +import rclpy.node -from audio_utils.msg import AudioFrame -from audio_analyzer.msg import AudioAnalysis -from odas_ros.msg import OdasSstArrayStamped +from audio_utils_msgs.msg import AudioFrame +from perception_msgs.msg import AudioAnalysis +from odas_ros_msgs.msg import OdasSstArrayStamped from dnn_utils import MulticlassAudioDescriptorExtractor, VoiceDescriptorExtractor import hbba_lite @@ -21,9 +21,11 @@ SUPPORTED_CHANNEL_COUNT = 1 -class AudioAnalyzerNode: +class AudioAnalyzerNode(rclpy.node.Node): def __init__(self): - self._inference_type = rospy.get_param('~inference_type', None) + super().__init__('audio_analyzer_node') + + self._inference_type = self.declare_parameter('inference_type', 'cpu').get_parameter_value().string_value self._audio_descriptor_extractor = MulticlassAudioDescriptorExtractor(inference_type=self._inference_type) self._voice_descriptor_extractor = VoiceDescriptorExtractor(inference_type=self._inference_type) @@ -32,9 +34,9 @@ def __init__(self): raise ValueError('Not compatible models (sampling frequency)') self._supported_sampling_frequency = self._audio_descriptor_extractor.get_supported_sampling_frequency() - self._audio_analysis_interval = rospy.get_param('~interval') - self._voice_probability_threshold = rospy.get_param('~voice_probability_threshold') - self._class_probability_threshold = rospy.get_param('~class_probability_threshold') + self._audio_analysis_interval = self.declare_parameter('interval', 16000).get_parameter_value().integer_value + self._voice_probability_threshold = self.declare_parameter('voice_probability_threshold', 0.5).get_parameter_value().double_value + self._class_probability_threshold = self.declare_parameter('class_probability_threshold', 0.5).get_parameter_value().double_value self._audio_buffer_duration = max(self._audio_descriptor_extractor.get_supported_duration(), self._voice_descriptor_extractor.get_supported_duration(), @@ -50,21 +52,20 @@ def __init__(self): self._audio_direction_lock = threading.Lock() self._audio_direction = ('', 0.0, 0.0, 0.0) - self._audio_analysis_pub = rospy.Publisher('audio_analysis', AudioAnalysis, queue_size=10) - self._audio_analysis_seq = 0 + self._audio_analysis_pub = self.create_publisher(AudioAnalysis, 'audio_analysis', 10) self._sst_id = -1 - self._hbba_filter_state = hbba_lite.OnOffHbbaFilterState('audio_in/filter_state') - self._audio_sub = rospy.Subscriber('audio_in', AudioFrame, self._audio_cb, queue_size=100) + self._hbba_filter_state = hbba_lite.OnOffHbbaFilterState(self, 'audio_in/filter_state') + self._audio_sub = self.create_subscription(AudioFrame, 'audio_in', self._audio_cb, 100) - self._sst_sub = rospy.Subscriber('sst', OdasSstArrayStamped, self._sst_cb, queue_size=10) + self._sst_sub = self.create_subscription(OdasSstArrayStamped, 'sst', self._sst_cb, 1) def _audio_cb(self, msg): if msg.format != SUPPORTED_AUDIO_FORMAT or \ msg.channel_count != SUPPORTED_CHANNEL_COUNT or \ msg.sampling_frequency != self._supported_sampling_frequency: - rospy.logerr('Invalid audio frame (msg.format={}, msg.channel_count={}, msg.sampling_frequency={}})' + self.get_logger().error('Invalid audio frame (msg.format={}, msg.channel_count={}, msg.sampling_frequency={}})' .format(msg.format, msg.channel_count, msg.sampling_frequency)) return if self._hbba_filter_state.is_filtering_all_messages: @@ -88,16 +89,18 @@ def _audio_cb(self, msg): def _analyse(self): start_time = datetime.now() audio_buffer, sst_id = self._get_audio_buffer_and_sst_id() + if audio_buffer.size()[0] < self._audio_buffer_duration: + self._publish_audio_analysis(sst_id, audio_buffer, [], [], []) + return + audio_descriptor_buffer = audio_buffer[-self._audio_descriptor_extractor.get_supported_duration():] audio_descriptor, audio_class_probabilities = self._audio_descriptor_extractor(audio_descriptor_buffer) audio_descriptor = audio_descriptor.tolist() - print('Voice prob:', audio_class_probabilities[self._voice_class_index].item()) + voice_descriptor = [] if audio_class_probabilities[self._voice_class_index].item() >= self._voice_probability_threshold: voice_descriptor_buffer = audio_buffer[-self._voice_descriptor_extractor.get_supported_duration():] voice_descriptor = self._voice_descriptor_extractor(voice_descriptor_buffer).tolist() - else: - voice_descriptor = [] audio_classes = self._get_audio_classes(audio_class_probabilities) processing_time_s = (datetime.now() - start_time).total_seconds() @@ -108,7 +111,7 @@ def _get_audio_buffer_and_sst_id(self): sst_id = self._sst_id audio_buffer = torch.cat(self._audio_frames, dim=0) if audio_buffer.size()[0] < self._audio_buffer_duration: - return torch.cat([torch.zeros(self._audio_buffer_duration - audio_buffer.size()[0]), audio_buffer], dim=0), sst_id + return audio_buffer, sst_id else: return audio_buffer[-self._audio_buffer_duration:], sst_id @@ -116,13 +119,15 @@ def _get_audio_classes(self, audio_class_probabilities): return [self._class_names[i] for i in range(len(self._class_names)) if audio_class_probabilities[i].item() >= self._class_probability_threshold] - def _publish_audio_analysis(self, sst_id, audio_buffer, audio_classes, audio_descriptor, voice_descriptor, processing_time_s=0): + def _publish_audio_analysis(self, sst_id, audio_buffer, audio_classes, audio_descriptor, voice_descriptor, processing_time_s=0.0): with self._audio_direction_lock: frame_id, direction_x, direction_y, direction_z = self._audio_direction + if frame_id == '': + return + msg = AudioAnalysis() - msg.header.seq = self._audio_analysis_seq - msg.header.stamp = rospy.Time.now() + msg.header.stamp = self.get_clock().now().to_msg() msg.header.frame_id = frame_id msg.tracking_id = sst_id @@ -144,37 +149,46 @@ def _publish_audio_analysis(self, sst_id, audio_buffer, audio_classes, audio_des msg.processing_time_s = processing_time_s self._audio_analysis_pub.publish(msg) - self._audio_analysis_seq += 1 def _sst_cb(self, sst): if len(sst.sources) == 0: + self._reset_sst(-1) return if len(sst.sources) > 1: - rospy.logerr('Invalid sst (len(sst.sources)={})'.format(len(sst.sources))) + self.get_logger().error('Invalid sst (len(sst.sources)={})'.format(len(sst.sources))) return if sst.sources[0].id != self._sst_id: - print('New source') - self._sst_id = sst.sources[0].id + self._reset_sst(sst.sources[0].id) with self._audio_frames_lock: self._audio_frames = [] with self._audio_direction_lock: self._audio_direction = (sst.header.frame_id, sst.sources[0].x, sst.sources[0].y, sst.sources[0].z) + def _reset_sst(self, new_sst_id): + self._sst_id = new_sst_id + with self._audio_frames_lock: + self._audio_frames = [] + def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('audio_analyzer_node') + rclpy.init() audio_analyzer_node = AudioAnalyzerNode() - audio_analyzer_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + audio_analyzer_node.run() + except KeyboardInterrupt: pass + finally: + audio_analyzer_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/ego_noise_reduction/CMakeLists.txt b/ros/perceptions/ego_noise_reduction/CMakeLists.txt index 0e6804ca..45ae594a 100644 --- a/ros/perceptions/ego_noise_reduction/CMakeLists.txt +++ b/ros/perceptions/ego_noise_reduction/CMakeLists.txt @@ -1,127 +1,34 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(ego_noise_reduction) -## 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 - audio_utils - roscpp - rospy - std_msgs - hbba_lite - t_top - daemon_ros_client -) - -## 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 -# ) +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -################################### -## 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 ego_noise_reduction -# CATKIN_DEPENDS audio_utils roscpp rospy std_msgs -# DEPENDS system_lib -) +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -########### -## Build ## -########### +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## Specify additional locations of header files -## Your package locations should be listed before other locations +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclpy REQUIRED) +find_package(audio_utils REQUIRED) +find_package(std_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(t_top REQUIRED) +find_package(daemon_ros_client REQUIRED) + +# C++ Library include_directories( include - ${catkin_INCLUDE_DIRS} ) ## Declare a C++ library @@ -134,103 +41,61 @@ add_library(${PROJECT_NAME} STATIC src/${PROJECT_NAME}/WeightedAverageWithAPrioriNoiseEstimator.cpp src/${PROJECT_NAME}/NoiseMagnitudeDatabase.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} ${catkin_EXPORTED_TARGETS}) - -target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -add_executable(${PROJECT_NAME}_node src/ego_noise_reduction_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 +ament_target_dependencies(${PROJECT_NAME} audio_utils) +target_link_libraries(${PROJECT_NAME} ${audio_utils_LIBRARIES}) +install(DIRECTORY include DESTINATION include) +install(TARGETS ${PROJECT_NAME} DESTINATION lib) + +ament_export_dependencies(rclcpp audio_utils) +ament_export_include_directories(include) +ament_export_libraries(${PROJECT_NAME}) + +# C++ Nodes +add_executable(ego_noise_reduction_node src/ego_noise_reduction_node.cpp) +ament_target_dependencies(ego_noise_reduction_node rclcpp std_msgs daemon_ros_client hbba_lite hbba_lite_srvs audio_utils) +target_link_libraries(ego_noise_reduction_node ${PROJECT_NAME} - ${catkin_LIBRARIES} + ${audio_utils_LIBRARIES} + ${hbba_lite_LIBRARIES} + ${hbba_lite_srvs_LIBRARIES} ) +install(TARGETS ego_noise_reduction_node DESTINATION lib/${PROJECT_NAME}) -############# -## 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 +# Python Nodes +install(PROGRAMS scripts/data_gathering.py scripts/test.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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/ego_noise_reduction/MathTests.cpp - test/ego_noise_reduction/StftNoiseRemoverTests.cpp - test/ego_noise_reduction/SpectralSubtractionNoiseRemoverTests.cpp - test/ego_noise_reduction/LogMmseNoiseRemoverTests.cpp - test/ego_noise_reduction/NoiseEstimatorTests.cpp - test/ego_noise_reduction/WeightedAverageNoiseEstimatorTests.cpp - test/ego_noise_reduction/WeightedAverageWithAPrioriNoiseEstimatorTests.cpp - test/ego_noise_reduction/NoiseMagnitudeDatabaseTests.cpp - test/ego_noise_reduction/TestUtils.cpp - test/ego_noise_reduction/main.cpp -) -if(TARGET ${PROJECT_NAME}-test) - target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME} ${catkin_LIBRARIES}) +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) + +# Noise files +install(DIRECTORY noise_data DESTINATION share/${PROJECT_NAME}) + +# Tests +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + ament_add_gtest(${PROJECT_NAME}_test + test/ego_noise_reduction/MathTests.cpp + test/ego_noise_reduction/StftNoiseRemoverTests.cpp + test/ego_noise_reduction/SpectralSubtractionNoiseRemoverTests.cpp + test/ego_noise_reduction/LogMmseNoiseRemoverTests.cpp + test/ego_noise_reduction/NoiseEstimatorTests.cpp + test/ego_noise_reduction/WeightedAverageNoiseEstimatorTests.cpp + test/ego_noise_reduction/WeightedAverageWithAPrioriNoiseEstimatorTests.cpp + test/ego_noise_reduction/NoiseMagnitudeDatabaseTests.cpp + test/ego_noise_reduction/TestUtils.cpp + test/ego_noise_reduction/main.cpp + ) + ament_target_dependencies(${PROJECT_NAME}_test rclcpp audio_utils) + target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME} ${audio_utils_LIBRARIES}) - add_custom_command(TARGET ${PROJECT_NAME}-test POST_BUILD + add_custom_command(TARGET ${PROJECT_NAME}_test POST_BUILD COMMAND ${CMAKE_COMMAND} -E copy_directory - ${PROJECT_SOURCE_DIR}/test/ego_noise_reduction/resources $/resources + ${PROJECT_SOURCE_DIR}/test/ego_noise_reduction/resources $/resources ) endif() -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/perceptions/ego_noise_reduction/README.md b/ros/perceptions/ego_noise_reduction/README.md index 7265eb8d..135603ac 100644 --- a/ros/perceptions/ego_noise_reduction/README.md +++ b/ros/perceptions/ego_noise_reduction/README.md @@ -7,13 +7,14 @@ This node gathers the data needed to perform ego noise reduction. To use this no Use the following command to launch the nodes. ```bash -roslaunch ego_noise_reduction data_gathering.launch +ros2 launch ego_noise_reduction data_gathering.launch ``` #### Parameters - - `n_fft` (int): The FFT frame size. - - `sampling_frequency` (int): The sampling frequency of the audio. - - `channel_count` (int): The channel count of the audio. + - `n_fft` (int): The FFT frame size. The default value is `1024`. + - `sampling_frequency` (int): The sampling frequency of the audio. The default value is `16000`. + - `channel_count` (int): The channel count of the audio. The default value is `16`. + - `audio_queue_size` (int): The audio queue size. The default value is `1`. ### `test.py` This node tests the ego noise reduction. @@ -27,18 +28,18 @@ roslaunch ego_noise_reduction test.launch output_directory:= This node performs ego noise reduction. #### Parameters - - `type` (string): The noise reduction algorithm to use (`spectral_subtraction` or `log_mmse`). - - `format` (string): The audio format (see [audio_utils/AudioFrame](../../audio_utils/msg/AudioFrame.msg)).. - - `channel_count` (int): The channel count of the audio. - - `sampling_frequency` (int): The sampling frequency of the audio. - - `frame_sample_count` (int): The number of samples in each frame. + - `type` (string): The noise reduction algorithm to use (`spectral_subtraction` or `log_mmse`). The default value is `log_mmse`. + - `format` (string): The audio format (see [audio_utils_msgs/AudioFrame](../../utils/audio_utils/audio_utils_msgs/msg/AudioFrame.msg)). The default value is `signed_32`. + - `channel_count` (int): The channel count of the audio. The default value is `16`. + - `sampling_frequency` (int): The sampling frequency of the audio. The default value is `16000`. + - `frame_sample_count` (int): The number of samples in each frame. The default value is `1024`. - `n_fft` (int): The FFT frame size. It must be a multiple of `frame_sample_count`. - `noise_directory` (string): The directory path containing the noise data. - `noise_estimator_epsilon` (double): The sensitivity of the noise estimation algorithm. The default value is `4.0`. - `noise_estimator_alpha` (double): The recursive average of the noise magnitude. The default value is `0.9`. - `noise_estimator_delta` (double): The recursive average of the noise magnitude variance. The default value is `0.9`. - - `spectral_subtraction_alpha0` (double): This parameter is useful when the type `spectral_subtraction`. is The default value is `5.0`. + - `spectral_subtraction_alpha0` (double): This parameter is useful when the type `spectral_subtraction`. The default value is `5.0`. - `spectral_subtraction_gamma` (double): This parameter is useful when the type `spectral_subtraction`. The default value is `0.1`. - `spectral_subtraction_beta` (double): This parameter is useful when the type `spectral_subtraction`. The default value is `0.01`. @@ -48,10 +49,10 @@ This node performs ego noise reduction. #### Subscribed Topics - `daemon/motor_status` ([daemon_ros_client/MotorStatus](../../daemon_ros_client/msg/MotorStatus.msg)): The current motor status. - - `audio_in` ([audio_utils/AudioFrame](https://github.com/introlab/audio_utils/blob/main/msg/AudioFrame.msg)): The sound topic to process. + - `audio_in` ([audio_utils_msgs/AudioFrame](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/AudioFrame.msg)): The sound topic to process. #### Published Topics -- `audio_out` ([audio_utils/AudioFrame](https://github.com/introlab/audio_utils/blob/main/msg/AudioFrame.msg)): The processed sound topic. +- `audio_out` ([audio_utils_msgs/AudioFrame](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/AudioFrame.msg)): The processed sound topic. ## Acknowledgments diff --git a/ros/perceptions/ego_noise_reduction/launch/data_gathering.launch b/ros/perceptions/ego_noise_reduction/launch/data_gathering.launch.xml similarity index 71% rename from ros/perceptions/ego_noise_reduction/launch/data_gathering.launch rename to ros/perceptions/ego_noise_reduction/launch/data_gathering.launch.xml index 5dc20b88..51afc4c3 100644 --- a/ros/perceptions/ego_noise_reduction/launch/data_gathering.launch +++ b/ros/perceptions/ego_noise_reduction/launch/data_gathering.launch.xml @@ -1,11 +1,11 @@ - + - + @@ -15,15 +15,12 @@ + - - - [front-left, front-right, rear-left, rear-right, front-center, lfe, side-left, side-right, aux0, aux1, aux2, aux3, aux4, aux5, aux6, aux7] - - + diff --git a/ros/perceptions/ego_noise_reduction/launch/test.launch b/ros/perceptions/ego_noise_reduction/launch/test.launch.xml similarity index 59% rename from ros/perceptions/ego_noise_reduction/launch/test.launch rename to ros/perceptions/ego_noise_reduction/launch/test.launch.xml index bfd75cca..0c2e5332 100644 --- a/ros/perceptions/ego_noise_reduction/launch/test.launch +++ b/ros/perceptions/ego_noise_reduction/launch/test.launch.xml @@ -1,9 +1,9 @@ - + - + @@ -13,45 +13,44 @@ + - - - [front-left, front-right, rear-left, rear-right, front-center, lfe, side-left, side-right, aux0, aux1, aux2, aux3, aux4, aux5, aux6, aux7] - - + - + - + + + - + - - + + - - + + - - + + diff --git a/ros/perceptions/ego_noise_reduction/package.xml b/ros/perceptions/ego_noise_reduction/package.xml index 78e86ddc..e03636d2 100644 --- a/ros/perceptions/ego_noise_reduction/package.xml +++ b/ros/perceptions/ego_noise_reduction/package.xml @@ -1,80 +1,33 @@ - + + ego_noise_reduction 0.0.0 The ego_noise_reduction package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rosidl_default_generators + rclcpp + rclpy - - - - TODO + audio_utils + std_msgs + hbba_lite + t_top + daemon_ros_client + rosidl_default_runtime + ros2launch + rosidl_interface_packages - - - - + ament_lint_auto + ament_lint_common + ament_cmake_gtest - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - audio_utils - roscpp - rospy - std_msgs - hbba_lite - t_top - daemon_ros_client - audio_utils - roscpp - rospy - std_msgs - hbba_lite - t_top - daemon_ros_client - audio_utils - roscpp - rospy - std_msgs - hbba_lite - t_top - daemon_ros_client - - - - - + ament_cmake diff --git a/ros/perceptions/ego_noise_reduction/scripts/data_gathering.py b/ros/perceptions/ego_noise_reduction/scripts/data_gathering.py index 36fda7d7..b6ea4474 100755 --- a/ros/perceptions/ego_noise_reduction/scripts/data_gathering.py +++ b/ros/perceptions/ego_noise_reduction/scripts/data_gathering.py @@ -2,18 +2,18 @@ import os import math -import threading +import time from collections import defaultdict import numpy as np import librosa import scipy.signal -import rospy -import rospkg +import rclpy +import rclpy.node from std_msgs.msg import Float32, Int32, Empty -from audio_utils.msg import AudioFrame +from audio_utils_msgs.msg import AudioFrame STARTUP_DELAY_S = 10. @@ -27,43 +27,44 @@ def sqrt_hann(M): class AudioAnalyser: - def __init__(self, channel_count, n_fft) -> None: + def __init__(self, node, channel_count, n_fft) -> None: + self._node = node self._channel_count = channel_count self._n_fft = n_fft def analyse(self, input_directory, output_directory): - rospy.loginfo('Analysing the torso_servo files') + self._node.get_logger().info('Analysing the torso_servo files') self._analyze_specific_type(input_directory, output_directory, 'torso_servo') - rospy.loginfo('Analysing the head_servo_id1 files') + self._node.get_logger().info('Analysing the head_servo_id1 files') self._analyze_specific_type(input_directory, output_directory, 'head_servo_id1') - rospy.loginfo('Analysing the head_servo_id2 files') + self._node.get_logger().info('Analysing the head_servo_id2 files') self._analyze_specific_type(input_directory, output_directory, 'head_servo_id2') - rospy.loginfo('Analysing the head_servo_id3 files') + self._node.get_logger().info('Analysing the head_servo_id3 files') self._analyze_specific_type(input_directory, output_directory, 'head_servo_id3') - rospy.loginfo('Analysing the head_servo_id4 files') + self._node.get_logger().info('Analysing the head_servo_id4 files') self._analyze_specific_type(input_directory, output_directory, 'head_servo_id4') - rospy.loginfo('Analysing the head_servo_id5 files') + self._node.get_logger().info('Analysing the head_servo_id5 files') self._analyze_specific_type(input_directory, output_directory, 'head_servo_id5') - rospy.loginfo('Analysing the head_servo_id6 files') + self._node.get_logger().info('Analysing the head_servo_id6 files') self._analyze_specific_type(input_directory, output_directory, 'head_servo_id6') def _analyze_specific_type(self, input_directory, output_directory, prefix): paths_by_speed = self._list_paths_by_speed(input_directory, prefix) paths_by_speed_orientation = self._list_paths_by_speed_orientation(input_directory, prefix) - rospy.loginfo('\tCalculating base noise magnitudes') + self._node.get_logger().info('\tCalculating base noise magnitudes') base_noise_magnitudes_by_speed = self._get_base_noise_magnitudes(paths_by_speed) - rospy.loginfo('\tCalculating orientation tf') + self._node.get_logger().info('\tCalculating orientation tf') orientation_tf = self._get_orientation_tf(paths_by_speed_orientation, base_noise_magnitudes_by_speed) - rospy.loginfo('\tCalculating channel tf') + self._node.get_logger().info('\tCalculating channel tf') channel_tf = self._get_channel_tf(paths_by_speed_orientation, base_noise_magnitudes_by_speed, orientation_tf) self._write_dict_of_array(base_noise_magnitudes_by_speed, @@ -105,7 +106,7 @@ def _stft(self, x): def _get_base_noise_magnitudes(self, paths_by_speed): stfts_by_speed = defaultdict(list) for i, (speed, paths) in enumerate(paths_by_speed.items()): - rospy.loginfo(f'\t\t{i+1}/{len(paths_by_speed)}') + self._node.get_logger().info(f'\t\t{i+1}/{len(paths_by_speed)}') for path in paths: x = self._load_raw_audio_file(path) for c in range(x.shape[1]): @@ -182,22 +183,22 @@ def _write_dict_of_array(self, dict_of_array, path): file.write(' '.join(map(str, value))) file.write('\n') -class DataGatheringNode: +class DataGatheringNode(rclpy.node.Node): def __init__(self): + super().__init__('data_gathering') + self._torso_orientation_deg = 0 self._moving_servo_id = 0 self._moving_servo_speed = 0 self._is_head_servo_audio_recording = False self._is_torso_servo_audio_recording = False - self._lock = threading.Lock() - self._n_fft = rospy.get_param('~n_fft') - self._sampling_frequency = rospy.get_param('~sampling_frequency') - self._channel_count = rospy.get_param('~channel_count') + self._n_fft = self.declare_parameter('n_fft', 1024).get_parameter_value().integer_value + self._sampling_frequency = self.declare_parameter('sampling_frequency', 16000).get_parameter_value().integer_value + self._channel_count = self.declare_parameter('channel_count', 16).get_parameter_value().integer_value self._audio_analyzer = AudioAnalyser(self._channel_count, self._n_fft) - self._rospack = rospkg.RosPack() - self._pkg_path = self._rospack.get_path('ego_noise_reduction') + self._pkg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..') self._audio_data_directory_path = os.path.join(self._pkg_path, 'audio_data') self._noise_data_directory_path = os.path.join(self._pkg_path, 'noise_data') @@ -206,29 +207,29 @@ def __init__(self): self._write_noise_data_info() - self._start_ego_noise_data_gathering_pub = rospy.Publisher('opencr/start_ego_noise_data_gathering', Empty, queue_size=10) + self._start_ego_noise_data_gathering_pub = self.create_publisher(Empty, 'opencr/start_ego_noise_data_gathering', 10) - self._current_torso_orientation_sub = rospy.Subscriber('opencr/current_torso_orientation', Float32, - self._current_torso_orientation_cb, queue_size=10) - self._moving_servo_id_sub = rospy.Subscriber('opencr/moving_servo_id', Int32, - self._moving_servo_id_cb, queue_size=10) - self._moving_servo_speed = rospy.Subscriber('opencr/moving_servo_speed', Int32, - self._moving_servo_speed_cb, queue_size=10) + self._current_torso_orientation_sub = self.create_subscription(Float32, 'opencr/current_torso_orientation', + self._current_torso_orientation_cb, 10) + self._moving_servo_id_sub = self.create_subscription(Int32, 'opencr/moving_servo_id', + self._moving_servo_id_cb, 10) + self._moving_servo_speed = self.create_subscription(Int32, 'opencr/moving_servo_speed', + self._moving_servo_speed_cb, 10) - self._start_head_servo_audio_recording_sub = rospy.Subscriber('opencr/start_head_servo_audio_recording', Empty, - self._start_head_servo_audio_recording_cb, queue_size=10) - self._stop_head_servo_audio_recording_sub = rospy.Subscriber('opencr/stop_head_servo_audio_recording', Empty, - self._stop_head_servo_audio_recording_cb, queue_size=10) + self._start_head_servo_audio_recording_sub = self.create_subscription(Empty, 'opencr/start_head_servo_audio_recording', + self._start_head_servo_audio_recording_cb, 10) + self._stop_head_servo_audio_recording_sub = self.create_subscription(Empty, 'opencr/stop_head_servo_audio_recording', + self._stop_head_servo_audio_recording_cb, 10) - self._start_torso_servo_audio_recording_sub = rospy.Subscriber('opencr/start_torso_servo_audio_recording', Empty, - self._start_torso_servo_audio_recording_cb, queue_size=10) - self._stop_torso_servo_audio_recording_sub = rospy.Subscriber('opencr/stop_torso_servo_audio_recording', Empty, - self._stop_torso_servo_audio_recording_cb, queue_size=10) + self._start_torso_servo_audio_recording_sub = self.create_subscription(Empty, 'opencr/start_torso_servo_audio_recording', + self._start_torso_servo_audio_recording_cb, 10) + self._stop_torso_servo_audio_recording_sub = self.create_subscription(Empty, 'opencr/stop_torso_servo_audio_recording', + self._stop_torso_servo_audio_recording_cb, 10) - self._audio_sub = rospy.Subscriber('audio_in', AudioFrame, self._audio_cb, queue_size=100) + self._audio_sub = self.create_subscription(AudioFrame, 'audio_in', self._audio_cb, 100) - self._ego_noise_data_gathering_finished_sub = rospy.Subscriber('opencr/ego_noise_data_gathering_finished', Empty, - self._ego_noise_data_gathering_finished_cb, queue_size=10) + self._ego_noise_data_gathering_finished_sub = self.create_subscription(Empty, 'opencr/ego_noise_data_gathering_finished', + self._ego_noise_data_gathering_finished_cb, 10) def _write_noise_data_info(self): with open(os.path.join(self._noise_data_directory_path, 'info.txt'), 'w') as f: @@ -237,47 +238,39 @@ def _write_noise_data_info(self): f.write(f'{self._channel_count}\n') def _current_torso_orientation_cb(self, msg): - with self._lock: - self._torso_orientation_deg = math.degrees(msg.data) + self._torso_orientation_deg = math.degrees(msg.data) def _moving_servo_id_cb(self, msg): - with self._lock: - self._moving_servo_id = msg.data + self._moving_servo_id = msg.data def _moving_servo_speed_cb(self, msg): - with self._lock: - base = 5 - self._moving_servo_speed = base * round(msg.data / base) + base = 5 + self._moving_servo_speed = base * round(msg.data / base) def _start_head_servo_audio_recording_cb(self, msg): - with self._lock: - self._is_head_servo_audio_recording = True + self._is_head_servo_audio_recording = True def _stop_head_servo_audio_recording_cb(self, msg): - with self._lock: - self._is_head_servo_audio_recording = False + self._is_head_servo_audio_recording = False def _start_torso_servo_audio_recording_cb(self, msg): - with self._lock: - self._is_torso_servo_audio_recording = True + self._is_torso_servo_audio_recording = True def _stop_torso_servo_audio_recording_cb(self, msg): - with self._lock: - self._is_torso_servo_audio_recording = False + self._is_torso_servo_audio_recording = False def _audio_cb(self, msg): if msg.format != SUPPORTED_AUDIO_FORMAT or \ msg.channel_count != self._channel_count or \ msg.sampling_frequency != self._sampling_frequency: - rospy.logerr('Invalid audio frame (msg.format={}, msg.channel_count={}, msg.sampling_frequency={}})' + self.get_logger().error('Invalid audio frame (msg.format={}, msg.channel_count={}, msg.sampling_frequency={}})' .format(msg.format, msg.channel_count, msg.sampling_frequency)) return - with self._lock: - if self._is_head_servo_audio_recording: - self._append_to(self._get_head_servo_path(), msg.data) - if self._is_torso_servo_audio_recording: - self._append_to(self._get_torso_servo_path(), msg.data) + if self._is_head_servo_audio_recording: + self._append_to(self._get_head_servo_path(), msg.data) + if self._is_torso_servo_audio_recording: + self._append_to(self._get_torso_servo_path(), msg.data) def _get_head_servo_path(self): deg = round(self._torso_orientation_deg) % CIRCLE_DEGREES @@ -299,20 +292,25 @@ def _ego_noise_data_gathering_finished_cb(self, msg): self._audio_analyzer.analyse(self._audio_data_directory_path, self._noise_data_directory_path) def run(self): - rospy.sleep(STARTUP_DELAY_S) + time.sleep(STARTUP_DELAY_S) self._start_ego_noise_data_gathering_pub.publish(Empty()) - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('data_gathering') - split_channel_node = DataGatheringNode() - split_channel_node.run() - + rclpy.init() + data_gathering = DataGatheringNode() -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + data_gathering.run() + except KeyboardInterrupt: pass + finally: + data_gathering.destroy_node() + + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/ego_noise_reduction/scripts/test.py b/ros/perceptions/ego_noise_reduction/scripts/test.py old mode 100644 new mode 100755 index a591b01c..5ced22b1 --- a/ros/perceptions/ego_noise_reduction/scripts/test.py +++ b/ros/perceptions/ego_noise_reduction/scripts/test.py @@ -1,9 +1,13 @@ #!/usr/bin/env python3 +import threading import math +import time -import rospy -from hbba_lite.srv import SetOnOffFilterState +import rclpy +import rclpy.node + +from hbba_lite_srvs.srv import SetOnOffFilterState from t_top import MovementCommands @@ -11,16 +15,20 @@ PAUSE_DURATION_S = 5.0 -class EgoNoiseReductionTestNode: +class EgoNoiseReductionTestNode(rclpy.node.Node): def __init__(self): - self._movement_commands = MovementCommands() + super().__init__('ego_noise_reduction_test_node') + self._movement_commands = MovementCommands(self) def run(self): self._enable_on_off_filter('ego_noise_reduction/filter_state') self._enable_on_off_filter('pose/filter_state') - while not rospy.is_shutdown(): - rospy.sleep(PAUSE_DURATION_S) + executer_thread = threading.Thread(target=lambda: rclpy.spin(self)) + executer_thread.start() + + while rclpy.ok(): + time.sleep(PAUSE_DURATION_S) self._movement_commands.move_torso(math.pi / 2, should_wait=True) self._movement_commands.move_torso(-math.pi / 2, should_wait=True) @@ -28,20 +36,32 @@ def run(self): self._movement_commands.move_no(speed_rad_sec=0.5) self._movement_commands.move_maybe(speed_rad_sec=1.5) + executer_thread.join() + def _enable_on_off_filter(self, name): - rospy.wait_for_service(name) - filter_state = rospy.ServiceProxy(name, SetOnOffFilterState) - filter_state(is_filtering_all_messages=False) + client = self.create_client(SetOnOffFilterState, name) + client.wait_for_service() + request = SetOnOffFilterState.Request() + request.is_filtering_all_messages = False -def main(): - rospy.init_node('ego_noise_reduction_test_node') - capture_voice_node = EgoNoiseReductionTestNode() - capture_voice_node.run() + future = client.call_async(request) + rclpy.spin_until_future_complete(self, future) -if __name__ == '__main__': +def main(): + rclpy.init() + ego_noise_reduction_test_node = EgoNoiseReductionTestNode() + try: - main() - except rospy.ROSInterruptException: + ego_noise_reduction_test_node.run() + except KeyboardInterrupt: pass + finally: + ego_noise_reduction_test_node.destroy_node() + + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/ego_noise_reduction/src/ego_noise_reduction/LogMmseNoiseRemover.cpp b/ros/perceptions/ego_noise_reduction/src/ego_noise_reduction/LogMmseNoiseRemover.cpp index d64bfa2b..4375a2d0 100644 --- a/ros/perceptions/ego_noise_reduction/src/ego_noise_reduction/LogMmseNoiseRemover.cpp +++ b/ros/perceptions/ego_noise_reduction/src/ego_noise_reduction/LogMmseNoiseRemover.cpp @@ -8,7 +8,6 @@ #include using namespace introlab; -using namespace boost::math; using namespace std; @@ -75,7 +74,7 @@ void LogMmseNoiseRemover::updateSpectrum( m_A = m_aPrioriSnr / (1.f + m_aPrioriSnr); m_H = m_A % m_aPosterioriSnr; - m_H.transform([](float v) { return -0.5f * expint(-v); }); + m_H.transform([](float v) { return -0.5f * boost::math::expint(-v); }); m_H = m_A % arma::exp(m_H); output = m_H % input; diff --git a/ros/perceptions/ego_noise_reduction/src/ego_noise_reduction_node.cpp b/ros/perceptions/ego_noise_reduction/src/ego_noise_reduction_node.cpp index 87daa9d3..c01e7a68 100644 --- a/ros/perceptions/ego_noise_reduction/src/ego_noise_reduction_node.cpp +++ b/ros/perceptions/ego_noise_reduction/src/ego_noise_reduction_node.cpp @@ -6,16 +6,17 @@ #include #include -#include -#include -#include -#include +#include -#include +#include +#include +#include + +#include #include -#include +#include #include @@ -26,10 +27,11 @@ using namespace introlab; using namespace std; -constexpr uint32_t AudioQueueSize = 100; constexpr uint32_t StatusQueueSize = 1; constexpr size_t HeadServoCount = 6; +constexpr const char* NODE_NAME = "ego_noise_reduction_node"; + struct EgoNoiseReductionNodeConfiguration { string typeString; @@ -55,7 +57,9 @@ struct EgoNoiseReductionNodeConfiguration float logMmseMaxAPosterioriSnr; float logMmseMinAPrioriSnr; - EgoNoiseReductionNodeConfiguration() + size_t audioQueueSize; + + EgoNoiseReductionNodeConfiguration(rclcpp::Node* node) : format(PcmAudioFrameFormat::Signed8), channelCount(0), samplingFrequency(0), @@ -71,45 +75,76 @@ struct EgoNoiseReductionNodeConfiguration logMmseMaxAPosterioriSnr(0.f), logMmseMinAPrioriSnr(0.f) { + typeString = node->declare_parameter("type", "log_mmse"); + type = StftNoiseRemover::parseType(typeString); + + formatString = node->declare_parameter("format", "signed_32"); + format = parseFormat(formatString); + + channelCount = node->declare_parameter("channel_count", 16); + samplingFrequency = node->declare_parameter("sampling_frequency", 16000); + frameSampleCount = node->declare_parameter("frame_sample_count", 1024); + nFft = node->declare_parameter("n_fft", 1024); + + noiseDirectory = node->declare_parameter("noise_directory", ""); + + noiseEstimatorEpsilon = node->declare_parameter("noise_estimator_epsilon", 4.f); + noiseEstimatorAlpha = node->declare_parameter("noise_estimator_alpha", 0.9f); + noiseEstimatorDelta = node->declare_parameter("noise_estimator_delta", 0.9f); + + spectralSubstractionAlpha0 = node->declare_parameter("spectral_subtraction_alpha0", 5.f); + spectralSubstractionGamma = node->declare_parameter("spectral_subtraction_gamma", 0.1f); + spectralSubstractionBeta = node->declare_parameter("spectral_subtraction_beta", 0.01f); + + logMmseAlpha = node->declare_parameter("log_mmse_alpha", 0.98f); + logMmseMaxAPosterioriSnr = node->declare_parameter("log_mmse_max_a_posteriori_snr", 40.f); + logMmseMinAPrioriSnr = node->declare_parameter("log_mmse_min_a_priori_snr", 0.003f); + + audioQueueSize = node->declare_parameter("audio_queue_size", 1); } }; -class EgoNoiseReductionNode +class EgoNoiseReductionNode : public rclcpp::Node { - ros::NodeHandle& m_nodeHandle; EgoNoiseReductionNodeConfiguration m_configuration; OnOffHbbaFilterState m_filterState; - ros::Publisher m_audioPub; - ros::Subscriber m_audioSub; + rclcpp::Publisher::SharedPtr m_audioPub; + rclcpp::Subscription::SharedPtr m_audioSub; - ros::Subscriber m_motorStatusSub; + rclcpp::Subscription::SharedPtr m_motorStatusSub; PcmAudioFrame m_inputPcmAudioFrame; size_t m_inputPcmAudioFrameIndex; PackedAudioFrame m_inputAudioFrame; PcmAudioFrame m_outputPcmAudioFrame; - std::queue m_timestampQueue; - audio_utils::AudioFrame m_audioFrameMsg; + std::queue m_timestampQueue; + audio_utils_msgs::msg::AudioFrame m_audioFrameMsg; shared_ptr m_noiseEstimator; unique_ptr m_noiseRemover; public: - EgoNoiseReductionNode(ros::NodeHandle& nodeHandle, EgoNoiseReductionNodeConfiguration configuration) - : m_nodeHandle(nodeHandle), - m_configuration(move(configuration)), - m_filterState(m_nodeHandle, "ego_noise_reduction/filter_state"), + EgoNoiseReductionNode() + : rclcpp::Node(NODE_NAME), + m_configuration(this), + m_filterState(*this, "ego_noise_reduction/filter_state"), m_inputPcmAudioFrame(m_configuration.format, m_configuration.channelCount, m_configuration.nFft), m_inputPcmAudioFrameIndex(0), m_inputAudioFrame(m_configuration.channelCount, m_configuration.nFft), m_outputPcmAudioFrame(m_configuration.format, m_configuration.channelCount, m_configuration.nFft) { - m_audioPub = m_nodeHandle.advertise("audio_out", AudioQueueSize); - m_audioSub = m_nodeHandle.subscribe("audio_in", AudioQueueSize, &EgoNoiseReductionNode::audioCallback, this); + m_audioPub = create_publisher("audio_out", m_configuration.audioQueueSize); + m_audioSub = create_subscription( + "audio_in", + m_configuration.audioQueueSize, + [this](const audio_utils_msgs::msg::AudioFrame::SharedPtr msg) { audioCallback(msg); }); - m_motorStatusSub = m_nodeHandle.subscribe("daemon/motor_status", StatusQueueSize, &EgoNoiseReductionNode::motorStatusCallback, this); + m_motorStatusSub = create_subscription( + "daemon/motor_status", + StatusQueueSize, + [this](const daemon_ros_client::msg::MotorStatus::SharedPtr msg) { motorStatusCallback(msg); }); m_audioFrameMsg.format = m_configuration.formatString; m_audioFrameMsg.channel_count = m_configuration.channelCount; @@ -118,7 +153,7 @@ class EgoNoiseReductionNode m_audioFrameMsg.data.resize( size(m_configuration.format, m_configuration.channelCount, m_configuration.frameSampleCount)); - m_noiseEstimator = make_shared( + m_noiseEstimator = std::make_shared( m_configuration.channelCount, m_configuration.nFft, m_configuration.samplingFrequency, @@ -129,17 +164,18 @@ class EgoNoiseReductionNode m_noiseRemover = createNoiseRemover(); } - void run() { ros::spin(); } + void run() { rclcpp::spin(shared_from_this()); } private: - void audioCallback(const audio_utils::AudioFrame::ConstPtr& msg) + void audioCallback(const audio_utils_msgs::msg::AudioFrame::SharedPtr msg) { if (msg->format != m_configuration.formatString || msg->channel_count != m_configuration.channelCount || msg->sampling_frequency != m_configuration.samplingFrequency || msg->frame_sample_count != m_configuration.frameSampleCount || msg->data.size() != size(m_configuration.format, msg->channel_count, msg->frame_sample_count)) { - ROS_ERROR( + RCLCPP_ERROR( + get_logger(), "Not supported audio frame (msg->format=%s, msg->channel_count=%d," "sampling_frequency=%d, frame_sample_count=%d, data_size=%lu)", msg->format.c_str(), @@ -178,13 +214,13 @@ class EgoNoiseReductionNode { m_audioFrameMsg.header.stamp = m_timestampQueue.front(); memcpy(m_audioFrameMsg.data.data(), frame.data() + i, m_audioFrameMsg.data.size()); - m_audioPub.publish(m_audioFrameMsg); + m_audioPub->publish(m_audioFrameMsg); m_timestampQueue.pop(); } } - void motorStatusCallback(const daemon_ros_client::MotorStatus::ConstPtr& msg) + void motorStatusCallback(const daemon_ros_client::msg::MotorStatus::SharedPtr msg) { if (m_filterState.isFilteringAllMessages()) { @@ -206,7 +242,7 @@ class EgoNoiseReductionNode switch (m_configuration.type) { case StftNoiseRemover::Type::SpectralSubtraction: - return make_unique( + return std::make_unique( m_configuration.channelCount, m_configuration.nFft, m_noiseEstimator, @@ -214,7 +250,7 @@ class EgoNoiseReductionNode m_configuration.spectralSubstractionGamma, m_configuration.spectralSubstractionBeta); case StftNoiseRemover::Type::LogMmse: - return make_unique( + return std::make_unique( m_configuration.channelCount, m_configuration.nFft, m_noiseEstimator, @@ -229,76 +265,20 @@ class EgoNoiseReductionNode int main(int argc, char** argv) { - ros::init(argc, argv, "ego_noise_reduction_node"); - - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); - - EgoNoiseReductionNodeConfiguration configuration; + rclcpp::init(argc, argv); try { - if (!privateNodeHandle.getParam("type", configuration.typeString)) - { - ROS_ERROR("The parameter type must be spectral_subtraction or log_mmse."); - return -1; - } - configuration.type = StftNoiseRemover::parseType(configuration.typeString); - - if (!privateNodeHandle.getParam("format", configuration.formatString)) - { - ROS_ERROR("The parameter format is required."); - return -1; - } - configuration.format = parseFormat(configuration.formatString); - - if (!privateNodeHandle.getParam("channel_count", configuration.channelCount)) - { - ROS_ERROR("The parameter channel_count is required."); - return -1; - } - if (!privateNodeHandle.getParam("sampling_frequency", configuration.samplingFrequency)) - { - ROS_ERROR("The parameter sampling_frequency is required."); - return -1; - } - if (!privateNodeHandle.getParam("frame_sample_count", configuration.frameSampleCount)) - { - ROS_ERROR("The parameter frame_sample_count is required."); - return -1; - } - if (!privateNodeHandle.getParam("n_fft", configuration.nFft) || - (configuration.nFft % configuration.frameSampleCount) != 0) - { - ROS_ERROR("The parameter n_fft is required. It must be a multiple of frame_sample_count."); - return -1; - } - if (!privateNodeHandle.getParam("noise_directory", configuration.noiseDirectory)) - { - ROS_ERROR("The parameter noise_directory is required."); - return -1; - } - - configuration.noiseEstimatorEpsilon = privateNodeHandle.param("noise_estimator_epsilon", 4.f); - configuration.noiseEstimatorAlpha = privateNodeHandle.param("noise_estimator_alpha", 0.9f); - configuration.noiseEstimatorDelta = privateNodeHandle.param("noise_estimator_delta", 0.9f); - - configuration.spectralSubstractionAlpha0 = privateNodeHandle.param("spectral_subtraction_alpha0", 5.f); - configuration.spectralSubstractionGamma = privateNodeHandle.param("spectral_subtraction_gamma", 0.1f); - configuration.spectralSubstractionBeta = privateNodeHandle.param("spectral_subtraction_beta", 0.01f); - - configuration.logMmseAlpha = privateNodeHandle.param("log_mmse_alpha", 0.98f); - configuration.logMmseMaxAPosterioriSnr = privateNodeHandle.param("log_mmse_max_a_posteriori_snr", 40.f); - configuration.logMmseMinAPrioriSnr = privateNodeHandle.param("log_mmse_min_a_priori_snr", 0.003f); - - EgoNoiseReductionNode node(nodeHandle, configuration); - node.run(); + auto node = std::make_shared(); + node->run(); } catch (const std::exception& e) { - ROS_ERROR_STREAM(e.what()); + RCLCPP_ERROR_STREAM(rclcpp::get_logger(NODE_NAME), e.what()); return -1; } + rclcpp::shutdown(); + return 0; } diff --git a/ros/perceptions/odas_ros b/ros/perceptions/odas_ros index 5e186cfc..012b765b 160000 --- a/ros/perceptions/odas_ros +++ b/ros/perceptions/odas_ros @@ -1 +1 @@ -Subproject commit 5e186cfc3da873e5a29789b1ab243c1eed72c9ff +Subproject commit 012b765b5350442c327cd5c5d9cd6dd64ac3985f diff --git a/ros/perceptions/perception_msgs/CMakeLists.txt b/ros/perceptions/perception_msgs/CMakeLists.txt new file mode 100644 index 00000000..0a048bdd --- /dev/null +++ b/ros/perceptions/perception_msgs/CMakeLists.txt @@ -0,0 +1,42 @@ +cmake_minimum_required(VERSION 3.5) +project(perception_msgs) + + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(audio_utils_msgs REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +# Generate messages +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/AudioAnalysis.msg" + "msg/PersonName.msg" + "msg/PersonNames.msg" + "msg/PoseClassification.msg" + "msg/PoseClassifications.msg" + "msg/SemanticSegmentation.msg" + "msg/Transcript.msg" + "msg/VideoAnalysis.msg" + "msg/VideoAnalysisObject.msg" + DEPENDENCIES std_msgs sensor_msgs geometry_msgs visualization_msgs audio_utils_msgs +) + +ament_package() diff --git a/ros/perceptions/audio_analyzer/msg/AudioAnalysis.msg b/ros/perceptions/perception_msgs/msg/AudioAnalysis.msg similarity index 83% rename from ros/perceptions/audio_analyzer/msg/AudioAnalysis.msg rename to ros/perceptions/perception_msgs/msg/AudioAnalysis.msg index 4ae74f15..9f1d8849 100644 --- a/ros/perceptions/audio_analyzer/msg/AudioAnalysis.msg +++ b/ros/perceptions/perception_msgs/msg/AudioAnalysis.msg @@ -1,7 +1,7 @@ std_msgs/Header header int64 tracking_id -audio_utils/AudioFrame audio_frame +audio_utils_msgs/AudioFrame audio_frame string[] audio_classes float32[] audio_descriptor diff --git a/ros/perceptions/person_identification/msg/PersonName.msg b/ros/perceptions/perception_msgs/msg/PersonName.msg similarity index 100% rename from ros/perceptions/person_identification/msg/PersonName.msg rename to ros/perceptions/perception_msgs/msg/PersonName.msg diff --git a/ros/perceptions/perception_msgs/msg/PersonNames.msg b/ros/perceptions/perception_msgs/msg/PersonNames.msg new file mode 100644 index 00000000..e5bd80b9 --- /dev/null +++ b/ros/perceptions/perception_msgs/msg/PersonNames.msg @@ -0,0 +1 @@ +perception_msgs/PersonName[] names diff --git a/ros/perceptions/pose_classifier/msg/PoseClassification.msg b/ros/perceptions/perception_msgs/msg/PoseClassification.msg similarity index 74% rename from ros/perceptions/pose_classifier/msg/PoseClassification.msg rename to ros/perceptions/perception_msgs/msg/PoseClassification.msg index bb363684..3945dd73 100644 --- a/ros/perceptions/pose_classifier/msg/PoseClassification.msg +++ b/ros/perceptions/perception_msgs/msg/PoseClassification.msg @@ -5,4 +5,4 @@ string head_horizontal_class string left_arm_class string right_arm_class -video_analyzer/VideoAnalysisObject object +perception_msgs/VideoAnalysisObject object diff --git a/ros/perceptions/perception_msgs/msg/PoseClassifications.msg b/ros/perceptions/perception_msgs/msg/PoseClassifications.msg new file mode 100644 index 00000000..a29a6760 --- /dev/null +++ b/ros/perceptions/perception_msgs/msg/PoseClassifications.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +perception_msgs/PoseClassification[] poses diff --git a/ros/perceptions/video_analyzer/msg/SemanticSegmentation.msg b/ros/perceptions/perception_msgs/msg/SemanticSegmentation.msg similarity index 100% rename from ros/perceptions/video_analyzer/msg/SemanticSegmentation.msg rename to ros/perceptions/perception_msgs/msg/SemanticSegmentation.msg diff --git a/ros/perceptions/speech_to_text/msg/Transcript.msg b/ros/perceptions/perception_msgs/msg/Transcript.msg similarity index 100% rename from ros/perceptions/speech_to_text/msg/Transcript.msg rename to ros/perceptions/perception_msgs/msg/Transcript.msg diff --git a/ros/perceptions/perception_msgs/msg/VideoAnalysis.msg b/ros/perceptions/perception_msgs/msg/VideoAnalysis.msg new file mode 100644 index 00000000..f9e46baf --- /dev/null +++ b/ros/perceptions/perception_msgs/msg/VideoAnalysis.msg @@ -0,0 +1,6 @@ +std_msgs/Header header + +bool contains_3d_positions +perception_msgs/VideoAnalysisObject[] objects +perception_msgs/SemanticSegmentation[] semantic_segmentation +float32 processing_time_s diff --git a/ros/perceptions/video_analyzer/msg/VideoAnalysisObject.msg b/ros/perceptions/perception_msgs/msg/VideoAnalysisObject.msg similarity index 100% rename from ros/perceptions/video_analyzer/msg/VideoAnalysisObject.msg rename to ros/perceptions/perception_msgs/msg/VideoAnalysisObject.msg diff --git a/ros/perceptions/perception_msgs/package.xml b/ros/perceptions/perception_msgs/package.xml new file mode 100644 index 00000000..75e81abb --- /dev/null +++ b/ros/perceptions/perception_msgs/package.xml @@ -0,0 +1,28 @@ + + + + perception_msgs + 0.0.0 + The perception_msgs package + Marc-Antoine Maheux + GPL-3.0 license + + ament_cmake + rosidl_default_generators + + std_msgs + sensor_msgs + geometry_msgs + visualization_msgs + audio_utils_msgs + + rosidl_default_runtime + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ros/perceptions/person_identification/.gitignore b/ros/perceptions/person_identification/.gitignore deleted file mode 100644 index e2349e92..00000000 --- a/ros/perceptions/person_identification/.gitignore +++ /dev/null @@ -1 +0,0 @@ -people.json diff --git a/ros/perceptions/person_identification/CMakeLists.txt b/ros/perceptions/person_identification/CMakeLists.txt index c33f217a..c3c82021 100644 --- a/ros/perceptions/person_identification/CMakeLists.txt +++ b/ros/perceptions/person_identification/CMakeLists.txt @@ -1,211 +1,45 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(person_identification) -## 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 - audio_analyzer - hbba_lite - rospy - tf - video_analyzer - std_msgs - geometry_msgs +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(audio_analyzer REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(video_analyzer REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(perception_msgs REQUIRED) + +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) + +# Python Nodes +install(PROGRAMS + scripts/capture_face_node.py + scripts/capture_voice_node.py + scripts/person_identification_node.py + DESTINATION lib/${PROJECT_NAME} ) -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) - -## 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 - PersonName.msg - PersonNames.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 - geometry_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 person_identification -# CATKIN_DEPENDS audio_analyzer hbba_lite rospy std_msgs tf video_analyzer -# 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/${PROJECT_NAME}/person_identification.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/person_identification_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_person_identification.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) +ament_package() diff --git a/ros/perceptions/person_identification/README.md b/ros/perceptions/person_identification/README.md index ef508f3a..0cee277f 100644 --- a/ros/perceptions/person_identification/README.md +++ b/ros/perceptions/person_identification/README.md @@ -7,16 +7,16 @@ This node adds to `people.json` an averaged face descriptor for the person in fr Use the following command to launch the nodes. ```bash -roslaunch person_identification capture_face.launch name:= neural_network_inference_type:= +ros2 launch person_identification capture_face.launch.xml name:= neural_network_inference_type:= ``` #### Parameters - `name` (string): The person name. - - `mean_size` (int): How many descriptor to average. - - `face_sharpness_score_threshold` (double): The threshold to consider the face sharp enough. + - `mean_size` (int): How many descriptor to average. The default value is 10. + - `face_sharpness_score_threshold` (double): The threshold to consider the face sharp enough. The default value is 0.5. #### Subscribed Topics - - `video_analysis` ([video_analyzer/VideoAnalysis](../video_analyzer/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. + - `video_analysis` ([perception_msgs/VideoAnalysis](../perception_msgs/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. ### `capture_voice_node.py` @@ -24,34 +24,34 @@ This node adds to `people.json` an averaged voice descriptor for the person talk Use the following command to launch the nodes. ```bash -roslaunch person_identification capture_voice.launch name:= neural_network_inference_type:= +ros2 launch person_identification capture_voice.launch.xml name:= neural_network_inference_type:= ``` #### Parameters - `name` (string): The person name. - - `mean_size` (int): How many descriptor to average. + - `mean_size` (int): How many descriptor to average. The default value is 10. #### Subscribed Topics - - `audio_analysis` ([audio_analyzer/AudioAnalysis](../audio_analyzer/msg/AudioAnalysis.msg)): The audio analysis containing the audio classes, general audio embedding, voice embedding and the sound direction. + - `audio_analysis` ([perception_msgs/AudioAnalysis](../perception_msgs/msg/AudioAnalysis.msg)): The audio analysis containing the audio classes, general audio embedding, voice embedding and the sound direction. ### `person_identification_node.py` This node performs person identification. The people must be already added to `people.json` with the previous nodes. #### Parameters - - `face_sharpness_score_threshold` (double): The threshold to consider the face sharp enough. - - `face_descriptor_threshold` (double): The maximum distance between two face descriptors to be considered the same person. - - `voice_descriptor_threshold` (double): The maximum distance between two voice descriptors to be considered the same person. - - `face_voice_descriptor_threshold` (double): The maximum distance between two merged descriptors to be considered the same person. - - `nose_confidence_threshold` (double): The confidence threshold for the nose keypoint. - - `direction_frame_id` (string): The audio analysis frame id. - - `direction_angle_threshold_rad` (double): The maximum angle between the face and voice directions to be considered the same person. - - `ignore_direction_z` (bool): Indicates if the angle between between the face and voice directions ignores the z-axis. - - `search_frequency` (double): The frequency at which the search occurs. + - `face_sharpness_score_threshold` (double): The threshold to consider the face sharp enough. The default value is 0.5. + - `face_descriptor_threshold` (double): The maximum distance between two face descriptors to be considered the same person. The default value is 0.7. + - `voice_descriptor_threshold` (double): The maximum distance between two voice descriptors to be considered the same person. The default value is 1.266. + - `face_voice_descriptor_threshold` (double): The maximum distance between two merged descriptors to be considered the same person. The default value is 1.5092. + - `nose_confidence_threshold` (double): The confidence threshold for the nose keypoint. The default value is 0.4. + - `direction_frame_id` (string): The audio analysis frame id. The default value is odas. + - `direction_angle_threshold_rad` (double): The maximum angle between the face and voice directions to be considered the same person. The default value is 0.15. + - `ignore_direction_z` (bool): Indicates if the angle between between the face and voice directions ignores the z-axis. The default value is true. + - `search_frequency` (double): The frequency at which the search occurs. The default value is 2. #### Subscribed Topics - - `video_analysis` ([video_analyzer/VideoAnalysis](../video_analyzer/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. - - `audio_analysis` ([audio_analyzer/AudioAnalysis](../audio_analyzer/msg/AudioAnalysis.msg)): The audio analysis containing the audio classes, general audio embedding, voice embedding and the sound direction. + - `video_analysis` ([perception_msgs/VideoAnalysis](../perception_msgs/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. + - `audio_analysis` ([perception_msgs/AudioAnalysis](../perception_msgs/msg/AudioAnalysis.msg)): The audio analysis containing the audio classes, general audio embedding, voice embedding and the sound direction. #### Published Topics - - `person_names` ([person_identification/PersonNames](msg/PersonNames.msg)): The person names. + - `person_names` ([perception_msgs/PersonNames](../perception_msgs/msg/PersonNames.msg)): The person names. diff --git a/ros/perceptions/person_identification/launch/capture_face.launch b/ros/perceptions/person_identification/launch/capture_face.launch.xml similarity index 57% rename from ros/perceptions/person_identification/launch/capture_face.launch rename to ros/perceptions/person_identification/launch/capture_face.launch.xml index 200c3ceb..9671d5ce 100644 --- a/ros/perceptions/person_identification/launch/capture_face.launch +++ b/ros/perceptions/person_identification/launch/capture_face.launch.xml @@ -2,40 +2,29 @@ - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + - + - + + @@ -48,9 +37,9 @@ - - - + + + diff --git a/ros/perceptions/person_identification/launch/capture_voice.launch b/ros/perceptions/person_identification/launch/capture_voice.launch.xml similarity index 65% rename from ros/perceptions/person_identification/launch/capture_voice.launch rename to ros/perceptions/person_identification/launch/capture_voice.launch.xml index 49cbd4ec..d18a58b1 100644 --- a/ros/perceptions/person_identification/launch/capture_voice.launch +++ b/ros/perceptions/person_identification/launch/capture_voice.launch.xml @@ -2,7 +2,7 @@ - + @@ -12,16 +12,13 @@ + - - - [front-left, front-right, rear-left, rear-right, front-center, lfe, side-left, side-right, aux0, aux1, aux2, aux3, aux4, aux5, aux6, aux7] - - - + + @@ -30,9 +27,9 @@ - - - + + + @@ -41,8 +38,8 @@ - - + + diff --git a/ros/perceptions/person_identification/msg/PersonNames.msg b/ros/perceptions/person_identification/msg/PersonNames.msg deleted file mode 100644 index 13152d27..00000000 --- a/ros/perceptions/person_identification/msg/PersonNames.msg +++ /dev/null @@ -1 +0,0 @@ -person_identification/PersonName[] names diff --git a/ros/perceptions/person_identification/package.xml b/ros/perceptions/person_identification/package.xml index 2909d57f..770c0d0a 100644 --- a/ros/perceptions/person_identification/package.xml +++ b/ros/perceptions/person_identification/package.xml @@ -1,81 +1,31 @@ - + + person_identification 0.0.0 The person_identification package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + audio_analyzer + hbba_lite + tf2 + tf2_ros + video_analyzer + std_msgs + geometry_msgs + perception_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - message_generation - audio_analyzer - hbba_lite - rospy - std_msgs - geometry_msgs - tf - video_analyzer - audio_analyzer - hbba_lite - rospy - std_msgs - geometry_msgs - tf - video_analyzer - audio_analyzer - hbba_lite - rospy - std_msgs - geometry_msgs - tf - video_analyzer - - - - - + ament_cmake diff --git a/ros/perceptions/person_identification/src/person_identification/__init__.py b/ros/perceptions/person_identification/person_identification/__init__.py similarity index 92% rename from ros/perceptions/person_identification/src/person_identification/__init__.py rename to ros/perceptions/person_identification/person_identification/__init__.py index ae089341..6eac9244 100644 --- a/ros/perceptions/person_identification/src/person_identification/__init__.py +++ b/ros/perceptions/person_identification/person_identification/__init__.py @@ -3,10 +3,8 @@ import numpy as np -import rospkg -PACKAGE_PATH = rospkg.RosPack().get_path('person_identification') -PEOPLE_FILE_PATH = os.path.join(PACKAGE_PATH, 'people.json') +PEOPLE_FILE_PATH = os.path.join(os.environ['HOME'], '.ros', 't-top', 'person_identification', 'people.json') def verify_people(people): @@ -64,6 +62,7 @@ def load_people(): def save_people(people): verify_people(people) + os.makedirs(os.path.dirname(PEOPLE_FILE_PATH), exist_ok=True) with open(PEOPLE_FILE_PATH, 'w') as people_file: people = json.dump(people, people_file) diff --git a/ros/perceptions/person_identification/scripts/capture_face_node.py b/ros/perceptions/person_identification/scripts/capture_face_node.py index 0bc52bfb..2beb031f 100755 --- a/ros/perceptions/person_identification/scripts/capture_face_node.py +++ b/ros/perceptions/person_identification/scripts/capture_face_node.py @@ -1,80 +1,84 @@ #!/usr/bin/env python3 -import threading - import numpy as np -import rospy -from hbba_lite.srv import SetThrottlingFilterState -from video_analyzer.msg import VideoAnalysis - -import person_identification +import rclpy +import rclpy.node +from hbba_lite_srvs.srv import SetThrottlingFilterState +from perception_msgs.msg import VideoAnalysis -INACTIVE_SLEEP_DURATION = 0.1 +import person_identification -class CaptureFaceNode: +class CaptureFaceNode(rclpy.node.Node): def __init__(self): - self._name = rospy.get_param('~name') - self._mean_size = rospy.get_param('~mean_size') - self._face_sharpness_score_threshold = rospy.get_param('~face_sharpness_score_threshold') + super().__init__('capture_face_node') + + self._name = self.declare_parameter('name', '').get_parameter_value().string_value + self._mean_size = self.declare_parameter('mean_size', 10).get_parameter_value().integer_value + self._face_sharpness_score_threshold = self.declare_parameter('face_sharpness_score_threshold', 0.5).get_parameter_value().double_value - self._descriptors_lock = threading.Lock() self._descriptors = [] - self._video_analysis_sub = rospy.Subscriber('video_analysis', VideoAnalysis, self._video_analysis_cb, queue_size=1) + self._video_analysis_sub = self.create_subscription(VideoAnalysis, 'video_analysis', self._video_analysis_cb, 1) def _video_analysis_cb(self, msg): face_object = None for object in msg.objects: if len(object.face_descriptor) > 0 and face_object is not None: - rospy.logwarn('Only one face must be present in the image.') + self.get_logger().warn('Only one face must be present in the image.') elif len(object.face_descriptor) > 0: face_object = object if face_object is not None and face_object.face_sharpness_score >= self._face_sharpness_score_threshold: - with self._descriptors_lock: - self._descriptors.append(face_object.face_descriptor) + self._descriptors.append(face_object.face_descriptor) def run(self): self.enable_video_analyzer() - while not rospy.is_shutdown(): - with self._descriptors_lock: - size = len(self._descriptors) - - if size == self._mean_size: - self._video_analysis_sub.unregister() + while rclpy.ok(): + if len(self._descriptors) == self._mean_size: + self.destroy_subscription(self._video_analysis_sub) self._save_new_descriptor() return else: - rospy.sleep(INACTIVE_SLEEP_DURATION) + rclpy.spin_once(self) def enable_video_analyzer(self): VIDEO_ANALYZER_FILTER_STATE_SERVICE = 'video_analyzer/image_raw/filter_state' - rospy.wait_for_service(VIDEO_ANALYZER_FILTER_STATE_SERVICE) - filter_state = rospy.ServiceProxy(VIDEO_ANALYZER_FILTER_STATE_SERVICE, SetThrottlingFilterState) - filter_state(is_filtering_all_messages=False, rate=1) + client = self.create_client(SetThrottlingFilterState, VIDEO_ANALYZER_FILTER_STATE_SERVICE) + client.wait_for_service() + + request = SetThrottlingFilterState.Request() + request.is_filtering_all_messages = False + request.rate = 1 + + future = client.call_async(request) + rclpy.spin_until_future_complete(self, future) def _save_new_descriptor(self): - with self._descriptors_lock: - descriptor = np.array(self._descriptors).mean(axis=0).tolist() - people = person_identification.load_people() - person_identification.add_person(people, self._name, {'face': descriptor}) - person_identification.save_people(people) + descriptor = np.array(self._descriptors).mean(axis=0).tolist() + people = person_identification.load_people() + person_identification.add_person(people, self._name, {'face': descriptor}) + person_identification.save_people(people) - rospy.loginfo('*********************** FINISHED ***********************') + self.get_logger().info('*********************** FINISHED ***********************') def main(): - rospy.init_node('capture_face_node') + rclpy.init() capture_face_node = CaptureFaceNode() - capture_face_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + capture_face_node.run() + except KeyboardInterrupt: pass + finally: + capture_face_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/person_identification/scripts/capture_voice_node.py b/ros/perceptions/person_identification/scripts/capture_voice_node.py index 81a2dfdc..9ab5c1bd 100755 --- a/ros/perceptions/person_identification/scripts/capture_voice_node.py +++ b/ros/perceptions/person_identification/scripts/capture_voice_node.py @@ -1,75 +1,80 @@ #!/usr/bin/env python3 -import threading - import numpy as np -import rospy -from hbba_lite.srv import SetOnOffFilterState -from audio_analyzer.msg import AudioAnalysis - -import person_identification +import rclpy +import rclpy.node +from hbba_lite_srvs.srv import SetOnOffFilterState +from perception_msgs.msg import AudioAnalysis -INACTIVE_SLEEP_DURATION = 0.1 +import person_identification -class CaptureVoiceNode: +class CaptureVoiceNode(rclpy.node.Node): def __init__(self): - self._name = rospy.get_param('~name') - self._mean_size = rospy.get_param('~mean_size') + super().__init__('capture_voice_node') + + self._name = self.declare_parameter('name', '').get_parameter_value().string_value + self._mean_size = self.declare_parameter('mean_size', 10).get_parameter_value().integer_value - self._descriptors_lock = threading.Lock() self._descriptors = [] - self.audio_analysis = rospy.Subscriber('audio_analysis', AudioAnalysis, self._audio_analysis_cb, queue_size=1) + self._audio_analysis_sub = self.create_subscription(AudioAnalysis, 'audio_analysis', self._audio_analysis_cb, 1) def _audio_analysis_cb(self, msg): if len(msg.voice_descriptor) > 0: - with self._descriptors_lock: - self._descriptors.append(msg.voice_descriptor) - print('voice') + self._descriptors.append(msg.voice_descriptor) + self.get_logger().info('voice') else: - print('no voice') + self.get_logger().info('no voice') def run(self): self.enable_audio_analyzer() - while not rospy.is_shutdown(): - with self._descriptors_lock: - size = len(self._descriptors) + while rclpy.ok(): + size = len(self._descriptors) if size == self._mean_size: - self.audio_analysis.unregister() + self.destroy_subscription(self._audio_analysis_sub) self._save_new_descriptor() return else: - rospy.sleep(INACTIVE_SLEEP_DURATION) + rclpy.spin_once(self) def enable_audio_analyzer(self): AUDIO_ANALYZER_FILTER_STATE_SERVICE = 'audio_analyzer/filter_state' - rospy.wait_for_service(AUDIO_ANALYZER_FILTER_STATE_SERVICE) - filter_state = rospy.ServiceProxy(AUDIO_ANALYZER_FILTER_STATE_SERVICE, SetOnOffFilterState) - filter_state(is_filtering_all_messages=False) + client = self.create_client(SetOnOffFilterState, AUDIO_ANALYZER_FILTER_STATE_SERVICE) + client.wait_for_service() + + request = SetOnOffFilterState.Request() + request.is_filtering_all_messages = False + + future = client.call_async(request) + rclpy.spin_until_future_complete(self, future) def _save_new_descriptor(self): - with self._descriptors_lock: - descriptor = np.array(self._descriptors).mean(axis=0).tolist() - people = person_identification.load_people() - person_identification.add_person(people, self._name, {'voice': descriptor}) - person_identification.save_people(people) + descriptor = np.array(self._descriptors).mean(axis=0).tolist() + people = person_identification.load_people() + person_identification.add_person(people, self._name, {'voice': descriptor}) + person_identification.save_people(people) - rospy.loginfo('*********************** FINISHED ***********************') + self.get_logger().info('*********************** FINISHED ***********************') def main(): - rospy.init_node('capture_voice_node') + rclpy.init() capture_voice_node = CaptureVoiceNode() - capture_voice_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + capture_voice_node.run() + except KeyboardInterrupt: pass + finally: + capture_voice_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/person_identification/scripts/person_identification_node.py b/ros/perceptions/person_identification/scripts/person_identification_node.py index 3e308a3b..5b346df2 100755 --- a/ros/perceptions/person_identification/scripts/person_identification_node.py +++ b/ros/perceptions/person_identification/scripts/person_identification_node.py @@ -1,15 +1,18 @@ #!/usr/bin/env python3 -import threading - import numpy as np -import rospy -import tf +import rclpy +import rclpy.node +import rclpy.time + +from tf2_ros import TransformException +from tf2_ros.buffer import Buffer +from tf2_ros.transform_listener import TransformListener +import tf2_geometry_msgs + from geometry_msgs.msg import PointStamped, Point, Vector3 -from video_analyzer.msg import VideoAnalysis -from audio_analyzer.msg import AudioAnalysis -from person_identification.msg import PersonNames, PersonName +from perception_msgs.msg import VideoAnalysis, AudioAnalysis, PersonNames, PersonName import person_identification @@ -39,31 +42,36 @@ def __init__(self, descriptor, direction): self.direction = direction -class PersonIdentificationNode: +class PersonIdentificationNode(rclpy.node.Node): def __init__(self): - self._face_sharpness_score_threshold = rospy.get_param('~face_sharpness_score_threshold') - self._face_descriptor_threshold = rospy.get_param('~face_descriptor_threshold') - self._voice_descriptor_threshold = rospy.get_param('~voice_descriptor_threshold') - self._face_voice_descriptor_threshold = rospy.get_param('~face_voice_descriptor_threshold') - self._nose_confidence_threshold = rospy.get_param('~nose_confidence_threshold') - self._direction_frame_id = rospy.get_param('~direction_frame_id') - self._direction_angle_threshold_rad = rospy.get_param('~direction_angle_threshold_rad') - self._ignore_direction_z = rospy.Rate(rospy.get_param('~ignore_direction_z')) - self._rate = rospy.Rate(rospy.get_param('~search_frequency')) + super().__init__('person_identification_node') + + self._face_sharpness_score_threshold = self.declare_parameter('face_sharpness_score_threshold', 0.5).get_parameter_value().double_value + self._face_descriptor_threshold = self.declare_parameter('face_descriptor_threshold', 0.7).get_parameter_value().double_value + self._voice_descriptor_threshold = self.declare_parameter('voice_descriptor_threshold', 1.266).get_parameter_value().double_value + self._face_voice_descriptor_threshold = self.declare_parameter('face_voice_descriptor_threshold', 1.5092).get_parameter_value().double_value + self._nose_confidence_threshold = self.declare_parameter('nose_confidence_threshold', 0.4).get_parameter_value().double_value + self._direction_frame_id = self.declare_parameter('direction_frame_id', 'odas').get_parameter_value().string_value + self._direction_angle_threshold_rad = self.declare_parameter('direction_angle_threshold_rad', 0.15).get_parameter_value().double_value + self._ignore_direction_z = self.declare_parameter('ignore_direction_z', True).get_parameter_value().bool_value + self._search_frequency = self.declare_parameter('search_frequency', 2.0).get_parameter_value().double_value self._face_descriptors_by_name = {} self._voice_descriptors_by_name = {} self._face_voice_descriptors_by_name = {} self._load_descriptors() - self._descriptors_lock = threading.Lock() self._face_descriptor_data = [] self._voice_descriptor_data = None - self._person_name_pub = rospy.Publisher('person_names', PersonNames, queue_size=5) + self._person_name_pub = self.create_publisher(PersonNames, 'person_names', 5) + + self._tf_buffer = Buffer() + self._tf_listener = TransformListener(self._tf_buffer, self) - self._tf_listener = tf.TransformListener() - self._video_analysis_sub = rospy.Subscriber('video_analysis', VideoAnalysis, self._video_analysis_cb, queue_size=1) - self.audio_analysis = rospy.Subscriber('audio_analysis', AudioAnalysis, self._audio_analysis_cb, queue_size=1) + self._video_analysis_sub = self.create_subscription(VideoAnalysis, 'video_analysis', self._video_analysis_cb, 10) + self._audio_analysis = self.create_subscription(AudioAnalysis, 'audio_analysis', self._audio_analysis_cb, 10) + + self._timer = self.create_timer(1 / self._search_frequency, self._timer_callback) def _load_descriptors(self): people = person_identification.load_people() @@ -77,17 +85,17 @@ def _load_descriptors(self): def _video_analysis_cb(self, msg): if not msg.contains_3d_positions: - rospy.logerr('The video analysis must contain 3d positions.') + self.get_logger().error('The video analysis must contain 3d positions.') return - with self._descriptors_lock: - for object in msg.objects: - if len(object.face_descriptor) == 0 or len(object.person_pose_2d) == 0 or len(object.person_pose_3d) == 0 \ - or len(object.person_pose_confidence) == 0 \ - or object.person_pose_confidence[PERSON_POSE_NOSE_INDEX] < self._nose_confidence_threshold \ - or object.face_sharpness_score < self._face_sharpness_score_threshold: - continue + for object in msg.objects: + if len(object.face_descriptor) == 0 or len(object.person_pose_2d) == 0 or len(object.person_pose_3d) == 0 \ + or len(object.person_pose_confidence) == 0 \ + or object.person_pose_confidence[PERSON_POSE_NOSE_INDEX] < self._nose_confidence_threshold \ + or object.face_sharpness_score < self._face_sharpness_score_threshold: + continue + try: position_2d = object.person_pose_2d[PERSON_POSE_NOSE_INDEX] position_3d, direction = self._get_face_position_3d_and_direction(object.person_pose_3d[PERSON_POSE_NOSE_INDEX], msg.header) if np.isfinite(direction).all(): @@ -95,6 +103,8 @@ def _video_analysis_cb(self, msg): position_2d, position_3d, direction)) + except TransformException as ex: + self.get_logger().warn(f'Could not transform: {ex}') def _get_face_position_3d_and_direction(self, point, header): temp_in_point = PointStamped() @@ -103,7 +113,8 @@ def _get_face_position_3d_and_direction(self, point, header): temp_in_point.point.y = point.y temp_in_point.point.z = point.z - odas_point = self._tf_listener.transformPoint(self._direction_frame_id, temp_in_point) + transform = self._tf_buffer.lookup_transform(self._direction_frame_id, header.frame_id, rclpy.time.Time.from_msg(header.stamp)) + odas_point = tf2_geometry_msgs.do_transform_point(temp_in_point, transform) position = np.array([odas_point.point.x, odas_point.point.y, odas_point.point.z]) direction = position.copy() @@ -115,7 +126,7 @@ def _get_face_position_3d_and_direction(self, point, header): def _audio_analysis_cb(self, msg): if msg.header.frame_id != self._direction_frame_id: - rospy.logerr(f'Invalid frame id ({msg.header.frame_id} != {self._direction_frame_id})') + self.get_logger().error(f'Invalid frame id ({msg.header.frame_id} != {self._direction_frame_id})') return if len(msg.voice_descriptor) == 0: @@ -127,22 +138,21 @@ def _audio_analysis_cb(self, msg): voice_direction /= np.linalg.norm(voice_direction) if np.isfinite(voice_direction).all(): - with self._descriptors_lock: - self._voice_descriptor_data = VoiceDescriptorData(np.array(msg.voice_descriptor), voice_direction) + self._voice_descriptor_data = VoiceDescriptorData(np.array(msg.voice_descriptor), voice_direction) - def run(self): - while not rospy.is_shutdown(): - with self._descriptors_lock: - names = [] - names.extend(self._find_face_voice_descriptor_name()) - names.extend(self._find_voice_descriptor_name()) - names.extend(self._find_face_descriptor_names()) + def _timer_callback(self): + names = [] + names.extend(self._find_face_voice_descriptor_name()) + names.extend(self._find_voice_descriptor_name()) + names.extend(self._find_face_descriptor_names()) - self._face_descriptor_data.clear() - self._voice_descriptor_data = None + self._face_descriptor_data.clear() + self._voice_descriptor_data = None - self._publish_names(names) - self._rate.sleep() + self._publish_names(names) + + def run(self): + rclpy.spin(self) def _find_face_voice_descriptor_name(self): if self._voice_descriptor_data is None or len(self._face_descriptor_data) == 0 or \ @@ -238,13 +248,18 @@ def _filter_names(self, names): def main(): - rospy.init_node('person_identification_node') + rclpy.init() person_identification_node = PersonIdentificationNode() - person_identification_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + person_identification_node.run() + except KeyboardInterrupt: pass + finally: + person_identification_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/person_identification/setup.py b/ros/perceptions/person_identification/setup.py deleted file mode 100644 index 5dc6816b..00000000 --- a/ros/perceptions/person_identification/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['person_identification'], - package_dir={'': 'src'}, -) - -setup(**setup_args) diff --git a/ros/perceptions/pose_classifier/CMakeLists.txt b/ros/perceptions/pose_classifier/CMakeLists.txt index 7631ed39..55309846 100644 --- a/ros/perceptions/pose_classifier/CMakeLists.txt +++ b/ros/perceptions/pose_classifier/CMakeLists.txt @@ -1,215 +1,35 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(pose_classifier) -## 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 - message_generation - video_analyzer - std_msgs - geometry_msgs - sensor_msgs - visualization_msgs - hbba_lite -) - -## 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 - PoseClassification.msg - PoseClassifications.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 - video_analyzer - geometry_msgs - sensor_msgs - visualization_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 pose_classifier -# CATKIN_DEPENDS rospy video_analyzer -# 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/${PROJECT_NAME}/pose_classifier.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/pose_classifier_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 +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(video_analyzer REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(perception_msgs REQUIRED) + +# Python Nodes +install(PROGRAMS scripts/pose_classifier_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_pose_classifier.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) +ament_package() diff --git a/ros/perceptions/pose_classifier/README.md b/ros/perceptions/pose_classifier/README.md index d6e197d4..54bdc661 100644 --- a/ros/perceptions/pose_classifier/README.md +++ b/ros/perceptions/pose_classifier/README.md @@ -6,13 +6,13 @@ This folder contains the node to perform pose classification from the pose extra This node performs pose classification from the pose extracted by the [video_analyzer](../video_analyzer). #### Parameters - - `pose_confidence_threshold` (double): The pose confidence threshold to determine if a joint is present. + - `pose_confidence_threshold` (double): The pose confidence threshold to determine if a joint is present. The default value is 0.4. #### Subscribed Topics - - `video_analysis` ([video_analyzer/VideoAnalysis](../video_analyzer/msg/VideoAnalysis.msg)): The video analysis topic. + - `video_analysis` ([perception_msgs/VideoAnalysis](../perception_msgs/msg/VideoAnalysis.msg)): The video analysis topic. #### Published Topics -- `pose_classification` ([pose_classifier/PoseClassifications](msg/PoseClassifications.msg)): The pose classification topic. +- `pose_classification` ([perception_msgs/PoseClassifications](../perception_msgs/msg/PoseClassifications.msg)): The pose classification topic. ## Pose classes - **head_vertical_class** diff --git a/ros/perceptions/pose_classifier/msg/PoseClassifications.msg b/ros/perceptions/pose_classifier/msg/PoseClassifications.msg deleted file mode 100644 index ea30848b..00000000 --- a/ros/perceptions/pose_classifier/msg/PoseClassifications.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -pose_classifier/PoseClassification[] poses diff --git a/ros/perceptions/pose_classifier/package.xml b/ros/perceptions/pose_classifier/package.xml index 8e8f0eb5..88232cd5 100644 --- a/ros/perceptions/pose_classifier/package.xml +++ b/ros/perceptions/pose_classifier/package.xml @@ -1,83 +1,30 @@ - + + pose_classifier 0.0.0 The pose_classifier package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + video_analyzer + std_msgs + geometry_msgs + sensor_msgs + visualization_msgs + hbba_lite + perception_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - rospy - message_generation - video_analyzer - std_msgs - geometry_msgs - sensor_msgs - visualization_msgs - hbba_lite - rospy - message_generation - video_analyzer - std_msgs - geometry_msgs - sensor_msgs - visualization_msgs - hbba_lite - rospy - message_generation - video_analyzer - std_msgs - geometry_msgs - sensor_msgs - visualization_msgs - hbba_lite - - - - - + ament_cmake diff --git a/ros/perceptions/pose_classifier/scripts/pose_classifier_node.py b/ros/perceptions/pose_classifier/scripts/pose_classifier_node.py index 8567f620..9e588891 100755 --- a/ros/perceptions/pose_classifier/scripts/pose_classifier_node.py +++ b/ros/perceptions/pose_classifier/scripts/pose_classifier_node.py @@ -2,10 +2,10 @@ import numpy as np -import rospy -from video_analyzer.msg import VideoAnalysis +import rclpy +import rclpy.node -from pose_classifier.msg import PoseClassification, PoseClassifications +from perception_msgs.msg import VideoAnalysis, PoseClassification, PoseClassifications NOSE_INDEX = 0 @@ -63,12 +63,14 @@ def vector_angle(v1, v2, eps=1e-9): return np.sign(c[2]) * abs_angle -class PoseClassifierNode: +class PoseClassifierNode(rclpy.node.Node): def __init__(self): - self._pose_confidence_threshold = rospy.get_param('~pose_confidence_threshold', 0.4) + super().__init__('pose_classifier_node') - self._pose_classification_pub = rospy.Publisher('pose_classification', PoseClassifications, queue_size=1) - self._video_analysis_sub = rospy.Subscriber('video_analysis', VideoAnalysis, self._video_analysis_cb, queue_size=1) + self._pose_confidence_threshold = self.declare_parameter('pose_confidence_threshold', 0.4).get_parameter_value().double_value + + self._pose_classification_pub = self.create_publisher(PoseClassifications, 'pose_classification', 1) + self._video_analysis_sub = self.create_subscription(VideoAnalysis, 'video_analysis', self._video_analysis_cb, 1) def _video_analysis_cb(self, video_analysis_msg): pose_classifications_msg = PoseClassifications() @@ -223,17 +225,22 @@ def _classify_arm_angles(self, shoulder_elbow_angle_rad, elbow_wrist_angle_rad): return '' def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('pose_classifier_node') + rclpy.init() pose_classifier_node = PoseClassifierNode() - pose_classifier_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + pose_classifier_node.run() + except KeyboardInterrupt: pass + finally: + pose_classifier_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/robot_name_detector/CMakeLists.txt b/ros/perceptions/robot_name_detector/CMakeLists.txt index 13282105..232845d4 100644 --- a/ros/perceptions/robot_name_detector/CMakeLists.txt +++ b/ros/perceptions/robot_name_detector/CMakeLists.txt @@ -1,207 +1,35 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(robot_name_detector) -## 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 - audio_utils - rospy - hbba_lite - daemon_ros_client -) - -## 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 robot_name_detector -# CATKIN_DEPENDS audio_utils 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/${PROJECT_NAME}/robot_name_detector.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/robot_name_detector_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 +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(dnn_utils REQUIRED) +find_package(audio_utils_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(daemon_ros_client REQUIRED) + +# Python Nodes +install(PROGRAMS scripts/robot_name_detector_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_robot_name_detector.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/perceptions/robot_name_detector/README.md b/ros/perceptions/robot_name_detector/README.md index 0ffcdd2b..15ca1bfa 100644 --- a/ros/perceptions/robot_name_detector/README.md +++ b/ros/perceptions/robot_name_detector/README.md @@ -6,24 +6,26 @@ This folder contains the node to detect the robot name. This node measures the sound level and detects the robot name. #### Parameters - - `message_rate` (int): The frequency of `sound_rms` and `sound_presence` messages. - - `sound_rms_attack` (double): The attack value of the sound level filter (default: 0.05). - - `sound_rms_release` (double): The release value of the sound level filter (default: 0.99). - - `sound_rms_presence_threshold` (double): The threshold of the sound precense (default: 0.05). - - `inference_type` (string): Indicates where to run the neural network (cpu, torch_gpu or trt_gpu). - - `robot_name_model_probability_threshold` (double): The joint probability threshold. - - `robot_name_model_interval` (int): The interval between inferences in sample. - - `robot_name_model_analysis_delay` (int): The delay after the rising edge in sample. - - `robot_name_model_analysis_count` (int): The number of inference to perform. + - `led_status_duration_s` (double): The LED status duration en seconds. The default value is 1.0. + - `sound_presence_relative_threshold` (double): The relative threshold of the sound precense between the slow and fast filter. The default value is 1.05. + - `robot_name_model_probability_threshold` (double): The joint probability threshold. The default value is 0.05. + - `robot_name_model_interval` (int): The interval between inferences in sample. The default value is 800. + - `robot_name_model_analysis_delay` (int): The delay after the rising edge in sample. The default value is 10400. + - `robot_name_model_analysis_count` (int): The number of inference to perform. The default value is 3. + - `fast_sound_rms_attack` (double): The fast attack value of the sound level filter. The default value is 0.05. + - `fast_sound_rms_release` (double): The fast release value of the sound level filter The default value is 0.9. + - `slow_sound_rms_attack` (double): The slow attack value of the sound level filter. The default value is 0.975. + - `slow_sound_rms_release` (double): The slow release value of the sound level filter The default value is 0.975. + - `inference_type` (string): Indicates where to run the neural network (cpu, torch_gpu or trt_gpu). The default value is cpu. #### Subscribed Topics - - `audio_in` ([audio_utils/AudioFrame](https://github.com/introlab/audio_utils/blob/main/msg/AudioFrame.msg)): The sound topic processed, which must be signed_16, at 16000 Hz and 1 channel. + - `audio_in` ([audio_utils_msgs/AudioFrame](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/AudioFrame.msg)): The sound topic processed, which must be signed_16, at 16000 Hz and 1 channel. #### Published Topics - - `sound_rms` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): The sound level. - - `sound_presence` ([std_msgs/Bool](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Bool.html)): Indicates if sound is presence. - - `robot_name_detected` ([std_msgs/Empty](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Empty.html)): Indicates that the robot name is detected. + - `sound_rms` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): The sound level. + - `sound_presence` ([std_msgs/Bool](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Bool.html)): Indicates if sound is presence. + - `robot_name_detected` ([std_msgs/Empty](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Empty.html)): Indicates that the robot name is detected. - `robot_name_detector/set_led_colors` ([daemon_ros_client/LedColors](../../daemon_ros_client/msg/LedColors.msg)): The LED colors for the status. #### Services - - `audio_in/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the processing. + - `audio_in/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the processing. diff --git a/ros/t_top/launch/tests/test_robot_name_detector.launch b/ros/perceptions/robot_name_detector/launch/test_robot_name_detector.launch.xml similarity index 81% rename from ros/t_top/launch/tests/test_robot_name_detector.launch rename to ros/perceptions/robot_name_detector/launch/test_robot_name_detector.launch.xml index 32170cf1..d050080a 100644 --- a/ros/t_top/launch/tests/test_robot_name_detector.launch +++ b/ros/perceptions/robot_name_detector/launch/test_robot_name_detector.launch.xml @@ -1,20 +1,19 @@ - + - + - - + @@ -27,7 +26,7 @@ - + diff --git a/ros/perceptions/robot_name_detector/package.xml b/ros/perceptions/robot_name_detector/package.xml index f705a379..7585a37b 100644 --- a/ros/perceptions/robot_name_detector/package.xml +++ b/ros/perceptions/robot_name_detector/package.xml @@ -1,75 +1,27 @@ - + + robot_name_detector 0.0.0 The robot_name_detector package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + dnn_utils + audio_utils_msgs + hbba_lite + daemon_ros_client - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - audio_utils - rospy - std_msgs - hbba_lite - daemon_ros_client - audio_utils - rospy - std_msgs - hbba_lite - daemon_ros_client - audio_utils - rospy - std_msgs - dnn_utils - hbba_lite - daemon_ros_client - - - - - + ament_cmake diff --git a/ros/perceptions/robot_name_detector/scripts/robot_name_detector_node.py b/ros/perceptions/robot_name_detector/scripts/robot_name_detector_node.py index 5b1d8dee..6180f83e 100755 --- a/ros/perceptions/robot_name_detector/scripts/robot_name_detector_node.py +++ b/ros/perceptions/robot_name_detector/scripts/robot_name_detector_node.py @@ -4,9 +4,11 @@ import torch -import rospy +import rclpy +import rclpy.node + from std_msgs.msg import Float32, Bool, Empty -from audio_utils.msg import AudioFrame +from audio_utils_msgs.msg import AudioFrame from daemon_ros_client.msg import LedColors from dnn_utils import TTopKeywordSpotter @@ -41,24 +43,27 @@ def reset(self): self._sound_rms = 0.0 -class RobotNameDetectorNode: +class RobotNameDetectorNode(rclpy.node.Node): def __init__(self): - self._led_status_duration_s = rospy.get_param('~led_status_duration_s', 1.0) + super().__init__('robot_name_detector_node') + + self._led_status_duration_s = self.declare_parameter('led_status_duration_s', 1.0).get_parameter_value().double_value - self._sound_presence_relative_threshold = rospy.get_param('~sound_presence_relative_threshold', 1.05) + self._sound_presence_relative_threshold = self.declare_parameter('sound_presence_relative_threshold', 1.05).get_parameter_value().double_value - self._robot_name_model_probability_threshold = rospy.get_param('~robot_name_model_probability_threshold') - self._robot_name_model_interval = rospy.get_param('~robot_name_model_interval') - self._robot_name_model_analysis_delay = rospy.get_param('~robot_name_model_analysis_delay') - self._robot_name_model_analysis_count = rospy.get_param('~robot_name_model_analysis_count') + self._robot_name_model_probability_threshold = self.declare_parameter('robot_name_model_probability_threshold', 0.05).get_parameter_value().double_value + self._robot_name_model_interval = self.declare_parameter('robot_name_model_interval', 800).get_parameter_value().integer_value + self._robot_name_model_analysis_delay = self.declare_parameter('robot_name_model_analysis_delay', 10400).get_parameter_value().integer_value + self._robot_name_model_analysis_count = self.declare_parameter('robot_name_model_analysis_count', 3).get_parameter_value().integer_value - self._fast_sound_rms_filter = SoundRmsFilter(rospy.get_param('~fast_sound_rms_attack', 0.05), - rospy.get_param('~fast_sound_rms_release', 0.99)) - self._slow_sound_rms_filter = SoundRmsFilter(rospy.get_param('~slow_sound_rms_attack', 0.9), - rospy.get_param('~slow_sound_rms_release', 0.9), + self._fast_sound_rms_filter = SoundRmsFilter(self.declare_parameter('fast_sound_rms_attack', 0.05).get_parameter_value().double_value, + self.declare_parameter('fast_sound_rms_release', 0.99).get_parameter_value().double_value) + self._slow_sound_rms_filter = SoundRmsFilter(self.declare_parameter('slow_sound_rms_attack', 0.975).get_parameter_value().double_value, + self.declare_parameter('slow_sound_rms_release', 0.975).get_parameter_value().double_value, initial_sound_rms=0.1) - self._robot_name_model = TTopKeywordSpotter(inference_type=rospy.get_param('~inference_type', None)) + self._inference_type = self.declare_parameter('inference_type', 'cpu').get_parameter_value().string_value + self._robot_name_model = TTopKeywordSpotter(inference_type=self._inference_type) self._robot_name_model_output_index = self._robot_name_model.get_class_names().index('T-Top') self._robot_name_model_buffer = torch.zeros(self._robot_name_model.get_supported_duration(), dtype=torch.float32) @@ -73,17 +78,18 @@ def __init__(self): # Warm up, to avoid inference delays self._robot_name_model(self._robot_name_model_buffer) - self._fast_sound_rms_pub = rospy.Publisher('fast_sound_rms', Float32, queue_size=10) - self._slow_sound_rms_pub = rospy.Publisher('slow_sound_rms', Float32, queue_size=10) - self._sound_presence_pub = rospy.Publisher('sound_presence', Bool, queue_size=10) - self._robot_name_detected_pub = rospy.Publisher('robot_name_detected', Empty, queue_size=10) - self._led_colors_pub = hbba_lite.OnOffHbbaPublisher('robot_name_detector/set_led_colors', LedColors, queue_size=1, + self._fast_sound_rms_pub = self.create_publisher(Float32, 'fast_sound_rms', 10) + self._slow_sound_rms_pub = self.create_publisher(Float32, 'slow_sound_rms', 10) + self._sound_presence_pub = self.create_publisher(Bool, 'sound_presence', 10) + self._robot_name_detected_pub = self.create_publisher(Empty, 'robot_name_detected', 10) + + self._led_colors_pub = hbba_lite.OnOffHbbaPublisher(self, LedColors, 'robot_name_detector/set_led_colors', 1, state_service_name='led_status/filter_state') self._led_colors_pub.on_filter_state_changing(self._led_colors_hbba_filter_state_cb) - self._hbba_filter_state = hbba_lite.OnOffHbbaFilterState('audio_in/filter_state') + self._hbba_filter_state = hbba_lite.OnOffHbbaFilterState(self, 'audio_in/filter_state') self._hbba_filter_state.on_changed(self._robot_name_detector_hbba_state_changed_cb) - self._audio_sub = rospy.Subscriber('audio_in', AudioFrame, self._audio_cb, queue_size=100) + self._audio_sub = self.create_subscription(AudioFrame, 'audio_in', self._audio_cb, 100) def _led_colors_hbba_filter_state_cb(self, publish_forced, previous_is_filtering_all_messages, new_is_filtering_all_messages): @@ -97,15 +103,15 @@ def _audio_cb(self, msg): if msg.format != SUPPORTED_AUDIO_FORMAT or \ msg.channel_count != SUPPORTED_CHANNEL_COUNT or \ msg.sampling_frequency != self._robot_name_model.get_supported_sampling_frequency(): - rospy.logerr('Invalid audio frame (msg.format={}, msg.channel_count={}, msg.sampling_frequency={}})' - .format(msg.format, msg.channel_count, msg.sampling_frequency)) + self.get_logger().error( + f'Invalid audio frame (msg.format={msg.format}, msg.channel_count={msg.channel_count}, msg.sampling_frequency={msg.sampling_frequency})') return audio_frame = np.frombuffer(msg.data, dtype=np.int16).astype(np.float32) / -np.iinfo(np.int16).min frame_rms = np.sqrt(np.mean(audio_frame**2)) fast_sound_rms = self._fast_sound_rms_filter.update(frame_rms) slow_sound_rms = self._slow_sound_rms_filter.update(frame_rms) - presence = fast_sound_rms > slow_sound_rms * self._sound_presence_relative_threshold + presence = fast_sound_rms > (slow_sound_rms * self._sound_presence_relative_threshold) self._publish_sound_rms_messages(fast_sound_rms, slow_sound_rms, presence) @@ -124,7 +130,7 @@ def _publish_sound_rms_messages(self, fast_sound_rms, slow_sound_rms, presence): self._slow_sound_rms_pub.publish(sound_rms_msg) sound_presence_msg = Bool() - sound_presence_msg.data = presence + sound_presence_msg.data = bool(presence) self._sound_presence_pub.publish(sound_presence_msg) def _detect_robot_name(self, audio_frame, presence): @@ -159,7 +165,7 @@ def _publish_robot_name_detected_if_needed(self): else: self._detection_status = False - self._detection_time_s = rospy.get_time() + self._detection_time_s = self._now_s() def _detect_robot_name_if_needed(self): if self._robot_name_model_interval_count >= self._robot_name_model_interval: @@ -169,7 +175,7 @@ def _detect_robot_name_if_needed(self): self._robot_name_model_probabilities.append(probabilities[self._robot_name_model_output_index].item()) def _publish_led_status(self, fast_sound_rms, slow_sound_rms, eps=1e-6): - if rospy.get_time() - self._detection_time_s < self._led_status_duration_s and self._detection_status is not None: + if self._now_s() - self._detection_time_s < self._led_status_duration_s and self._detection_status is not None: if self._detection_status: self._publish_led_colors(0, 255, 0) else: @@ -192,17 +198,25 @@ def _publish_led_colors(self, red, green, blue): self._led_colors_pub.publish(msg) def run(self): - rospy.spin() + rclpy.spin(self) + + def _now_s(self): + return self.get_clock().now().nanoseconds / 1e9 def main(): - rospy.init_node('robot_name_detector_node') + rclpy.init() robot_name_detector_node = RobotNameDetectorNode() - robot_name_detector_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + robot_name_detector_node.run() + except KeyboardInterrupt: pass + finally: + robot_name_detector_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/speech_to_text/CMakeLists.txt b/ros/perceptions/speech_to_text/CMakeLists.txt index 5cb0732d..7d46ec38 100644 --- a/ros/perceptions/speech_to_text/CMakeLists.txt +++ b/ros/perceptions/speech_to_text/CMakeLists.txt @@ -1,208 +1,35 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(speech_to_text) -## 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 - audio_utils - rospy - std_msgs - message_generation - hbba_lite -) - -## 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 - Transcript.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 speech_to_text - CATKIN_DEPENDS audio_utils rospy std_msgs message_runtime -# 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/${PROJECT_NAME}/speech_to_text.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/speech_to_text_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 +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(audio_utils_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(perception_msgs REQUIRED) + +# Python Nodes +install(PROGRAMS scripts/google_speech_to_text_node.py scripts/whisper_speech_to_text_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_speech_to_text.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/perceptions/speech_to_text/README.md b/ros/perceptions/speech_to_text/README.md index e3a3d093..9394b9eb 100644 --- a/ros/perceptions/speech_to_text/README.md +++ b/ros/perceptions/speech_to_text/README.md @@ -6,39 +6,39 @@ This folder contains the nodes performing speech to text. The node performs speech to text. It uses Google Cloud Speech-to-Text. #### Parameters - - `sampling_frequency` (int): The input sampling frequency. - - `frame_sample_count` (int): The number of samples in each frame. - - `request_frame_count` (int): The number of frame in each request. - - `language` (string): The language (en or fr). + - `sampling_frequency` (int): The input sampling frequency. The default value is 16000. + - `frame_sample_count` (int): The number of samples in each frame. The default value is 92. + - `request_frame_count` (int): The number of frame in each request. The default value is 20. + - `language` (string): The language (en or fr). The default value is en. #### Subscribed Topics - - `audio_in` ([audio_utils/AudioFrame](https://github.com/introlab/audio_utils/blob/main/msg/AudioFrame.msg)): The sound topic processed. + - `audio_in` ([audio_utils_msgs/AudioFrame](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/AudioFrame.msg)): The sound topic processed. #### Published Topics - - `transcript` ([speech_to_text/Transcript](msg/Transcript.msg)): The text said. + - `transcript` ([perception_msgs/Transcript](../perception_msgs/msg/Transcript.msg)): The text said. #### Services - - `audio_in/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the processing. + - `audio_in/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the processing. ### `whisper_speech_to_text_node.py` The node performs speech to text. It uses [Faster Whisper](https://github.com/guillaumekln/faster-whisper). #### Parameters - - `language` (string): The language (en or fr). - - `model_size` (string): The [Whisper model size](https://github.com/openai/whisper#available-models-and-languages) + - `language` (string): The language (en or fr). The default value is en. + - `model_size` (string): The [Whisper model size](https://github.com/openai/whisper#available-models-and-languages). The default value is base.en. (tiny, tiny.en, base, base.en, small, small.en, medium, medium.en, large or large.en). - - `device` (string): The device that executes the model (cpu or cuda) - - `compute_type` (string): The compute type (int8, float16 or float32). - - `prebuffering_frame_count` (int): Number of frames to be accumulated before processing (default=4) - - `minimum_voice_sequence_size` (int): Minimum number of voice samples to be processed (default=8000) + - `device` (string): The device that executes the model (cpu or cuda). The default value is cpu. + - `compute_type` (string): The compute type (int8, float16 or float32). The default value is float32. + - `prebuffering_frame_count` (int): Number of frames to be accumulated before processing. The default value is 4. + - `minimum_voice_sequence_size` (int): Minimum number of voice samples to be processed. The default value is 8000. #### Subscribed Topics - - `voice_activity` ([audio_utils/VoiceActivity](https://github.com/introlab/audio_utils/blob/main/msg/VoiceActivity.msg)): The output of the voice activity detector. - - `audio_in` ([audio_utils/AudioFrame](https://github.com/introlab/audio_utils/blob/main/msg/AudioFrame.msg)): The sound topic processed. + - `voice_activity` ([audio_utils_msgs/VoiceActivity](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/VoiceActivity.msg)): The output of the voice activity detector. + - `audio_in` ([audio_utils_msgs/AudioFrame](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/AudioFrame.msg)): The sound topic processed. #### Published Topics - - `transcript` ([speech_to_text/Transcript](msg/Transcript.msg)): The text said. + - `transcript` ([perception_msgs/Transcript](../perception_msgs/msg/Transcript.msg)): The text said. #### Services - - `audio_in/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the processing. + - `audio_in/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the processing. diff --git a/ros/t_top/launch/tests/test_google_speech_to_text.launch b/ros/perceptions/speech_to_text/launch/test_google_speech_to_text_node.launch.xml similarity index 52% rename from ros/t_top/launch/tests/test_google_speech_to_text.launch rename to ros/perceptions/speech_to_text/launch/test_google_speech_to_text_node.launch.xml index ab3fe32f..bdfb0800 100644 --- a/ros/t_top/launch/tests/test_google_speech_to_text.launch +++ b/ros/perceptions/speech_to_text/launch/test_google_speech_to_text_node.launch.xml @@ -1,30 +1,26 @@ - - - - - - - - - - - - - - + - + - + + + + + + + + + + diff --git a/ros/perceptions/speech_to_text/launch/test_whisper_speech_to_text_node.launch.xml b/ros/perceptions/speech_to_text/launch/test_whisper_speech_to_text_node.launch.xml new file mode 100644 index 00000000..ee3cb5fa --- /dev/null +++ b/ros/perceptions/speech_to_text/launch/test_whisper_speech_to_text_node.launch.xml @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/perceptions/speech_to_text/package.xml b/ros/perceptions/speech_to_text/package.xml index 3449f1a8..d7b3ce90 100644 --- a/ros/perceptions/speech_to_text/package.xml +++ b/ros/perceptions/speech_to_text/package.xml @@ -1,73 +1,26 @@ - + + speech_to_text 0.0.0 The speech_to_text package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + audio_utils_msgs + hbba_lite + perception_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - audio_utils - rospy - std_msgs - message_generation - hbba_lite - audio_utils - rospy - std_msgs - hbba_lite - audio_utils - rospy - std_msgs - message_runtime - hbba_lite - - - - - + ament_cmake diff --git a/ros/perceptions/speech_to_text/scripts/google_speech_to_text_node.py b/ros/perceptions/speech_to_text/scripts/google_speech_to_text_node.py index b04282ee..5cbf9621 100755 --- a/ros/perceptions/speech_to_text/scripts/google_speech_to_text_node.py +++ b/ros/perceptions/speech_to_text/scripts/google_speech_to_text_node.py @@ -6,9 +6,11 @@ import datetime import numpy as np -import rospy -from speech_to_text.msg import Transcript -from audio_utils.msg import AudioFrame +import rclpy +import rclpy.node + +from perception_msgs.msg import Transcript +from audio_utils_msgs.msg import AudioFrame import hbba_lite from google.cloud import speech @@ -19,28 +21,29 @@ SUPPORTED_CHANNEL_COUNT = 1 -class GoogleSpeechToTextNode: +class GoogleSpeechToTextNode(rclpy.node.Node): def __init__(self): - self._sampling_frequency = rospy.get_param('~sampling_frequency', 16000) - self._frame_sample_count = rospy.get_param('~frame_sample_count', 92) - self._request_frame_count = rospy.get_param('~request_frame_count', 20) - self._language_code = self._convert_language_to_language_code(rospy.get_param('~language')) + super().__init__('google_speech_to_text_node') + + self._sampling_frequency = self.declare_parameter('sampling_frequency', 16000).get_parameter_value().integer_value + self._frame_sample_count = self.declare_parameter('frame_sample_count', 92).get_parameter_value().integer_value + self._request_frame_count = self.declare_parameter('request_frame_count', 20).get_parameter_value().integer_value + + language = self.declare_parameter('language', 'en').get_parameter_value().string_value + self._language_code = self._convert_language_to_language_code(language) self._sleeping_duration = (self._request_frame_count * self._frame_sample_count / self._sampling_frequency) self._is_enabled = False - self._buffer_lock = threading.Lock() self._buffer = self._create_request_frame_buffer() self._current_buffer_index = 0 self._request_frame_queue = queue.Queue() self._total_samples_count = 0 - rospy.on_shutdown(self._shutdown_cb) - - self._text_pub = rospy.Publisher('transcript', Transcript, queue_size=10) - self._audio_sub = hbba_lite.OnOffHbbaSubscriber('audio_in', AudioFrame, self._audio_cb, queue_size=10) + self._text_pub = self.create_publisher(Transcript, 'transcript', 10) + self._audio_sub = hbba_lite.OnOffHbbaSubscriber(self, AudioFrame, 'audio_in', self._audio_cb, 10) self._audio_sub.on_filter_state_changed(self._filter_state_changed_cb) self._speech_client = speech.SpeechClient() @@ -59,38 +62,42 @@ def _audio_cb(self, msg): msg.channel_count != SUPPORTED_CHANNEL_COUNT or \ msg.sampling_frequency != self._sampling_frequency or \ msg.frame_sample_count != self._frame_sample_count: - rospy.logerr('Invalid audio frame (msg.format={}, msg.channel_count={}, msg.sampling_frequency={}, msg.frame_sample_count={}})' - .format(msg.format, msg.channel_count, msg.sampling_frequency, msg.frame_sample_count)) + self.get_logger().error( + f'Invalid audio frame (msg.format={msg.format}, msg.channel_count={msg.channel_count}' + + f', msg.sampling_frequency={msg.sampling_frequency}, msg.frame_sample_count={msg.frame_sample_count})') return - with self._buffer_lock: - audio_frame = np.frombuffer(msg.data, dtype=np.int16) - self._buffer[self._current_buffer_index:self._current_buffer_index + - self._frame_sample_count] = audio_frame + audio_frame = np.frombuffer(msg.data, dtype=np.int16) + self._buffer[self._current_buffer_index:self._current_buffer_index + + self._frame_sample_count] = audio_frame - self._current_buffer_index += self._frame_sample_count + self._current_buffer_index += self._frame_sample_count - if self._current_buffer_index >= self._buffer.shape[0]: - self._current_buffer_index = 0 - self._request_frame_queue.put(self._buffer.copy()) + if self._current_buffer_index >= self._buffer.shape[0]: + self._current_buffer_index = 0 + self._request_frame_queue.put(self._buffer.copy()) def _filter_state_changed_cb(self, previous_is_filtering_all_messages, new_is_filtering_all_messages): - with self._buffer_lock: - if previous_is_filtering_all_messages and not new_is_filtering_all_messages: - self._current_buffer_index = 0 - while not self._request_frame_queue.empty(): - self._request_frame_queue.get_nowait() - self._is_enabled = True - elif not previous_is_filtering_all_messages and new_is_filtering_all_messages: - self._is_enabled = False - self._request_frame_queue.put(None) - - def _shutdown_cb(self): - self._filter_state_changed_cb( - self._audio_sub.is_filtering_all_messages, True) + if previous_is_filtering_all_messages and not new_is_filtering_all_messages: + self._current_buffer_index = 0 + while not self._request_frame_queue.empty(): + self._request_frame_queue.get_nowait() + self._is_enabled = True + elif not previous_is_filtering_all_messages and new_is_filtering_all_messages: + self._is_enabled = False + self._request_frame_queue.put(None) def run(self): - while not rospy.is_shutdown(): + speech_to_text_thread = threading.Thread(target=self._speech_to_text_thread_run) + speech_to_text_thread.start() + + rclpy.spin(self) + + self._filter_state_changed_cb(self._audio_sub.is_filtering_all_messages, True) + speech_to_text_thread.join() + + def _speech_to_text_thread_run(self): + while rclpy.ok(): if not self._is_enabled: time.sleep(self._sleeping_duration) continue @@ -131,29 +138,34 @@ def _request_frame_generator(self): self._total_samples_count = 0 while self._is_enabled: audio_content = self._request_frame_queue.get() - self._total_samples_count += audio_content.shape[0] if audio_content is None: break - + + self._total_samples_count += audio_content.shape[0] yield speech.StreamingRecognizeRequest(audio_content=audio_content.tobytes()) def main(): - rospy.init_node('google_speech_to_text_node') + rclpy.init() + google_speech_to_text_node = GoogleSpeechToTextNode() - while not rospy.is_shutdown(): - try: - google_speech_to_text_node.run() - except (core_exceptions.InvalidArgument, - core_exceptions.Unknown, - core_exceptions.DeadlineExceeded, - core_exceptions.OutOfRange) as e: - rospy.logerr(f'google_speech_to_text_node has failed ({e})') + try: + while rclpy.ok(): + try: + google_speech_to_text_node.run() + except (core_exceptions.InvalidArgument, + core_exceptions.Unknown, + core_exceptions.DeadlineExceeded, + core_exceptions.OutOfRange) as e: + google_speech_to_text_node.get_logger().error(f'google_speech_to_text_node has failed ({e})') + except KeyboardInterrupt: + pass + finally: + google_speech_to_text_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() if __name__ == '__main__': - try: - main() - except rospy.ROSInterruptException: - pass + main() diff --git a/ros/perceptions/speech_to_text/scripts/whisper_speech_to_text_node.py b/ros/perceptions/speech_to_text/scripts/whisper_speech_to_text_node.py index 1f11e34f..13062147 100755 --- a/ros/perceptions/speech_to_text/scripts/whisper_speech_to_text_node.py +++ b/ros/perceptions/speech_to_text/scripts/whisper_speech_to_text_node.py @@ -8,11 +8,13 @@ from faster_whisper import WhisperModel -import rospy -from speech_to_text.msg import Transcript +import rclpy +import rclpy.node + +from perception_msgs.msg import Transcript from audio_utils import get_format_information, convert_audio_data_to_numpy_frames -from audio_utils.msg import AudioFrame, VoiceActivity +from audio_utils_msgs.msg import AudioFrame, VoiceActivity import hbba_lite @@ -22,15 +24,17 @@ SUPPORTED_SAMPLING_FREQUENCY = 16000 -class WhisperSpeechToTextNode: +class WhisperSpeechToTextNode(rclpy.node.Node): def __init__(self): - self._language = rospy.get_param('~language') - self._model_size = rospy.get_param('~model_size') - self._device = rospy.get_param('~device') - self._compute_type = rospy.get_param('~compute_type') + super().__init__('whisper_speech_to_text_node') + + self._language = self.declare_parameter('language', 'en').get_parameter_value().string_value + self._model_size = self.declare_parameter('model_size', 'base.en').get_parameter_value().string_value + self._device = self.declare_parameter('device', 'cpu').get_parameter_value().string_value + self._compute_type = self.declare_parameter('compute_type', 'float32').get_parameter_value().string_value - self._prebuffering_frame_count = rospy.get_param('~prebuffering_frame_count', 4) - self._minimum_voice_sequence_size = rospy.get_param('~minimum_voice_sequence_size', 8000) + self._prebuffering_frame_count = self.declare_parameter('prebuffering_frame_count', 4).get_parameter_value().integer_value + self._minimum_voice_sequence_size = self.declare_parameter('minimum_voice_sequence_size', 8000).get_parameter_value().integer_value if self._language not in SUPPORTED_LANGUAGES: raise ValueError(f'Invalid language ({self._language})') @@ -38,15 +42,12 @@ def __init__(self): self._model = WhisperModel(self._model_size, device=self._device, compute_type=self._compute_type) self._is_voice = False - self._frames_lock = threading.Lock() self._frames = [] self._voice_sequence_queue = queue.Queue() - rospy.on_shutdown(self._shutdown_cb) - - self._text_pub = rospy.Publisher('transcript', Transcript, queue_size=10) - self._voice_activity_pub = rospy.Subscriber('voice_activity', VoiceActivity, self._voice_activity_cb, queue_size=10) - self._audio_sub = hbba_lite.OnOffHbbaSubscriber('audio_in', AudioFrame, self._audio_cb, queue_size=10) + self._text_pub = self.create_publisher(Transcript, 'transcript', 10) + self._voice_activity_pub = self.create_subscription(VoiceActivity, 'voice_activity', self._voice_activity_cb, 10) + self._audio_sub = hbba_lite.OnOffHbbaSubscriber(self, AudioFrame, 'audio_in', self._audio_cb, 10) self._audio_sub.on_filter_state_changed(self._filter_state_changed_cb) def _voice_activity_cb(self, msg): @@ -58,17 +59,16 @@ def _voice_activity_cb(self, msg): def _audio_cb(self, msg): if msg.channel_count != SUPPORTED_CHANNEL_COUNT or msg.sampling_frequency != SUPPORTED_SAMPLING_FREQUENCY: - rospy.logerr('Invalid audio frame (msg.channel_count={}, msg.sampling_frequency={}})' + self.get_logger().error('Invalid audio frame (msg.channel_count={}, msg.sampling_frequency={}})' .format(msg.channel_count, msg.sampling_frequency)) return input_format_information = get_format_information(msg.format) frame = convert_audio_data_to_numpy_frames(input_format_information, msg.channel_count, msg.data)[0] - with self._frames_lock: - self._frames.append(frame.astype(np.float32)) - if not self._is_voice and len(self._frames) > self._prebuffering_frame_count: - self._frames = self._frames[-self._prebuffering_frame_count:] + self._frames.append(frame.astype(np.float32)) + if not self._is_voice and len(self._frames) > self._prebuffering_frame_count: + self._frames = self._frames[-self._prebuffering_frame_count:] def _filter_state_changed_cb(self, previous_is_filtering_all_messages, new_is_filtering_all_messages): if not previous_is_filtering_all_messages and new_is_filtering_all_messages: @@ -76,18 +76,24 @@ def _filter_state_changed_cb(self, previous_is_filtering_all_messages, new_is_fi self._put_frames_in_voice_sequence_queue() def _put_frames_in_voice_sequence_queue(self): - with self._frames_lock: - if len(self._frames) > 0: - self._voice_sequence_queue.put(np.concatenate(self._frames)) - self._frames.clear() - - def _shutdown_cb(self): - self._voice_sequence_queue.put(None) + if len(self._frames) > 0: + self._voice_sequence_queue.put(np.concatenate(self._frames)) + self._frames.clear() def run(self): + speech_to_text_thread = threading.Thread(target=self._speech_to_text_thread_run) + speech_to_text_thread.start() + + try: + rclpy.spin(self) + finally: + self._voice_sequence_queue.put(None) + speech_to_text_thread.join() + + def _speech_to_text_thread_run(self): self._warm_up_model() - while not rospy.is_shutdown(): + while rclpy.ok(): voice_sequence = self._voice_sequence_queue.get() if voice_sequence is None: break @@ -115,13 +121,18 @@ def _warm_up_model(self): def main(): - rospy.init_node('whisper_speech_to_text_node') + rclpy.init() whisper_speech_to_text_node = WhisperSpeechToTextNode() - whisper_speech_to_text_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + whisper_speech_to_text_node.run() + except KeyboardInterrupt: pass + finally: + whisper_speech_to_text_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/video_analyzer/CMakeLists.txt b/ros/perceptions/video_analyzer/CMakeLists.txt index 5999dbb2..93934627 100644 --- a/ros/perceptions/video_analyzer/CMakeLists.txt +++ b/ros/perceptions/video_analyzer/CMakeLists.txt @@ -1,219 +1,46 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(video_analyzer) -## 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 - dnn_utils - message_generation - rospy - std_msgs - geometry_msgs - sensor_msgs - visualization_msgs - hbba_lite -) - -## 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 - VideoAnalysis.msg - VideoAnalysisObject.msg - SemanticSegmentation.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 - geometry_msgs - sensor_msgs - visualization_msgs - hbba_lite -) - -################################################ -## 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 video_analyzer -# CATKIN_DEPENDS dnn_utils message_generation 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/${PROJECT_NAME}/video_analyzer.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/video_analyzer_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 -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -catkin_install_python(PROGRAMS +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(dnn_utils REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(visualization_msgs REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(perception_msgs REQUIRED) + +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) + +# Python Nodes +install(PROGRAMS scripts/video_analysis_markers_node.py scripts/video_analysis_visualizer_node.py scripts/video_analyzer_2d_node.py scripts/video_analyzer_3d_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_video_analyzer.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/perceptions/video_analyzer/README.md b/ros/perceptions/video_analyzer/README.md index e2a49813..23e55bdc 100644 --- a/ros/perceptions/video_analyzer/README.md +++ b/ros/perceptions/video_analyzer/README.md @@ -7,30 +7,30 @@ This node detects objects. If the audio contains a person, it estimates the pose This node uses RGB images, so the 3D positions are not set. #### Parameters - - `use_descriptor_yolo` (bool): Indicates to use the network extracting an object embedding or not. + - `use_descriptor_yolo` (bool): Indicates to use the network extracting an object embedding or not. The default value is false. - `yolo_model` (string): If descriptor_yolo_v4 is not used, it indicates which model to use for YOLO (yolo_v4_coco, yolo_v4_tiny_coco, yolo_v7_coco, yolo_v7_tiny_coco or yolo_v7_objects365). - If descriptor_yolo is used, it indicates which model to use for Descriptor-YOLO (yolo_v4_tiny_coco, yolo_v7_coco or yolo_v7_objects365). - - `confidence_threshold` (double): The object confidence threshold. - - `nms_threshold` (double): The Non-Maximum Suppresion threshold. - - `person_probability_threshold` (double): The person confidence threshold. - - `pose_confidence_threshold` (double): The pose key point confidence threshold. - - `inference_type` (string): Indicates where to run the neural network (cpu, torch_gpu or trt_gpu). - - `pose_enabled` (bool): Indicates to estimate the pose of the people. - - `face_descriptor_enabled` (bool): Indicates to extract an embedding for each face. The pose estimation must be enabled when the face embedding is enabled. - - `semantic_segmentation_enabled` (bool): Indicates to perform semantic segmentation. - - `semantic_segmentation_dataset` (string): Indicates which model to use semantic segmentation (coco, kitchen_open_images or person_other_open_images). - - `cropped_image_enabled` (bool): Indicates to publish cropped images for each object, pose and face. + If descriptor_yolo is used, it indicates which model to use for Descriptor-YOLO (yolo_v4_tiny_coco, yolo_v7_coco or yolo_v7_objects365). The default value is yolo_v7_coco. + - `confidence_threshold` (double): The object confidence threshold. The default value is 0.5. + - `nms_threshold` (double): The Non-Maximum Suppresion threshold. The default value is 0.5. + - `person_probability_threshold` (double): The person confidence threshold. The default value is 0.5. + - `pose_confidence_threshold` (double): The pose key point confidence threshold. The default value is 0.4. + - `inference_type` (string): Indicates where to run the neural network (cpu, torch_gpu or trt_gpu). The default value is cpu. + - `pose_enabled` (bool): Indicates to estimate the pose of the people. The default value is true. + - `face_descriptor_enabled` (bool): Indicates to extract an embedding for each face. The pose estimation must be enabled when the face embedding is enabled. The default value is true. + - `semantic_segmentation_enabled` (bool): Indicates to perform semantic segmentation. The default value is false. + - `semantic_segmentation_dataset` (string): Indicates which model to use semantic segmentation (coco, kitchen_open_images or person_other_open_images). The default value is coco. + - `cropped_image_enabled` (bool): Indicates to publish cropped images for each object, pose and face. The default value is false. #### Subscribed Topics - - `image_raw` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): The color image. + - `image_raw` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): The color image. #### Published Topics - - `video_analysis` ([video_analyzer/VideoAnalysis](msg/VideoAnalysis.msg)): The video analysis containing the detected objects. - - `analysed_image` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): A rendering of the video analysis. + - `video_analysis` ([perception_msgs/VideoAnalysis](../perception_msgs/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. + - `analysed_image` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): A rendering of the video analysis. #### Services - - `image_raw/filter_state` ([hbba_lite/SetThrottlingFilterState](../../hbba_lite/srv/SetThrottlingFilterState.srv)) The HBBA filter state service to enable, disable or throttle the processing. - - `analysed_image/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)) The HBBA filter state service to enable or disable the topic `analysed_image`. + - `image_raw/filter_state` ([hbba_lite_srvs/SetThrottlingFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetThrottlingFilterState.srv)) The HBBA filter state service to enable, disable or throttle the processing. + - `analysed_image/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)) The HBBA filter state service to enable or disable the topic `analysed_image`. ### `video_analyzer_3d_node.py` @@ -38,48 +38,48 @@ This node detects objects. If the audio contains a person, it estimates the pose This node uses RGB-D images, so the 3D positions are set. #### Parameters - - `use_descriptor_yolo` (bool): Indicates to use the network extracting an object embedding or not. + - `use_descriptor_yolo` (bool): Indicates to use the network extracting an object embedding or not. The default value is false. - `yolo_model` (string): If descriptor_yolo_v4 is not used, it indicates which model to use for YOLO (yolo_v4_coco, yolo_v4_tiny_coco, yolo_v7_coco, yolo_v7_tiny_coco or yolo_v7_objects365). - If descriptor_yolo is used, it indicates which model to use for Descriptor-YOLO (yolo_v4_tiny_coco, yolo_v7_coco or yolo_v7_objects365). - - `confidence_threshold` (double): The object confidence threshold. - - `nms_threshold` (double): The Non-Maximum Suppresion threshold. - - `person_probability_threshold` (double): The person confidence threshold. - - `pose_confidence_threshold` (double): The pose key point confidence threshold. - - `inference_type` (string): Indicates where to run the neural network (cpu, torch_gpu or trt_gpu). - - `pose_enabled` (bool): Indicates to estimate the pose of the people. - - `face_descriptor_enabled` (bool): Indicates to extract an embedding for each face. The pose estimation must be enabled when the face embedding is enabled. - - `semantic_segmentation_enabled` (bool): Indicates to perform semantic segmentation. - - `semantic_segmentation_dataset` (string): Indicates which model to use semantic segmentation (coco, kitchen_open_images or person_other_open_images). - - `cropped_image_enabled` (bool): Indicates to publish cropped images for each object, pose and face. - - `depth_mean_offset` (int): The rectangle offset when calulating the depth of the object. + If descriptor_yolo is used, it indicates which model to use for Descriptor-YOLO (yolo_v4_tiny_coco, yolo_v7_coco or yolo_v7_objects365). The default value is yolo_v7_coco. + - `confidence_threshold` (double): The object confidence threshold. The default value is 0.5. + - `nms_threshold` (double): The Non-Maximum Suppresion threshold. The default value is 0.5. + - `person_probability_threshold` (double): The person confidence threshold. The default value is 0.5. + - `pose_confidence_threshold` (double): The pose key point confidence threshold. The default value is 0.4. + - `inference_type` (string): Indicates where to run the neural network (cpu, torch_gpu or trt_gpu). The default value is cpu. + - `pose_enabled` (bool): Indicates to estimate the pose of the people. The default value is true. + - `face_descriptor_enabled` (bool): Indicates to extract an embedding for each face. The pose estimation must be enabled when the face embedding is enabled. The default value is true. + - `semantic_segmentation_enabled` (bool): Indicates to perform semantic segmentation. The default value is false. + - `semantic_segmentation_dataset` (string): Indicates which model to use semantic segmentation (coco, kitchen_open_images or person_other_open_images). The default value is coco. + - `cropped_image_enabled` (bool): Indicates to publish cropped images for each object, pose and face. The default value is false. + - `depth_mean_offset` (int): The rectangle offset when calulating the depth of the object. The deault value is 1. #### Subscribed Topics - - `image_raw` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): The color image. - - `depth_image_raw` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): The depth image. - - `depth_camera_info` ([sensor_msgs/CameraInfo](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CameraInfo.html)): The depth camera info used to preject 2D point in 3D. + - `image_raw` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): The color image. + - `depth_image_raw` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): The depth image. + - `depth_camera_info` ([sensor_msgs/CameraInfo](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/CameraInfo.html)): The depth camera info used to preject 2D point in 3D. #### Published Topics - - `video_analysis` ([video_analyzer/VideoAnalysis](msg/VideoAnalysis.msg)): The video analysis containing the detected objects. - - `analysed_image` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): A rendering of the video analysis. + - `video_analysis` ([perception_msgs/VideoAnalysis](../perception_msgs/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. + - `analysed_image` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): A rendering of the video analysis. #### Services - - `image_raw/filter_state` ([hbba_lite/SetThrottlingFilterState](../../hbba_lite/srv/SetThrottlingFilterState.srv)) The HBBA filter state service to enable, disable or throttle the processing. - - `analysed_image/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)) The HBBA filter state service to enable or disable the topic `analysed_image`. + - `image_raw/filter_state` ([hbba_lite_srvs/SetThrottlingFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetThrottlingFilterState.srv)) The HBBA filter state service to enable, disable or throttle the processing. + - `analysed_image/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)) The HBBA filter state service to enable or disable the topic `analysed_image`. ### `video_analysis_visualizer_node.py` This node create a mosaic containing the objects in the video analysis. #### Subscribed Topics - - `video_analysis` ([video_analyzer/VideoAnalysis](msg/VideoAnalysis.msg)): The video analysis containing the detected objects. + - `video_analysis` ([perception_msgs/VideoAnalysis](../perception_msgs/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. #### Published Topics - - `video_analysis_mosaic` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): The mosaic containing the objects in the video analysis. + - `video_analysis_mosaic` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): The mosaic containing the objects in the video analysis. ### `video_analysis_markers_node.py` This node create a marker array for the objects in the video analysis. #### Subscribed Topics - - `video_analysis` ([video_analyzer/VideoAnalysis](msg/VideoAnalysis.msg)): The video analysis containing the detected objects. + - `video_analysis` ([perception_msgs/VideoAnalysis](../perception_msgs/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. #### Published Topics - - `video_analysis_markers` ([visualization_msgs/MarkerArray](http://docs.ros.org/en/noetic/api/visualization_msgs/html/msg/MarkerArray.html)): The marker array for the objects in the video analysis. + - `video_analysis_markers` ([visualization_msgs/MarkerArray](https://docs.ros.org/en/humble/p/visualization_msgs/interfaces/msg/MarkerArray.html)): The marker array for the objects in the video analysis. diff --git a/ros/t_top/launch/tests/test_video_analyzer_2d_node.launch b/ros/perceptions/video_analyzer/launch/test_video_analyzer_2d_node.launch.xml similarity index 74% rename from ros/t_top/launch/tests/test_video_analyzer_2d_node.launch rename to ros/perceptions/video_analyzer/launch/test_video_analyzer_2d_node.launch.xml index b338b595..110dc72a 100644 --- a/ros/t_top/launch/tests/test_video_analyzer_2d_node.launch +++ b/ros/perceptions/video_analyzer/launch/test_video_analyzer_2d_node.launch.xml @@ -1,14 +1,14 @@ - + - + - + @@ -19,8 +19,7 @@ - - + diff --git a/ros/perceptions/video_analyzer/launch/test_video_analyzer_3d_node.launch.xml b/ros/perceptions/video_analyzer/launch/test_video_analyzer_3d_node.launch.xml new file mode 100644 index 00000000..f403db90 --- /dev/null +++ b/ros/perceptions/video_analyzer/launch/test_video_analyzer_3d_node.launch.xml @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/perceptions/video_analyzer/msg/VideoAnalysis.msg b/ros/perceptions/video_analyzer/msg/VideoAnalysis.msg deleted file mode 100644 index 5ec48174..00000000 --- a/ros/perceptions/video_analyzer/msg/VideoAnalysis.msg +++ /dev/null @@ -1,6 +0,0 @@ -std_msgs/Header header - -bool contains_3d_positions -video_analyzer/VideoAnalysisObject[] objects -video_analyzer/SemanticSegmentation[] semantic_segmentation -float32 processing_time_s diff --git a/ros/perceptions/video_analyzer/package.xml b/ros/perceptions/video_analyzer/package.xml index be921070..42f3dba5 100644 --- a/ros/perceptions/video_analyzer/package.xml +++ b/ros/perceptions/video_analyzer/package.xml @@ -1,87 +1,31 @@ - + + video_analyzer 0.0.0 The video_analyzer package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + dnn_utils + std_msgs + sensor_msgs + geometry_msgs + visualization_msgs + cv_bridge + hbba_lite + perception_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - dnn_utils - message_generation - rospy - std_msgs - geometry_msgs - message_filters - sensor_msgs - visualization_msgs - cv_bridge - hbba_lite - dnn_utils - rospy - std_msgs - geometry_msgs - message_filters - sensor_msgs - visualization_msgs - cv_bridge - hbba_lite - dnn_utils - rospy - std_msgs - geometry_msgs - message_filters - sensor_msgs - visualization_msgs - cv_bridge - hbba_lite - - - - - + ament_cmake diff --git a/ros/perceptions/video_analyzer/scripts/video_analysis_markers_node.py b/ros/perceptions/video_analyzer/scripts/video_analysis_markers_node.py index d9a3229a..b931310b 100755 --- a/ros/perceptions/video_analyzer/scripts/video_analysis_markers_node.py +++ b/ros/perceptions/video_analyzer/scripts/video_analysis_markers_node.py @@ -1,15 +1,18 @@ #!/usr/bin/env python3 -import rospy +import rclpy +import rclpy.node from visualization_msgs.msg import Marker from visualization_msgs.msg import MarkerArray -from video_analyzer.msg import VideoAnalysis +from perception_msgs.msg import VideoAnalysis -class VideoAnalysisMarkersNode: +class VideoAnalysisMarkersNode(rclpy.node.Node): def __init__(self): - self._video_analysis_sub = rospy.Subscriber('video_analysis', VideoAnalysis, self._video_analysis_cb, queue_size=10) - self._video_analysis_markers_pub = rospy.Publisher('video_analysis_markers', MarkerArray, queue_size=10) + super().__init__('video_analysis_markers_node') + + self._video_analysis_sub = self.create_subscription(VideoAnalysis, 'video_analysis', self._video_analysis_cb, 10) + self._video_analysis_markers_pub = self.create_publisher(MarkerArray, 'video_analysis_markers', 10) def _delete_markers(self): markerArray = MarkerArray() @@ -19,6 +22,8 @@ def _delete_markers(self): self._video_analysis_markers_pub.publish(markerArray) def _create_marker(self, header, tag, type, pose, ID, scale, rgb, points=[], name=''): + scale = float(scale) + marker = Marker() marker.header.stamp = header.stamp marker.header.frame_id = header.frame_id @@ -27,17 +32,17 @@ def _create_marker(self, header, tag, type, pose, ID, scale, rgb, points=[], nam marker.type = type marker.action = Marker.ADD marker.pose.position = pose - marker.pose.orientation.x = 0 - marker.pose.orientation.y = 0 - marker.pose.orientation.z = 0 - marker.pose.orientation.w = 1 + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = 0.0 + marker.pose.orientation.w = 1.0 marker.scale.x = scale marker.scale.y = scale marker.scale.z = scale marker.color.a = 1.0 - marker.color.r = rgb[0] - marker.color.g = rgb[1] - marker.color.b = rgb[2] + marker.color.r = float(rgb[0]) + marker.color.g = float(rgb[1]) + marker.color.b = float(rgb[2]) marker.points = points marker.text = name @@ -45,7 +50,7 @@ def _create_marker(self, header, tag, type, pose, ID, scale, rgb, points=[], nam def _video_analysis_cb(self, msg): if not msg.contains_3d_positions: - rospy.logerr('The video analysis must contain 3d positions.') + self.get_logger().error('The video analysis must contain 3d positions.') return self._delete_markers() @@ -79,17 +84,22 @@ def _video_analysis_cb(self, msg): self._video_analysis_markers_pub.publish(markerArray) def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('video_analysis_markers_node') + rclpy.init() video_analysis_markers_node = VideoAnalysisMarkersNode() - video_analysis_markers_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + video_analysis_markers_node.run() + except KeyboardInterrupt: pass + finally: + video_analysis_markers_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/video_analyzer/scripts/video_analysis_visualizer_node.py b/ros/perceptions/video_analyzer/scripts/video_analysis_visualizer_node.py index cc4c21e4..0fb88b1c 100755 --- a/ros/perceptions/video_analyzer/scripts/video_analysis_visualizer_node.py +++ b/ros/perceptions/video_analyzer/scripts/video_analysis_visualizer_node.py @@ -1,15 +1,15 @@ #!/usr/bin/env python3 -import traceback - import numpy as np -import cv2 -import rospy +import rclpy +import rclpy.node + + from cv_bridge import CvBridge from sensor_msgs.msg import Image -from video_analyzer.msg import VideoAnalysis +from perception_msgs.msg import VideoAnalysis def concatenate_horizontal(image0, image1): @@ -32,12 +32,14 @@ def concatenate_vertical(image0, image1): return output -class VideoAnalysisVisualizerNode: +class VideoAnalysisVisualizerNode(rclpy.node.Node): def __init__(self): + super().__init__('video_analysis_visualizer_node') + self._cv_bridge = CvBridge() - self._video_analysis_sub = rospy.Subscriber('video_analysis', VideoAnalysis, self._video_analysis_cb, queue_size=10) - self._video_analysis_mosaic_pub = rospy.Publisher('video_analysis_mosaic', Image, queue_size=10) + self._video_analysis_sub = self.create_subscription(VideoAnalysis, 'video_analysis', self._video_analysis_cb, 10) + self._video_analysis_mosaic_pub = self.create_publisher(Image, 'video_analysis_mosaic', 10) def _video_analysis_cb(self, msg): objects = msg.objects @@ -63,27 +65,33 @@ def _concatenate_object_images(self, o): face_image = None if len(o.person_pose_2d) > 0: pose_image = self._cv_bridge.imgmsg_to_cv2(o.person_pose_image, 'rgb8') - face_image = self._cv_bridge.imgmsg_to_cv2(o.face_image, 'rgb8') - output = concatenate_horizontal(object_image, pose_image) - output = concatenate_horizontal(output, face_image) + + if len(o.face_descriptor) > 0: + face_image = self._cv_bridge.imgmsg_to_cv2(o.face_image, 'rgb8') + output = concatenate_horizontal(output, face_image) else: output = object_image return output def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('video_analysis_visualizer_node') + rclpy.init() video_analysis_visualizer_node = VideoAnalysisVisualizerNode() - video_analysis_visualizer_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + video_analysis_visualizer_node.run() + except KeyboardInterrupt: pass + finally: + video_analysis_visualizer_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/video_analyzer/scripts/video_analyzer_2d_node.py b/ros/perceptions/video_analyzer/scripts/video_analyzer_2d_node.py index 822aa381..116cd82a 100755 --- a/ros/perceptions/video_analyzer/scripts/video_analyzer_2d_node.py +++ b/ros/perceptions/video_analyzer/scripts/video_analyzer_2d_node.py @@ -2,11 +2,12 @@ import traceback from datetime import datetime -import rospy + +import rclpy from sensor_msgs.msg import Image from geometry_msgs.msg import Point -from video_analyzer.msg import VideoAnalysis, VideoAnalysisObject +from perception_msgs.msg import VideoAnalysis, VideoAnalysisObject import hbba_lite @@ -15,8 +16,8 @@ class VideoAnalyzer2dNode(VideoAnalyzerNode): def __init__(self): - super().__init__() - self._image_sub = hbba_lite.ThrottlingHbbaSubscriber('image_raw', Image, self._image_cb, queue_size=1) + super().__init__('video_analyzer_2d_node') + self._image_sub = hbba_lite.ThrottlingHbbaSubscriber(self, Image, 'image_raw', self._image_cb, 1) def _image_cb(self, color_image_msg): try: @@ -30,7 +31,7 @@ def _image_cb(self, color_image_msg): self._video_analysis_pub.publish(video_analysis_msg) self._publish_analysed_image(color_image, color_image_msg.header, object_analyses) except Exception as e: - rospy.logerr(f'Image analysis error: {e} \n {traceback.format_exc()}') + self.get_logger().error(f'Image analysis error: {e} \n {traceback.format_exc()}') def _analysis_to_msg(self, object_analyses, semantic_segmentation, header, color_image): image_height, image_width, _ = color_image.shape @@ -77,13 +78,18 @@ def _object_analysis_to_msg(self, object_analysis, image_height, image_width): def main(): - rospy.init_node('video_analyzer_2d_node') + rclpy.init() video_analyzer_node = VideoAnalyzer2dNode() - video_analyzer_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + video_analyzer_node.run() + except KeyboardInterrupt: pass + finally: + video_analyzer_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/video_analyzer/scripts/video_analyzer_3d_node.py b/ros/perceptions/video_analyzer/scripts/video_analyzer_3d_node.py index 39d95bae..ba495a2d 100755 --- a/ros/perceptions/video_analyzer/scripts/video_analyzer_3d_node.py +++ b/ros/perceptions/video_analyzer/scripts/video_analyzer_3d_node.py @@ -2,12 +2,12 @@ import traceback from datetime import datetime -import rospy +import rclpy import message_filters from sensor_msgs.msg import Image, CameraInfo from geometry_msgs.msg import Point -from video_analyzer.msg import VideoAnalysis, VideoAnalysisObject +from perception_msgs.msg import VideoAnalysis, VideoAnalysisObject import hbba_lite @@ -19,18 +19,19 @@ class VideoAnalyzer3dNode(VideoAnalyzerNode): def __init__(self): - super().__init__() - self._depth_mean_offset = rospy.get_param('~depth_mean_offset', 1) + super().__init__('video_analyzer_3d_node') - color_image_sub = message_filters.Subscriber('color_image_raw', Image) - depth_image_sub = message_filters.Subscriber('depth_image_raw', Image) - depth_camera_info_sub = message_filters.Subscriber('depth_camera_info', CameraInfo) - self._image_ts = hbba_lite.ThrottlingHbbaApproximateTimeSynchronizer([color_image_sub, depth_image_sub, depth_camera_info_sub], + self._depth_mean_offset = self.declare_parameter('depth_mean_offset', 1).get_parameter_value().integer_value + + color_image_sub = message_filters.Subscriber(self, Image, 'color_image_raw') + depth_image_sub = message_filters.Subscriber(self, Image, 'depth_image_raw') + depth_camera_info_sub = message_filters.Subscriber(self, CameraInfo, 'depth_camera_info') + self._image_ts = hbba_lite.ThrottlingHbbaApproximateTimeSynchronizer(self, [color_image_sub, depth_image_sub, depth_camera_info_sub], 1, 0.03, self._image_cb, 'image_raw/filter_state') def _image_cb(self, color_image_msg, depth_image_msg, depth_camera_info): if depth_image_msg.encoding != '16UC1': - rospy.logerr('Invalid depth image encoding') + self.get_logger().error('Invalid depth image encoding') try: start_time = datetime.now() @@ -46,13 +47,12 @@ def _image_cb(self, color_image_msg, depth_image_msg, depth_camera_info): self._video_analysis_pub.publish(video_analysis_msg) self._publish_analysed_image(color_image, color_image_msg.header, object_analyses) except Exception as e: - rospy.logerr(f'Image analysis error: {e} \n {traceback.format_exc()}') + self.get_logger().error(f'Image analysis error: {e} \n {traceback.format_exc()}') def _analysis_to_msg(self, object_analyses, semantic_segmentation, header, color_image, depth_image, depth_camera_info): image_height, image_width, _ = color_image.shape msg = VideoAnalysis() - msg.header.seq = header.seq msg.header.stamp = header.stamp msg.header.frame_id = depth_camera_info.header.frame_id msg.contains_3d_positions = True @@ -113,7 +113,7 @@ def _project_2d_to_3d(self, x, y, depth_image, depth_camera_info): y1 = int(y + self._depth_mean_offset) depth_pixels = depth_image[y0:y1, x0:x1] depth = depth_pixels[depth_pixels != 0].mean() - K = depth_camera_info.K + K = depth_camera_info.k point = Point() point.x = (x - K[2]) * depth / K[0] * MM_TO_M @@ -123,13 +123,18 @@ def _project_2d_to_3d(self, x, y, depth_image, depth_camera_info): def main(): - rospy.init_node('video_analyzer_3d_node') + rclpy.init() video_analyzer_node = VideoAnalyzer3dNode() - video_analyzer_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + video_analyzer_node.run() + except KeyboardInterrupt: pass + finally: + video_analyzer_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/perceptions/video_analyzer/setup.py b/ros/perceptions/video_analyzer/setup.py deleted file mode 100644 index 4047b1b0..00000000 --- a/ros/perceptions/video_analyzer/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from setuptools import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['video_analyzer'], - package_dir={'': 'src'}, -) - -setup(**setup_args) diff --git a/ros/perceptions/video_analyzer/video_analyzer/__init__.py b/ros/perceptions/video_analyzer/video_analyzer/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/ros/perceptions/video_analyzer/src/video_analyzer/lib_video_analyzer_node.py b/ros/perceptions/video_analyzer/video_analyzer/lib_video_analyzer_node.py similarity index 85% rename from ros/perceptions/video_analyzer/src/video_analyzer/lib_video_analyzer_node.py rename to ros/perceptions/video_analyzer/video_analyzer/lib_video_analyzer_node.py index e45015e1..ecd0c453 100644 --- a/ros/perceptions/video_analyzer/src/video_analyzer/lib_video_analyzer_node.py +++ b/ros/perceptions/video_analyzer/video_analyzer/lib_video_analyzer_node.py @@ -6,12 +6,14 @@ import torch import torchvision.transforms.functional as F -import rospy +import rclpy +import rclpy.node + from cv_bridge import CvBridge from sensor_msgs.msg import Image from geometry_msgs.msg import Point -from video_analyzer.msg import VideoAnalysis, SemanticSegmentation +from perception_msgs.msg import VideoAnalysis, SemanticSegmentation from dnn_utils import DescriptorYolo, Yolo, PoseEstimator, FaceDescriptorExtractor, SemanticSegmentationNetwork import hbba_lite @@ -78,21 +80,23 @@ def __init__(self, descriptor, alignment_keypoint_count, sharpness_score, face_i self.face_image = face_image -class VideoAnalyzerNode: - def __init__(self): - self._use_descriptor_yolo = rospy.get_param('~use_descriptor_yolo') - self._yolo_model = rospy.get_param('~yolo_model', None) - self._confidence_threshold = rospy.get_param('~confidence_threshold') - self._nms_threshold = rospy.get_param('~nms_threshold') - self._person_probability_threshold = rospy.get_param('~person_probability_threshold') - self._pose_confidence_threshold = rospy.get_param('~pose_confidence_threshold') - self._inference_type = rospy.get_param('~inference_type', None) +class VideoAnalyzerNode(rclpy.node.Node): + def __init__(self, node_name): + super().__init__(node_name) + + self._use_descriptor_yolo = self.declare_parameter('use_descriptor_yolo', False).get_parameter_value().bool_value + self._yolo_model = self.declare_parameter('yolo_model', 'yolo_v7_coco').get_parameter_value().string_value + self._confidence_threshold = self.declare_parameter('confidence_threshold', 0.5).get_parameter_value().double_value + self._nms_threshold = self.declare_parameter('nms_threshold', 0.5).get_parameter_value().double_value + self._person_probability_threshold = self.declare_parameter('person_probability_threshold', 0.5).get_parameter_value().double_value + self._pose_confidence_threshold = self.declare_parameter('pose_confidence_threshold', 0.4).get_parameter_value().double_value + self._inference_type = self.declare_parameter('inference_type', 'cpu').get_parameter_value().string_value - self._pose_enabled = rospy.get_param('~pose_enabled', True) - self._face_descriptor_enabled = rospy.get_param('~face_descriptor_enabled', True) - self._semantic_segmentation_enabled = rospy.get_param('~semantic_segmentation_enabled', True) - self._semantic_segmentation_dataset = rospy.get_param('~semantic_segmentation_dataset', 'coco') - self._cropped_image_enabled = rospy.get_param('~cropped_image_enabled', True) + self._pose_enabled = self.declare_parameter('pose_enabled', True).get_parameter_value().bool_value + self._face_descriptor_enabled = self.declare_parameter('face_descriptor_enabled', True).get_parameter_value().bool_value + self._semantic_segmentation_enabled = self.declare_parameter('semantic_segmentation_enabled', False).get_parameter_value().bool_value + self._semantic_segmentation_dataset = self.declare_parameter('semantic_segmentation_dataset', 'coco').get_parameter_value().string_value + self._cropped_image_enabled = self.declare_parameter('cropped_image_enabled', False).get_parameter_value().bool_value if self._face_descriptor_enabled and not self._pose_enabled: raise ValueError('The pose estimation must be enabled when the face descriptor extraction is enabled.') @@ -116,8 +120,8 @@ def __init__(self): self._person_class_index = self._object_class_names.index('person') - self._video_analysis_pub = rospy.Publisher('video_analysis', VideoAnalysis, queue_size=10) - self._analysed_image_pub = hbba_lite.OnOffHbbaPublisher('analysed_image', Image, queue_size=10) + self._video_analysis_pub = self.create_publisher(VideoAnalysis, 'video_analysis', 10) + self._analysed_image_pub = hbba_lite.OnOffHbbaPublisher(self, Image, 'analysed_image', 10) self._cv_bridge = CvBridge() @@ -239,7 +243,7 @@ def _draw_person_pose(self, image, pose_coordinates, pose_confidence): cv2.line(image, (x0, y0), (x1, y1), (255, 255, 0), thickness=4) def run(self): - rospy.spin() + rclpy.spin(self) def convert_pose_coordinates_2d(pose_coordinates, image_width, image_height): diff --git a/ros/t_top/CMakeLists.txt b/ros/t_top/CMakeLists.txt index 9540744b..6dfd37c3 100644 --- a/ros/t_top/CMakeLists.txt +++ b/ros/t_top/CMakeLists.txt @@ -1,206 +1,43 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(t_top) -## 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 - daemon_ros_client -) - -## 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 -# geometry_msgs# nav_msgs# sensor_msgs# 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 t_top - # CATKIN_DEPENDS geometry_msgs nav_msgs rospy sensor_msgs std_msgs tf - # 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/${PROJECT_NAME}/t_top.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/t_top_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/head_roll_image_rotation_node.py - scripts/robot_status.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(daemon_ros_client REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(hbba_lite REQUIRED) + +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) + +# Python Nodes +install(PROGRAMS + scripts/head_roll_image_rotation_node.py + scripts/robot_status.py + DESTINATION lib/${PROJECT_NAME} ) -## 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 ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# +# Install the config +install(DIRECTORY config DESTINATION share/${PROJECT_NAME}) -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_t_top.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/t_top/calibration/.gitignore b/ros/t_top/calibration/.gitignore deleted file mode 100644 index 5d28c61c..00000000 --- a/ros/t_top/calibration/.gitignore +++ /dev/null @@ -1 +0,0 @@ -camera_2d_wide.yaml diff --git a/ros/t_top/config/configuration_16SoundsUSB.cfg b/ros/t_top/config/configuration_16SoundsUSB.cfg index ac5ccf9d..470250d2 100644 --- a/ros/t_top/config/configuration_16SoundsUSB.cfg +++ b/ros/t_top/config/configuration_16SoundsUSB.cfg @@ -35,8 +35,8 @@ general: size: #for fft calculation { - hopSize = 128; #shift size of the cross fft - frameSize = 256; #size of each fft of the cross fft + hopSize = 512; #shift size of the cross fft + frameSize = 1024; #size of each fft of the cross fft }; samplerate: diff --git a/ros/t_top/launch/behaviors.launch b/ros/t_top/launch/behaviors.launch deleted file mode 100644 index 832efac9..00000000 --- a/ros/t_top/launch/behaviors.launch +++ /dev/null @@ -1,100 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/behaviors.launch.xml b/ros/t_top/launch/behaviors.launch.xml new file mode 100644 index 00000000..66066f11 --- /dev/null +++ b/ros/t_top/launch/behaviors.launch.xml @@ -0,0 +1,100 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/behaviors/dance.launch b/ros/t_top/launch/behaviors/dance.launch deleted file mode 100644 index 3d1786b7..00000000 --- a/ros/t_top/launch/behaviors/dance.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/behaviors/dance.launch.xml b/ros/t_top/launch/behaviors/dance.launch.xml new file mode 100644 index 00000000..b548b521 --- /dev/null +++ b/ros/t_top/launch/behaviors/dance.launch.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/behaviors/explore.launch b/ros/t_top/launch/behaviors/explore.launch.xml similarity index 56% rename from ros/t_top/launch/behaviors/explore.launch rename to ros/t_top/launch/behaviors/explore.launch.xml index 23d44dd2..99b76584 100644 --- a/ros/t_top/launch/behaviors/explore.launch +++ b/ros/t_top/launch/behaviors/explore.launch.xml @@ -1,9 +1,9 @@ - + - - + + diff --git a/ros/t_top/launch/behaviors/face.launch b/ros/t_top/launch/behaviors/face.launch deleted file mode 100644 index c31c710c..00000000 --- a/ros/t_top/launch/behaviors/face.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ros/t_top/launch/behaviors/face.launch.xml b/ros/t_top/launch/behaviors/face.launch.xml new file mode 100644 index 00000000..c3e608d3 --- /dev/null +++ b/ros/t_top/launch/behaviors/face.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ros/t_top/launch/behaviors/face_following.launch b/ros/t_top/launch/behaviors/face_following.launch.xml similarity index 69% rename from ros/t_top/launch/behaviors/face_following.launch rename to ros/t_top/launch/behaviors/face_following.launch.xml index 2e13abcd..6ced083a 100644 --- a/ros/t_top/launch/behaviors/face_following.launch +++ b/ros/t_top/launch/behaviors/face_following.launch.xml @@ -1,10 +1,10 @@ - + - - - + + + @@ -17,9 +17,9 @@ - - - + + + diff --git a/ros/t_top/launch/behaviors/gesture.launch b/ros/t_top/launch/behaviors/gesture.launch deleted file mode 100644 index c3671f1f..00000000 --- a/ros/t_top/launch/behaviors/gesture.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/ros/t_top/launch/behaviors/gesture.launch.xml b/ros/t_top/launch/behaviors/gesture.launch.xml new file mode 100644 index 00000000..700df3a3 --- /dev/null +++ b/ros/t_top/launch/behaviors/gesture.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/ros/t_top/launch/behaviors/led_animations.launch b/ros/t_top/launch/behaviors/led_animations.launch deleted file mode 100644 index 0f172f0e..00000000 --- a/ros/t_top/launch/behaviors/led_animations.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - diff --git a/ros/t_top/launch/behaviors/led_animations.launch.xml b/ros/t_top/launch/behaviors/led_animations.launch.xml new file mode 100644 index 00000000..ec051ea0 --- /dev/null +++ b/ros/t_top/launch/behaviors/led_animations.launch.xml @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ros/t_top/launch/behaviors/led_emotions.launch b/ros/t_top/launch/behaviors/led_emotions.launch deleted file mode 100644 index 54f954cd..00000000 --- a/ros/t_top/launch/behaviors/led_emotions.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/ros/t_top/launch/behaviors/led_emotions.launch.xml b/ros/t_top/launch/behaviors/led_emotions.launch.xml new file mode 100644 index 00000000..c98b35c6 --- /dev/null +++ b/ros/t_top/launch/behaviors/led_emotions.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/ros/t_top/launch/behaviors/opentera.launch b/ros/t_top/launch/behaviors/opentera.launch.xml similarity index 57% rename from ros/t_top/launch/behaviors/opentera.launch rename to ros/t_top/launch/behaviors/opentera.launch.xml index 852094a8..78350212 100644 --- a/ros/t_top/launch/behaviors/opentera.launch +++ b/ros/t_top/launch/behaviors/opentera.launch.xml @@ -8,10 +8,19 @@ + + + + + + + + + - - - + + + @@ -20,47 +29,47 @@ - + - + - + + + - + - - - + + - - + - + - + - + - - + + - + @@ -69,7 +78,7 @@ - + @@ -82,14 +91,14 @@ - + - + - + @@ -99,7 +108,7 @@ - + @@ -109,10 +118,10 @@ - - - - + + + + diff --git a/ros/t_top/launch/behaviors/sound_following.launch b/ros/t_top/launch/behaviors/sound_following.launch.xml similarity index 66% rename from ros/t_top/launch/behaviors/sound_following.launch rename to ros/t_top/launch/behaviors/sound_following.launch.xml index 8416b186..8cf4eebe 100644 --- a/ros/t_top/launch/behaviors/sound_following.launch +++ b/ros/t_top/launch/behaviors/sound_following.launch.xml @@ -1,17 +1,17 @@ - + - - - + + + - + diff --git a/ros/t_top/launch/behaviors/sound_object_person_following.launch b/ros/t_top/launch/behaviors/sound_object_person_following.launch.xml similarity index 69% rename from ros/t_top/launch/behaviors/sound_object_person_following.launch rename to ros/t_top/launch/behaviors/sound_object_person_following.launch.xml index ddecbea8..2b84e7f2 100644 --- a/ros/t_top/launch/behaviors/sound_object_person_following.launch +++ b/ros/t_top/launch/behaviors/sound_object_person_following.launch.xml @@ -2,11 +2,11 @@ - + - - - + + + @@ -14,12 +14,12 @@ - + - [all] + diff --git a/ros/t_top/launch/behaviors/sound_player.launch b/ros/t_top/launch/behaviors/sound_player.launch.xml similarity index 63% rename from ros/t_top/launch/behaviors/sound_player.launch rename to ros/t_top/launch/behaviors/sound_player.launch.xml index 4360c3a6..2f32d78d 100644 --- a/ros/t_top/launch/behaviors/sound_player.launch +++ b/ros/t_top/launch/behaviors/sound_player.launch.xml @@ -1,8 +1,8 @@ - + - + diff --git a/ros/t_top/launch/behaviors/talk.launch b/ros/t_top/launch/behaviors/talk.launch.xml similarity index 54% rename from ros/t_top/launch/behaviors/talk.launch rename to ros/t_top/launch/behaviors/talk.launch.xml index e3d99ef5..70644181 100644 --- a/ros/t_top/launch/behaviors/talk.launch +++ b/ros/t_top/launch/behaviors/talk.launch.xml @@ -3,13 +3,13 @@ - + - - - - - + + + + + @@ -19,7 +19,7 @@ - + diff --git a/ros/t_top/launch/behaviors/teleoperation.launch b/ros/t_top/launch/behaviors/teleoperation.launch.xml similarity index 63% rename from ros/t_top/launch/behaviors/teleoperation.launch rename to ros/t_top/launch/behaviors/teleoperation.launch.xml index 08b976e4..7a9387b6 100644 --- a/ros/t_top/launch/behaviors/teleoperation.launch +++ b/ros/t_top/launch/behaviors/teleoperation.launch.xml @@ -1,8 +1,8 @@ - - + + diff --git a/ros/t_top/launch/behaviors/too_close_reaction.launch b/ros/t_top/launch/behaviors/too_close_reaction.launch.xml similarity index 73% rename from ros/t_top/launch/behaviors/too_close_reaction.launch rename to ros/t_top/launch/behaviors/too_close_reaction.launch.xml index 54ce11de..cd33cbf2 100644 --- a/ros/t_top/launch/behaviors/too_close_reaction.launch +++ b/ros/t_top/launch/behaviors/too_close_reaction.launch.xml @@ -1,8 +1,8 @@ - + - + diff --git a/ros/t_top/launch/bringup.launch b/ros/t_top/launch/bringup.launch.xml similarity index 50% rename from ros/t_top/launch/bringup.launch rename to ros/t_top/launch/bringup.launch.xml index b645138f..9982c24d 100644 --- a/ros/t_top/launch/bringup.launch +++ b/ros/t_top/launch/bringup.launch.xml @@ -32,95 +32,97 @@ - + - + - - - + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - - - - - - - - - + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - - - + + + - - + + diff --git a/ros/t_top/launch/opentera_teleop.launch b/ros/t_top/launch/opentera_teleop.launch deleted file mode 100644 index 16b9bcc8..00000000 --- a/ros/t_top/launch/opentera_teleop.launch +++ /dev/null @@ -1,74 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/opentera_teleop.launch.xml b/ros/t_top/launch/opentera_teleop.launch.xml new file mode 100644 index 00000000..1b2d280d --- /dev/null +++ b/ros/t_top/launch/opentera_teleop.launch.xml @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/perceptions.launch b/ros/t_top/launch/perceptions.launch deleted file mode 100644 index 60bc82be..00000000 --- a/ros/t_top/launch/perceptions.launch +++ /dev/null @@ -1,132 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/perceptions.launch.xml b/ros/t_top/launch/perceptions.launch.xml new file mode 100644 index 00000000..a4ab8ea1 --- /dev/null +++ b/ros/t_top/launch/perceptions.launch.xml @@ -0,0 +1,132 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/perceptions/audio_analyzer.launch b/ros/t_top/launch/perceptions/audio_analyzer.launch.xml similarity index 62% rename from ros/t_top/launch/perceptions/audio_analyzer.launch rename to ros/t_top/launch/perceptions/audio_analyzer.launch.xml index 9373095f..d2424648 100644 --- a/ros/t_top/launch/perceptions/audio_analyzer.launch +++ b/ros/t_top/launch/perceptions/audio_analyzer.launch.xml @@ -2,13 +2,13 @@ - + - - + + - - + + diff --git a/ros/t_top/launch/perceptions/ego_noise_reduction.launch b/ros/t_top/launch/perceptions/ego_noise_reduction.launch.xml similarity index 62% rename from ros/t_top/launch/perceptions/ego_noise_reduction.launch rename to ros/t_top/launch/perceptions/ego_noise_reduction.launch.xml index 0d8b39ca..458f9bf6 100644 --- a/ros/t_top/launch/perceptions/ego_noise_reduction.launch +++ b/ros/t_top/launch/perceptions/ego_noise_reduction.launch.xml @@ -1,15 +1,16 @@ - + - + - + + diff --git a/ros/t_top/launch/perceptions/music_beat_detector.launch b/ros/t_top/launch/perceptions/music_beat_detector.launch deleted file mode 100644 index 5643f28f..00000000 --- a/ros/t_top/launch/perceptions/music_beat_detector.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/perceptions/music_beat_detector.launch.xml b/ros/t_top/launch/perceptions/music_beat_detector.launch.xml new file mode 100644 index 00000000..af5a24a4 --- /dev/null +++ b/ros/t_top/launch/perceptions/music_beat_detector.launch.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/perceptions/odas.launch b/ros/t_top/launch/perceptions/odas.launch.xml similarity index 54% rename from ros/t_top/launch/perceptions/odas.launch rename to ros/t_top/launch/perceptions/odas.launch.xml index 326d33d7..2990fde9 100644 --- a/ros/t_top/launch/perceptions/odas.launch +++ b/ros/t_top/launch/perceptions/odas.launch.xml @@ -1,22 +1,24 @@ - + - + - - + + + - - + + + @@ -24,8 +26,8 @@ - - + + diff --git a/ros/t_top/launch/perceptions/person_identification.launch b/ros/t_top/launch/perceptions/person_identification.launch.xml similarity index 73% rename from ros/t_top/launch/perceptions/person_identification.launch rename to ros/t_top/launch/perceptions/person_identification.launch.xml index 3ad5614e..a9042e55 100644 --- a/ros/t_top/launch/perceptions/person_identification.launch +++ b/ros/t_top/launch/perceptions/person_identification.launch.xml @@ -1,8 +1,8 @@ - + - + @@ -11,7 +11,7 @@ - + diff --git a/ros/t_top/launch/perceptions/pose_classifier.launch b/ros/t_top/launch/perceptions/pose_classifier.launch.xml similarity index 55% rename from ros/t_top/launch/perceptions/pose_classifier.launch rename to ros/t_top/launch/perceptions/pose_classifier.launch.xml index 92ab6d24..e9fc77ce 100644 --- a/ros/t_top/launch/perceptions/pose_classifier.launch +++ b/ros/t_top/launch/perceptions/pose_classifier.launch.xml @@ -1,6 +1,6 @@ - - + + diff --git a/ros/t_top/launch/perceptions/robot_name_detector.launch b/ros/t_top/launch/perceptions/robot_name_detector.launch.xml similarity index 81% rename from ros/t_top/launch/perceptions/robot_name_detector.launch rename to ros/t_top/launch/perceptions/robot_name_detector.launch.xml index 6de11080..7c96f92e 100644 --- a/ros/t_top/launch/perceptions/robot_name_detector.launch +++ b/ros/t_top/launch/perceptions/robot_name_detector.launch.xml @@ -1,15 +1,15 @@ - + - + - + diff --git a/ros/t_top/launch/perceptions/rtabmap.launch b/ros/t_top/launch/perceptions/rtabmap.launch deleted file mode 100644 index 07583aa8..00000000 --- a/ros/t_top/launch/perceptions/rtabmap.launch +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/perceptions/rtabmap.launch.xml b/ros/t_top/launch/perceptions/rtabmap.launch.xml new file mode 100644 index 00000000..dabcea11 --- /dev/null +++ b/ros/t_top/launch/perceptions/rtabmap.launch.xml @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/perceptions/speech_to_text.launch b/ros/t_top/launch/perceptions/speech_to_text.launch.xml similarity index 52% rename from ros/t_top/launch/perceptions/speech_to_text.launch rename to ros/t_top/launch/perceptions/speech_to_text.launch.xml index 3acd9fa4..0bd8a431 100644 --- a/ros/t_top/launch/perceptions/speech_to_text.launch +++ b/ros/t_top/launch/perceptions/speech_to_text.launch.xml @@ -2,23 +2,24 @@ - + + + - + - + - - - - + + + diff --git a/ros/t_top/launch/perceptions/vad.launch b/ros/t_top/launch/perceptions/vad.launch deleted file mode 100644 index 69e8aa99..00000000 --- a/ros/t_top/launch/perceptions/vad.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/perceptions/vad.launch.xml b/ros/t_top/launch/perceptions/vad.launch.xml new file mode 100644 index 00000000..99291914 --- /dev/null +++ b/ros/t_top/launch/perceptions/vad.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/perceptions/video_analyzer.launch b/ros/t_top/launch/perceptions/video_analyzer.launch.xml similarity index 62% rename from ros/t_top/launch/perceptions/video_analyzer.launch rename to ros/t_top/launch/perceptions/video_analyzer.launch.xml index 17b378cc..e8fa0438 100644 --- a/ros/t_top/launch/perceptions/video_analyzer.launch +++ b/ros/t_top/launch/perceptions/video_analyzer.launch.xml @@ -20,23 +20,23 @@ - - + + - - - - - - - - + + + + + + + + - - + + - + @@ -49,25 +49,25 @@ - + - - - - - - - - + + + + + + + + - - + + - + diff --git a/ros/t_top/launch/platform.launch b/ros/t_top/launch/platform.launch deleted file mode 100644 index 1f97803d..00000000 --- a/ros/t_top/launch/platform.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/platform.launch.xml b/ros/t_top/launch/platform.launch.xml new file mode 100644 index 00000000..bfcb8bf5 --- /dev/null +++ b/ros/t_top/launch/platform.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/platform/actuators.launch b/ros/t_top/launch/platform/actuators.launch.xml similarity index 68% rename from ros/t_top/launch/platform/actuators.launch rename to ros/t_top/launch/platform/actuators.launch.xml index 0e6e84b9..073f9002 100644 --- a/ros/t_top/launch/platform/actuators.launch +++ b/ros/t_top/launch/platform/actuators.launch.xml @@ -3,32 +3,34 @@ - + - + - + + - + - + + diff --git a/ros/t_top/launch/platform/daemon_ros_client.launch b/ros/t_top/launch/platform/daemon_ros_client.launch deleted file mode 100644 index 106cfb21..00000000 --- a/ros/t_top/launch/platform/daemon_ros_client.launch +++ /dev/null @@ -1,125 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - name: led_emotions/set_led_colors - priority: 1 - timeout_s: 0.1 - - name: dance/set_led_colors - priority: 2 - timeout_s: 2.0 - - name: led_animations/set_led_colors - priority: 3 - timeout_s: 0.1 - - name: robot_name_detector/set_led_colors - priority: 4 - timeout_s: 0.2 - - - - - - - - - - name: teleoperation/set_torso_orientation - priority: 1 - timeout_s: 0.5 - - name: gesture/set_torso_orientation - priority: 2 - timeout_s: 0.5 - - name: dance/set_torso_orientation - priority: 3 - timeout_s: 0.5 - - name: explore/set_torso_orientation - priority: 4 - timeout_s: 0.5 - - name: sound_object_person_following/set_torso_orientation - priority: 5 - timeout_s: 0.5 - - name: specific_face_following/set_torso_orientation - priority: 6 - timeout_s: 0.5 - - name: nearest_face_following/set_torso_orientation - priority: 7 - timeout_s: 0.5 - - name: sound_following/set_torso_orientation - priority: 8 - timeout_s: 0.5 - - name: other/set_torso_orientation - priority: 9 - timeout_s: 0.5 - - - - - - - - - - name: teleoperation/set_head_pose - priority: 1 - timeout_s: 0.5 - - name: gesture/set_head_pose - priority: 2 - timeout_s: 0.5 - - name: dance/set_head_pose - priority: 3 - timeout_s: 0.5 - - name: explore/set_head_pose - priority: 4 - timeout_s: 0.5 - - name: sound_object_person_following/set_head_pose - priority: 5 - timeout_s: 0.5 - - name: specific_face_following/set_head_pose - priority: 6 - timeout_s: 0.5 - - name: nearest_face_following/set_head_pose - priority: 7 - timeout_s: 0.5 - - name: sound_following/set_head_pose - priority: 8 - timeout_s: 0.5 - - name: other/set_head_pose - priority: 9 - timeout_s: 0.5 - - [too_close_reaction/set_head_pose] - - - diff --git a/ros/t_top/launch/platform/daemon_ros_client.launch.xml b/ros/t_top/launch/platform/daemon_ros_client.launch.xml new file mode 100644 index 00000000..3be6bc87 --- /dev/null +++ b/ros/t_top/launch/platform/daemon_ros_client.launch.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/platform/realsense.launch b/ros/t_top/launch/platform/realsense.launch deleted file mode 100644 index 856c8f43..00000000 --- a/ros/t_top/launch/platform/realsense.launch +++ /dev/null @@ -1,79 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/platform/sensors.launch b/ros/t_top/launch/platform/sensors.launch deleted file mode 100644 index aac20ef3..00000000 --- a/ros/t_top/launch/platform/sensors.launch +++ /dev/null @@ -1,99 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [front-left, front-right, rear-left, rear-right, front-center, lfe, side-left, side-right, aux0, aux1, aux2, aux3, aux4, aux5, aux6, aux7] - - - diff --git a/ros/t_top/launch/platform/sensors.launch.xml b/ros/t_top/launch/platform/sensors.launch.xml new file mode 100644 index 00000000..c889ea37 --- /dev/null +++ b/ros/t_top/launch/platform/sensors.launch.xml @@ -0,0 +1,87 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/recording.launch b/ros/t_top/launch/recording.launch deleted file mode 100644 index 344c135d..00000000 --- a/ros/t_top/launch/recording.launch +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - name: camera_3d - format: rgb8 - width: 1280 - height: 720 - framerate: 15 - codec: h264 - bitrate: 2000000 - delay_s: 0.35 - - - - name: odas - format: signed_16 - channel_count: 1 - sampling_frequency: 16000 - codec: aac - - - - - - - - - - - - - - name: camera_2d_wide - format: bgr8 - width: 1280 - height: 720 - framerate: 5 - codec: h264 - bitrate: 2000000 - delay_s: 0.0 - - - - name: raw - format: signed_32 - channel_count: 16 - sampling_frequency: 16000 - codec: aac - - - - - - - diff --git a/ros/t_top/launch/recording.launch.xml b/ros/t_top/launch/recording.launch.xml new file mode 100644 index 00000000..1ed8d9d3 --- /dev/null +++ b/ros/t_top/launch/recording.launch.xml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/t_top/launch/rviz.launch b/ros/t_top/launch/rviz.launch deleted file mode 100644 index 3391667c..00000000 --- a/ros/t_top/launch/rviz.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/ros/t_top/launch/tests/test_head_roll_image_rotation_node.launch b/ros/t_top/launch/tests/test_head_roll_image_rotation_node.launch deleted file mode 100644 index c4bbc16f..00000000 --- a/ros/t_top/launch/tests/test_head_roll_image_rotation_node.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/ros/t_top/launch/tests/test_pose_classifier_node.launch b/ros/t_top/launch/tests/test_pose_classifier_node.launch deleted file mode 100644 index 63e04e43..00000000 --- a/ros/t_top/launch/tests/test_pose_classifier_node.launch +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/tests/test_resampling_node.launch b/ros/t_top/launch/tests/test_resampling_node.launch deleted file mode 100644 index 91cf4336..00000000 --- a/ros/t_top/launch/tests/test_resampling_node.launch +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/tests/test_talk.launch b/ros/t_top/launch/tests/test_talk.launch deleted file mode 100644 index a77555b7..00000000 --- a/ros/t_top/launch/tests/test_talk.launch +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/tests/test_video_analyzer_3d_node.launch b/ros/t_top/launch/tests/test_video_analyzer_3d_node.launch deleted file mode 100644 index d89d1c13..00000000 --- a/ros/t_top/launch/tests/test_video_analyzer_3d_node.launch +++ /dev/null @@ -1,41 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/launch/tests/test_whisper_speech_to_text.launch b/ros/t_top/launch/tests/test_whisper_speech_to_text.launch deleted file mode 100644 index cc6d1679..00000000 --- a/ros/t_top/launch/tests/test_whisper_speech_to_text.launch +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/t_top/meshes/d435.dae b/ros/t_top/meshes/d435.dae deleted file mode 100644 index 41f3a87c..00000000 --- a/ros/t_top/meshes/d435.dae +++ /dev/null @@ -1,1658 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - realsense-ros/d435.dae at development · IntelRealSense/realsense-ros - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - - - - - - - -4.37114e-8 1 -1.50996e-7 -0.07 1 4.37114e-8 -6.60024e-15 -0.07 0 -1.50996e-7 -1 0.130416 0 0 0 1 - - - - - - - - \ No newline at end of file diff --git a/ros/t_top/package.xml b/ros/t_top/package.xml index 94f74847..8f7c90b4 100644 --- a/ros/t_top/package.xml +++ b/ros/t_top/package.xml @@ -1,84 +1,29 @@ - + + t_top 0.0.0 The t_top package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + daemon_ros_client + std_msgs + geometry_msgs + cv_bridge + tf_transformations + hbba_lite - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - geometry_msgs - nav_msgs - rospy - sensor_msgs - std_msgs - tf - hbba_lite - daemon_ros_client - geometry_msgs - nav_msgs - rospy - sensor_msgs - std_msgs - tf - hbba_lite - daemon_ros_client - geometry_msgs - nav_msgs - rospy - sensor_msgs - std_msgs - opentera_webrtc_ros_msgs - tf - hbba_lite - daemon_ros_client - - - - - + ament_cmake diff --git a/ros/t_top/rviz/urdf.rviz b/ros/t_top/rviz/urdf.rviz deleted file mode 100644 index d67eda91..00000000 --- a/ros/t_top/rviz/urdf.rviz +++ /dev/null @@ -1,329 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - - /TF1/Tree1 - - /PointCloud21 - - /MapCloud1 - - /MarkerArray1 - - /PoseArray1 - - /Map1 - Splitter Ratio: 0.6360294222831726 - Tree Height: 741 - - 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: MapCloud -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: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - head: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - stewart_base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - torso_base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_link: - Value: true - camera_aligned_depth_to_color_frame: - Value: true - camera_color_frame: - Value: true - camera_color_optical_frame: - Value: true - camera_depth_frame: - Value: true - camera_depth_optical_frame: - Value: true - camera_link: - Value: true - head: - Value: true - map: - Value: true - odas: - Value: true - opencr: - Value: true - opencr_imu: - Value: true - stewart_base: - Value: true - torso_base: - Value: true - Marker Alpha: 1 - Marker Scale: 0.10000000149011612 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - map: - base_link: - odas: - {} - torso_base: - stewart_base: - head: - camera_link: - camera_aligned_depth_to_color_frame: - {} - camera_depth_frame: - camera_color_frame: - camera_color_optical_frame: - {} - camera_depth_optical_frame: - {} - opencr: - opencr_imu: - {} - Update Interval: 0 - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /cloud_map - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rtabmap_rviz_plugins/MapCloud - Cloud decimation: 4 - Cloud from scan: false - Cloud max depth (m): 4 - Cloud min depth (m): 0 - Cloud voxel size (m): 0.009999999776482582 - Color: 255; 255; 255 - Color Transformer: RGB8 - Download graph: false - Download map: false - Download namespace: "" - Enabled: true - Filter ceiling (m): 0 - Filter floor (m): 0 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: MapCloud - Node filtering angle (degrees): 30 - Node filtering radius (m): 0 - Position Transformer: XYZ - Queue Size: 10 - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /mapData - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Class: rviz/MarkerArray - Enabled: true - Marker Topic: /video_analysis_markers - Name: MarkerArray - Namespaces: - {} - Queue Size: 100 - Value: true - - Alpha: 1 - Arrow Length: 0.30000001192092896 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz/PoseArray - Color: 255; 25; 0 - Enabled: true - Head Length: 0.07000000029802322 - Head Radius: 0.029999999329447746 - Name: PoseArray - Queue Size: 10 - Shaft Length: 1 - Shaft Radius: 0.009999999776482582 - Shape: Arrow (3D) - Topic: /sst_poses - Unreliable: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: /grid_map - Unreliable: false - Use Timestamp: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 15 - 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: 2.3403515815734863 - 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: -0.4190443456172943 - Y: 0.5717824101448059 - Z: 0.5939364433288574 - Focal Shape Fixed Size: false - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.3747967779636383 - Target Frame: - Yaw: 2.8254096508026123 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1016 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002bf00000370fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002700000370000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000275000001220000000000000000fb0000000a0049006d0061006700650000000300000000970000000000000000fb0000000a0049006d00610067006501000002a3000000f40000000000000000000000010000010f00000370fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002700000370000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000035e0000037000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1848 - X: 72 - Y: 27 diff --git a/ros/t_top/scripts/head_roll_image_rotation_node.py b/ros/t_top/scripts/head_roll_image_rotation_node.py index 654b68f8..6b770557 100755 --- a/ros/t_top/scripts/head_roll_image_rotation_node.py +++ b/ros/t_top/scripts/head_roll_image_rotation_node.py @@ -1,67 +1,67 @@ #!/usr/bin/env python3 import math -import threading import cv2 -import rospy +import rclpy +import rclpy.node + + from cv_bridge import CvBridge -from tf.transformations import euler_from_quaternion +from tf_transformations import euler_from_quaternion from sensor_msgs.msg import Image from daemon_ros_client.msg import MotorStatus -class HeadRollImageRotationNode: +class HeadRollImageRotationNode(rclpy.node.Node): def __init__(self): - import math - self._roll_angle_lock = threading.Lock() + super().__init__('head_roll_image_rotation_node') self._roll_angle_rad = 0.0 - self._cv_bridge = CvBridge() - self._image_pub = rospy.Publisher('output_image', Image, queue_size=1) + self._image_pub = self.create_publisher(Image, 'output_image', 1) - self._motor_status_sub = rospy.Subscriber('daemon/motor_status', MotorStatus, self._motor_status_cb, queue_size=1) - self._image_sub = rospy.Subscriber('input_image', Image, self._image_cb, queue_size=1) + self._motor_status_sub = self.create_subscription(MotorStatus, 'daemon/motor_status', self._motor_status_cb, 1) + self._image_sub = self.create_subscription(Image, 'input_image', self._image_cb, 1) def _motor_status_cb(self, msg): head_angles = euler_from_quaternion([msg.head_pose.orientation.x, msg.head_pose.orientation.y, msg.head_pose.orientation.z, msg.head_pose.orientation.w]) - with self._roll_angle_lock: - self._roll_angle_rad = head_angles[0] + self._roll_angle_rad = head_angles[0] def _image_cb(self, color_image_msg): color_image = self._cv_bridge.imgmsg_to_cv2(color_image_msg, 'bgr8') - with self._roll_angle_lock: - roll_angle_rad = self._roll_angle_rad - h, w, _ = color_image.shape - rotation_matrix = cv2.getRotationMatrix2D((w / 2, h / 2), -math.degrees(roll_angle_rad), 1.0) + rotation_matrix = cv2.getRotationMatrix2D((w / 2, h / 2), -math.degrees(self._roll_angle_rad), 1.0) rotated_color_image = cv2.warpAffine(color_image, rotation_matrix, (w, h)) rotated_color_image_msg = self._cv_bridge.cv2_to_imgmsg(rotated_color_image, 'bgr8') - rotated_color_image_msg.header.seq = color_image_msg.header.seq rotated_color_image_msg.header.stamp = color_image_msg.header.stamp self._image_pub.publish(rotated_color_image_msg) def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('head_roll_image_rotation_node') + rclpy.init() head_roll_image_rotation_node = HeadRollImageRotationNode() - head_roll_image_rotation_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + head_roll_image_rotation_node.run() + except KeyboardInterrupt: pass + finally: + head_roll_image_rotation_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/t_top/scripts/robot_status.py b/ros/t_top/scripts/robot_status.py index 72a713e4..7d3753f1 100755 --- a/ros/t_top/scripts/robot_status.py +++ b/ros/t_top/scripts/robot_status.py @@ -1,10 +1,13 @@ #!/usr/bin/env python3 -import rospy +import rclpy +import rclpy.node + import psutil import os import re import json + from opentera_webrtc_ros_msgs.msg import RobotStatus from std_msgs.msg import String, Float32, Bool from daemon_ros_client.msg import BaseStatus @@ -38,34 +41,29 @@ def get_command_output(cmd: List[str]) -> str: return p.communicate()[0].decode('utf-8') -class RobotStatusPublisher(): +class RobotStatusNode(rclpy.node.Node): def __init__(self): - rospy.init_node("robot_status_publisher") - - self.pub_rate = 1 - self.status_pub = rospy.Publisher( - '/robot_status', RobotStatus, queue_size=10) - self.status_webrtc_pub = rospy.Publisher( - '/webrtc_data_outgoing', String, queue_size=10) - - self.mic_volume_sub = rospy.Subscriber( - 'mic_volume', Float32, self._set_mic_volume_cb, queue_size=10) - self.mic_volume = 1 - self.enable_camera_sub = rospy.Subscriber( - 'enable_camera', Bool, self._set_enable_camera_cb, queue_size=10) + super().__init__('robot_status_publisher') + + self.pub_rate = 1.0 + self.status_pub = self.create_publisher(RobotStatus, '/robot_status', 10) + self.status_webrtc_pub = self.create_publisher(String, '/webrtc_data_outgoing', 10) + + self.mic_volume_sub = self.create_subscription(Float32, 'mic_volume', self._set_mic_volume_cb, 10) + self.mic_volume = 1.0 + self.enable_camera_sub = self.create_subscription(Bool, 'enable_camera', self._set_enable_camera_cb, 10) self.camera_enabled = True - self.volume_sub = rospy.Subscriber( - 'volume', Float32, self._set_volume_cb, queue_size=10) - self.volume = 1 + self.volume_sub = self.create_subscription(Float32, 'volume', self._set_volume_cb, 10) + self.volume = 1.0 self.io = psutil.net_io_counters(pernic=True) self.bytes_sent = 0 self.bytes_recv = 0 self.base_status = BaseStatusData() self.base_status_lock = Lock() - self.base_status_sub = rospy.Subscriber( - "daemon/base_status", - BaseStatus, self._base_status_cb, queue_size=1) + self.base_status_sub = self.create_subscription(BaseStatus, "daemon/base_status", self._base_status_cb, 1) + + self.status_timer = self.create_timer(1.0 / self.pub_rate, self.send_status) def get_ip_address(self, ifname: str) -> str: try: @@ -101,92 +99,99 @@ def _base_status_cb(self, msg): msg.is_battery_charging ) - def run(self): - rate = rospy.Rate(self.pub_rate) - while not rospy.is_shutdown(): - # Fill timestamp - status = RobotStatus() - status.header.stamp = rospy.Time.now() - - # Fill robot info - with self.base_status_lock: - status.battery_voltage = self.base_status.voltage - status.battery_current = self.base_status.current - status.battery_level = self.base_status.percentage - status.is_charging = self.base_status.is_plugged_in - - status.cpu_usage = psutil.cpu_percent() - status.mem_usage = psutil.virtual_memory().percent - status.disk_usage = self.get_disk_usage() - - status.mic_volume = self.mic_volume - status.is_camera_on = self.camera_enabled - status.volume = self.volume - - status.wifi_network = get_command_output(["iwgetid"]) - if status.wifi_network != "": - wifi_interface_name = status.wifi_network.split()[0] - - wifi_usage = get_command_output( - ["iwconfig", wifi_interface_name]) - wifi_strength_re = re.search( - r'Link Quality=(\d+)/(\d+)', wifi_usage) - if wifi_strength_re is not None and len(wifi_strength_re.groups()) == 2: - numerator = int(wifi_strength_re.group(1)) - denominator = int(wifi_strength_re.group(2)) - else: - numerator, denominator = (0, 1) - status.wifi_strength = numerator / denominator * 100 - status.local_ip = self.get_ip_address(wifi_interface_name) - - io_2 = psutil.net_io_counters(pernic=True) - status.upload_speed = (io_2[wifi_interface_name].bytes_sent - self.bytes_sent) * 8 - status.download_speed = (io_2[wifi_interface_name].bytes_recv - self.bytes_recv) * 8 - self.bytes_sent = io_2[wifi_interface_name].bytes_sent - self.bytes_recv = io_2[wifi_interface_name].bytes_recv + def send_status(self) -> None: + # Fill timestamp + status = RobotStatus() + status.header.stamp = self.get_clock().now().to_msg() + + # Fill robot info + with self.base_status_lock: + status.battery_voltage = self.base_status.voltage + status.battery_current = self.base_status.current + status.battery_level = self.base_status.percentage + status.is_charging = self.base_status.is_plugged_in + + status.cpu_usage = psutil.cpu_percent() + status.mem_usage = psutil.virtual_memory().percent + status.disk_usage = self.get_disk_usage() + + status.mic_volume = self.mic_volume + status.is_camera_on = self.camera_enabled + status.volume = self.volume + + wifi_network_interface = get_command_output(["iwgetid"]) + if wifi_network_interface != "": + wifi_interface_name = wifi_network_interface.split()[0] + status.wifi_network = wifi_network_interface.split('"')[1] + + wifi_usage = get_command_output( + ["iwconfig", wifi_interface_name]) + wifi_strength_re = re.search( + r'Link Quality=(\d+)/(\d+)', wifi_usage) + if wifi_strength_re is not None and len(wifi_strength_re.groups()) == 2: + numerator = int(wifi_strength_re.group(1)) + denominator = int(wifi_strength_re.group(2)) else: - status.wifi_strength = 0 - status.local_ip = '127.0.0.1' - status.upload_speed = 0 - status.download_speed = 0 - - # Publish for ROS - self.status_pub.publish(status) - - # Publish for webrtc - status_dict = { - 'type': 'robotStatus', - 'timestamp': status.header.stamp.secs, - 'status': { - 'isCharging': status.is_charging, - 'batteryVoltage': status.battery_voltage, - 'batteryCurrent': status.battery_current, - 'batteryLevel': status.battery_level, - 'cpuUsage': status.cpu_usage, - 'memUsage': status.mem_usage, - 'diskUsage': status.disk_usage, - 'wifiNetwork': status.wifi_network, - 'wifiStrength': status.wifi_strength, - 'uploadSpeed': status.upload_speed, - 'downloadSpeed': status.download_speed, - 'localIp': status.local_ip, - 'micVolume': status.mic_volume, - 'isCameraOn': status.is_camera_on, - 'volume': status.volume, - } + numerator, denominator = (0, 1) + status.wifi_strength = numerator / denominator * 100 + status.local_ip = self.get_ip_address(wifi_interface_name) + + io_2 = psutil.net_io_counters(pernic=True) + status.upload_speed = (io_2[wifi_interface_name].bytes_sent - self.bytes_sent) * 8.0 + status.download_speed = (io_2[wifi_interface_name].bytes_recv - self.bytes_recv) * 8.0 + self.bytes_sent = io_2[wifi_interface_name].bytes_sent + self.bytes_recv = io_2[wifi_interface_name].bytes_recv + else: + status.wifi_network = "" + status.wifi_strength = 0 + status.local_ip = '127.0.0.1' + status.upload_speed = 0 + status.download_speed = 0 + + # Publish for ROS + self.status_pub.publish(status) + + # Publish for webrtc + status_dict = { + 'type': 'robotStatus', + 'timestamp': status.header.stamp.sec, + 'status': { + 'isCharging': status.is_charging, + 'batteryVoltage': status.battery_voltage, + 'batteryCurrent': status.battery_current, + 'batteryLevel': status.battery_level, + 'cpuUsage': status.cpu_usage, + 'memUsage': status.mem_usage, + 'diskUsage': status.disk_usage, + 'wifiNetwork': status.wifi_network, + 'wifiStrength': status.wifi_strength, + 'uploadSpeed': status.upload_speed, + 'downloadSpeed': status.download_speed, + 'localIp': status.local_ip, + 'micVolume': status.mic_volume, + 'isCameraOn': status.is_camera_on, + 'volume': status.volume, } - self.status_webrtc_pub.publish(json.dumps(status_dict)) + } + self.status_webrtc_pub.publish(String(data=json.dumps(status_dict))) - if rospy.is_shutdown(): - break + def run(self): + rclpy.spin(self) - rate.sleep() +def main(): + rclpy.init() + robot_status_node = RobotStatusNode() -if __name__ == '__main__': - print("Robot Status Publisher Starting") try: - robot_status = RobotStatusPublisher() - robot_status.run() - except rospy.ROSInterruptException: + robot_status_node.run() + except KeyboardInterrupt: pass + finally: + robot_status_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/t_top/setup.py b/ros/t_top/setup.py deleted file mode 100644 index 5da6a0b9..00000000 --- a/ros/t_top/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['t_top'], - package_dir={'': 'src'}, -) - -setup(**setup_args) diff --git a/ros/t_top/src/t_top/__init__.py b/ros/t_top/t_top/__init__.py similarity index 100% rename from ros/t_top/src/t_top/__init__.py rename to ros/t_top/t_top/__init__.py diff --git a/ros/t_top/src/t_top/movement_commands.py b/ros/t_top/t_top/movement_commands.py similarity index 87% rename from ros/t_top/src/t_top/movement_commands.py rename to ros/t_top/t_top/movement_commands.py index d30428b9..13872658 100644 --- a/ros/t_top/src/t_top/movement_commands.py +++ b/ros/t_top/t_top/movement_commands.py @@ -4,10 +4,13 @@ import math import time -import rospy -from tf.transformations import euler_from_quaternion, quaternion_from_euler import numpy as np +import rclpy +from rclpy.callback_groups import MutuallyExclusiveCallbackGroup + +from tf_transformations import euler_from_quaternion, quaternion_from_euler + from std_msgs.msg import Float32 from geometry_msgs.msg import PoseStamped from daemon_ros_client.msg import MotorStatus @@ -49,7 +52,9 @@ def abs_diff_torso_angle(a, b): class MovementCommands: - def __init__(self, simulation=False, namespace='daemon'): + def __init__(self, node, simulation=False, namespace='daemon'): + self.node = node + self._read_torso_lock = threading.Lock() self._read_head_lock = threading.Lock() @@ -64,14 +69,13 @@ def __init__(self, simulation=False, namespace='daemon'): if simulation: self._np_head_tolerances = np.array(3 * [0.07] + 3 * [0.1]) - self._hbba_filter_state = hbba_lite.OnOffHbbaFilterState( - 'pose/filter_state') - self._torso_orientation_pub = rospy.Publisher( - f'{namespace}/set_torso_orientation', Float32, queue_size=5) - self._head_pose_pub = rospy.Publisher( - f'{namespace}/set_head_pose', PoseStamped, queue_size=5) + self._hbba_filter_state = hbba_lite.OnOffHbbaFilterState(self.node, 'pose/filter_state') + self._torso_orientation_pub = self.node.create_publisher(Float32, f'{namespace}/set_torso_orientation', 5) + self._head_pose_pub = self.node.create_publisher(PoseStamped, f'{namespace}/set_head_pose', 5) - self._motor_status_sub = rospy.Subscriber('daemon/motor_status', MotorStatus, self._motor_status_cb, queue_size=1) + # Custom callback group in order to allow callbacks to be run in parallel + self._motor_status_sub = self.node.create_subscription(MotorStatus, 'daemon/motor_status', self._motor_status_cb, 1, + callback_group=MutuallyExclusiveCallbackGroup()) @property def is_filtering_all_messages(self): @@ -125,10 +129,10 @@ def move_torso_speed(self, speed_rad_sec_torso, should_sleep=True): torso_pose = self.current_torso_pose + steps_size_torso if abs(steps_size_torso) > 0: - self._torso_orientation_pub.publish(torso_pose) + self._torso_orientation_pub.publish(self._torso_msg(torso_pose)) if should_sleep: - rospy.sleep(self._minTime) + time.sleep(self._minTime) # Should be called in a loop def move_head_speed(self, speeds_head, should_sleep=True, current_head_pose=None): @@ -158,7 +162,10 @@ def move_head_speed(self, speeds_head, should_sleep=True, current_head_pose=None self._head_msg(head_pose) if should_sleep: - rospy.sleep(self._minTime) + time.sleep(self._minTime) + + def _torso_msg(self, pose): + return Float32(data=pose) def move_torso(self, pose, should_wait=False, speed_rad_sec=1.0e10, stop_cb=None, timeout=float('inf')): if self._hbba_filter_state.is_filtering_all_messages or (stop_cb and stop_cb()): @@ -188,13 +195,13 @@ def move_torso(self, pose, should_wait=False, speed_rad_sec=1.0e10, stop_cb=None return False steps_cumulative_size = i * steps_size offset = distance - steps_cumulative_size - self._torso_orientation_pub.publish(pose - offset) - rospy.sleep(self._minTime) - self._torso_orientation_pub.publish(pose) + self._torso_orientation_pub.publish(self._torso_msg(pose - offset)) + time.sleep(self._minTime) + self._torso_orientation_pub.publish(self._torso_msg(pose)) else: if self._hbba_filter_state.is_filtering_all_messages or (stop_cb and stop_cb()): return False - self._torso_orientation_pub.publish(pose) + self._torso_orientation_pub.publish(self._torso_msg(pose)) if should_wait: while abs_diff_torso_angle(pose, self.current_torso_pose) > 0.1: @@ -203,8 +210,8 @@ def move_torso(self, pose, should_wait=False, speed_rad_sec=1.0e10, stop_cb=None if (time.time() - start_time) > timeout: raise TimeoutError() - self._torso_orientation_pub.publish(pose) - rospy.sleep(self._minTime) + self._torso_orientation_pub.publish(self._torso_msg(pose)) + time.sleep(self._minTime) return True @@ -241,16 +248,16 @@ def _head_msg(self, pose): pose_msg = PoseStamped() pose_msg.header.frame_id = 'stewart_base' - pose_msg.pose.position.x = pose[0] - pose_msg.pose.position.y = pose[1] - pose_msg.pose.position.z = pose[2] + pose_msg.pose.position.x = float(pose[0]) + pose_msg.pose.position.y = float(pose[1]) + pose_msg.pose.position.z = float(pose[2]) q = quaternion_from_euler(pose[3], pose[4], pose[5]) - pose_msg.pose.orientation.x = q[0] - pose_msg.pose.orientation.y = q[1] - pose_msg.pose.orientation.z = q[2] - pose_msg.pose.orientation.w = q[3] + pose_msg.pose.orientation.x = float(q[0]) + pose_msg.pose.orientation.y = float(q[1]) + pose_msg.pose.orientation.z = float(q[2]) + pose_msg.pose.orientation.w = float(q[3]) self._head_pose_pub.publish(pose_msg) @@ -298,7 +305,7 @@ def move_head(self, pose, should_wait=False, np_offsets[j] = 0 self._head_msg(np_pose - np_offsets) - rospy.sleep(self._minTime) + time.sleep(self._minTime) self._head_msg(pose) else: if self._hbba_filter_state.is_filtering_all_messages or (stop_cb and stop_cb()): @@ -313,7 +320,7 @@ def move_head(self, pose, should_wait=False, raise TimeoutError() self._head_msg(pose) - rospy.sleep(self._minTime) + time.sleep(self._minTime) return True diff --git a/ros/t_top/urdf/ttop.urdf.xacro b/ros/t_top/urdf/ttop.urdf.xacro deleted file mode 100644 index 5d237887..00000000 --- a/ros/t_top/urdf/ttop.urdf.xacro +++ /dev/null @@ -1,154 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/tests/yolo_performance/CMakeLists.txt b/ros/tests/yolo_performance/CMakeLists.txt index d3ef61bc..01620fdc 100644 --- a/ros/tests/yolo_performance/CMakeLists.txt +++ b/ros/tests/yolo_performance/CMakeLists.txt @@ -1,208 +1,37 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(yolo_performance) -## 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 - cv_bridge - dnn_utils - sensor_msgs - 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 -# sensor_msgs# 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 yolo_performance -# CATKIN_DEPENDS cv_bridge dnn_utils 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/${PROJECT_NAME}/yolo_performance.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/yolo_performance_node.cpp) +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -## 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(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(cv_bridge REQUIRED) +find_package(dnn_utils REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(std_msgs REQUIRED) -############# -## 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 +# Python Nodes +install(PROGRAMS scripts/image_gathering_node.py scripts/processing_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_yolo_performance.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/tests/yolo_performance/README.md b/ros/tests/yolo_performance/README.md index 09e09630..76bdf805 100644 --- a/ros/tests/yolo_performance/README.md +++ b/ros/tests/yolo_performance/README.md @@ -6,10 +6,11 @@ This folder folder contains the nodes to measure the performance of YOLO models. 1. Capture images by executing this command and following the printed instructions. ``` -roslaunch yolo_performance image_gathering.launch output_path:= dataset:= image_count:= camera_type:= +ros2 launch yolo_performance image_gathering.launch.xml output_path:= dataset:= image_count:= camera_type:= ``` +ros2 launch yolo_performance image_gathering.launch.xml output_path:=/home/introlab/test_yolo dataset:=coco image_count:=10 camera_type:=realsense 2. Process the images by executing this command. ``` -roslaunch yolo_performance processing.launch input_path:= dataset:= neural_network_inference_type:= +ros2 launch yolo_performance processing.launch.xml input_path:= dataset:= neural_network_inference_type:= ``` diff --git a/ros/tests/yolo_performance/launch/image_gathering.launch b/ros/tests/yolo_performance/launch/image_gathering.launch deleted file mode 100644 index 57bbbed2..00000000 --- a/ros/tests/yolo_performance/launch/image_gathering.launch +++ /dev/null @@ -1,100 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [1m, 2m, 3m] - - - - [person, bowl, bottle] - - - - [person, bowl, bottle, tong] - - - - - - diff --git a/ros/tests/yolo_performance/launch/image_gathering.launch.xml b/ros/tests/yolo_performance/launch/image_gathering.launch.xml new file mode 100644 index 00000000..2f4945c8 --- /dev/null +++ b/ros/tests/yolo_performance/launch/image_gathering.launch.xml @@ -0,0 +1,83 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/tests/yolo_performance/launch/processing.launch b/ros/tests/yolo_performance/launch/processing.launch deleted file mode 100644 index 522106b1..00000000 --- a/ros/tests/yolo_performance/launch/processing.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - $(arg yolo_models) - - - - - diff --git a/ros/tests/yolo_performance/launch/processing.launch.xml b/ros/tests/yolo_performance/launch/processing.launch.xml new file mode 100644 index 00000000..1ba3f313 --- /dev/null +++ b/ros/tests/yolo_performance/launch/processing.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ros/tests/yolo_performance/package.xml b/ros/tests/yolo_performance/package.xml index 20736872..1fb036fa 100644 --- a/ros/tests/yolo_performance/package.xml +++ b/ros/tests/yolo_performance/package.xml @@ -1,71 +1,27 @@ - + + yolo_performance 0.0.0 The yolo_performance package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclpy + cv_bridge + dnn_utils + sensor_msgs + std_msgs - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - cv_bridge - dnn_utils - sensor_msgs - std_msgs - cv_bridge - dnn_utils - sensor_msgs - std_msgs - cv_bridge - dnn_utils - sensor_msgs - std_msgs - - - - - + ament_cmake diff --git a/ros/tests/yolo_performance/scripts/image_gathering_node.py b/ros/tests/yolo_performance/scripts/image_gathering_node.py index aada79bc..6e123ad4 100755 --- a/ros/tests/yolo_performance/scripts/image_gathering_node.py +++ b/ros/tests/yolo_performance/scripts/image_gathering_node.py @@ -5,7 +5,8 @@ import cv2 -import rospy +import rclpy +import rclpy.node from cv_bridge import CvBridge @@ -16,12 +17,14 @@ ENTER_KEY_CODE = 13 -class ImageGatheringNode: +class ImageGatheringNode(rclpy.node.Node): def __init__(self): - self._output_path = os.path.expanduser(rospy.get_param('~output_path')) - self._image_count = rospy.get_param('~image_count') - self._setups = rospy.get_param('~setups') - self._classes = rospy.get_param('~classes') + super().__init__('image_gathering_node') + + self._output_path = os.path.expanduser(self.declare_parameter('output_path', '').get_parameter_value().string_value) + self._image_count = self.declare_parameter('image_count', 100).get_parameter_value().integer_value + self._setups = self.declare_parameter('setups', ['1m']).get_parameter_value().string_array_value + self._classes = self.declare_parameter('classes', ['people']).get_parameter_value().string_array_value self._current_image_index = 0 self._current_class_index = 0 @@ -32,7 +35,7 @@ def __init__(self): self._create_output_directories() self._cv_bridge = CvBridge() - self._image_sub = rospy.Subscriber('image_raw', Image, self._image_cb, queue_size=1) + self._image_sub = self.create_subscription(Image, 'image_raw', self._image_cb, 1) def _create_output_directories(self): for s in self._setups: @@ -46,7 +49,7 @@ def _image_cb(self, color_image_msg): if self._is_waiting and pressed_key == ENTER_KEY_CODE: self._is_waiting = False - print('Gathering images') + self.get_logger().info('Gathering images') elif not self._is_waiting and self._current_image_index < self._image_count: self._save_image(color_image) self._current_image_index += 1 @@ -61,7 +64,8 @@ def _image_cb(self, color_image_msg): if self._current_class_index < len(self._classes): self._print_current_class() else: - rospy.signal_shutdown("The gathering is finished.") + self.get_logger().info('The gathering is finished.') + rclpy.shutdown() def _display_image(self, color_image): scale = min(MAX_WINDOW_SIZE / color_image.shape[0], MAX_WINDOW_SIZE / color_image.shape[1]) @@ -76,25 +80,29 @@ def _save_image(self, color_image): cv2.imwrite(path, color_image) def _print_current_class(self): - print() - print(f'Waiting for {self._classes[self._current_class_index]} - {self._setups[self._current_setup_index]}') - print(f'Make sure only the object and at most one person are visible.') - print(f'Press enter to continue') + self.get_logger().info('') + self.get_logger().info(f'Waiting for {self._classes[self._current_class_index]} - {self._setups[self._current_setup_index]}') + self.get_logger().info(f'Make sure only the object and at most one person are visible.') + self.get_logger().info(f'Press enter to continue') def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('image_gathering_node') + rclpy.init() image_gathering_node = ImageGatheringNode() - image_gathering_node.run() - cv2.destroyAllWindows() + try: + image_gathering_node.run() + except KeyboardInterrupt: + pass + finally: + image_gathering_node.destroy_node() + cv2.destroyAllWindows() + if rclpy.ok(): + rclpy.shutdown() if __name__ == '__main__': - try: - main() - except rospy.ROSInterruptException: - pass + main() diff --git a/ros/tests/yolo_performance/scripts/processing_node.py b/ros/tests/yolo_performance/scripts/processing_node.py index 57cab209..0a4d5283 100755 --- a/ros/tests/yolo_performance/scripts/processing_node.py +++ b/ros/tests/yolo_performance/scripts/processing_node.py @@ -8,7 +8,8 @@ from tqdm import tqdm -import rospy +import rclpy +import rclpy.node from dnn_utils import Yolo @@ -57,14 +58,16 @@ def print(self, title): def main(): - rospy.init_node('processing_node') + rclpy.init() - input_path = rospy.get_param('~input_path') + node = rclpy.node.Node('processing_node') + + input_path = node.declare_parameter('input_path', '').get_parameter_value().string_value output_path = os.path.join(input_path, '..', 'results') - yolo_models = rospy.get_param('~yolo_models') - confidence_threshold = rospy.get_param('~confidence_threshold') - nms_threshold = rospy.get_param('~nms_threshold') - inference_type = rospy.get_param('~neural_network_inference_type') + yolo_models = node.declare_parameter('yolo_models', ['yolo_v4_coco']).get_parameter_value().string_array_value + confidence_threshold = node.declare_parameter('confidence_threshold', 0.5).get_parameter_value().double_value + nms_threshold = node.declare_parameter('nms_threshold', 0.5).get_parameter_value().double_value + inference_type = node.declare_parameter('neural_network_inference_type', 'cpu').get_parameter_value().string_value setups, classes = _load_setups_classes(input_path) performances_by_setup_by_model = _init_performances(yolo_models, setups, classes) @@ -188,5 +191,5 @@ def _get_bbox(object): if __name__ == '__main__': try: main() - except rospy.ROSInterruptException: + except KeyboardInterrupt: pass diff --git a/ros/user_interface/CMakeLists.txt b/ros/user_interface/CMakeLists.txt index fa5a422c..208d2800 100644 --- a/ros/user_interface/CMakeLists.txt +++ b/ros/user_interface/CMakeLists.txt @@ -1,192 +1,23 @@ -cmake_minimum_required(VERSION 2.8.3) - -if (POLICY CMP0048) - cmake_policy(SET CMP0048 NEW) -endif (POLICY CMP0048) - +cmake_minimum_required(VERSION 3.5) project(user_interface) -## 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 -) - -#STDC++ 11 -#set (CMAKE_CDD_STANDARD 11) - -## 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 webrtc - # CATKIN_DEPENDS roscpp std_msgs - # DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) -#include_directories( -# ${catkin_INCLUDE_DIRS} -#) - - -## Declare a C++ library -# add_library(webrtc -# src/${PROJECT_NAME}/webrtc.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(webrtc ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(webrtc_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -############# -## Install ## -############# +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -## 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} -# ) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## Mark executables and/or libraries for installation -# install(TARGETS webrtc webrtc_gui_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_webrtc_gui.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) +# Find dependencies +find_package(ament_cmake REQUIRED) add_custom_command( OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/node_modules.stamp @@ -211,6 +42,13 @@ add_custom_target( VERBATIM ) +# Shell scripts +install(PROGRAMS + scripts/web.sh + DESTINATION lib/${PROJECT_NAME} +) +install(DIRECTORY node_modules dist DESTINATION lib/${PROJECT_NAME}) + ####################### ## Required programs ## ####################### @@ -222,3 +60,5 @@ function(assert_program_installed PROGRAM) endfunction() assert_program_installed("npm") + +ament_package() diff --git a/ros/user_interface/README.md b/ros/user_interface/README.md index e4384cc0..b09c7792 100644 --- a/ros/user_interface/README.md +++ b/ros/user_interface/README.md @@ -19,7 +19,7 @@ npm run serve ## Published Topics -- `face/animation` ([std_msgs/String](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/String.html)): Indicates the +- `face/animation` ([std_msgs/String](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/String.html)): Indicates the actual animation. -- `face/mouth_signal_scale` ([std_msgs/Float32](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32.html)): +- `face/mouth_signal_scale` ([std_msgs/Float32](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Float32.html)): Indicates how much the mouth must be open. diff --git a/ros/user_interface/package-lock.json b/ros/user_interface/package-lock.json index 4d1926d0..5c320d71 100644 --- a/ros/user_interface/package-lock.json +++ b/ros/user_interface/package-lock.json @@ -3175,17 +3175,35 @@ } }, "node_modules/browserslist": { - 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"nan": { - "version": "2.14.0", - "resolved": "https://registry.npmjs.org/nan/-/nan-2.14.0.tgz", - "integrity": "sha512-INOFj37C7k3AfaNTtX8RhsTw7qRy7eLET14cROi9+5HAVbbHuIWUHEauBv5qT4Av2tWasiTY1Jw6puUNqRJXQg==", - "dev": true, - "optional": true - }, "nanomatch": { "version": "1.2.13", "resolved": "https://registry.npmjs.org/nanomatch/-/nanomatch-1.2.13.tgz", @@ -26434,13 +25181,10 @@ } }, "node-releases": { - "version": "1.1.26", - "resolved": "https://registry.npmjs.org/node-releases/-/node-releases-1.1.26.tgz", - "integrity": "sha1-8wVj7cXH3CDPUkzIZS/6e+B2KTc=", - "dev": true, - "requires": { - "semver": "^5.3.0" - } + "version": "2.0.14", + "resolved": "https://registry.npmjs.org/node-releases/-/node-releases-2.0.14.tgz", + "integrity": "sha512-y10wOWt8yZpqXmOgRo77WaHEmhYQYGNA6y421PKsKYWEK8aW+cqAphborZDhqfyKrbZEN92CN1X2KbafY2s7Yw==", + "dev": true }, "normalize-package-data": { "version": "2.5.0", @@ -27089,6 +25833,12 @@ "integrity": "sha1-Ywn04OX6kT7BxpMHrjZLSzd8nns=", "dev": true }, + "picocolors": { + "version": "1.0.1", + "resolved": "https://registry.npmjs.org/picocolors/-/picocolors-1.0.1.tgz", + "integrity": "sha512-anP1Z8qwhkbmu7MFP5iTt+wQKXgwzf7zTyGlcdzabySa9vd0Xt392U0rVmz9poOaBj0uHJKyyo9/upk0HrEQew==", + "dev": true + }, "pify": { "version": "4.0.1", "resolved": "https://registry.npmjs.org/pify/-/pify-4.0.1.tgz", @@ -30833,6 +29583,16 @@ "integrity": "sha1-PbZYYA7a7sy+bbXmhNZ+6MKs0Gg=", "dev": true }, + "update-browserslist-db": { + "version": "1.0.16", + "resolved": "https://registry.npmjs.org/update-browserslist-db/-/update-browserslist-db-1.0.16.tgz", + "integrity": "sha512-KVbTxlBYlckhF5wgfyZXTWnMn7MMZjMu9XG8bPlliUOP9ThaF4QnhP8qrjrH7DRzHfSk0oQv1wToW+iA5GajEQ==", + "dev": true, + "requires": { + "escalade": "^3.1.2", + "picocolors": "^1.0.1" + } + }, "update-check": { "version": "1.5.4", "resolved": "https://registry.npmjs.org/update-check/-/update-check-1.5.4.tgz", diff --git a/ros/user_interface/package.xml b/ros/user_interface/package.xml index 7e15081a..77a9ae5c 100644 --- a/ros/user_interface/package.xml +++ b/ros/user_interface/package.xml @@ -1,53 +1,21 @@ - + + user_interface 0.0.0 - The user interface + The user_interface package + Marc-Antoine Maheux + GPL-3.0 license - - - - mamaheux + ament_cmake + rosidl_default_runtime + rosidl_interface_packages - - - - TODO + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - roscpp - roscpp - - - - + ament_cmake - diff --git a/ros/user_interface/scripts/web.sh b/ros/user_interface/scripts/web.sh index d53cdf5a..2ec552ef 100755 --- a/ros/user_interface/scripts/web.sh +++ b/ros/user_interface/scripts/web.sh @@ -1,12 +1,12 @@ #!/bin/bash -SCRIPT=`realpath $0` +SCRIPT=`realpath --no-symlinks $0` SCRIPT_PATH=`dirname $SCRIPT` cd $SCRIPT_PATH/.. -PATH=$(npm bin):$PATH -serve -s dist -l 8080 & +chmod +x $SCRIPT_PATH/node_modules/serve/build/main.js +$SCRIPT_PATH/node_modules/serve/build/main.js -S -s $SCRIPT_PATH/dist -l 8080 & SERVER_PID=$! trap "kill ${SERVER_PID}; exit 1" INT sleep 1 diff --git a/ros/utils/audio_utils b/ros/utils/audio_utils index 263d77b6..3828d81b 160000 --- a/ros/utils/audio_utils +++ b/ros/utils/audio_utils @@ -1 +1 @@ -Subproject commit 263d77b6ebf4a4e687c48bcb0b09c544bf5fa7a4 +Subproject commit 3828d81b319f6fd1df43a4f7a45b2a7e765f0d60 diff --git a/ros/utils/cloud_data/CMakeLists.txt b/ros/utils/cloud_data/CMakeLists.txt index 5b3303be..5d287c1c 100644 --- a/ros/utils/cloud_data/CMakeLists.txt +++ b/ros/utils/cloud_data/CMakeLists.txt @@ -1,203 +1,36 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(cloud_data) -## 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 - message_generation - 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 - Location.srv - CurrentLocalWeather.srv - LocalWeatherForecast.srv +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +# Generate services +rosidl_generate_interfaces(${PROJECT_NAME} + "srv/CurrentLocalWeather.srv" + "srv/LocalWeatherForecast.srv" + "srv/Location.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() - -################################################ -## 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 cloud_data - # CATKIN_DEPENDS message_generation rospy - # DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - # include - ${catkin_INCLUDE_DIRS} +# Python Nodes +install(PROGRAMS + scripts/cloud_data_node.py + DESTINATION lib/${PROJECT_NAME} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/cloud_data.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/cloud_data_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/cloud_data_node.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_cloud_data.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) +ament_package() diff --git a/ros/utils/cloud_data/README.md b/ros/utils/cloud_data/README.md index 9c713717..394f05eb 100644 --- a/ros/utils/cloud_data/README.md +++ b/ros/utils/cloud_data/README.md @@ -10,8 +10,8 @@ This node gets data location, the current local weather and the local weather fo #### Parameters -- `language` (string): The language for the weather description (en or fr). -- `timeout_s` (double): The request timeout in seconds. +- `language` (string): The language for the weather description (en or fr). The default value is 'en'. +- `timeout_s` (double): The request timeout in seconds. The default value is 10.0. #### Services diff --git a/ros/utils/cloud_data/package.xml b/ros/utils/cloud_data/package.xml index 53a986c0..49ffc651 100644 --- a/ros/utils/cloud_data/package.xml +++ b/ros/utils/cloud_data/package.xml @@ -1,63 +1,24 @@ - + + cloud_data 0.0.0 The cloud_data package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rosidl_default_generators + rclpy - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - message_generation - rospy - rospy - rospy - - - - - + ament_cmake diff --git a/ros/utils/cloud_data/scripts/cloud_data_node.py b/ros/utils/cloud_data/scripts/cloud_data_node.py index e5b037d4..db8b76e0 100755 --- a/ros/utils/cloud_data/scripts/cloud_data_node.py +++ b/ros/utils/cloud_data/scripts/cloud_data_node.py @@ -3,116 +3,135 @@ import os import json -from numpy.lib.function_base import select - import ipinfo import requests -import rospy -from cloud_data.srv import Location, LocationResponse -from cloud_data.srv import CurrentLocalWeather, CurrentLocalWeatherResponse -from cloud_data.srv import LocalWeatherForecast, LocalWeatherForecastResponse +import rclpy +import rclpy.node + +from cloud_data.srv import Location, CurrentLocalWeather, LocalWeatherForecast OPEN_WEATHER_MAP_API_URL = 'https://us-central1-ttop-316419.cloudfunctions.net/weather' -class CloudDataNode: +class CloudDataNode(rclpy.node.Node): def __init__(self): - self._language = rospy.get_param('~language') - self._timeout = rospy.get_param('~timeout_s') - - self._location_service = rospy.Service('cloud_data/location', Location, self._handle_location) - self._current_local_weather_service = rospy.Service('cloud_data/current_local_weather', - CurrentLocalWeather, - self._handle_current_local_weather) - self._local_weather_forecast_service = rospy.Service('cloud_data/local_weather_forecast', - LocalWeatherForecast, - self._handle_local_weather_forecast) - - def _handle_location(self, request): - location = self._get_location() - - return LocationResponse( - city=location.city, - region=location.region, - country_code=location.country, - country_name=location.country_name - ) - - def _handle_current_local_weather(self, request): - location = self._get_location() - weather = self._get_weather(location.latitude, location.longitude) - current_weather = weather['current'] - - if 'wind_gust' in current_weather: - wind_gust = self._mps_to_kph(current_weather['wind_gust']) - else: - wind_gust = -1.0 - - if len(current_weather['weather']) == 0: - weather_description = '' - else: - weather_description = current_weather['weather'][0]['description'] - - return CurrentLocalWeatherResponse( - city=location.city, - region=location.region, - country_code=location.country, - country_name=location.country_name, - - temperature_celsius=current_weather['temp'], - feels_like_temperature_celsius=current_weather['feels_like'], - pressure_kpa=self._hpa_to_kpa(current_weather['pressure']), - humidity_percent=current_weather['humidity'], - clouds_percent=current_weather['clouds'], - visibility_meter=current_weather['visibility'], - wind_speed_kph=self._mps_to_kph(current_weather['wind_speed']), - wind_gust_kph=wind_gust, - weather_description=weather_description - ) - - def _handle_local_weather_forecast(self, request): - location = self._get_location() - weather = self._get_weather(location.latitude, location.longitude) - - if request.relative_day >= len(weather['daily']): - raise ValueError('Invalid relative day') - - daily_weather = weather['daily'][request.relative_day] - - if 'wind_gust' in daily_weather: - wind_gust = self._mps_to_kph(daily_weather['wind_gust']) - else: - wind_gust = -1.0 - - if len(daily_weather['weather']) == 0: - weather_description = '' - else: - weather_description = daily_weather['weather'][0]['description'] - - return LocalWeatherForecastResponse( - city=location.city, - region=location.region, - country_code=location.country, - country_name=location.country_name, - - temperature_morning_celsius=daily_weather['temp']['morn'], - temperature_day_celsius=daily_weather['temp']['day'], - temperature_evening_celsius=daily_weather['temp']['eve'], - temperature_night_celsius=daily_weather['temp']['night'], - - feals_like_temperature_morning_celsius=daily_weather['feels_like']['morn'], - feals_like_temperature_day_celsius=daily_weather['feels_like']['day'], - feals_like_temperature_evening_celsius=daily_weather['feels_like']['eve'], - feals_like_temperature_night_celsius=daily_weather['feels_like']['night'], - - pressure_kpa=self._hpa_to_kpa(daily_weather['pressure']), - humidity_percent=daily_weather['humidity'], - clouds_percent=daily_weather['clouds'], - wind_speed_kph=self._mps_to_kph(daily_weather['wind_speed']), - wind_gust_kph=wind_gust, - weather_description=weather_description - ) + super().__init__('cloud_data_node') + + self._language = self.declare_parameter('language', 'en').get_parameter_value().string_value + self._timeout = self.declare_parameter('timeout_s', 10.0).get_parameter_value().double_value + + self._location_service = self.create_service(Location, 'cloud_data/location', self._handle_location) + self._current_local_weather_service = self.create_service(CurrentLocalWeather, + 'cloud_data/current_local_weather', + self._handle_current_local_weather) + self._local_weather_forecast_service = self.create_service(LocalWeatherForecast, + 'cloud_data/local_weather_forecast', + self._handle_local_weather_forecast) + + def _handle_location(self, request, response): + try: + location = self._get_location() + + response.ok = True + response.city = location.city + response.region = location.region + response.country_code = location.country + response.country_name = location.country_name + except Exception as e: + self.get_logger().error(f'An error occured while retrieving the location: {e}') + response.ok = False + + return response + + def _handle_current_local_weather(self, request, response): + self.get_logger().info(f'Fetching current_local_weather') + try: + location = self._get_location() + weather = self._get_weather(location.latitude, location.longitude) + current_weather = weather['current'] + + if 'wind_gust' in current_weather: + wind_gust = self._mps_to_kph(current_weather['wind_gust']) + else: + wind_gust = -1.0 + + if len(current_weather['weather']) == 0: + weather_description = '' + else: + weather_description = current_weather['weather'][0]['description'] + + response.ok = True + response.city = location.city + response.region = location.region + response.country_code = location.country + response.country_name = location.country_name + + response.temperature_celsius = current_weather['temp'] + response.feels_like_temperature_celsius = current_weather['feels_like'] + response.pressure_kpa = self._hpa_to_kpa(current_weather['pressure']) + response.humidity_percent = float(current_weather['humidity']) + response.clouds_percent = float(current_weather['clouds']) + response.visibility_meter = float(current_weather['visibility']) + response.wind_speed_kph = self._mps_to_kph(current_weather['wind_speed']) + response.wind_gust_kph = wind_gust + response.weather_description = weather_description + except Exception as e: + self.get_logger().error(f'An error occured while retrieving the local weather: {e}') + response.ok = False + + self.get_logger().info(f'Returning current_local_weather, ok: {response.ok}') + return response + + def _handle_local_weather_forecast(self, request, response): + self.get_logger().info(f'Fetching local_weather_forecast') + try: + location = self._get_location() + weather = self._get_weather(location.latitude, location.longitude) + + if request.relative_day >= len(weather['daily']): + raise ValueError('Invalid relative day') + + daily_weather = weather['daily'][request.relative_day] + + if 'wind_gust' in daily_weather: + wind_gust = self._mps_to_kph(daily_weather['wind_gust']) + else: + wind_gust = -1.0 + + if len(daily_weather['weather']) == 0: + weather_description = '' + else: + weather_description = daily_weather['weather'][0]['description'] + + response.ok = True + response.city = location.city + response.region = location.region + response.country_code = location.country + response.country_name = location.country_name + + response.temperature_morning_celsius = daily_weather['temp']['morn'] + response.temperature_day_celsius = daily_weather['temp']['day'] + response.temperature_evening_celsius = daily_weather['temp']['eve'] + response.temperature_night_celsius = daily_weather['temp']['night'] + + response.feals_like_temperature_morning_celsius = daily_weather['feels_like']['morn'] + response.feals_like_temperature_day_celsius = daily_weather['feels_like']['day'] + response.feals_like_temperature_evening_celsius = daily_weather['feels_like']['eve'] + response.feals_like_temperature_night_celsius = daily_weather['feels_like']['night'] + + response.pressure_kpa = self._hpa_to_kpa(daily_weather['pressure']) + response.humidity_percent = float(daily_weather['humidity']) + response.clouds_percent = float(daily_weather['clouds']) + response.wind_speed_kph = self._mps_to_kph(daily_weather['wind_speed']) + response.wind_gust_kph = wind_gust + response.weather_description = weather_description + except Exception as e: + self.get_logger().error(f'An error occured while retrieving the local weather forecast: {e}') + response.ok = False + + self.get_logger().info(f'Returning local_weather_forecast, ok: {response.ok}') + return response def _get_location(self): handler = ipinfo.getHandler() @@ -137,17 +156,22 @@ def _mps_to_kph(self, mps): return mps * 3.6 def run(self): - rospy.spin() + rclpy.spin(self) def main(): - rospy.init_node('cloud_data_node') + rclpy.init() cloud_data_node = CloudDataNode() - cloud_data_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + cloud_data_node.run() + except KeyboardInterrupt: pass + finally: + cloud_data_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/utils/cloud_data/srv/CurrentLocalWeather.srv b/ros/utils/cloud_data/srv/CurrentLocalWeather.srv index 7d138928..a31bc165 100644 --- a/ros/utils/cloud_data/srv/CurrentLocalWeather.srv +++ b/ros/utils/cloud_data/srv/CurrentLocalWeather.srv @@ -1,4 +1,6 @@ --- +bool ok + string city string region string country_code diff --git a/ros/utils/cloud_data/srv/LocalWeatherForecast.srv b/ros/utils/cloud_data/srv/LocalWeatherForecast.srv index 0a8296f6..2a97f3b7 100644 --- a/ros/utils/cloud_data/srv/LocalWeatherForecast.srv +++ b/ros/utils/cloud_data/srv/LocalWeatherForecast.srv @@ -3,6 +3,8 @@ # ... uint64 relative_day --- +bool ok + string city string region string country_code diff --git a/ros/utils/cloud_data/srv/Location.srv b/ros/utils/cloud_data/srv/Location.srv index a328e42f..49e85c7b 100644 --- a/ros/utils/cloud_data/srv/Location.srv +++ b/ros/utils/cloud_data/srv/Location.srv @@ -1,4 +1,6 @@ --- +bool ok + string city string region string country_code diff --git a/ros/utils/dnn_utils/CMakeLists.txt b/ros/utils/dnn_utils/CMakeLists.txt index 7045c4f6..cc7e0493 100644 --- a/ros/utils/dnn_utils/CMakeLists.txt +++ b/ros/utils/dnn_utils/CMakeLists.txt @@ -1,211 +1,41 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(dnn_utils) -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -## 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 - ) +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) -## 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() +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) +install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../../../tools/dnn_training DESTINATION ${PYTHON_INSTALL_DIR}) -################################################ -## 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 dnn_utils - # CATKIN_DEPENDS rospy - # DEPENDS system_lib +# Python Nodes +install(PROGRAMS + scripts/test.py + DESTINATION lib/${PROJECT_NAME} ) -########### -## 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/${PROJECT_NAME}/dnn_utils.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/dnn_utils_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_dnn_utils.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) - - +# DNN Models add_custom_target( dnn_utils_export_models ALL COMMAND scripts/export_models.bash WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} ) +install(DIRECTORY models DESTINATION share/${PROJECT_NAME}) + +ament_package() diff --git a/ros/utils/dnn_utils/README.md b/ros/utils/dnn_utils/README.md index df56d042..7b68281f 100644 --- a/ros/utils/dnn_utils/README.md +++ b/ros/utils/dnn_utils/README.md @@ -14,7 +14,7 @@ This neural network classifies a sound to one class and extracts an embedding. I This neural network detects objects, classifies them and extracts embeddings for them. It takes as input a RGB image. The model is a modified version of `YOLOv4-tiny (COCO)` or `YOLOv7 (COCO)`. -`YOLOv7 (COCO)` is training with [this repository](https://github.com/mamaheux/descriptor-yolov7). +`YOLOv7 (COCO)` is trained with [this repository](https://github.com/mamaheux/descriptor-yolov7). ### `FaceDescriptorExtractor` diff --git a/ros/utils/dnn_utils/src/dnn_utils/__init__.py b/ros/utils/dnn_utils/dnn_utils/__init__.py similarity index 100% rename from ros/utils/dnn_utils/src/dnn_utils/__init__.py rename to ros/utils/dnn_utils/dnn_utils/__init__.py diff --git a/ros/utils/dnn_utils/src/dnn_utils/audio_transforms.py b/ros/utils/dnn_utils/dnn_utils/audio_transforms.py similarity index 100% rename from ros/utils/dnn_utils/src/dnn_utils/audio_transforms.py rename to ros/utils/dnn_utils/dnn_utils/audio_transforms.py diff --git a/ros/utils/dnn_utils/src/dnn_utils/descriptor_yolo.py b/ros/utils/dnn_utils/dnn_utils/descriptor_yolo.py similarity index 96% rename from ros/utils/dnn_utils/src/dnn_utils/descriptor_yolo.py rename to ros/utils/dnn_utils/dnn_utils/descriptor_yolo.py index 93bcf6f8..b2602947 100644 --- a/ros/utils/dnn_utils/src/dnn_utils/descriptor_yolo.py +++ b/ros/utils/dnn_utils/dnn_utils/descriptor_yolo.py @@ -5,10 +5,10 @@ import torch.nn.functional as F import torchaudio -from dnn_utils.dnn_model import PACKAGE_PATH, DnnModel +from dnn_utils.dnn_model import DNN_TRAINING_PATHS, PACKAGE_PATH, DnnModel from dnn_utils.yolo import COCO_CLASS_NAMES, OBJECTS365_CLASS_NAMES -sys.path.append(os.path.join(PACKAGE_PATH, '..', '..', '..', 'tools', 'dnn_training')) +sys.path.extend(DNN_TRAINING_PATHS) from object_detection.modules.yolo_layer import X_INDEX, Y_INDEX, W_INDEX, H_INDEX, CONFIDENCE_INDEX, CLASSES_INDEX from object_detection.filter_yolo_predictions import group_predictions, filter_yolo_predictions diff --git a/ros/utils/dnn_utils/src/dnn_utils/dnn_model.py b/ros/utils/dnn_utils/dnn_utils/dnn_model.py similarity index 90% rename from ros/utils/dnn_utils/src/dnn_utils/dnn_model.py rename to ros/utils/dnn_utils/dnn_utils/dnn_model.py index f403c709..626ec6b4 100644 --- a/ros/utils/dnn_utils/src/dnn_utils/dnn_model.py +++ b/ros/utils/dnn_utils/dnn_utils/dnn_model.py @@ -1,3 +1,4 @@ +import os import time import torch @@ -8,10 +9,14 @@ except ImportError: TORCH2TRT_FOUND = False -import rospkg +import ament_index_python.packages -PACKAGE_PATH = rospkg.RosPack().get_path('dnn_utils') +DNN_TRAINING_PATHS = [ + os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'dnn_training'), + os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..', '..', '..', 'tools', 'dnn_training'), +] +PACKAGE_PATH = ament_index_python.packages.get_package_share_directory('dnn_utils') class DnnModel: diff --git a/ros/utils/dnn_utils/src/dnn_utils/face_descriptor_extractor.py b/ros/utils/dnn_utils/dnn_utils/face_descriptor_extractor.py similarity index 92% rename from ros/utils/dnn_utils/src/dnn_utils/face_descriptor_extractor.py rename to ros/utils/dnn_utils/dnn_utils/face_descriptor_extractor.py index 6593daa7..314b5dc4 100644 --- a/ros/utils/dnn_utils/src/dnn_utils/face_descriptor_extractor.py +++ b/ros/utils/dnn_utils/dnn_utils/face_descriptor_extractor.py @@ -10,9 +10,9 @@ import torch.nn.functional as F import torchvision.transforms as transforms -from dnn_utils.dnn_model import PACKAGE_PATH, DnnModel +from dnn_utils.dnn_model import DNN_TRAINING_PATHS, PACKAGE_PATH, DnnModel -sys.path.append(os.path.join(PACKAGE_PATH, '..', '..', '..', 'tools', 'dnn_training')) +sys.path.extend(DNN_TRAINING_PATHS) from face_recognition.datasets.align_faces import get_landmarks_from_pose, cv2_transform_to_theta @@ -22,8 +22,8 @@ class FaceDescriptorExtractor(DnnModel): def __init__(self, inference_type=None): - torch_script_model_path = os.path.join(PACKAGE_PATH, 'models', f'face_descriptor_open_face_e256.ts.pth') - tensor_rt_model_path = os.path.join(PACKAGE_PATH, 'models', f'face_descriptor_open_face_e256.trt.pth') + torch_script_model_path = os.path.join(PACKAGE_PATH, 'models', 'face_descriptor_open_face_e256.ts.pth') + tensor_rt_model_path = os.path.join(PACKAGE_PATH, 'models', 'face_descriptor_open_face_e256.trt.pth') sample_input = torch.ones((1, 3, IMAGE_SIZE[0], IMAGE_SIZE[1])) super(FaceDescriptorExtractor, self).__init__(torch_script_model_path, tensor_rt_model_path, sample_input, diff --git a/ros/utils/dnn_utils/src/dnn_utils/multiclass_audio_descriptor_extractor.py b/ros/utils/dnn_utils/dnn_utils/multiclass_audio_descriptor_extractor.py similarity index 100% rename from ros/utils/dnn_utils/src/dnn_utils/multiclass_audio_descriptor_extractor.py rename to ros/utils/dnn_utils/dnn_utils/multiclass_audio_descriptor_extractor.py diff --git a/ros/utils/dnn_utils/src/dnn_utils/pose_estimator.py b/ros/utils/dnn_utils/dnn_utils/pose_estimator.py similarity index 95% rename from ros/utils/dnn_utils/src/dnn_utils/pose_estimator.py rename to ros/utils/dnn_utils/dnn_utils/pose_estimator.py index 691b690a..1aa5e472 100644 --- a/ros/utils/dnn_utils/src/dnn_utils/pose_estimator.py +++ b/ros/utils/dnn_utils/dnn_utils/pose_estimator.py @@ -5,9 +5,9 @@ import torch.nn.functional as F import torchvision.transforms as transforms -from dnn_utils.dnn_model import PACKAGE_PATH, DnnModel +from dnn_utils.dnn_model import DNN_TRAINING_PATHS, PACKAGE_PATH, DnnModel -sys.path.append(os.path.join(PACKAGE_PATH, '..', '..', '..', 'tools', 'dnn_training')) +sys.path.extend(DNN_TRAINING_PATHS) from pose_estimation.pose_estimator import get_coordinates diff --git a/ros/utils/dnn_utils/src/dnn_utils/semantic_segmentation_network.py b/ros/utils/dnn_utils/dnn_utils/semantic_segmentation_network.py similarity index 100% rename from ros/utils/dnn_utils/src/dnn_utils/semantic_segmentation_network.py rename to ros/utils/dnn_utils/dnn_utils/semantic_segmentation_network.py diff --git a/ros/utils/dnn_utils/src/dnn_utils/ttop_keyword_spotter.py b/ros/utils/dnn_utils/dnn_utils/ttop_keyword_spotter.py similarity index 100% rename from ros/utils/dnn_utils/src/dnn_utils/ttop_keyword_spotter.py rename to ros/utils/dnn_utils/dnn_utils/ttop_keyword_spotter.py diff --git a/ros/utils/dnn_utils/src/dnn_utils/voice_descriptor_extractor.py b/ros/utils/dnn_utils/dnn_utils/voice_descriptor_extractor.py similarity index 100% rename from ros/utils/dnn_utils/src/dnn_utils/voice_descriptor_extractor.py rename to ros/utils/dnn_utils/dnn_utils/voice_descriptor_extractor.py diff --git a/ros/utils/dnn_utils/src/dnn_utils/yolo.py b/ros/utils/dnn_utils/dnn_utils/yolo.py similarity index 98% rename from ros/utils/dnn_utils/src/dnn_utils/yolo.py rename to ros/utils/dnn_utils/dnn_utils/yolo.py index 15260302..ca883868 100644 --- a/ros/utils/dnn_utils/src/dnn_utils/yolo.py +++ b/ros/utils/dnn_utils/dnn_utils/yolo.py @@ -4,9 +4,9 @@ import torch import torch.nn.functional as F -from dnn_utils.dnn_model import PACKAGE_PATH, DnnModel +from dnn_utils.dnn_model import DNN_TRAINING_PATHS, PACKAGE_PATH, DnnModel -sys.path.append(os.path.join(PACKAGE_PATH, '..', '..', '..', 'tools', 'dnn_training')) +sys.path.extend(DNN_TRAINING_PATHS) from object_detection.modules.yolo_layer import X_INDEX, Y_INDEX, W_INDEX, H_INDEX, CONFIDENCE_INDEX, CLASSES_INDEX from object_detection.filter_yolo_predictions import group_predictions, filter_yolo_predictions_by_classes diff --git a/ros/utils/dnn_utils/package.xml b/ros/utils/dnn_utils/package.xml index 4515cc72..db176515 100644 --- a/ros/utils/dnn_utils/package.xml +++ b/ros/utils/dnn_utils/package.xml @@ -1,62 +1,25 @@ - + + dnn_utils 0.0.0 The dnn_utils package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rosidl_default_generators + rclpy + ament_index_python - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - rospy - rospy - rospy - - - - - + ament_cmake diff --git a/ros/utils/dnn_utils/scripts/test.py b/ros/utils/dnn_utils/scripts/test.py index 5ebad9f2..70acfbda 100755 --- a/ros/utils/dnn_utils/scripts/test.py +++ b/ros/utils/dnn_utils/scripts/test.py @@ -6,7 +6,8 @@ import torch -import rospy +import rclpy +import rclpy.node from dnn_utils import DescriptorYolo, Yolo, PoseEstimator, FaceDescriptorExtractor from dnn_utils import MulticlassAudioDescriptorExtractor, VoiceDescriptorExtractor, TTopKeywordSpotter @@ -178,7 +179,7 @@ def test_ttop_keyword_spotter(): print('mean(abs(cpu_class_probabilities - torch_gpu_class_probabilities)) =', mean_abs_diff(cpu_class_probabilities, torch_gpu_class_probabilities)) print('mean(abs(cpu_class_probabilities - trt_gpu_class_probabilities))) =', - mean_abs_diff(cpu_class_probabilities, trt_gpu_class_probabilities)) + mean_abs_diff(cpu_class_probabilities, trt_gpu_class_probabilities)) def test_semantic_segmentation_network(dataset): @@ -201,27 +202,32 @@ def test_semantic_segmentation_network(dataset): def main(): - rospy.init_node('dnn_utils_test', disable_signals=True) - - launch_test(test_descriptor_yolo, 'yolo_v4_tiny_coco') - launch_test(test_descriptor_yolo, 'yolo_v7_coco') - launch_test(test_yolo, 'yolo_v4_coco') - launch_test(test_yolo, 'yolo_v4_tiny_coco') - launch_test(test_yolo, 'yolo_v7_coco') - launch_test(test_yolo, 'yolo_v7_tiny_coco') - launch_test(test_yolo, 'yolo_v7_objects365') - launch_test(test_pose_estimator) - launch_test(test_face_descriptor_extractor) - launch_test(test_multiclass_audio_descriptor_extractor) - launch_test(test_voice_descriptor_extractor) - launch_test(test_ttop_keyword_spotter) - launch_test(test_semantic_segmentation_network, 'coco') - launch_test(test_semantic_segmentation_network, 'kitchen_open_images') - launch_test(test_semantic_segmentation_network, 'person_other_open_images') - + rclpy.init() + node = rclpy.node.Node('dnn_utils_test') -if __name__ == '__main__': try: - main() + launch_test(test_descriptor_yolo, 'yolo_v4_tiny_coco') + launch_test(test_descriptor_yolo, 'yolo_v7_coco') + launch_test(test_yolo, 'yolo_v4_coco') + launch_test(test_yolo, 'yolo_v4_tiny_coco') + launch_test(test_yolo, 'yolo_v7_coco') + launch_test(test_yolo, 'yolo_v7_tiny_coco') + launch_test(test_yolo, 'yolo_v7_objects365') + launch_test(test_pose_estimator) + launch_test(test_face_descriptor_extractor) + launch_test(test_multiclass_audio_descriptor_extractor) + launch_test(test_voice_descriptor_extractor) + launch_test(test_ttop_keyword_spotter) + launch_test(test_semantic_segmentation_network, 'coco') + launch_test(test_semantic_segmentation_network, 'kitchen_open_images') + launch_test(test_semantic_segmentation_network, 'person_other_open_images') except KeyboardInterrupt: pass + finally: + node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/utils/dnn_utils/setup.py b/ros/utils/dnn_utils/setup.py deleted file mode 100644 index 5eaf642b..00000000 --- a/ros/utils/dnn_utils/setup.py +++ /dev/null @@ -1,12 +0,0 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD - -from distutils.core import setup -from catkin_pkg.python_setup import generate_distutils_setup - -# fetch values from package.xml -setup_args = generate_distutils_setup( - packages=['dnn_utils'], - package_dir={'': 'src'}, -) - -setup(**setup_args) diff --git a/ros/utils/hbba_lite b/ros/utils/hbba_lite index f3e17afb..7382ff62 160000 --- a/ros/utils/hbba_lite +++ b/ros/utils/hbba_lite @@ -1 +1 @@ -Subproject commit f3e17afb6d1e3d855576e7dc4e3a2b7dae835581 +Subproject commit 7382ff6237688d963e58c57993f0cd852cebf1a4 diff --git a/ros/utils/opentera-webrtc-ros b/ros/utils/opentera-webrtc-ros new file mode 160000 index 00000000..201c1e0a --- /dev/null +++ b/ros/utils/opentera-webrtc-ros @@ -0,0 +1 @@ +Subproject commit 201c1e0af91f49ea4a2698b4729d7d81d7d2a31a diff --git a/ros/utils/recorders/3rd_party/SQLiteCpp b/ros/utils/recorders/3rd_party/SQLiteCpp index 4e3d36af..bcb4c78f 160000 --- a/ros/utils/recorders/3rd_party/SQLiteCpp +++ b/ros/utils/recorders/3rd_party/SQLiteCpp @@ -1 +1 @@ -Subproject commit 4e3d36af2d4a612d548f5959532a7b97c9724e6b +Subproject commit bcb4c78fed6628f150c28fa6377c2b0430f7f99b diff --git a/ros/utils/recorders/CMakeLists.txt b/ros/utils/recorders/CMakeLists.txt index a7f35eb2..6c4d2647 100644 --- a/ros/utils/recorders/CMakeLists.txt +++ b/ros/utils/recorders/CMakeLists.txt @@ -1,136 +1,44 @@ -cmake_minimum_required(VERSION 3.14.2) +cmake_minimum_required(VERSION 3.5) project(recorders) -## Compile as C++11, supported in ROS Kinetic and newer -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) -## 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 - audio_utils - rospy - sensor_msgs - hbba_lite - roscpp - video_analyzer - audio_analyzer - talk - speech_to_text - tf -) - -## 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 -# sensor_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 +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -################################### -## 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 - ${CMAKE_CURRENT_SOURCE_DIR}/3rd_party/SQLiteCpp/include - include - LIBRARIES SQLiteCpp perception_logger - # CATKIN_DEPENDS audio_utils rospy sensor_msgs - # DEPENDS system_lib -) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclpy REQUIRED) +find_package(audio_utils_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(perception_msgs REQUIRED) +find_package(behavior_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_ros REQUIRED) +find_package(tf2_msgs REQUIRED) +find_package(tf2_geometry_msgs REQUIRED) + +# C++ Library add_subdirectory(3rd_party/SQLiteCpp) +install(DIRECTORY 3rd_party/SQLiteCpp/include/ DESTINATION include) +install(TARGETS SQLiteCpp DESTINATION lib) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( include 3rd_party/SQLiteCpp/include - ${catkin_INCLUDE_DIRS} ) ## Declare a C++ library @@ -147,105 +55,66 @@ add_library(perception_logger src/perception_logger/sqlite/SQLiteSpeechLogger.cpp src/perception_logger/sqlite/SQLiteHbbaStrategyStateLogger.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(perception_logger ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -add_executable(perception_logger_node src/perception_logger_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${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(perception_logger - ${catkin_LIBRARIES} - SQLiteCpp +ament_target_dependencies(perception_logger rclcpp) +target_link_libraries(perception_logger SQLiteCpp sqlite3) +install(DIRECTORY include/ DESTINATION include) +install(TARGETS perception_logger DESTINATION lib) + +ament_export_include_directories(include) +ament_export_libraries(perception_logger SQLiteCpp sqlite3 dl) + +install( + TARGETS perception_logger + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include ) -target_link_libraries(perception_logger_node - ${catkin_LIBRARIES} - SQLiteCpp - perception_logger +add_executable(perception_logger_node src/perception_logger_node.cpp) +ament_target_dependencies(perception_logger_node + rclcpp + audio_utils_msgs + sensor_msgs + geometry_msgs + hbba_lite + hbba_lite_msgs + perception_msgs + behavior_msgs + tf2 + tf2_ros + tf2_msgs + tf2_geometry_msgs ) +target_link_libraries(perception_logger_node perception_logger SQLiteCpp sqlite3 dl) +install(TARGETS perception_logger_node DESTINATION lib/${PROJECT_NAME}) -############# -## 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 +# Python Nodes +install(PROGRAMS scripts/video_recorder_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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(perception_logger-test - test/perception_logger/main.cpp - test/perception_logger/BinarySerializationTests.cpp - test/perception_logger/PerceptionLoggerTests.cpp - test/perception_logger/AudioAnalysisLoggerTests.cpp - test/perception_logger/VideoAnalysisLoggerTests.cpp - test/perception_logger/SpeechLoggerTests.cpp - test/perception_logger/HbbaStrategyStateLoggerTests.cpp - test/perception_logger/sqlite/SQLiteMigrationTests.cpp - test/perception_logger/sqlite/SQLitePerceptionLoggerTests.cpp - test/perception_logger/sqlite/SQLiteAudioAnalysisLoggerTests.cpp - test/perception_logger/sqlite/SQLiteVideoAnalysisLoggerTests.cpp - test/perception_logger/sqlite/SQLiteSpeechLoggerTests.cpp - test/perception_logger/sqlite/SQLiteHbbaStrategyStateLoggerTests.cpp -) -if(TARGET perception_logger-test) - target_link_libraries(perception_logger-test perception_logger ${catkin_LIBRARIES}) - target_include_directories(perception_logger-test PUBLIC test/perception_logger) +# Tests +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + ament_add_gtest(${PROJECT_NAME}_test + test/perception_logger/main.cpp + test/perception_logger/BinarySerializationTests.cpp + test/perception_logger/PerceptionLoggerTests.cpp + test/perception_logger/AudioAnalysisLoggerTests.cpp + test/perception_logger/VideoAnalysisLoggerTests.cpp + test/perception_logger/SpeechLoggerTests.cpp + test/perception_logger/HbbaStrategyStateLoggerTests.cpp + test/perception_logger/sqlite/SQLiteMigrationTests.cpp + test/perception_logger/sqlite/SQLitePerceptionLoggerTests.cpp + test/perception_logger/sqlite/SQLiteAudioAnalysisLoggerTests.cpp + test/perception_logger/sqlite/SQLiteVideoAnalysisLoggerTests.cpp + test/perception_logger/sqlite/SQLiteSpeechLoggerTests.cpp + test/perception_logger/sqlite/SQLiteHbbaStrategyStateLoggerTests.cpp + ) + ament_target_dependencies(${PROJECT_NAME}_test rclcpp) + target_link_libraries(${PROJECT_NAME}_test perception_logger SQLiteCpp sqlite3 dl) endif() -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/utils/recorders/README.md b/ros/utils/recorders/README.md index e3511bcd..ef8b47d5 100644 --- a/ros/utils/recorders/README.md +++ b/ros/utils/recorders/README.md @@ -8,23 +8,29 @@ This node records an image topic and an audio topic. #### Parameters - `output_directory` (string): The output directory where to save the recorded files. - `filename_prefix` (string): The filename prefix of the recorded files. - - `video_format` (string): The image encoding of the image topic (`rgb8` or `bgr8`). - - `video_width` (int): The image width of the image topic. - - `video_height` (int): The image height of the image topic. - - `video_codec` (string): The video codec to use (`h264`, `h265`, `vp8` or `vp9`). - - `video_bitrate` (int): The video codec bitrate (bits/s). - - `video_delay_s` (double): The video delay in seconds. - - `audio_format` (string): The audio format of the audio topic. - - `audio_channel_count` (int): The channel count of the audio topic. - - `audio_sampling_frequency` (int): The sampling frequency of the audio topic. - - `audio_codec` (string): The audio codec to use (`aac`, or `mp3`). + - `video_stream_name` (string): The video stream name. + - `video_stream_format` (string): The image encoding of the image topic (`rgb8` or `bgr8`). + - `video_stream_width` (int): The image width of the image topic. + - `video_stream_height` (int): The image height of the image topic. + - `video_stream_framerate` (int): The video frame rate. + - `video_stream_codec` (string): The video codec to use (`h264`, `h265`, `vp8`, `vp9` or `av1`). + - `video_stream_bitrate` (int): The video codec bitrate (bits/s). + - `video_stream_delay_s` (double): The video delay in seconds. + - `video_stream_language_code` (string): The video stream language code. + - `audio_stream_name` (string): The audio stream name + - `audio_stream_format` (string): The audio format of the audio topic. + - `audio_stream_channel_count` (int): The channel count of the audio topic. + - `audio_stream_sampling_frequency` (int): The sampling frequency of the audio topic. + - `audio_stream_codec` (string): The audio codec to use (`aac`, or `mp3`). + - `audio_stream_merge_channels` (bool): Indicates to merge the audio channels. + - `audio_stream_language_code` (string): The audio stream language code. #### Subscribed Topics - - `image` ([sensor_msgs/Image](http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Image.html)): The image topic to record. - - `audio` ([audio_utils/AudioFrame](https://github.com/introlab/audio_utils/blob/main/msg/AudioFrame.msg)): The audio topic to record. + - `video_{video_stream_name}` ([sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html)): The image topic to record. + - `audio_{audio_stream_name}` ([audio_utils_msgs/AudioFrame](https://github.com/introlab/audio_utils/blob/ros2/audio_utils_msgs/msg/AudioFrame.msg)): The audio topic to record. #### Services - - `video_recorder/filter_state` ([hbba_lite/SetOnOffFilterState](../../hbba_lite/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the recording. + - `video_recorder/filter_state` ([hbba_lite_srvs/SetOnOffFilterState](../../utils/hbba_lite/hbba_lite_srvs/srv/SetOnOffFilterState.srv)): The HBBA filter state service to enable or disable the recording. ### `perception_logger_node` This node logs the video analysis messages and the audio analysis messages into a SQLite database. @@ -34,7 +40,7 @@ This node logs the video analysis messages and the audio analysis messages into - `frame_id` (string): The frame id of the positions and directions in the database. #### Subscribed Topics - - `video_analysis` ([video_analyzer/VideoAnalysis](../../perceptions/video_analyzer/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. The video analysis must contain 3d positions. - - `audio_analysis` ([audio_analyzer/AudioAnalysis](../../perceptions/audio_analyzer/msg/AudioAnalysis.msg)): The audio analysis containing the audio classes, voice embedding and the sound direction. - - `talk/text` ([talk/Text](../../behaviors/talk/msg/Text.msg)): The text spoken by the robot. - - `speech_to_text/text` ([speech_to_text/Text](../../perceptions/speech_to_text/msg/Transcript.msg)): The text spoken by the human. + - `video_analysis` ([perception_msgs/VideoAnalysis](../../perceptions/perception_msgs/msg/VideoAnalysis.msg)): The video analysis containing the detected objects. The video analysis must contain 3d positions. + - `audio_analysis` ([perception_msgs/AudioAnalysis](../../perceptions/perception_msgs/msg/AudioAnalysis.msg)): The audio analysis containing the audio classes, voice embedding and the sound direction. + - `talk/text` ([talk/Text](../../behaviors/behavior_msgs/msg/Text.msg)): The text spoken by the robot. + - `speech_to_text/transcript` ([perception_msgs/Transcript](../../perceptions/perception_msgs/msg/Transcript.msg)): The text spoken by the human. diff --git a/ros/utils/recorders/include/perception_logger/PerceptionLogger.h b/ros/utils/recorders/include/perception_logger/PerceptionLogger.h index 00850ca2..63b3795c 100644 --- a/ros/utils/recorders/include/perception_logger/PerceptionLogger.h +++ b/ros/utils/recorders/include/perception_logger/PerceptionLogger.h @@ -3,7 +3,7 @@ #include -#include +#include struct __attribute__((packed)) Position { @@ -130,10 +130,7 @@ struct Timestamp explicit Timestamp(int64_t unixEpochMs) : unixEpochMs(unixEpochMs) {} - Timestamp(const ros::Time& time) - : unixEpochMs{static_cast(time.sec) * 1'000 + static_cast(time.nsec) / 1'000'000} - { - } + Timestamp(const rclcpp::Time& time) : unixEpochMs{static_cast(time.seconds() * 1'000)} {} }; #endif diff --git a/ros/utils/recorders/package.xml b/ros/utils/recorders/package.xml index 99a2a359..5ebcc9f2 100644 --- a/ros/utils/recorders/package.xml +++ b/ros/utils/recorders/package.xml @@ -1,89 +1,37 @@ - + + recorders 0.0.0 The recorders package + Marc-Antoine Maheux + GPL-3.0 license + + ament_cmake + rosidl_default_generators + + rclcpp + rclpy + audio_utils_msgs + sensor_msgs + geometry_msgs + hbba_lite + perception_msgs + behavior_msgs + tf2 + tf2_ros + tf2_msgs + tf2_geometry_msgs + + rosidl_default_runtime + ros2launch + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + ament_cmake_gtest - - - - marc-antoine - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - audio_utils - rospy - sensor_msgs - hbba_lite - roscpp - video_analyzer - audio_analyzer - talk - speech_to_text - tf - audio_utils - rospy - sensor_msgs - hbba_lite - roscpp - video_analyzer - audio_analyser - talk - speech_to_text - tf - audio_utils - rospy - sensor_msgs - hbba_lite - roscpp - video_analyzer - audio_analyser - talk - speech_to_text - tf - - - - - + ament_cmake diff --git a/ros/utils/recorders/scripts/video_recorder_node.py b/ros/utils/recorders/scripts/video_recorder_node.py index 0b94315a..17e1d018 100755 --- a/ros/utils/recorders/scripts/video_recorder_node.py +++ b/ros/utils/recorders/scripts/video_recorder_node.py @@ -27,14 +27,24 @@ from gi.repository import Gst # type: ignore from gi.repository import GLib # type: ignore -import rospy +import rclpy +import rclpy.node +import rclpy.logging +import rclpy.subscription -from audio_utils.msg import AudioFrame +from audio_utils_msgs.msg import AudioFrame from sensor_msgs.msg import Image import hbba_lite +NODE_NAME = 'video_recorder_node' + + +def get_logger(): + return rclpy.logging.get_logger(NODE_NAME) + + def apply(func: Callable, iter: Iterable) -> None: for x in iter: func(x) @@ -184,28 +194,28 @@ def check_parameters(parameters: VideoStreamParameters, index: int) -> None: sould_exit = False if 'name' not in parameters: debug_str = f'at index |{index}|' - rospy.logerr(f'Video stream parameters {debug_str} must have a name') + get_logger().error(f'Video stream parameters {debug_str} must have a name') sould_exit = True else: debug_str = f'for name |{parameters["name"]}|' if 'format' not in parameters: - rospy.logerr(f'Video stream parameters {debug_str} must have a format') + get_logger().error(f'Video stream parameters {debug_str} must have a format') sould_exit = True if 'width' not in parameters: - rospy.logerr(f'Video stream parameters {debug_str} must have a width') + get_logger().error(f'Video stream parameters {debug_str} must have a width') sould_exit = True if 'height' not in parameters: - rospy.logerr(f'Video stream parameters {debug_str} must have a height') + get_logger().error(f'Video stream parameters {debug_str} must have a height') sould_exit = True if 'framerate' not in parameters: - rospy.logerr(f'Video stream parameters {debug_str} must have a framerate') + get_logger().error(f'Video stream parameters {debug_str} must have a framerate') sould_exit = True if 'codec' not in parameters: - rospy.logerr(f'Video stream parameters {debug_str} must have a codec') + get_logger().error(f'Video stream parameters {debug_str} must have a codec') sould_exit = True if 'bitrate' not in parameters: - rospy.logerr(f'Video stream parameters {debug_str} must have a bitrate') + get_logger().error(f'Video stream parameters {debug_str} must have a bitrate') sould_exit = True if sould_exit: @@ -263,26 +273,26 @@ def check_parameters(parameters: AudioStreamParameters, index: int) -> None: sould_exit = False if 'name' not in parameters: debug_str = f'at index |{index}|' - rospy.logerr(f'Audio stream parameters {debug_str} must have a name') + get_logger().error(f'Audio stream parameters {debug_str} must have a name') sould_exit = True else: debug_str = f'for name |{parameters["name"]}|' if 'format' not in parameters: - rospy.logerr(f'Audio stream parameters {debug_str} must have a format') + get_logger().error(f'Audio stream parameters {debug_str} must have a format') sould_exit = True if 'channel_count' not in parameters: - rospy.logerr( + get_logger().error( f'Audio stream parameters {debug_str} must have a channel_count' ) sould_exit = True if 'sampling_frequency' not in parameters: - rospy.logerr( + get_logger().error( f'Audio stream parameters {debug_str} must have a sampling_frequency' ) sould_exit = True if 'codec' not in parameters: - rospy.logerr(f'Audio stream parameters {debug_str} must have a codec') + get_logger().error(f'Audio stream parameters {debug_str} must have a codec') sould_exit = True if sould_exit: @@ -338,34 +348,51 @@ def _is_valid_language_code(language_code: str) -> bool: ) @staticmethod - def from_parameters() -> 'VideoRecorderConfiguration': + def from_parameters(node: rclpy.node.Node) -> 'VideoRecorderConfiguration': + + output_directory = node.declare_parameter('output_directory', '').get_parameter_value().string_value + filename_prefix = node.declare_parameter('filename_prefix', '').get_parameter_value().string_value + + video_stream_parameters = { + 'name': node.declare_parameter('video_stream_name', '').get_parameter_value().string_value, + 'format': node.declare_parameter('video_stream_format', '').get_parameter_value().string_value, + 'width': node.declare_parameter('video_stream_width', 0).get_parameter_value().integer_value, + 'height': node.declare_parameter('video_stream_height', 0).get_parameter_value().integer_value, + 'framerate': node.declare_parameter('video_stream_framerate', 0).get_parameter_value().integer_value, + 'codec': node.declare_parameter('video_stream_codec', '').get_parameter_value().string_value, + 'bitrate': node.declare_parameter('video_stream_bitrate', 0).get_parameter_value().integer_value, + 'delay_s': node.declare_parameter('video_stream_delay_s', 0.0).get_parameter_value().double_value, + 'language_code': node.declare_parameter('video_stream_language_code', 'eng').get_parameter_value().string_value, + } - output_directory = cast(str, rospy.get_param('~output_directory')) - filename_prefix = cast( - str, rospy.get_param('~filename_prefix', '') # type: ignore - ) - video_streams = [ - VideoStreamConfiguration.from_parameters(video_stream, index) for index, video_stream in enumerate(rospy.get_param(f'~video_streams')) # type: ignore - ] - audio_streams = [ - AudioStreamConfiguration.from_parameters(audio_stream, index) for index, audio_stream in enumerate(rospy.get_param(f'~audio_streams')) # type: ignore - ] + audio_stream_parameters = { + 'name': node.declare_parameter('audio_stream_name', '').get_parameter_value().string_value, + 'format': node.declare_parameter('audio_stream_format', '').get_parameter_value().string_value, + 'channel_count': node.declare_parameter('audio_stream_channel_count', 0).get_parameter_value().integer_value, + 'sampling_frequency': node.declare_parameter('audio_stream_sampling_frequency', 0).get_parameter_value().integer_value, + 'codec': node.declare_parameter('audio_stream_codec', '').get_parameter_value().string_value, + 'merge_channels': node.declare_parameter('audio_stream_merge_channels', True).get_parameter_value().bool_value, + 'language_code': node.declare_parameter('audio_stream_language_code', 'eng').get_parameter_value().string_value, + } + + video_streams = [VideoStreamConfiguration.from_parameters(video_stream_parameters, 0)] + audio_streams = [AudioStreamConfiguration.from_parameters(audio_stream_parameters, 0)] streams_count = len(video_streams) + len(audio_streams) if streams_count < 1: - rospy.logerr(f'At least one video or audio stream must be specified') + get_logger().error(f'At least one video or audio stream must be specified') sys.exit(os.EX_CONFIG) video_names = [video_stream.name for video_stream in video_streams] if len(duplicates := get_duplicates(video_names)) > 0: - rospy.logerr( + get_logger().error( f'Video stream names must be unique, duplicates found: {duplicates}' ) sys.exit(os.EX_CONFIG) audio_names = [audio_stream.name for audio_stream in audio_streams] if len(duplicates := get_duplicates(audio_names)) > 0: - rospy.logerr( + get_logger().error( f'Audio stream names must be unique, duplicates found: {duplicates}' ) sys.exit(os.EX_CONFIG) @@ -374,7 +401,7 @@ def from_parameters() -> 'VideoRecorderConfiguration': video_stream.language_code for video_stream in video_streams ] if len(duplicates := get_duplicates(video_lang_codes)) > 0: - rospy.logerr( + get_logger().error( f'Video language codes must be unique, duplicates found: {duplicates}' ) sys.exit(os.EX_CONFIG) @@ -383,7 +410,7 @@ def from_parameters() -> 'VideoRecorderConfiguration': audio_stream.language_code for audio_stream in audio_streams ] if len(duplicates := get_duplicates(audio_lang_codes)) > 0: - rospy.logerr( + get_logger().error( f'Audio language codes must be unique, duplicates found: {duplicates}' ) sys.exit(os.EX_CONFIG) @@ -391,13 +418,13 @@ def from_parameters() -> 'VideoRecorderConfiguration': should_exit = False for stream_name in itertools.chain(video_names, audio_names): if not VideoRecorderConfiguration._is_valid_name(stream_name): - rospy.logerr( + get_logger().error( f'Stream names must only contain alphanumeric ascii characters and underscores; invalid name: {stream_name}' ) should_exit = True for lang_code in itertools.chain(video_lang_codes, audio_lang_codes): if not VideoRecorderConfiguration._is_valid_language_code(lang_code): - rospy.logerr( + get_logger().error( 'Language codes must be ISO 639-3 codes, and should be a 3-letter code (see https://iso639-3.sil.org/code_tables/639/data)' f'; invalid language code: {lang_code}' ) @@ -414,7 +441,8 @@ def from_parameters() -> 'VideoRecorderConfiguration': class VideoRecorder: - def __init__(self, configuration: VideoRecorderConfiguration): + def __init__(self, node: rclpy.node.Node, configuration: VideoRecorderConfiguration): + self._node = node self._configuration = configuration os.makedirs(self._configuration.output_directory, exist_ok=True) @@ -434,39 +462,37 @@ def __init__(self, configuration: VideoRecorderConfiguration): self._clear_sources_lists() self._image_subscribers = { - video_stream_configuration.name: rospy.Subscriber( - video_stream_configuration.full_name, + video_stream_configuration.name: node.create_subscription( Image, - self._image_cb, - video_stream_configuration, - queue_size=10, + video_stream_configuration.full_name, + lambda msg: self._image_cb(msg, video_stream_configuration), + 10, ) for video_stream_configuration in self._configuration.video_streams } self._audio_subscribers = { - audio_stream_configuration.name: rospy.Subscriber( - audio_stream_configuration.full_name, + audio_stream_configuration.name: node.create_subscription( AudioFrame, - self._audio_cb, - audio_stream_configuration, - queue_size=10, + audio_stream_configuration.full_name, + lambda msg: self._audio_cb(msg, audio_stream_configuration), + 10, ) for audio_stream_configuration in self._configuration.audio_streams } def close(self): - apply(rospy.Subscriber.unregister, self._image_subscribers.values()) - apply(rospy.Subscriber.unregister, self._audio_subscribers.values()) + apply(self._node.destroy_subscription, self._image_subscribers.values()) + apply(self._node.destroy_subscription, self._audio_subscribers.values()) self._stop_if_started() def _image_cb(self, msg: Image, configuration: VideoStreamConfiguration): if not VideoRecorder._verify_image_msg(configuration, msg): - rospy.logerr( + get_logger().error( f'Invalid image (encoding={msg.encoding}, width={msg.width}, height={msg.height})' ) return - msg_timestamp_ns = msg.header.stamp.to_nsec() + msg_timestamp_ns = rclpy.time.Time.from_msg(msg.header.stamp).nanoseconds self._start_if_not_started(msg_timestamp_ns) if self._video_srcs[configuration.name] is None: return @@ -481,7 +507,7 @@ def _image_cb(self, msg: Image, configuration: VideoStreamConfiguration): self._last_video_frame_timestamp_ns[configuration.name] = timestamp_ns if timestamp_ns >= 0: - rospy.logdebug(f'Pushing image {msg.header.seq} for {configuration.name}') + get_logger().debug(f'Pushing image for {configuration.name}') self._video_srcs[configuration.name].emit( # type: ignore 'push-buffer', VideoRecorder.data_to_gst_buffer(msg.data, timestamp_ns, duration_ns), @@ -500,12 +526,12 @@ def _verify_image_msg(configuration: VideoStreamConfiguration, msg: Image): def _audio_cb(self, msg: AudioFrame, configuration: AudioStreamConfiguration): if not VideoRecorder._verify_audio_frame_msg(configuration, msg): - rospy.logerr( + get_logger().error( f'Invalid audio frame (format={msg.format}, channel_count={msg.channel_count}, sampling_frequency={msg.sampling_frequency})' ) return - msg_timestamp_ns = msg.header.stamp.to_nsec() + msg_timestamp_ns = rclpy.time.Time.from_msg(msg.header.stamp).nanoseconds self._start_if_not_started(msg_timestamp_ns) if self._audio_srcs[configuration.name] is None: return @@ -514,9 +540,7 @@ def _audio_cb(self, msg: AudioFrame, configuration: AudioStreamConfiguration): duration_ns = int(1 / msg.sampling_frequency * msg.frame_sample_count) if timestamp_ns >= 0: - rospy.logdebug( - f'Pushing audio frame {msg.header.seq} for {configuration.name}' - ) + get_logger().debug(f'Pushing audio frame for {configuration.name}') self._audio_srcs[configuration.name].emit( # type: ignore 'push-buffer', VideoRecorder.data_to_gst_buffer(msg.data, timestamp_ns, duration_ns), @@ -560,7 +584,7 @@ def _start_if_not_started(self, record_start_time_ns: int): + ' '.join(f'{p} ! mux.' for p in video_and_audio_pipelines) ) - rospy.loginfo(f'Launching gstreamer pipeline: {pipeline_str}') + get_logger().info(f'Launching gstreamer pipeline: {pipeline_str}') try: pipeline = Gst.parse_launch(pipeline_str) @@ -588,7 +612,7 @@ def _start_if_not_started(self, record_start_time_ns: int): self._audio_srcs = audio_srcs self._bus = bus except GLib.Error as e: # type: ignore - rospy.loginfo(f'GStreamer pipeline failed({e})') + get_logger().info(f'GStreamer pipeline failed({e})') sys.exit(-2) graph_export(self._pipeline, 'started') @@ -605,7 +629,7 @@ def _stop_if_started(self): apply(lambda s: s.emit('end-of-stream'), self._video_srcs.values()) # type: ignore apply(lambda s: s.emit('end-of-stream'), self._audio_srcs.values()) # type: ignore - rospy.loginfo('Sent EOS to all sources') + get_logger().info('Sent EOS to all sources') if self._bus: self._bus.timed_pop_filtered( # type: ignore @@ -613,7 +637,7 @@ def _stop_if_started(self): ) self._bus.remove_watch() - rospy.loginfo('Received EOS on the bus') + get_logger().info('Received EOS on the bus') self._pipeline.set_state(Gst.State.NULL) self._pipeline = None @@ -625,44 +649,44 @@ def _stop_if_started(self): def _on_bus_message_cb(self, bus, msg): def message_to_string(msg: Gst.Message) -> Tuple[str, Callable]: if msg.type == Gst.MessageType.EOS: - return 'End-of-stream', rospy.loginfo + return 'End-of-stream', get_logger().info elif msg.type == Gst.MessageType.WARNING: err, debug = msg.parse_warning() - return f'Warning: |{err}|: {debug}', rospy.logwarn + return f'Warning: |{err}|: {debug}', get_logger().warn elif msg.type == Gst.MessageType.ERROR: err, debug = msg.parse_error() - return f'Bus call: Error: |{err}|: {debug}', rospy.logerr + return f'Bus call: Error: |{err}|: {debug}', get_logger().error elif msg.type == Gst.MessageType.BUFFERING: percent = msg.parse_buffering() - return f'Buffering ({percent}%)', rospy.loginfo + return f'Buffering ({percent}%)', get_logger().info elif msg.type == Gst.MessageType.STATE_CHANGED: old_state, new_state, pending_state = msg.parse_state_changed() return ( f'Element |{msg.src.get_name()}| (of type |{type(msg.src).__name__}|) state changed from |{old_state.value_nick}| to |{new_state.value_nick}| ' f'(pending |{pending_state.value_nick}|)' - ), rospy.loginfo + ), get_logger().info elif msg.type == Gst.MessageType.STREAM_START: - return 'Stream started', rospy.loginfo + return 'Stream started', get_logger().info elif msg.type == Gst.MessageType.STREAM_STATUS: status_type, owner = msg.parse_stream_status() return ( f'Stream status; status: |{status_type.value_nick}|, owner: |{type(owner).__name__}|', - rospy.loginfo, + get_logger().info, ) elif msg.type == Gst.MessageType.LATENCY: - return 'Latency', rospy.loginfo + return 'Latency', get_logger().info elif msg.type == Gst.MessageType.NEW_CLOCK: clock = msg.parse_new_clock() return ( f'New clock; sync: |{clock.is_synced()}|, resolution: |{clock.get_resolution()}|', - rospy.loginfo, + get_logger().info, ) elif msg.type == Gst.MessageType.ASYNC_DONE: - return 'Async done', rospy.loginfo + return 'Async done', get_logger().info else: return ( f'Unknow message of type |{Gst.MessageType.get_name(msg.type).upper().replace("-", "_")}|', - rospy.loginfo, + get_logger().info, ) msg_str, log_func = message_to_string(msg) @@ -681,7 +705,7 @@ def _create_mux_pipeline(configuration: VideoRecorderConfiguration) -> str: @staticmethod def _get_filename(configuration: VideoRecorderConfiguration) -> str: - now = datetime.datetime.utcfromtimestamp(rospy.Time.now().to_sec()) + now = datetime.datetime.now() filename_us = configuration.filename_prefix + now.strftime('%Y-%m-%d_%H-%M-%S.%f') filename_ms = filename_us[:-3] return filename_ms @@ -702,7 +726,7 @@ def _create_video_pipeline(configuration: VideoStreamConfiguration) -> str: f' ! {encoder} name={encoder}_{configuration.full_name} bitrate={bitrate}' ) else: - rospy.logwarn('NVIDIA hardware encoder are not available.') + get_logger().warn('NVIDIA hardware encoder are not available.') encoder = configuration.codec.software_encoder bitrate_attribute = configuration.codec.get_software_bitrate_attribute() @@ -816,13 +840,16 @@ def _clear_last_timestamps(self) -> None: } -class VideoRecorderNode: +class VideoRecorderNode(rclpy.node.Node): def __init__(self): + super().__init__(NODE_NAME) + self._recorder_lock = threading.Lock() self._recorder = None - self._recorder_configuration = VideoRecorderConfiguration.from_parameters() + self._recorder_configuration = VideoRecorderConfiguration.from_parameters(self) self._filter_state = hbba_lite.OnOffHbbaFilterState( # type: ignore + self, 'video_recorder/filter_state' ) self._filter_state.on_changed(self._on_filter_state_changed) @@ -833,12 +860,12 @@ def _on_filter_state_changed(self, _, next_is_filtering_all_messages): self._recorder.close() self._recorder = None elif not next_is_filtering_all_messages and self._recorder is None: - self._recorder = VideoRecorder(self._recorder_configuration) + self._recorder = VideoRecorder(self, self._recorder_configuration) def run(self): try: - rospy.spin() - except rospy.ROSInterruptException: + rclpy.spin(self) + except KeyboardInterrupt: pass finally: with self._recorder_lock: @@ -848,16 +875,21 @@ def run(self): def main(): - rospy.init_node('video_recorder_node') + rclpy.init() Gst.init(None) video_recorder_node = VideoRecorderNode() - video_recorder_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + video_recorder_node.run() + except KeyboardInterrupt: pass + finally: + video_recorder_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/utils/recorders/src/perception_logger_node.cpp b/ros/utils/recorders/src/perception_logger_node.cpp index 8688b363..2119b8ee 100644 --- a/ros/utils/recorders/src/perception_logger_node.cpp +++ b/ros/utils/recorders/src/perception_logger_node.cpp @@ -3,14 +3,17 @@ #include #include -#include -#include - -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include #include #include @@ -41,74 +44,87 @@ struct PerceptionLoggerNodeConfiguration string frameId; }; -class PerceptionLoggerNode +class PerceptionLoggerNode : public rclcpp::Node { - ros::NodeHandle& m_nodeHandle; - PerceptionLoggerNodeConfiguration m_configuration; + string m_databasePath; + string m_frameId; - SQLite::Database m_database; + unique_ptr m_database; unique_ptr m_videoAnalysisLogger; unique_ptr m_audioAnalysisLogger; unique_ptr m_speechLogger; unique_ptr m_hbbaStrategyStateLogger; - tf::TransformListener m_listener; + unique_ptr m_tfBuffer; + shared_ptr m_tfListener; - ros::Subscriber m_videoAnalysis3dSubscriber; - ros::Subscriber m_audioAnalysisSubscriber; - ros::Subscriber m_talkTextSubscriber; - ros::Subscriber m_speechToTextTranscriptSubscriber; - ros::Subscriber m_hbbaStrategyStateSubscriber; + rclcpp::Subscription::SharedPtr m_videoAnalysis3dSubscriber; + rclcpp::Subscription::SharedPtr m_audioAnalysisSubscriber; + rclcpp::Subscription::SharedPtr m_talkTextSubscriber; + rclcpp::Subscription::SharedPtr m_speechToTextTranscriptSubscriber; + rclcpp::Subscription::SharedPtr m_hbbaStrategyStateSubscriber; public: - PerceptionLoggerNode(ros::NodeHandle& nodeHandle, PerceptionLoggerNodeConfiguration configuration) - : m_nodeHandle(nodeHandle), - m_configuration(move(configuration)), - m_database(m_configuration.databasePath, SQLite::OPEN_READWRITE | SQLite::OPEN_CREATE) + PerceptionLoggerNode() : rclcpp::Node("perception_logger_node") { - m_videoAnalysisLogger = make_unique(m_database); - m_audioAnalysisLogger = make_unique(m_database); - m_speechLogger = make_unique(m_database); - m_hbbaStrategyStateLogger = make_unique(m_database); - - m_videoAnalysis3dSubscriber = - m_nodeHandle.subscribe("video_analysis", 10, &PerceptionLoggerNode::videoAnalysisSubscriberCallback, this); - m_audioAnalysisSubscriber = - m_nodeHandle.subscribe("audio_analysis", 10, &PerceptionLoggerNode::audioAnalysisSubscriberCallback, this); - m_talkTextSubscriber = - m_nodeHandle.subscribe("talk/text", 10, &PerceptionLoggerNode::talkTextSubscriberCallback, this); - m_speechToTextTranscriptSubscriber = m_nodeHandle.subscribe( + m_databasePath = declare_parameter("database_path", ""); + m_frameId = declare_parameter("frame_id", ""); + + m_database = std::make_unique(m_databasePath, SQLite::OPEN_READWRITE | SQLite::OPEN_CREATE); + + m_videoAnalysisLogger = std::make_unique(*m_database); + m_audioAnalysisLogger = std::make_unique(*m_database); + m_speechLogger = std::make_unique(*m_database); + m_hbbaStrategyStateLogger = std::make_unique(*m_database); + + m_videoAnalysis3dSubscriber = create_subscription( + "video_analysis", + 10, + [this](const perception_msgs::msg::VideoAnalysis::SharedPtr msg) { videoAnalysisSubscriberCallback(msg); }); + m_audioAnalysisSubscriber = create_subscription( + "audio_analysis", + 10, + [this](const perception_msgs::msg::AudioAnalysis::SharedPtr msg) { audioAnalysisSubscriberCallback(msg); }); + m_talkTextSubscriber = create_subscription( + "talk/text", + 10, + [this](const behavior_msgs::msg::Text::SharedPtr msg) { talkTextSubscriberCallback(msg); }); + m_speechToTextTranscriptSubscriber = create_subscription( "speech_to_text/transcript", 10, - &PerceptionLoggerNode::speechToTextTranscriptSubscriberCallback, - this); - m_hbbaStrategyStateSubscriber = m_nodeHandle.subscribe( + [this](const perception_msgs::msg::Transcript::SharedPtr msg) + { speechToTextTranscriptSubscriberCallback(msg); }); + m_hbbaStrategyStateSubscriber = create_subscription( "hbba_strategy_state_log", 10, - &PerceptionLoggerNode::hbbaStrategyStateSubscriberCallback, - this); + [this](const hbba_lite_msgs::msg::StrategyState::SharedPtr msg) { hbbaStrategyStateSubscriberCallback(msg); }); + + m_tfBuffer = std::make_unique(get_clock()); + m_tfListener = std::make_shared(*m_tfBuffer); } virtual ~PerceptionLoggerNode() {} - void videoAnalysisSubscriberCallback(const video_analyzer::VideoAnalysis::ConstPtr& msg) + void videoAnalysisSubscriberCallback(const perception_msgs::msg::VideoAnalysis::SharedPtr msg) { if (!msg->contains_3d_positions) { - ROS_ERROR("The video analysis must contain 3d positions."); + RCLCPP_ERROR(get_logger(), "The video analysis must contain 3d positions."); return; } - tf::StampedTransform transform; + geometry_msgs::msg::TransformStamped transformMsg; try { - m_listener.lookupTransform(m_configuration.frameId, msg->header.frame_id, msg->header.stamp, transform); + transformMsg = m_tfBuffer->lookupTransform(m_frameId, msg->header.frame_id, msg->header.stamp); } - catch (tf::TransformException ex) + catch (tf2::TransformException& ex) { - ROS_ERROR("%s", ex.what()); + RCLCPP_ERROR(get_logger(), "%s", ex.what()); return; } + tf2::Stamped transform; + tf2::convert(transformMsg, transform); for (auto& object : msg->objects) { @@ -116,12 +132,13 @@ class PerceptionLoggerNode } } - void audioAnalysisSubscriberCallback(const audio_analyzer::AudioAnalysis::ConstPtr& msg) + void audioAnalysisSubscriberCallback(const perception_msgs::msg::AudioAnalysis::SharedPtr msg) { - if (msg->header.frame_id != m_configuration.frameId) + if (msg->header.frame_id != m_frameId) { - ROS_ERROR_STREAM( - "Invalid direction frame id (" << msg->header.frame_id << " ! = " << m_configuration.frameId); + RCLCPP_ERROR_STREAM( + get_logger(), + "Invalid direction frame id (" << msg->header.frame_id << " ! = " << m_frameId); return; } if (msg->audio_classes.empty()) @@ -132,40 +149,42 @@ class PerceptionLoggerNode m_audioAnalysisLogger->log(msgToAnalysis(msg)); } - void talkTextSubscriberCallback(const talk::Text::ConstPtr& msg) + void talkTextSubscriberCallback(const behavior_msgs::msg::Text::SharedPtr msg) { - m_speechLogger->log(Speech(ros::Time::now(), SpeechSource::ROBOT, msg->text)); + m_speechLogger->log(Speech(get_clock()->now(), SpeechSource::ROBOT, msg->text)); } - void speechToTextTranscriptSubscriberCallback(const speech_to_text::Transcript::ConstPtr& msg) + void speechToTextTranscriptSubscriberCallback(const perception_msgs::msg::Transcript::SharedPtr msg) { if (msg->is_final) { - m_speechLogger->log(Speech(ros::Time::now(), SpeechSource::HUMAN, msg->text)); + m_speechLogger->log(Speech(get_clock()->now(), SpeechSource::HUMAN, msg->text)); } } - void hbbaStrategyStateSubscriberCallback(const hbba_lite::StrategyState::ConstPtr& msg) + void hbbaStrategyStateSubscriberCallback(const hbba_lite_msgs::msg::StrategyState::SharedPtr msg) { m_hbbaStrategyStateLogger->log( - HbbaStrategyState(ros::Time::now(), msg->desire_type_name, msg->strategy_type_name, msg->enabled)); + HbbaStrategyState(get_clock()->now(), msg->desire_type_name, msg->strategy_type_name, msg->enabled)); } - void run() { ros::spin(); } + void run() { rclcpp::spin(shared_from_this()); } private: - static Position pointToPosition(const geometry_msgs::Point& point, const tf::StampedTransform& transform) + static Position + pointToPosition(const geometry_msgs::msg::Point& point, const tf2::Stamped& transform) { - tf::Point transformedPoint = transform * tf::Point(point.x, point.y, point.z); + tf2::Vector3 transformedPoint = transform * tf2::Vector3(point.x, point.y, point.z); return Position{transformedPoint.x(), transformedPoint.y(), transformedPoint.z()}; } - static ImagePosition pointToImagePosition(const geometry_msgs::Point& point) + static ImagePosition pointToImagePosition(const geometry_msgs::msg::Point& point) { return ImagePosition{point.x, point.y}; } - static BoundingBox centreWidthHeightToBoundingBox(const geometry_msgs::Point& centre, double width, double height) + static BoundingBox + centreWidthHeightToBoundingBox(const geometry_msgs::msg::Point& centre, double width, double height) { return BoundingBox{pointToImagePosition(centre), width, height}; } @@ -177,9 +196,9 @@ class PerceptionLoggerNode } static VideoAnalysis msgToAnalysis( - const video_analyzer::VideoAnalysisObject& msg, - const ros::Time& timestamp, - const tf::StampedTransform& transform) + const perception_msgs::msg::VideoAnalysisObject& msg, + const rclcpp::Time& timestamp, + const tf2::Stamped& transform) { Position position = pointToPosition(msg.center_3d, transform); VideoAnalysis videoAnalysis{ @@ -209,7 +228,7 @@ class PerceptionLoggerNode std::begin(msg.person_pose_3d), std::end(msg.person_pose_3d), std::back_inserter(videoAnalysis.personPose.value()), - [&transform](const geometry_msgs::Point& point) { return pointToPosition(point, transform); }); + [&transform](const geometry_msgs::msg::Point& point) { return pointToPosition(point, transform); }); } if (!msg.person_pose_confidence.empty()) { @@ -225,10 +244,10 @@ class PerceptionLoggerNode return videoAnalysis; } - static AudioAnalysis msgToAnalysis(const audio_analyzer::AudioAnalysis::ConstPtr& msg) + static AudioAnalysis msgToAnalysis(const perception_msgs::msg::AudioAnalysis::SharedPtr msg) { AudioAnalysis audioAnalysis( - msg->header.stamp, + rclcpp::Time(msg->header.stamp), Direction{msg->direction_x, msg->direction_y, msg->direction_z}, msg->tracking_id, mergeClasses(msg->audio_classes)); @@ -244,26 +263,12 @@ class PerceptionLoggerNode int main(int argc, char** argv) { - ros::init(argc, argv, "perception_logger_node"); - - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); + rclcpp::init(argc, argv); - PerceptionLoggerNodeConfiguration configuration; - - if (!privateNodeHandle.getParam("database_path", configuration.databasePath)) - { - ROS_ERROR("The parameter database_path is required."); - return -1; - } - if (!privateNodeHandle.getParam("frame_id", configuration.frameId)) - { - ROS_ERROR("The parameter frame_id is required."); - return -1; - } + auto node = make_shared(); + node->run(); - PerceptionLoggerNode node(nodeHandle, configuration); - node.run(); + rclcpp::shutdown(); return 0; } diff --git a/ros/utils/recorders/test/perception_logger/PerceptionLoggerTests.cpp b/ros/utils/recorders/test/perception_logger/PerceptionLoggerTests.cpp index 1c6cbcd6..104eab34 100644 --- a/ros/utils/recorders/test/perception_logger/PerceptionLoggerTests.cpp +++ b/ros/utils/recorders/test/perception_logger/PerceptionLoggerTests.cpp @@ -120,6 +120,6 @@ TEST(PerceptionLoggerTests, timestamp_constructor_shouldSetAttributes) Timestamp t0(5); EXPECT_EQ(t0.unixEpochMs, 5); - Timestamp t1(ros::Time(5.2)); + Timestamp t1(rclcpp::Time(static_cast(5.2 * 1e9))); EXPECT_EQ(t1.unixEpochMs, 5200); } diff --git a/ros/utils/recorders/test/perception_logger/sqlite/SQLiteVideoAnalysisLoggerTests.cpp b/ros/utils/recorders/test/perception_logger/sqlite/SQLiteVideoAnalysisLoggerTests.cpp index b28273e2..32667bb7 100644 --- a/ros/utils/recorders/test/perception_logger/sqlite/SQLiteVideoAnalysisLoggerTests.cpp +++ b/ros/utils/recorders/test/perception_logger/sqlite/SQLiteVideoAnalysisLoggerTests.cpp @@ -4,7 +4,7 @@ #include -#include "comparisons.h" +#include "../comparisons.h" using namespace std; diff --git a/ros/utils/t_top_hbba_lite/CMakeLists.txt b/ros/utils/t_top_hbba_lite/CMakeLists.txt index 1a6f1d39..2bff28e8 100644 --- a/ros/utils/t_top_hbba_lite/CMakeLists.txt +++ b/ros/utils/t_top_hbba_lite/CMakeLists.txt @@ -1,221 +1,70 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(t_top_hbba_lite) -## Compile as C++11, supported in ROS Kinetic and newer -set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_STANDARD_REQUIRED ON) -## 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 - hbba_lite - nav_msgs - sensor_msgs - sound_player - std_msgs - talk - tf - gesture - led_animations - daemon_ros_client +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +set(MUSIC_BEAT_DETECTOR_ENABLE_TESTS OFF CACHE BOOL "") + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(hbba_lite REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(behavior_msgs REQUIRED) +find_package(perception_msgs REQUIRED) +find_package(std_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(daemon_ros_client REQUIRED) + +# C++ Libraries +add_library(t_top_hbba_lite_cpp + src/Desires.cpp + src/Strategies.cpp ) - -## 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 -# geometry_msgs# nav_msgs# sensor_msgs# 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 t_top_hbba_lite - CATKIN_DEPENDS hbba_lite sound_player talk tf gesture - # DEPENDS system_lib +target_include_directories(t_top_hbba_lite_cpp + PUBLIC + $ + $ ) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( - include - ${catkin_INCLUDE_DIRS} +ament_target_dependencies(t_top_hbba_lite_cpp rclcpp hbba_lite nav_msgs sensor_msgs behavior_msgs std_msgs std_msgs daemon_ros_client) + +ament_export_dependencies(rclcpp hbba_lite nav_msgs sensor_msgs behavior_msgs std_msgs std_msgs daemon_ros_client) +ament_export_targets(export_t_top_hbba_lite_cpp HAS_LIBRARY_TARGET) + +install( + TARGETS t_top_hbba_lite_cpp + EXPORT export_t_top_hbba_lite_cpp + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include ) -## Declare a C++ library -add_library(${PROJECT_NAME} - src/Desires.cpp - src/Strategies.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} ${catkin_EXPORTED_TARGETS}) +install( + DIRECTORY include/ + DESTINATION include +) -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide +# C++ Nodes add_executable(set_head_pose_arbitration_node src/set_head_pose_arbitration_node.cpp) +ament_target_dependencies(set_head_pose_arbitration_node rclcpp geometry_msgs daemon_ros_client tf2) +install(TARGETS set_head_pose_arbitration_node DESTINATION lib/${PROJECT_NAME}) -## 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} - ${catkin_LIBRARIES} - ) -target_link_libraries(set_head_pose_arbitration_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_t_top_hbba_lite.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +ament_export_dependencies(rclcpp geometry_msgs daemon_ros_client tf2) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/utils/t_top_hbba_lite/README.md b/ros/utils/t_top_hbba_lite/README.md index f3f9232e..9a70ab5b 100644 --- a/ros/utils/t_top_hbba_lite/README.md +++ b/ros/utils/t_top_hbba_lite/README.md @@ -8,10 +8,11 @@ This node applies priority arbitration to the head pose topic. #### Parameters -- `topics`: The topic descriptions containing the topic name (string), priority (int, lower means higher priority) and timeout_s value (double). +- `topics` (string): The topic names. +- `priorities` (int): The priority for each topic (int, lower means higher priority). +- `timeout_s` (double): The timeout in seconds for each topic. - `offset_topics` (array of string): The topic names that apply an offset to the head position -- `latch` (bool): Indicates if the output topic is latched. #### Published Topics -- `daemon/set_head_pose` ([geometry_msgs/PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)): The output topic. +- `daemon/set_head_pose` ([geometry_msgs/PoseStamped](https://docs.ros.org/en/humble/p/geometry_msgs/interfaces/msg/PoseStamped.html)): The output topic. diff --git a/ros/utils/t_top_hbba_lite/include/t_top_hbba_lite/Desires.h b/ros/utils/t_top_hbba_lite/include/t_top_hbba_lite/Desires.h index bea0ee29..5e24632e 100644 --- a/ros/utils/t_top_hbba_lite/include/t_top_hbba_lite/Desires.h +++ b/ros/utils/t_top_hbba_lite/include/t_top_hbba_lite/Desires.h @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include @@ -199,7 +199,7 @@ class LedAnimationDesire : public Desire std::string m_name; double m_durationS; double m_speed; - std::vector m_colors; + std::vector m_colors; public: /** @@ -207,7 +207,7 @@ class LedAnimationDesire : public Desire */ explicit LedAnimationDesire( std::string name, - std::vector colors = {}, + std::vector colors = {}, double speed = 1.0, double durationS = std::numeric_limits::infinity(), uint16_t intensity = 1); @@ -218,7 +218,7 @@ class LedAnimationDesire : public Desire const std::string& name() const; double durationS() const; double speed() const; - const std::vector& colors() const; + const std::vector& colors() const; }; inline const std::string& LedAnimationDesire::name() const @@ -236,7 +236,7 @@ inline double LedAnimationDesire::speed() const return m_speed; } -inline const std::vector& LedAnimationDesire::colors() const +inline const std::vector& LedAnimationDesire::colors() const { return m_colors; } diff --git a/ros/utils/t_top_hbba_lite/include/t_top_hbba_lite/Strategies.h b/ros/utils/t_top_hbba_lite/include/t_top_hbba_lite/Strategies.h index fc28badf..4b3fcd36 100644 --- a/ros/utils/t_top_hbba_lite/include/t_top_hbba_lite/Strategies.h +++ b/ros/utils/t_top_hbba_lite/include/t_top_hbba_lite/Strategies.h @@ -3,24 +3,27 @@ #include -#include +#include #include -#include -#include -#include -#include +#include + +#include +#include +#include +#include +#include #include class FaceAnimationStrategy : public Strategy { - ros::NodeHandle& m_nodeHandle; - ros::Publisher m_animationPublisher; + std::shared_ptr m_node; + rclcpp::Publisher::SharedPtr m_animationPublisher; public: - FaceAnimationStrategy(uint16_t utility, std::shared_ptr filterPool, ros::NodeHandle& nodeHandle); + FaceAnimationStrategy(uint16_t utility, std::shared_ptr filterPool, std::shared_ptr node); DECLARE_NOT_COPYABLE(FaceAnimationStrategy); DECLARE_NOT_MOVABLE(FaceAnimationStrategy); @@ -34,11 +37,11 @@ class FaceAnimationStrategy : public Strategy class LedEmotionStrategy : public Strategy { - ros::NodeHandle& m_nodeHandle; - ros::Publisher m_emotionPublisher; + std::shared_ptr m_node; + rclcpp::Publisher::SharedPtr m_emotionPublisher; public: - LedEmotionStrategy(uint16_t utility, std::shared_ptr filterPool, ros::NodeHandle& nodeHandle); + LedEmotionStrategy(uint16_t utility, std::shared_ptr filterPool, std::shared_ptr node); DECLARE_NOT_COPYABLE(LedEmotionStrategy); DECLARE_NOT_MOVABLE(LedEmotionStrategy); @@ -52,16 +55,16 @@ class LedEmotionStrategy : public Strategy class LedAnimationStrategy : public Strategy { std::shared_ptr m_desireSet; - ros::NodeHandle& m_nodeHandle; - ros::Publisher m_animationPublisher; - ros::Subscriber m_animationDoneSubscriber; + std::shared_ptr m_node; + rclcpp::Publisher::SharedPtr m_animationPublisher; + rclcpp::Subscription::SharedPtr m_animationDoneSubscriber; public: LedAnimationStrategy( uint16_t utility, std::shared_ptr filterPool, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + std::shared_ptr node); DECLARE_NOT_COPYABLE(LedAnimationStrategy); DECLARE_NOT_MOVABLE(LedAnimationStrategy); @@ -72,19 +75,19 @@ class LedAnimationStrategy : public Strategy void onEnabling(const LedAnimationDesire& desire) override; private: - void animationDoneSubscriberCallback(const led_animations::Done::ConstPtr& msg); + void animationDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg); }; class SpecificFaceFollowingStrategy : public Strategy { - ros::NodeHandle& m_nodeHandle; - ros::Publisher m_targetNamePublisher; + std::shared_ptr m_node; + rclcpp::Publisher::SharedPtr m_targetNamePublisher; public: SpecificFaceFollowingStrategy( uint16_t utility, std::shared_ptr filterPool, - ros::NodeHandle& nodeHandle); + std::shared_ptr node); DECLARE_NOT_COPYABLE(SpecificFaceFollowingStrategy); DECLARE_NOT_MOVABLE(SpecificFaceFollowingStrategy); @@ -98,16 +101,16 @@ class SpecificFaceFollowingStrategy : public Strategy { std::shared_ptr m_desireSet; - ros::NodeHandle& m_nodeHandle; - ros::Publisher m_talkPublisher; - ros::Subscriber m_talkDoneSubscriber; + std::shared_ptr m_node; + rclcpp::Publisher::SharedPtr m_talkPublisher; + rclcpp::Subscription::SharedPtr m_talkDoneSubscriber; public: TalkStrategy( uint16_t utility, std::shared_ptr filterPool, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + std::shared_ptr node); DECLARE_NOT_COPYABLE(TalkStrategy); DECLARE_NOT_MOVABLE(TalkStrategy); @@ -118,22 +121,22 @@ class TalkStrategy : public Strategy void onEnabling(const TalkDesire& desire) override; private: - void talkDoneSubscriberCallback(const talk::Done::ConstPtr& msg); + void talkDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg); }; class GestureStrategy : public Strategy { std::shared_ptr m_desireSet; - ros::NodeHandle& m_nodeHandle; - ros::Publisher m_gesturePublisher; - ros::Subscriber m_gestureDoneSubscriber; + std::shared_ptr m_node; + rclcpp::Publisher::SharedPtr m_gesturePublisher; + rclcpp::Subscription::SharedPtr m_gestureDoneSubscriber; public: GestureStrategy( uint16_t utility, std::shared_ptr filterPool, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + std::shared_ptr node); DECLARE_NOT_COPYABLE(GestureStrategy); DECLARE_NOT_MOVABLE(GestureStrategy); @@ -144,22 +147,22 @@ class GestureStrategy : public Strategy void onEnabling(const GestureDesire& desire) override; private: - void gestureDoneSubscriberCallback(const gesture::Done::ConstPtr& msg); + void gestureDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg); }; class PlaySoundStrategy : public Strategy { std::shared_ptr m_desireSet; - ros::NodeHandle& m_nodeHandle; - ros::Publisher m_pathPublisher; - ros::Subscriber m_soundDoneSubscriber; + std::shared_ptr m_node; + rclcpp::Publisher::SharedPtr m_pathPublisher; + rclcpp::Subscription::SharedPtr m_soundDoneSubscriber; public: PlaySoundStrategy( uint16_t utility, std::shared_ptr filterPool, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle); + std::shared_ptr node); DECLARE_NOT_COPYABLE(PlaySoundStrategy); DECLARE_NOT_MOVABLE(PlaySoundStrategy); @@ -170,7 +173,7 @@ class PlaySoundStrategy : public Strategy void onEnabling(const PlaySoundDesire& desire) override; private: - void soundDoneSubscriberCallback(const sound_player::Done::ConstPtr& msg); + void soundDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg); }; std::unique_ptr @@ -202,14 +205,16 @@ std::unique_ptr createSpeechToTextStrategy(std::shared_ptr createExploreStrategy(std::shared_ptr filterPool, uint16_t utility = 1); std::unique_ptr createFaceAnimationStrategy( std::shared_ptr filterPool, - ros::NodeHandle& nodeHandle, + std::shared_ptr node, + uint16_t utility = 1); +std::unique_ptr createLedEmotionStrategy( + std::shared_ptr filterPool, + std::shared_ptr node, uint16_t utility = 1); -std::unique_ptr - createLedEmotionStrategy(std::shared_ptr filterPool, ros::NodeHandle& nodeHandle, uint16_t utility = 1); std::unique_ptr createLedAnimationStrategy( std::shared_ptr filterPool, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + std::shared_ptr node, uint16_t utility = 1); std::unique_ptr createSoundFollowingStrategy(std::shared_ptr filterPool, uint16_t utility = 1); @@ -217,31 +222,32 @@ std::unique_ptr createNearestFaceFollowingStrategy(std::shared_ptr filterPool, uint16_t utility = 1); std::unique_ptr createSpecificFaceFollowingStrategy( std::shared_ptr filterPool, - ros::NodeHandle& nodeHandle, + std::shared_ptr node, uint16_t utility = 1); std::unique_ptr createSoundObjectPersonFollowingStrategy(std::shared_ptr filterPool, uint16_t utility = 1); std::unique_ptr createTalkStrategy( std::shared_ptr filterPool, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + std::shared_ptr node, uint16_t utility = 1); std::unique_ptr createGestureStrategy( std::shared_ptr filterPool, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + std::shared_ptr node, uint16_t utility = 1); std::unique_ptr createDanceStrategy(std::shared_ptr filterPool, uint16_t utility = 1); std::unique_ptr createPlaySoundStrategy( std::shared_ptr filterPool, std::shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + std::shared_ptr node, uint16_t utility = 1); std::unique_ptr createTelepresenceStrategy(std::shared_ptr filterPool, uint16_t utility = 1); std::unique_ptr createTeleoperationStrategy(std::shared_ptr filterPool, uint16_t utility = 1); -std::unique_ptr createTooCloseReactionStrategy(std::shared_ptr filterPool, uint16_t utility = 1); +std::unique_ptr + createTooCloseReactionStrategy(std::shared_ptr filterPool, uint16_t utility = 1); #endif diff --git a/ros/utils/t_top_hbba_lite/package.xml b/ros/utils/t_top_hbba_lite/package.xml index a0740f97..a2fe007d 100644 --- a/ros/utils/t_top_hbba_lite/package.xml +++ b/ros/utils/t_top_hbba_lite/package.xml @@ -1,92 +1,32 @@ - + + t_top_hbba_lite 0.0.0 The t_top_hbba_lite package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclcpp + geometry_msgs + hbba_lite + nav_msgs + sensor_msgs + behavior_msgs + perception_msgs + std_msgs + tf2 + daemon_ros_client - - - - TODO + rosidl_default_runtime + rosidl_interface_packages + ament_lint_auto + ament_lint_common - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - geometry_msgs - hbba_lite - nav_msgs - sensor_msgs - sound_player - std_msgs - talk - tf - gesture - led_animations - daemon_ros_client - geometry_msgs - hbba_lite - nav_msgs - sensor_msgs - sound_player - std_msgs - talk - tf - gesture - led_animations - daemon_ros_client - geometry_msgs - hbba_lite - nav_msgs - sensor_msgs - sound_player - std_msgs - talk - tf - gesture - led_animations - daemon_ros_client - - - - - + ament_cmake diff --git a/ros/utils/t_top_hbba_lite/src/Desires.cpp b/ros/utils/t_top_hbba_lite/src/Desires.cpp index b326e4c3..d0db970f 100644 --- a/ros/utils/t_top_hbba_lite/src/Desires.cpp +++ b/ros/utils/t_top_hbba_lite/src/Desires.cpp @@ -43,7 +43,7 @@ LedEmotionDesire::LedEmotionDesire(string name, uint16_t intensity) : Desire(int LedAnimationDesire::LedAnimationDesire( string name, - vector colors, + vector colors, double speed, double durationS, uint16_t intensity) diff --git a/ros/utils/t_top_hbba_lite/src/Strategies.cpp b/ros/utils/t_top_hbba_lite/src/Strategies.cpp index 47c96b5b..f0a84e6b 100644 --- a/ros/utils/t_top_hbba_lite/src/Strategies.cpp +++ b/ros/utils/t_top_hbba_lite/src/Strategies.cpp @@ -1,21 +1,16 @@ #include -#include -#include -#include -#include -#include - using namespace std; FaceAnimationStrategy::FaceAnimationStrategy( uint16_t utility, shared_ptr filterPool, - ros::NodeHandle& nodeHandle) + shared_ptr node) : Strategy(utility, {}, {}, move(filterPool)), - m_nodeHandle(nodeHandle) + m_node(move(node)) { - m_animationPublisher = nodeHandle.advertise("face/animation", 1, true); + m_animationPublisher = + m_node->create_publisher("face/animation", rclcpp::QoS(1).transient_local()); } StrategyType FaceAnimationStrategy::strategyType() @@ -25,29 +20,33 @@ StrategyType FaceAnimationStrategy::strategyType() void FaceAnimationStrategy::onEnabling(const FaceAnimationDesire& desire) { - std_msgs::String msg; + std_msgs::msg::String msg; msg.data = desire.name(); - m_animationPublisher.publish(msg); + m_animationPublisher->publish(msg); } void FaceAnimationStrategy::onDisabling() { - std_msgs::String msg; + std_msgs::msg::String msg; msg.data = "normal"; - m_animationPublisher.publish(msg); + m_animationPublisher->publish(msg); Strategy::onDisabling(); } -LedEmotionStrategy::LedEmotionStrategy(uint16_t utility, shared_ptr filterPool, ros::NodeHandle& nodeHandle) +LedEmotionStrategy::LedEmotionStrategy( + uint16_t utility, + shared_ptr filterPool, + shared_ptr node) : Strategy( utility, {}, {{"led_emotions/filter_state", FilterConfiguration::onOff()}}, move(filterPool)), - m_nodeHandle(nodeHandle) + m_node(move(node)) { - m_emotionPublisher = nodeHandle.advertise("led_emotions/name", 1, true); + m_emotionPublisher = + m_node->create_publisher("led_emotions/name", rclcpp::QoS(1).transient_local()); } StrategyType LedEmotionStrategy::strategyType() @@ -57,27 +56,31 @@ StrategyType LedEmotionStrategy::strategyType() void LedEmotionStrategy::onEnabling(const LedEmotionDesire& desire) { - std_msgs::String msg; + std_msgs::msg::String msg; msg.data = desire.name(); - m_emotionPublisher.publish(msg); + m_emotionPublisher->publish(msg); } LedAnimationStrategy::LedAnimationStrategy( uint16_t utility, shared_ptr filterPool, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) + shared_ptr node) : Strategy( utility, {}, {{"led_animations/filter_state", FilterConfiguration::onOff()}}, move(filterPool)), m_desireSet(desireSet), - m_nodeHandle(nodeHandle) + m_node(move(node)) { - m_animationPublisher = nodeHandle.advertise("led_animations/animation", 1, true); - m_animationDoneSubscriber = - nodeHandle.subscribe("led_animations/done", 1, &LedAnimationStrategy::animationDoneSubscriberCallback, this); + m_animationPublisher = m_node->create_publisher( + "led_animations/animation", + rclcpp::QoS(1).transient_local()); + m_animationDoneSubscriber = m_node->create_subscription( + "led_animations/done", + 1, + [this](const behavior_msgs::msg::Done::SharedPtr msg) { animationDoneSubscriberCallback(msg); }); } StrategyType LedAnimationStrategy::strategyType() @@ -87,16 +90,16 @@ StrategyType LedAnimationStrategy::strategyType() void LedAnimationStrategy::onEnabling(const LedAnimationDesire& desire) { - led_animations::Animation msg; + behavior_msgs::msg::LedAnimation msg; msg.id = desire.id(); msg.duration_s = desire.durationS(); msg.name = desire.name(); msg.speed = desire.speed(); msg.colors = desire.colors(); - m_animationPublisher.publish(msg); + m_animationPublisher->publish(msg); } -void LedAnimationStrategy::animationDoneSubscriberCallback(const led_animations::Done::ConstPtr& msg) +void LedAnimationStrategy::animationDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg) { if (msg->id == desireId()) { @@ -107,16 +110,17 @@ void LedAnimationStrategy::animationDoneSubscriberCallback(const led_animations: SpecificFaceFollowingStrategy::SpecificFaceFollowingStrategy( uint16_t utility, shared_ptr filterPool, - ros::NodeHandle& nodeHandle) + shared_ptr node) : Strategy( utility, {}, {{"video_analyzer_3d/image_raw/filter_state", FilterConfiguration::throttling(3)}, {"specific_face_following/filter_state", FilterConfiguration::onOff()}}, move(filterPool)), - m_nodeHandle(nodeHandle) + m_node(move(node)) { - m_targetNamePublisher = nodeHandle.advertise("face_following/target_name", 1, true); + m_targetNamePublisher = + m_node->create_publisher("face_following/target_name", rclcpp::QoS(1).transient_local()); } StrategyType SpecificFaceFollowingStrategy::strategyType() @@ -126,26 +130,29 @@ StrategyType SpecificFaceFollowingStrategy::strategyType() void SpecificFaceFollowingStrategy::onEnabling(const SpecificFaceFollowingDesire& desire) { - std_msgs::String msg; + std_msgs::msg::String msg; msg.data = desire.targetName(); - m_targetNamePublisher.publish(msg); + m_targetNamePublisher->publish(msg); } TalkStrategy::TalkStrategy( uint16_t utility, shared_ptr filterPool, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) + shared_ptr node) : Strategy( utility, {{"sound", 1}}, {{"talk/filter_state", FilterConfiguration::onOff()}}, move(filterPool)), m_desireSet(move(desireSet)), - m_nodeHandle(nodeHandle) + m_node(move(node)) { - m_talkPublisher = nodeHandle.advertise("talk/text", 1, true); - m_talkDoneSubscriber = nodeHandle.subscribe("talk/done", 10, &TalkStrategy::talkDoneSubscriberCallback, this); + m_talkPublisher = m_node->create_publisher("talk/text", rclcpp::QoS(1).transient_local()); + m_talkDoneSubscriber = m_node->create_subscription( + "talk/done", + 1, + [this](const behavior_msgs::msg::Done::SharedPtr msg) { talkDoneSubscriberCallback(msg); }); } StrategyType TalkStrategy::strategyType() @@ -155,13 +162,13 @@ StrategyType TalkStrategy::strategyType() void TalkStrategy::onEnabling(const TalkDesire& desire) { - talk::Text msg; + behavior_msgs::msg::Text msg; msg.text = desire.text(); msg.id = desire.id(); - m_talkPublisher.publish(msg); + m_talkPublisher->publish(msg); } -void TalkStrategy::talkDoneSubscriberCallback(const talk::Done::ConstPtr& msg) +void TalkStrategy::talkDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg) { if (msg->id == desireId()) { @@ -173,14 +180,17 @@ GestureStrategy::GestureStrategy( uint16_t utility, shared_ptr filterPool, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) + shared_ptr node) : Strategy(utility, {}, {{"gesture/filter_state", FilterConfiguration::onOff()}}, move(filterPool)), m_desireSet(move(desireSet)), - m_nodeHandle(nodeHandle) + m_node(move(node)) { - m_gesturePublisher = nodeHandle.advertise("gesture/name", 1, true); - m_gestureDoneSubscriber = - nodeHandle.subscribe("gesture/done", 1, &GestureStrategy::gestureDoneSubscriberCallback, this); + m_gesturePublisher = + m_node->create_publisher("gesture/name", rclcpp::QoS(1).transient_local()); + m_gestureDoneSubscriber = m_node->create_subscription( + "gesture/done", + 1, + [this](const behavior_msgs::msg::Done::SharedPtr msg) { gestureDoneSubscriberCallback(msg); }); } StrategyType GestureStrategy::strategyType() @@ -190,13 +200,13 @@ StrategyType GestureStrategy::strategyType() void GestureStrategy::onEnabling(const GestureDesire& desire) { - gesture::GestureName msg; + behavior_msgs::msg::GestureName msg; msg.name = desire.name(); msg.id = desire.id(); - m_gesturePublisher.publish(msg); + m_gesturePublisher->publish(msg); } -void GestureStrategy::gestureDoneSubscriberCallback(const gesture::Done::ConstPtr& msg) +void GestureStrategy::gestureDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg) { if (msg->id == desireId()) { @@ -208,18 +218,21 @@ PlaySoundStrategy::PlaySoundStrategy( uint16_t utility, shared_ptr filterPool, shared_ptr desireSet, - ros::NodeHandle& nodeHandle) + shared_ptr node) : Strategy( utility, {{"sound", 1}}, {{"sound_player/filter_state", FilterConfiguration::onOff()}}, move(filterPool)), m_desireSet(desireSet), - m_nodeHandle(nodeHandle) + m_node(move(node)) { - m_pathPublisher = nodeHandle.advertise("sound_player/file", 1, true); - m_soundDoneSubscriber = - nodeHandle.subscribe("sound_player/done", 1, &PlaySoundStrategy::soundDoneSubscriberCallback, this); + m_pathPublisher = + m_node->create_publisher("sound_player/file", rclcpp::QoS(1).transient_local()); + m_soundDoneSubscriber = m_node->create_subscription( + "sound_player/done", + 1, + [this](const behavior_msgs::msg::Done::SharedPtr msg) { soundDoneSubscriberCallback(msg); }); } StrategyType PlaySoundStrategy::strategyType() @@ -229,13 +242,13 @@ StrategyType PlaySoundStrategy::strategyType() void PlaySoundStrategy::onEnabling(const PlaySoundDesire& desire) { - sound_player::SoundFile msg; + behavior_msgs::msg::SoundFile msg; msg.path = desire.path(); msg.id = desire.id(); - m_pathPublisher.publish(msg); + m_pathPublisher->publish(msg); } -void PlaySoundStrategy::soundDoneSubscriberCallback(const sound_player::Done::ConstPtr& msg) +void PlaySoundStrategy::soundDoneSubscriberCallback(const behavior_msgs::msg::Done::SharedPtr msg) { if (msg->id == desireId()) { @@ -395,24 +408,24 @@ unique_ptr createExploreStrategy(shared_ptr filterPool } unique_ptr - createFaceAnimationStrategy(shared_ptr filterPool, ros::NodeHandle& nodeHandle, uint16_t utility) + createFaceAnimationStrategy(shared_ptr filterPool, shared_ptr node, uint16_t utility) { - return make_unique(utility, move(filterPool), nodeHandle); + return make_unique(utility, move(filterPool), move(node)); } unique_ptr - createLedEmotionStrategy(shared_ptr filterPool, ros::NodeHandle& nodeHandle, uint16_t utility) + createLedEmotionStrategy(shared_ptr filterPool, shared_ptr node, uint16_t utility) { - return make_unique(utility, move(filterPool), nodeHandle); + return make_unique(utility, move(filterPool), move(node)); } unique_ptr createLedAnimationStrategy( shared_ptr filterPool, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + shared_ptr node, uint16_t utility) { - return make_unique(utility, filterPool, desireSet, nodeHandle); + return make_unique(utility, filterPool, desireSet, move(node)); } unique_ptr createSoundFollowingStrategy(shared_ptr filterPool, uint16_t utility) @@ -437,10 +450,10 @@ unique_ptr createNearestFaceFollowingStrategy(shared_ptr createSpecificFaceFollowingStrategy( shared_ptr filterPool, - ros::NodeHandle& nodeHandle, + shared_ptr node, uint16_t utility) { - return make_unique(utility, move(filterPool), nodeHandle); + return make_unique(utility, move(filterPool), move(node)); } unique_ptr createSoundObjectPersonFollowingStrategy(shared_ptr filterPool, uint16_t utility) @@ -457,19 +470,19 @@ unique_ptr createSoundObjectPersonFollowingStrategy(shared_ptr createTalkStrategy( shared_ptr filterPool, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + shared_ptr node, uint16_t utility) { - return make_unique(utility, move(filterPool), move(desireSet), nodeHandle); + return make_unique(utility, move(filterPool), move(desireSet), move(node)); } unique_ptr createGestureStrategy( shared_ptr filterPool, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + shared_ptr node, uint16_t utility) { - return make_unique(utility, move(filterPool), move(desireSet), nodeHandle); + return make_unique(utility, move(filterPool), move(desireSet), move(node)); } unique_ptr createDanceStrategy(shared_ptr filterPool, uint16_t utility) @@ -489,10 +502,10 @@ unique_ptr createDanceStrategy(shared_ptr filterPool, unique_ptr createPlaySoundStrategy( shared_ptr filterPool, shared_ptr desireSet, - ros::NodeHandle& nodeHandle, + shared_ptr node, uint16_t utility) { - return make_unique(utility, move(filterPool), move(desireSet), nodeHandle); + return make_unique(utility, move(filterPool), move(desireSet), move(node)); } unique_ptr createTelepresenceStrategy(shared_ptr filterPool, uint16_t utility) diff --git a/ros/utils/t_top_hbba_lite/src/set_head_pose_arbitration_node.cpp b/ros/utils/t_top_hbba_lite/src/set_head_pose_arbitration_node.cpp index 568e4067..c37794a6 100644 --- a/ros/utils/t_top_hbba_lite/src/set_head_pose_arbitration_node.cpp +++ b/ros/utils/t_top_hbba_lite/src/set_head_pose_arbitration_node.cpp @@ -1,28 +1,30 @@ -#include -#include -#include -#include +#include -#include +#include +#include +#include + +#include #include #include using namespace std; +constexpr const char* NODE_NAME = "set_head_pose_arbitration_node"; constexpr const char* HEAD_POSE_FRAME_ID = "stewart_base"; struct Topic { string name; int priority; - ros::Duration timeout; + rclcpp::Duration timeout; }; -geometry_msgs::Pose defaultPose() +geometry_msgs::msg::Pose defaultPose() { - geometry_msgs::Pose pose; + geometry_msgs::msg::Pose pose; pose.position.x = 0.0; pose.position.y = 0.0; @@ -37,95 +39,137 @@ geometry_msgs::Pose defaultPose() } -class ArbitrationNode +class ArbitrationNode : public rclcpp::Node { - ros::NodeHandle& m_nodeHandle; - vector m_subscribers; - ros::Publisher m_publisher; - bool m_hasAdvertised; + vector::SharedPtr> m_subscribers; + rclcpp::Publisher::SharedPtr m_publisher; vector m_topics; optional m_currentTopicIndex; - ros::Time m_lastMessageTime; + rclcpp::Time m_lastMessageTime; - vector m_offsets; + vector m_offsets; - ros::Subscriber m_motorStatusSubscriber; - optional m_lastPose; + rclcpp::Subscription::SharedPtr m_motorStatusSubscriber; + optional m_lastPose; public: - ArbitrationNode(ros::NodeHandle& nodeHandle, vector topics, vector offsetTopics, bool latch) - : m_nodeHandle(nodeHandle), - m_hasAdvertised(false), - m_topics(move(topics)), - m_lastMessageTime(ros::Time::now()) + ArbitrationNode() : rclcpp::Node(NODE_NAME), m_lastMessageTime(get_clock()->now()) { + m_topics = convertToTopics( + declare_parameter("topics", vector{}), + declare_parameter("priorities", vector{}), + declare_parameter("timeout_s", vector{})); + if (!hasUniquePriority(m_topics)) + { + throw std::runtime_error("The topic priorities must be unique."); + } + for (size_t i = 0; i < m_topics.size(); i++) { - m_subscribers.emplace_back(m_nodeHandle.subscribe( + m_subscribers.emplace_back(create_subscription( m_topics[i].name, 1, - [this, i](const geometry_msgs::PoseStamped::ConstPtr& msg) { callback(i, msg); })); + [this, i](const geometry_msgs::msg::PoseStamped::SharedPtr msg) { callback(i, msg); })); } + auto offsetTopics = declare_parameter("offset_topics", vector{}); for (size_t i = 0; i < offsetTopics.size(); i++) { - m_subscribers.emplace_back(m_nodeHandle.subscribe( + m_subscribers.emplace_back(create_subscription( offsetTopics[i], 1, - [this, i](const geometry_msgs::PoseStamped::ConstPtr& msg) { offsetCallback(i, msg); })); + [this, i](const geometry_msgs::msg::PoseStamped::SharedPtr msg) { offsetCallback(i, msg); })); m_offsets.emplace_back(defaultPose()); } - m_publisher = m_nodeHandle.advertise("daemon/set_head_pose", 1, latch); + m_publisher = create_publisher("daemon/set_head_pose", 1); - m_motorStatusSubscriber = - m_nodeHandle.subscribe("daemon/motor_status", 1, &ArbitrationNode::motorStatusCallback, this); + m_motorStatusSubscriber = create_subscription( + "daemon/motor_status", + 1, + [this](const daemon_ros_client::msg::MotorStatus::SharedPtr msg) { motorStatusCallback(msg); }); } - void run() { ros::spin(); } + void run() { rclcpp::spin(shared_from_this()); } private: - void callback(size_t i, const geometry_msgs::PoseStamped::ConstPtr& msg) + vector + convertToTopics(const vector& topics, const vector& priorities, const vector& timeoutS) + { + if (topics.size() != priorities.size() || topics.size() != timeoutS.size()) + { + throw std::runtime_error("The topics, priorities, timeout_s parameters must have the same size."); + } + + vector convertedTopics; + for (size_t i = 0; i < topics.size(); i++) + { + auto expandedTopic = rclcpp::expand_topic_or_service_name(topics[i], get_name(), get_namespace(), false); + auto timeout = chrono::duration>(timeoutS[i]); + convertedTopics.emplace_back(Topic{expandedTopic, static_cast(priorities[i]), timeout}); + } + + return convertedTopics; + } + + bool hasUniquePriority(const vector& topics) + { + unordered_set priorities; + + for (auto& topic : topics) + { + if (priorities.count(topic.priority) > 0) + { + return false; + } + + priorities.insert(topic.priority); + } + + return true; + } + + void callback(size_t i, const geometry_msgs::msg::PoseStamped::SharedPtr msg) { if (msg->header.frame_id != HEAD_POSE_FRAME_ID) { - ROS_ERROR_STREAM("Invalid head pose frame id (" << msg->header.frame_id << ")"); + RCLCPP_ERROR_STREAM(get_logger(), "Invalid head pose frame id (" << msg->header.frame_id << ")"); return; } if (m_currentTopicIndex == nullopt || m_topics[i].priority <= m_topics[*m_currentTopicIndex].priority || - (ros::Time::now() - m_lastMessageTime) > m_topics[*m_currentTopicIndex].timeout) + (get_clock()->now() - m_lastMessageTime) > m_topics[*m_currentTopicIndex].timeout) { m_currentTopicIndex = i; - m_lastMessageTime = ros::Time::now(); - m_publisher.publish(applyOffsets(*msg)); + m_lastMessageTime = get_clock()->now(); + m_publisher->publish(applyOffsets(*msg)); m_lastPose = *msg; } } - void offsetCallback(size_t i, const geometry_msgs::PoseStamped::ConstPtr& msg) + void offsetCallback(size_t i, const geometry_msgs::msg::PoseStamped::SharedPtr msg) { if (msg->header.frame_id != HEAD_POSE_FRAME_ID) { - ROS_ERROR_STREAM("Invalid head pose frame id (" << msg->header.frame_id << ")"); + RCLCPP_ERROR_STREAM(get_logger(), "Invalid head pose frame id (" << msg->header.frame_id << ")"); return; } m_offsets[i] = msg->pose; if (m_lastPose.has_value()) { - m_publisher.publish(applyOffsets(*m_lastPose)); + m_publisher->publish(applyOffsets(*m_lastPose)); } } - geometry_msgs::PoseStamped applyOffsets(const geometry_msgs::PoseStamped& inputMsg) + geometry_msgs::msg::PoseStamped applyOffsets(const geometry_msgs::msg::PoseStamped& inputMsg) { double x = inputMsg.pose.position.x; double y = inputMsg.pose.position.y; double z = inputMsg.pose.position.z; - tf::Quaternion rotation( + tf2::Quaternion rotation( inputMsg.pose.orientation.x, inputMsg.pose.orientation.y, inputMsg.pose.orientation.z, @@ -138,10 +182,10 @@ class ArbitrationNode z += offset.position.z; rotation *= - tf::Quaternion(offset.orientation.x, offset.orientation.y, offset.orientation.z, offset.orientation.w); + tf2::Quaternion(offset.orientation.x, offset.orientation.y, offset.orientation.z, offset.orientation.w); } - geometry_msgs::PoseStamped outputMsg; + geometry_msgs::msg::PoseStamped outputMsg; outputMsg.header = inputMsg.header; outputMsg.pose.position.x = x; outputMsg.pose.position.y = y; @@ -153,11 +197,11 @@ class ArbitrationNode return outputMsg; } - void motorStatusCallback(const daemon_ros_client::MotorStatus::ConstPtr& msg) + void motorStatusCallback(const daemon_ros_client::msg::MotorStatus::SharedPtr msg) { if (m_lastPose == nullopt) { - m_lastPose = geometry_msgs::PoseStamped(); + m_lastPose = geometry_msgs::msg::PoseStamped(); m_lastPose->header.frame_id = msg->head_pose_frame_id; m_lastPose->pose = msg->head_pose; } @@ -165,91 +209,22 @@ class ArbitrationNode }; -bool getTopics(ros::NodeHandle& privateNodeHandle, vector& topics) -{ - vector value; - - XmlRpc::XmlRpcValue xmlTopics; - privateNodeHandle.getParam("topics", xmlTopics); - if (xmlTopics.getType() != XmlRpc::XmlRpcValue::TypeArray) - { - ROS_ERROR("Invalid topics format"); - return false; - } - - for (size_t i = 0; i < xmlTopics.size(); i++) - { - if (xmlTopics[i].getType() != XmlRpc::XmlRpcValue::TypeStruct || - xmlTopics[i]["name"].getType() != XmlRpc::XmlRpcValue::TypeString || - xmlTopics[i]["priority"].getType() != XmlRpc::XmlRpcValue::TypeInt || - xmlTopics[i]["timeout_s"].getType() != XmlRpc::XmlRpcValue::TypeDouble) - { - ROS_ERROR_STREAM("Invalid topics[" << i << "]: name must be a string and priority must be a int and."); - return false; - } - - topics.emplace_back(Topic{ - static_cast(xmlTopics[i]["name"]), - static_cast(xmlTopics[i]["priority"]), - ros::Duration(static_cast(xmlTopics[i]["timeout_s"]))}); - } - - return topics.size() > 0; -} - -bool hasUniquePriorities(const vector& topics) -{ - unordered_set priorities; - - for (auto& topic : topics) - { - if (priorities.count(topic.priority) > 0) - { - return false; - } - - priorities.insert(topic.priority); - } - - return true; -} - - int main(int argc, char** argv) { - ros::init(argc, argv, "arbitration_node"); - - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); + rclcpp::init(argc, argv); - vector topics; - if (!getTopics(privateNodeHandle, topics)) + try { - ROS_ERROR("The parameter topics must be set, not empty and valid."); - return -1; + auto node = std::make_shared(); + node->run(); + rclcpp::shutdown(); } - if (!hasUniquePriorities(topics)) + catch (const std::exception& e) { - ROS_ERROR("The topic priorities must be unique."); + RCLCPP_ERROR(rclcpp::get_logger(NODE_NAME), "%s", e.what()); + rclcpp::shutdown(); return -1; } - vector offsetTopics; - if (!privateNodeHandle.getParam("offset_topics", offsetTopics)) - { - ROS_ERROR("The parameter offset_topics must be set."); - return false; - } - - bool latch; - if (!privateNodeHandle.getParam("latch", latch)) - { - ROS_ERROR("The parameter latch is required."); - return -1; - } - - ArbitrationNode node(nodeHandle, topics, offsetTopics, latch); - node.run(); - return 0; } diff --git a/ros/utils/time_utils/CMakeLists.txt b/ros/utils/time_utils/CMakeLists.txt new file mode 100644 index 00000000..83b76886 --- /dev/null +++ b/ros/utils/time_utils/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 3.5) +project(time_utils) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclpy REQUIRED) + + +# Python Librairies +ament_python_install_package(${PROJECT_NAME}) + + +ament_package() diff --git a/ros/utils/time_utils/README.md b/ros/utils/time_utils/README.md new file mode 100644 index 00000000..5762cfa3 --- /dev/null +++ b/ros/utils/time_utils/README.md @@ -0,0 +1,5 @@ +# time_utils + +Available classes : + +* Rate(hz) : Same behavior as ROS1. Sleep the process at the determined rate/frequency by calling Rate.sleep(). diff --git a/ros/utils/time_utils/package.xml b/ros/utils/time_utils/package.xml new file mode 100644 index 00000000..f2549e7f --- /dev/null +++ b/ros/utils/time_utils/package.xml @@ -0,0 +1,23 @@ + + + + time_utils + 0.0.0 + The time_utils package + Marc-Antoine Maheux + GPL-3.0 license + + ament_cmake + + rclpy + + rosidl_default_runtime + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/ros/utils/time_utils/time_utils/__init__.py b/ros/utils/time_utils/time_utils/__init__.py new file mode 100644 index 00000000..10365873 --- /dev/null +++ b/ros/utils/time_utils/time_utils/__init__.py @@ -0,0 +1,23 @@ +import time + +class Rate: + + def __init__(self, hz): + self._last_time_s = time.time() + self._sleep_duration_s = 1 / hz if hz > 0.0 else 0.0 + + def sleep(self): + curr_time_s = time.time() + # detect time jumping backwards + if self._last_time_s > curr_time_s: + self._last_time_s = curr_time_s + + # calculate sleep interval + elapsed_s = curr_time_s - self._last_time_s + time.sleep(self._sleep_duration_s - elapsed_s) + self._last_time_s = self._last_time_s + self._sleep_duration_s + + # detect time jumping forwards, as well as loops that are + # inherently too slow + if curr_time_s - self._last_time_s > self._sleep_duration_s * 2: + self._last_time_s = curr_time_s diff --git a/ros/utils/watchdog/CMakeLists.txt b/ros/utils/watchdog/CMakeLists.txt index b9a677d8..3ff7b7da 100644 --- a/ros/utils/watchdog/CMakeLists.txt +++ b/ros/utils/watchdog/CMakeLists.txt @@ -1,207 +1,38 @@ -cmake_minimum_required(VERSION 3.0.2) +cmake_minimum_required(VERSION 3.5) project(watchdog) -## 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 - topic_tools -) - -## 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 watchdog -# CATKIN_DEPENDS roscpp rospy std_msgs topic_tools -# DEPENDS system_lib -) - -########### -## Build ## -########### +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) +# Default to C++17 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/watchdog.cpp -# ) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclpy REQUIRED) -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide +# C++ Nodes add_executable(watchdog_node src/watchdog_node.cpp) +ament_target_dependencies(watchdog_node rclcpp) +install(TARGETS watchdog_node DESTINATION lib/${PROJECT_NAME}) -## 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(watchdog_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 +# Python Nodes +install(PROGRAMS scripts/test_node.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION lib/${PROJECT_NAME} ) -## 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_watchdog.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +# Launch files +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +ament_package() diff --git a/ros/utils/watchdog/launch/test_watchdog.launch b/ros/utils/watchdog/launch/test_watchdog.launch.xml similarity index 67% rename from ros/utils/watchdog/launch/test_watchdog.launch rename to ros/utils/watchdog/launch/test_watchdog.launch.xml index 1ff962f0..d0e413ae 100644 --- a/ros/utils/watchdog/launch/test_watchdog.launch +++ b/ros/utils/watchdog/launch/test_watchdog.launch.xml @@ -1,11 +1,12 @@ - + - + + diff --git a/ros/utils/watchdog/package.xml b/ros/utils/watchdog/package.xml index de919d9d..b8971548 100644 --- a/ros/utils/watchdog/package.xml +++ b/ros/utils/watchdog/package.xml @@ -1,71 +1,26 @@ - + + watchdog 0.0.0 The watchdog package + Marc-Antoine Maheux + GPL-3.0 license - - - - marc-antoine + ament_cmake + rclcpp + rclpy - - - - TODO + rosidl_default_runtime + ros2launch + rosidl_interface_packages + ament_lint_auto + ament_lint_common + ament_cmake_gtest - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - rospy - std_msgs - topic_tools - roscpp - rospy - std_msgs - topic_tools - roscpp - rospy - std_msgs - topic_tools - - - - - + ament_cmake diff --git a/ros/utils/watchdog/scripts/test_node.py b/ros/utils/watchdog/scripts/test_node.py index 1dab3453..a61bdf67 100755 --- a/ros/utils/watchdog/scripts/test_node.py +++ b/ros/utils/watchdog/scripts/test_node.py @@ -1,38 +1,47 @@ #!/usr/bin/env python3 -import rospy +import rclpy +import rclpy.node from std_msgs.msg import Empty -class TestNode: +class TestNode(rclpy.node.Node): def __init__(self): - self._startup_delay_s = rospy.get_param('~startup_delay_s', 1.5) - self._freeze_delay_s = rospy.get_param('~freeze_delay_s', 10.0) - self._message_frequency = rospy.get_param('~message_frequency', 10.0) + super().__init__('test_node') - self._pub = rospy.Publisher('topic', Empty, queue_size=1) - self._rate = rospy.Rate(self._message_frequency) + self._startup_delay_ns = self.declare_parameter('startup_delay_s', 1.5).get_parameter_value().double_value * 1e9 + self._freeze_delay_ns = self.declare_parameter('freeze_delay_s', 10.0).get_parameter_value().double_value * 1e9 + self._message_frequency = self.declare_parameter('message_frequency', 10.0).get_parameter_value().double_value - def run(self): - startup_time_s = rospy.get_time() + self._pub = self.create_publisher(Empty, 'topic', 1) + + self._timer = self.create_timer(1 / self._message_frequency, self._timer_callback) - while not rospy.is_shutdown(): - startup_duration = rospy.get_time() - startup_time_s - if startup_duration > self._startup_delay_s and startup_duration < self._freeze_delay_s: - self._pub.publish(Empty()) + self._startup_time = self.get_clock().now() - self._rate.sleep() + def _timer_callback(self): + startup_duration = self.get_clock().now() - self._startup_time + if startup_duration.nanoseconds > self._startup_delay_ns and startup_duration.nanoseconds < self._freeze_delay_ns: + self._pub.publish(Empty()) + + def run(self): + rclpy.spin(self) def main(): - rospy.init_node('test_node') + rclpy.init() test_node = TestNode() - test_node.run() - -if __name__ == '__main__': try: - main() - except rospy.ROSInterruptException: + test_node.run() + except KeyboardInterrupt: pass + finally: + test_node.destroy_node() + if rclpy.ok(): + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/ros/utils/watchdog/src/watchdog_node.cpp b/ros/utils/watchdog/src/watchdog_node.cpp index cc149187..101f705b 100644 --- a/ros/utils/watchdog/src/watchdog_node.cpp +++ b/ros/utils/watchdog/src/watchdog_node.cpp @@ -1,131 +1,126 @@ -#include -#include -#include -#include - -#include +#include #include #include +#include +#include +#include + using namespace std; +namespace fs = std::filesystem; -constexpr bool ONE_SHOT = true; +string readFile(const fs::path& path) +{ + std::ifstream t(path); + std::stringstream ss; + ss << t.rdbuf(); + return ss.str(); +} bool getNodePid(const string& nodeName, int& pid) { - XmlRpc::XmlRpcValue req; - req[0] = ros::this_node::getName(); - req[1] = nodeName; - - XmlRpc::XmlRpcValue resp; - XmlRpc::XmlRpcValue payload; - if (!ros::master::execute("lookupNode", req, resp, payload, true)) - { - ROS_ERROR_STREAM("Failed to lookup the watched node (" << nodeName << ")."); - return false; - } - - string peerHost; - uint32_t peerPort; - if (!ros::network::splitURI(static_cast(resp[2]), peerHost, peerPort)) - { - ROS_ERROR_STREAM("Invalid API URI (" << resp[2] << ")"); - return false; - } + auto arg = "__node:=" + nodeName; - XmlRpc::XmlRpcClient c(peerHost.c_str(), peerPort, "/"); - XmlRpc::XmlRpcValue req2; - XmlRpc::XmlRpcValue resp2; - req2[0] = ros::this_node::getName(); - c.execute("getPid", req2, resp2); - if (c.isFault() || !resp2.valid() || static_cast(resp2[0]) != 1) + for (const auto& entry : fs::directory_iterator("/proc")) { - ROS_ERROR_STREAM("Failed to fetch the pid of " << nodeName << "."); - return false; + if (readFile(entry.path() / "cmdline").find(arg) != string::npos) + { + pid = stoi(entry.path().filename()); + return true; + } } - pid = static_cast(resp2[2]); - return true; -} - -void killNode(const string& nodeName) -{ - int pid; - if (getNodePid(nodeName, pid)) - { - ROS_ERROR_STREAM("Killing PID: " << pid); - kill(pid, SIGINT); - } + return false; } -class WatchdogNode +class WatchdogNode : public rclcpp::Node { - ros::NodeHandle& m_nodeHandle; - string m_nodeName; - ros::Duration m_timeoutDuration; + string m_topic; + chrono::milliseconds m_timeoutDuration; - ros::Time m_lastStartupTime; + rclcpp::TimerBase::SharedPtr m_initTimer; - ros::Subscriber m_subscriber; - ros::Timer m_messageTimer; + rclcpp::GenericSubscription::SharedPtr m_subscriber; + rclcpp::TimerBase::SharedPtr m_messageTimer; public: - WatchdogNode(ros::NodeHandle& nodeHandle, string nodeName, ros::Duration timeoutDuration) - : m_nodeHandle(nodeHandle), - m_nodeName(move(nodeName)), - m_timeoutDuration(timeoutDuration) + WatchdogNode() : rclcpp::Node("watchdog_node") { - m_lastStartupTime = ros::Time::now(); + m_nodeName = declare_parameter("node_name", ""); + m_topic = rclcpp::expand_topic_or_service_name(declare_parameter("topic", ""), get_name(), get_namespace(), false); + RCLCPP_INFO_STREAM(get_logger(), "Listening on: " << m_topic); - m_subscriber = nodeHandle.subscribe("topic", 1, &WatchdogNode::topicCallback, this); + double timeoutDurationS = declare_parameter("timeout_duration_s", 60.0); + m_timeoutDuration = chrono::milliseconds(static_cast(timeoutDurationS * 1000)); + + m_initTimer = create_wall_timer(std::chrono::seconds(1), [this]() { initTimerCallback(); }); } - void run() { ros::spin(); } + void run() { rclcpp::spin(shared_from_this()); } private: - void topicCallback(const ros::MessageEvent& msgEvent) + void initTimerCallback() { - if (m_messageTimer.isValid()) + auto all_topics_and_types = get_topic_names_and_types(); + auto it = all_topics_and_types.find(m_topic); + if (it == all_topics_and_types.end() || it->second.empty()) { - m_messageTimer.stop(); + return; } - m_messageTimer = - m_nodeHandle.createTimer(m_timeoutDuration, &WatchdogNode::messageTimerCallback, this, ONE_SHOT); + RCLCPP_INFO_STREAM(get_logger(), "Topic type found: " << it->second[0]); + + m_subscriber = create_generic_subscription(m_topic, it->second[0], 1, + [this](std::shared_ptr msg) + { + topicCallback(); + }); + + m_initTimer->cancel(); + } + + void topicCallback() + { + if (m_messageTimer) + { + m_messageTimer->reset(); + } + else + { + m_messageTimer = create_wall_timer(m_timeoutDuration, [this]() { messageTimerCallback(); }); + } } - void messageTimerCallback(const ros::TimerEvent&) + void messageTimerCallback() { - ROS_ERROR_STREAM("The node '" << m_nodeName << "' is no longer responding. The node will be respawned."); + RCLCPP_ERROR_STREAM(get_logger(), "The node '" << m_nodeName << "' is no longer responding. The node will be respawned."); killNode(m_nodeName); + + m_messageTimer->cancel(); + m_messageTimer = nullptr; + } + + void killNode(const string& nodeName) + { + int pid; + if (getNodePid(nodeName, pid)) + { + RCLCPP_ERROR_STREAM(get_logger(), "Killing PID: " << pid); + kill(pid, SIGINT); + } } }; int main(int argc, char** argv) { - ros::init(argc, argv, "beat_detector_node"); - - ros::NodeHandle nodeHandle; - ros::NodeHandle privateNodeHandle("~"); + rclcpp::init(argc, argv); - string nodeName; - double timeoutDurationS; - - if (!privateNodeHandle.getParam("node_name", nodeName)) - { - ROS_ERROR("The parameter node_name is required."); - return -1; - } - if (!privateNodeHandle.getParam("timeout_duration_s", timeoutDurationS)) - { - ROS_ERROR("The parameter timeout_duration_s is required."); - return -1; - } + auto node = std::make_shared(); + node->run(); - WatchdogNode node(nodeHandle, nodeName, ros::Duration(timeoutDurationS)); - node.run(); + rclcpp::shutdown(); return 0; } diff --git a/system/daemon/COLCON_IGNORE b/system/daemon/COLCON_IGNORE new file mode 100644 index 00000000..e69de29b diff --git a/system/daemon/src/DaemonApp.cpp b/system/daemon/src/DaemonApp.cpp index 9780c021..9b926d6b 100644 --- a/system/daemon/src/DaemonApp.cpp +++ b/system/daemon/src/DaemonApp.cpp @@ -210,7 +210,7 @@ void DaemonApp::setScreenBrightness(float front, float back, float left, float r void DaemonApp::terminateAllROSProcessesAndShutdown() { #ifdef __linux__ - auto pids = listPidsMatchingTheCriteria("roslaunch"); + auto pids = listPidsMatchingTheCriteria("ros2 launch"); qDebug() << "Shutdown of roslaunch processes (" << pids << ")"; shutdownProcessesAndWait(pids, SHUTDOWN_TIMEOUT_SEC); qDebug() << "Shutdown of roslaunch processes completed"; diff --git a/system/system_tray/COLCON_IGNORE b/system/system_tray/COLCON_IGNORE new file mode 100644 index 00000000..e69de29b diff --git a/tools/setup_scripts/files/colcon_defaults.yaml b/tools/setup_scripts/files/colcon_defaults.yaml new file mode 100644 index 00000000..e3250383 --- /dev/null +++ b/tools/setup_scripts/files/colcon_defaults.yaml @@ -0,0 +1,9 @@ +build: + cmake-args: + - -DCMAKE_EXPORT_COMPILE_COMMANDS=ON + - --no-warn-unused-cli + - -DPYTHON_EXECUTABLE=/usr/bin/python3 + - -DCMAKE_BUILD_TYPE=Release + - -DCMAKE_CXX_FLAGS=-march=native -ffast-math + - -DCMAKE_C_FLAGS=-march=native -ffast-math + symlink-install: true diff --git a/tools/setup_scripts/files/requirements.txt b/tools/setup_scripts/files/requirements.txt index e9130713..a44dd086 100644 --- a/tools/setup_scripts/files/requirements.txt +++ b/tools/setup_scripts/files/requirements.txt @@ -17,3 +17,4 @@ git+https://github.com/cocodataset/cocoapi.git#subdirectory=PythonAPI protobuf==3.20.3 grpcio-status==1.48.2 faster-whisper==0.9.0 +transforms3d diff --git a/tools/setup_scripts/jetson_configuration.sh b/tools/setup_scripts/jetson_configuration.sh index c6d9c25e..81b8f1fc 100755 --- a/tools/setup_scripts/jetson_configuration.sh +++ b/tools/setup_scripts/jetson_configuration.sh @@ -1,5 +1,16 @@ #! /usr/bin/bash +export ROS_DISTRO=humble +export ROS_PACKAGE=desktop_full +export ROS_ROOT=/opt/ros/$ROS_DISTRO +export ROS_PYTHON_VERSION=3 +export DEBIAN_FRONTEND=noninteractive +export PYTHONIOENCODING=utf-8 + +# Required for jetpack to find cuda +export PATH=/usr/local/cuda-11.4/bin:$PATH +export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:$LD_LIBRARY_PATH + set -e BLUE='\033[0;34m' @@ -87,6 +98,14 @@ clone_git () { fi } +sudo_clone_git () { + # arg 1: git clone command + local FOLDER=$(echo $@ | perl -pe 's|.*/(.*)\.git.*|$1|') + if [ ! -d "$FOLDER/.git" ] ; then + sudo git clone $@ + fi +} + apply_patch () { patch --dry-run -uN $@ | grep --quiet --no-messages "previously applied.*Skipping patch" || patch -u $@ } @@ -146,13 +165,62 @@ sudo apt upgrade -y sudo apt autoremove -y ECHO_IN_BLUE "###############################################################\n" +ECHO_IN_BLUE "###############################################################" +ECHO_IN_BLUE ">> Installing tools" +ECHO_IN_BLUE "###############################################################" +if [ $(checkstamp install_tools) = "false" ] ; then + sudo apt install -y htop python3-pip perl rsync scons + sudo apt-get install -y --no-install-recommends \ + git \ + curl \ + wget \ + gnupg2 \ + lsb-release \ + ca-certificates \ + git \ + libgtk-3-dev \ + libglfw3-dev \ + libgl1-mesa-dev \ + libglu1-mesa-dev \ + build-essential \ + cmake \ + cmake-curses-gui \ + libssl-dev \ + libusb-1.0-0-dev \ + libudev-dev \ + pkg-config + sudo -H pip3 install -U jetson-stats + makestamp install_tools +else + SKIP_SECTION "Tools already installed, skipping" +fi +ECHO_IN_BLUE "###############################################################\n" + +ECHO_IN_BLUE "###############################################################" +ECHO_IN_BLUE ">> Setting System Locale to en_US.UTF-8" +ECHO_IN_BLUE "###############################################################" +sudo update-locale LANG=en_US.UTF-8 +ECHO_IN_BLUE "###############################################################\n" + +ECHO_IN_BLUE "###############################################################" +ECHO_IN_BLUE ">> Setting Python3 as default" +ECHO_IN_BLUE "###############################################################" +if [ $(checkstamp python3_default) = "false" ] ; then + sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 1 + makestamp python3_default +else + SKIP_SECTION "Python3 is already the default, skipping" +fi +ECHO_IN_BLUE "###############################################################\n" + + ECHO_IN_BLUE "###############################################################" ECHO_IN_BLUE ">> Cloning the T-Top repo" ECHO_IN_BLUE "###############################################################" if [ $(checkstamp ttop_repo) = "false" ] ; then mkdir -p ~/t-top_ws/src cd ~/t-top_ws/src - clone_git --recurse-submodules https://github.com/introlab/t-top.git + clone_git --recurse-submodules https://github.com/introlab/t-top.git -b ros2 makestamp ttop_repo else SKIP_SECTION "T-Top repo already cloned, skipping" @@ -237,7 +305,7 @@ ECHO_IN_BLUE ">> Installing NPM and Node" ECHO_IN_BLUE "###############################################################" if [ $(checkstamp node) = "false" ] ; then sudo apt install -y curl software-properties-common - curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash - + curl -sL https://deb.nodesource.com/setup_16.x | sudo -E bash - sudo apt install -y nodejs makestamp node else @@ -246,121 +314,53 @@ fi ECHO_IN_BLUE "###############################################################\n" ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Installing tools" -ECHO_IN_BLUE "###############################################################" -if [ $(checkstamp install_tools) = "false" ] ; then - sudo apt install -y htop python3-pip perl rsync scons - sudo -H pip3 install -U jetson-stats - makestamp install_tools -else - SKIP_SECTION "Tools already installed, skipping" -fi -ECHO_IN_BLUE "###############################################################\n" - -ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Updating CMake" -ECHO_IN_BLUE "###############################################################" -if [ $(checkstamp cmake) = "false" ] ; then - wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null - sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" - sudo apt update - sudo apt install -y cmake - makestamp cmake -else - SKIP_SECTION "CMake already installed, skipping" -fi -ECHO_IN_BLUE "###############################################################\n" - -ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Cloning Librealsense 2" -ECHO_IN_BLUE "###############################################################" -if [ $(checkstamp librealsense_clone) = "false" ] ; then - mkdir -p ~/deps - cd ~/deps - clone_git https://github.com/jetsonhacks/buildLibrealsense2Xavier.git - makestamp librealsense_clone -else - SKIP_SECTION "Librealsense 2 already cloned, skipping" -fi -ECHO_IN_BLUE "###############################################################\n" - -ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Patching Librealsense 2" -ECHO_IN_BLUE "###############################################################" -cd ~/deps/buildLibrealsense2Xavier -apply_patch installLibrealsense.sh $PATCH_FILES_DIR/installLibrealsense.patch -ECHO_IN_BLUE "###############################################################\n" - -ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Building and installing Librealsense 2" -ECHO_IN_BLUE "###############################################################" -if [ $(checkstamp librealsense_build) = "false" ] ; then - cd ~/deps/buildLibrealsense2Xavier - # Installed later on, but will cause a failure if installed now - sudo apt autoremove -y libapriltag-dev - yes | ./installLibrealsense.sh - makestamp librealsense_build -else - SKIP_SECTION "Librealsense 2 already built, skipping" -fi -ECHO_IN_BLUE "###############################################################\n" - -ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Install ROS build dependencies" +ECHO_IN_BLUE ">> Install ROS2 build dependencies" ECHO_IN_BLUE "###############################################################" if [ $(checkstamp ros_build_deps) = "false" ] ; then - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' - curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - - sudo apt update + sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg + sudo echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null + sudo apt-get update + + sudo apt-get install -y --no-install-recommends \ + build-essential \ + libbullet-dev \ + libpython3-dev \ + python3-colcon-common-extensions \ + python3-flake8 \ + python3-pip \ + python3-numpy \ + python3-pytest-cov \ + python3-rosdep \ + python3-setuptools \ + python3-vcstool \ + python3-rosinstall-generator \ + libasio-dev \ + libtinyxml2-dev \ + libcunit1-dev + + sudo pip3 install --upgrade --no-cache-dir \ + argcomplete \ + flake8-blind-except \ + flake8-builtins \ + flake8-class-newline \ + flake8-comprehensions \ + flake8-deprecated \ + flake8-docstrings \ + flake8-import-order \ + flake8-quotes \ + pytest-repeat \ + pytest-rerunfailures \ + pytest + + sudo python3 -m pip install --upgrade pip + sudo pip3 install --no-cache-dir scikit-build + sudo pip3 install --upgrade --no-cache-dir --verbose cmake==3.24.3 + + # remove other versions of Python3 + # workaround for 'Could NOT find Python3 (missing: Python3_NumPy_INCLUDE_DIRS Development' + sudo apt purge -y python3.9 libpython3.9* || echo "python3.9 not found, skipping removal" - sudo apt install -y \ - python3-rosdep \ - python3-rosinstall-generator \ - python3-vcstool \ - python3-catkin-tools \ - build-essential \ - libboost-all-dev \ - libpoco-dev python3-empy \ - libtinyxml-dev \ - libtinyxml2-dev \ - qt5-default \ - sip-dev \ - python3-sip \ - python3-sip-dbg \ - python3-sip-dev \ - python3-pyqt5 \ - python3-nose \ - python3-twisted \ - python3-serial \ - python3-autobahn \ - python3-tornado \ - python3-bson \ - python3-qt-binding \ - libcurl4-gnutls-dev \ - libgtest-dev \ - liblz4-dev \ - libfltk1.3-dev \ - liburdfdom-headers-dev \ - liburdfdom-dev \ - liburdfdom-tools \ - libgpgme-dev \ - libyaml-cpp-dev \ - libpcl-dev \ - libgtk-3-dev \ - libassimp-dev \ - libogre-1.9-dev \ - libconfig-dev \ - liblog4cplus-dev \ - alsa-utils \ - liblog4cpp5-dev \ - liblog4cxx-dev \ - libbz2-dev \ - libbullet-dev \ - libsdl1.2-dev \ - libsdl-image1.2-dev \ - libapriltag-dev \ - libdc1394-22-dev makestamp ros_build_deps else SKIP_SECTION "ROS build dependencies already installed, skipping" @@ -368,38 +368,7 @@ fi ECHO_IN_BLUE "###############################################################\n" ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Install ROS system dependencies" -ECHO_IN_BLUE "###############################################################" -if [ $(checkstamp ros_system_deps) = "false" ] ; then - - cd ~/deps - clone_git https://github.com/ros/console_bridge.git - cd console_bridge - cmake_build_install_native - - cd ~/deps - clone_git https://github.com/ethz-asl/libnabo.git -b 1.0.7 - cd libnabo - cmake_build_install_native - - cd ~/deps - clone_git https://github.com/ethz-asl/libpointmatcher.git -b 1.3.1 - cd libpointmatcher - cmake_build_install_native - - cd ~/deps - clone_git -b 0.21.1-noetic https://github.com/introlab/rtabmap.git - cd rtabmap - cmake_build_install_native 4 - - makestamp ros_system_deps -else - SKIP_SECTION "ROS system dependencies already installed, skipping" -fi -ECHO_IN_BLUE "###############################################################\n" - -ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Generate ROS build workspace and install dependencies" +ECHO_IN_BLUE ">> Generate ROS2 build workspace and install dependencies" ECHO_IN_BLUE "###############################################################" if [ $(checkstamp ros_ws_deps) = "false" ] ; then @@ -408,12 +377,58 @@ if [ $(checkstamp ros_ws_deps) = "false" ] ; then fi rosdep update - mkdir -p ~/ros_catkin_ws/src - cd ~/ros_catkin_ws - - rosinstall_generator desktop_full --rosdistro noetic --deps --tar > noetic-desktop.rosinstall - vcs import --input noetic-desktop.rosinstall ./src - rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y + # create the ROS_ROOT directory + mkdir -p ${ROS_ROOT}/src + cd ${ROS_ROOT} + + sudo bash -c "rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PACKAGE} \ + launch_xml \ + launch_yaml \ + launch_testing \ + launch_testing_ament_cmake \ + demo_nodes_cpp \ + demo_nodes_py \ + example_interfaces \ + camera_calibration_parsers \ + camera_info_manager \ + cv_bridge \ + v4l2_camera \ + vision_opencv \ + vision_msgs \ + image_geometry \ + image_pipeline \ + image_transport \ + compressed_image_transport \ + compressed_depth_image_transport \ + rosbag2_storage_mcap \ + rtabmap \ + rtabmap_ros \ + diagnostics \ + imu_tools \ + rosbridge_suite \ + tf_transformations \ + joint_state_publisher_gui \ + rqt_tf_tree \ + > ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall" + + sudo vcs import --retry 100 src < ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall + + SKIP_KEYS="libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv xsimd xtensor xtl" + sudo rosdep update + sudo rosdep install -y \ + --ignore-src \ + --from-paths src \ + --rosdistro ${ROS_DISTRO} \ + --skip-keys "$SKIP_KEYS" + + cd ${ROS_ROOT}/src + sudo_clone_git -b master https://github.com/Kapernikov/cv_camera.git --depth 1 --recurse-submodules + sudo_clone_git -b 0.7.0 https://github.com/xtensor-stack/xtl.git --depth 1 --recurse-submodules + sudo_clone_git -b 7.4.8 https://github.com/xtensor-stack/xsimd.git --depth 1 --recurse-submodules + sudo_clone_git -b 0.23.10 https://github.com/xtensor-stack/xtensor.git --depth 1 --recurse-submodules + + sudo_apply_patch ${ROS_ROOT}/src/libg2o/CMakeLists.txt $PATCH_FILES_DIR/libg2o.patch + sudo_apply_patch ${ROS_ROOT}/src/octomap_msgs/CMakeLists.txt $PATCH_FILES_DIR/octomap_msgs.patch makestamp ros_ws_deps else @@ -421,77 +436,20 @@ else fi ECHO_IN_BLUE "###############################################################\n" -ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Remove useless ROS packages" -ECHO_IN_BLUE "###############################################################" -if [ $(checkstamp ros_deps_rm) = "false" ] ; then - rm -rf ~/ros_catkin_ws/src/gazebo_ros_pkgs/ - makestamp ros_deps_rm -else - SKIP_SECTION "Useless ROS packages already removed, skipping" -fi -ECHO_IN_BLUE "###############################################################\n" - -ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Add missing ROS packages" -ECHO_IN_BLUE "###############################################################" -if [ $(checkstamp ros_deps_add) = "false" ] ; then - - cd ~/ros_catkin_ws/src - clone_git -b 1.0.1 https://github.com/GT-RAIL/rosauth.git - clone_git -b noetic-devel https://github.com/ros-drivers/rosserial.git - clone_git -b ros1 https://github.com/RobotWebTools/rosbridge_suite.git - clone_git -b noetic https://github.com/ccny-ros-pkg/imu_tools.git - clone_git --recursive https://github.com/orocos/orocos_kinematics_dynamics.git - - clone_git -b 0.21.1-noetic https://github.com/introlab/rtabmap_ros.git - clone_git -b noetic-devel https://github.com/ros-planning/navigation.git - - clone_git -b kinetic-devel https://github.com/pal-robotics/ddynamic_reconfigure.git - clone_git -b 2.3.2 https://github.com/IntelRealSense/realsense-ros.git - clone_git https://github.com/OTL/cv_camera.git - clone_git -b 0.6.4-noetic https://github.com/introlab/find-object.git - - makestamp ros_deps_add -else - SKIP_SECTION "Missing ROS packages already added, skipping" -fi -ECHO_IN_BLUE "###############################################################\n" - -ECHO_IN_BLUE "###############################################################" -ECHO_IN_BLUE ">> Replace incomplete ROS packages" -ECHO_IN_BLUE "###############################################################" -if [ $(checkstamp ros_deps_replace) = "false" ] ; then - - cd ~/ros_catkin_ws/src - rm -rf geometry2 navigation_msgs vision_opencv image_common perception_pcl pcl_msgs image_transport_plugins - - clone_git -b noetic-devel https://github.com/ros/geometry2.git - clone_git -b ros1 https://github.com/ros-planning/navigation_msgs.git - clone_git -b noetic https://github.com/ros-perception/vision_opencv.git - clone_git -b noetic-devel https://github.com/ros-perception/image_common.git - - clone_git -b 1.7.1 https://github.com/ros-perception/perception_pcl.git - clone_git -b noetic-devel https://github.com/ros-perception/pcl_msgs.git - clone_git -b noetic-devel https://github.com/ros-perception/image_transport_plugins.git - - cd ~/ros_catkin_ws - rosdep install --from-paths ./src/image_transport_plugins --ignore-packages-from-source --rosdistro noetic -y - - makestamp ros_deps_replace -else - SKIP_SECTION "Incomplete ROS packages already replaced, skipping" -fi -ECHO_IN_BLUE "###############################################################\n" - ECHO_IN_BLUE "###############################################################" ECHO_IN_BLUE ">> Build ROS workspace" ECHO_IN_BLUE "###############################################################" if [ $(checkstamp ros_ws_build) = "false" ] ; then - cd ~/ros_catkin_ws - apt list --installed | grep --quiet --no-messages --fixed-regexp "python3.9/" && sudo apt autoremove -y python3.9 || true - catkin config --init --install --space-suffix _isolated --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCATKIN_ENABLE_TESTING=0 -Wno-dev - catkin build + cd ${ROS_ROOT} + + add_to_root_bashrc 'export PATH=/usr/local/cuda-11.4/bin:$PATH' + add_to_root_bashrc 'export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:$LD_LIBRARY_PATH' + + export ROS_VERSION=2 + sudo bash -c "export PATH=/usr/local/cuda-11.4/bin:$PATH; \ + export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:$LD_LIBRARY_PATH; \ + colcon build \ + --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DCMAKE_PREFIX_PATH=$ROS_ROOT -DBUILD_WITH_CUDA=true -DBUILD_TESTING=OFF" makestamp ros_ws_build else @@ -502,7 +460,7 @@ ECHO_IN_BLUE "###############################################################\n" ECHO_IN_BLUE "###############################################################" ECHO_IN_BLUE ">> Add ROS setup source to .bashrc" ECHO_IN_BLUE "###############################################################" -add_to_bashrc 'source ~/ros_catkin_ws/install_isolated/setup.bash' +add_to_bashrc 'source /opt/ros/humble/install/setup.bash' ECHO_IN_BLUE "###############################################################\n" ECHO_IN_BLUE "###############################################################" @@ -553,7 +511,11 @@ ECHO_IN_BLUE "###############################################################" ECHO_IN_BLUE ">> Install ONNX Runtime" ECHO_IN_BLUE "###############################################################" if [ $(checkstamp onnxruntime) = "false" ] ; then + add_to_bashrc 'export PATH=/usr/local/cuda-11.4/bin:$PATH' + add_to_bashrc 'export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:$LD_LIBRARY_PATH' + sudo -H pip3 install packaging==23.1 + mkdir -p ~/deps cd ~/deps clone_git --depth 1 -b v1.14.1 https://github.com/microsoft/onnxruntime.git --recurse-submodule cd onnxruntime @@ -677,14 +639,13 @@ if [ $(checkstamp pytorch) = "false" ] ; then cd ~/deps clone_git --depth 1 -b v0.12.0 https://github.com/pytorch/audio.git --recurse-submodule cd audio - add_to_root_bashrc 'export PATH=/usr/local/cuda-11.4/bin:$PATH' - add_to_root_bashrc 'export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:$LD_LIBRARY_PATH' sudo -H pip3 install kaldi_io==0.9.5 sudo -H bash -c 'TORCH_CUDA_ARCH_LIST="7.2;8.7" CUDACXX=/usr/local/cuda/bin/nvcc python3 setup.py install' cd ~/deps clone_git https://github.com/NVIDIA-AI-IOT/torch2trt.git cd torch2trt + git checkout 36656b614f3fbc067ac673932e2200d7afdae712 sudo -H python3 setup.py install --plugins makestamp pytorch @@ -697,9 +658,9 @@ ECHO_IN_BLUE "###############################################################" ECHO_IN_BLUE ">> Install OpenTera-WebRTC ROS Python dependencies" ECHO_IN_BLUE "###############################################################" if [ $(checkstamp opentera_deps) = "false" ] ; then - cd $TTOP_REPO_PATH/ros/opentera-webrtc-ros/opentera_client_ros + cd $TTOP_REPO_PATH/ros/utils/opentera-webrtc-ros/opentera_client_ros sudo -H pip3 install -r requirements.txt - cd $TTOP_REPO_PATH/ros/opentera-webrtc-ros/opentera_webrtc_ros + cd $TTOP_REPO_PATH/ros/utils/opentera-webrtc-ros/opentera_webrtc_ros sudo -H pip3 install -r requirements.txt makestamp opentera_deps @@ -743,9 +704,11 @@ ECHO_IN_BLUE "###############################################################" if [ $(checkstamp ttop_ws_build) = "false" ] ; then source ~/.bashrc cd $TTOP_REPO_PATH/../.. - catkin config --init --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_WARN_DEPRECATED=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON - catkin config --profile release --init --space-suffix _release --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_WARN_DEPRECATED=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON - catkin build + + mkdir -p ~/.colcon + cp $SETUP_SCRIPTS_DIR/files/colcon_defaults.yaml $TTOP_REPO_PATH/../../colcon_defaults.yaml + + colcon build makestamp ttop_ws_build else diff --git a/tools/setup_scripts/patch/installLibrealsense.patch b/tools/setup_scripts/patch/installLibrealsense.patch deleted file mode 100644 index dd66775d..00000000 --- a/tools/setup_scripts/patch/installLibrealsense.patch +++ /dev/null @@ -1,18 +0,0 @@ -@@ -4,7 +4,7 @@ - # MIT License - - LIBREALSENSE_DIRECTORY=${HOME}/librealsense --LIBREALSENSE_VERSION=v2.17.1 -+LIBREALSENSE_VERSION=v2.50.0 - INSTALL_DIR=$PWD - - -@@ -94,7 +94,7 @@ - echo "${green}Configuring Make system${reset}" - # Use the CMake version that we built, must be > 3.8 - # Build with CUDA (default), the CUDA flag is USE_CUDA, ie -DUSE_CUDA=true --cmake ../ -DBUILD_EXAMPLES=true -DBUILD_WITH_CUDA=true -+cmake ../ -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DBUILD_EXAMPLES=false -DBUILD_WITH_CUDA=true -DFORCE_RSUSB_BACKEND=true - # The library will be installed in /usr/local/lib, header files in /usr/local/include - # The demos, tutorials and tests will located in /usr/local/bin. - echo "${green}Building librealsense, headers, tools and demos${reset}" diff --git a/tools/setup_scripts/patch/libg2o.patch b/tools/setup_scripts/patch/libg2o.patch new file mode 100644 index 00000000..946c8d8f --- /dev/null +++ b/tools/setup_scripts/patch/libg2o.patch @@ -0,0 +1,162 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 0f754ff..7bf945c 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -1,16 +1,17 @@ + cmake_minimum_required(VERSION 3.14) + set(CMAKE_LEGACY_CYGWIN_WIN32 0) + +-project(g2o) ++project(libg2o) ++find_package(ament_cmake REQUIRED) + + include(CPack) + include(GNUInstallDirs) + + # The library prefix +-set(LIB_PREFIX g2o_) ++set(LIB_PREFIX libg2o_) + +-set(g2o_C_FLAGS) +-set(g2o_CXX_FLAGS) ++set(libg2o_C_FLAGS) ++set(libg2o_CXX_FLAGS) + + # default built type + if(NOT CMAKE_BUILD_TYPE) +@@ -61,15 +62,15 @@ if(APPLE) + endif(APPLE) + + # Set the output directory for the build executables and libraries +-set(g2o_RUNTIME_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the binaries") ++set(g2o_RUNTIME_OUTPUT_DIRECTORY ${libg2o_SOURCE_DIR}/bin CACHE PATH "Target for the binaries") + if(WIN32) +- set(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries") ++ set(g2o_LIBRARY_OUTPUT_DIRECTORY ${libg2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries") + else(WIN32) +- set(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries") ++ set(g2o_LIBRARY_OUTPUT_DIRECTORY ${libg2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries") + endif(WIN32) +-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY}) +-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY}) +-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY}) ++set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${libg2o_LIBRARY_OUTPUT_DIRECTORY}) ++set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${libg2o_LIBRARY_OUTPUT_DIRECTORY}) ++set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${libg2o_RUNTIME_OUTPUT_DIRECTORY}) + + # Set standard installation directories + set(RUNTIME_DESTINATION ${CMAKE_INSTALL_BINDIR}) +@@ -80,7 +81,7 @@ set(INCLUDES_INSTALL_DIR ${INCLUDES_DESTINATION}/g2o) + + # Set search directory for looking for our custom CMake scripts to + # look for SuiteSparse, QGLViewer, and Eigen3. +-list(APPEND CMAKE_MODULE_PATH ${g2o_SOURCE_DIR}/cmake_modules) ++list(APPEND CMAKE_MODULE_PATH ${libg2o_SOURCE_DIR}/cmake_modules) + + # Detect OS and define macros appropriately + if(WIN32) +@@ -157,8 +158,8 @@ if(G2O_USE_OPENMP) + find_package(OpenMP) + if(OPENMP_FOUND) + set (G2O_OPENMP 1) +- set(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}") +- set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}") ++ set(libg2o_C_FLAGS "${libg2o_C_FLAGS} ${OpenMP_C_FLAGS}") ++ set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}") + message(STATUS "Compiling with OpenMP support") + endif(OPENMP_FOUND) + endif(G2O_USE_OPENMP) +@@ -358,8 +359,8 @@ endif() + option(BUILD_CODE_COVERAGE "Enable coverage reporting" OFF) + if(BUILD_CODE_COVERAGE AND CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang") + message(STATUS "Enabling coverage compiler flags") +- set(g2o_C_FLAGS "${g2o_C_FLAGS} --coverage") +- set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} --coverage") ++ set(libg2o_C_FLAGS "${libg2o_C_FLAGS} --coverage") ++ set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} --coverage") + endif() + + # Compiler specific options for gcc +@@ -390,8 +391,8 @@ if(CMAKE_COMPILER_IS_GNUCXX) + set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native") + endif() + # activate warnings !!! +- set(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W") +- set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W") ++ set(libg2o_C_FLAGS "${libg2o_C_FLAGS} -Wall -W") ++ set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -Wall -W") + endif(CMAKE_COMPILER_IS_GNUCXX) + + if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") +@@ -409,11 +410,11 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") + endif() + + # activate all warnings +- #set(g2o_C_FLAGS "${g2o_C_FLAGS} -Weverything") +- #set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Weverything") +- set(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall") +- set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall") +- #set(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -stdlib=libc++") ++ #set(libg2o_C_FLAGS "${libg2o_C_FLAGS} -Weverything") ++ #set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -Weverything") ++ set(libg2o_C_FLAGS "${libg2o_C_FLAGS} -Wall") ++ set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -Wall") ++ #set(libg2o_CXX_FLAGS "${libg2o_CXX_FLAGS} -Wall -stdlib=libc++") + endif() + + if(MSVC) +@@ -477,8 +478,8 @@ set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + + # specifying compiler flags +-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}") +-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}") ++set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${libg2o_CXX_FLAGS}") ++set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${libg2o_C_FLAGS}") + + # Find Eigen3. If it defines the target, this is used. If not, + # fall back to the using the module form. +@@ -491,7 +492,7 @@ else() + endif () + + # Set up the top-level include directories +-include_directories(${g2o_SOURCE_DIR} ${PROJECT_BINARY_DIR}) ++include_directories(${libg2o_SOURCE_DIR} ${PROJECT_BINARY_DIR}) + + # Generate config.h + set(G2O_OPENGL_FOUND ${OPENGL_FOUND}) +@@ -503,11 +504,11 @@ set(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}") + + # Generate cmake configuration scripts + set(G2O_GENERATED_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated") +-set(G2O_VERSION_CONFIG "${G2O_GENERATED_DIR}/${PROJECT_NAME}ConfigVersion.cmake") +-set(G2O_PROJECT_CONFIG "${G2O_GENERATED_DIR}/${PROJECT_NAME}Config.cmake") +-set(G2O_TARGETS_EXPORT_NAME "${PROJECT_NAME}Targets") +-set(G2O_CONFIG_INSTALL_DIR "lib/cmake/${PROJECT_NAME}") +-set(G2O_NAMESPACE "${PROJECT_NAME}::") ++set(G2O_VERSION_CONFIG "${G2O_GENERATED_DIR}/g2oConfigVersion.cmake") ++set(G2O_PROJECT_CONFIG "${G2O_GENERATED_DIR}/g2oConfig.cmake") ++set(G2O_TARGETS_EXPORT_NAME "g2oTargets") ++set(G2O_CONFIG_INSTALL_DIR "lib/cmake/g2o") ++set(G2O_NAMESPACE "g2o::") + set(G2O_SRC_DIR "${PROJECT_SOURCE_DIR}") + set(G2O_VERSION 1.0.0) + +@@ -519,8 +520,8 @@ WRITE_BASIC_PACKAGE_VERSION_FILE( + configure_file(config.h.in "${PROJECT_BINARY_DIR}/g2o/config.h") + install(FILES ${PROJECT_BINARY_DIR}/g2o/config.h DESTINATION ${INCLUDES_DESTINATION}/g2o) + +-configure_file("${g2o_SOURCE_DIR}/cmake_modules/Config.cmake.in" "${G2O_PROJECT_CONFIG}" @ONLY) +-configure_file("${g2o_SOURCE_DIR}/script/codecov.sh.in" "${CMAKE_CURRENT_BINARY_DIR}/codecov.sh" @ONLY) ++configure_file("${libg2o_SOURCE_DIR}/cmake_modules/Config.cmake.in" "${G2O_PROJECT_CONFIG}" @ONLY) ++configure_file("${libg2o_SOURCE_DIR}/script/codecov.sh.in" "${CMAKE_CURRENT_BINARY_DIR}/codecov.sh" @ONLY) + + install( + FILES "${G2O_PROJECT_CONFIG}" "${G2O_VERSION_CONFIG}" +@@ -551,3 +552,5 @@ endif() + + # Include the subdirectories + add_subdirectory(g2o) ++ ++ament_package() + diff --git a/tools/setup_scripts/patch/octomap_msgs.patch b/tools/setup_scripts/patch/octomap_msgs.patch new file mode 100644 index 00000000..c12e0732 --- /dev/null +++ b/tools/setup_scripts/patch/octomap_msgs.patch @@ -0,0 +1,10 @@ +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -36,7 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} + ) + + install(DIRECTORY include/ +- DESTINATION include ++ DESTINATION include/${PROJECT_NAME} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE) diff --git a/tools/setup_scripts/ros2_humble_install.sh b/tools/setup_scripts/ros2_humble_install.sh new file mode 100755 index 00000000..a9bebac4 --- /dev/null +++ b/tools/setup_scripts/ros2_humble_install.sh @@ -0,0 +1,252 @@ +#!/usr/bin/env bash +# this script builds a ROS2 distribution from source +# ROS_DISTRO, ROS_ROOT, ROS_PACKAGE environment variables should be set +export ROS_DISTRO=humble +export ROS_PACKAGE=desktop_full +export ROS_ROOT=/opt/ros/$ROS_DISTRO +export ROS_PYTHON_VERSION=3 +export DEBIAN_FRONTEND=noninteractive +export PYTHONIOENCODING=utf-8 +export ROS_VERSION=2 + +# Required for jetpack to find cuda +export PATH=/usr/local/cuda-11.4/bin:$PATH +export LD_LIBRARY_PATH=/usr/local/cuda-11.4/lib64:$LD_LIBRARY_PATH + +SCRIPT=`realpath $0` +SCRIPT_PATH=`dirname $SCRIPT` + +# set Python3 as default +update-alternatives --install /usr/bin/python python /usr/bin/python3 1 + +echo "ROS2 builder => ROS_DISTRO=$ROS_DISTRO ROS_PACKAGE=$ROS_PACKAGE ROS_ROOT=$ROS_ROOT" +set -e +#set -x + +# add the ROS deb repo to the apt sources list +apt-get update +apt-get install -y --no-install-recommends \ + curl \ + wget \ + gnupg2 \ + lsb-release \ + ca-certificates \ + git \ + libgtk-3-dev \ + libglfw3-dev \ + libgl1-mesa-dev \ + libglu1-mesa-dev \ + build-essential \ + cmake \ + cmake-curses-gui \ + libssl-dev \ + libusb-1.0-0-dev \ + libudev-dev \ + pkg-config + +curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg +echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null +apt-get update + +# install development packages +apt-get install -y --no-install-recommends \ + build-essential \ + cmake \ + git \ + libbullet-dev \ + libpython3-dev \ + python3-colcon-common-extensions \ + python3-flake8 \ + python3-pip \ + python3-numpy \ + python3-pytest-cov \ + python3-rosdep \ + python3-setuptools \ + python3-vcstool \ + python3-rosinstall-generator \ + libasio-dev \ + libtinyxml2-dev \ + libcunit1-dev + +# install some pip packages needed for testing +pip3 install --upgrade --no-cache-dir \ + argcomplete \ + flake8-blind-except \ + flake8-builtins \ + flake8-class-newline \ + flake8-comprehensions \ + flake8-deprecated \ + flake8-docstrings \ + flake8-import-order \ + flake8-quotes \ + pytest-repeat \ + pytest-rerunfailures \ + pytest + +# upgrade cmake - https://stackoverflow.com/a/56690743 +# this is needed to build some of the ROS2 packages +# use pip to upgrade cmake instead because of kitware's rotating GPG keys: +# https://github.com/dusty-nv/jetson-containers/issues/216 +python3 -m pip install --upgrade pip +pip3 install --no-cache-dir scikit-build +pip3 install --upgrade --no-cache-dir --verbose cmake==3.22.1 +cmake --version +which cmake + +# remove other versions of Python3 +# workaround for 'Could NOT find Python3 (missing: Python3_NumPy_INCLUDE_DIRS Development' +apt purge -y python3.9 libpython3.9* || echo "python3.9 not found, skipping removal" +ls -ll /usr/bin/python* + +# create the ROS_ROOT directory +mkdir -p ${ROS_ROOT}/src +cd ${ROS_ROOT} + +# download ROS sources +# https://answers.ros.org/question/325245/minimal-ros2-installation/?answer=325249#post-id-325249 +rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ${ROS_PACKAGE} \ + launch_xml \ + launch_yaml \ + launch_testing \ + launch_testing_ament_cmake \ + demo_nodes_cpp \ + demo_nodes_py \ + example_interfaces \ + camera_calibration_parsers \ + camera_info_manager \ + cv_bridge \ + v4l2_camera \ + vision_opencv \ + vision_msgs \ + image_geometry \ + image_pipeline \ + image_transport \ + compressed_image_transport \ + compressed_depth_image_transport \ + rosbag2_storage_mcap \ + rtabmap \ + rtabmap_ros \ + diagnostics \ + imu_tools \ + rosbridge_suite \ + tf_transformations \ + joint_state_publisher_gui \ + rqt_tf_tree \ +> ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall +cat ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall + +# Test if ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall.vcsupdate exists if so run vcs pull src otherwise import src +if [ -f src/ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall.vcsupdate ]; then + echo "vcs pull src" + vcs pull src +else + echo "vcs import --retry 100 src < ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall" + vcs import --retry 100 src < ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall +fi + +touch src/ros2.${ROS_DISTRO}.${ROS_PACKAGE}.rosinstall.vcsupdate + +# https://github.com/dusty-nv/jetson-containers/issues/181 +# rm -r ${ROS_ROOT}/src/ament_cmake +# git -C ${ROS_ROOT}/src/ clone https://github.com/ament/ament_cmake -b ${ROS_DISTRO} + +# remove librealsense2 & realsense-ros +#if [ -d "${ROS_ROOT}/src/librealsense2" ]; then +# rm -r ${ROS_ROOT}/src/librealsense2 +#fi + +#if [ -d "${ROS_ROOT}/src/realsense2_camera" ]; then +# rm -r ${ROS_ROOT}/src/realsense2_camera +#fi + +# skip installation of some conflicting packages # add librealsense2 +SKIP_KEYS="libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv xsimd xtensor xtl" + +# patches for building Humble on 18.04 +if [ "$ROS_DISTRO" = "humble" ] || [ "$ROS_DISTRO" = "iron" ] && [ $(lsb_release --codename --short) = "bionic" ]; then + # rti_connext_dds_cmake_module: No definition of [rti-connext-dds-6.0.1] for OS version [bionic] + SKIP_KEYS="$SKIP_KEYS rti-connext-dds-6.0.1 ignition-cmake2 ignition-math6" + + # the default gcc-7 is too old to build humble + apt-get install -y --no-install-recommends gcc-8 g++-8 + export CC="/usr/bin/gcc-8" + export CXX="/usr/bin/g++-8" + echo "CC=$CC CXX=$CXX" + + # upgrade pybind11 + apt-get purge -y pybind11-dev + pip3 install --upgrade --no-cache-dir pybind11-global + + # https://github.com/dusty-nv/jetson-containers/issues/160#issuecomment-1429572145 + git -C /tmp clone -b yaml-cpp-0.6.0 https://github.com/jbeder/yaml-cpp.git + cmake -S /tmp/yaml-cpp -B /tmp/yaml-cpp/BUILD -DBUILD_SHARED_LIBS=ON + cmake --build /tmp/yaml-cpp/BUILD --parallel $(nproc --ignore=1) + cmake --install /tmp/yaml-cpp/BUILD + rm -rf /tmp/yaml-cpp +fi + +echo "--skip-keys $SKIP_KEYS" + +# install dependencies using rosdep +# rosdep init +rosdep update +rosdep install -y \ + --ignore-src \ + --from-paths src \ + --rosdistro ${ROS_DISTRO} \ + --skip-keys "$SKIP_KEYS" + +# install xtl +if [ ! -d "${ROS_ROOT}/src/xtl" ]; then + cd ${ROS_ROOT}/src + git clone -b 0.7.0 https://github.com/xtensor-stack/xtl.git --depth 1 --recurse-submodules +fi + +# install xsimd +if [ ! -d "${ROS_ROOT}/src/xsimd" ]; then + cd ${ROS_ROOT}/src + git clone -b 7.4.8 https://github.com/xtensor-stack/xsimd.git --depth 1 --recurse-submodules +fi + +# install xtensor +if [ ! -d "${ROS_ROOT}/src/xtensor" ]; then + cd ${ROS_ROOT}/src + git clone -b 0.23.10 https://github.com/xtensor-stack/xtensor --depth 1 --recurse-submodules +fi + +# install librealsense with CUDA support +# if [ ! -d "/tmp/librealsense" ]; then +# cd /tmp +# git clone https://github.com/IntelRealSense/librealsense.git -b v2.55.1 --depth 1 --recurse-submodules +# mkdir -p /tmp/librealsense/build +# cd /tmp/librealsense/build +# cmake ../ -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DBUILD_EXAMPLES=false -DBUILD_WITH_CUDA=true -DCMAKE_INSTALL_PREFIX=$ROS_ROOT +# cmake --build . --parallel $(nproc --ignore=1) +# cmake --install . +#fi + +# clone the realsense-ros package in the src +#if [ ! -d "${ROS_ROOT}/src/realsense-ros" ]; then +# git -C ${ROS_ROOT}/src clone -b 4.55.1 https://github.com/IntelRealSense/realsense-ros.git --depth 1 --recurse-submodules +#fi + +# clone cv_camera package in the src +if [ ! -d "${ROS_ROOT}/src/cv_camera" ]; then + git -C ${ROS_ROOT}/src clone -b master https://github.com/Kapernikov/cv_camera.git --depth 1 --recurse-submodules +fi + +cd ${ROS_ROOT} + +# Apply the patch of libg2o +sudo patch -u ${ROS_ROOT}/src/libg2o/CMakeLists.txt $SCRIPT_PATH/patch/libg2o.patch +sudo patch -u ${ROS_ROOT}/src/octomap_msgs/CMakeLists.txt $SCRIPT_PATH/patch/octomap_msgs.patch + +# build the rest - for verbose, see https://answers.ros.org/question/363112/how-to-see-compiler-invocation-in-colcon-build +colcon build \ + --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-march=native -ffast-math" -DCMAKE_C_FLAGS="-march=native -ffast-math" -DCMAKE_PREFIX_PATH=$ROS_ROOT -DBUILD_WITH_CUDA=true -DBUILD_TESTING=OFF + +# remove build files +# rm -rf ${ROS_ROOT}/src +# rm -rf ${ROS_ROOT}/logs +# rm -rf ${ROS_ROOT}/build +# rm ${ROS_ROOT}/*.rosinstall