latest pushes

web_api_bellande_probabilistic/CMakeLists.txt

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+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+cmake_minimum_required(VERSION 3.8)
+project(web_api_bellande_probabilistic)
+
+# Find ROS
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+  )
+else()
+  find_package(ament_cmake REQUIRED COMPONENTS
+    rclcpp
+    rclpy
+  )
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+    roscpp
+    rospy
+  )
+endif()
+
+# Install Python scripts for both ROS 1
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_install_python(
+    PROGRAMS
+    src/bellande_probabilistic_api_2d.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+endif()
+
+# Install Python scripts, configuration files, and launch files
+if($ENV{ROS_VERSION} EQUAL "1")
+    install(PROGRAMS src/bellande_probabilistic_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+    install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+elseif($ENV{ROS_VERSION} EQUAL "2")
+    install(PROGRAMS src/bellande_probabilistic_api_2d.py DESTINATION lib/${PROJECT_NAME})
+    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+    ament_package()
+endif()

web_api_bellande_probabilistic/README.md

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+# Bellande Web ROS/ROS2 API
+
+# [Bellande probabilistic](https://github.com/RonaldsonBellande/bellande_robots_probabilistic)
+
+# ROS1 Launch 
+- python3 bellande_probabilistic_api_2d.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
+- roslaunch web_api_bellande_probabilistic bellande_probabilistic_api_2d.launch x1:=0 y1:=0 x2:=5 y2:=5 limit:=3 
+
+# ROS2 Launch
+- ros2 launch web_api_bellande_probabilistic bellande_probabilistic_api_2d.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3

web_api_bellande_probabilistic/config/configs.json

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+{
+  "license": [
+    "Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande",
+    "This program is free software: you can redistribute it and/or modify",
+    "it under the terms of the GNU General Public License as published by",
+    "the Free Software Foundation, either version 3 of the License, or",
+    "(at your option) any later version.",
+    "",
+    "This program is distributed in the hope that it will be useful,",
+    "but WITHOUT ANY WARRANTY; without even the implied warranty of",
+    "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the",
+    "GNU General Public License for more details.",
+    "",
+    "You should have received a copy of the GNU General Public License",
+    "along with this program.  If not, see <https://www.gnu.org/licenses/>.",
+    "GNU General Public License v3.0 or later"
+  ],
+  "url": "https://bellande-robotics-sensors-research-innovation-center.org",
+  "endpoint_path": {
+    "bellande_probabilistic": "/api/Bellande_Probabilistic/bellande_probabilistic_nd"
+  },
+  "Bellande_Framework_Access_Key": "bellande_web_api_opensource"
+}

web_api_bellande_probabilistic/launch/bellande_probabilistic_api_2d.launch.py

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+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def ros1_launch_description():
+    # Get command-line arguments
+    args = sys.argv[1:]
+
+    # Construct the ROS 1 launch commandi
+    roslaunch_command = ["roslaunch", "web_api_bellande_probabilistic", "bellande_probabilistic_api_2d.launch"] + args
+
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+    # Declare launch arguments
+    x1_arg = DeclareLaunchArgument('x1')
+    y1_arg = DeclareLaunchArgument('y1')
+    x2_arg = DeclareLaunchArgument('x2')
+    y2_arg = DeclareLaunchArgument('y2')
+    limit_arg = DeclareLaunchArgument('limit')
+
+    # Create a list to hold all nodes to be launched
+    nodes_to_launch = []
+
+    # ROS2 specific configurations
+    ros_launch_arguments = [
+        x1_arg, y1_arg, x2_arg, y2_arg, limit_arg,
+    ]
+    nodes_to_launch.append(Node(
+        package='web_api_bellande_probabilistic',
+        executable='bellande_probabilistic_api_2d.py',
+        name='bellande_probabilistic_api_2d_node',
+        output='screen',
+        parameters=[
+            {'x1': LaunchConfiguration('x1')},
+            {'y1': LaunchConfiguration('y1')},
+            {'x2': LaunchConfiguration('x2')},
+            {'y2': LaunchConfiguration('y2')},
+            {'limit': LaunchConfiguration('limit')},
+        ],
+    ))
+
+    # Return the LaunchDescription containing all nodes and arguments
+    return LaunchDescription(ros_launch_arguments + nodes_to_launch)
+
+if __name__ == "__main__":
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        ros1_launch_description()
+    elif ros_version == "2":
+        ros2_launch_description()
+    else:
+        print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+        sys.exit(1)

web_api_bellande_probabilistic/launch/ros1/bellande_probabilistic_api_2d.launch

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+<?xml version="1.0"?>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>.
+-->
+<launch>
+  <arg name="x1" />
+  <arg name="y1" />
+  <arg name="x2" />
+  <arg name="y2" />
+  <arg name="limit" />
+
+  <node pkg="web_api_bellande_probabilistic" type="bellande_probabilistic_api_2d.py"
+    name="bellande_probabilistic_api_2d_node" output="screen">
+    <param name="x1" value="$(arg x1)" />
+    <param name="y1" value="$(arg y1)" />
+    <param name="x2" value="$(arg x2)" />
+    <param name="y2" value="$(arg y2)" />
+    <param name="limit" value="$(arg limit)" />
+  </node>
+</launch>

web_api_bellande_probabilistic/package.xml

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+<?xml version="1.0"?>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>.
+-->
+<package format="3">
+  <name>web_api_bellande_probabilistic</name>
+  <version>0.0.1</version>
+  <description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
+  <author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+  <license>GNU General Public License v3.0</license>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rospy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclpy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rclpy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rclpy</exec_depend>
+
+
+  <export>
+  </export>
+</package>

web_api_bellande_probabilistic/setup.py

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+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    scripts=['src/bellande_probabilistic_api_2d.py'],
+    packages=['web_api_bellande_probabilistic'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)

web_api_bellande_probabilistic/src/bellande_probabilistic_api_2d.py

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+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import json
+import os
+import requests
+from std_msgs.msg import String
+
+def get_next_step(x1, y1, x2, y2, limit):
+    payload = {
+        "node0": {"x": x1, "y": y1},
+        "node1": {"x": x2, "y": y2}
+    }
+
+    headers = {
+        'accept': 'application/json',
+        'Content-Type': 'application/json',
+        "Authorization": f"Bearer {api_access_key}"
+    }
+
+    try:
+        response = requests.post(
+            f"{api_url}?limit={limit}",
+            json=payload,
+            headers=headers
+        )
+        response.raise_for_status()
+        data = response.json()
+        return String(f"Next Step: {data['next_step']}")
+    except requests.exceptions.RequestException as e:
+        print(f"Error: {e}")
+        return None
+
+def parameter_callback(event):
+    x1 = rospy.get_param('x1', 0)
+    y1 = rospy.get_param('y1', 0)
+    x2 = rospy.get_param('x2', 0)
+    y2 = rospy.get_param('y2', 0)
+    limit = rospy.get_param('limit', 3)
+
+    next_step = get_next_step(x1, y1, x2, y2, limit)
+    if next_step:
+        pub.publish(next_step)
+
+def main():
+    global api_url, api_access_key, pub
+
+    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
+    
+    if not os.path.exists(config_file_path):
+        print("Config file not found:", config_file_path)
+        return
+    
+    with open(config_file_path, 'r') as config_file:
+        config = json.load(config_file)
+        url = config['url']
+        endpoint_path = config['endpoint_path']["2d"]
+        api_access_key = config["Bellande_Framework_Access_Key"]
+    
+    # Initialize ROS node
+    if ros_version == "1":
+        rospy.init_node('next_step_node', anonymous=True)
+        pub = rospy.Publisher('next_step_result', String, queue_size=10)
+        rospy.Timer(rospy.Duration(1), parameter_callback)  # Check parameters every second
+    elif ros_version == "2":
+        rclpy.init()
+        node = rclpy.create_node('next_step_node')
+        pub = node.create_publisher(String, 'next_step_result', 10)
+        node.create_timer(1.0, parameter_callback)  # Check parameters every second
+
+    api_url = f"{url}{endpoint_path}"
+
+    try:
+        print("Next step node is running. Ctrl+C to exit.")
+        if ros_version == "1":
+            rospy.spin()
+        elif ros_version == "2":
+            rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("Shutting down next step node.")
+    except Exception as e:
+        print(f"An error occurred: {str(e)}")
+    finally:
+        if ros_version == "2":
+            node.destroy_node()
+            rclpy.shutdown()
+
+if __name__ == '__main__':
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        import rospy
+    elif ros_version == "2":
+        import rclpy
+    main()