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ros_web_api_bellande_speech_detection/CMakeLists.txt
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51
ros_web_api_bellande_speech_detection/CMakeLists.txt
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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cmake_minimum_required(VERSION 3.8)
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project(ros_web_api_bellande_speech_detection)
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# Find ROS
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if($ENV{ROS_VERSION} EQUAL 1)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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)
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else()
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find_package(ament_cmake REQUIRED COMPONENTS
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rclcpp
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rclpy
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)
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endif()
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if($ENV{ROS_VERSION} EQUAL 1)
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catkin_package(
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INCLUDE_DIRS
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS
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roscpp
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rospy
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)
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endif()
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# Install Python scripts, configuration files, and launch files
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if($ENV{ROS_VERSION} EQUAL "1")
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install(PROGRAMS src/bellande_2d_computer_vision_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
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install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
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elseif($ENV{ROS_VERSION} EQUAL "2")
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install(PROGRAMS src/bellande_2d_computer_vision_api_2d.py DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
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install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
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endif()
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3
ros_web_api_bellande_speech_detection/README.md
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ros_web_api_bellande_speech_detection/README.md
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# Bellande Search Path Web ROS/ROS2 API Intergration
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[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)
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53
ros_web_api_bellande_speech_detection/package.xml
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ros_web_api_bellande_speech_detection/package.xml
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<?xml version="1.0"?>
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<!--
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Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <https://www.gnu.org/licenses/>.
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-->
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<package format="3">
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<name>ros_web_api_bellande_speech_detection</name>
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<version>0.0.1</version>
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<description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
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<author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
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<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
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<build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
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<build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
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<build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
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<build_export_depend condition="$ROS_VERSION == 1">rospy</build_export_depend>
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<exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
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<exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
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<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
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<build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
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<build_depend condition="$ROS_VERSION == 2">rclpy</build_depend>
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<build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
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<build_export_depend condition="$ROS_VERSION == 2">rclpy</build_export_depend>
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<exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
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<exec_depend condition="$ROS_VERSION == 2">rclpy</exec_depend>
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<export>
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</export>
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</package>
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@ -1,10 +1,6 @@
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import os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def ros1_launch_description():
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<?xml version="1.0"?>
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<launch>
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<arg name="x1"/>
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<arg name="y1"/>
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<arg name="x2"/>
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<arg name="y2"/>
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<arg name="limit"/>
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<node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py" name="bellande_step_api_2d_node" output="screen">
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<param name="x1" value="$(arg x1)"/>
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<param name="y1" value="$(arg y1)"/>
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<param name="x2" value="$(arg x2)"/>
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<param name="y2" value="$(arg y2)"/>
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<param name="limit" value="$(arg limit)"/>
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</node>
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</launch>
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import json
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import os
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import requests
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import sys
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def main():
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# Get the absolute path to the config file
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url = config['url']
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endpoint_path = config['endpoint_path']
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# Get the parameters from the launch file
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x1_str = os.getenv('x1')
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y1_str = os.getenv('y1')
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x2_str = os.getenv('x2')
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y2_str = os.getenv('y2')
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limit_str = os.getenv('limit')
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# Get the parameters from the ROS parameter server
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x1 = rospy.get_param('x1')
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y1 = rospy.get_param('y1')
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x2 = rospy.get_param('x2')
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y2 = rospy.get_param('y2')
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limit = rospy.get_param('limit')
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# Check if any of the environment variables are not set
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if any(v is None for v in [x1_str, y1_str, x2_str, y2_str, limit_str]):
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print("One or more required environment variables are not set.")
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return
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# Convert the parameters to float or int
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x1 = float(x1_str)
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y1 = float(y1_str)
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x2 = float(x2_str)
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y2 = float(y2_str)
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limit = int(limit_str)
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# JSON payload
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payload = {
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"node0": {"x": x1, "y": y1},
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@ -64,4 +51,10 @@ def main():
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print("Error:", e)
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if __name__ == '__main__':
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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import rospy
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elif ros_version == "2":
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rclpy
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main()
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