latest pushes

ros_web_api_bellande_speech_detection/CMakeLists.txt

@@ -0,0 +1,51 @@
+# 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(ros_web_api_bellande_speech_detection)
+
+# 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 ${PROJECT_NAME}
+    CATKIN_DEPENDS
+    roscpp
+    rospy
+  )
+endif()
+
+# Install Python scripts, configuration files, and launch files
+if($ENV{ROS_VERSION} EQUAL "1")
+    install(PROGRAMS src/bellande_2d_computer_vision_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_2d_computer_vision_api_2d.py DESTINATION lib/${PROJECT_NAME})
+    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+endif()

ros_web_api_bellande_speech_detection/README.md

@@ -0,0 +1,3 @@
+# Bellande Search Path Web ROS/ROS2 API Intergration
+
+[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)

ros_web_api_bellande_speech_detection/package.xml

@@ -0,0 +1,53 @@
+<?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>ros_web_api_bellande_speech_detection</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>Apache License 2.0</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>

ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py

@@ -1,10 +1,6 @@
 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():

ros_web_api_bellande_step/launch/ros1/bellande_step_api_2d.launch

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="x1"/>
+    <arg name="y1"/>
+    <arg name="x2"/>
+    <arg name="y2"/>
+    <arg name="limit"/>
+
+    <node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py" name="bellande_step_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>

ros_web_api_bellande_step/src/bellande_step_api_2d.py

@@ -1,7 +1,6 @@
 import json
 import os
 import requests
-import sys
 
 def main():
     # Get the absolute path to the config file
@@ -18,25 +17,13 @@ def main():
         url = config['url']
         endpoint_path = config['endpoint_path']
     
-    # Get the parameters from the launch file
+    # Get the parameters from the ROS parameter server
-    x1_str = os.getenv('x1')
+    x1 = rospy.get_param('x1')
-    y1_str = os.getenv('y1')
+    y1 = rospy.get_param('y1')
-    x2_str = os.getenv('x2')
+    x2 = rospy.get_param('x2')
-    y2_str = os.getenv('y2')
+    y2 = rospy.get_param('y2')
-    limit_str = os.getenv('limit')
+    limit = rospy.get_param('limit')
 
-    # Check if any of the environment variables are not set
-    if any(v is None for v in [x1_str, y1_str, x2_str, y2_str, limit_str]):
-        print("One or more required environment variables are not set.")
-        return
-
-    # Convert the parameters to float or int
-    x1 = float(x1_str)
-    y1 = float(y1_str)
-    x2 = float(x2_str)
-    y2 = float(y2_str)
-    limit = int(limit_str)
-    
     # JSON payload
     payload = {
         "node0": {"x": x1, "y": y1},
@@ -64,4 +51,10 @@ def main():
         print("Error:", e)
 
 if __name__ == '__main__':
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        import rospy
+    elif ros_version == "2":
+        rclpy
+
     main()