3D

ros_web_api_bellande_2d_computer_vision/README.md

@@ -1,3 +1,3 @@
-# Bellande Search Path Web ROS/ROS2 API Intergration
+# Bellande 2D Computer Vision Web ROS/ROS2 API Intergration
 
-[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)
+[Bellande 2D Computer Vision](https://github.com/RonaldsonBellande/bellande_2d_computer_vision)

ros_web_api_bellande_3d_computer_vision/CMakeLists.txt

@@ -39,13 +39,22 @@ if($ENV{ROS_VERSION} EQUAL 1)
   )
 endif()
 
+# Install Python scripts for both ROS 1
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_install_python(
+    PROGRAMS
+    src/bellande_3d_computer_vision_prediction.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_3d_computer_vision_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(PROGRAMS src/bellande_3d_computer_vision_prediction.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_3d_computer_vision_api_2d.py DESTINATION lib/${PROJECT_NAME})
+    install(PROGRAMS src/bellande_3d_computer_vision_prediction.py DESTINATION lib/${PROJECT_NAME})
     install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
     install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
 endif()

ros_web_api_bellande_3d_computer_vision/README.md

@@ -1,3 +1,3 @@
-# Bellande Search Path Web ROS/ROS2 API Intergration
+# Bellande 3D Computer Vision Web ROS/ROS2 API Intergration
 
-[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)
+[Bellande 3D Computer Vision](https://github.com/RonaldsonBellande/bellande_3d_computer_vision)

ros_web_api_bellande_3d_computer_vision/config/configs.json

@@ -5,5 +5,6 @@
     "object_detection": "/api/Bellande_3D_Computer_Vision/bellande_object_detection",
     "instance_segmentation": "/api/Bellande_3D_Computer_Vision/bellande_instance_segmentation",
     "sementic_segmentation": "/api/Bellande_3D_Computer_Vision/bellande_sementic_segmentation"
-  }
+  },
+  "Bellande_Framework_Access_Key": "bellande_web_api_opensource"
 }

ros_web_api_bellande_3d_computer_vision/launch/bellande_3d_computer_vision_prediction.launch.py

@@ -0,0 +1,32 @@
+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", "bellande_3d_computer_vision_prediction", "bellande_step_api_2d.launch"] + args
+
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+    pass
+
+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)

ros_web_api_bellande_3d_computer_vision/launch/ros1/bellande_3d_computer_vision_prediction.launch

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+Licensed under the Apache License, Version 2.0 (the "License"); you may not
+use this file except in compliance with the License. You may obtain a copy of
+the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+License for the specific language governing permissions and limitations under
+the License.
+-->
+<launch>
+  <node pkg="bellande_3d_computer_vision_prediction"
+    type="bellande_3d_computer_vision_prediction.py"
+    name="bellande_3d_computer_vision_prediction_node" output="screen">
+  </node>
+</launch>

ros_web_api_bellande_3d_computer_vision/script/build.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# Create and navigate to build directory
+mkdir -p build && cd build
+
+# Build package
+if [ $ROS_VERSION -eq 1 ]; then
+    cmake -DROS_VERSION=1 ..
+    make -j$(nproc)
+else
+    cmake -DROS_VERSION=2 ..
+    make -j$(nproc)
+fi
+
+# Source package setup file
+source devel/setup.bash
+
+# Run rosdep
+rosdep install --from-paths ../src --ignore-src -y
+
+# Return to package root directory
+cd ..

ros_web_api_bellande_3d_computer_vision/setup.py

@@ -0,0 +1,11 @@
+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_3d_computer_vision_prediction.py'],
+    packages=['ros_web_api_bellande_3d_computer_vision'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)

ros_web_api_bellande_3d_computer_vision/src/bellande_3d_computer_vision_prediction.py

@@ -0,0 +1,29 @@
+import json
+import os
+import requests
+
+def main():
+    # Get the absolute path to the config file
+    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
+
+    # Check if the config file exists
+    if not os.path.exists(config_file_path):
+        print("Config file not found:", config_file_path)
+        return
+
+    # Read configuration from config.json
+    with open(config_file_path, 'r') as config_file:
+        config = json.load(config_file)
+        url = config['url']
+        endpoint_path = config['endpoint_path']["prediction"]
+    
+
+
+if __name__ == '__main__':
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        import rospy
+    elif ros_version == "2":
+        import rclpy
+
+    main()