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This commit is contained in:
Ronaldson Bellande 2024-07-25 21:54:17 -04:00
parent b78cce875e
commit f047386e47
26 changed files with 1057 additions and 44 deletions

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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", "ros_web_api_bellande_step", "bellande_step_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='ros_web_api_bellande_step',
executable='bellande_step_api_2d.py',
name='bellande_step_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)

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<?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>
<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>

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#!/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 ..
# Run ROS launch file
if [ $ROS_VERSION -eq 1 ]; then
roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
else
ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
fi

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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_step_api_2d.py'],
packages=['ros_web_api_bellande_step'],
package_dir={'': 'src'},
)
setup(**setup_args)

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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']["2d"]
# Get the parameters from the ROS parameter server
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)
# JSON payload
payload = {
"node0": {"x": x1, "y": y1},
"node1": {"x": x2, "y": y2}
}
# Headers
headers = {
'accept': 'application/json',
'Content-Type': 'application/json'
}
# Make POST request
try:
response = requests.post(
url + endpoint_path + '?limit=' + str(limit),
json=payload,
headers=headers
)
response.raise_for_status() # Raise an error for unsuccessful responses
data = response.json()
print("Next Step:", data['next_step'])
except requests.exceptions.RequestException as e:
print("Error:", e)
if __name__ == '__main__':
ros_version = os.getenv("ROS_VERSION")
if ros_version == "1":
import rospy
elif ros_version == "2":
import rclpy
main()

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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://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run", "url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
"endpoint_path": { "endpoint_path": {
"2d": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller_2d", "bellande_controller": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller"
"3d": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller_3d",
"4d": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller_4d",
"5d": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller_5d",
"6d": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller_6d",
"7d": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller_7d",
"8d": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller_8d",
"9d": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller_9d",
"10d": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller_10d"
} }
} }

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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", "ros_web_api_bellande_step", "bellande_step_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='ros_web_api_bellande_step',
executable='bellande_step_api_2d.py',
name='bellande_step_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)

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<?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>
<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>

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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_step_api_2d.py'],
packages=['ros_web_api_bellande_step'],
package_dir={'': 'src'},
)
setup(**setup_args)

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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 Float64
def bellande_controller(setpoint, current_value, kp, ki, kd):
payload = {
"setpoint": setpoint,
"current_value": current_value,
"kp": kp,
"ki": ki,
"kd": kd
}
headers = {
"Authorization": f"Bearer {api_access_key}"
}
response = requests.post(api_url, json=payload, headers=headers)
if response.status_code == 200:
result = response.json()
return result['control_output']
else:
print(f"Error: {response.status_code} - {response.text}")
return None
def control_callback(msg):
setpoint = rospy.get_param('setpoint', 0)
kp = rospy.get_param('kp', 1.0)
ki = rospy.get_param('ki', 0.1)
kd = rospy.get_param('kd', 0.05)
control_output = bellande_controller(setpoint, msg.data, kp, ki, kd)
if control_output is not None:
output_msg = Float64()
output_msg.data = control_output
pub.publish(output_msg)
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']["bellande_controller"]
api_access_key = config["Bellande_Framework_Access_Key"]
# Initialize ROS node
if ros_version == "1":
rospy.init_node('bellande_controller_node', anonymous=True)
pub = rospy.Publisher('control_output', Float64, queue_size=10)
sub = rospy.Subscriber('current_value', Float64, control_callback)
elif ros_version == "2":
rclpy.init()
node = rclpy.create_node('bellande_controller_node')
pub = node.create_publisher(Float64, 'control_output', 10)
sub = node.create_subscription(Float64, 'current_value', control_callback, 10)
api_url = f"{url}{endpoint_path}"
try:
print("BellandeController 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 BellandeController 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()

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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", "ros_web_api_bellande_step", "bellande_step_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='ros_web_api_bellande_step',
executable='bellande_step_api_2d.py',
name='bellande_step_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)

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<?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>
<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>

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#!/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 ..
# Run ROS launch file
if [ $ROS_VERSION -eq 1 ]; then
roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
else
ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
fi

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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_step_api_2d.py'],
packages=['ros_web_api_bellande_step'],
package_dir={'': 'src'},
)
setup(**setup_args)

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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']["2d"]
# Get the parameters from the ROS parameter server
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)
# JSON payload
payload = {
"node0": {"x": x1, "y": y1},
"node1": {"x": x2, "y": y2}
}
# Headers
headers = {
'accept': 'application/json',
'Content-Type': 'application/json'
}
# Make POST request
try:
response = requests.post(
url + endpoint_path + '?limit=' + str(limit),
json=payload,
headers=headers
)
response.raise_for_status() # Raise an error for unsuccessful responses
data = response.json()
print("Next Step:", data['next_step'])
except requests.exceptions.RequestException as e:
print("Error:", e)
if __name__ == '__main__':
ros_version = os.getenv("ROS_VERSION")
if ros_version == "1":
import rospy
elif ros_version == "2":
import rclpy
main()

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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", "ros_web_api_bellande_step", "bellande_step_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='ros_web_api_bellande_step',
executable='bellande_step_api_2d.py',
name='bellande_step_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)

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<?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>
<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>

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#!/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 ..
# Run ROS launch file
if [ $ROS_VERSION -eq 1 ]; then
roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
else
ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
fi

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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_step_api_2d.py'],
packages=['ros_web_api_bellande_step'],
package_dir={'': 'src'},
)
setup(**setup_args)

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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']["2d"]
# Get the parameters from the ROS parameter server
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)
# JSON payload
payload = {
"node0": {"x": x1, "y": y1},
"node1": {"x": x2, "y": y2}
}
# Headers
headers = {
'accept': 'application/json',
'Content-Type': 'application/json'
}
# Make POST request
try:
response = requests.post(
url + endpoint_path + '?limit=' + str(limit),
json=payload,
headers=headers
)
response.raise_for_status() # Raise an error for unsuccessful responses
data = response.json()
print("Next Step:", data['next_step'])
except requests.exceptions.RequestException as e:
print("Error:", e)
if __name__ == '__main__':
ros_version = os.getenv("ROS_VERSION")
if ros_version == "1":
import rospy
elif ros_version == "2":
import rclpy
main()

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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", "ros_web_api_bellande_step", "bellande_step_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='ros_web_api_bellande_step',
executable='bellande_step_api_2d.py',
name='bellande_step_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)

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<?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>
<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>

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#!/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 ..
# Run ROS launch file
if [ $ROS_VERSION -eq 1 ]; then
roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
else
ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
fi

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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_step_api_2d.py'],
packages=['ros_web_api_bellande_step'],
package_dir={'': 'src'},
)
setup(**setup_args)

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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']["2d"]
# Get the parameters from the ROS parameter server
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)
# JSON payload
payload = {
"node0": {"x": x1, "y": y1},
"node1": {"x": x2, "y": y2}
}
# Headers
headers = {
'accept': 'application/json',
'Content-Type': 'application/json'
}
# Make POST request
try:
response = requests.post(
url + endpoint_path + '?limit=' + str(limit),
json=payload,
headers=headers
)
response.raise_for_status() # Raise an error for unsuccessful responses
data = response.json()
print("Next Step:", data['next_step'])
except requests.exceptions.RequestException as e:
print("Error:", e)
if __name__ == '__main__':
ros_version = os.getenv("ROS_VERSION")
if ros_version == "1":
import rospy
elif ros_version == "2":
import rclpy
main()

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import json import json
import os import os
import requests import requests
from std_msgs.msg import String
def main(): def speech_detection(audio_data, sample_rate, language):
# 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']["detection"]
# Get the parameters from the ROS parameter server
audio_data = rospy.get_param('audio_data', '')
sample_rate = rospy.get_param('sample_rate', 16000)
language = rospy.get_param('language', 'en-US')
# JSON payload
payload = { payload = {
"audio_data": audio_data, "audio_data": audio_data,
"sample_rate": sample_rate, "sample_rate": sample_rate,
"language": language "language": language
} }
# Headers
headers = { headers = {
"Authorization": f"Bearer {api_access_key}",
'accept': 'application/json', 'accept': 'application/json',
'Content-Type': 'application/json' 'Content-Type': 'application/json'
} }
response = requests.post(api_url, json=payload, headers=headers)
if response.status_code == 200:
result = response.json()
return result['detected_speech']
else:
print(f"Error: {response.status_code} - {response.text}")
return None
def audio_callback(msg):
sample_rate = rospy.get_param('sample_rate', 16000)
language = rospy.get_param('language', 'en-US')
detected_speech = speech_detection(msg.data, sample_rate, language)
if detected_speech is not None:
output_msg = String()
output_msg.data = detected_speech
pub.publish(output_msg)
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']["speech_detection"]
api_access_key = config["Bellande_Framework_Access_Key"]
# Initialize ROS node
if ros_version == "1":
rospy.init_node('speech_detection_node', anonymous=True)
pub = rospy.Publisher('detected_speech', String, queue_size=10)
sub = rospy.Subscriber('audio_data', String, audio_callback)
elif ros_version == "2":
rclpy.init()
node = rclpy.create_node('speech_detection_node')
pub = node.create_publisher(String, 'detected_speech', 10)
sub = node.create_subscription(String, 'audio_data', audio_callback, 10)
api_url = f"{url}{endpoint_path}"
# Make POST request
try: try:
response = requests.post( print("Speech detection node is running. Ctrl+C to exit.")
url + endpoint_path, if ros_version == "1":
json=payload, rospy.spin()
headers=headers elif ros_version == "2":
) rclpy.spin(node)
response.raise_for_status() # Raise an error for unsuccessful responses except KeyboardInterrupt:
data = response.json() print("Shutting down speech detection node.")
print("Detected Speech:", data['detected_speech']) except Exception as e:
print(f"An error occurred: {str(e)}")
except requests.exceptions.RequestException as e: finally:
print("Error:", e) if ros_version == "2":
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__': if __name__ == '__main__':
ros_version = os.getenv("ROS_VERSION") ros_version = os.getenv("ROS_VERSION")