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72
CONTRIBUTING.md
Normal file
72
CONTRIBUTING.md
Normal file
@ -0,0 +1,72 @@
|
||||
# Contributing to Bellande Robotics Sensors Research Innovations Center
|
||||
We're excited that you're interested in contributing to the Bellande Robotics Sensors Research Innovations Center! This document outlines the process for contributing to our organization and this repository!
|
||||
|
||||
## Contributing to the Organization
|
||||
To contribute to the Bellande Robotics Sensors Research Innovations Center organization, please visit our [Contributing Repository](https://github.com/Robotics-Sensors/bellande_robotics_sensors_research_innovations_center_contributor)
|
||||
|
||||
## Table of Contents
|
||||
1. [Contributing to the Organization](https://github.com/Robotics-Sensors/bellande_robotics_sensors_research_innovations_center_contributor)
|
||||
- [Creating a Repository](https://github.com/Robotics-Sensors/bellande_robotics_sensors_research_innovations_center_contributor)
|
||||
- [Team Requests](https://github.com/Robotics-Sensors/bellande_robotics_sensors_research_innovations_center_contributor)
|
||||
- [Security](https://github.com/Robotics-Sensors/bellande_robotics_sensors_research_innovations_center_contributor)
|
||||
2. [Contributing to Repositories](#contributing-to-repositories)
|
||||
- [New Features](#new-features)
|
||||
- [Bug Fixes](#bug-fixes)
|
||||
- [Security Issues](#security-issues)
|
||||
- [Other Contributions](#other-contributions)
|
||||
|
||||
### Creating a Repository
|
||||
1. Fork the [contributor repository](https://github.com/Robotics-Sensors/bellande_robotics_sensors_research_innovations_center_contributor).
|
||||
2. Create a new branch with a descriptive name for your proposed repository.
|
||||
3. Add a detailed description of the proposed repository in a markdown file.
|
||||
4. Submit a pull request with your proposal.
|
||||
5. Wait for review and approval from the organization administrators.
|
||||
|
||||
### Team Requests
|
||||
1. To request joining a team or creating a new team:
|
||||
- Open an issue in the [contributor repository](https://github.com/Robotics-Sensors/bellande_robotics_sensors_research_innovations_center_contributor).
|
||||
- Use the title format: "Team Request: [Team Name]"
|
||||
- Provide details about your expertise and why you want to join or create the team.
|
||||
2. An administrator will review your request and respond accordingly.
|
||||
|
||||
### Security
|
||||
For organization-wide security concerns:
|
||||
1. Do not publicly disclose the issue.
|
||||
2. Contact the organization administrators directly through a private channel.
|
||||
3. Provide a detailed description of the security concern.
|
||||
|
||||
## Contributing to Repositories
|
||||
### New Features
|
||||
1. Fork the repository you want to contribute to.
|
||||
2. Create a new branch with a descriptive name for your feature.
|
||||
3. Implement your feature, following the project's coding standards and guidelines.
|
||||
4. Write tests for your new feature if applicable.
|
||||
5. Update documentation as necessary.
|
||||
6. Submit a pull request with a clear description of the new feature.
|
||||
|
||||
### Bug Fixes
|
||||
1. Fork the repository containing the bug.
|
||||
2. Create a new branch with a descriptive name for your bug fix.
|
||||
3. Fix the bug and add tests to prevent regression if possible.
|
||||
4. Update documentation if necessary.
|
||||
5. Submit a pull request with a clear description of the bug and your fix.
|
||||
|
||||
### Security Issues
|
||||
For repository-specific security issues:
|
||||
1. Do not publicly disclose the issue.
|
||||
2. Contact the repository maintainers directly through a private channel or request a issue in the reposiroty
|
||||
3. Provide a detailed description of the security vulnerability.
|
||||
4. Wait for further instructions from the maintainers.
|
||||
|
||||
### Other Contributions
|
||||
We welcome other types of contributions, such as:
|
||||
- Documentation improvements
|
||||
- Code refactoring
|
||||
- Performance optimizations- Tooling and infrastructure improvements
|
||||
|
||||
For these contributions, follow a similar process to submitting new features or bug fixes.
|
||||
|
||||
## Code of Conduct
|
||||
Please note that all contributors are expected to adhere to our Code of Conduct. Respectful and inclusive behavior is mandatory for all participants in our project.
|
||||
|
||||
Thank you for contributing to the Bellande Robotics Sensors Research Innovations Center!
|
||||
@ -1,4 +1,4 @@
|
||||
# 🤖 Bellande Algorithms Web ROS/ROS2 API
|
||||
# 🤖 Bellande Algorithms Web BRSOA/ROS/ROS2 API
|
||||
|
||||
# Benifits of Using the Bellande API's
|
||||
- Works in any framework
|
||||
@ -16,7 +16,7 @@
|
||||
## 📧 Explore the Docker image for the Bellande Robotic VPN:
|
||||
- **Robotic VPN**: [](https://hub.docker.com/r/ronaldsonbellande/bellande_robotic_vpn)
|
||||
|
||||
## Use the Web-ROS-API Docker Image for your needs with the Bellande API
|
||||
## Use the Web-API Docker Image for your needs with the Bellande API
|
||||
- **ROS1**: [](https://hub.docker.com/r/ronaldsonbellande/bellande_web_api_packages_ros1)
|
||||
- **ROS2**: [](https://hub.docker.com/r/ronaldsonbellande/bellande_web_api_packages_ros2)
|
||||
|
||||
@ -44,6 +44,5 @@ The primary functionality of this API is to provide access to Bellande Algorithm
|
||||
To begin leveraging Bellande's algorithms in your projects, simply pull the Docker image and integrate the API into your robotic environment. Detailed instructions on how to deploy and utilize the API can be found in the provided documentation.
|
||||
|
||||
|
||||
|
||||
# License
|
||||
This API's is distributed under the [GNU General Public License v3.0](https://www.gnu.org/licenses/gpl-3.0.en.html) with all the code Publicly and Privately use case, see [LICENSE](https://github.com/RonaldsonBellande/bellande_web_ros_api/blob/main/LICENSE) and [NOTICE](https://github.com/RonaldsonBellande/bellande_web_ros_api/blob/main/LICENSE) for more information.
|
||||
|
||||
@ -1,53 +0,0 @@
|
||||
<?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_adaptive_alternate_path_creation</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>
|
||||
@ -1,54 +0,0 @@
|
||||
<?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_adaptive_continuious_control_system</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>
|
||||
@ -1,3 +0,0 @@
|
||||
# Bellande Search Path Web ROS/ROS2 API Intergration
|
||||
|
||||
[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)
|
||||
@ -1,31 +0,0 @@
|
||||
{
|
||||
"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",
|
||||
"endpoint_path": {
|
||||
"2d": "/api/Bellande_Step/bellande_step_2d",
|
||||
"3d": "/api/Bellande_Step/bellande_step_3d",
|
||||
"4d": "/api/Bellande_Step/bellande_step_4d",
|
||||
"5d": "/api/Bellande_Step/bellande_step_5d",
|
||||
"6d": "/api/Bellande_Step/bellande_step_6d",
|
||||
"7d": "/api/Bellande_Step/bellande_step_7d",
|
||||
"8d": "/api/Bellande_Step/bellande_step_8d",
|
||||
"9d": "/api/Bellande_Step/bellande_step_9d",
|
||||
"10d": "/api/Bellande_Step/bellande_step_10d"
|
||||
},
|
||||
"Bellande_Framework_Access_Key": "bellande_web_api_opensource"
|
||||
}
|
||||
@ -1,11 +0,0 @@
|
||||
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)
|
||||
@ -14,7 +14,7 @@
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(ros_web_api_bellande_2d_computer_vision)
|
||||
project(web_api_bellande_2d_computer_vision)
|
||||
|
||||
# Find ROS
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
@ -15,7 +15,7 @@
|
||||
"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://bellande-robotics-sensors-research-innovation-center.org",
|
||||
"endpoint_path": {
|
||||
"prediction": "/api/Bellande_2D_Computer_Vision/bellande_classification_prediction",
|
||||
"face_detection": "/api/Bellande_2D_Computer_Vision/bellande_face_detection",
|
||||
@ -27,7 +27,7 @@ def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch commandi
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.launch"] + args
|
||||
|
||||
roslaunch_command.extend([
|
||||
"usb_cam", "usb_cam_node", "name:=camera",
|
||||
@ -40,12 +40,12 @@ def ros1_launch_description():
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
|
||||
"web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
"args:=-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
])
|
||||
|
||||
# Execute the launch command
|
||||
@ -72,7 +72,7 @@ def ros2_launch_description():
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_2d_computer_vision',
|
||||
package='web_api_bellande_2d_computer_vision',
|
||||
executable='bellande_2d_computer_vision_face_detection.py',
|
||||
name='face_detection_node',
|
||||
output='screen',
|
||||
@ -83,7 +83,7 @@ def ros2_launch_description():
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz',
|
||||
arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
arguments=['-d', '$(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
))
|
||||
|
||||
return LaunchDescription(nodes_to_launch)
|
||||
@ -27,7 +27,7 @@ def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch commandi
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.launch"] + args
|
||||
|
||||
roslaunch_command.extend([
|
||||
"usb_cam", "usb_cam_node", "name:=camera",
|
||||
@ -40,12 +40,12 @@ def ros1_launch_description():
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
|
||||
"web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
"args:=-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
])
|
||||
|
||||
# Execute the launch command
|
||||
@ -72,7 +72,7 @@ def ros2_launch_description():
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_2d_computer_vision',
|
||||
package='web_api_bellande_2d_computer_vision',
|
||||
executable='bellande_2d_computer_vision_face_detection.py',
|
||||
name='face_detection_node',
|
||||
output='screen',
|
||||
@ -83,7 +83,7 @@ def ros2_launch_description():
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz',
|
||||
arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
arguments=['-d', '$(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
))
|
||||
|
||||
return LaunchDescription(nodes_to_launch)
|
||||
@ -27,7 +27,7 @@ def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch commandi
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_object_detection.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_object_detection.launch"] + args
|
||||
|
||||
roslaunch_command.extend([
|
||||
"usb_cam", "usb_cam_node", "name:=camera",
|
||||
@ -40,12 +40,12 @@ def ros1_launch_description():
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
|
||||
"web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
"args:=-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
])
|
||||
|
||||
# Execute the launch command
|
||||
@ -72,7 +72,7 @@ def ros2_launch_description():
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_2d_computer_vision',
|
||||
package='web_api_bellande_2d_computer_vision',
|
||||
executable='bellande_2d_computer_vision_face_detection.py',
|
||||
name='face_detection_node',
|
||||
output='screen',
|
||||
@ -83,7 +83,7 @@ def ros2_launch_description():
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz',
|
||||
arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
arguments=['-d', '$(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
))
|
||||
|
||||
return LaunchDescription(nodes_to_launch)
|
||||
@ -27,7 +27,7 @@ def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch commandi
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_prediction.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_prediction.launch"] + args
|
||||
|
||||
roslaunch_command.extend([
|
||||
"usb_cam", "usb_cam_node", "name:=camera",
|
||||
@ -40,12 +40,12 @@ def ros1_launch_description():
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_prediction.py", "name:=prediction_node"
|
||||
"web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_prediction.py", "name:=prediction_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
"args:=-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
])
|
||||
|
||||
# Execute the launch command
|
||||
@ -72,7 +72,7 @@ def ros2_launch_description():
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_2d_computer_vision',
|
||||
package='web_api_bellande_2d_computer_vision',
|
||||
executable='bellande_2d_computer_vision_prediction.py',
|
||||
name='prediction_node',
|
||||
output='screen',
|
||||
@ -83,7 +83,7 @@ def ros2_launch_description():
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz',
|
||||
arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
arguments=['-d', '$(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
))
|
||||
|
||||
return LaunchDescription(nodes_to_launch)
|
||||
@ -27,7 +27,7 @@ def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch commandi
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_semantic_segmentation.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_semantic_segmentation.launch"] + args
|
||||
|
||||
roslaunch_command.extend([
|
||||
"usb_cam", "usb_cam_node", "name:=camera",
|
||||
@ -40,12 +40,12 @@ def ros1_launch_description():
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_semantic_segmentation.py", "name:=face_detection_node"
|
||||
"web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_semantic_segmentation.py", "name:=face_detection_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
"args:=-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
])
|
||||
|
||||
# Execute the launch command
|
||||
@ -72,7 +72,7 @@ def ros2_launch_description():
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_2d_computer_vision',
|
||||
package='web_api_bellande_2d_computer_vision',
|
||||
executable='bellande_2d_computer_vision_semantic_segmentation.py',
|
||||
name='face_detection_node',
|
||||
output='screen',
|
||||
@ -83,7 +83,7 @@ def ros2_launch_description():
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz',
|
||||
arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
arguments=['-d', '$(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
|
||||
))
|
||||
|
||||
return LaunchDescription(nodes_to_launch)
|
||||
@ -25,13 +25,13 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
<param name="io_method" value="mmap" />
|
||||
</node>
|
||||
|
||||
<node name="face_detection_node" pkg="ros_web_api_bellande_2d_computer_vision"
|
||||
<node name="face_detection_node" pkg="web_api_bellande_2d_computer_vision"
|
||||
type="bellande_2d_computer_vision_face_detection.py"
|
||||
output="screen">
|
||||
<remap from="camera/image_raw" to="/usb_cam/image_raw" />
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz"
|
||||
args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
args="-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
|
||||
</launch>
|
||||
@ -25,13 +25,13 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
<param name="io_method" value="mmap" />
|
||||
</node>
|
||||
|
||||
<node name="instance_segmentation_node" pkg="ros_web_api_bellande_2d_computer_vision"
|
||||
<node name="instance_segmentation_node" pkg="web_api_bellande_2d_computer_vision"
|
||||
type="bellande_2d_computer_vision_instance_segmentation.py"
|
||||
output="screen">
|
||||
<remap from="camera/image_raw" to="/usb_cam/image_raw" />
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz"
|
||||
args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
args="-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
|
||||
</launch>
|
||||
@ -25,13 +25,13 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
<param name="io_method" value="mmap" />
|
||||
</node>
|
||||
|
||||
<node name="object_detection_node" pkg="ros_web_api_bellande_2d_computer_vision"
|
||||
<node name="object_detection_node" pkg="web_api_bellande_2d_computer_vision"
|
||||
type="bellande_2d_computer_vision_object_detection.py"
|
||||
output="screen">
|
||||
<remap from="camera/image_raw" to="/usb_cam/image_raw" />
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz"
|
||||
args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
args="-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
|
||||
</launch>
|
||||
@ -25,12 +25,12 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
<param name="io_method" value="mmap" />
|
||||
</node>
|
||||
|
||||
<node name="prediction_node" pkg="ros_web_api_bellande_2d_computer_vision"
|
||||
<node name="prediction_node" pkg="web_api_bellande_2d_computer_vision"
|
||||
type="bellande_2d_computer_vision_prediction.py" output="screen">
|
||||
<remap from="camera/image_raw" to="/usb_cam/image_raw" />
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz"
|
||||
args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
args="-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
|
||||
</launch>
|
||||
@ -25,13 +25,13 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
<param name="io_method" value="mmap" />
|
||||
</node>
|
||||
|
||||
<node name="face_detection_node" pkg="ros_web_api_bellande_2d_computer_vision"
|
||||
<node name="face_detection_node" pkg="web_api_bellande_2d_computer_vision"
|
||||
type="bellande_2d_computer_vision_semantic_segmentation.py"
|
||||
output="screen">
|
||||
<remap from="camera/image_raw" to="/usb_cam/image_raw" />
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz"
|
||||
args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
args="-d $(find web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
|
||||
</launch>
|
||||
@ -16,7 +16,7 @@ You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
<package format="3">
|
||||
<name>ros_web_api_bellande_speech_detection</name>
|
||||
<name>web_api_bellande_2d_computer_vision</name>
|
||||
<version>0.0.1</version>
|
||||
<description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
|
||||
<author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
|
||||
@ -19,7 +19,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/bellande_2d_computer_vision_prediction.py', 'src/bellande_2d_computer_vision_face_detection.py', 'src/bellande_2d_computer_vision_object_detection.py', 'src/bellande_2d_computer_vision_instance_segmentation.py', 'src/bellande_2d_computer_vision_semantic_segmentation.py'],
|
||||
packages=['ros_web_api_bellande_2d_computer_vision'],
|
||||
packages=['web_api_bellande_2d_computer_vision'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
@ -14,7 +14,7 @@
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(ros_web_api_bellande_3d_computer_vision)
|
||||
project(web_api_bellande_3d_computer_vision)
|
||||
|
||||
# Find ROS
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
@ -15,7 +15,7 @@
|
||||
"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://bellande-robotics-sensors-research-innovation-center.org",
|
||||
"endpoint_path": {
|
||||
"prediction": "/api/Bellande_3D_Computer_Vision/bellande_classification_prediction",
|
||||
"object_detection": "/api/Bellande_3D_Computer_Vision/bellande_object_detection",
|
||||
@ -26,20 +26,20 @@ from launch.substitutions import LaunchConfiguration
|
||||
def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.launch"] + args
|
||||
|
||||
roslaunch_command.extend([
|
||||
"param", "config_file",
|
||||
"value:=$(find ros_web_api_bellande_3d_computer_vision)/config/configs.json"
|
||||
"value:=$(find web_api_bellande_3d_computer_vision)/config/configs.json"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.py", "name:=pointcloud_prediction_node"
|
||||
"web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.py", "name:=pointcloud_prediction_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
|
||||
"args:=-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
|
||||
])
|
||||
|
||||
subprocess.call(roslaunch_command)
|
||||
@ -49,7 +49,7 @@ def ros2_launch_description():
|
||||
nodes_to_launch = []
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_3d_computer_vision',
|
||||
package='web_api_bellande_3d_computer_vision',
|
||||
executable='bellande_3d_computer_vision_prediction.py',
|
||||
name='pointcloud_prediction_node',
|
||||
output='screen',
|
||||
@ -61,7 +61,7 @@ def ros2_launch_description():
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz',
|
||||
arguments=['-d', '$(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz']
|
||||
arguments=['-d', '$(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz']
|
||||
))
|
||||
|
||||
return LaunchDescription(nodes_to_launch)
|
||||
@ -26,20 +26,20 @@ from launch.substitutions import LaunchConfiguration
|
||||
def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_object_detection.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_object_detection.launch"] + args
|
||||
|
||||
roslaunch_command.extend([
|
||||
"param", "config_file",
|
||||
"value:=$(find ros_web_api_bellande_3d_computer_vision)/config/configs.json"
|
||||
"value:=$(find web_api_bellande_3d_computer_vision)/config/configs.json"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_object_detection.py", "name:=pointcloud_object_detection_node"
|
||||
"web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_object_detection.py", "name:=pointcloud_object_detection_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
|
||||
"args:=-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
|
||||
])
|
||||
|
||||
subprocess.call(roslaunch_command)
|
||||
@ -49,7 +49,7 @@ def ros2_launch_description():
|
||||
nodes_to_launch = []
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_3d_computer_vision',
|
||||
package='web_api_bellande_3d_computer_vision',
|
||||
executable='pointcloud_object_detection_node.py',
|
||||
name='pointcloud_object_detection_node',
|
||||
output='screen',
|
||||
@ -61,7 +61,7 @@ def ros2_launch_description():
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz',
|
||||
arguments=['-d', '$(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz']
|
||||
arguments=['-d', '$(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz']
|
||||
))
|
||||
|
||||
return LaunchDescription(nodes_to_launch)
|
||||
@ -26,20 +26,20 @@ from launch.substitutions import LaunchConfiguration
|
||||
def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.launch"] + args
|
||||
|
||||
roslaunch_command.extend([
|
||||
"param", "config_file",
|
||||
"value:=$(find ros_web_api_bellande_3d_computer_vision)/config/configs.json"
|
||||
"value:=$(find web_api_bellande_3d_computer_vision)/config/configs.json"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.py", "name:=pointcloud_prediction_node"
|
||||
"web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.py", "name:=pointcloud_prediction_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
|
||||
"args:=-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
|
||||
])
|
||||
|
||||
subprocess.call(roslaunch_command)
|
||||
@ -49,7 +49,7 @@ def ros2_launch_description():
|
||||
nodes_to_launch = []
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_3d_computer_vision',
|
||||
package='web_api_bellande_3d_computer_vision',
|
||||
executable='bellande_3d_computer_vision_prediction.py',
|
||||
name='pointcloud_prediction_node',
|
||||
output='screen',
|
||||
@ -61,7 +61,7 @@ def ros2_launch_description():
|
||||
package='rviz2',
|
||||
executable='rviz2',
|
||||
name='rviz',
|
||||
arguments=['-d', '$(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz']
|
||||
arguments=['-d', '$(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz']
|
||||
))
|
||||
|
||||
return LaunchDescription(nodes_to_launch)
|
||||
@ -17,14 +17,14 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
<launch>
|
||||
<param name="config_file"
|
||||
value="$(find ros_web_api_bellande_3d_computer_vision)/config/configs.json" />
|
||||
value="$(find web_api_bellande_3d_computer_vision)/config/configs.json" />
|
||||
|
||||
<node name="pointcloud_prediction_node" pkg="ros_web_api_bellande_3d_computer_vision"
|
||||
<node name="pointcloud_prediction_node" pkg="web_api_bellande_3d_computer_vision"
|
||||
type="bellande_3d_computer_vision_prediction.py" output="screen">
|
||||
<remap from="input_pointcloud" to="/pointcloud_topic" />
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz"
|
||||
args="-d $(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
|
||||
args="-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
|
||||
|
||||
</launch>
|
||||
@ -17,14 +17,14 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
<launch>
|
||||
<param name="config_file"
|
||||
value="$(find ros_web_api_bellande_3d_computer_vision)/config/configs.json" />
|
||||
value="$(find web_api_bellande_3d_computer_vision)/config/configs.json" />
|
||||
|
||||
<node name="pointcloud_object_detection_node" pkg="ros_web_api_bellande_3d_computer_vision"
|
||||
<node name="pointcloud_object_detection_node" pkg="web_api_bellande_3d_computer_vision"
|
||||
type="pointcloud_object_detection_node.py" output="screen">
|
||||
<remap from="input_pointcloud" to="/pointcloud_topic" />
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz"
|
||||
args="-d $(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
|
||||
args="-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
|
||||
|
||||
</launch>
|
||||
@ -17,14 +17,14 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
<launch>
|
||||
<param name="config_file"
|
||||
value="$(find ros_web_api_bellande_3d_computer_vision)/config/configs.json" />
|
||||
value="$(find web_api_bellande_3d_computer_vision)/config/configs.json" />
|
||||
|
||||
<node name="pointcloud_prediction_node" pkg="ros_web_api_bellande_3d_computer_vision"
|
||||
<node name="pointcloud_prediction_node" pkg="web_api_bellande_3d_computer_vision"
|
||||
type="bellande_3d_computer_vision_prediction.py" output="screen">
|
||||
<remap from="input_pointcloud" to="/pointcloud_topic" />
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz"
|
||||
args="-d $(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
|
||||
args="-d $(find web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz" />
|
||||
|
||||
</launch>
|
||||
@ -17,7 +17,7 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
|
||||
<package format="3">
|
||||
<name>ros_web_api_bellande_3d_computer_vision</name>
|
||||
<name>web_api_bellande_3d_computer_vision</name>
|
||||
<version>0.0.1</version>
|
||||
<description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
|
||||
<author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
|
||||
@ -4,7 +4,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/bellande_3d_computer_vision_prediction.py', 'src/bellande_3d_computer_vision_object_detection.py', 'src/bellande_3d_computer_vision_instance_segmentation.py'],
|
||||
packages=['ros_web_api_bellande_3d_computer_vision'],
|
||||
packages=['web_api_bellande_3d_computer_vision'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
@ -14,7 +14,7 @@
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(ros_web_api_bellande_adaptive_alternate_path_creation)
|
||||
project(web_api_bellande_adaptive_alternate_path_creation)
|
||||
|
||||
# Find ROS
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
@ -1,5 +1,5 @@
|
||||
{
|
||||
"url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
|
||||
"url": "https://bellande-robotics-sensors-research-innovation-center.org",
|
||||
"endpoint_path": {
|
||||
"2d": "/api/Bellande_Adaptive_Alternate_Path_Creation/bellande_adaptive_alternate_path_creation_2d",
|
||||
"3d": "/api/Bellande_Adaptive_Alternate_Path_Creation/bellande_adaptive_alternate_path_creation_3d",
|
||||
@ -12,7 +12,7 @@ def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch commandi
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_step", "bellande_step_api_2d.launch"] + args
|
||||
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
@ -34,7 +34,7 @@ def ros2_launch_description():
|
||||
x1_arg, y1_arg, x2_arg, y2_arg, limit_arg,
|
||||
]
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_step',
|
||||
package='web_api_bellande_step',
|
||||
executable='bellande_step_api_2d.py',
|
||||
name='bellande_step_api_2d_node',
|
||||
output='screen',
|
||||
@ -21,7 +21,7 @@ the License.
|
||||
<arg name="y2" />
|
||||
<arg name="limit" />
|
||||
|
||||
<node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py"
|
||||
<node pkg="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)" />
|
||||
@ -16,7 +16,7 @@ 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_extremum_optimization</name>
|
||||
<name>web_api_bellande_adaptive_alternate_path_creation</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>
|
||||
@ -23,7 +23,7 @@ cd ..
|
||||
|
||||
# Run ROS launch file
|
||||
if [ $ROS_VERSION -eq 1 ]; then
|
||||
roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
roslaunch web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
else
|
||||
ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
ros2 launch web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
fi
|
||||
@ -4,7 +4,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/bellande_step_api_2d.py'],
|
||||
packages=['ros_web_api_bellande_step'],
|
||||
packages=['web_api_bellande_step'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
@ -14,7 +14,7 @@
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(ros_web_api_bellande_adaptive_continuious_control_system)
|
||||
project(web_api_bellande_adaptive_continuious_control_system)
|
||||
|
||||
# Find ROS
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
@ -0,0 +1 @@
|
||||
# Bellande Adaptive Continuious Control System Web ROS/ROS2 API Intergration
|
||||
@ -15,8 +15,10 @@
|
||||
"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://bellande-robotics-sensors-research-innovation-center.org",
|
||||
"endpoint_path": {
|
||||
"bellande_control_system_base": "/api/Bellande_Adaptive_Continuious_Control_System/bellande_adaptive_continuious_control_system"
|
||||
}
|
||||
},
|
||||
"connectivity_passcode": "user_input_passcode",
|
||||
"Bellande_Framework_Access_Key": "bellande_web_api_opensource"
|
||||
}
|
||||
@ -23,29 +23,26 @@ from launch.substitutions import LaunchConfiguration
|
||||
|
||||
def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
roslaunch_command = ["roslaunch", "bellande_control_system", "bellande_control_system.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_adaptive_continuious_control_system", "bellande_control_system.launch"] + args
|
||||
subprocess.call(roslaunch_command)
|
||||
|
||||
def ros2_launch_description():
|
||||
initial_state_arg = DeclareLaunchArgument('initial_state', default_value='idle')
|
||||
name_arg = DeclareLaunchArgument('name', default_value='BellandeControlSystem')
|
||||
action_parameters_arg = DeclareLaunchArgument('action_parameters', default_value='{}')
|
||||
|
||||
nodes_to_launch = []
|
||||
|
||||
ros_launch_arguments = [
|
||||
initial_state_arg, name_arg, action_parameters_arg,
|
||||
initial_state_arg, name_arg,
|
||||
]
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='bellande_control_system',
|
||||
package='web_api_bellande_adaptive_continuious_control_system',
|
||||
executable='bellande_control_system.py',
|
||||
name='bellande_control_system_node',
|
||||
output='screen',
|
||||
parameters=[
|
||||
{'initial_state': LaunchConfiguration('initial_state')},
|
||||
{'name': LaunchConfiguration('name')},
|
||||
{'action_parameters': LaunchConfiguration('action_parameters')},
|
||||
],
|
||||
))
|
||||
|
||||
@ -1,6 +1,5 @@
|
||||
<?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
|
||||
@ -19,12 +18,10 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
<!-- Arguments -->
|
||||
<arg name="initial_state" default="idle"/>
|
||||
<arg name="name" default="BellandeControlSystem"/>
|
||||
<arg name="action_parameters" default="{}"/>
|
||||
|
||||
<!-- Launch the BellandeControlSystem node -->
|
||||
<node name="bellande_control_system_node" pkg="bellande_control_system" type="bellande_control_system.py" output="screen">
|
||||
<param name="initial_state" value="$(arg initial_state)"/>
|
||||
<param name="name" value="$(arg name)"/>
|
||||
<param name="action_parameters" value="$(arg action_parameters)"/>
|
||||
</node>
|
||||
</launch>
|
||||
@ -17,7 +17,7 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
|
||||
<package format="3">
|
||||
<name>ros_web_api_bellande_adaptive_continuious_controller</name>
|
||||
<name>web_api_bellande_adaptive_continuious_control_system</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>
|
||||
@ -19,7 +19,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/bellande_control_system.py'],
|
||||
packages=['ros_web_api_bellande_adaptive_continuious_control_system'],
|
||||
packages=['web_api_bellande_adaptive_continuious_control_system'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
@ -25,7 +25,8 @@ def bellande_control_system(state, action, parameters):
|
||||
"parameters": parameters
|
||||
}
|
||||
headers = {
|
||||
"Authorization": f"Bearer {api_access_key}"
|
||||
"Authorization": f"Bearer {api_access_key}",
|
||||
"X-Connectivity-Passcode": connectivity_passcode
|
||||
}
|
||||
response = requests.post(api_url, json=payload, headers=headers)
|
||||
if response.status_code == 200:
|
||||
@ -36,20 +37,24 @@ def bellande_control_system(state, action, parameters):
|
||||
return None, None
|
||||
|
||||
def control_callback(msg):
|
||||
data = json.loads(msg.data)
|
||||
current_state = rospy.get_param('current_state', 'idle')
|
||||
action = msg.data
|
||||
parameters = json.loads(rospy.get_param('action_parameters', '{}'))
|
||||
action = data['action']
|
||||
parameters = data['parameters']
|
||||
|
||||
output, next_state = bellande_control_system(current_state, action, parameters)
|
||||
if output is not None:
|
||||
output_msg = String()
|
||||
output_msg.data = json.dumps({"output": output, "next_state": next_state})
|
||||
output_msg.data = json.dumps({
|
||||
"output": output,
|
||||
"next_state": next_state
|
||||
})
|
||||
pub.publish(output_msg)
|
||||
if next_state:
|
||||
rospy.set_param('current_state', next_state)
|
||||
|
||||
def main():
|
||||
global api_url, api_access_key, pub
|
||||
global api_url, api_access_key, connectivity_passcode, pub
|
||||
config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
|
||||
|
||||
if not os.path.exists(config_file_path):
|
||||
@ -60,6 +65,7 @@ def main():
|
||||
config = json.load(config_file)
|
||||
url = config['url']
|
||||
endpoint_path = config['endpoint_path']["bellande_control_system_base"]
|
||||
connectivity_passcode = config["connectivity_passcode"]
|
||||
api_access_key = config["Bellande_Framework_Access_Key"]
|
||||
|
||||
# Initialize ROS node
|
||||
@ -14,7 +14,7 @@
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(ros_web_api_bellande_adaptive_continuious_controller)
|
||||
project(web_api_bellande_adaptive_continuious_controller)
|
||||
|
||||
# Find ROS
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
@ -15,7 +15,7 @@
|
||||
"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://bellande-robotics-sensors-research-innovation-center.org",
|
||||
"endpoint_path": {
|
||||
"bellande_controller": "/api/Bellande_Adaptive_Continuious_Controller/bellande_adaptive_continuious_controller"
|
||||
}
|
||||
@ -25,7 +25,7 @@ def ros1_launch_description():
|
||||
# Get command-line arguments
|
||||
args = sys.argv[1:]
|
||||
# Construct the ROS 1 launch command
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_adaptive_continuious_controller", "bellande_controller.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_adaptive_continuious_controller", "bellande_controller.launch"] + args
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
|
||||
@ -44,7 +44,7 @@ def ros2_launch_description():
|
||||
]
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_adaptive_continuious_controller',
|
||||
package='web_api_bellande_adaptive_continuious_controller',
|
||||
executable='bellande_controller.py',
|
||||
name='bellande_controller_node',
|
||||
output='screen',
|
||||
@ -24,7 +24,7 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
<arg name="output_limits" default="[-1000.0, 1000.0]"/>
|
||||
|
||||
<!-- Launch the BellandeController node -->
|
||||
<node name="bellande_controller_node" pkg="ros_web_api_bellande_adaptive_continuious_controller" type="bellande_controller.py" output="screen">
|
||||
<node name="bellande_controller_node" pkg="web_api_bellande_adaptive_continuious_controller" type="bellande_controller.py" output="screen">
|
||||
<param name="gains" value="$(arg gains)"/>
|
||||
<param name="name" value="$(arg name)"/>
|
||||
<param name="output_limits" value="$(arg output_limits)"/>
|
||||
@ -15,8 +15,9 @@ GNU General Public License for more details.
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
|
||||
<package format="3">
|
||||
<name>ros_web_api_bellande_motion_probabilistic</name>
|
||||
<name>web_api_bellande_adaptive_continuious_controller</name>
|
||||
<version>0.0.1</version>
|
||||
<description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
|
||||
<author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
|
||||
@ -19,7 +19,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/bellande_controller.py'],
|
||||
packages=['ros_web_api_bellande_adaptive_continuious_controller'],
|
||||
packages=['web_api_bellande_adaptive_continuious_controller'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
@ -14,7 +14,7 @@
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(ros_web_api_bellande_ai_system)
|
||||
project(web_api_bellande_ai_system)
|
||||
|
||||
# Find ROS
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
@ -44,6 +44,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
|
||||
catkin_install_python(
|
||||
PROGRAMS
|
||||
src/bellande_ai_system_base.py
|
||||
src/bellande_ai_system_command.py
|
||||
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
)
|
||||
endif()
|
||||
@ -51,10 +52,12 @@ endif()
|
||||
# Install Python scripts, configuration files, and launch files
|
||||
if($ENV{ROS_VERSION} EQUAL "1")
|
||||
install(PROGRAMS src/bellande_ai_system_base.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
|
||||
install(PROGRAMS src/bellande_ai_system_command.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_ai_system_base.py DESTINATION lib/${PROJECT_NAME})
|
||||
install(PROGRAMS src/bellande_ai_system_command.py DESTINATION lib/${PROJECT_NAME})
|
||||
install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
|
||||
install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
|
||||
ament_package()
|
||||
@ -4,7 +4,7 @@
|
||||
|
||||
# ROS1 Launch
|
||||
- python3 bellande_step_api_2d.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
- roslaunch ros_web_api_bellande_step bellande_step_api_2d.launch x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
- roslaunch web_api_bellande_step bellande_step_api_2d.launch x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
|
||||
# ROS2 Launch
|
||||
- ros2 launch ros_web_api_bellande_step bellande_step_api_2d.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
- ros2 launch web_api_bellande_step bellande_step_api_2d.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
24
web_api_bellande_ai_system/config/configs.json
Normal file
24
web_api_bellande_ai_system/config/configs.json
Normal file
@ -0,0 +1,24 @@
|
||||
{
|
||||
"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": {
|
||||
"base": "/api/Bellande_AI_System/base",
|
||||
"command": "api/Bellande_AI_System/command"
|
||||
},
|
||||
"Bellande_Framework_Access_Key": "bellande_web_api_opensource"
|
||||
}
|
||||
@ -25,7 +25,7 @@ def ros1_launch_description():
|
||||
# Get command-line arguments
|
||||
args = sys.argv[1:]
|
||||
# Construct the ROS 1 launch command
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_ai_system", "bellande_ai_system_base.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_ai_system", "bellande_ai_system_base.launch"] + args
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
|
||||
@ -33,7 +33,7 @@ def ros2_launch_description():
|
||||
# Declare launch arguments
|
||||
config_file_arg = DeclareLaunchArgument(
|
||||
'config_file',
|
||||
default_value='$(find ros_web_api_bellande_ai_system)/config/configs.json',
|
||||
default_value='$(find web_api_bellande_ai_system)/config/configs.json',
|
||||
description='Path to the AI system configuration file'
|
||||
)
|
||||
|
||||
@ -44,7 +44,7 @@ def ros2_launch_description():
|
||||
ros_launch_arguments = [config_file_arg]
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_ai_system',
|
||||
package='web_api_bellande_ai_system',
|
||||
executable='bellande_ai_system_base.py',
|
||||
name='bellande_ai_system_base_node',
|
||||
output='screen',
|
||||
@ -0,0 +1,67 @@
|
||||
# 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 command
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_ai_system", "bellande_ai_system_command.launch"] + args
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
|
||||
def ros2_launch_description():
|
||||
# Declare launch arguments
|
||||
config_file_arg = DeclareLaunchArgument(
|
||||
'config_file',
|
||||
default_value='$(find web_api_bellande_ai_system)/config/configs.json',
|
||||
description='Path to the AI system configuration file'
|
||||
)
|
||||
|
||||
# Create a list to hold all nodes to be launched
|
||||
nodes_to_launch = []
|
||||
|
||||
# ROS2 specific configurations
|
||||
ros_launch_arguments = [config_file_arg]
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='web_api_bellande_ai_system',
|
||||
executable='bellande_ai_system_command.py',
|
||||
name='bellande_ai_system_command_node',
|
||||
output='screen',
|
||||
parameters=[
|
||||
{'config_file': LaunchConfiguration('config_file')},
|
||||
],
|
||||
))
|
||||
|
||||
# Return the LaunchDescription containing all nodes and arguments
|
||||
return LaunchDescription(ros_launch_arguments + nodes_to_launch)
|
||||
|
||||
if __name__ == "__main__":
|
||||
ros_version = os.getenv("ROS_VERSION")
|
||||
if ros_version == "1":
|
||||
ros1_launch_description()
|
||||
elif ros_version == "2":
|
||||
ros2_launch_description()
|
||||
else:
|
||||
print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
|
||||
sys.exit(1)
|
||||
@ -18,11 +18,11 @@ along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- Load configuration file -->
|
||||
<arg name="config_file" default="$(find ros_web_api_bellande_ai_system)/config/configs.json" />
|
||||
<arg name="config_file" default="$(find web_api_bellande_ai_system)/config/configs.json" />
|
||||
<param name="ai_system_config" textfile="$(arg config_file)" />
|
||||
|
||||
<!-- Launch the AI System base node -->
|
||||
<node name="bellande_ai_system_base_node" pkg="ros_web_api_bellande_ai_system"
|
||||
<node name="bellande_ai_system_base_node" pkg="web_api_bellande_ai_system"
|
||||
type="bellande_ai_system_base.py" output="screen">
|
||||
<param name="config_file" value="$(arg config_file)" />
|
||||
</node>
|
||||
@ -0,0 +1,30 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- Load configuration file -->
|
||||
<arg name="config_file" default="$(find web_api_bellande_ai_system)/config/configs.json" />
|
||||
<param name="ai_system_config" textfile="$(arg config_file)" />
|
||||
|
||||
<!-- Launch the AI System command node -->
|
||||
<node name="bellande_ai_system_command_node" pkg="web_api_bellande_ai_system"
|
||||
type="bellande_ai_system_command.py" output="screen">
|
||||
<param name="config_file" value="$(arg config_file)" />
|
||||
</node>
|
||||
|
||||
</launch>
|
||||
@ -16,7 +16,7 @@ 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_ai_system</name>
|
||||
<name>web_api_bellande_ai_system</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>
|
||||
26
web_api_bellande_ai_system/setup.py
Executable file
26
web_api_bellande_ai_system/setup.py
Executable file
@ -0,0 +1,26 @@
|
||||
# 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/>.
|
||||
|
||||
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_ai_system_base.py", "src/bellande_ai_system_command.py"],
|
||||
packages=['web_api_bellande_ai_system'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
setup(**setup_args)
|
||||
@ -62,13 +62,13 @@ def main():
|
||||
# Initialize ROS node
|
||||
if ros_version == "1":
|
||||
rospy.init_node('ai_system_node', anonymous=True)
|
||||
pub = rospy.Publisher('ai_response', String, queue_size=10)
|
||||
sub = rospy.Subscriber('ai_input', String, input_callback)
|
||||
pub = rospy.Publisher('ai_system_node_ai_response', String, queue_size=10)
|
||||
sub = rospy.Subscriber('ai_system_node_ai_input', String, input_callback)
|
||||
elif ros_version == "2":
|
||||
rclpy.init()
|
||||
node = rclpy.create_node('ai_system_node')
|
||||
pub = node.create_publisher(String, 'ai_response', 10)
|
||||
sub = node.create_subscription(String, 'ai_input', input_callback, 10)
|
||||
pub = node.create_publisher(String, 'ai_system_node_ai_response', 10)
|
||||
sub = node.create_subscription(String, 'ai_system_node_ai_input', input_callback, 10)
|
||||
|
||||
api_url = f"{url}{endpoint_path}"
|
||||
|
||||
96
web_api_bellande_ai_system/src/bellande_ai_system_command.py
Executable file
96
web_api_bellande_ai_system/src/bellande_ai_system_command.py
Executable file
@ -0,0 +1,96 @@
|
||||
# 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_ai_response(input_command):
|
||||
payload = {
|
||||
"input_command": input_command
|
||||
}
|
||||
headers = {
|
||||
'accept': 'application/json',
|
||||
'Content-Type': 'application/json',
|
||||
"Authorization": f"Bearer {api_access_key}"
|
||||
}
|
||||
try:
|
||||
response = requests.post(
|
||||
api_url,
|
||||
json=payload,
|
||||
headers=headers
|
||||
)
|
||||
response.raise_for_status()
|
||||
data = response.json()
|
||||
return String(f"AI Response: {data['response']}")
|
||||
except requests.exceptions.RequestException as e:
|
||||
print(f"Error: {e}")
|
||||
return None
|
||||
|
||||
def input_callback(msg):
|
||||
ai_response = get_ai_response(msg.data)
|
||||
if ai_response:
|
||||
pub.publish(ai_response)
|
||||
|
||||
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']["command"]
|
||||
api_access_key = config["Bellande_Framework_Access_Key"]
|
||||
|
||||
# Initialize ROS node
|
||||
if ros_version == "1":
|
||||
rospy.init_node('ai_system_node', anonymous=True)
|
||||
pub = rospy.Publisher('ai_system_node_ai_command_response', String, queue_size=10)
|
||||
sub = rospy.Subscriber('ai_system_node_ai_coomand_input', String, input_callback)
|
||||
elif ros_version == "2":
|
||||
rclpy.init()
|
||||
node = rclpy.create_node('ai_system_node')
|
||||
pub = node.create_publisher(String, 'ai_system_node_ai_command_response', 10)
|
||||
sub = node.create_subscription(String, 'ai_system_node_ai_command_input', input_callback, 10)
|
||||
|
||||
api_url = f"{url}{endpoint_path}"
|
||||
|
||||
try:
|
||||
print("AI system 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 AI system 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()
|
||||
@ -14,7 +14,7 @@
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(ros_web_api_bellande_motion_probabilistic)
|
||||
project(web_api_bellande_extremum_optimization)
|
||||
|
||||
# Find ROS
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
@ -1,5 +1,5 @@
|
||||
{
|
||||
"url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
|
||||
"url": "https://bellande-robotics-sensors-research-innovation-center.org",
|
||||
"endpoint_path": {
|
||||
"2d": "/api/Bellande_Extremum_Optimization/bellande_extremum_optimization_2d",
|
||||
"3d": "/api/Bellande_Extremum_Optimization/bellande_extremum_optimization_3d",
|
||||
@ -12,7 +12,7 @@ def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch commandi
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_step", "bellande_step_api_2d.launch"] + args
|
||||
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
@ -34,7 +34,7 @@ def ros2_launch_description():
|
||||
x1_arg, y1_arg, x2_arg, y2_arg, limit_arg,
|
||||
]
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_step',
|
||||
package='web_api_bellande_step',
|
||||
executable='bellande_step_api_2d.py',
|
||||
name='bellande_step_api_2d_node',
|
||||
output='screen',
|
||||
@ -21,7 +21,7 @@ the License.
|
||||
<arg name="y2" />
|
||||
<arg name="limit" />
|
||||
|
||||
<node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py"
|
||||
<node pkg="web_api_bellande_step" type="bellande_step_api_2d.py"
|
||||
name="bellande_step_api_2d_node" output="screen">
|
||||
<param name="x1" value="$(arg x1)" />
|
||||
<param name="y1" value="$(arg y1)" />
|
||||
@ -16,7 +16,7 @@ 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_2d_computer_vision</name>
|
||||
<name>web_api_bellande_extremum_optimization</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>
|
||||
@ -23,7 +23,7 @@ cd ..
|
||||
|
||||
# Run ROS launch file
|
||||
if [ $ROS_VERSION -eq 1 ]; then
|
||||
roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
roslaunch web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
else
|
||||
ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
ros2 launch web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
fi
|
||||
@ -4,7 +4,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/bellande_step_api_2d.py'],
|
||||
packages=['ros_web_api_bellande_step'],
|
||||
packages=['web_api_bellande_step'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
@ -14,7 +14,7 @@
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(ros_web_api_bellande_extremum_optimization)
|
||||
project(web_api_bellande_motion_probabilistic)
|
||||
|
||||
# Find ROS
|
||||
if($ENV{ROS_VERSION} EQUAL 1)
|
||||
@ -1,5 +1,5 @@
|
||||
{
|
||||
"url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
|
||||
"url": "https://bellande-robotics-sensors-research-innovation-center.org",
|
||||
"endpoint_path": {
|
||||
"2d": "/api/Bellande_Motion_Probabilistic/bellande_motion_probabilistic_2d",
|
||||
"3d": "/api/Bellande_Motion_Probabilistic/bellande_motion_probabilistic_3d",
|
||||
@ -12,7 +12,7 @@ def ros1_launch_description():
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch commandi
|
||||
roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
|
||||
roslaunch_command = ["roslaunch", "web_api_bellande_step", "bellande_step_api_2d.launch"] + args
|
||||
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
@ -34,7 +34,7 @@ def ros2_launch_description():
|
||||
x1_arg, y1_arg, x2_arg, y2_arg, limit_arg,
|
||||
]
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_step',
|
||||
package='web_api_bellande_step',
|
||||
executable='bellande_step_api_2d.py',
|
||||
name='bellande_step_api_2d_node',
|
||||
output='screen',
|
||||
@ -21,7 +21,7 @@ the License.
|
||||
<arg name="y2" />
|
||||
<arg name="limit" />
|
||||
|
||||
<node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py"
|
||||
<node pkg="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)" />
|
||||
53
web_api_bellande_motion_probabilistic/package.xml
Normal file
53
web_api_bellande_motion_probabilistic/package.xml
Normal file
@ -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>web_api_bellande_motion_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>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>
|
||||
@ -23,7 +23,7 @@ cd ..
|
||||
|
||||
# Run ROS launch file
|
||||
if [ $ROS_VERSION -eq 1 ]; then
|
||||
roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
roslaunch web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
else
|
||||
ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
ros2 launch web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
|
||||
fi
|
||||
@ -4,7 +4,7 @@ from catkin_pkg.python_setup import generate_distutils_setup
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/bellande_step_api_2d.py'],
|
||||
packages=['ros_web_api_bellande_step'],
|
||||
packages=['web_api_bellande_step'],
|
||||
package_dir={'': 'src'},
|
||||
)
|
||||
|
||||
61
web_api_bellande_probabilistic/CMakeLists.txt
Normal file
61
web_api_bellande_probabilistic/CMakeLists.txt
Normal file
@ -0,0 +1,61 @@
|
||||
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
#
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(web_api_bellande_probabilistic)
|
||||
|
||||
# Find ROS
|
||||
if($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()
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user