BRSRI/bellande_humanoid_robot_intelligence_control_system_architecture
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refacoring to release

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Pyo 2018-03-30 22:18:17 +09:00
parent 3cb37bf37b
commit 0440999570
83 changed files with 382 additions and 291 deletions
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2
.travis.yml
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@ -12,7 +12,7 @@ compiler:
- gcc
notifications:
email:
on_success: always
on_success: change
on_failure: always
recipients:
- pyo@robotis.com

34
README.md Normal file
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@ -0,0 +1,34 @@
## ROBOTIS OP3
<img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/op3/default_op3.jpg" width="40%" />
## ROS Packages for ROBOTIS OP3 Demo
|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
|:---:|:---:|:---:|
|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-OP3-Demo.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-OP3-Demo)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-OP3-Demo.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-OP3-Demo)|-|
## ROBOTIS e-Manual for ROBOTIS OP3
- [ROBOTIS e-Manual for ROBOTIS OP3](http://emanual.robotis.com/docs/en/platform/op3/introduction/)
## Wiki for robotis_op3_demo Packages
- http://wiki.ros.org/robotis_op3_demo (metapackage)
- http://wiki.ros.org/ball_detector
- http://wiki.ros.org/op3_demo
## Open Source related to ROBOTIS OP3
- [robotis_op3](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3)
- [robotis_op3_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-msgs)
- [robotis_op3_common](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common)
- [robotis_op3_tools](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools)
- [robotis_op3_demo](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo)
- [robotis_framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework)
- [robotis_controller_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs)
- [robotis_utility](https://github.com/ROBOTIS-GIT/ROBOTIS-Utility)
- [robotis_math](https://github.com/ROBOTIS-GIT/ROBOTIS-Math)
- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
- [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
- [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
## Documents and Videos related to ROBOTIS OP3
- [ROBOTIS e-Manual for ROBOTIS OP3](http://emanual.robotis.com/docs/en/platform/op3/introduction/)
- [ROBOTIS e-Manual for ROBOTIS Framework](http://emanual.robotis.com/docs/en/software/robotis_framework_packages/)
- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)

64
ball_detector/CMakeLists.txt
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@ -1,30 +1,34 @@
################################################################################
# CMake
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 2.8.3)
project(ball_detector)
################################################################################
# Packages
# Find catkin packages and libraries for catkin and system dependencies
################################################################################
find_package(catkin REQUIRED COMPONENTS
roslib
cv_bridge
geometry_msgs
image_transport
roscpp
rospy
roslib
std_msgs
sensor_msgs
geometry_msgs
dynamic_reconfigure
cv_bridge
image_transport
message_generation
)
################################################################################
# Setup for python modules and scripts
################################################################################
################################################################################
# Declare ROS messages, services and actions
################################################################################
add_message_files(
FILES
circleSetStamped.msg
CircleSetStamped.msg
BallDetectorParams.msg
)
@ -36,21 +40,34 @@ add_service_files(
generate_messages(
DEPENDENCIES
geometry_msgs std_msgs
std_msgs
geometry_msgs
)
################################################################################
# Declare ROS dynamic reconfigure parameters
################################################################################
generate_dynamic_reconfigure_options(cfg/detector_params.cfg)
generate_dynamic_reconfigure_options(
cfg/DetectorParams.cfg
)
################################################################################
# Catkin specific configuration
################################################################################
# Declare catkin specific configuration to be passed to dependent projects
##################################################################################
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS cv_bridge geometry_msgs image_transport roscpp rospy std_msgs dynamic_reconfigure
CATKIN_DEPENDS
roscpp
roslib
std_msgs
sensor_msgs
geometry_msgs
dynamic_reconfigure
cv_bridge
image_transport
message_runtime
DEPENDS Boost OpenCV
)
################################################################################
@ -59,22 +76,39 @@ catkin_package(
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIRS}
)
add_executable(ball_detector_node
src/ball_detector.cpp
src/ball_detector_node.cpp)
src/ball_detector_node.cpp
)
add_dependencies(ball_detector_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(ball_detector_node
${catkin_LIBRARIES}
yaml-cpp
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${YAML_CPP_LIBRARIES}
)
################################################################################
# Install
################################################################################
install(TARGETS ball_detector_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(DIRECTORY config launch rviz
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
################################################################################
# Test

2
ball_detector/cfg/detector_params_blue.cfg → ball_detector/cfg/DetectorParamsBlue.cfg
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@ -30,4 +30,4 @@ gen.add("filter2_v_max",int_t , -1, "Threshold of V filter", 255, 0, 255)
gen.add("ellipse_size",int_t , -1, "Ellipse size", 2, 1, 9)
gen.add("debug_image", bool_t, 0, "Show filtered image to debug", False)
exit(gen.generate(PACKAGE, "ball_detector_node", "detectorParams"))
exit(gen.generate(PACKAGE, "ball_detector_node", "DetectorParamsBlue"))

2
ball_detector/cfg/detector_params_red.cfg → ball_detector/cfg/DetectorParamsRed.cfg
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@ -30,4 +30,4 @@ gen.add("filter2_v_max",int_t , -1, "Threshold of V filter", 255, 0, 255)
gen.add("ellipse_size",int_t , -1, "Ellipse size", 5, 1, 9)
gen.add("debug_image", bool_t, 0, "Show filtered image to debug", False)
exit(gen.generate(PACKAGE, "ball_detector_node", "detectorParams"))
exit(gen.generate(PACKAGE, "ball_detector_node", "DetectorParamsRed"))

0
ball_detector/launch/ball_detector_params.yaml → ball_detector/config/ball_detector_params.yaml
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0
ball_detector/launch/ball_detector_params_default.yaml → ball_detector/config/ball_detector_params_default.yaml
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0
ball_detector/launch/ball_detector_params_op.yaml → ball_detector/config/ball_detector_params_op.yaml
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27
ball_detector/include/ball_detector/ball_detector.h
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@ -21,23 +21,26 @@
#include <string>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
//ros dependencies
#include <ros/ros.h>
#include <ros/package.h>
#include <std_msgs/Bool.h>
#include <std_msgs/String.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/image_encodings.h>
#include <dynamic_reconfigure/server.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <boost/thread.hpp>
#include <yaml-cpp/yaml.h>
#include "ball_detector/DetectorParamsConfig.h"
#include "ball_detector/circleSetStamped.h"
#include "ball_detector/ball_detector_config.h"
#include "ball_detector/detectorParamsConfig.h"
#include "ball_detector/CircleSetStamped.h"
#include "ball_detector/GetParameters.h"
#include "ball_detector/SetParameters.h"
@ -71,7 +74,7 @@ class BallDetector
//callbacks to camera info subscription
void cameraInfoCallback(const sensor_msgs::CameraInfo & msg);
void dynParamCallback(ball_detector::detectorParamsConfig &config, uint32_t level);
void dynParamCallback(ball_detector::DetectorParamsConfig &config, uint32_t level);
void enableCallback(const std_msgs::Bool::ConstPtr &msg);
void paramCommandCallback(const std_msgs::String::ConstPtr &msg);
@ -112,7 +115,7 @@ class BallDetector
int not_found_count_;
//circle set publisher
ball_detector::circleSetStamped circles_msg_;
ball_detector::CircleSetStamped circles_msg_;
ros::Publisher circles_pub_;
//camera info subscriber
@ -154,8 +157,8 @@ class BallDetector
cv::Mat in_image_;
cv::Mat out_image_;
dynamic_reconfigure::Server<ball_detector::detectorParamsConfig> param_server_;
dynamic_reconfigure::Server<ball_detector::detectorParamsConfig>::CallbackType callback_fnc_;
dynamic_reconfigure::Server<ball_detector::DetectorParamsConfig> param_server_;
dynamic_reconfigure::Server<ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
};
} // namespace robotis_op

16
ball_detector/launch/ball_detector.launch
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@ -1,13 +1,13 @@
<?xml version="1.0"?>
<launch>
<arg name="config_path" default="$(find ball_detector)/launch/ball_detector_params.yaml"/>
<arg name="config_path" default="$(find ball_detector)/config/ball_detector_params.yaml"/>
<!-- ball detector -->
<node pkg="ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
<rosparam command="load" file="$(arg config_path)"/>
<param name="yaml_path" type="string" value="$(arg config_path)"/>
<remap from="/ball_detector_node/image_in" to="/usb_cam_node/image_raw" />
<remap from="/ball_detector_node/cameraInfo_in" to="/usb_cam_node/camera_info" />
</node>
<!-- ball detector -->
<node pkg="ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
<rosparam command="load" file="$(arg config_path)"/>
<param name="yaml_path" type="string" value="$(arg config_path)"/>
<remap from="/ball_detector_node/image_in" to="/usb_cam_node/image_raw" />
<remap from="/ball_detector_node/cameraInfo_in" to="/usb_cam_node/camera_info" />
</node>
</launch>

45
ball_detector/launch/ball_detector_from_usb_cam.launch
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@ -1,28 +1,27 @@
<?xml version="1.0"?>
<!-- Launches an UVC camera, the ball detector and its visualization -->
<launch>
<!-- UVC camera -->
<node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
<param name="video_device" type="string" value="/dev/video0" />
<param name="image_width" type="int" value="1280" />
<param name="image_height" type="int" value="720" />
<param name="framerate " type="int" value="30" />
<param name="camera_frame_id" type="string" value="cam_link" />
<param name="camera_name" type="string" value="camera" />
<!-- <param name="autofocus" type="bool" value="False" /> -->
<!-- <param name="autoexposure" type="bool" value="False" /> -->
<!-- <param name="auto_white_balance" type="bool" value="False" /> -->
<!-- <param name="gain" value="255" /> -->
<!-- <param name="brightness" value="64" /> -->
<!-- <param name="exposure" value="80" /> -->
<!-- <param name="auto_exposure" type="bool" value="False" /> -->
<!-- <param name="exposure_absolute" value="1000" /> -->
<!-- <param name="auto_white_balance" type="bool" value="False" /> -->
<!-- <param name="white_balance_temperature" value="2800" /> -->
<!-- <param name="camera_info_url" type="string" value="file://$(find ar_pose)/data/camera_1280720.yaml" /> -->
</node>
<!-- ball detector -->
<include file="$(find ball_detector)/launch/ball_detector.launch" />
<!-- UVC camera -->
<node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
<param name="video_device" type="string" value="/dev/video0" />
<param name="image_width" type="int" value="1280" />
<param name="image_height" type="int" value="720" />
<param name="framerate " type="int" value="30" />
<param name="camera_frame_id" type="string" value="cam_link" />
<param name="camera_name" type="string" value="camera" />
<!-- <param name="autofocus" type="bool" value="False" /> -->
<!-- <param name="autoexposure" type="bool" value="False" /> -->
<!-- <param name="auto_white_balance" type="bool" value="False" /> -->
<!-- <param name="gain" value="255" /> -->
<!-- <param name="brightness" value="64" /> -->
<!-- <param name="exposure" value="80" /> -->
<!-- <param name="auto_exposure" type="bool" value="False" /> -->
<!-- <param name="exposure_absolute" value="1000" /> -->
<!-- <param name="auto_white_balance" type="bool" value="False" /> -->
<!-- <param name="white_balance_temperature" value="2800" /> -->
<!-- <param name="camera_info_url" type="string" value="file://$(find ar_pose)/data/camera_1280720.yaml" /> -->
</node>
<!-- ball detector -->
<include file="$(find ball_detector)/launch/ball_detector.launch" />
</launch>

50
ball_detector/launch/ball_detector_from_uvc.launch
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@ -1,30 +1,30 @@
<?xml version="1.0"?>
<!-- Launches an UVC camera, the ball detector and its visualization -->
<launch>
<!-- UVC camera -->
<node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node" output="screen">
<param name="device" type="string" value="/dev/video0" />
<param name="width" type="int" value="800" />
<param name="height" type="int" value="600" />
<param name="fps" type="int" value="30" />
<param name="auto_gain" value="false" />
<param name="gain" type="int" value="120" />
<param name="exposure" value="100" />
</node>
<!-- <param name="gain" value="255" />
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure_absolute" value="1000" />
<param name="brightness" value="127" />
<param name="auto_white_balance" type="bool" value="False" />
<param name="white_balance_temperature" value="2800" /> -->
<!-- <param name="auto_exposure" type="bool" value="False" /> -->
<!-- <param name="exposure_absolute" value="1000" /> -->
<!-- <param name="brightness" value="64" /> -->
<!-- <param name="auto_white_balance" type="bool" value="False" /> -->
<!-- <param name="white_balance_temperature" value="2800" /> -->
<!-- ball detector -->
<include file="$(find ball_detector)/launch/ball_detector.launch" />
<!-- UVC camera -->
<node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node" output="screen">
<param name="device" type="string" value="/dev/video0" />
<param name="width" type="int" value="800" />
<param name="height" type="int" value="600" />
<param name="fps" type="int" value="30" />
<param name="auto_gain" value="false" />
<param name="gain" type="int" value="120" />
<param name="exposure" value="100" />
</node>
<!-- <param name="gain" value="255" />
<param name="auto_exposure" type="bool" value="False" />
<param name="exposure_absolute" value="1000" />
<param name="brightness" value="127" />
<param name="auto_white_balance" type="bool" value="False" />
<param name="white_balance_temperature" value="2800" /> -->
<!-- <param name="auto_exposure" type="bool" value="False" /> -->
<!-- <param name="exposure_absolute" value="1000" /> -->
<!-- <param name="brightness" value="64" /> -->
<!-- <param name="auto_white_balance" type="bool" value="False" /> -->
<!-- <param name="white_balance_temperature" value="2800" /> -->
<!-- ball detector -->
<include file="$(find ball_detector)/launch/ball_detector.launch" />
</launch>

0
ball_detector/msg/circleSetStamped.msg → ball_detector/msg/CircleSetStamped.msg
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49
ball_detector/package.xml
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@ -1,33 +1,34 @@
<?xml version="1.0"?>
<package>
<package format="2">
<name>ball_detector</name>
<version>0.1.0</version>
<description>
This package implements a circle-like shape detector of the input image.
It requires and input image and publish, at frame rate, a marked image
and a stamped array of circle centers and radius.
This package implements a circle-like shape detector of the input image.
It requires and input image and publish, at frame rate, a marked image
and a stamped array of circle centers and radius.
</description>
<license>Apache License 2.0</license>
<author email="kmjung@robotis.com">kayman</author>
<license>Apache 2.0</license>
<author email="kmjung@robotis.com">Kayman</author>
<maintainer email="pyo@robotis.com">Pyo</maintainer>
<url type="website">http://wiki.ros.org/ball_detector</url>
<url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roslib</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>dynamic_reconfigure</build_depend>
<depend>roscpp</depend>
<depend>roslib</depend>
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
<depend>geometry_msgs</depend>
<depend>dynamic_reconfigure</depend>
<depend>cv_bridge</depend>
<depend>image_transport</depend>
<depend>boost</depend>
<depend>opencv</depend>
<depend>yaml-cpp</depend>
<build_depend>message_generation</build_depend>
<run_depend>roslib</run_depend>
<run_depend>cv_bridge</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>image_transport</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>message_runtime</run_depend>
<build_export_depend>message_runtime</build_export_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>usb_cam</exec_depend>
<exec_depend>uvc_camera</exec_depend>
</package>

0
ball_detector/launch/ball_detector.rviz → ball_detector/rviz/ball_detector.rviz
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7
ball_detector/src/ball_detector.cpp
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@ -16,7 +16,6 @@
/* Author: Kayman Jung */
#include <yaml-cpp/yaml.h>
#include <fstream>
#include "ball_detector/ball_detector.h"
@ -72,7 +71,7 @@ BallDetector::BallDetector()
//sets publishers
image_pub_ = it_.advertise("image_out", 100);
circles_pub_ = nh_.advertise<ball_detector::circleSetStamped>("circle_set", 100);
circles_pub_ = nh_.advertise<ball_detector::CircleSetStamped>("circle_set", 100);
camera_info_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera_info", 100);
//sets subscribers
@ -92,7 +91,7 @@ BallDetector::BallDetector()
param_command_sub_ = nh_.subscribe("param_command", 1, &BallDetector::paramCommandCallback, this);
set_param_client_ = nh_.advertiseService("set_param", &BallDetector::setParamCallback, this);
get_param_client_ = nh_.advertiseService("get_param", &BallDetector::getParamCallback, this);
default_setting_path_ = ros::package::getPath(ROS_PACKAGE_NAME) + "/launch/ball_detector_params_default.yaml";
default_setting_path_ = ros::package::getPath(ROS_PACKAGE_NAME) + "/config/ball_detector_params_default.yaml";
//sets config and prints it
params_config_ = detect_config;
@ -234,7 +233,7 @@ void BallDetector::imageCallback(const sensor_msgs::ImageConstPtr & msg)
return;
}
void BallDetector::dynParamCallback(ball_detector::detectorParamsConfig &config, uint32_t level)
void BallDetector::dynParamCallback(ball_detector::DetectorParamsConfig &config, uint32_t level)
{
params_config_.gaussian_blur_size = config.gaussian_blur_size;
params_config_.gaussian_blur_sigma = config.gaussian_blur_sigma;

109
op3_demo/CMakeLists.txt
View File

@ -1,26 +1,51 @@
################################################################################
# CMake
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 2.8.3)
project(op3_demo)
################################################################################
# Packages
# Find catkin packages and libraries for catkin and system dependencies
################################################################################
find_package(catkin REQUIRED COMPONENTS
roscpp
roslib
std_msgs
sensor_msgs
ball_detector
geometry_msgs
robotis_controller_msgs
op3_walking_module_msgs
op3_action_module_msgs
robotis_controller_msgs
cmake_modules
robotis_math
ball_detector
)
find_package(Boost REQUIRED COMPONENTS thread)
find_package(Eigen REQUIRED)
## Resolve system dependency on yaml-cpp, which apparently does not
## provide a CMake find_package() module.
## Insert your header file compatible specified path like '#include <yaml-cpp/yaml.h>'
find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
find_path(YAML_CPP_INCLUDE_DIR
NAMES yaml_cpp.h
PATHS ${YAML_CPP_INCLUDE_DIRS}
)
find_library(YAML_CPP_LIBRARY
NAMES YAML_CPP
PATHS ${YAML_CPP_LIBRARY_DIRS}
)
link_directories(${YAML_CPP_LIBRARY_DIRS})
if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
add_definitions(-DHAVE_NEW_YAMLCPP)
endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
################################################################################
# Setup for python modules and scripts
################################################################################
################################################################################
# Declare ROS messages, services and actions
@ -31,11 +56,23 @@ find_package(Eigen REQUIRED)
################################################################################
################################################################################
# Catkin specific configuration
# Declare catkin specific configuration to be passed to dependent projects
################################################################################
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp sensor_msgs
CATKIN_DEPENDS
roscpp
roslib
std_msgs
sensor_msgs
geometry_msgs
robotis_controller_msgs
op3_walking_module_msgs
op3_action_module_msgs
cmake_modules
robotis_math
ball_detector
DEPENDS Boost EIGEN3
)
################################################################################
@ -44,7 +81,9 @@ catkin_package(
include_directories(
include
${catkin_INCLUDE_DIRS}
${Eigen_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIRS}
)
add_executable(op_demo_node
@ -57,11 +96,16 @@ add_executable(op_demo_node
src/vision/face_tracker.cpp
)
add_dependencies(op_demo_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(op_demo_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(op_demo_node
${catkin_LIBRARIES}
yaml-cpp
${Boost_LIBRARIES}
${Eigen3_LIBRARIES}
${YAML_CPP_LIBRARIES}
)
add_executable(self_test_node
@ -76,47 +120,32 @@ add_executable(self_test_node
src/test/mic_test.cpp
)
add_dependencies(self_test_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(self_test_node
${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS}
)
target_link_libraries(self_test_node
${catkin_LIBRARIES}
yaml-cpp
${Boost_LIBRARIES}
${Eigen3_LIBRARIES}
${YAML_CPP_LIBRARIES}
)
################################################################################
# Install
################################################################################
install(TARGETS op_demo_node self_test_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ball_tracking ball_tracking_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
install(DIRECTORY data launch list
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
################################################################################
# Test

0
op3_demo/Data/mp3/Autonomous soccer mode.mp3 → op3_demo/data/mp3/Autonomous soccer mode.mp3
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op3_demo/Data/mp3/Bye bye.mp3 → op3_demo/data/mp3/Bye bye.mp3
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0
op3_demo/Data/mp3/Clap please.mp3 → op3_demo/data/mp3/Clap please.mp3
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0
op3_demo/Data/mp3/Demonstration ready mode.mp3 → op3_demo/data/mp3/Demonstration ready mode.mp3
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op3_demo/Data/mp3/Headstand.mp3 → op3_demo/data/mp3/Headstand.mp3
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op3_demo/Data/mp3/Interactive motion mode.mp3 → op3_demo/data/mp3/Interactive motion mode.mp3
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0
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op3_demo/Data/mp3/Introduction.mp3 → op3_demo/data/mp3/Introduction.mp3
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op3_demo/Data/mp3/Left kick.mp3 → op3_demo/data/mp3/Left kick.mp3
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op3_demo/Data/mp3/No.mp3 → op3_demo/data/mp3/No.mp3
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op3_demo/Data/mp3/Oops.mp3 → op3_demo/data/mp3/Oops.mp3
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0
op3_demo/Data/mp3/Right kick.mp3 → op3_demo/data/mp3/Right kick.mp3
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0
op3_demo/Data/mp3/Sensor calibration complete.mp3 → op3_demo/data/mp3/Sensor calibration complete.mp3
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0
op3_demo/Data/mp3/Sensor calibration fail.mp3 → op3_demo/data/mp3/Sensor calibration fail.mp3
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0
op3_demo/Data/mp3/Shoot.mp3 → op3_demo/data/mp3/Shoot.mp3
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0
op3_demo/Data/mp3/Sit down.mp3 → op3_demo/data/mp3/Sit down.mp3
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0
op3_demo/Data/mp3/Stand up.mp3 → op3_demo/data/mp3/Stand up.mp3
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0
op3_demo/Data/mp3/Start motion demonstration.mp3 → op3_demo/data/mp3/Start motion demonstration.mp3
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0
op3_demo/Data/mp3/Start soccer demonstration.mp3 → op3_demo/data/mp3/Start soccer demonstration.mp3
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0
op3_demo/Data/mp3/Start vision processing demonstration.mp3 → op3_demo/data/mp3/Start vision processing demonstration.mp3
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0
op3_demo/Data/mp3/System shutdown.mp3 → op3_demo/data/mp3/System shutdown.mp3
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0
op3_demo/Data/mp3/Thank you.mp3 → op3_demo/data/mp3/Thank you.mp3
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0
op3_demo/Data/mp3/Vision processing mode.mp3 → op3_demo/data/mp3/Vision processing mode.mp3
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0
op3_demo/Data/mp3/Wow.mp3 → op3_demo/data/mp3/Wow.mp3
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0
op3_demo/Data/mp3/Yes go.mp3 → op3_demo/data/mp3/Yes go.mp3
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0
op3_demo/Data/mp3/Yes.mp3 → op3_demo/data/mp3/Yes.mp3
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0
op3_demo/Data/mp3/intro_test.mp3 → op3_demo/data/mp3/intro_test.mp3
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0
op3_demo/Data/mp3/test/Announce mic test.mp3 → op3_demo/data/mp3/test/Announce mic test.mp3
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0
op3_demo/Data/mp3/test/Button test mode.mp3 → op3_demo/data/mp3/test/Button test mode.mp3
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0
op3_demo/Data/mp3/test/Mic test mode.mp3 → op3_demo/data/mp3/test/Mic test mode.mp3
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0
op3_demo/Data/mp3/test/Mode button long pressed.mp3 → op3_demo/data/mp3/test/Mode button long pressed.mp3
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0
op3_demo/Data/mp3/test/Mode button pressed.mp3 → op3_demo/data/mp3/test/Mode button pressed.mp3
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0
op3_demo/Data/mp3/test/Self test ready mode.mp3 → op3_demo/data/mp3/test/Self test ready mode.mp3
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0
op3_demo/Data/mp3/test/Start button long pressed.mp3 → op3_demo/data/mp3/test/Start button long pressed.mp3
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0
op3_demo/Data/mp3/test/Start button pressed.mp3 → op3_demo/data/mp3/test/Start button pressed.mp3
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0
op3_demo/Data/mp3/test/Start button test mode.mp3 → op3_demo/data/mp3/test/Start button test mode.mp3
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0
op3_demo/Data/mp3/test/Start mic test mode.mp3 → op3_demo/data/mp3/test/Start mic test mode.mp3
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0
op3_demo/Data/mp3/test/Start playing.mp3 → op3_demo/data/mp3/test/Start playing.mp3
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0
op3_demo/Data/mp3/test/Start recording.mp3 → op3_demo/data/mp3/test/Start recording.mp3
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0
op3_demo/Data/mp3/test/User button long pressed.mp3 → op3_demo/data/mp3/test/User button long pressed.mp3
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0
op3_demo/Data/mp3/test/User button pressed.mp3 → op3_demo/data/mp3/test/User button pressed.mp3
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6
op3_demo/include/op3_demo/action_demo.h
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@ -19,14 +19,14 @@
#ifndef ACTION_DEMO_H_
#define ACTION_DEMO_H_
#include <boost/thread.hpp>
#include <yaml-cpp/yaml.h>
#include <ros/ros.h>
#include <ros/package.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>
#include <boost/thread.hpp>
#include <yaml-cpp/yaml.h>
#include "op3_demo/op_demo.h"
#include "robotis_controller_msgs/JointCtrlModule.h"
#include "robotis_controller_msgs/SetModule.h"

6
op3_demo/include/op3_demo/ball_follower.h
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@ -20,16 +20,16 @@
#define BALL_FOLLOWER_H_
#include <math.h>
#include <yaml-cpp/yaml.h>
#include <ros/ros.h>
#include <ros/package.h>
#include <std_msgs/String.h>
#include <std_msgs/Int32.h>
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Point.h>
#include <yaml-cpp/yaml.h>
#include "robotis_controller_msgs/JointCtrlModule.h"
#include "ball_detector/circleSetStamped.h"
#include "ball_detector/CircleSetStamped.h"
#include "op3_walking_module_msgs/WalkingParam.h"
#include "op3_walking_module_msgs/GetWalkingParam.h"

9
op3_demo/include/op3_demo/ball_tracker.h
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@ -20,17 +20,16 @@
#define BALL_TRACKING_H_
#include <math.h>
#include <yaml-cpp/yaml.h>
#include <ros/ros.h>
#include <ros/package.h>
#include <std_msgs/String.h>
#include <std_msgs/Int32.h>
//#include <std_msgs/Float64MultiArray.h>
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Point.h>
#include <yaml-cpp/yaml.h>
#include "robotis_controller_msgs/JointCtrlModule.h"
#include "ball_detector/circleSetStamped.h"
#include "ball_detector/CircleSetStamped.h"
#include "op3_walking_module_msgs/WalkingParam.h"
#include "op3_walking_module_msgs/GetWalkingParam.h"
@ -80,7 +79,7 @@ protected:
const int WAITING_THRESHOLD;
const bool DEBUG_PRINT;
void ballPositionCallback(const ball_detector::circleSetStamped::ConstPtr &msg);
void ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg);
void ballTrackerCommandCallback(const std_msgs::String::ConstPtr &msg);
void publishHeadJoint(double pan, double tilt);
void scanBall();

4
op3_demo/include/op3_demo/button_test.h
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@ -19,14 +19,12 @@
#ifndef BUTTON_TEST_H_
#define BUTTON_TEST_H_
#include <boost/thread.hpp>
#include <ros/ros.h>
#include <ros/package.h>
#include <std_msgs/String.h>
#include <boost/thread.hpp>
#include "op3_demo/op_demo.h"
#include "robotis_controller_msgs/SyncWriteItem.h"
namespace robotis_op

3
op3_demo/include/op3_demo/face_tracker.h
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@ -20,8 +20,6 @@
#define FACE_TRACKING_H_
#include <math.h>
#include <yaml-cpp/yaml.h>
#include <ros/ros.h>
#include <ros/package.h>
#include <std_msgs/Bool.h>
@ -29,6 +27,7 @@
#include <std_msgs/Int32.h>
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Point.h>
#include <yaml-cpp/yaml.h>
namespace robotis_op
{

4
op3_demo/include/op3_demo/mic_test.h
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@ -20,14 +20,12 @@
#define MIC_TEST_H_
#include <signal.h>
#include <boost/thread.hpp>
#include <ros/ros.h>
#include <ros/package.h>
#include <std_msgs/String.h>
#include <boost/thread.hpp>
#include "op3_demo/op_demo.h"
#include "robotis_controller_msgs/SyncWriteItem.h"
namespace robotis_op

11
op3_demo/include/op3_demo/soccer_demo.h
View File

@ -23,15 +23,18 @@
#include <std_msgs/String.h>
#include <sensor_msgs/Imu.h>
#include <boost/thread.hpp>
#include <eigen3/Eigen/Eigen>
#include <yaml-cpp/yaml.h>
#include "op3_action_module_msgs/IsRunning.h"
#include "robotis_controller_msgs/SyncWriteItem.h"
#include "robotis_controller_msgs/JointCtrlModule.h"
#include "robotis_controller_msgs/SetJointModule.h"
#include "op3_demo/op_demo.h"
#include "op3_demo/ball_tracker.h"
#include "op3_demo/ball_follower.h"
#include "robotis_math/robotis_linear_algebra.h"
#include "op3_action_module_msgs/IsRunning.h"
#include "robotis_controller_msgs/SyncWriteItem.h"
#include "robotis_controller_msgs/JointCtrlModule.h"
#include "robotis_controller_msgs/SetJointModule.h"
namespace robotis_op
{

9
op3_demo/include/op3_demo/vision_demo.h
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@ -19,19 +19,18 @@
#ifndef VISION_DEMO_H_
#define VISION_DEMO_H_
#include <boost/thread.hpp>
#include <ros/ros.h>
#include <std_msgs/String.h>
#include <std_msgs/Int32MultiArray.h>
#include <geometry_msgs/Point.h>
#include "op3_demo/op_demo.h"
#include "op3_demo/face_tracker.h"
#include <boost/thread.hpp>
#include "robotis_controller_msgs/SyncWriteItem.h"
#include "robotis_controller_msgs/SetModule.h"
#include "op3_demo/op_demo.h"
#include "op3_demo/face_tracker.h"
namespace robotis_op
{

2
op3_demo/launch/demo.launch
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@ -1,7 +1,5 @@
<?xml version="1.0"?>
<launch>
<!-- robotis op3 manager -->
<include file="$(find op3_manager)/launch/op3_manager.launch"/>

20
op3_demo/launch/face_detection_op3.launch
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@ -7,16 +7,16 @@
<arg name="face_cascade_name_4" default="$(find face_detection)/include/face_detection/lbpCascades/lbpcascade_frontalface.xml" />
<node pkg="face_detection" type="face_tracking" name="face_tracking"
args="$(arg face_cascade_name_0)
$(arg face_cascade_name_1)
$(arg face_cascade_name_2)
$(arg face_cascade_name_3)
$(arg face_cascade_name_4)"
output="screen">
<param name="imageInput" type="string" value="/usb_cam_node/image_raw" />
<param name="displayed_Image" type="int" value="0" />
<!-- <param name="publish" type="int" value="2" /> -->
<param name="publish" type="int" value="3" />
args="$(arg face_cascade_name_0)
$(arg face_cascade_name_1)
$(arg face_cascade_name_2)
$(arg face_cascade_name_3)
$(arg face_cascade_name_4)"
output="screen">
<param name="imageInput" type="string" value="/usb_cam_node/image_raw" />
<param name="displayed_Image" type="int" value="0" />
<!-- <param name="publish" type="int" value="2" /> -->
<param name="publish" type="int" value="3" />
<param name="start_condition" type="bool" value="false" />
</node>
</launch>

37
op3_demo/launch/self_test.launch
View File

@ -1,30 +1,29 @@
<?xml version="1.0"?>
<!-- Launches an UVC camera, the ball detector and its visualization -->
<launch>
<!-- robotis op3 manager -->
<include file="$(find op3_manager)/launch/op3_manager.launch"/>
<!-- robotis op3 manager -->
<include file="$(find op3_manager)/launch/op3_manager.launch"/>
<!-- Camera and Ball detector -->
<include file="$(find ball_detector)/launch/ball_detector_from_usb_cam.launch"/>
<!-- Camera and Ball detector -->
<include file="$(find ball_detector)/launch/ball_detector_from_usb_cam.launch"/>
<!-- face tracking -->
<include file="$(find op3_demo)/launch/face_detection_op3.launch" />
<!-- face tracking -->
<include file="$(find op3_demo)/launch/face_detection_op3.launch" />
<!-- camera setting tool -->
<include file="$(find op3_camera_setting_tool)/launch/op3_camera_setting_tool.launch" />
<!-- camera setting tool -->
<include file="$(find op3_camera_setting_tool)/launch/op3_camera_setting_tool.launch" />
<!-- sound player -->
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen"/>
<!-- sound player -->
<node pkg="ros_madplay_player" type="ros_madplay_player" name="ros_madplay_player" output="screen"/>
<!-- web setting -->
<include file="$(find op3_web_setting_tool)/launch/web_setting_server.launch" />
<!-- web setting -->
<include file="$(find op3_web_setting_tool)/launch/web_setting_server.launch" />
<!-- robotis op3 self test demo -->
<node pkg="op3_demo" type="self_test_node" name="op3_self_test" output="screen">
<param name="grass_demo" type="bool" value="False" />
<param name="p_gain" value="0.45" />
<param name="d_gain" value="0.045" />
</node>
<!-- robotis op3 self test demo -->
<node pkg="op3_demo" type="self_test_node" name="op3_self_test" output="screen">
<param name="grass_demo" type="bool" value="False" />
<param name="p_gain" value="0.45" />
<param name="d_gain" value="0.045" />
</node>
</launch>

23
op3_demo/list/action_script.yaml Normal file
View File

@ -0,0 +1,23 @@
# combination action page number and mp3 file path
action_and_sound:
4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Thank you.mp3"
41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Introduction.mp3"
24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Wow.mp3"
23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Yes go.mp3"
15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Sit down.mp3"
1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Stand up.mp3"
54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Clap please.mp3"
27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Bye bye.mp3"
# 101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
110 : ""
111 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Intro01.mp3"
115 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Intro02.mp3"
118 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Intro03.mp3"
# play list
prev_default: [4, 41, 24, 23, 15, 1, 54, 27, 38]
default: [4, 110, 111, 115, 118, 24, 54, 27, 38]
# example of play list
#certification: [101]

20
op3_demo/script/action_script_bk.yaml → op3_demo/list/action_script_bk.yaml
View File

@ -1,15 +1,15 @@
# combination action page number and mp3 file path
action_and_sound:
4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Thank you.mp3"
41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Introduction.mp3"
24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Wow.mp3"
23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Yes go.mp3"
15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Sit down.mp3"
1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Stand up.mp3"
54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Clap please.mp3"
27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Oops.mp3"
38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Bye bye.mp3"
101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Oops.mp3"
4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Thank you.mp3"
41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Introduction.mp3"
24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Wow.mp3"
23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Yes go.mp3"
15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Sit down.mp3"
1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Stand up.mp3"
54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Clap please.mp3"
27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Bye bye.mp3"
101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3/ROBOTIS-OP3-Demo/op3_demo/data/mp3/Oops.mp3"
# play list
default: [4, 41, 24, 23, 15, 1, 54, 27, 38]

50
op3_demo/package.xml
View File

@ -1,32 +1,36 @@
<?xml version="1.0"?>
<package>
<package format="2">
<name>op3_demo</name>
<version>0.1.0</version>
<description>
op3 default demo
OP3 default demo
It includes three demontrations(soccer demo, vision demo, action script demo)
</description>
<license>Apache License 2.0</license>
<author email="kmjung@robotis.com">kayman</author>
<license>Apache 2.0</license>
<author email="kmjung@robotis.com">Kayman</author>
<maintainer email="pyo@robotis.com">Pyo</maintainer>
<url type="website">http://wiki.ros.org/op3_demo</url>
<url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>roslib</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>ball_detector</build_depend>
<build_depend>robotis_controller_msgs</build_depend>
<build_depend>op3_walking_module_msgs</build_depend>
<build_depend>op3_action_module_msgs</build_depend>
<build_depend>cmake_modules</build_depend>
<build_depend>robotis_math</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>roslib</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>ball_detector</run_depend>
<run_depend>robotis_controller_msgs</run_depend>
<run_depend>op3_walking_module_msgs</run_depend>
<run_depend>op3_action_module_msgs</run_depend>
<run_depend>cmake_modules</run_depend>
<run_depend>robotis_math</run_depend>
<depend>roscpp</depend>
<depend>roslib</depend>
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
<depend>geometry_msgs</depend>
<depend>robotis_controller_msgs</depend>
<depend>op3_walking_module_msgs</depend>
<depend>op3_action_module_msgs</depend>
<depend>cmake_modules</depend>
<depend>robotis_math</depend>
<depend>ball_detector</depend>
<depend>boost</depend>
<depend>eigen</depend>
<depend>yaml-cpp</depend>
<exec_depend>op3_manager</exec_depend>
<exec_depend>op3_camera_setting_tool</exec_depend>
<exec_depend>op3_web_setting_tool</exec_depend>
<exec_depend>ros_madplay_player</exec_depend>
<!-- <exec_depend>face_detection</exec_depend> -->
</package>

23
op3_demo/script/action_script.yaml
View File

@ -1,23 +0,0 @@
# combination action page number and mp3 file path
action_and_sound:
4 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Thank you.mp3"
41: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Introduction.mp3"
24: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Wow.mp3"
23: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Yes go.mp3"
15: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Sit down.mp3"
1: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Stand up.mp3"
54: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Clap please.mp3"
27: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Oops.mp3"
38: "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Bye bye.mp3"
# 101 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Oops.mp3"
110 : ""
111 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Intro01.mp3"
115 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Intro02.mp3"
118 : "/home/robotis/catkin_ws/src/ROBOTIS-OP3-Demo/op3_demo/Data/mp3/Intro03.mp3"
# play list
prev_default: [4, 41, 24, 23, 15, 1, 54, 27, 38]
default: [4, 110, 111, 115, 118, 24, 54, 27, 38]
# example of play list
#certification: [101]

2
op3_demo/src/action/action_demo.cpp
View File

@ -31,7 +31,7 @@ ActionDemo::ActionDemo()
ros::NodeHandle nh(ros::this_node::getName());
std::string default_path = ros::package::getPath("op3_demo") + "/script/action_script.yaml";
std::string default_path = ros::package::getPath("op3_demo") + "/list/action_script.yaml";
script_path_ = nh.param<std::string>("action_script", default_path);
std::string default_play_list = "default";

2
op3_demo/src/demo_node.cpp
View File

@ -77,7 +77,7 @@ int main(int argc, char **argv)
ros::Subscriber buttuon_sub = nh.subscribe("/robotis/open_cr/button", 1, buttonHandlerCallback);
ros::Subscriber mode_command_sub = nh.subscribe("/robotis/mode_command", 1, demoModeCommandCallback);
default_mp3_path = ros::package::getPath("op3_demo") + "/Data/mp3/";
default_mp3_path = ros::package::getPath("op3_demo") + "/data/mp3/";
ros::start();

2
op3_demo/src/soccer/ball_tracker.cpp
View File

@ -59,7 +59,7 @@ BallTracker::~BallTracker()
}
void BallTracker::ballPositionCallback(const ball_detector::circleSetStamped::ConstPtr &msg)
void BallTracker::ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg)
{
for (int idx = 0; idx < msg->circles.size(); idx++)
{

2
op3_demo/src/test/button_test.cpp
View File

@ -33,7 +33,7 @@ ButtonTest::ButtonTest()
boost::thread queue_thread = boost::thread(boost::bind(&ButtonTest::callbackThread, this));
boost::thread process_thread = boost::thread(boost::bind(&ButtonTest::processThread, this));
default_mp3_path_ = ros::package::getPath("op3_demo") + "/Data/mp3/test/";
default_mp3_path_ = ros::package::getPath("op3_demo") + "/data/mp3/test/";
}
ButtonTest::~ButtonTest()

4
op3_demo/src/test/mic_test.cpp
View File

@ -36,8 +36,8 @@ MicTest::MicTest()
boost::thread queue_thread = boost::thread(boost::bind(&MicTest::callbackThread, this));
boost::thread process_thread = boost::thread(boost::bind(&MicTest::processThread, this));
recording_file_name_ = ros::package::getPath("op3_demo") + "/Data/mp3/test/mic-test.wav";
default_mp3_path_ = ros::package::getPath("op3_demo") + "/Data/mp3/test/";
recording_file_name_ = ros::package::getPath("op3_demo") + "/data/mp3/test/mic-test.wav";
default_mp3_path_ = ros::package::getPath("op3_demo") + "/data/mp3/test/";
start_time_ = ros::Time::now();
}

2
op3_demo/src/test_node.cpp
View File

@ -84,7 +84,7 @@ int main(int argc, char **argv)
ros::Subscriber buttuon_sub = nh.subscribe("/robotis/open_cr/button", 1, buttonHandlerCallback);
ros::Subscriber mode_command_sub = nh.subscribe("/robotis/mode_command", 1, demoModeCommandCallback);
default_mp3_path = ros::package::getPath("op3_demo") + "/Data/mp3/";
default_mp3_path = ros::package::getPath("op3_demo") + "/data/mp3/";
ros::start();

2
robotis_op3_demo/CMakeLists.txt
View File

@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 2.8.3)
project(robotis_op3_demo)
find_package(catkin REQUIRED)
catkin_metapackage()
catkin_metapackage()

23
robotis_op3_demo/package.xml
View File

@ -1,24 +1,19 @@
<?xml version="1.0"?>
<package>
<package format="2">
<name>robotis_op3_demo</name>
<version>0.1.0</version>
<description>
ROS packages for the robotis_op3_demo (meta package)
</description>
<license>Apache License 2.0</license>
<license>Apache 2.0</license>
<author email="kmjung@robotis.com">Kayman</author>
<maintainer email="pyo@robotis.com">Pyo</maintainer>
<!-- <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url> -->
<!-- <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url> -->
<!-- <url type="website">http://wiki.ros.org/robotis_op3_demo</url> -->
<url type="website">http://wiki.ros.org/robotis_op3_demo</url>
<url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
<url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
<url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>ball_detector</run_depend>
<run_depend>op3_demo</run_depend>
<export>
<metapackage/>
</export>
<exec_depend>ball_detector</exec_depend>
<exec_depend>op3_demo</exec_depend>
<export><metapackage/></export>
</package>