changed the package name from ball_detector to op3_ball_detector

This commit is contained in:
Kayman 2018-04-18 11:32:12 +09:00
parent 1c1871ec43
commit 454128b199
28 changed files with 37 additions and 38 deletions

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@ -2,7 +2,7 @@
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 2.8.3)
project(ball_detector)
project(op3_ball_detector)
################################################################################
# Find catkin packages and libraries for catkin and system dependencies

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@ -1,5 +1,5 @@
#!/usr/bin/env python
PACKAGE='ball_detector'
PACKAGE='op3_ball_detector'
from dynamic_reconfigure.parameter_generator_catkin import *

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@ -1,5 +1,5 @@
#!/usr/bin/env python
PACKAGE='ball_detector'
PACKAGE='op3_ball_detector'
from dynamic_reconfigure.parameter_generator_catkin import *

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@ -1,5 +1,5 @@
#!/usr/bin/env python
PACKAGE='ball_detector'
PACKAGE='op3_ball_detector'
from dynamic_reconfigure.parameter_generator_catkin import *

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@ -36,13 +36,12 @@
#include <boost/thread.hpp>
#include <yaml-cpp/yaml.h>
#include "ball_detector/DetectorParamsConfig.h"
#include "op3_ball_detector/ball_detector_config.h"
#include "ball_detector/ball_detector_config.h"
#include "ball_detector/CircleSetStamped.h"
#include "ball_detector/GetParameters.h"
#include "ball_detector/SetParameters.h"
#include "op3_ball_detector/DetectorParamsConfig.h"
#include "op3_ball_detector/CircleSetStamped.h"
#include "op3_ball_detector/GetParameters.h"
#include "op3_ball_detector/SetParameters.h"
namespace robotis_op
{
@ -74,12 +73,12 @@ 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(op3_ball_detector::DetectorParamsConfig &config, uint32_t level);
void enableCallback(const std_msgs::Bool::ConstPtr &msg);
void paramCommandCallback(const std_msgs::String::ConstPtr &msg);
bool setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res);
bool getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res);
bool setParamCallback(op3_ball_detector::SetParameters::Request &req, op3_ball_detector::SetParameters::Response &res);
bool getParamCallback(op3_ball_detector::GetParameters::Request &req, op3_ball_detector::GetParameters::Response &res);
void resetParameter();
void publishParam();
@ -115,7 +114,7 @@ class BallDetector
int not_found_count_;
//circle set publisher
ball_detector::CircleSetStamped circles_msg_;
op3_ball_detector::CircleSetStamped circles_msg_;
ros::Publisher circles_pub_;
//camera info subscriber
@ -157,8 +156,8 @@ 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<op3_ball_detector::DetectorParamsConfig> param_server_;
dynamic_reconfigure::Server<op3_ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
};
} // namespace robotis_op

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@ -1,9 +1,9 @@
<?xml version="1.0"?>
<launch>
<arg name="config_path" default="$(find ball_detector)/config/ball_detector_params.yaml"/>
<arg name="config_path" default="$(find op3_ball_detector)/config/ball_detector_params.yaml"/>
<!-- ball detector -->
<node pkg="ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
<node pkg="op3_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" />

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@ -23,5 +23,5 @@
</node>
<!-- ball detector -->
<include file="$(find ball_detector)/launch/ball_detector.launch" />
<include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
</launch>

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@ -25,6 +25,6 @@
<!-- <param name="white_balance_temperature" value="2800" /> -->
<!-- ball detector -->
<include file="$(find ball_detector)/launch/ball_detector.launch" />
<include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
</launch>

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@ -1,6 +1,6 @@
<?xml version="1.0"?>
<package format="2">
<name>ball_detector</name>
<name>op3_ball_detector</name>
<version>0.1.0</version>
<description>
This package implements a circle-like shape detector of the input image.

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@ -18,7 +18,7 @@
#include <fstream>
#include "ball_detector/ball_detector.h"
#include "op3_ball_detector/ball_detector.h"
namespace robotis_op
{
@ -71,7 +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<op3_ball_detector::CircleSetStamped>("circle_set", 100);
camera_info_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera_info", 100);
//sets subscribers
@ -87,7 +87,7 @@ BallDetector::BallDetector()
param_server_.setCallback(callback_fnc_);
// web setting
param_pub_ = nh_.advertise<ball_detector::BallDetectorParams>("current_params", 1);
param_pub_ = nh_.advertise<op3_ball_detector::BallDetectorParams>("current_params", 1);
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);
@ -233,7 +233,7 @@ void BallDetector::imageCallback(const sensor_msgs::ImageConstPtr & msg)
return;
}
void BallDetector::dynParamCallback(ball_detector::DetectorParamsConfig &config, uint32_t level)
void BallDetector::dynParamCallback(op3_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;
@ -296,7 +296,7 @@ void BallDetector::paramCommandCallback(const std_msgs::String::ConstPtr &msg)
}
}
bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res)
bool BallDetector::setParamCallback(op3_ball_detector::SetParameters::Request &req, op3_ball_detector::SetParameters::Response &res)
{
params_config_.gaussian_blur_size = req.params.gaussian_blur_size;
params_config_.gaussian_blur_sigma = req.params.gaussian_blur_sigma;
@ -321,7 +321,7 @@ bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req,
return true;
}
bool BallDetector:: getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res)
bool BallDetector:: getParamCallback(op3_ball_detector::GetParameters::Request &req, op3_ball_detector::GetParameters::Response &res)
{
res.returns.gaussian_blur_size = params_config_.gaussian_blur_size;
res.returns.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;
@ -396,7 +396,7 @@ void BallDetector::resetParameter()
void BallDetector::publishParam()
{
ball_detector::BallDetectorParams params;
op3_ball_detector::BallDetectorParams params;
params.gaussian_blur_size = params_config_.gaussian_blur_size;
params.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;

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@ -16,7 +16,7 @@
/* Author: Kayman Jung */
#include "ball_detector/ball_detector.h"
#include "op3_ball_detector/ball_detector.h"
//node main
int main(int argc, char **argv)

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@ -18,7 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
op3_action_module_msgs
cmake_modules
robotis_math
ball_detector
op3_ball_detector
)
find_package(Boost REQUIRED COMPONENTS thread)
@ -71,7 +71,7 @@ catkin_package(
op3_action_module_msgs
cmake_modules
robotis_math
ball_detector
op3_ball_detector
DEPENDS Boost EIGEN3
)

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@ -29,7 +29,7 @@
#include <yaml-cpp/yaml.h>
#include "robotis_controller_msgs/JointCtrlModule.h"
#include "ball_detector/CircleSetStamped.h"
#include "op3_ball_detector/CircleSetStamped.h"
#include "op3_walking_module_msgs/WalkingParam.h"
#include "op3_walking_module_msgs/GetWalkingParam.h"

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@ -29,7 +29,7 @@
#include <yaml-cpp/yaml.h>
#include "robotis_controller_msgs/JointCtrlModule.h"
#include "ball_detector/CircleSetStamped.h"
#include "op3_ball_detector/CircleSetStamped.h"
#include "op3_walking_module_msgs/WalkingParam.h"
#include "op3_walking_module_msgs/GetWalkingParam.h"
@ -79,7 +79,7 @@ protected:
const int WAITING_THRESHOLD;
const bool DEBUG_PRINT;
void ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg);
void ballPositionCallback(const op3_ball_detector::CircleSetStamped::ConstPtr &msg);
void ballTrackerCommandCallback(const std_msgs::String::ConstPtr &msg);
void publishHeadJoint(double pan, double tilt);
void scanBall();

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@ -4,7 +4,7 @@
<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"/>
<include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch"/>
<!-- face tracking -->
<include file="$(find op3_demo)/launch/face_detection_op3.launch" />

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@ -5,7 +5,7 @@
<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"/>
<include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch"/>
<!-- face tracking -->
<include file="$(find op3_demo)/launch/face_detection_op3.launch" />

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@ -24,7 +24,7 @@
<depend>op3_action_module_msgs</depend>
<depend>cmake_modules</depend>
<depend>robotis_math</depend>
<depend>ball_detector</depend>
<depend>op3_ball_detector</depend>
<depend>boost</depend>
<depend>eigen</depend>
<depend>yaml-cpp</depend>

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@ -59,7 +59,7 @@ BallTracker::~BallTracker()
}
void BallTracker::ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg)
void BallTracker::ballPositionCallback(const op3_ball_detector::CircleSetStamped::ConstPtr &msg)
{
for (int idx = 0; idx < msg->circles.size(); idx++)
{