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added op3_bringup package
This commit is contained in:
Kayman 2018-04-16 17:47:15 +09:00
parent 2122f8c493
commit 66f3b91ce9
48 changed files with 1024 additions and 263 deletions
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2
.robotis_op3_demo.rosinstall Normal file
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@ -0,0 +1,2 @@
- git: {local-name: robotis_op3_tools, uri: 'https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools.git', version: master}
- git: {local-name: humanoid_navigation, uri: 'https://github.com/ROBOTIS-GIT/humanoid_navigation.git', version: master}

5
.travis.yml
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@ -12,14 +12,15 @@ compiler:
- gcc
notifications:
email:
on_success: always
on_success: change
on_failure: always
recipients:
- pyo@robotis.com
env:
matrix:
- ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian
# - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian
# - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=jessie
- ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file $ROSINSTALL_FILENAME=".robotis_op3_demo.rosinstall"
branches:
only:
- master

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/)

12
ball_detector/CHANGELOG.rst Normal file
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@ -0,0 +1,12 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package ball_detector
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.1.0 (2018-03-30)
------------------
* first release
* added launch files in order to move the camera setting to op3_camera_setting package
* added missing package in find_package()
* refacoring to release
* splited repositoryfrom ROBOTIS-OP3
* Contributors: Kayman, Zerom, Pyo

69
ball_detector/CMakeLists.txt
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@ -1,26 +1,30 @@
################################################################################
# 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
)
find_package(Boost REQUIRED COMPONENTS thread)
find_package(OpenCV 3 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
@ -36,12 +40,17 @@ 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
################################################################################
add_message_files(
FILES
circleSetStamped.msg
CircleSetStamped.msg
BallDetectorParams.msg
)
@ -53,21 +62,34 @@ add_service_files(
generate_messages(
DEPENDENCIES
geometry_msgs std_msgs
std_msgs
geometry_msgs
)
################################################################################
# Declare ROS dynamic reconfigure parameters
################################################################################
generate_dynamic_reconfigure_options(cfg/DetectorParams.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
)
################################################################################
@ -76,22 +98,39 @@ 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})
add_dependencies(ball_detector_node ${PROJECT_NAME}_gencfg ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(ball_detector_node
${catkin_LIBRARIES}
${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 Executable file → Normal file
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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 Executable file → Normal file
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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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21
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/circleSetStamped.h"
#include "ball_detector/ball_detector_config.h"
#include "ball_detector/DetectorParamsConfig.h"
#include "ball_detector/ball_detector_config.h"
#include "ball_detector/CircleSetStamped.h"
#include "ball_detector/GetParameters.h"
#include "ball_detector/SetParameters.h"
@ -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

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>

37
ball_detector/package.xml
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@ -1,30 +1,35 @@
<?xml version="1.0"?>
<package format="2">
<name>ball_detector</name>
<version>0.1.1</version>
<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>
<author email="zerom@robotis.com">Zerom</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>
<depend>roslib</depend>
<depend>cv_bridge</depend>
<depend>geometry_msgs</depend>
<depend>image_transport</depend>
<depend>roscpp</depend>
<depend>rospy</depend>
<depend>roslib</depend>
<depend>std_msgs</depend>
<depend>cmake_modules</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>opencv3</depend>
<depend>yaml-cpp</depend>
<build_depend>message_generation</build_depend>
<build_export_depend>message_runtime</build_export_depend>
<exec_depend>message_runtime</exec_depend>
<build_depend>dynamic_reconfigure</build_depend>
<build_export_depend>dynamic_reconfigure</build_export_depend>
<exec_depend>dynamic_reconfigure</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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5
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;

195
op3_bringup/CMakeLists.txt Normal file
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@ -0,0 +1,195 @@
cmake_minimum_required(VERSION 2.8.3)
project(op3_bringup)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES op3_bringup
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/op3_bringup.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/op3_bringup_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## 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 ${PROJECT_NAME} ${PROJECT_NAME}_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 ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_op3_bringup.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

15
op3_bringup/launch/op3_bringup.launch Normal file
View File

@ -0,0 +1,15 @@
<?xml version="1.0" ?>
<launch>
<!-- OP3 Manager -->
<include file="$(find op3_manager)/launch/op3_manager.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" />
</node>
</launch>

18
op3_bringup/launch/op3_bringup_visualization.launch Normal file
View File

@ -0,0 +1,18 @@
<?xml version="1.0" ?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find op3_description)/urdf/robotis_op3.urdf.xacro'"/>
<!-- Send fake joint values and monitoring present joint angle -->
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
<rosparam param="/source_list">[/robotis/present_joint_states]</rosparam>
</node>
<!-- Combine joint values -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
<remap from="/joint_states" to="/robotis/present_joint_states" />
</node>
<!-- Show in Rviz -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find op3_bringup)/rviz/op3_bringup.rviz"/>
</launch>

59
op3_bringup/package.xml Normal file
View File

@ -0,0 +1,59 @@
<?xml version="1.0"?>
<package format="2">
<name>op3_bringup</name>
<version>0.0.0</version>
<description>The op3_bringup package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="robotis@todo.todo">robotis</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/op3_bringup</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

348
op3_bringup/rviz/op3_bringup.rviz Normal file
View File

@ -0,0 +1,348 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
Splitter Ratio: 0.5
Tree Height: 352
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Image
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
body_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
cam_gazebo_link:
Alpha: 1
Show Axes: false
Show Trail: false
cam_link:
Alpha: 1
Show Axes: false
Show Trail: false
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_ank_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_ank_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_el_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_hip_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_hip_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_hip_yaw_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_knee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_sho_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_sho_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_ank_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_ank_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_el_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_hip_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_hip_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_hip_yaw_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_knee_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_sho_pitch_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_sho_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/Image
Enabled: true
Image Topic: /usb_cam_node/image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
body_link:
Value: true
cam_gazebo_link:
Value: true
cam_link:
Value: true
head_pan_link:
Value: true
head_tilt_link:
Value: true
l_ank_pitch_link:
Value: true
l_ank_roll_link:
Value: true
l_el_link:
Value: true
l_hip_pitch_link:
Value: true
l_hip_roll_link:
Value: true
l_hip_yaw_link:
Value: true
l_knee_link:
Value: true
l_sho_pitch_link:
Value: true
l_sho_roll_link:
Value: true
r_ank_pitch_link:
Value: true
r_ank_roll_link:
Value: true
r_el_link:
Value: true
r_hip_pitch_link:
Value: true
r_hip_roll_link:
Value: true
r_hip_yaw_link:
Value: true
r_knee_link:
Value: true
r_sho_pitch_link:
Value: true
r_sho_roll_link:
Value: true
world:
Value: true
Marker Scale: 0.200000003
Name: TF
Show Arrows: false
Show Axes: true
Show Names: false
Tree:
world:
body_link:
head_pan_link:
head_tilt_link:
cam_gazebo_link:
{}
cam_link:
{}
l_hip_yaw_link:
l_hip_roll_link:
l_hip_pitch_link:
l_knee_link:
l_ank_pitch_link:
l_ank_roll_link:
{}
l_sho_pitch_link:
l_sho_roll_link:
l_el_link:
{}
r_hip_yaw_link:
r_hip_roll_link:
r_hip_pitch_link:
r_knee_link:
r_ank_pitch_link:
r_ank_roll_link:
{}
r_sho_pitch_link:
r_sho_roll_link:
r_el_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: body_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 1.0015856
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.425398082
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.78858471
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1023
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000023300000358fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000043000001f1000000df00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000023a000001610000001800ffffff000000010000010f00000358fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004300000358000000b800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000022400fffffffb0000000800540069006d00650100000000000004500000000000000000000005470000035800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1920
X: 0
Y: 0

12
op3_demo/CHANGELOG.rst Normal file
View File

@ -0,0 +1,12 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package op3_demo
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.1.0 (2018-03-30)
------------------
* first release
* added launch files in order to move the camera setting to op3_camera_setting package
* added missing package in find_package()
* refacoring to release
* splited repositoryfrom ROBOTIS-OP3
* Contributors: Kayman, Yoshimaru Tanaka, Pyo

89
op3_demo/CMakeLists.txt
View File

@ -1,28 +1,32 @@
################################################################################
# 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(Eigen3 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
@ -39,6 +43,10 @@ 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
################################################################################
@ -48,12 +56,23 @@ endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
################################################################################
################################################################################
# Catkin specific configuration
# Declare catkin specific configuration to be passed to dependent projects
################################################################################
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS roscpp sensor_msgs cmake_modules
DEPENDS EIGEN3
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
)
################################################################################
@ -62,6 +81,7 @@ catkin_package(
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIRS}
)
@ -76,11 +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
@ -95,48 +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}
${Eigen3_LIBRARIES}
${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

6
op3_demo/include/op3_demo/action_demo.h
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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
View File

@ -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]

23
op3_demo/package.xml
View File

@ -1,25 +1,36 @@
<?xml version="1.0"?>
<package format="2">
<name>op3_demo</name>
<version>0.1.1</version>
<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>
<depend>roscpp</depend>
<depend>roslib</depend>
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
<depend>ball_detector</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();

12
robotis_op3_demo/CHANGELOG.rst Normal file
View File

@ -0,0 +1,12 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package robotis_op3_demo
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.1.0 (2018-03-30)
------------------
* first release
* added launch files in order to move the camera setting to op3_camera_setting package
* added missing package in find_package()
* refacoring to release
* splited repositoryfrom ROBOTIS-OP3
* Contributors: Kayman, Zerom, Yoshimaru Tanaka, Pyo

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>