diff --git a/README.md b/README.md
index 3ee5208..a3dd60f 100644
--- a/README.md
+++ b/README.md
@@ -1,12 +1,26 @@
-# Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System Demos
+# Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System Architecture
[](https://robotics-sensors.github.io)
[](https://discord.gg/Yc72nd4w)
[](https://github.com/sponsors/Robotics-Sensors)
+## Mobile and ROS Control System
+- [](https://github.com/Application-UI-UX/bellande_internal_sensor_mobile_ios_api)
+- [](https://github.com/Application-UI-UX/bellande_external_sensor_mobile_ios_api)
+- [](https://github.com/Application-UI-UX/bellande_functionality_mobile_ios_api)
+- [](https://github.com/Application-UI-UX/bellande_internal_sensor_mobile_android_api)
+- [](https://github.com/Application-UI-UX/bellande_external_sensor_mobile_android_api)
+- [](https://github.com/Application-UI-UX/bellande_functionality_mobile_android_api)
+- [](https://github.com/Application-UI-UX/bellande_internal_sensor_web_api)
+- [](https://github.com/Application-UI-UX/bellande_external_sensor_web_api)
+- [](https://github.com/Application-UI-UX/bellande_functionality_web_api)
+- [](https://github.com/Robotics-Sensors/bellande_functionality_ros_api)
+- [](https://github.com/Robotics-Sensors/bellande_ros_models)
+
+
## 🤖 Explore Humanoid Robot Intelligence with Us!
-Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System Demos repository! Here, we invite you to delve into the fascinating world of humanoid robotics, showcasing the innovative capabilities of our intelligent control system.
+Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System architecture repository! Here, we invite you to delve into the fascinating world of humanoid robotics, showcasing the innovative capabilities of our intelligent control system.
## 💻 Functionality To Switch from ROS to ROS2 Checkout The Below Repository
@@ -14,47 +28,34 @@ Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System Demos reposit
### 🚀 Key Repository Stats
--  Starred by the community
--  Forked by enthusiasts
--  Watched by curious minds
+-  Starred by the community
+-  Forked by enthusiasts
+-  Watched by curious minds
--  Actively addressing issues
--  Welcoming contributions
--  Licensed under Apache 2.0
+-  Actively addressing issues
+-  Welcoming contributions
+-  Licensed under Apache 2.0
--  Latest updates
--  Engaging with the community
+-  Latest updates
+-  Engaging with the community
---
## 🌐 Repository Website
-Explore our [repository website](https://robotics-sensors.github.io/bellande_humanoid_robot_intelligence_control_system_demos) for detailed documentation, tutorials, and additional information about our humanoid robot intelligence control system.
-
----
-
-### 🔄 Updates and Versions
-
-- **Updated Version:** [humanoid_robot_intelligence_control_system_module](https://github.com/Robotics-Sensors/bellande_humanoid_robot_intelligence_control_system_demos)
-- **Old Version/Previous Used for Different Context:** [ROBOTIS-OP3-Demo](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo)
+Explore our [repository website](https://robotics-sensors.github.io/bellande_humanoid_robot_intelligence_control_system_architecture) for detailed documentation, tutorials, and additional information about our humanoid robot intelligence control system.
---
# 🎉 Latest Release
-[](https://github.com/Robotics-Sensors/bellande_humanoid_robot_intelligence_control_system_demos/releases/)
-
----
-
-## 📢 Important Announcement
-
-The repository has recently undergone significant updates. Older commits and codes are covered under the previous license, while new commits and codes fall under the new license.
+[](https://github.com/Robotics-Sensors/bellande_humanoid_robot_intelligence_control_system_architecture/releases/)
---
🚀 For the latest versions and updates, visit our organization: [Robotics-Sensors](https://github.com/Robotics-Sensors).
-### 🧑💼 Maintainer
+### 🧑💼 Maintainer & Author
Meet our dedicated maintainer, **Ronaldson Bellande**.
@@ -62,4 +63,4 @@ Meet our dedicated maintainer, **Ronaldson Bellande**.
## 📄 License
-This SDK is distributed under the [Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0). For detailed information, refer to [LICENSE](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos/blob/main/LICENSE).
+This SDK is distributed under the [Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0). For detailed information, refer to [LICENSE](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_architecture/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_intelligence_control_system_architecture/blob/main/LICENSE).
diff --git a/humanoid_robot_intelligence_control_system_configure/CMakeLists.txt b/humanoid_robot_intelligence_control_system_configure/CMakeLists.txt
new file mode 100644
index 0000000..48ef842
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/CMakeLists.txt
@@ -0,0 +1,77 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+
+cmake_minimum_required(VERSION 3.0.2)
+project(humanoid_robot_intelligence_control_system_configure)
+
+if($ENV{ROS_VERSION} EQUAL 1)
+ find_package(catkin REQUIRED COMPONENTS
+ rospy
+ std_msgs
+ sensor_msgs
+ geometry_msgs
+ cv_bridge
+ )
+
+ catkin_package(
+ CATKIN_DEPENDS
+ rospy
+ std_msgs
+ sensor_msgs
+ geometry_msgs
+ cv_bridge
+ )
+
+else()
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_python REQUIRED)
+ find_package(rclpy REQUIRED)
+ find_package(std_msgs REQUIRED)
+ find_package(sensor_msgs REQUIRED)
+ find_package(geometry_msgs REQUIRED)
+ find_package(cv_bridge REQUIRED)
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+ catkin_python_setup()
+
+ catkin_install_python(PROGRAMS
+ src/face_tracker.py
+ src/face_follower.py
+ src/object_tracker.py
+ src/object_follower.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )
+
+ install(DIRECTORY config launch rviz
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ )
+
+else()
+ ament_python_install_package(${PROJECT_NAME})
+
+ install(PROGRAMS
+ src/face_tracker.py
+ src/face_follower.py
+ src/object_tracker.py
+ src/object_follower.py
+ DESTINATION lib/${PROJECT_NAME}
+ )
+
+ install(DIRECTORY config launch rviz
+ DESTINATION share/${PROJECT_NAME}
+ )
+
+ ament_package()
+endif()
diff --git a/humanoid_robot_intelligence_control_system_configure/launch/face_follower.launch.py b/humanoid_robot_intelligence_control_system_configure/launch/face_follower.launch.py
new file mode 100644
index 0000000..44a7599
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/launch/face_follower.launch.py
@@ -0,0 +1,112 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def ros1_launch_description():
+ # Get command-line arguments
+ args = sys.argv[1:]
+
+ # Construct the ROS 1 launch command
+ roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "face_follower.launch"] + args
+
+ roslaunch_command.extend([
+ "usb_cam", "usb_cam_node", "name:=camera",
+ "video_device:=/dev/video0",
+ "image_width:=640",
+ "image_height:=480",
+ "pixel_format:=yuyv",
+ "camera_frame_id:=usb_cam",
+ "io_method:=mmap"
+ ])
+
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_face_detector", "face_detection_processor.py", "name:=face_detection_processor_node"
+ ])
+
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_configure", "face_follower.py", "name:=face_follower_node"
+ ])
+
+ roslaunch_command.extend([
+ "rviz", "rviz", "name:=rviz",
+ "args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+ ])
+
+ # Execute the launch command
+ subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+ nodes_to_launch = []
+
+ nodes_to_launch.append(Node(
+ package='usb_cam',
+ executable='usb_cam_node',
+ name='camera',
+ output='screen',
+ parameters=[{
+ 'video_device': '/dev/video0',
+ 'image_width': 640,
+ 'image_height': 480,
+ 'pixel_format': 'yuyv',
+ 'camera_frame_id': 'usb_cam',
+ 'io_method': 'mmap'
+ }]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_face_detector',
+ executable='face_detection_processor.py',
+ name='face_detection_processor_node',
+ output='screen',
+ parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/face_detection_params.yaml'}]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_configure',
+ executable='face_follower.py',
+ name='face_follower_node',
+ output='screen',
+ parameters=[{
+ 'p_gain': 0.4,
+ 'i_gain': 0.0,
+ 'd_gain': 0.0
+ }]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz',
+ arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
+ ))
+
+ return LaunchDescription(nodes_to_launch)
+
+if __name__ == "__main__":
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ ros1_launch_description()
+ elif ros_version == "2":
+ ros2_launch_description()
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_configure/launch/face_tracker.launch.py b/humanoid_robot_intelligence_control_system_configure/launch/face_tracker.launch.py
new file mode 100644
index 0000000..d7d94dc
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/launch/face_tracker.launch.py
@@ -0,0 +1,112 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def ros1_launch_description():
+ # Get command-line arguments
+ args = sys.argv[1:]
+
+ # Construct the ROS 1 launch command
+ roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "face_tracker.launch"] + args
+
+ roslaunch_command.extend([
+ "usb_cam", "usb_cam_node", "name:=camera",
+ "video_device:=/dev/video0",
+ "image_width:=640",
+ "image_height:=480",
+ "pixel_format:=yuyv",
+ "camera_frame_id:=usb_cam",
+ "io_method:=mmap"
+ ])
+
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_face_tracker", "face_detection_processor.py", "name:=face_detection_processor_node"
+ ])
+
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_configure", "face_tracker.py", "name:=face_tracker_node"
+ ])
+
+ roslaunch_command.extend([
+ "rviz", "rviz", "name:=rviz",
+ "args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+ ])
+
+ # Execute the launch command
+ subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+ nodes_to_launch = []
+
+ nodes_to_launch.append(Node(
+ package='usb_cam',
+ executable='usb_cam_node',
+ name='camera',
+ output='screen',
+ parameters=[{
+ 'video_device': '/dev/video0',
+ 'image_width': 640,
+ 'image_height': 480,
+ 'pixel_format': 'yuyv',
+ 'camera_frame_id': 'usb_cam',
+ 'io_method': 'mmap'
+ }]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_face_tracker',
+ executable='face_detection_processor.py',
+ name='face_detection_processor_node',
+ output='screen',
+ parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/face_detection_params.yaml'}]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_configure',
+ executable='face_tracker.py',
+ name='face_tracker_node',
+ output='screen',
+ parameters=[{
+ 'p_gain': 0.4,
+ 'i_gain': 0.0,
+ 'd_gain': 0.0
+ }]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz',
+ arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
+ ))
+
+ return LaunchDescription(nodes_to_launch)
+
+if __name__ == "__main__":
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ ros1_launch_description()
+ elif ros_version == "2":
+ ros2_launch_description()
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_configure/launch/object_follower.launch.py b/humanoid_robot_intelligence_control_system_configure/launch/object_follower.launch.py
new file mode 100644
index 0000000..2788682
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/launch/object_follower.launch.py
@@ -0,0 +1,112 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def ros1_launch_description():
+ # Get command-line arguments
+ args = sys.argv[1:]
+
+ # Construct the ROS 1 launch command
+ roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "object_follower.launch"] + args
+
+ roslaunch_command.extend([
+ "usb_cam", "usb_cam_node", "name:=camera",
+ "video_device:=/dev/video0",
+ "image_width:=640",
+ "image_height:=480",
+ "pixel_format:=yuyv",
+ "camera_frame_id:=usb_cam",
+ "io_method:=mmap"
+ ])
+
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_object_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
+ ])
+
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_configure", "object_follower.py", "name:=object_follower_node"
+ ])
+
+ roslaunch_command.extend([
+ "rviz", "rviz", "name:=rviz",
+ "args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+ ])
+
+ # Execute the launch command
+ subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+ nodes_to_launch = []
+
+ nodes_to_launch.append(Node(
+ package='usb_cam',
+ executable='usb_cam_node',
+ name='camera',
+ output='screen',
+ parameters=[{
+ 'video_device': '/dev/video0',
+ 'image_width': 640,
+ 'image_height': 480,
+ 'pixel_format': 'yuyv',
+ 'camera_frame_id': 'usb_cam',
+ 'io_method': 'mmap'
+ }]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_object_detector',
+ executable='object_detection_processor.py',
+ name='object_detection_processor_node',
+ output='screen',
+ parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml'}]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_configure',
+ executable='object_follower.py',
+ name='object_follower_node',
+ output='screen',
+ parameters=[{
+ 'p_gain': 0.4,
+ 'i_gain': 0.0,
+ 'd_gain': 0.0
+ }]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz',
+ arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
+ ))
+
+ return LaunchDescription(nodes_to_launch)
+
+if __name__ == "__main__":
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ ros1_launch_description()
+ elif ros_version == "2":
+ ros2_launch_description()
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_configure/launch/object_tracker.launch.py b/humanoid_robot_intelligence_control_system_configure/launch/object_tracker.launch.py
new file mode 100644
index 0000000..49307ae
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/launch/object_tracker.launch.py
@@ -0,0 +1,112 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def ros1_launch_description():
+ # Get command-line arguments
+ args = sys.argv[1:]
+
+ # Construct the ROS 1 launch command
+ roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "object_tracker.launch"] + args
+
+ roslaunch_command.extend([
+ "usb_cam", "usb_cam_node", "name:=camera",
+ "video_device:=/dev/video0",
+ "image_width:=640",
+ "image_height:=480",
+ "pixel_format:=yuyv",
+ "camera_frame_id:=usb_cam",
+ "io_method:=mmap"
+ ])
+
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_object_tracker", "object_detection_processor.py", "name:=object_detection_processor_node"
+ ])
+
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_configure", "object_tracker.py", "name:=object_tracker_node"
+ ])
+
+ roslaunch_command.extend([
+ "rviz", "rviz", "name:=rviz",
+ "args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+ ])
+
+ # Execute the launch command
+ subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+ nodes_to_launch = []
+
+ nodes_to_launch.append(Node(
+ package='usb_cam',
+ executable='usb_cam_node',
+ name='camera',
+ output='screen',
+ parameters=[{
+ 'video_device': '/dev/video0',
+ 'image_width': 640,
+ 'image_height': 480,
+ 'pixel_format': 'yuyv',
+ 'camera_frame_id': 'usb_cam',
+ 'io_method': 'mmap'
+ }]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_object_tracker',
+ executable='object_detection_processor.py',
+ name='object_detection_processor_node',
+ output='screen',
+ parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml'}]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_configure',
+ executable='object_tracker.py',
+ name='object_tracker_node',
+ output='screen',
+ parameters=[{
+ 'p_gain': 0.4,
+ 'i_gain': 0.0,
+ 'd_gain': 0.0
+ }]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz',
+ arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
+ ))
+
+ return LaunchDescription(nodes_to_launch)
+
+if __name__ == "__main__":
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ ros1_launch_description()
+ elif ros_version == "2":
+ ros2_launch_description()
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_configure/launch/ros1/face_follower.launch b/humanoid_robot_intelligence_control_system_configure/launch/ros1/face_follower.launch
new file mode 100644
index 0000000..6799e95
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/launch/ros1/face_follower.launch
@@ -0,0 +1,41 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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diff --git a/humanoid_robot_intelligence_control_system_configure/launch/ros1/face_tracker.launch b/humanoid_robot_intelligence_control_system_configure/launch/ros1/face_tracker.launch
new file mode 100644
index 0000000..6799e95
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/launch/ros1/face_tracker.launch
@@ -0,0 +1,41 @@
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diff --git a/humanoid_robot_intelligence_control_system_configure/launch/ros1/object_follower.launch b/humanoid_robot_intelligence_control_system_configure/launch/ros1/object_follower.launch
new file mode 100644
index 0000000..6799e95
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/launch/ros1/object_follower.launch
@@ -0,0 +1,41 @@
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diff --git a/humanoid_robot_intelligence_control_system_configure/launch/ros1/object_tracker.launch b/humanoid_robot_intelligence_control_system_configure/launch/ros1/object_tracker.launch
new file mode 100644
index 0000000..6799e95
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/launch/ros1/object_tracker.launch
@@ -0,0 +1,41 @@
+
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diff --git a/humanoid_robot_intelligence_control_system_configure/package.xml b/humanoid_robot_intelligence_control_system_configure/package.xml
new file mode 100644
index 0000000..740f1f7
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/package.xml
@@ -0,0 +1,61 @@
+
+
+
+
+ humanoid_robot_intelligence_control_system_configure
+ 0.0.1
+
+ This Package is for Configuration of Tracker and Follower related to it
+
+ Apache 2.0
+ Ronaldson Bellande
+
+ catkin
+ ament_cmake
+ ament_cmake_python
+
+
+ rospy
+ std_msgs
+ sensor_msgs
+ geometry_msgs
+ cv_bridge
+ image_transport
+ dynamic_reconfigure
+ message_generation
+ message_runtime
+
+
+ rclpy
+ std_msgs
+ sensor_msgs
+ geometry_msgs
+ cv_bridge
+ image_transport
+ rosidl_default_generators
+ rosidl_default_runtime
+
+
+ python3-opencv
+ python3-yaml
+ usb_cam
+
+
+ catkin
+ ament_cmake
+
+
diff --git a/humanoid_robot_intelligence_control_system_configure/setup.py b/humanoid_robot_intelligence_control_system_configure/setup.py
new file mode 100644
index 0000000..690d947
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/setup.py
@@ -0,0 +1,26 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+ scripts=['src/face_tracker.py', "src/face_follower.py", "src/object_tracker.py", "src/object_follower.py"],
+ packages=['humanoid_robot_intelligence_control_system_configure'],
+ package_dir={'': 'src'},
+)
+
+setup(**setup_args)
diff --git a/humanoid_robot_intelligence_control_system_configure/src/face_follower.py b/humanoid_robot_intelligence_control_system_configure/src/face_follower.py
new file mode 100644
index 0000000..f12b5a4
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/src/face_follower.py
@@ -0,0 +1,236 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import os
+import sys
+import math
+from sensor_msgs.msg import JointState
+from std_msgs.msg import String
+from geometry_msgs.msg import Point
+from humanoid_robot_intelligence_control_system_walking_module_msgs.msg import WalkingParam
+from humanoid_robot_intelligence_control_system_walking_module_msgs.srv import GetWalkingParam
+
+from humanoid_robot_intelligence_control_system_detection.follower import calculate_distance_to, calculate_footstep, calculate_delta_time
+from humanoid_robot_intelligence_control_system_detection.follower_config import FollowerConfig, FollowerInitializeConfig
+
+
+class FaceFollower:
+ def __init__(self, ros_version):
+ self.ros_version = ros_version
+ self.initialize_config = FollowerInitializeConfig()
+ self.config = FollowerConfig()
+ self.initialize_ros()
+ self.setup_ros_communication()
+
+ def initialize_ros(self):
+ if self.ros_version == '1':
+ rospy.init_node('face_follower')
+ self.get_param = rospy.get_param
+ self.logger = rospy
+ else:
+ rclpy.init()
+ self.node = rclpy.create_node('face_follower')
+ self.get_param = self.node.get_parameter
+ self.logger = self.node.get_logger()
+
+ self.config.update_from_params(self.get_param)
+ self.initialize_config.update_from_params(self.get_param)
+
+ def setup_ros_communication(self):
+ if self.ros_version == '1':
+ self.current_joint_states_sub = rospy.Subscriber(
+ "/humanoid_robot_intelligence_control_system/goal_joint_states", JointState, self.current_joint_states_callback)
+ self.set_walking_command_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/walking/command", String, queue_size=1)
+ self.set_walking_param_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/walking/set_params", WalkingParam, queue_size=1)
+ self.get_walking_param_client = rospy.ServiceProxy(
+ "/humanoid_robot_intelligence_control_system/walking/get_params", GetWalkingParam)
+ self.face_detection_sub = rospy.Subscriber(
+ "/face_detection_result", Point, self.face_detection_callback)
+ self.prev_time = rospy.Time.now()
+ else:
+ self.current_joint_states_sub = self.node.create_subscription(
+ JointState, "/humanoid_robot_intelligence_control_system/goal_joint_states", self.current_joint_states_callback, 10)
+ self.set_walking_command_pub = self.node.create_publisher(
+ String, "/humanoid_robot_intelligence_control_system/walking/command", 1)
+ self.set_walking_param_pub = self.node.create_publisher(
+ WalkingParam, "/humanoid_robot_intelligence_control_system/walking/set_params", 1)
+ self.get_walking_param_client = self.node.create_client(
+ GetWalkingParam, "/humanoid_robot_intelligence_control_system/walking/get_params")
+ self.face_detection_sub = self.node.create_subscription(
+ Point, "/face_detection_result", self.face_detection_callback, 10)
+ self.prev_time = self.node.get_clock().now()
+
+ def start_following(self):
+ self.initialize_config.on_tracking = True
+ self.logger.info("Start face following")
+ self.set_walking_command("start")
+ result = self.get_walking_param()
+ if result:
+ self.config.hip_pitch_offset = self.current_walking_param.hip_pitch_offset
+ self.config.curr_period_time = self.current_walking_param.period_time
+ else:
+ self.config.hip_pitch_offset = 7.0 * math.pi / 180
+ self.config.curr_period_time = 0.6
+
+ def stop_following(self):
+ self.initialize_config.on_tracking = False
+ self.initialize_config.count_to_approach = 0
+ self.logger.info("Stop face following")
+ self.set_walking_command("stop")
+
+ def current_joint_states_callback(self, msg):
+ for i, name in enumerate(msg.name):
+ if name == "head_pan":
+ self.initialize_config.current_pan = msg.position[i]
+ elif name == "head_tilt":
+ self.initialize_config.current_tilt = msg.position[i]
+
+ def process_following(self, x_angle, y_angle, face_size):
+ curr_time = rospy.Time.now() if self.ros_version == '1' else self.node.get_clock().now()
+ delta_time = calculate_delta_time(curr_time, self.prev_time)
+ self.prev_time = curr_time
+
+ self.initialize_config.count_not_found = 0
+
+ if self.initialize_config.current_tilt == -10 and self.initialize_config.current_pan == -10:
+ self.logger.error("Failed to get current angle of head joints.")
+ self.set_walking_command("stop")
+ self.initialize_config.on_tracking = False
+ self.initialize_config.approach_face_position = "NotFound"
+ return False
+
+ self.initialize_config.approach_face_position = "OutOfRange"
+
+ distance_to_face = calculate_distance_to(
+ self.config.CAMERA_HEIGHT, self.initialize_config.current_tilt, self.config.hip_pitch_offset, face_size)
+
+ distance_to_approach = 0.22
+
+ if (distance_to_face < distance_to_approach) and (abs(x_angle) < 25.0):
+ self.initialize_config.count_to_approach += 1
+ if self.initialize_config.count_to_approach > 20:
+ self.set_walking_command("stop")
+ self.initialize_config.on_tracking = False
+ self.initialize_config.approach_face_position = "OnLeft" if x_angle > 0 else "OnRight"
+ return True
+ elif self.initialize_config.count_to_approach > 15:
+ self.set_walking_param(self.config.IN_PLACE_FB_STEP, 0, 0)
+ return False
+ else:
+ self.initialize_config.count_to_approach = 0
+
+ distance_to_walk = distance_to_face - distance_to_approach
+ fb_move, rl_angle = calculate_footstep(
+ self.initialize_config.current_x_move, distance_to_walk, self.initialize_config.current_r_angle, self.initialize_config.current_pan, delta_time, self.config)
+ self.set_walking_param(fb_move, 0, rl_angle)
+ return False
+
+ def decide_face_position(self, x_angle, y_angle):
+ if self.initialize_config.current_tilt == -10 and self.initialize_config.current_pan == -10:
+ self.initialize_config.approach_face_position = "NotFound"
+ return
+ face_x_angle = self.initialize_config.current_pan + x_angle
+ self.initialize_config.approach_face_position = "OnLeft" if face_x_angle > 0 else "OnRight"
+
+ def wait_following(self):
+ self.initialize_config.count_not_found += 1
+ if self.initialize_config.count_not_found > self.config.NOT_FOUND_THRESHOLD * 0.5:
+ self.set_walking_param(0.0, 0.0, 0.0)
+
+ def set_walking_command(self, command):
+ if command == "start":
+ self.get_walking_param()
+ self.set_walking_param(self.config.IN_PLACE_FB_STEP, 0, 0, True)
+ msg = String()
+ msg.data = command
+ self.set_walking_command_pub.publish(msg)
+
+ def set_walking_param(self, x_move, y_move, rotation_angle, balance=False):
+ self.current_walking_param.balance_enable = balance
+ self.current_walking_param.x_move_amplitude = x_move + self.config.SPOT_FB_OFFSET
+ self.current_walking_param.y_move_amplitude = y_move + self.config.SPOT_RL_OFFSET
+ self.current_walking_param.angle_move_amplitude = rotation_angle + self.config.SPOT_ANGLE_OFFSET
+ self.set_walking_param_pub.publish(self.current_walking_param)
+ self.initialize_config.current_x_move = x_move
+ self.initialize_config.current_r_angle = rotation_angle
+
+ def get_walking_param(self):
+ if self.ros_version == '1':
+ try:
+ response = self.get_walking_param_client()
+ self.current_walking_param = response.parameters
+ return True
+ except rospy.ServiceException as e:
+ self.logger.error("Failed to get walking parameters: %s" % e)
+ return False
+ else:
+ future = self.get_walking_param_client.call_async(GetWalkingParam.Request())
+ rclpy.spin_until_future_complete(self.node, future)
+ if future.result() is not None:
+ self.current_walking_param = future.result().parameters
+ return True
+ else:
+ self.logger.error('Service call failed %r' % (future.exception(),))
+ return False
+
+ def face_detection_callback(self, msg):
+ if self.initialize_config.on_tracking:
+ x_angle = msg.x
+ y_angle = msg.y
+ face_size = msg.z
+ self.process_following(x_angle, y_angle, face_size)
+ else:
+ self.wait_following()
+
+ def run(self):
+ if self.ros_version == '1':
+ rospy.spin()
+ else:
+ rclpy.spin(self.node)
+
+def main(ros_version):
+ try:
+ follower = FaceFollower(ros_version)
+ follower.start_following()
+ follower.run()
+ except Exception as e:
+ if ros_version == '1':
+ rospy.logerr(f"An error occurred: {e}")
+ else:
+ rclpy.shutdown()
+ print(f"An error occurred: {e}")
+
+if __name__ == '__main__':
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ import rospy
+ try:
+ main(ros_version)
+ except rospy.ROSInterruptException:
+ print("Error in ROS1 main")
+ elif ros_version == "2":
+ import rclpy
+ try:
+ main(ros_version)
+ except KeyboardInterrupt:
+ rclpy.shutdown()
+ print("Error in ROS2 main")
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_configure/src/face_tracker.py b/humanoid_robot_intelligence_control_system_configure/src/face_tracker.py
new file mode 100644
index 0000000..a7776ab
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/src/face_tracker.py
@@ -0,0 +1,194 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import rospy
+import math
+from sensor_msgs.msg import JointState
+from std_msgs.msg import String, Float64MultiArray
+from humanoid_robot_intelligence_control_system_ball_detector.msg import CircleSetStamped
+from geometry_msgs.msg import Point
+
+class FaceTracker:
+ def __init__(self):
+ rospy.init_node('face_tracker')
+
+ self.FOV_WIDTH = 35.2 * math.pi / 180
+ self.FOV_HEIGHT = 21.6 * math.pi / 180
+ self.NOT_FOUND_THRESHOLD = 50
+ self.WAITING_THRESHOLD = 5
+ self.use_head_scan = True
+ self.count_not_found = 0
+ self.on_tracking = False
+ self.current_face_pan = 0
+ self.current_face_tilt = 0
+ self.x_error_sum = 0
+ self.y_error_sum = 0
+ self.current_face_bottom = 0
+ self.tracking_status = "NotFound"
+ self.DEBUG_PRINT = False
+
+ param_nh = rospy.get_param("~")
+ self.p_gain = param_nh.get("p_gain", 0.4)
+ self.i_gain = param_nh.get("i_gain", 0.0)
+ self.d_gain = param_nh.get("d_gain", 0.0)
+
+ rospy.loginfo(f"face tracking Gain : {self.p_gain}, {self.i_gain}, {self.d_gain}")
+
+ self.head_joint_offset_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/head_control/set_joint_states_offset", JointState, queue_size=0)
+ self.head_joint_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/head_control/set_joint_states", JointState, queue_size=0)
+ self.head_scan_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/head_control/scan_command", String, queue_size=0)
+
+ self.face_position_sub = rospy.Subscriber(
+ "/face_detector_node/face_position", Point, self.face_position_callback)
+ self.face_tracking_command_sub = rospy.Subscriber(
+ "/face_tracker/command", String, self.face_tracker_command_callback)
+
+ self.face_position = Point()
+ self.prev_time = rospy.Time.now()
+
+ def face_position_callback(self, msg):
+ self.face_position = msg
+
+ def face_tracker_command_callback(self, msg):
+ if msg.data == "start":
+ self.start_tracking()
+ elif msg.data == "stop":
+ self.stop_tracking()
+ elif msg.data == "toggle_start":
+ if not self.on_tracking:
+ self.start_tracking()
+ else:
+ self.stop_tracking()
+
+ def start_tracking(self):
+ self.on_tracking = True
+ rospy.loginfo("Start face tracking") if self.DEBUG_PRINT else None
+
+ def stop_tracking(self):
+ self.go_init()
+ self.on_tracking = False
+ rospy.loginfo("Stop face tracking") if self.DEBUG_PRINT else None
+ self.current_face_pan = 0
+ self.current_face_tilt = 0
+ self.x_error_sum = 0
+ self.y_error_sum = 0
+
+ def set_using_head_scan(self, use_scan):
+ self.use_head_scan = use_scan
+
+ def process_tracking(self):
+ if not self.on_tracking:
+ self.face_position.z = 0
+ self.count_not_found = 0
+ return "NotFound"
+
+ if self.face_position.z <= 0:
+ self.count_not_found += 1
+ if self.count_not_found < self.WAITING_THRESHOLD:
+ if self.tracking_status in ["Found", "Waiting"]:
+ tracking_status = "Waiting"
+ else:
+ tracking_status = "NotFound"
+ elif self.count_not_found > self.NOT_FOUND_THRESHOLD:
+ self.scan_face()
+ self.count_not_found = 0
+ tracking_status = "NotFound"
+ else:
+ tracking_status = "NotFound"
+ else:
+ self.count_not_found = 0
+ tracking_status = "Found"
+
+ if tracking_status != "Found":
+ self.tracking_status = tracking_status
+ self.current_face_pan = 0
+ self.current_face_tilt = 0
+ self.x_error_sum = 0
+ self.y_error_sum = 0
+ return tracking_status
+
+ x_error = -math.atan(self.face_position.x * math.tan(self.FOV_WIDTH))
+ y_error = -math.atan(self.face_position.y * math.tan(self.FOV_HEIGHT))
+ face_size = self.face_position.z
+
+ curr_time = rospy.Time.now()
+ delta_time = (curr_time - self.prev_time).to_sec()
+ self.prev_time = curr_time
+
+ x_error_diff = (x_error - self.current_face_pan) / delta_time
+ y_error_diff = (y_error - self.current_face_tilt) / delta_time
+ self.x_error_sum += x_error
+ self.y_error_sum += y_error
+ x_error_target = x_error * self.p_gain + x_error_diff * self.d_gain + self.x_error_sum * self.i_gain
+ y_error_target = y_error * self.p_gain + y_error_diff * self.d_gain + self.y_error_sum * self.i_gain
+
+ if self.DEBUG_PRINT:
+ rospy.loginfo(f"Error: {x_error * 180 / math.pi} | {y_error * 180 / math.pi}")
+ rospy.loginfo(f"Error diff: {x_error_diff * 180 / math.pi} | {y_error_diff * 180 / math.pi} | {delta_time}")
+ rospy.loginfo(f"Error sum: {self.x_error_sum * 180 / math.pi} | {self.y_error_sum * 180 / math.pi}")
+ rospy.loginfo(f"Error target: {x_error_target * 180 / math.pi} | {y_error_target * 180 / math.pi}")
+
+ self.publish_head_joint(x_error_target, y_error_target)
+
+ self.current_face_pan = x_error
+ self.current_face_tilt = y_error
+ self.current_face_bottom = face_size
+
+ self.face_position.z = 0
+
+ self.tracking_status = tracking_status
+ return tracking_status
+
+ def publish_head_joint(self, pan, tilt):
+ min_angle = 1 * math.pi / 180
+ if abs(pan) < min_angle and abs(tilt) < min_angle:
+ return
+
+ head_angle_msg = JointState()
+ head_angle_msg.name = ["head_pan", "head_tilt"]
+ head_angle_msg.position = [pan, tilt]
+
+ self.head_joint_offset_pub.publish(head_angle_msg)
+
+ def go_init(self):
+ head_angle_msg = JointState()
+ head_angle_msg.name = ["head_pan", "head_tilt"]
+ head_angle_msg.position = [0.0, 0.0]
+
+ self.head_joint_pub.publish(head_angle_msg)
+
+ def scan_face(self):
+ if not self.use_head_scan:
+ return
+
+ scan_msg = String()
+ scan_msg.data = "scan"
+
+ self.head_scan_pub.publish(scan_msg)
+
+if __name__ == '__main__':
+ try:
+ tracker = FaceTracker()
+ rate = rospy.Rate(30)
+ while not rospy.is_shutdown():
+ tracker.process_tracking()
+ rate.sleep()
+ except rospy.ROSInterruptException:
+ pass
diff --git a/humanoid_robot_intelligence_control_system_configure/src/object_follower.py b/humanoid_robot_intelligence_control_system_configure/src/object_follower.py
new file mode 100644
index 0000000..ebe736f
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/src/object_follower.py
@@ -0,0 +1,236 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import os
+import sys
+import math
+from sensor_msgs.msg import JointState
+from std_msgs.msg import String
+from geometry_msgs.msg import Point
+from humanoid_robot_intelligence_control_system_walking_module_msgs.msg import WalkingParam
+from humanoid_robot_intelligence_control_system_walking_module_msgs.srv import GetWalkingParam
+
+from humanoid_robot_intelligence_control_system_detection.follower import calculate_distance_to, calculate_footstep, calculate_delta_time
+from humanoid_robot_intelligence_control_system_detection.follower_config import FollowerConfig, FollowerInitializeConfig
+
+
+class ObjectFollower:
+ def __init__(self, ros_version):
+ self.ros_version = ros_version
+ self.initialize_config = FollowerInitializeConfig()
+ self.config = FollowerConfig()
+ self.initialize_ros()
+ self.setup_ros_communication()
+
+ def initialize_ros(self):
+ if self.ros_version == '1':
+ rospy.init_node('object_follower')
+ self.get_param = rospy.get_param
+ self.logger = rospy
+ else:
+ rclpy.init()
+ self.node = rclpy.create_node('object_follower')
+ self.get_param = self.node.get_parameter
+ self.logger = self.node.get_logger()
+
+ self.config.update_from_params(self.get_param)
+ self.initialize_config.update_from_params(self.get_param)
+
+ def setup_ros_communication(self):
+ if self.ros_version == '1':
+ self.current_joint_states_sub = rospy.Subscriber(
+ "/humanoid_robot_intelligence_control_system/goal_joint_states", JointState, self.current_joint_states_callback)
+ self.set_walking_command_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/walking/command", String, queue_size=1)
+ self.set_walking_param_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/walking/set_params", WalkingParam, queue_size=1)
+ self.get_walking_param_client = rospy.ServiceProxy(
+ "/humanoid_robot_intelligence_control_system/walking/get_params", GetWalkingParam)
+ self.object_detection_sub = rospy.Subscriber(
+ "/object_detection_result", Point, self.object_detection_callback)
+ self.prev_time = rospy.Time.now()
+ else:
+ self.current_joint_states_sub = self.node.create_subscription(
+ JointState, "/humanoid_robot_intelligence_control_system/goal_joint_states", self.current_joint_states_callback, 10)
+ self.set_walking_command_pub = self.node.create_publisher(
+ String, "/humanoid_robot_intelligence_control_system/walking/command", 1)
+ self.set_walking_param_pub = self.node.create_publisher(
+ WalkingParam, "/humanoid_robot_intelligence_control_system/walking/set_params", 1)
+ self.get_walking_param_client = self.node.create_client(
+ GetWalkingParam, "/humanoid_robot_intelligence_control_system/walking/get_params")
+ self.object_detection_sub = self.node.create_subscription(
+ Point, "/object_detection_result", self.object_detection_callback, 10)
+ self.prev_time = self.node.get_clock().now()
+
+ def start_following(self):
+ self.initialize_config.on_tracking = True
+ self.logger.info("Start Object following")
+ self.set_walking_command("start")
+ result = self.get_walking_param()
+ if result:
+ self.config.hip_pitch_offset = self.current_walking_param.hip_pitch_offset
+ self.config.curr_period_time = self.current_walking_param.period_time
+ else:
+ self.config.hip_pitch_offset = 7.0 * math.pi / 180
+ self.config.curr_period_time = 0.6
+
+ def stop_following(self):
+ self.initialize_config.on_tracking = False
+ self.initialize_config.count_to_approach = 0
+ self.logger.info("Stop Object following")
+ self.set_walking_command("stop")
+
+ def current_joint_states_callback(self, msg):
+ for i, name in enumerate(msg.name):
+ if name == "head_pan":
+ self.initialize_config.current_pan = msg.position[i]
+ elif name == "head_tilt":
+ self.initialize_config.current_tilt = msg.position[i]
+
+ def process_following(self, x_angle, y_angle, object_size):
+ curr_time = rospy.Time.now() if self.ros_version == '1' else self.node.get_clock().now()
+ delta_time = calculate_delta_time(curr_time, self.prev_time)
+ self.prev_time = curr_time
+
+ self.initialize_config.count_not_found = 0
+
+ if self.initialize_config.current_tilt == -10 and self.initialize_config.current_pan == -10:
+ self.logger.error("Failed to get current angle of head joints.")
+ self.set_walking_command("stop")
+ self.initialize_config.on_tracking = False
+ self.initialize_config.approach_object_position = "NotFound"
+ return False
+
+ self.initialize_config.approach_object_position = "OutOfRange"
+
+ distance_to_object = calculate_distance_to(
+ self.config.CAMERA_HEIGHT, self.initialize_config.current_tilt, self.config.hip_pitch_offset, object_size)
+
+ distance_to_approach = 0.22
+
+ if (distance_to_object < distance_to_approach) and (abs(x_angle) < 25.0):
+ self.initialize_config.count_to_approach += 1
+ if self.initialize_config.count_to_approach > 20:
+ self.set_walking_command("stop")
+ self.initialize_config.on_tracking = False
+ self.initialize_config.approach_object_position = "OnLeft" if x_angle > 0 else "OnRight"
+ return True
+ elif self.initialize_config.count_to_approach > 15:
+ self.set_walking_param(self.config.IN_PLACE_FB_STEP, 0, 0)
+ return False
+ else:
+ self.initialize_config.count_to_approach = 0
+
+ distance_to_walk = distance_to_object - distance_to_approach
+ fb_move, rl_angle = calculate_footstep(
+ self.initialize_config.current_x_move, distance_to_walk, self.initialize_config.current_r_angle, self.initialize_config.current_pan, delta_time, self.config)
+ self.set_walking_param(fb_move, 0, rl_angle)
+ return False
+
+ def decide_object_position(self, x_angle, y_angle):
+ if self.initialize_config.current_tilt == -10 and self.initialize_config.current_pan == -10:
+ self.initialize_config.approach_object_position = "NotFound"
+ return
+ object_x_angle = self.initialize_config.current_pan + x_angle
+ self.initialize_config.approach_object_position = "OnLeft" if object_x_angle > 0 else "OnRight"
+
+ def wait_following(self):
+ self.initialize_config.count_not_found += 1
+ if self.initialize_config.count_not_found > self.config.NOT_FOUND_THRESHOLD * 0.5:
+ self.set_walking_param(0.0, 0.0, 0.0)
+
+ def set_walking_command(self, command):
+ if command == "start":
+ self.get_walking_param()
+ self.set_walking_param(self.config.IN_PLACE_FB_STEP, 0, 0, True)
+ msg = String()
+ msg.data = command
+ self.set_walking_command_pub.publish(msg)
+
+ def set_walking_param(self, x_move, y_move, rotation_angle, balance=False):
+ self.current_walking_param.balance_enable = balance
+ self.current_walking_param.x_move_amplitude = x_move + self.config.SPOT_FB_OFFSET
+ self.current_walking_param.y_move_amplitude = y_move + self.config.SPOT_RL_OFFSET
+ self.current_walking_param.angle_move_amplitude = rotation_angle + self.config.SPOT_ANGLE_OFFSET
+ self.set_walking_param_pub.publish(self.current_walking_param)
+ self.initialize_config.current_x_move = x_move
+ self.initialize_config.current_r_angle = rotation_angle
+
+ def get_walking_param(self):
+ if self.ros_version == '1':
+ try:
+ response = self.get_walking_param_client()
+ self.current_walking_param = response.parameters
+ return True
+ except rospy.ServiceException as e:
+ self.logger.error("Failed to get walking parameters: %s" % e)
+ return False
+ else:
+ future = self.get_walking_param_client.call_async(GetWalkingParam.Request())
+ rclpy.spin_until_future_complete(self.node, future)
+ if future.result() is not None:
+ self.current_walking_param = future.result().parameters
+ return True
+ else:
+ self.logger.error('Service call failed %r' % (future.exception(),))
+ return False
+
+ def object_detection_callback(self, msg):
+ if self.initialize_config.on_tracking:
+ x_angle = msg.x
+ y_angle = msg.y
+ object_size = msg.z
+ self.process_following(x_angle, y_angle, object_size)
+ else:
+ self.wait_following()
+
+ def run(self):
+ if self.ros_version == '1':
+ rospy.spin()
+ else:
+ rclpy.spin(self.node)
+
+def main(ros_version):
+ try:
+ follower = ObjectFollower(ros_version)
+ follower.start_following()
+ follower.run()
+ except Exception as e:
+ if ros_version == '1':
+ rospy.logerr(f"An error occurred: {e}")
+ else:
+ rclpy.shutdown()
+ print(f"An error occurred: {e}")
+
+if __name__ == '__main__':
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ import rospy
+ try:
+ main(ros_version)
+ except rospy.ROSInterruptException:
+ print("Error in ROS1 main")
+ elif ros_version == "2":
+ import rclpy
+ try:
+ main(ros_version)
+ except KeyboardInterrupt:
+ rclpy.shutdown()
+ print("Error in ROS2 main")
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_configure/src/object_tracker.py b/humanoid_robot_intelligence_control_system_configure/src/object_tracker.py
new file mode 100644
index 0000000..4f00592
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_configure/src/object_tracker.py
@@ -0,0 +1,235 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import os
+import sys
+import math
+from sensor_msgs.msg import JointState
+from std_msgs.msg import String
+from geometry_msgs.msg import Point
+
+from humanoid_robot_intelligence_control_system_detection.tracker import calculate_error, calculate_error_target, calculate_delta_time
+from humanoid_robot_intelligence_control_system_detection.tracker_config import TrackerConfig, TrackerInitializeConfig
+
+class ObjectTracker:
+ def __init__(self, ros_version):
+ self.ros_version = ros_version
+ self.initialize_config = TrackerInitializeConfig()
+ self.config = TrackerConfig()
+ self.initialize_ros()
+ self.setup_ros_communication()
+
+ def initialize_ros(self):
+ if self.ros_version == '1':
+ rospy.init_node('object_tracker')
+ self.get_param = rospy.get_param
+ self.logger = rospy
+ else:
+ rclpy.init()
+ self.node = rclpy.create_node('object_tracker')
+ self.get_param = self.node.get_parameter
+ self.logger = self.node.get_logger()
+
+ self.config.update_from_params(self.get_param)
+ self.initialize_config.update_from_params(self.get_param)
+
+ def setup_ros_communication(self):
+ if self.ros_version == '1':
+ self.head_joint_offset_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/head_control/set_joint_states_offset", JointState, queue_size=0)
+ self.head_joint_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/head_control/set_joint_states", JointState, queue_size=0)
+ self.head_scan_pub = rospy.Publisher(
+ "/humanoid_robot_intelligence_control_system/head_control/scan_command", String, queue_size=0)
+ self.object_position_sub = rospy.Subscriber(
+ "/object_detector_node/object_position", Point, self.object_position_callback)
+ self.object_tracking_command_sub = rospy.Subscriber(
+ "/object_tracker/command", String, self.object_tracker_command_callback)
+ self.prev_time = rospy.Time.now()
+ else:
+ self.head_joint_offset_pub = self.node.create_publisher(
+ JointState, "/humanoid_robot_intelligence_control_system/head_control/set_joint_states_offset", 10)
+ self.head_joint_pub = self.node.create_publisher(
+ JointState, "/humanoid_robot_intelligence_control_system/head_control/set_joint_states", 10)
+ self.head_scan_pub = self.node.create_publisher(
+ String, "/humanoid_robot_intelligence_control_system/head_control/scan_command", 10)
+ self.object_position_sub = self.node.create_subscription(
+ Point, "/object_detector_node/object_position", self.object_position_callback, 10)
+ self.object_tracking_command_sub = self.node.create_subscription(
+ String, "/object_tracker/command", self.object_tracker_command_callback, 10)
+ self.prev_time = self.node.get_clock().now()
+
+ def object_position_callback(self, msg):
+ self.initialize_config.object_position = msg
+ if self.initialize_config.on_tracking:
+ self.process_tracking()
+
+ def object_tracker_command_callback(self, msg):
+ if msg.data == "start":
+ self.start_tracking()
+ elif msg.data == "stop":
+ self.stop_tracking()
+ elif msg.data == "toggle_start":
+ if not self.initialize_config.on_tracking:
+ self.start_tracking()
+ else:
+ self.stop_tracking()
+
+ def start_tracking(self):
+ self.initialize_config.on_tracking = True
+ self.logger.info("Start Object tracking")
+
+ def stop_tracking(self):
+ self.go_init()
+ self.initialize_config.on_tracking = False
+ self.logger.info("Stop Object tracking")
+ self.initialize_config.current_object_pan = 0
+ self.initialize_config.current_object_tilt = 0
+ self.initialize_config.x_error_sum = 0
+ self.initialize_config.y_error_sum = 0
+
+ def set_using_head_scan(self, use_scan):
+ self.config.use_head_scan = use_scan
+
+ def process_tracking(self):
+ if not self.initialize_config.on_tracking:
+ self.initialize_config.object_position.z = 0
+ self.initialize_config.count_not_found = 0
+ return "NotFound"
+
+ if self.initialize_config.object_position.z <= 0:
+ self.initialize_config.count_not_found += 1
+ if self.initialize_config.count_not_found < self.config.WAITING_THRESHOLD:
+ if self.initialize_config.tracking_status in ["Found", "Waiting"]:
+ tracking_status = "Waiting"
+ else:
+ tracking_status = "NotFound"
+ elif self.initialize_config.count_not_found > self.config.NOT_FOUND_THRESHOLD:
+ self.scan_object()
+ self.initialize_config.count_not_found = 0
+ tracking_status = "NotFound"
+ else:
+ tracking_status = "NotFound"
+ else:
+ self.initialize_config.count_not_found = 0
+ tracking_status = "Found"
+
+ if tracking_status != "Found":
+ self.initialize_config.tracking_status = tracking_status
+ self.initialize_config.current_object_pan = 0
+ self.initialize_config.current_object_tilt = 0
+ self.initialize_config.x_error_sum = 0
+ self.initialize_config.y_error_sum = 0
+ return tracking_status
+
+ x_error, y_error = calculate_error(self.initialize_config.object_position, self.config.FOV_WIDTH, self.config.FOV_HEIGHT)
+ object_size = self.initialize_config.object_position.z
+
+ curr_time = rospy.Time.now() if self.ros_version == '1' else self.node.get_clock().now()
+ delta_time = calculate_delta_time(curr_time, self.prev_time)
+ self.prev_time = curr_time
+
+ x_error_diff = (x_error - self.initialize_config.current_object_pan) / delta_time
+ y_error_diff = (y_error - self.initialize_config.current_object_tilt) / delta_time
+ self.initialize_config.x_error_sum += x_error
+ self.initialize_config.y_error_sum += y_error
+
+ x_error_target = calculate_error_target(x_error, x_error_diff, self.initialize_config.x_error_sum,
+ self.config.p_gain, self.config.i_gain, self.config.d_gain)
+ y_error_target = calculate_error_target(y_error, y_error_diff, self.initialize_config.y_error_sum,
+ self.config.p_gain, self.config.i_gain, self.config.d_gain)
+
+ if self.config.DEBUG_PRINT:
+ self.logger.info(f"Error: {x_error * 180 / math.pi} | {y_error * 180 / math.pi}")
+ self.logger.info(f"Error diff: {x_error_diff * 180 / math.pi} | {y_error_diff * 180 / math.pi} | {delta_time}")
+ self.logger.info(f"Error sum: {self.initialize_config.x_error_sum * 180 / math.pi} | {self.initialize_config.y_error_sum * 180 / math.pi}")
+ self.logger.info(f"Error target: {x_error_target * 180 / math.pi} | {y_error_target * 180 / math.pi}")
+
+ self.publish_head_joint(x_error_target, y_error_target)
+
+ self.initialize_config.current_object_pan = x_error
+ self.initialize_config.current_object_tilt = y_error
+ self.initialize_config.current_object_bottom = object_size
+
+ self.initialize_config.object_position.z = 0
+
+ self.initialize_config.tracking_status = tracking_status
+ return tracking_status
+
+ def publish_head_joint(self, pan, tilt):
+ min_angle = 1 * math.pi / 180
+ if abs(pan) < min_angle and abs(tilt) < min_angle:
+ return
+
+ head_angle_msg = JointState()
+ head_angle_msg.name = ["head_pan", "head_tilt"]
+ head_angle_msg.position = [pan, tilt]
+
+ self.head_joint_offset_pub.publish(head_angle_msg)
+
+ def go_init(self):
+ head_angle_msg = JointState()
+ head_angle_msg.name = ["head_pan", "head_tilt"]
+ head_angle_msg.position = [0.0, 0.0]
+
+ self.head_joint_pub.publish(head_angle_msg)
+
+ def scan_object(self):
+ if not self.config.use_head_scan:
+ return
+
+ scan_msg = String()
+ scan_msg.data = "scan"
+
+ self.head_scan_pub.publish(scan_msg)
+
+ def run(self):
+ if self.ros_version == '1':
+ rospy.spin()
+ else:
+ rclpy.spin(self.node)
+
+def main(ros_version):
+ try:
+ tracker = ObjectTracker(ros_version)
+ tracker.start_tracking()
+ tracker.run()
+ except Exception as e:
+ if ros_version == '1':
+ rospy.logerr(f"An error occurred: {e}")
+ else:
+ rclpy.shutdown()
+ print(f"An error occurred: {e}")
+
+if __name__ == '__main__':
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ import rospy
+ try:
+ main(ros_version)
+ except rospy.ROSInterruptException:
+ print("Error in ROS1 main")
+ elif ros_version == "2":
+ import rclpy
+ try:
+ main(ros_version)
+ except KeyboardInterrupt:
+ rclpy.shutdown()
+ print("Error in ROS2 main")
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_detection/CMakeLists.txt b/humanoid_robot_intelligence_control_system_detection/CMakeLists.txt
new file mode 100644
index 0000000..c427fc3
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_detection/CMakeLists.txt
@@ -0,0 +1,66 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+
+cmake_minimum_required(VERSION 3.0.2)
+project(humanoid_robot_intelligence_control_system_detection)
+
+if($ENV{ROS_VERSION} EQUAL 1)
+ find_package(catkin REQUIRED COMPONENTS
+ rospy
+ )
+
+ catkin_package(
+ CATKIN_DEPENDS
+ rospy
+ )
+
+else()
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_python REQUIRED)
+ find_package(rclpy REQUIRED)
+ find_package(std_msgs REQUIRED)
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+ catkin_python_setup()
+
+ catkin_install_python(PROGRAMS
+ src/follower.py
+ src/follower_config.py
+ src/tracker.py
+ src/tracker_config.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )
+
+ install(DIRECTORY config launch rviz
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ )
+
+else()
+ ament_python_install_package(${PROJECT_NAME})
+
+ install(PROGRAMS
+ src/follower.py
+ src/follower_config.py
+ src/tracker.py
+ src/tracker_config.py
+ DESTINATION lib/${PROJECT_NAME}
+ )
+
+ install(DIRECTORY config launch rviz
+ DESTINATION share/${PROJECT_NAME}
+ )
+
+ ament_package()
+endif()
diff --git a/humanoid_robot_intelligence_control_system_detection/package.xml b/humanoid_robot_intelligence_control_system_detection/package.xml
new file mode 100644
index 0000000..fa6c357
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_detection/package.xml
@@ -0,0 +1,46 @@
+
+
+
+
+ humanoid_robot_intelligence_control_system_detection
+ 0.0.1
+
+ This Package is for Detection Math
+
+ Apache 2.0
+ Ronaldson Bellande
+
+ catkin
+ ament_cmake
+ ament_cmake_python
+
+
+ rospy
+
+
+ rclpy
+
+
+ python3-opencv
+ python3-yaml
+ usb_cam
+
+
+ catkin
+ ament_cmake
+
+
diff --git a/humanoid_robot_intelligence_control_system_detection/setup.py b/humanoid_robot_intelligence_control_system_detection/setup.py
new file mode 100644
index 0000000..ca93ba9
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_detection/setup.py
@@ -0,0 +1,26 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+ scripts=['src/follower.py', "src/follower_config.py", 'src/tracker.py', "src/tracker_config.py"],
+ packages=['humanoid_robot_intelligence_control_system_detection'],
+ package_dir={'': 'src'},
+)
+
+setup(**setup_args)
diff --git a/humanoid_robot_intelligence_control_system_detection/src/follower.py b/humanoid_robot_intelligence_control_system_detection/src/follower.py
new file mode 100644
index 0000000..8d32487
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_detection/src/follower.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import math
+
+def calculate_distance_to_object(camera_height, tilt, hip_pitch_offset, object_size):
+ distance = camera_height * math.tan(math.pi * 0.5 + tilt - hip_pitch_offset - object_size)
+ return abs(distance)
+
+def calculate_footstep(current_x_move, target_distance, current_r_angle, target_angle, delta_time, config):
+ next_movement = current_x_move
+ target_distance = max(0, target_distance)
+ fb_goal = min(target_distance * 0.1, config.MAX_FB_STEP)
+ config.accum_period_time += delta_time
+ if config.accum_period_time > (config.curr_period_time / 4):
+ config.accum_period_time = 0.0
+ if (target_distance * 0.1 / 2) < current_x_move:
+ next_movement -= config.UNIT_FB_STEP
+ else:
+ next_movement += config.UNIT_FB_STEP
+ fb_goal = min(next_movement, fb_goal)
+ fb_move = max(fb_goal, config.MIN_FB_STEP)
+
+ rl_goal = 0.0
+ if abs(target_angle) * 180 / math.pi > 5.0:
+ rl_offset = abs(target_angle) * 0.2
+ rl_goal = min(rl_offset, config.MAX_RL_TURN)
+ rl_goal = max(rl_goal, config.MIN_RL_TURN)
+ rl_angle = min(abs(current_r_angle) + config.UNIT_RL_TURN, rl_goal)
+ if target_angle < 0:
+ rl_angle *= -1
+ else:
+ rl_angle = 0
+
+ return fb_move, rl_angle
+
+def calculate_delta_time(curr_time, prev_time):
+ return (curr_time - prev_time).to_sec()
diff --git a/humanoid_robot_intelligence_control_system_detection/src/follower_config.py b/humanoid_robot_intelligence_control_system_detection/src/follower_config.py
new file mode 100644
index 0000000..8bd53d1
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_detection/src/follower_config.py
@@ -0,0 +1,159 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import math
+
+
+class FollowerConfig:
+ def __init__(self):
+ self.FOV_WIDTH = 35.2 * math.pi / 180
+ self.FOV_HEIGHT = 21.6 * math.pi / 180
+ self.CAMERA_HEIGHT = 0.46
+ self.NOT_FOUND_THRESHOLD = 50
+ self.MAX_FB_STEP = 40.0 * 0.001
+ self.MAX_RL_TURN = 15.0 * math.pi / 180
+ self.IN_PLACE_FB_STEP = -3.0 * 0.001
+ self.MIN_FB_STEP = 5.0 * 0.001
+ self.MIN_RL_TURN = 5.0 * math.pi / 180
+ self.UNIT_FB_STEP = 1.0 * 0.001
+ self.UNIT_RL_TURN = 0.5 * math.pi / 180
+ self.SPOT_FB_OFFSET = 0.0 * 0.001
+ self.SPOT_RL_OFFSET = 0.0 * 0.001
+ self.SPOT_ANGLE_OFFSET = 0.0
+ self.hip_pitch_offset = 7.0
+ self.curr_period_time = 0.6
+ self.accum_period_time = 0.0
+ self.DEBUG_PRINT = False
+
+ def update_from_params(self, get_param):
+ self.FOV_WIDTH = get_param('fov_width', self.FOV_WIDTH)
+ self.FOV_HEIGHT = get_param('fov_height', self.FOV_HEIGHT)
+ self.CAMERA_HEIGHT = get_param('camera_height', self.CAMERA_HEIGHT)
+ self.NOT_FOUND_THRESHOLD = get_param('not_found_threshold', self.NOT_FOUND_THRESHOLD)
+ self.MAX_FB_STEP = get_param('max_fb_step', self.MAX_FB_STEP)
+ self.MAX_RL_TURN = get_param('max_rl_turn', self.MAX_RL_TURN)
+ self.IN_PLACE_FB_STEP = get_param('in_place_fb_step', self.IN_PLACE_FB_STEP)
+ self.MIN_FB_STEP = get_param('min_fb_step', self.MIN_FB_STEP)
+ self.MIN_RL_TURN = get_param('min_rl_turn', self.MIN_RL_TURN)
+ self.UNIT_FB_STEP = get_param('unit_fb_step', self.UNIT_FB_STEP)
+ self.UNIT_RL_TURN = get_param('unit_rl_turn', self.UNIT_RL_TURN)
+ self.SPOT_FB_OFFSET = get_param('spot_fb_offset', self.SPOT_FB_OFFSET)
+ self.SPOT_RL_OFFSET = get_param('spot_rl_offset', self.SPOT_RL_OFFSET)
+ self.SPOT_ANGLE_OFFSET = get_param('spot_angle_offset', self.SPOT_ANGLE_OFFSET)
+ self.hip_pitch_offset = get_param('hip_pitch_offset', self.hip_pitch_offset)
+ self.curr_period_time = get_param('curr_period_time', self.curr_period_time)
+ self.DEBUG_PRINT = get_param('debug_print', self.DEBUG_PRINT)
+
+
+class FollowerInitializeConfig:
+ def __init__(self):
+ self.count_not_found = 0
+ self.count_to_approach = 0
+ self.on_tracking = False
+ self.approach_object_position = "NotFound"
+ self.current_pan = -10
+ self.current_tilt = -10
+ self.current_x_move = 0.005
+ self.current_r_angle = 0
+ self.x_error_sum = 0.0
+ self.y_error_sum = 0.0
+ self.current_object_bottom = 0.0
+ self.tracking_status = "NotFound"
+ self.object_position = None
+
+
+ def update_from_params(self, get_param):
+ self.count_not_found = get_param('initial_count_not_found', self.count_not_found)
+ self.count_to_approach = get_param('initial_count_to_approach', self.count_to_approach)
+ self.on_tracking = get_param('initial_on_tracking', self.on_tracking)
+ self.approach_object_position = get_param('initial_approach_object_position', self.approach_object_position)
+ self.current_pan = get_param('initial_current_pan', self.current_pan)
+ self.current_tilt = get_param('initial_current_tilt', self.current_tilt)
+ self.current_x_move = get_param('initial_current_x_move', self.current_x_move)
+ self.current_r_angle = get_param('initial_current_r_angle', self.current_r_angle)
+ self.x_error_sum = get_param('initial_x_error_sum', self.x_error_sum)
+ self.y_error_sum = get_param('initial_y_error_sum', self.y_error_sum)
+ self.current_object_bottom = get_param('initial_object_bottom', self.current_object_bottom)
+ self.tracking_status = get_param('initial_tracking_status', self.tracking_status)
+
+
+ def reset(self):
+ """Reset all values to their initial state."""
+ self.__init__()
+
+ def update_object_position(self, x, y, z):
+ """Update the object position."""
+ self.object_position.x = x
+ self.object_position.y = y
+ self.object_position.z = z
+
+ def increment_count_not_found(self):
+ """Increment the count of frames where object was not found."""
+ self.count_not_found += 1
+
+ def reset_count_not_found(self):
+ """Reset the count of frames where object was not found."""
+ self.count_not_found = 0
+
+ def increment_count_to_approach(self):
+ """Increment the count to approach."""
+ self.count_to_approach += 1
+
+ def reset_count_to_approach(self):
+ """Reset the count to approach."""
+ self.count_to_approach = 0
+
+ def set_tracking_status(self, status):
+ """Set the current tracking status."""
+ self.tracking_status = status
+
+ def update_error_sums(self, x_error, y_error):
+ """Update the cumulative error sums."""
+ self.x_error_sum += x_error
+ self.y_error_sum += y_error
+
+ def reset_error_sums(self):
+ """Reset the cumulative error sums."""
+ self.x_error_sum = 0.0
+ self.y_error_sum = 0.0
+
+ def update_current_object_position(self, pan, tilt, bottom):
+ """Update the current object position."""
+ self.current_pan = pan
+ self.current_tilt = tilt
+ self.current_object_bottom = bottom
+
+ def update_movement(self, x_move, r_angle):
+ """Update the current movement parameters."""
+ self.current_x_move = x_move
+ self.current_r_angle = r_angle
+
+ def is_tracking(self):
+ """Check if tracking is currently active."""
+ return self.on_tracking
+
+ def start_tracking(self):
+ """Start the tracking process."""
+ self.on_tracking = True
+
+ def stop_tracking(self):
+ """Stop the tracking process."""
+ self.on_tracking = False
+
+ def set_approach_position(self, position):
+ """Set the approach position of the object."""
+ self.approach_object_position = position
diff --git a/humanoid_robot_intelligence_control_system_detection/src/tracker.py b/humanoid_robot_intelligence_control_system_detection/src/tracker.py
new file mode 100644
index 0000000..369d84e
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_detection/src/tracker.py
@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+
+import math
+
+def calculate_error(object_position, FOV_WIDTH, FOV_HEIGHT):
+ x_error = -math.atan(object_position.x * math.tan(FOV_WIDTH))
+ y_error = -math.atan(object_position.y * math.tan(FOV_HEIGHT))
+ return x_error, y_error
+
+def calculate_error_target(error, error_diff, error_sum, p_gain, i_gain, d_gain):
+ return error * p_gain + error_diff * d_gain + error_sum * i_gain
+
+def calculate_delta_time(curr_time, prev_time):
+ return (curr_time - prev_time).to_sec()
diff --git a/humanoid_robot_intelligence_control_system_detection/src/tracker_config.py b/humanoid_robot_intelligence_control_system_detection/src/tracker_config.py
new file mode 100644
index 0000000..5310436
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_detection/src/tracker_config.py
@@ -0,0 +1,126 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import math
+
+class TrackerConfig:
+ def __init__(self):
+ self.FOV_WIDTH = 35.2 * math.pi / 180
+ self.FOV_HEIGHT = 21.6 * math.pi / 180
+ self.NOT_FOUND_THRESHOLD = 50
+ self.WAITING_THRESHOLD = 5
+ self.use_head_scan = True
+ self.DEBUG_PRINT = False
+ self.p_gain = 0.4
+ self.i_gain = 0.0
+ self.d_gain = 0.0
+
+ def update_from_params(self, get_param):
+ self.FOV_WIDTH = get_param('fov_width', self.FOV_WIDTH)
+ self.FOV_HEIGHT = get_param('fov_height', self.FOV_HEIGHT)
+ self.NOT_FOUND_THRESHOLD = get_param('not_found_threshold', self.NOT_FOUND_THRESHOLD)
+ self.WAITING_THRESHOLD = get_param('waiting_threshold', self.WAITING_THRESHOLD)
+ self.use_head_scan = get_param('use_head_scan', self.use_head_scan)
+ self.DEBUG_PRINT = get_param('debug_print', self.DEBUG_PRINT)
+ self.p_gain = get_param('p_gain', self.p_gain)
+ self.i_gain = get_param('i_gain', self.i_gain)
+ self.d_gain = get_param('d_gain', self.d_gain)
+
+
+class TrackerInitializeConfig:
+ def __init__(self):
+ self.count_not_found = 0
+ self.on_tracking = False
+ self.current_object_pan = 0.0
+ self.current_object_tilt = 0.0
+ self.x_error_sum = 0.0
+ self.y_error_sum = 0.0
+ self.current_object_bottom = 0.0
+ self.tracking_status = "NotFound"
+ self.object_position = None
+
+
+ def update_from_params(self, get_param):
+ self.count_not_found = get_param('initial_count_not_found', self.count_not_found)
+ self.on_tracking = get_param('initial_on_tracking', self.on_tracking)
+ self.current_object_pan = get_param('initial_object_pan', self.current_object_pan)
+ self.current_object_tilt = get_param('initial_object_tilt', self.current_object_tilt)
+ self.x_error_sum = get_param('initial_x_error_sum', self.x_error_sum)
+ self.y_error_sum = get_param('initial_y_error_sum', self.y_error_sum)
+ self.current_object_bottom = get_param('initial_object_bottom', self.current_object_bottom)
+ self.tracking_status = get_param('initial_tracking_status', self.tracking_status)
+
+
+ def reset(self):
+ """Reset all values to their initial state."""
+ self.__init__()
+
+
+ def update_object_position(self, x, y, z):
+ """Update the object position."""
+ self.object_position.x = x
+ self.object_position.y = y
+ self.object_position.z = z
+
+
+ def increment_count_not_found(self):
+ """Increment the count of frames where object was not found."""
+ self.count_not_found += 1
+
+
+ def reset_count_not_found(self):
+ """Reset the count of frames where object was not found."""
+ self.count_not_found = 0
+
+
+ def set_tracking_status(self, status):
+ """Set the current tracking status."""
+ self.tracking_status = status
+
+
+ def update_error_sums(self, x_error, y_error):
+ """Update the cumulative error sums."""
+ self.x_error_sum += x_error
+ self.y_error_sum += y_error
+
+
+ def reset_error_sums(self):
+ """Reset the cumulative error sums."""
+ self.x_error_sum = 0.0
+ self.y_error_sum = 0.0
+
+
+ def update_current_object_position(self, pan, tilt, bottom):
+ """Update the current object position."""
+ self.current_object_pan = pan
+ self.current_object_tilt = tilt
+ self.current_object_bottom = bottom
+
+
+ def is_tracking(self):
+ """Check if tracking is currently active."""
+ return self.on_tracking
+
+
+ def start_tracking(self):
+ """Start the tracking process."""
+ self.on_tracking = True
+
+
+ def stop_tracking(self):
+ """Stop the tracking process."""
+ self.on_tracking = False
diff --git a/humanoid_robot_intelligence_control_system_face_detector/CMakeLists.txt b/humanoid_robot_intelligence_control_system_face_detector/CMakeLists.txt
new file mode 100644
index 0000000..2eb131f
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_face_detector/CMakeLists.txt
@@ -0,0 +1,71 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+
+cmake_minimum_required(VERSION 3.0.2)
+project(humanoid_robot_intelligence_control_system_face_detector)
+
+if($ENV{ROS_VERSION} EQUAL 1)
+ find_package(catkin REQUIRED COMPONENTS
+ rospy
+ std_msgs
+ sensor_msgs
+ geometry_msgs
+ cv_bridge
+ )
+
+ catkin_package(
+ CATKIN_DEPENDS
+ rospy
+ std_msgs
+ sensor_msgs
+ geometry_msgs
+ cv_bridge
+ )
+
+else()
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_python REQUIRED)
+ find_package(rclpy REQUIRED)
+ find_package(std_msgs REQUIRED)
+ find_package(sensor_msgs REQUIRED)
+ find_package(geometry_msgs REQUIRED)
+ find_package(cv_bridge REQUIRED)
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+ catkin_python_setup()
+
+ catkin_install_python(PROGRAMS
+ src/face_detection_processor.py
+ DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ )
+
+ install(DIRECTORY config launch rviz
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ )
+
+else()
+ ament_python_install_package(${PROJECT_NAME})
+
+ install(PROGRAMS
+ src/face_detection_processor.py
+ DESTINATION lib/${PROJECT_NAME}
+ )
+
+ install(DIRECTORY config launch rviz
+ DESTINATION share/${PROJECT_NAME}
+ )
+
+ ament_package()
+endif()
diff --git a/humanoid_robot_intelligence_control_system_face_detector/launch/face_detector_processor.launch.py b/humanoid_robot_intelligence_control_system_face_detector/launch/face_detector_processor.launch.py
new file mode 100644
index 0000000..4a6456b
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_face_detector/launch/face_detector_processor.launch.py
@@ -0,0 +1,108 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+def ros1_launch_description():
+ # Get command-line arguments
+ args = sys.argv[1:]
+
+ # Construct the ROS 1 launch command
+ roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_face_detector", "face_detector_processor.launch"] + args
+
+ roslaunch_command.extend([
+ "usb_cam", "usb_cam_node", "name:=camera",
+ "video_device:=/dev/video0",
+ "image_width:=640",
+ "image_height:=480",
+ "pixel_format:=yuyv",
+ "camera_frame_id:=usb_cam",
+ "io_method:=mmap"
+ ])
+
+ roslaunch_command.extend([
+ "ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_face_detection.py", "name:=face_detection_node"
+ ])
+
+ roslaunch_command.extend([
+ "humanoid_robot_intelligence_control_system_ball_detector", "face_detection_processor.py", "name:=face_detection_processor_node"
+ ])
+
+ roslaunch_command.extend([
+ "rviz", "rviz", "name:=rviz",
+ "args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
+ ])
+
+ # Execute the launch command
+ subprocess.call(roslaunch_command)
+
+def ros2_launch_description():
+ nodes_to_launch = []
+
+ nodes_to_launch.append(Node(
+ package='usb_cam',
+ executable='usb_cam_node',
+ name='camera',
+ output='screen',
+ parameters=[{
+ 'video_device': '/dev/video0',
+ 'image_width': 640,
+ 'image_height': 480,
+ 'pixel_format': 'yuyv',
+ 'camera_frame_id': 'usb_cam',
+ 'io_method': 'mmap'
+ }]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='ros_web_api_bellande_2d_computer_vision',
+ executable='bellande_2d_computer_vision_face_detection.py',
+ name='face_detection_node',
+ output='screen',
+ remappings=[('camera/image_raw', '/usb_cam/image_raw')]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='humanoid_robot_intelligence_control_system_face_detector',
+ executable='face_detection_processor.py',
+ name='face_detection_processor_node',
+ output='screen',
+ parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/face_detection_params.yaml'}]
+ ))
+
+ nodes_to_launch.append(Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz',
+ arguments=['-d', '$(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz']
+ ))
+
+ return LaunchDescription(nodes_to_launch)
+
+if __name__ == "__main__":
+ ros_version = os.getenv("ROS_VERSION")
+ if ros_version == "1":
+ ros1_launch_description()
+ elif ros_version == "2":
+ ros2_launch_description()
+ else:
+ print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+ sys.exit(1)
diff --git a/humanoid_robot_intelligence_control_system_face_detector/launch/ros1/face_detector_processor.launch b/humanoid_robot_intelligence_control_system_face_detector/launch/ros1/face_detector_processor.launch
new file mode 100644
index 0000000..6c4507d
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_face_detector/launch/ros1/face_detector_processor.launch
@@ -0,0 +1,41 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/humanoid_robot_intelligence_control_system_face_detector/package.xml b/humanoid_robot_intelligence_control_system_face_detector/package.xml
new file mode 100644
index 0000000..9e60a19
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_face_detector/package.xml
@@ -0,0 +1,61 @@
+
+
+
+
+ humanoid_robot_intelligence_control_system_face_detector
+ 0.0.1
+
+ This Package is for Object Detection, detecting faces like tools, or utilities
+
+ Apache 2.0
+ Ronaldson Bellande
+
+ catkin
+ ament_cmake
+ ament_cmake_python
+
+
+ rospy
+ std_msgs
+ sensor_msgs
+ geometry_msgs
+ cv_bridge
+ image_transport
+ dynamic_reconfigure
+ message_generation
+ message_runtime
+
+
+ rclpy
+ std_msgs
+ sensor_msgs
+ geometry_msgs
+ cv_bridge
+ image_transport
+ rosidl_default_generators
+ rosidl_default_runtime
+
+
+ python3-opencv
+ python3-yaml
+ usb_cam
+
+
+ catkin
+ ament_cmake
+
+
diff --git a/humanoid_robot_intelligence_control_system_face_detector/setup.py b/humanoid_robot_intelligence_control_system_face_detector/setup.py
new file mode 100644
index 0000000..f391975
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_face_detector/setup.py
@@ -0,0 +1,26 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+ scripts=['src/face_detection_processor.py'],
+ packages=['humanoid_robot_intelligence_control_system_face_detector'],
+ package_dir={'': 'src'},
+)
+
+setup(**setup_args)
diff --git a/humanoid_robot_intelligence_control_system_face_detector/src/face_detection_processor.py b/humanoid_robot_intelligence_control_system_face_detector/src/face_detection_processor.py
new file mode 100644
index 0000000..5484d2d
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_face_detector/src/face_detection_processor.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python3
+
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+import rospy
+import cv2
+import numpy as np
+from sensor_msgs.msg import Image, CameraInfo
+from std_msgs.msg import Bool, String
+from cv_bridge import CvBridge
+import yaml
+
+class ObjectDetectionProcessor:
+ def __init__(self):
+ rospy.init_node('face_detection_processor')
+ self.bridge = CvBridge()
+ self.enable = True
+ self.new_image_flag = False
+ self.load_params()
+ self.setup_ros()
+
+ def load_params(self):
+ param_path = rospy.get_param('~yaml_path', '')
+ if param_path:
+ with open(param_path, 'r') as file:
+ self.params = yaml.safe_load(file)
+ else:
+ self.set_default_params()
+
+ def set_default_params(self):
+ self.params = {
+ 'debug': False,
+ 'ellipse_size': 2,
+ # Add other default parameters as needed
+ }
+
+ def setup_ros(self):
+ self.image_pub = rospy.Publisher('image_out', Image, queue_size=10)
+ self.camera_info_pub = rospy.Publisher('camera_info', CameraInfo, queue_size=10)
+
+ rospy.Subscriber('enable', Bool, self.enable_callback)
+ rospy.Subscriber('image_in', Image, self.image_callback)
+ rospy.Subscriber('cameraInfo_in', CameraInfo, self.camera_info_callback)
+ rospy.Subscriber('face_detection_result', String, self.face_detection_callback)
+
+ def enable_callback(self, msg):
+ self.enable = msg.data
+
+ def image_callback(self, msg):
+ if not self.enable:
+ return
+ self.cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
+ self.new_image_flag = True
+ self.image_header = msg.header
+
+ def camera_info_callback(self, msg):
+ if not self.enable:
+ return
+ self.camera_info_msg = msg
+
+ def face_detection_callback(self, msg):
+ if not self.enable or not hasattr(self, 'cv_image'):
+ return
+
+ faces = eval(msg.data) # Assuming the data is a string representation of a list
+ self.process_detected_faces(faces)
+
+ def process_detected_faces(self, faces):
+ output_image = self.cv_image.copy()
+ for obj in faces:
+ x, y, w, h = obj['bbox']
+ cv2.rectangle(output_image, (int(x), int(y)), (int(x+w), int(y+h)), (0, 255, 0), 2)
+ cv2.putText(output_image, f"{obj['label']}: {obj['confidence']:.2f}",
+ (int(x), int(y-10)), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 255, 0), 2)
+
+ self.publish_image(output_image)
+
+ def publish_image(self, image):
+ img_msg = self.bridge.cv2_to_imgmsg(image, encoding="bgr8")
+ img_msg.header = self.image_header
+ self.image_pub.publish(img_msg)
+ if hasattr(self, 'camera_info_msg'):
+ self.camera_info_pub.publish(self.camera_info_msg)
+
+ def run(self):
+ rate = rospy.Rate(30) # 30 Hz
+ while not rospy.is_shutdown():
+ if self.new_image_flag:
+ # The processing is done in face_detection_callback
+ self.new_image_flag = False
+ rate.sleep()
+
+if __name__ == '__main__':
+ try:
+ processor = ObjectDetectionProcessor()
+ processor.run()
+ except rospy.ROSInterruptException:
+ pass