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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# Licensed under the Apache License, Version 2.0 (the "License"); you may not
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# use this file except in compliance with the License. You may obtain a copy of
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# the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations under
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# the License.
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cmake_minimum_required(VERSION 3.0.2)
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project(humanoid_robot_intelligence_control_system_object_detector)
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if($ENV{ROS_VERSION} EQUAL 1)
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find_package(catkin REQUIRED COMPONENTS
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rospy
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std_msgs
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sensor_msgs
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geometry_msgs
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cv_bridge
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)
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catkin_package(
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CATKIN_DEPENDS
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rospy
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std_msgs
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sensor_msgs
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geometry_msgs
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cv_bridge
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)
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else()
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(cv_bridge REQUIRED)
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endif()
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if($ENV{ROS_VERSION} EQUAL 1)
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catkin_python_setup()
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catkin_install_python(PROGRAMS
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src/face_tracker.py
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src/face_follower.py
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src/object_tracker.py
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src/object_follower.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY config launch rviz
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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else()
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ament_python_install_package(${PROJECT_NAME})
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install(PROGRAMS
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src/face_tracker.py
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src/face_follower.py
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src/object_tracker.py
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src/object_follower.py
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY config launch rviz
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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endif()
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@ -0,0 +1,114 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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# GNU General Public License for more details.
|
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#
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# You should have received a copy of the GNU General Public License
|
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# along with this program. If not, see <https://www.gnu.org/licenses/>.
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#!/usr/bin/env python3
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#!/usr/bin/env python3
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import os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def ros1_launch_description():
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# Get command-line arguments
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args = sys.argv[1:]
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# Construct the ROS 1 launch command
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roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_object_detector", "object_follow.launch"] + args
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roslaunch_command.extend([
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"usb_cam", "usb_cam_node", "name:=camera",
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"video_device:=/dev/video0",
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"image_width:=640",
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"image_height:=480",
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"pixel_format:=yuyv",
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"camera_frame_id:=usb_cam",
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"io_method:=mmap"
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])
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roslaunch_command.extend([
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"humanoid_robot_intelligence_control_system_object_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
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])
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roslaunch_command.extend([
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"humanoid_robot_intelligence_control_system_object_detector", "object_follower.py", "name:=object_follower_node"
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])
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roslaunch_command.extend([
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"rviz", "rviz", "name:=rviz",
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"args:=-d $(find humanoid_robot_intelligence_control_system_object_detector)/rviz/object_follow_visualization.rviz"
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])
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# Execute the launch command
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subprocess.call(roslaunch_command)
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def ros2_launch_description():
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nodes_to_launch = []
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nodes_to_launch.append(Node(
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package='usb_cam',
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executable='usb_cam_node',
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name='camera',
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output='screen',
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parameters=[{
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'video_device': '/dev/video0',
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'image_width': 640,
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'image_height': 480,
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'pixel_format': 'yuyv',
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'camera_frame_id': 'usb_cam',
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'io_method': 'mmap'
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}]
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))
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nodes_to_launch.append(Node(
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package='humanoid_robot_intelligence_control_system_object_detector',
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executable='object_detection_processor.py',
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name='object_detection_processor_node',
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output='screen',
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parameters=[{'yaml_path': '$(find humanoid_robot_intelligence_control_system_object_detector)/config/object_detection_params.yaml'}]
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))
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nodes_to_launch.append(Node(
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package='humanoid_robot_intelligence_control_system_object_detector',
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executable='object_follower.py',
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name='object_follower_node',
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output='screen',
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parameters=[{
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'p_gain': 0.4,
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'i_gain': 0.0,
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'd_gain': 0.0
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}]
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))
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nodes_to_launch.append(Node(
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package='rviz2',
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executable='rviz2',
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name='rviz',
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arguments=['-d', '$(find humanoid_robot_intelligence_control_system_object_detector)/rviz/object_follow_visualization.rviz']
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))
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return LaunchDescription(nodes_to_launch)
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if __name__ == "__main__":
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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ros1_launch_description()
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elif ros_version == "2":
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ros2_launch_description()
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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@ -0,0 +1,112 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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#
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# This program is free software: you can redistribute it and/or modify
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# 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.
|
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#
|
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# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
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#!/usr/bin/env python3
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import os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def ros1_launch_description():
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# Get command-line arguments
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args = sys.argv[1:]
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# Construct the ROS 1 launch command
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roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_configure", "object_tracker.launch"] + args
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roslaunch_command.extend([
|
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"usb_cam", "usb_cam_node", "name:=camera",
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"video_device:=/dev/video0",
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"image_width:=640",
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"image_height:=480",
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"pixel_format:=yuyv",
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"camera_frame_id:=usb_cam",
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"io_method:=mmap"
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])
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roslaunch_command.extend([
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"humanoid_robot_intelligence_control_system_object_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
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])
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roslaunch_command.extend([
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"humanoid_robot_intelligence_control_system_configure", "object_tracker.py", "name:=object_tracker_node"
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])
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roslaunch_command.extend([
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"rviz", "rviz", "name:=rviz",
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"args:=-d $(find humanoid_robot_intelligence_control_system_object_detector)/rviz/object_tracking_visualization.rviz"
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])
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# Execute the launch command
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subprocess.call(roslaunch_command)
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def ros2_launch_description():
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nodes_to_launch = []
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|
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nodes_to_launch.append(Node(
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package='usb_cam',
|
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executable='usb_cam_node',
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name='camera',
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output='screen',
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parameters=[{
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'video_device': '/dev/video0',
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'image_width': 640,
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'image_height': 480,
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'pixel_format': 'yuyv',
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'camera_frame_id': 'usb_cam',
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'io_method': 'mmap'
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}]
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))
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nodes_to_launch.append(Node(
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package='humanoid_robot_intelligence_control_system_object_detector',
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executable='object_detection_processor.py',
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name='object_detection_processor_node',
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output='screen',
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parameters=[{'yaml_path': '$(find humanoid_robot_intelligence_control_system_object_detector)/config/object_detection_params.yaml'}]
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||||
))
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nodes_to_launch.append(Node(
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package='humanoid_robot_intelligence_control_system_object_detector',
|
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executable='object_tracker.py',
|
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name='object_tracker_node',
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output='screen',
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parameters=[{
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'p_gain': 0.4,
|
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'i_gain': 0.0,
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'd_gain': 0.0
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||||
}]
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))
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nodes_to_launch.append(Node(
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package='rviz2',
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executable='rviz2',
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name='rviz',
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arguments=['-d', '$(find humanoid_robot_intelligence_control_system_object_detector)/rviz/object_tracking_visualization.rviz']
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||||
))
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return LaunchDescription(nodes_to_launch)
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||||
if __name__ == "__main__":
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ros_version = os.getenv("ROS_VERSION")
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if ros_version == "1":
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ros1_launch_description()
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elif ros_version == "2":
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ros2_launch_description()
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else:
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print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
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sys.exit(1)
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@ -0,0 +1,108 @@
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# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
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||||
#
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
import os
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import sys
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import subprocess
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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def ros1_launch_description():
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# Get command-line arguments
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args = sys.argv[1:]
|
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|
||||
# Construct the ROS 1 launch command
|
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roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_object_detector", "object_detector_processor.launch"] + args
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|
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roslaunch_command.extend([
|
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"usb_cam", "usb_cam_node", "name:=camera",
|
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"video_device:=/dev/video0",
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"image_width:=640",
|
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"image_height:=480",
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"pixel_format:=yuyv",
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"camera_frame_id:=usb_cam",
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"io_method:=mmap"
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||||
])
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roslaunch_command.extend([
|
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"ros_web_api_bellande_2d_computer_vision", "bellande_2d_computer_vision_object_detection.py", "name:=object_detection_node"
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])
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roslaunch_command.extend([
|
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"humanoid_robot_intelligence_control_system_ball_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
])
|
||||
|
||||
# Execute the launch command
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||||
subprocess.call(roslaunch_command)
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||||
|
||||
def ros2_launch_description():
|
||||
nodes_to_launch = []
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='usb_cam',
|
||||
executable='usb_cam_node',
|
||||
name='camera',
|
||||
output='screen',
|
||||
parameters=[{
|
||||
'video_device': '/dev/video0',
|
||||
'image_width': 640,
|
||||
'image_height': 480,
|
||||
'pixel_format': 'yuyv',
|
||||
'camera_frame_id': 'usb_cam',
|
||||
'io_method': 'mmap'
|
||||
}]
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_2d_computer_vision',
|
||||
executable='bellande_2d_computer_vision_object_detection.py',
|
||||
name='object_detection_node',
|
||||
output='screen',
|
||||
remappings=[('camera/image_raw', '/usb_cam/image_raw')]
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='humanoid_robot_intelligence_control_system_object_detector',
|
||||
executable='object_detection_processor.py',
|
||||
name='object_detection_processor_node',
|
||||
output='screen',
|
||||
parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml'}]
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='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)
|
||||
@ -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 <https://www.gnu.org/licenses/>.
|
||||
|
||||
import os
|
||||
import sys
|
||||
import subprocess
|
||||
from launch import LaunchDescription
|
||||
from launch_ros.actions import Node
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
|
||||
def ros1_launch_description():
|
||||
# Get command-line arguments
|
||||
args = sys.argv[1:]
|
||||
|
||||
# Construct the ROS 1 launch command
|
||||
roslaunch_command = ["roslaunch", "humanoid_robot_intelligence_control_system_object_detector", "object_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_object_detection.py", "name:=object_detection_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"humanoid_robot_intelligence_control_system_ball_detector", "object_detection_processor.py", "name:=object_detection_processor_node"
|
||||
])
|
||||
|
||||
roslaunch_command.extend([
|
||||
"rviz", "rviz", "name:=rviz",
|
||||
"args:=-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz"
|
||||
])
|
||||
|
||||
# Execute the launch command
|
||||
subprocess.call(roslaunch_command)
|
||||
|
||||
def ros2_launch_description():
|
||||
nodes_to_launch = []
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='usb_cam',
|
||||
executable='usb_cam_node',
|
||||
name='camera',
|
||||
output='screen',
|
||||
parameters=[{
|
||||
'video_device': '/dev/video0',
|
||||
'image_width': 640,
|
||||
'image_height': 480,
|
||||
'pixel_format': 'yuyv',
|
||||
'camera_frame_id': 'usb_cam',
|
||||
'io_method': 'mmap'
|
||||
}]
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='ros_web_api_bellande_2d_computer_vision',
|
||||
executable='bellande_2d_computer_vision_object_detection.py',
|
||||
name='object_detection_node',
|
||||
output='screen',
|
||||
remappings=[('camera/image_raw', '/usb_cam/image_raw')]
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='humanoid_robot_intelligence_control_system_object_detector',
|
||||
executable='object_detection_processor.py',
|
||||
name='object_detection_processor_node',
|
||||
output='screen',
|
||||
parameters=[{'yaml_path': '$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml'}]
|
||||
))
|
||||
|
||||
nodes_to_launch.append(Node(
|
||||
package='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)
|
||||
@ -0,0 +1,41 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
<launch>
|
||||
<!-- Launch USB camera -->
|
||||
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen">
|
||||
<param name="video_device" value="/dev/video0" />
|
||||
<param name="image_width" value="640" />
|
||||
<param name="image_height" value="480" />
|
||||
<param name="pixel_format" value="yuyv" />
|
||||
<param name="camera_frame_id" value="usb_cam" />
|
||||
<param name="io_method" value="mmap"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch object detection node -->
|
||||
<node name="object_detection_node" pkg="ros_web_api_bellande_2d_computer_vision" type="bellande_2d_computer_vision_object_detection.py" output="screen">
|
||||
<remap from="camera/image_raw" to="/usb_cam/image_raw"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch object detection processor node -->
|
||||
<node name="object_detection_processor_node" pkg="humanoid_robot_intelligence_control_system_ball_detector" type="object_detection_processor.py" output="screen">
|
||||
<param name="yaml_path" value="$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch RViz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
</launch>
|
||||
@ -0,0 +1,41 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
<launch>
|
||||
<!-- Launch USB camera -->
|
||||
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen">
|
||||
<param name="video_device" value="/dev/video0" />
|
||||
<param name="image_width" value="640" />
|
||||
<param name="image_height" value="480" />
|
||||
<param name="pixel_format" value="yuyv" />
|
||||
<param name="camera_frame_id" value="usb_cam" />
|
||||
<param name="io_method" value="mmap"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch object detection node -->
|
||||
<node name="object_detection_node" pkg="ros_web_api_bellande_2d_computer_vision" type="bellande_2d_computer_vision_object_detection.py" output="screen">
|
||||
<remap from="camera/image_raw" to="/usb_cam/image_raw"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch object detection processor node -->
|
||||
<node name="object_detection_processor_node" pkg="humanoid_robot_intelligence_control_system_ball_detector" type="object_detection_processor.py" output="screen">
|
||||
<param name="yaml_path" value="$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch RViz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
</launch>
|
||||
@ -0,0 +1,41 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
<launch>
|
||||
<!-- Launch USB camera -->
|
||||
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen">
|
||||
<param name="video_device" value="/dev/video0" />
|
||||
<param name="image_width" value="640" />
|
||||
<param name="image_height" value="480" />
|
||||
<param name="pixel_format" value="yuyv" />
|
||||
<param name="camera_frame_id" value="usb_cam" />
|
||||
<param name="io_method" value="mmap"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch object detection node -->
|
||||
<node name="object_detection_node" pkg="ros_web_api_bellande_2d_computer_vision" type="bellande_2d_computer_vision_object_detection.py" output="screen">
|
||||
<remap from="camera/image_raw" to="/usb_cam/image_raw"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch object detection processor node -->
|
||||
<node name="object_detection_processor_node" pkg="humanoid_robot_intelligence_control_system_ball_detector" type="object_detection_processor.py" output="screen">
|
||||
<param name="yaml_path" value="$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch RViz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
</launch>
|
||||
@ -0,0 +1,41 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
-->
|
||||
<launch>
|
||||
<!-- Launch USB camera -->
|
||||
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen">
|
||||
<param name="video_device" value="/dev/video0" />
|
||||
<param name="image_width" value="640" />
|
||||
<param name="image_height" value="480" />
|
||||
<param name="pixel_format" value="yuyv" />
|
||||
<param name="camera_frame_id" value="usb_cam" />
|
||||
<param name="io_method" value="mmap"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch object detection node -->
|
||||
<node name="object_detection_node" pkg="ros_web_api_bellande_2d_computer_vision" type="bellande_2d_computer_vision_object_detection.py" output="screen">
|
||||
<remap from="camera/image_raw" to="/usb_cam/image_raw"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch object detection processor node -->
|
||||
<node name="object_detection_processor_node" pkg="humanoid_robot_intelligence_control_system_ball_detector" type="object_detection_processor.py" output="screen">
|
||||
<param name="yaml_path" value="$(find ros_web_api_bellande_2d_computer_vision)/yaml/object_detection_params.yaml"/>
|
||||
</node>
|
||||
|
||||
<!-- Launch RViz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ros_web_api_bellande_2d_computer_vision)/rviz/visualization.rviz" />
|
||||
</launch>
|
||||
@ -0,0 +1,61 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License"); you may not
|
||||
use this file except in compliance with the License. You may obtain a copy of
|
||||
the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||
WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||
License for the specific language governing permissions and limitations under
|
||||
the License.
|
||||
-->
|
||||
|
||||
<package format="3">
|
||||
<name>humanoid_robot_intelligence_control_system_configure</name>
|
||||
<version>0.0.1</version>
|
||||
<description>
|
||||
This Package is for Configuration of Tracker and Follower related to it
|
||||
</description>
|
||||
<license>Apache 2.0</license>
|
||||
<maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
|
||||
|
||||
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
|
||||
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
|
||||
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_python</buildtool_depend>
|
||||
|
||||
<!-- ROS 1 dependencies -->
|
||||
<depend condition="$ROS_VERSION == 1">rospy</depend>
|
||||
<depend condition="$ROS_VERSION == 1">std_msgs</depend>
|
||||
<depend condition="$ROS_VERSION == 1">sensor_msgs</depend>
|
||||
<depend condition="$ROS_VERSION == 1">geometry_msgs</depend>
|
||||
<depend condition="$ROS_VERSION == 1">cv_bridge</depend>
|
||||
<depend condition="$ROS_VERSION == 1">image_transport</depend>
|
||||
<depend condition="$ROS_VERSION == 1">dynamic_reconfigure</depend>
|
||||
<depend condition="$ROS_VERSION == 1">message_generation</depend>
|
||||
<depend condition="$ROS_VERSION == 1">message_runtime</depend>
|
||||
|
||||
<!-- ROS 2 dependencies -->
|
||||
<depend condition="$ROS_VERSION == 2">rclpy</depend>
|
||||
<depend condition="$ROS_VERSION == 2">std_msgs</depend>
|
||||
<depend condition="$ROS_VERSION == 2">sensor_msgs</depend>
|
||||
<depend condition="$ROS_VERSION == 2">geometry_msgs</depend>
|
||||
<depend condition="$ROS_VERSION == 2">cv_bridge</depend>
|
||||
<depend condition="$ROS_VERSION == 2">image_transport</depend>
|
||||
<depend condition="$ROS_VERSION == 2">rosidl_default_generators</depend>
|
||||
<depend condition="$ROS_VERSION == 2">rosidl_default_runtime</depend>
|
||||
|
||||
<!-- Common dependencies -->
|
||||
<depend>python3-opencv</depend>
|
||||
<depend>python3-yaml</depend>
|
||||
<depend>usb_cam</depend>
|
||||
|
||||
<export>
|
||||
<build_type condition="$ROS_VERSION == 1">catkin</build_type>
|
||||
<build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@ -0,0 +1,26 @@
|
||||
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
#
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
from distutils.core import setup
|
||||
from catkin_pkg.python_setup import generate_distutils_setup
|
||||
|
||||
# fetch values from package.xml
|
||||
setup_args = generate_distutils_setup(
|
||||
scripts=['src/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)
|
||||
@ -0,0 +1,173 @@
|
||||
#!/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 <https://www.gnu.org/licenses/>.
|
||||
|
||||
import rospy
|
||||
import math
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import String, Bool
|
||||
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
|
||||
|
||||
class FaceFollower:
|
||||
def __init__(self):
|
||||
rospy.init_node('face_follower')
|
||||
|
||||
self.FOV_WIDTH = 35.2 * math.pi / 180
|
||||
self.FOV_HEIGHT = 21.6 * math.pi / 180
|
||||
self.count_not_found = 0
|
||||
self.count_to_approach = 0
|
||||
self.on_following = False
|
||||
self.approach_face_position = "NotFound"
|
||||
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.current_pan = -10
|
||||
self.current_tilt = -10
|
||||
self.current_x_move = 0.005
|
||||
self.current_r_angle = 0
|
||||
self.curr_period_time = 0.6
|
||||
self.accum_period_time = 0.0
|
||||
self.DEBUG_PRINT = False
|
||||
|
||||
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_position_sub = rospy.Subscriber(
|
||||
"/face_detector/face_position", Point, self.face_position_callback)
|
||||
|
||||
self.prev_time = rospy.Time.now()
|
||||
self.current_walking_param = WalkingParam()
|
||||
|
||||
def start_following(self):
|
||||
self.on_following = True
|
||||
rospy.loginfo("Start Face following")
|
||||
self.set_walking_command("start")
|
||||
result = self.get_walking_param()
|
||||
if result:
|
||||
self.hip_pitch_offset = self.current_walking_param.hip_pitch_offset
|
||||
self.curr_period_time = self.current_walking_param.period_time
|
||||
else:
|
||||
self.hip_pitch_offset = 7.0 * math.pi / 180
|
||||
self.curr_period_time = 0.6
|
||||
|
||||
def stop_following(self):
|
||||
self.on_following = False
|
||||
self.count_to_approach = 0
|
||||
rospy.loginfo("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.current_pan = msg.position[i]
|
||||
elif name == "head_tilt":
|
||||
self.current_tilt = msg.position[i]
|
||||
|
||||
def face_position_callback(self, msg):
|
||||
if self.on_following:
|
||||
self.process_following(msg.x, msg.y, msg.z)
|
||||
|
||||
def calc_footstep(self, target_distance, target_angle, delta_time):
|
||||
next_movement = self.current_x_move
|
||||
target_distance = max(0, target_distance)
|
||||
fb_goal = min(target_distance * 0.1, self.MAX_FB_STEP)
|
||||
self.accum_period_time += delta_time
|
||||
if self.accum_period_time > (self.curr_period_time / 4):
|
||||
self.accum_period_time = 0.0
|
||||
if (target_distance * 0.1 / 2) < self.current_x_move:
|
||||
next_movement -= self.UNIT_FB_STEP
|
||||
else:
|
||||
next_movement += self.UNIT_FB_STEP
|
||||
fb_goal = min(next_movement, fb_goal)
|
||||
fb_move = max(fb_goal, self.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, self.MAX_RL_TURN)
|
||||
rl_goal = max(rl_goal, self.MIN_RL_TURN)
|
||||
rl_angle = min(abs(self.current_r_angle) + self.UNIT_RL_TURN, rl_goal)
|
||||
if target_angle < 0:
|
||||
rl_angle *= -1
|
||||
else:
|
||||
rl_angle = 0
|
||||
|
||||
return fb_move, rl_angle
|
||||
|
||||
def process_following(self, x_angle, y_angle, face_size):
|
||||
curr_time = rospy.Time.now()
|
||||
delta_time = (curr_time - self.prev_time).to_sec()
|
||||
self.prev_time = curr_time
|
||||
|
||||
self.count_not_found = 0
|
||||
|
||||
if self.current_tilt == -10 and self.current_pan == -10:
|
||||
rospy.logerr("Failed to get current angle of head joints.")
|
||||
self.set_walking_command("stop")
|
||||
self.on_following = False
|
||||
self.approach_face_position = "NotFound"
|
||||
return False
|
||||
|
||||
self.approach_face_position = "OutOfRange"
|
||||
|
||||
distance_to_face = self.CAMERA_HEIGHT * math.tan(math.pi * 0.5 + self.current_tilt - self.hip_pitch_offset - face_size)
|
||||
distance_to_face = abs(distance_to_face)
|
||||
|
||||
distance_to_approach = 0.5 # Adjust this value as needed
|
||||
|
||||
if (distance_to_face < distance_to_approach) and (abs(x_angle) < 25.0):
|
||||
self.count_to_approach += 1
|
||||
if self.count_to_approach > 20:
|
||||
self.set_walking_command("stop")
|
||||
self.on_following = False
|
||||
self.approach_face_position = "OnLeft" if x_angle > 0 else "OnRight"
|
||||
return True
|
||||
elif self.count_to_approach > 15:
|
||||
self.set_walking_param(self.IN_PLACE_FB_STEP, 0, 0)
|
||||
return False
|
||||
else:
|
||||
self.count_to_approach = 0
|
||||
|
||||
distance_to_walk = distance_to_face - distance_to_approach
|
||||
fb_move, rl_angle = self.calc_footstep(distance_to_walk, self.current_pan, delta_time)
|
||||
self.set_walking_param(fb_move, 0, rl_angle)
|
||||
return False
|
||||
|
||||
def set_walking_command(self, command):
|
||||
if command == "start":
|
||||
self.get_walking_param()
|
||||
self.set_walking_param(self.IN_PLACE_FB_STEP, 0, 0, True)
|
||||
msg = String()
|
||||
msg.data = command
|
||||
self.set_walking_command_pub.
|
||||
@ -0,0 +1,179 @@
|
||||
#!/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 <https://www.gnu.org/licenses/>.
|
||||
|
||||
|
||||
import rospy
|
||||
import math
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import String
|
||||
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.tracking_status = "NotFound"
|
||||
self.DEBUG_PRINT = False
|
||||
|
||||
self.p_gain = rospy.get_param('~p_gain', 0.4)
|
||||
self.i_gain = rospy.get_param('~i_gain', 0.0)
|
||||
self.d_gain = rospy.get_param('~d_gain', 0.0)
|
||||
|
||||
rospy.loginfo(f"Face tracking Gain : {self.p_gain}, {self.i_gain}, {self.d_gain}")
|
||||
|
||||
self.head_joint_pub = rospy.Publisher(
|
||||
"/humanoid_robot_intelligence_control_system/head_control/set_joint_states", JointState, queue_size=1)
|
||||
self.head_scan_pub = rospy.Publisher(
|
||||
"/humanoid_robot_intelligence_control_system/head_control/scan_command", String, queue_size=1)
|
||||
|
||||
self.face_position_sub = rospy.Subscriber(
|
||||
"/face_detector/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")
|
||||
|
||||
def stop_tracking(self):
|
||||
self.go_init()
|
||||
self.on_tracking = False
|
||||
rospy.loginfo("Stop Face tracking")
|
||||
self.current_face_pan = 0
|
||||
self.current_face_tilt = 0
|
||||
self.x_error_sum = 0
|
||||
self.y_error_sum = 0
|
||||
|
||||
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:
|
||||
tracking_status = "Waiting"
|
||||
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
|
||||
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))
|
||||
|
||||
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.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_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)
|
||||
|
||||
def run(self):
|
||||
rate = rospy.Rate(30) # 30Hz
|
||||
while not rospy.is_shutdown():
|
||||
self.process_tracking()
|
||||
rate.sleep()
|
||||
|
||||
if __name__ == '__main__':
|
||||
try:
|
||||
tracker = FaceTracker()
|
||||
tracker.run()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
@ -0,0 +1,218 @@
|
||||
#!/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 <https://www.gnu.org/licenses/>.
|
||||
|
||||
import rospy
|
||||
import math
|
||||
from sensor_msgs.msg import JointState
|
||||
from std_msgs.msg import String
|
||||
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 geometry_msgs.msg import Point
|
||||
|
||||
|
||||
class ObjectFollower:
|
||||
def __init__(self):
|
||||
rospy.init_node('object_follower')
|
||||
|
||||
self.FOV_WIDTH = 35.2 * math.pi / 180
|
||||
self.FOV_HEIGHT = 21.6 * math.pi / 180
|
||||
self.count_not_found = 0
|
||||
self.count_to_approach = 0
|
||||
self.on_tracking = False
|
||||
self.approach_object_position = "NotFound"
|
||||
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.current_pan = -10
|
||||
self.current_tilt = -10
|
||||
self.current_x_move = 0.005
|
||||
self.current_r_angle = 0
|
||||
self.curr_period_time = 0.6
|
||||
self.accum_period_time = 0.0
|
||||
self.DEBUG_PRINT = False
|
||||
|
||||
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)
|
||||
|
||||
# Subscribe to object detection results
|
||||
self.object_detection_sub = rospy.Subscriber(
|
||||
"/object_detection_result", Point, self.object_detection_callback)
|
||||
|
||||
self.prev_time = rospy.Time.now()
|
||||
self.current_walking_param = WalkingParam()
|
||||
|
||||
def start_following(self):
|
||||
self.on_tracking = True
|
||||
rospy.loginfo("Start Object following")
|
||||
self.set_walking_command("start")
|
||||
result = self.get_walking_param()
|
||||
if result:
|
||||
self.hip_pitch_offset = self.current_walking_param.hip_pitch_offset
|
||||
self.curr_period_time = self.current_walking_param.period_time
|
||||
else:
|
||||
self.hip_pitch_offset = 7.0 * math.pi / 180
|
||||
self.curr_period_time = 0.6
|
||||
|
||||
def stop_following(self):
|
||||
self.on_tracking = False
|
||||
self.count_to_approach = 0
|
||||
rospy.loginfo("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.current_pan = msg.position[i]
|
||||
elif name == "head_tilt":
|
||||
self.current_tilt = msg.position[i]
|
||||
|
||||
def calc_footstep(self, target_distance, target_angle, delta_time):
|
||||
next_movement = self.current_x_move
|
||||
target_distance = max(0, target_distance)
|
||||
fb_goal = min(target_distance * 0.1, self.MAX_FB_STEP)
|
||||
self.accum_period_time += delta_time
|
||||
if self.accum_period_time > (self.curr_period_time / 4):
|
||||
self.accum_period_time = 0.0
|
||||
if (target_distance * 0.1 / 2) < self.current_x_move:
|
||||
next_movement -= self.UNIT_FB_STEP
|
||||
else:
|
||||
next_movement += self.UNIT_FB_STEP
|
||||
fb_goal = min(next_movement, fb_goal)
|
||||
fb_move = max(fb_goal, self.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, self.MAX_RL_TURN)
|
||||
rl_goal = max(rl_goal, self.MIN_RL_TURN)
|
||||
rl_angle = min(abs(self.current_r_angle) + self.UNIT_RL_TURN, rl_goal)
|
||||
if target_angle < 0:
|
||||
rl_angle *= -1
|
||||
else:
|
||||
rl_angle = 0
|
||||
|
||||
return fb_move, rl_angle
|
||||
|
||||
def process_following(self, x_angle, y_angle, object_size):
|
||||
curr_time = rospy.Time.now()
|
||||
delta_time = (curr_time - self.prev_time).to_sec()
|
||||
self.prev_time = curr_time
|
||||
|
||||
self.count_not_found = 0
|
||||
|
||||
if self.current_tilt == -10 and self.current_pan == -10:
|
||||
rospy.logerr("Failed to get current angle of head joints.")
|
||||
self.set_walking_command("stop")
|
||||
self.on_tracking = False
|
||||
self.approach_object_position = "NotFound"
|
||||
return False
|
||||
|
||||
self.approach_object_position = "OutOfRange"
|
||||
|
||||
distance_to_object = self.CAMERA_HEIGHT * math.tan(math.pi * 0.5 + self.current_tilt - self.hip_pitch_offset - object_size)
|
||||
distance_to_object = abs(distance_to_object)
|
||||
|
||||
distance_to_approach = 0.22
|
||||
|
||||
if (distance_to_object < distance_to_approach) and (abs(x_angle) < 25.0):
|
||||
self.count_to_approach += 1
|
||||
if self.count_to_approach > 20:
|
||||
self.set_walking_command("stop")
|
||||
self.on_tracking = False
|
||||
self.approach_object_position = "OnLeft" if x_angle > 0 else "OnRight"
|
||||
return True
|
||||
elif self.count_to_approach > 15:
|
||||
self.set_walking_param(self.IN_PLACE_FB_STEP, 0, 0)
|
||||
return False
|
||||
else:
|
||||
self.count_to_approach = 0
|
||||
|
||||
distance_to_walk = distance_to_object - distance_to_approach
|
||||
fb_move, rl_angle = self.calc_footstep(distance_to_walk, self.current_pan, delta_time)
|
||||
self.set_walking_param(fb_move, 0, rl_angle)
|
||||
return False
|
||||
|
||||
def decide_object_position(self, x_angle, y_angle):
|
||||
if self.current_tilt == -10 and self.current_pan == -10:
|
||||
self.approach_object_position = "NotFound"
|
||||
return
|
||||
object_x_angle = self.current_pan + x_angle
|
||||
self.approach_object_position = "OnLeft" if object_x_angle > 0 else "OnRight"
|
||||
|
||||
def wait_following(self):
|
||||
self.count_not_found += 1
|
||||
if self.count_not_found > self.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.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.SPOT_FB_OFFSET
|
||||
self.current_walking_param.y_move_amplitude = y_move + self.SPOT_RL_OFFSET
|
||||
self.current_walking_param.angle_move_amplitude = rotation_angle + self.SPOT_ANGLE_OFFSET
|
||||
self.set_walking_param_pub.publish(self.current_walking_param)
|
||||
self.current_x_move = x_move
|
||||
self.current_r_angle = rotation_angle
|
||||
|
||||
def get_walking_param(self):
|
||||
try:
|
||||
response = self.get_walking_param_client()
|
||||
self.current_walking_param = response.parameters
|
||||
return True
|
||||
except rospy.ServiceException as e:
|
||||
rospy.logerr("Failed to get walking parameters: %s" % e)
|
||||
return False
|
||||
|
||||
def object_detection_callback(self, msg):
|
||||
if self.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()
|
||||
|
||||
if __name__ == '__main__':
|
||||
try:
|
||||
follower = ObjectFollower()
|
||||
follower.start_following()
|
||||
rospy.spin()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
@ -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 <https://www.gnu.org/licenses/>.
|
||||
|
||||
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 ObjectTracker:
|
||||
def __init__(self):
|
||||
rospy.init_node('object_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_object_pan = 0
|
||||
self.current_object_tilt = 0
|
||||
self.x_error_sum = 0
|
||||
self.y_error_sum = 0
|
||||
self.current_object_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"Object 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.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.object_position = Point()
|
||||
self.prev_time = rospy.Time.now()
|
||||
|
||||
def object_position_callback(self, msg):
|
||||
self.object_position = msg
|
||||
|
||||
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.on_tracking:
|
||||
self.start_tracking()
|
||||
else:
|
||||
self.stop_tracking()
|
||||
|
||||
def start_tracking(self):
|
||||
self.on_tracking = True
|
||||
rospy.loginfo("Start Object tracking") if self.DEBUG_PRINT else None
|
||||
|
||||
def stop_tracking(self):
|
||||
self.go_init()
|
||||
self.on_tracking = False
|
||||
rospy.loginfo("Stop Object tracking") if self.DEBUG_PRINT else None
|
||||
self.current_object_pan = 0
|
||||
self.current_object_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.object_position.z = 0
|
||||
self.count_not_found = 0
|
||||
return "NotFound"
|
||||
|
||||
if self.object_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_object()
|
||||
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_object_pan = 0
|
||||
self.current_object_tilt = 0
|
||||
self.x_error_sum = 0
|
||||
self.y_error_sum = 0
|
||||
return tracking_status
|
||||
|
||||
x_error = -math.atan(self.object_position.x * math.tan(self.FOV_WIDTH))
|
||||
y_error = -math.atan(self.object_position.y * math.tan(self.FOV_HEIGHT))
|
||||
object_size = self.object_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_object_pan) / delta_time
|
||||
y_error_diff = (y_error - self.current_object_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_object_pan = x_error
|
||||
self.current_object_tilt = y_error
|
||||
self.current_object_bottom = object_size
|
||||
|
||||
self.object_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_object(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 = ObjectTracker()
|
||||
rate = rospy.Rate(30)
|
||||
while not rospy.is_shutdown():
|
||||
tracker.process_tracking()
|
||||
rate.sleep()
|
||||
except rospy.ROSInterruptException:
|
||||
pass
|
||||
Loading…
Reference in New Issue
Block a user