From 58a62c0721c4d1bd7404475a5423679d1fc4520f Mon Sep 17 00:00:00 2001 From: Kayman Date: Fri, 7 Sep 2018 10:42:05 +0900 Subject: [PATCH 1/8] added a process thread for ball tracking --- op3_demo/include/op3_demo/soccer_demo.h | 4 +- op3_demo/src/soccer/soccer_demo.cpp | 52 +++++++++++++++++++++---- 2 files changed, 47 insertions(+), 9 deletions(-) diff --git a/op3_demo/include/op3_demo/soccer_demo.h b/op3_demo/include/op3_demo/soccer_demo.h index a771eda..f5f6df4 100644 --- a/op3_demo/include/op3_demo/soccer_demo.h +++ b/op3_demo/include/op3_demo/soccer_demo.h @@ -72,6 +72,7 @@ class SoccerDemo : public OPDemo void processThread(); void callbackThread(); + void trackingThread(); void setBodyModuleToDemo(const std::string &body_module, bool with_head_control = true); void setModuleToDemo(const std::string &module_name); @@ -114,7 +115,8 @@ class SoccerDemo : public OPDemo bool is_grass_; int wait_count_; - bool on_following_ball_; + bool on_following_ball_; + bool on_tracking_ball_; bool restart_soccer_; bool start_following_; bool stop_following_; diff --git a/op3_demo/src/soccer/soccer_demo.cpp b/op3_demo/src/soccer/soccer_demo.cpp index 0565152..fd50c70 100644 --- a/op3_demo/src/soccer/soccer_demo.cpp +++ b/op3_demo/src/soccer/soccer_demo.cpp @@ -28,6 +28,7 @@ SoccerDemo::SoccerDemo() DEBUG_PRINT(false), wait_count_(0), on_following_ball_(false), + on_tracking_ball_(false), restart_soccer_(false), start_following_(false), stop_following_(false), @@ -48,6 +49,7 @@ SoccerDemo::SoccerDemo() boost::thread queue_thread = boost::thread(boost::bind(&SoccerDemo::callbackThread, this)); boost::thread process_thread = boost::thread(boost::bind(&SoccerDemo::processThread, this)); + boost::thread tracking_thread = boost::thread(boost::bind(&SoccerDemo::trackingThread, this)); is_grass_ = nh.param("grass_demo", false); } @@ -73,6 +75,7 @@ void SoccerDemo::setDemoDisable() enable_ = false; wait_count_ = 0; on_following_ball_ = false; + on_tracking_ball_ = false; restart_soccer_ = false; start_following_ = false; stop_following_ = false; @@ -87,9 +90,9 @@ void SoccerDemo::process() return; // ball tracking - int tracking_status; + int tracking_status = tracking_status_; - tracking_status = ball_tracker_.processTracking(); + //tracking_status = ball_tracker_.processTracking(); // check to start if (start_following_ == true) @@ -120,22 +123,22 @@ void SoccerDemo::process() { case BallTracker::Found: ball_follower_.processFollowing(ball_tracker_.getPanOfBall(), ball_tracker_.getTiltOfBall(), 0.0); - if(tracking_status_ != tracking_status) - setRGBLED(0x1F, 0x1F, 0x1F); +// if(tracking_status_ != tracking_status) +// setRGBLED(0x1F, 0x1F, 0x1F); break; case BallTracker::NotFound: ball_follower_.waitFollowing(); - if(tracking_status_ != tracking_status) - setRGBLED(0, 0, 0); +// if(tracking_status_ != tracking_status) +// setRGBLED(0, 0, 0); break; default: break; } - if(tracking_status != tracking_status_) - tracking_status_ = tracking_status; +// if(tracking_status != tracking_status_) +// tracking_status_ = tracking_status; } // check fallen states @@ -219,6 +222,37 @@ void SoccerDemo::callbackThread() } } +void SoccerDemo::trackingThread() +{ + if(enable_ == false || on_tracking_ball_ == false) + return; + + // ball tracking + int tracking_status; + + tracking_status = ball_tracker_.processTracking(); + + // set led + switch(tracking_status) + { + case BallTracker::Found: + if(tracking_status_ != tracking_status) + setRGBLED(0x1F, 0x1F, 0x1F); + break; + + case BallTracker::NotFound: + if(tracking_status_ != tracking_status) + setRGBLED(0, 0, 0); + break; + + default: + break; + } + + if(tracking_status != tracking_status_) + tracking_status_ = tracking_status; +} + void SoccerDemo::setBodyModuleToDemo(const std::string &body_module, bool with_head_control) { robotis_controller_msgs::JointCtrlModule control_msg; @@ -436,6 +470,7 @@ void SoccerDemo::startSoccerMode() ROS_INFO("Start Soccer Demo"); on_following_ball_ = true; + on_tracking_ball_ = true; start_following_ = true; } @@ -443,6 +478,7 @@ void SoccerDemo::stopSoccerMode() { ROS_INFO("Stop Soccer Demo"); on_following_ball_ = false; + on_tracking_ball_ = false; stop_following_ = true; } From 879366f23e2ea588ebadcf711fe1a0f9d10a2eeb Mon Sep 17 00:00:00 2001 From: Kayman Date: Fri, 7 Sep 2018 11:54:15 +0900 Subject: [PATCH 2/8] fixed bug in tracking thread --- op3_demo/src/soccer/soccer_demo.cpp | 66 +++++++++++++++++------------ 1 file changed, 40 insertions(+), 26 deletions(-) diff --git a/op3_demo/src/soccer/soccer_demo.cpp b/op3_demo/src/soccer/soccer_demo.cpp index fd50c70..557ea00 100644 --- a/op3_demo/src/soccer/soccer_demo.cpp +++ b/op3_demo/src/soccer/soccer_demo.cpp @@ -123,22 +123,22 @@ void SoccerDemo::process() { case BallTracker::Found: ball_follower_.processFollowing(ball_tracker_.getPanOfBall(), ball_tracker_.getTiltOfBall(), 0.0); -// if(tracking_status_ != tracking_status) -// setRGBLED(0x1F, 0x1F, 0x1F); + // if(tracking_status_ != tracking_status) + // setRGBLED(0x1F, 0x1F, 0x1F); break; case BallTracker::NotFound: ball_follower_.waitFollowing(); -// if(tracking_status_ != tracking_status) -// setRGBLED(0, 0, 0); + // if(tracking_status_ != tracking_status) + // setRGBLED(0, 0, 0); break; default: break; } -// if(tracking_status != tracking_status_) -// tracking_status_ = tracking_status; + // if(tracking_status != tracking_status_) + // tracking_status_ = tracking_status; } // check fallen states @@ -224,33 +224,47 @@ void SoccerDemo::callbackThread() void SoccerDemo::trackingThread() { - if(enable_ == false || on_tracking_ball_ == false) - return; - // ball tracking - int tracking_status; + //set node loop rate + ros::Rate loop_rate(SPIN_RATE); - tracking_status = ball_tracker_.processTracking(); + ball_tracker_.startTracking(); - // set led - switch(tracking_status) + //node loop + while (ros::ok()) { - case BallTracker::Found: - if(tracking_status_ != tracking_status) - setRGBLED(0x1F, 0x1F, 0x1F); - break; - case BallTracker::NotFound: - if(tracking_status_ != tracking_status) - setRGBLED(0, 0, 0); - break; + if(enable_ == false || on_tracking_ball_ == false) + return; - default: - break; + // ball tracking + int tracking_status; + + tracking_status = ball_tracker_.processTracking(); + + // set led + switch(tracking_status) + { + case BallTracker::Found: + if(tracking_status_ != tracking_status) + setRGBLED(0x1F, 0x1F, 0x1F); + break; + + case BallTracker::NotFound: + if(tracking_status_ != tracking_status) + setRGBLED(0, 0, 0); + break; + + default: + break; + } + + if(tracking_status != tracking_status_) + tracking_status_ = tracking_status; + + //relax to fit output rate + loop_rate.sleep(); } - - if(tracking_status != tracking_status_) - tracking_status_ = tracking_status; } void SoccerDemo::setBodyModuleToDemo(const std::string &body_module, bool with_head_control) From 169cfefccae270daa72aac66b815b06954c9b0a9 Mon Sep 17 00:00:00 2001 From: Kayman Date: Fri, 7 Sep 2018 13:16:54 +0900 Subject: [PATCH 3/8] fixed bug. --- op3_demo/src/soccer/soccer_demo.cpp | 47 ++++++++++++++--------------- 1 file changed, 23 insertions(+), 24 deletions(-) diff --git a/op3_demo/src/soccer/soccer_demo.cpp b/op3_demo/src/soccer/soccer_demo.cpp index 557ea00..6f8d99e 100644 --- a/op3_demo/src/soccer/soccer_demo.cpp +++ b/op3_demo/src/soccer/soccer_demo.cpp @@ -234,34 +234,33 @@ void SoccerDemo::trackingThread() while (ros::ok()) { - if(enable_ == false || on_tracking_ball_ == false) - return; - - // ball tracking - int tracking_status; - - tracking_status = ball_tracker_.processTracking(); - - // set led - switch(tracking_status) + if(enable_ == true && on_tracking_ball_ == true) { - case BallTracker::Found: - if(tracking_status_ != tracking_status) - setRGBLED(0x1F, 0x1F, 0x1F); - break; + // ball tracking + int tracking_status; - case BallTracker::NotFound: - if(tracking_status_ != tracking_status) - setRGBLED(0, 0, 0); - break; + tracking_status = ball_tracker_.processTracking(); - default: - break; + // set led + switch(tracking_status) + { + case BallTracker::Found: + if(tracking_status_ != tracking_status) + setRGBLED(0x1F, 0x1F, 0x1F); + break; + + case BallTracker::NotFound: + if(tracking_status_ != tracking_status) + setRGBLED(0, 0, 0); + break; + + default: + break; + } + + if(tracking_status != tracking_status_) + tracking_status_ = tracking_status; } - - if(tracking_status != tracking_status_) - tracking_status_ = tracking_status; - //relax to fit output rate loop_rate.sleep(); } From ebaf7f9e2193a56a31b58c1593b19e847f061116 Mon Sep 17 00:00:00 2001 From: Kayman Date: Fri, 7 Sep 2018 17:36:15 +0900 Subject: [PATCH 4/8] added that a head goes init when OP3 stop tracking the ball. --- op3_demo/include/op3_demo/ball_tracker.h | 2 ++ op3_demo/src/soccer/ball_tracker.cpp | 18 +++++++++++++++++- op3_demo/src/soccer/soccer_demo.cpp | 4 ++-- 3 files changed, 21 insertions(+), 3 deletions(-) diff --git a/op3_demo/include/op3_demo/ball_tracker.h b/op3_demo/include/op3_demo/ball_tracker.h index e5fe9ff..383c809 100644 --- a/op3_demo/include/op3_demo/ball_tracker.h +++ b/op3_demo/include/op3_demo/ball_tracker.h @@ -56,6 +56,7 @@ public: void stopTracking(); void setUsingHeadScan(bool use_scan); + void goInit(); double getPanOfBall() { @@ -89,6 +90,7 @@ protected: //image publisher/subscriber ros::Publisher module_control_pub_; + ros::Publisher head_joint_offset_pub_; ros::Publisher head_joint_pub_; ros::Publisher head_scan_pub_; diff --git a/op3_demo/src/soccer/ball_tracker.cpp b/op3_demo/src/soccer/ball_tracker.cpp index e90bb54..a1706ad 100644 --- a/op3_demo/src/soccer/ball_tracker.cpp +++ b/op3_demo/src/soccer/ball_tracker.cpp @@ -45,7 +45,8 @@ BallTracker::BallTracker() ROS_INFO_STREAM("Ball tracking Gain : " << p_gain_ << ", " << i_gain_ << ", " << d_gain_); - head_joint_pub_ = nh_.advertise("/robotis/head_control/set_joint_states_offset", 0); + head_joint_offset_pub_ = nh_.advertise("/robotis/head_control/set_joint_states_offset", 0); + head_joint_pub_ = nh_.advertise("/robotis/head_control/set_joint_states", 0); head_scan_pub_ = nh_.advertise("/robotis/head_control/scan_command", 0); // error_pub_ = nh_.advertise("/ball_tracker/errors", 0); @@ -97,6 +98,8 @@ void BallTracker::startTracking() void BallTracker::stopTracking() { + goInit(); + on_tracking_ = false; ROS_INFO_COND(DEBUG_PRINT, "Stop Ball tracking"); @@ -246,6 +249,19 @@ void BallTracker::publishHeadJoint(double pan, double tilt) head_angle_msg.position.push_back(pan); head_angle_msg.position.push_back(tilt); + head_joint_offset_pub_.publish(head_angle_msg); +} + +void BallTracker::goInit() +{ + sensor_msgs::JointState head_angle_msg; + + head_angle_msg.name.push_back("head_pan"); + head_angle_msg.name.push_back("head_tilt"); + + head_angle_msg.position.push_back(0.0); + head_angle_msg.position.push_back(0.0); + head_joint_pub_.publish(head_angle_msg); } diff --git a/op3_demo/src/soccer/soccer_demo.cpp b/op3_demo/src/soccer/soccer_demo.cpp index 6f8d99e..cf5db3c 100644 --- a/op3_demo/src/soccer/soccer_demo.cpp +++ b/op3_demo/src/soccer/soccer_demo.cpp @@ -497,12 +497,12 @@ void SoccerDemo::stopSoccerMode() void SoccerDemo::handleKick(int ball_position) { - usleep(1000 * 1000); + usleep(1500 * 1000); // change to motion module setModuleToDemo("action_module"); - usleep(1500 * 1000); + //usleep(1500 * 1000); if (handleFallen(stand_state_) == true || enable_ == false) return; From bcd6463683da84edc2181661223132d0a4028895 Mon Sep 17 00:00:00 2001 From: Kayman Date: Fri, 28 Sep 2018 16:34:51 +0900 Subject: [PATCH 5/8] changed a header file - added index(out of range) to ball status. --- op3_demo/include/op3_demo/ball_follower.h | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/op3_demo/include/op3_demo/ball_follower.h b/op3_demo/include/op3_demo/ball_follower.h index 283d842..29857db 100644 --- a/op3_demo/include/op3_demo/ball_follower.h +++ b/op3_demo/include/op3_demo/ball_follower.h @@ -43,8 +43,9 @@ class BallFollower enum { NotFound = 0, - OnRight = 1, - OnLeft = 2, + OutOfRange = 1, + OnRight = 2, + OnLeft = 3, }; BallFollower(); From 285c79b95a163d4b9fd790e608827883ddb0d21f Mon Sep 17 00:00:00 2001 From: Kayman Date: Fri, 28 Sep 2018 17:31:22 +0900 Subject: [PATCH 6/8] deleted unused code. --- op3_demo/src/soccer/soccer_demo.cpp | 14 +------------- 1 file changed, 1 insertion(+), 13 deletions(-) diff --git a/op3_demo/src/soccer/soccer_demo.cpp b/op3_demo/src/soccer/soccer_demo.cpp index cf5db3c..37e2c3f 100644 --- a/op3_demo/src/soccer/soccer_demo.cpp +++ b/op3_demo/src/soccer/soccer_demo.cpp @@ -89,11 +89,6 @@ void SoccerDemo::process() if(enable_ == false) return; - // ball tracking - int tracking_status = tracking_status_; - - //tracking_status = ball_tracker_.processTracking(); - // check to start if (start_following_ == true) { @@ -119,26 +114,19 @@ void SoccerDemo::process() // ball following if (on_following_ball_ == true) { - switch(tracking_status) + switch(tracking_status_) { case BallTracker::Found: ball_follower_.processFollowing(ball_tracker_.getPanOfBall(), ball_tracker_.getTiltOfBall(), 0.0); - // if(tracking_status_ != tracking_status) - // setRGBLED(0x1F, 0x1F, 0x1F); break; case BallTracker::NotFound: ball_follower_.waitFollowing(); - // if(tracking_status_ != tracking_status) - // setRGBLED(0, 0, 0); break; default: break; } - - // if(tracking_status != tracking_status_) - // tracking_status_ = tracking_status; } // check fallen states From fc60e6af43c47c9ff5ca4db0200a8bad7799f8da Mon Sep 17 00:00:00 2001 From: Kayman Date: Fri, 28 Sep 2018 17:38:40 +0900 Subject: [PATCH 7/8] changed folder name --- op3_demo/data/mp3/Autonomous soccer mode.mp3 | Bin 0 -> 13287 bytes op3_demo/data/mp3/Bye bye.mp3 | Bin 0 -> 8271 bytes op3_demo/data/mp3/Clap please.mp3 | Bin 0 -> 8741 bytes op3_demo/data/mp3/Demonstration ready mode.mp3 | Bin 0 -> 13443 bytes op3_demo/data/mp3/Headstand.mp3 | Bin 0 -> 8428 bytes op3_demo/data/mp3/Interactive motion mode.mp3 | Bin 0 -> 13287 bytes op3_demo/data/mp3/Intro01.mp3 | Bin 0 -> 397479 bytes op3_demo/data/mp3/Intro02.mp3 | Bin 0 -> 389955 bytes op3_demo/data/mp3/Intro03.mp3 | Bin 0 -> 196858 bytes op3_demo/data/mp3/Introduction.mp3 | Bin 0 -> 244819 bytes op3_demo/data/mp3/Left kick.mp3 | Bin 0 -> 8271 bytes op3_demo/data/mp3/No.mp3 | Bin 0 -> 6861 bytes op3_demo/data/mp3/Oops.mp3 | Bin 0 -> 6861 bytes op3_demo/data/mp3/Right kick.mp3 | Bin 0 -> 7958 bytes .../data/mp3/Sensor calibration complete.mp3 | Bin 0 -> 14070 bytes op3_demo/data/mp3/Sensor calibration fail.mp3 | Bin 0 -> 13600 bytes op3_demo/data/mp3/Shoot.mp3 | Bin 0 -> 6234 bytes op3_demo/data/mp3/Sit down.mp3 | Bin 0 -> 7801 bytes op3_demo/data/mp3/Stand up.mp3 | Bin 0 -> 8114 bytes .../data/mp3/Start motion demonstration.mp3 | Bin 0 -> 13443 bytes .../data/mp3/Start soccer demonstration.mp3 | Bin 0 -> 13443 bytes .../Start vision processing demonstration.mp3 | Bin 0 -> 18146 bytes op3_demo/data/mp3/System shutdown.mp3 | Bin 0 -> 10309 bytes op3_demo/data/mp3/Thank you.mp3 | Bin 0 -> 7174 bytes op3_demo/data/mp3/Vision processing mode.mp3 | Bin 0 -> 13287 bytes op3_demo/data/mp3/Wow.mp3 | Bin 0 -> 6077 bytes op3_demo/data/mp3/Yes go.mp3 | Bin 0 -> 7174 bytes op3_demo/data/mp3/Yes.mp3 | Bin 0 -> 7017 bytes op3_demo/data/mp3/intro_test.mp3 | Bin 0 -> 62815 bytes op3_demo/data/mp3/test/Announce mic test.mp3 | Bin 0 -> 21123 bytes op3_demo/data/mp3/test/Button test mode.mp3 | Bin 0 -> 11249 bytes op3_demo/data/mp3/test/Mic test mode.mp3 | Bin 0 -> 11092 bytes .../data/mp3/test/Mode button long pressed.mp3 | Bin 0 -> 12817 bytes op3_demo/data/mp3/test/Mode button pressed.mp3 | Bin 0 -> 11406 bytes .../data/mp3/test/Self test ready mode.mp3 | Bin 0 -> 12660 bytes .../mp3/test/Start button long pressed.mp3 | Bin 0 -> 13443 bytes .../data/mp3/test/Start button pressed.mp3 | Bin 0 -> 12033 bytes 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zT1}{+8L64>kRB)+b{n(mDLTvdIEm2w=+r?8q50p$LLD< zZ++`jE+ccL0bRlA(TPm&7r%tODZl_vT}z_w`L$t!y7pkatx2N3{YrY>{vcXk9gb89~!AzFjHn5!?^isgWsvizeLxxpX+%uS9RZ2XZ7U`kNS^+_;coTN%iLr zw!-)#<>&_vxEN2y`#VZ64o$A}*i#AIZIy6@H~QRdg;8R04n!JD2mJ>RkQw+;r{nn^?!6c{FANvFPHmIchCRNg#T7N{L89;SMk3k h-2doU{T~hYFPHn5%l%z}e{}TU3)X-1DgWTQ{{wM$f|CFM literal 0 HcmV?d00001 From 5be4820b061433908d815b5a7f4f890c19f730d0 Mon Sep 17 00:00:00 2001 From: Kayman Date: Mon, 1 Oct 2018 11:33:41 +0900 Subject: [PATCH 8/8] added a function that let op3 go init in the vision demo. --- op3_demo/include/op3_demo/face_tracker.h | 2 + op3_demo/include/op3_demo/vision_demo.h | 3 ++ op3_demo/src/vision/face_tracker.cpp | 18 ++++++- op3_demo/src/vision/vision_demo.cpp | 60 +++++++++++++++--------- 4 files changed, 59 insertions(+), 24 deletions(-) diff --git a/op3_demo/include/op3_demo/face_tracker.h b/op3_demo/include/op3_demo/face_tracker.h index 3289375..79b3d13 100644 --- a/op3_demo/include/op3_demo/face_tracker.h +++ b/op3_demo/include/op3_demo/face_tracker.h @@ -54,6 +54,7 @@ class FaceTracker void setUsingHeadScan(bool use_scan); void setFacePosition(geometry_msgs::Point &face_position); + void goInit(double init_pan, double init_tile); double getPanOfFace() { @@ -79,6 +80,7 @@ class FaceTracker //image publisher/subscriber ros::Publisher module_control_pub_; + ros::Publisher head_joint_offset_pub_; ros::Publisher head_joint_pub_; ros::Publisher head_scan_pub_; diff --git a/op3_demo/include/op3_demo/vision_demo.h b/op3_demo/include/op3_demo/vision_demo.h index 20cd1ad..d97bc41 100644 --- a/op3_demo/include/op3_demo/vision_demo.h +++ b/op3_demo/include/op3_demo/vision_demo.h @@ -45,6 +45,7 @@ class VisionDemo : public OPDemo protected: const int SPIN_RATE; + const int TIME_TO_INIT; void processThread(); void callbackThread(); @@ -74,6 +75,8 @@ class VisionDemo : public OPDemo ros::ServiceClient set_joint_module_client_; geometry_msgs::Point face_position_; + ros::Time prev_time_; + int tracking_status_; }; diff --git a/op3_demo/src/vision/face_tracker.cpp b/op3_demo/src/vision/face_tracker.cpp index f9b3e24..771607f 100644 --- a/op3_demo/src/vision/face_tracker.cpp +++ b/op3_demo/src/vision/face_tracker.cpp @@ -30,7 +30,8 @@ FaceTracker::FaceTracker() count_not_found_(0), on_tracking_(false) { - head_joint_pub_ = nh_.advertise("/robotis/head_control/set_joint_states_offset", 0); + head_joint_offset_pub_ = nh_.advertise("/robotis/head_control/set_joint_states_offset", 0); + head_joint_pub_ = nh_.advertise("/robotis/head_control/set_joint_states", 0); head_scan_pub_ = nh_.advertise("/robotis/head_control/scan_command", 0); face_position_sub_ = nh_.subscribe("/face_position", 1, &FaceTracker::facePositionCallback, this); @@ -96,6 +97,19 @@ void FaceTracker::setFacePosition(geometry_msgs::Point &face_position) } } +void FaceTracker::goInit(double init_pan, double init_tile) +{ + sensor_msgs::JointState head_angle_msg; + + head_angle_msg.name.push_back("head_pan"); + head_angle_msg.name.push_back("head_tilt"); + + head_angle_msg.position.push_back(init_pan); + head_angle_msg.position.push_back(init_tile); + + head_joint_pub_.publish(head_angle_msg); +} + int FaceTracker::processTracking() { if (on_tracking_ == false) @@ -172,7 +186,7 @@ void FaceTracker::publishHeadJoint(double pan, double tilt) head_angle_msg.position.push_back(pan); head_angle_msg.position.push_back(tilt); - head_joint_pub_.publish(head_angle_msg); + head_joint_offset_pub_.publish(head_angle_msg); } void FaceTracker::scanFace() diff --git a/op3_demo/src/vision/vision_demo.cpp b/op3_demo/src/vision/vision_demo.cpp index 1062e5c..0045a7d 100644 --- a/op3_demo/src/vision/vision_demo.cpp +++ b/op3_demo/src/vision/vision_demo.cpp @@ -22,8 +22,9 @@ namespace robotis_op { VisionDemo::VisionDemo() - : SPIN_RATE(30), - tracking_status_(FaceTracker::Waiting) + : SPIN_RATE(30), + TIME_TO_INIT(10), + tracking_status_(FaceTracker::Waiting) { enable_ = false; @@ -40,6 +41,9 @@ VisionDemo::~VisionDemo() void VisionDemo::setDemoEnable() { + // set prev time for timer + prev_time_ = ros::Time::now(); + // change to motion module setModuleToDemo("action_module"); @@ -78,22 +82,34 @@ void VisionDemo::process() { int tracking_status = face_tracker_.processTracking(); - if(tracking_status_ != tracking_status) + + + switch(tracking_status) { - switch(tracking_status) + case FaceTracker::Found: + if(tracking_status_ != tracking_status) + setRGBLED(0x1F, 0x1F, 0x1F); + prev_time_ = ros::Time::now(); + break; + + case FaceTracker::NotFound: + { + if(tracking_status_ != tracking_status) + setRGBLED(0, 0, 0); + + ros::Time curr_time = ros::Time::now(); + ros::Duration dur = curr_time - prev_time_; + if(dur.sec > TIME_TO_INIT) { - case FaceTracker::Found: - setRGBLED(0x1F, 0x1F, 0x1F); - break; - - case FaceTracker::NotFound: - setRGBLED(0, 0, 0); - break; - - default: - break; + face_tracker_.goInit(0,0); + prev_time_ = curr_time; } + break; } + default: + break; + } + if(tracking_status != FaceTracker::Waiting) tracking_status_ = tracking_status; @@ -176,16 +192,16 @@ void VisionDemo::setModuleToDemo(const std::string &module_name) void VisionDemo::callServiceSettingModule(const std::string &module_name) { - robotis_controller_msgs::SetModule set_module_srv; - set_module_srv.request.module_name = module_name; + robotis_controller_msgs::SetModule set_module_srv; + set_module_srv.request.module_name = module_name; - if (set_joint_module_client_.call(set_module_srv) == false) - { - ROS_ERROR("Failed to set module"); - return; - } + if (set_joint_module_client_.call(set_module_srv) == false) + { + ROS_ERROR("Failed to set module"); + return; + } - return ; + return ; } void VisionDemo::facePositionCallback(const std_msgs::Int32MultiArray::ConstPtr &msg)

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