Merge pull request #189 from CooperUnion/user/isaiahrivera21/object_detection_pr

User/isaiahrivera21/object detection pr

Author: giuseppequaratino

ros2/PlaceObjectsGlobally/place_object_globally_ws/src/place_object_globally_package/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>place_object_globally_package</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="vaibhav.hariani@gmail.com">eeadmin</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2/PlaceObjectsGlobally/place_object_globally_ws/src/place_object_globally_package/place_object_globally_package/__init__.py

@@ -0,0 +1,71 @@
+import rclpy
+from rclpy.node import Node
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import Pose, PoseWithCovariance
+
+
+class ObjGlobalLocation(Node):
+    def __init__(self):
+        super().__init__('Object_Global_Location_Node')
+
+        # Might need to apply on offset because the object location is given wrt the zed's left camera 
+
+        # in this contect we only care about the vehicle's x and y pos
+        self.vehicle_x = None
+        self.vehicle_y = None
+
+        self.obj_x = None
+        self.obj_y = None
+
+        # Subscribe to get information on the vehicle and object positions
+        self.obj_information_subscription = self.create_subscription(
+            Yolo,
+            'dist_at_obj',
+            self.obj_information_callback,
+            10)
+        
+        self.obj_information_subscription
+        
+        self.vehicle_position_subscription = self.create_subscription(
+            Odometry,
+            'encoder_odom',
+            self.vehicle_position_callback,
+            10)
+        
+        self.vehicle_position_subscription
+
+        # Publish the object's location wrt to where we started 
+        self.object_global_location_publisher = self.create_publisher(Pose, '/pose', 10) # want to change to pose with covar in the future
+
+        timer_period = 0.1  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+
+    def obj_information_callback(self,msg):
+        self.obj_x = msg.x
+        self.obj_y = msg.y
+
+    def vehicle_position_callback(self,msg):
+        self.vehicle_x = msg.pose.pose.position.x
+        self.vehicle_y = msg.pose.pose.position.y
+
+    def timer_callback(self):
+        obj_location = PoseWithCovariance()
+
+        # Covariance Matrix
+        obj_location.covariance = [1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+                        0.0, 1.0, 0.0, 0.0, 0.0, 0.0,
+                        0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+                        0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+                        0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+                        0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
+        
+        obj_location.pose.position.x = self.vehicle_x + self.obj_x
+        obj_location.pose.position.y = self.vehicle_y + self.obj_y
+        obj_location.pose.position.z = 0.0
+
+        obj_location.pose.orientation.x = 0.0
+        obj_location.pose.orientation.y = 0.0
+        obj_location.pose.orientation.z = 0.0
+        obj_location.pose.orientation.w = 0.0
+
+        self.object_global_location_publisher.publish(obj_location)

ros2/PlaceObjectsGlobally/place_object_globally_ws/src/place_object_globally_package/place_object_globally_package/place_object_globally_node.py

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/place_object_globally_package
+[install]
+install_scripts=$base/lib/place_object_globally_package

ros2/PlaceObjectsGlobally/place_object_globally_ws/src/place_object_globally_package/resource/place_object_globally_package

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'place_object_globally_package'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='eeadmin',
+    maintainer_email='vaibhav.hariani@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'place_object_globally_node = place_object_globally_package.place_object_globally_node:main'
+        ],
+    },
+)

ros2/PlaceObjectsGlobally/place_object_globally_ws/src/place_object_globally_package/setup.cfg

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2/PlaceObjectsGlobally/place_object_globally_ws/src/place_object_globally_package/setup.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

ros2/PlaceObjectsGlobally/place_object_globally_ws/src/place_object_globally_package/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

ros2/PlaceObjectsGlobally/place_object_globally_ws/src/place_object_globally_package/test/test_flake8.py

@@ -0,0 +1,33 @@
+## How to Run Object Detection Stack
+
+The object detection stack is a ros2 package. It can be built and ran like any other standard ros2 package. 
+
+Run the following: 
+
+```
+colcon build
+```
+
+```
+source install/setup.bash
+```
+
+```
+ros2 run dist_to_obj_package dist_to_obj_node
+```
+
+## Errors that might occur on launch 
+
+If the ZED camera is not plugged in the following error will pop up: 
+
+```
+Camera Open : CAMERA NOT DETECTED. Exit program.
+```
+
+Sometimes this error will pop up when trying to start object detection: 
+
+```
+NO GPU DETECTED
+```
+
+While it doesn't happen often in the even that it does starting the computer fixes it. 

ros2/PlaceObjectsGlobally/place_object_globally_ws/src/place_object_globally_package/test/test_pep257.py

@@ -0,0 +1,78 @@
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Float64
+from sensor_msgs.msg import Image
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
+from .object_detection_submodule.object_detection import ObjectDetection
+import cv2
+import sys
+from cv_bridge import CvBridge
+from yolo_interfaces.msg import Yolo
+ 
+class Dist_To_Object(Node):
+    def __init__(self,model):
+        super().__init__('dist_to_obj_node')
+        self._bridge = CvBridge()
+        timer_period = 0.01  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.img_publisher = self.create_publisher(Image, "/obj_detection_img", 10)
+        self.distToObj_publisher = self.create_publisher(Yolo, '/dist_to_obj',10)
+        self.model = model
+        self.model.init_model()
+ 
+    def timer_callback(self):
+        msg = Yolo()
+
+        # Get keyboard input
+        key = cv2.waitKeyEx(1)
+
+        # Exit loop if 'q' key is pressed
+        if key == ord('q') or key == 27:  # 'q' or Esc keyr
+            self.model.close_cam()  # Close camera before exiting
+            self.get_logger().info('Exiting node...')
+            sys.exit()
+            # rclpy.shutdown()  # Shutdown ROS2
+            # return
+
+        # Run object detection
+        self.model.objectDetection()
+        image  = self.model.annotated_frame
+        image = self._bridge.cv2_to_imgmsg(image, encoding="passthrough")
+        self.img_publisher.publish(image)
+
+
+        msg.dist = self.model.distance
+        msg.name = self.model.obj_name
+        msg.x = self.model.center_x
+        msg.y = self.model.center_y
+        self.distToObj_publisher.publish(msg)
+
+        self.get_logger().info("\n ----------------------------------------------\n")
+        self.get_logger().info('X Coord: %f \n' % msg.x)
+        self.get_logger().info('Y Coord: %f \n' % msg.y)
+        self.get_logger().info('Distance to object: %f \n' % msg.dist)
+        self.get_logger().info('Name to object: %s \n' % msg.name)
+        self.get_logger().info("\n ----------------------------------------------\n")
+
+        
+
+def main(args=None):
+    # rclpy.init(args=args)  # Initialize ROS2 program
+    # model = ObjectDetection(display=True)
+    # node = Dist_To_Object(model=model)  # Instantiate Node
+    # rclpy.spin(node)  # Puts the node in an infinite loop
+    # # Clean shutdown should be at the end of every node
+    # node.destroy_node()
+    # rclpy.shutdown()
+
+    rclpy.init(args=args)  # Initialize ROS2 program
+    model = ObjectDetection(display=True)
+    node = Dist_To_Object(model=model)  # Instantiate Node
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+ 
+if __name__ == '__main__':
+    main()