cpp camera merge to main

.gitignore

@@ -50,7 +50,6 @@ coverage.xml
 .hypothesis/
 .pytest_cache/
 cover/
-
 # Translations
 *.mo
 *.pot
@@ -176,4 +175,7 @@ cython_debug/
 # Ros build ignored
 install
 log
-build
+build
+
+.vscode/
+.DS_Store

scripts/start.bash

@@ -1,9 +1,8 @@
 #!/usr/bin/env bash
 
 source /opt/ros/humble/setup.bash
+colcon build --symlink-install
 [ -f /ws/install/setup.bash ] && source /ws/install/setup.bash
 [ -f /ws/.venv/bin/activate ] && source /ws/.venv/bin/activate
 
-colcon build
-pkill -f master_api || true
-sleep 0.5
+ros2 launch autonomous_kart bringup_sim.launch.py

src/autonomous_kart/autonomous_kart/launch/bringup_pi.launch.py

@@ -1,12 +1,14 @@
 from launch import LaunchDescription
-from launch.actions import GroupAction
+from launch.actions import GroupAction, ExecuteProcess
 from launch_ros.actions import Node, SetParameter, SetParametersFromFile
-from ament_index_python.packages import get_package_share_directory
+from ament_index_python.packages import get_package_share_directory, get_package_prefix
+from pathlib import Path
 import os
 
 
 def generate_launch_description():
     pkg_share = get_package_share_directory("autonomous_kart")
+    camera_binary = str(Path(pkg_share).resolve().parents[2] / "autonomous_kart_cpp" / "lib" / "autonomous_kart_cpp" / "camera_node")
 
     motor_yaml = os.path.join(pkg_share, "params", "motor.yaml")
     steering_yaml = os.path.join(pkg_share, "params", "steering.yaml")
@@ -37,7 +39,7 @@ def generate_launch_description():
                         parameters=[steering_yaml],
                     ),
                     Node(
-                        package="autonomous_kart",
+                        package="autonomous_kart_cpp",
                         executable="camera_node",
                         name="camera_node",
                         parameters=[camera_yaml],

src/autonomous_kart/autonomous_kart/launch/bringup_sim.launch.py

@@ -1,13 +1,39 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.actions import DeclareLaunchArgument, GroupAction, ExecuteProcess
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node, SetParameter, SetParametersFromFile
-from ament_index_python.packages import get_package_share_directory
+from ament_index_python.packages import get_package_share_directory, get_package_prefix
+from pathlib import Path
 import os
 
 
+def _get_camera_binary(pkg_share: str) -> str:
+    """Resolve camera binary path.
+
+    Prefer the installed prefix for `autonomous_kart_cpp` if available;
+    fall back to deriving the sibling install layout relative to `pkg_share`.
+    """
+    try:
+        prefix = get_package_prefix("autonomous_kart_cpp")
+        candidate = Path(prefix) / "lib" / "autonomous_kart_cpp" / "camera_node"
+        if candidate.exists():
+            return str(candidate)
+    except Exception:
+        pass
+
+    # fallback derived path (works in typical overlay layout)
+    return str(
+        Path(pkg_share).resolve().parents[2]
+        / "autonomous_kart_cpp"
+        / "lib"
+        / "autonomous_kart_cpp"
+        / "camera_node"
+    )
+
+
 def generate_launch_description():
     pkg_share = get_package_share_directory("autonomous_kart")
+    camera_binary = _get_camera_binary(pkg_share)
 
     motor_yaml = os.path.join(pkg_share, "params", "motor.yaml")
     steering_yaml = os.path.join(pkg_share, "params", "steering.yaml")
@@ -40,7 +66,7 @@ def generate_launch_description():
                         parameters=[steering_yaml],
                     ),
                     Node(
-                        package="autonomous_kart",
+                        package="autonomous_kart_cpp",
                         executable="camera_node",
                         name="camera_node",
                         parameters=[camera_yaml],

src/autonomous_kart/autonomous_kart/params/camera.yaml

@@ -1,4 +1,4 @@
 # Camera config settings
 camera_node:
   ros__parameters:
-    fps: 60.0  # float
+    fps: 0  # 0 == use system frequency

src/autonomous_kart/autonomous_kart/params/pathfinder.yaml

@@ -7,26 +7,25 @@ pathfinder_node:
     max_steering: 10
     steering_accel: 0.05
     line_path: /ws/data/racing_line/line.csv
-    
+
     # Auto mode (Nav2 params)
     wheelbase_m: 1.05          # kart wheelbase in meters (rear axle -> front axle)
     v_max_mps: 15.0            # kart max speed in m/s (used for %<->m/s conversion)
     steer_max_deg: 25.0        # physical max front-wheel steering angle (degrees)
-    
+
     use_velocity_scaled_lookahead: true  # Nav2: use_velocity_scaled_lookahead_dist
     lookahead_time_s: 0.6                # Nav2: lookahead_time (s)
     min_lookahead_m: 3.0                 # Nav2: min_lookahead_dist (m)
     max_lookahead_m: 8.0                 # Nav2: max_lookahead_dist (m)
-    
+
     use_curvature_regulation: true       # Nav2: use_regulated_linear_velocity_scaling
     min_radius_m: 12.0                    # Nav2: regulated_linear_scaling_min_radius (m)
     min_reg_speed_pct: 0.20              # like regulated_linear_scaling_min_speed / v_max
-    
+
     approach_dist_m: 1.0                 # Nav2: approach_velocity_scaling_dist (m)
     min_approach_speed_pct: 0.05         # like min_approach_linear_velocity / v_max
 
     search_window: 80                    # Bounded forward search window (number of waypoints)
     initial_sync_done: false             # First autonomous tick after pose_ready does an O(n) full-line nearest
     max_resync_dist: 80                  # Max allowed distance to race line (m) before falling back to a full O(n) search
     max_closed_dist: 2                   # Max distance between start and end for track to be considered closed (m)
-

src/autonomous_kart/package.xml

@@ -11,6 +11,7 @@
 
   <depend>rclpy</depend>
   <depend>geometry_msgs</depend>
+  <exec_depend>autonomous_kart_cpp</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/autonomous_kart/setup.py

@@ -1,26 +1,26 @@
 from glob import glob
 from setuptools import setup
 
-package_name = 'autonomous_kart'
+package_name = "autonomous_kart"
 
 setup(
     name=package_name,
     version="0.0.1",
     packages=[
-        'autonomous_kart',
-        'autonomous_kart.nodes',
-        'autonomous_kart.nodes.motor',
-        'autonomous_kart.nodes.steering',
-        'autonomous_kart.nodes.camera',
-        'autonomous_kart.nodes.gps',
-        'autonomous_kart.nodes.pathfinder',
-        'autonomous_kart.nodes.opencv_pathfinder',
-        'autonomous_kart.nodes.e_comms',
-        'autonomous_kart.nodes.3dgs_localization',
-        'autonomous_kart.nodes.metrics',
-        'autonomous_kart.nodes.master',
-        'autonomous_kart.nodes.localization',
-        'autonomous_kart.nodes.pathfinder.strategies',
+        "autonomous_kart",
+        "autonomous_kart.nodes",
+        "autonomous_kart.nodes.motor",
+        "autonomous_kart.nodes.steering",
+        "autonomous_kart.nodes.camera",
+        "autonomous_kart.nodes.gps",
+        "autonomous_kart.nodes.pathfinder",
+        "autonomous_kart.nodes.opencv_pathfinder",
+        "autonomous_kart.nodes.e_comms",
+        "autonomous_kart.nodes.3dgs_localization",
+        "autonomous_kart.nodes.metrics",
+        "autonomous_kart.nodes.master",
+        "autonomous_kart.nodes.localization",
+        "autonomous_kart.nodes.pathfinder.strategies",
     ],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
@@ -30,25 +30,24 @@
     ],
     install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='Purdue EVC',
-    maintainer_email='shay.manor@gmail.com',
-    license='Apache-2.0',
+    maintainer="Purdue EVC",
+    maintainer_email="shay.manor@gmail.com",
+    license="Apache-2.0",
     description="Package containing all nodes for driving in different states.",
     tests_require=["pytest"],
     entry_points={
-        'console_scripts': [
-            'motor_node = autonomous_kart.nodes.motor.motor_node:main',
-            'pathfinder_node = autonomous_kart.nodes.pathfinder.pathfinder_node:main',
-            'manual_pathfinder_api = autonomous_kart.nodes.manual.pathfinder_api:main',
-            'gps_node = autonomous_kart.nodes.gps.gps_node:main',
-            '3dgs_localization_node = autonomous_kart.nodes.3dgs_localization.3dgs_localization_node:main',
-            'opencv_pathfinder_node = autonomous_kart.nodes.opencv_pathfinder.opencv_pathfinder_node:main',
-            'e_comms_node = autonomous_kart.nodes.e_comms.e_comms_node:main',
-            'steering_node = autonomous_kart.nodes.steering.steering_node:main',
-            'camera_node = autonomous_kart.nodes.camera.camera_node:main',
-            'metrics_node = autonomous_kart.nodes.metrics.metrics_node:main',
-            'master_api = autonomous_kart.nodes.master.master_api:main',
-            'localization_node = autonomous_kart.nodes.localization.localization_node:main',
+        "console_scripts": [
+            "motor_node = autonomous_kart.nodes.motor.motor_node:main",
+            "pathfinder_node = autonomous_kart.nodes.pathfinder.pathfinder_node:main",
+            "manual_pathfinder_api = autonomous_kart.nodes.manual.pathfinder_api:main",
+            "gps_node = autonomous_kart.nodes.gps.gps_node:main",
+            "3dgs_localization_node = autonomous_kart.nodes.3dgs_localization.3dgs_localization_node:main",
+            "opencv_pathfinder_node = autonomous_kart.nodes.opencv_pathfinder.opencv_pathfinder_node:main",
+            "e_comms_node = autonomous_kart.nodes.e_comms.e_comms_node:main",
+            "steering_node = autonomous_kart.nodes.steering.steering_node:main",
+            "metrics_node = autonomous_kart.nodes.metrics.metrics_node:main",
+            "master_api = autonomous_kart.nodes.master.master_api:main",
+            "localization_node = autonomous_kart.nodes.localization.localization_node:main",
         ],
     },
-)
+)