diff --git a/README.md b/README.md index 12a3fb3..df99ac6 100644 --- a/README.md +++ b/README.md @@ -1,53 +1,11 @@ -# SIV-ROS Submissions -**Sensor Integration and Visualisation in ROS** +# Siv-ROS assignment submition -Submission repository for assignments of SIV-ROS project of Robotics Club 2023-24. +THE folder shared contains the ROS program for a image_process package that has three nodes communicating via 2 topics in a linear fashion to : +a) Take the image input from the webcam +b) Crop the image by 30% in size +c) Show the image in a terminal -## Objective +A launch file (image_cropping.launch) can be used to launch all the nodes at once . -- Introduce and familiarise mentees with ROS, Gazebo and Rviz -- Integrate the following in ROS: - - Motor Encoders for Odometry data - - LiDAR for SLAM (RPLiDAR A1M8 360 Degree) - - IMU (MPU6050) - - GPS (NEO-M8N GPS Module) -- **Simultaneously** take input from the sensors and visualise all the data in Rviz. -- Use teleop through ssh or use another kind of remote control along with gmapping node to use SLAM for creating the map of an environment in Rviz. +OpenCV was used for the programming of the nodes along with rospy -### Folder Structure - -```bash - -SIV-ROS-Submissions -├── Assignment-1 -│ ├── 210353_DivyaGupta -│ │ ├── README.md -│   │ └── src -│ ├── 210369_EmaadAhmed -│   │ ├── README.md -│   │ └── src -│ └── 210684_OmShivamVerma -│   ├── README.md -│   └── src -├── LICENSE -└── README.md - -``` - -#### How to Submit - -Create a **fork** of this repository. This fork is where you will add all the solutions of your assignments. After creating your fork, and making some changes (your solutions), create a pull request with the title: ```Submission of , ```. This pull request should be created only once, - -Here ```src``` is the _source_ folder of your workspace. Also, create the ```README.md``` containing a brief description of what you have done. - -## Assignment-1 - -**Aim:** Understanding nodes, topics, and their connection with sensors. - -**Task:** -Create a package - “Image_processes” that can subscribe and publish topics from given nodes: -1. Node1 -: Publish webcam image frames to the topic “Webcam_img”. (“Webcam_img” topic takes image frames from webcam as data). -2. Node2 -: It will subscribe to the topic “Webcam_img” and publish data to the topic “Webcam_cropped”. (“Webcam_cropped” topic has image frames from webcam and crop it by 30% in pixels). -3. Node3 -: It will subscribe to the topic “Webcam_cropped” and show it. - -**Edit:** Create a launch file named ```image_cropping.launch``` which launches all the nodes at once. diff --git a/src/.vscode/c_cpp_properties.json b/src/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..9a689d4 --- /dev/null +++ b/src/.vscode/c_cpp_properties.json @@ -0,0 +1,21 @@ +{ + "configurations": [ + { + "browse": { + "databaseFilename": "${default}", + "limitSymbolsToIncludedHeaders": false + }, + "includePath": [ + "/opt/ros/noetic/include/**", + "/home/sooryansh/catkin_ws/src/image_process/include/**", + "/usr/include/**" + ], + "name": "ROS", + "intelliSenseMode": "gcc-x64", + "compilerPath": "/usr/bin/gcc", + "cStandard": "gnu11", + "cppStandard": "c++14" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/src/.vscode/settings.json b/src/.vscode/settings.json new file mode 100644 index 0000000..1fb641e --- /dev/null +++ b/src/.vscode/settings.json @@ -0,0 +1,5 @@ +{ + "python.autoComplete.extraPaths": [ + "/opt/ros/noetic/lib/python3/dist-packages" + ] +} \ No newline at end of file diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt new file mode 120000 index 0000000..2016816 --- /dev/null +++ b/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/src/image_process/CMakeLists.txt b/src/image_process/CMakeLists.txt new file mode 100644 index 0000000..0291c63 --- /dev/null +++ b/src/image_process/CMakeLists.txt @@ -0,0 +1,207 @@ +cmake_minimum_required(VERSION 3.0.2) +project(image_process) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + cv_bridge + rospy + sensor_msgs + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# sensor_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES image_process +# CATKIN_DEPENDS cv_bridge rospy sensor_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/image_process.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/image_process_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_image_process.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/image_process/image_cropping.launch b/src/image_process/image_cropping.launch new file mode 100644 index 0000000..70a5dd6 --- /dev/null +++ b/src/image_process/image_cropping.launch @@ -0,0 +1,22 @@ + + + + + + + diff --git a/src/image_process/package.xml b/src/image_process/package.xml new file mode 100644 index 0000000..84c0780 --- /dev/null +++ b/src/image_process/package.xml @@ -0,0 +1,71 @@ + + + image_process + 0.0.0 + The image_process package + + + + + sooryansh + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + cv_bridge + rospy + sensor_msgs + std_msgs + cv_bridge + rospy + sensor_msgs + std_msgs + cv_bridge + rospy + sensor_msgs + std_msgs + + + + + + + + diff --git a/src/image_process/scripts/image_crop_node.py b/src/image_process/scripts/image_crop_node.py new file mode 100755 index 0000000..f506a91 --- /dev/null +++ b/src/image_process/scripts/image_crop_node.py @@ -0,0 +1,35 @@ +#!/usr/bin/env python3 +import rospy +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import cv2 + +def callback(img_input): + br = CvBridge() + image2 = br.imgmsg_to_cv2(img_input) + width = image2.shape[0] + height = image2.shape[1] + x = int(((width *7)/10)) + y = int(((height *7)/10)) + img_cropped = cv2.resize(image2,(x,y)) + publish_cropped(img_cropped) + +def receive_message(): + rospy.loginfo('cropping image') + rospy.init_node('crop_node') + rospy.Subscriber('webcam_img', Image, callback) + rospy.spin() + cv2.destroyAllWindows() + +def publish_cropped(img_cropped): + pub = rospy.Publisher('webcam_cropped', Image , queue_size=10) + br = CvBridge() + pub.publish(br.cv2_to_imgmsg(img_cropped)) + +if __name__ == '__main__': + + try: + data = receive_message() + + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/src/image_process/scripts/pub1_node.py b/src/image_process/scripts/pub1_node.py new file mode 100755 index 0000000..a1dade3 --- /dev/null +++ b/src/image_process/scripts/pub1_node.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 + +import rospy +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import cv2 + +def publish_message(): + + pub = rospy.Publisher('webcam_img', Image,queue_size=10) + rospy.init_node('pub1_node', anonymous=True) + rate=rospy.Rate(10) + cap = cv2.VideoCapture(0) + br = CvBridge() + while not rospy.is_shutdown(): + ret, frame = cap.read() + + if ret == True: + rospy.loginfo('publishing video frame') + pub.publish(br.cv2_to_imgmsg(frame)) + + rate.sleep() + +if __name__ == '__main__': + try: + publish_message() + except rospy.ROSInterruptException: + pass \ No newline at end of file diff --git a/src/image_process/scripts/sub1_node.py b/src/image_process/scripts/sub1_node.py new file mode 100755 index 0000000..4eb3e70 --- /dev/null +++ b/src/image_process/scripts/sub1_node.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python3 + + +import rospy +from sensor_msgs.msg import Image +from cv_bridge import CvBridge +import cv2 + +def callback(data): + br = CvBridge() + rospy.loginfo("receiving video frame") + current_frame = br.imgmsg_to_cv2(data) + cv2.imshow("output", current_frame) + cv2.waitKey(0) + +def receive_message(): + rospy.init_node('sub1_node', anonymous=True) + rospy.Subscriber('webcam_cropped', Image, callback) + rospy.spin() + cv2.destroyAllWindows() + +if __name__ == '__main__': + receive_message() \ No newline at end of file