20 moveit description and config

.gitattributes

@@ -0,0 +1,8 @@
+*.py text eol=lf
+*.sh text eol=lf
+*.bash text eol=lf
+Dockerfile text eol=lf
+Makefile text eol=lf
+*.bat text eol=crlf
+*.cmd text eol=crlf
+*.ps1 text eol=crlf

.gitignore

@@ -1,32 +1,35 @@
-install/
-log/
-build/
-
-# Ignore generated docs
-*.dox
-*.wikidoc
-
-# eclipse stuff
-.project
-.cproject
-
-# qcreator stuff
-CMakeLists.txt.user
-
-srv/_*.py
-*.pcd
-*.pyc
-qtcreator-*
-*.user
-
-*~
-
-# Emacs
-.#*
-
-# Colcon custom files
-COLCON_IGNORE
-AMENT_IGNORE
-
-.venv
-.need_to_resume_installation
+install/
+log/
+build/
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+*~
+
+# Emacs
+.#*
+
+# Colcon custom files
+COLCON_IGNORE
+AMENT_IGNORE
+
+.venv
+.need_to_resume_installation
+
+# .vscode settings
+.vscode/

LICENSE

@@ -1,21 +1,21 @@
-MIT License
-
-Copyright (c) 2025 OxRAM Society
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
+MIT License
+
+Copyright (c) 2025 OxRAM Society
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

setup.sh

@@ -2,3 +2,6 @@
 
 # ROS2 stuff
 source ./install/local_setup.bash
+
+# https://github.com/ros2/rviz/issues/1245
+export QT_QPA_PLATFORM=xcb

src/computer_vision/.gitignore

@@ -1,4 +1,4 @@
-.roboflow_key
-
-cam_params.yaml
-camera_info.yaml
+.roboflow_key
+
+cam_params.yaml
+camera_info.yaml

src/computer_vision/LICENSE

@@ -1,17 +1,17 @@
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
-THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

src/computer_vision/README.md

@@ -1,21 +1,21 @@
-# Setup
-
-1. (Optional) If you are planning on training the YOLO model, copy `.roboflow_key.example` to `.roboflow_key`, get your Roboflow key and write it into the file
-2. Get camera calibration and parameter files and put them into `config/cam_params.yaml` and `config/camera_info.yaml`. This can be done in 2 ways:
-- Copy over the templates `config/cam_params_template.yaml` and `config/camera_info_template.yaml`. This is done by default in `install.py`.
-- Calibrate the camera by yourself (See the section below).
-
-## TODO: add documentation for how to calibrate the camera
-TODO: calibrate camera
-TODO: optimise params
-
-# Usage
-## Running the nodes
-`board_detection` node doesn't use any extra parameters: just do `ros2 run computer_vision board_detection`
-
-## Debugging
-To start the camera node directly, run `ros2 run usb_cam usb_cam_node_exe --ros-args --params-file config/cam_params.yaml`
-
-To simulate a camera with an image, run `ros2 run stub_scripts compressed_image_publisher --ros-args -p input_path:="test/test_images/chessboards/1.jpeg"`, where the image path can be replaced for other images
-
-To view camera output, run `rqt`, select "Plugins/visualization/Image view" and select the correct topic
+# Setup
+
+1. (Optional) If you are planning on training the YOLO model, copy `.roboflow_key.example` to `.roboflow_key`, get your Roboflow key and write it into the file
+2. Get camera calibration and parameter files and put them into `config/cam_params.yaml` and `config/camera_info.yaml`. This can be done in 2 ways:
+- Copy over the templates `config/cam_params_template.yaml` and `config/camera_info_template.yaml`. This is done by default in `install.py`.
+- Calibrate the camera by yourself (See the section below).
+
+## TODO: add documentation for how to calibrate the camera
+TODO: calibrate camera
+TODO: optimise params
+
+# Usage
+## Running the nodes
+`board_detection` node doesn't use any extra parameters: just do `ros2 run computer_vision board_detection`
+
+## Debugging
+To start the camera node directly, run `ros2 run usb_cam usb_cam_node_exe --ros-args --params-file config/cam_params.yaml`
+
+To simulate a camera with an image, run `ros2 run stub_scripts compressed_image_publisher --ros-args -p input_path:="test/test_images/chessboards/1.jpeg"`, where the image path can be replaced for other images
+
+To view camera output, run `rqt`, select "Plugins/visualization/Image view" and select the correct topic

src/computer_vision/config/cam_params_template.yaml

@@ -1,23 +1,23 @@
-/**:
-    ros__parameters:
-      video_device: "/dev/video0"
-      framerate: 30.0
-      io_method: "mmap"
-      frame_id: "camera"
-      pixel_format: "mjpeg2rgb"  # see usb_cam/supported_formats for list of supported formats
-      av_device_format: "YUV422P"
-      image_width: 640
-      image_height: 480
-      camera_name: "main_camera"
-      camera_info_url: "package://computer_vision/config/camera_info.yaml"
-      brightness: -1
-      contrast: -1
-      saturation: -1
-      sharpness: -1
-      gain: -1
-      auto_white_balance: true
-      white_balance: 4000
-      autoexposure: true
-      exposure: 100
-      autofocus: false
-      focus: -1
+/**:
+    ros__parameters:
+      video_device: "/dev/video0"
+      framerate: 30.0
+      io_method: "mmap"
+      frame_id: "camera"
+      pixel_format: "mjpeg2rgb"  # see usb_cam/supported_formats for list of supported formats
+      av_device_format: "YUV422P"
+      image_width: 640
+      image_height: 480
+      camera_name: "main_camera"
+      camera_info_url: "package://computer_vision/config/camera_info.yaml"
+      brightness: -1
+      contrast: -1
+      saturation: -1
+      sharpness: -1
+      gain: -1
+      auto_white_balance: true
+      white_balance: 4000
+      autoexposure: true
+      exposure: 100
+      autofocus: false
+      focus: -1

src/computer_vision/config/camera_info_template.yaml

@@ -1,26 +1,26 @@
-image_width: 640
-image_height: 480
-camera_name: main_camera
-camera_matrix:
-  rows: 3
-  cols: 3
-  data: [796.62207,   0.     , 674.57298,
-           0.     , 856.057  , 586.88776,
-           0.     ,   0.     ,   1.     ]
-distortion_model: plumb_bob
-distortion_coefficients:
-  rows: 1
-  cols: 5
-  data: [-0.274258, 0.040343, -0.054555, -0.014826, 0.000000]
-rectification_matrix:
-  rows: 3
-  cols: 3
-  data: [1., 0., 0.,
-         0., 1., 0.,
-         0., 0., 1.]
-projection_matrix:
-  rows: 3
-  cols: 4
-  data: [609.51172,   0.     , 633.486  ,   0.     ,
-           0.     , 844.12219, 583.22598,   0.     ,
-           0.     ,   0.     ,   1.     ,   0.     ]
+image_width: 640
+image_height: 480
+camera_name: main_camera
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [796.62207,   0.     , 674.57298,
+           0.     , 856.057  , 586.88776,
+           0.     ,   0.     ,   1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.274258, 0.040343, -0.054555, -0.014826, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [609.51172,   0.     , 633.486  ,   0.     ,
+           0.     , 844.12219, 583.22598,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]

src/computer_vision/package.xml

@@ -1,27 +1,27 @@
-<?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>computer_vision</name>
-  <version>0.0.0</version>
-  <description>Camera-based detection of chess pieces, chessboard, etc</description>
-  <maintainer email="misha.nekrasov@gmail.com">mic</maintainer>
-  <license>MIT</license>
-
-  <exec_depend>usb_cam</exec_depend>
-  <exec_depend>image_transport_plugins</exec_depend>
-
-  <!-- Only required for the launch file of usb_cam, until
- https://github.com/ros-drivers/usb_cam/commit/98fa950342fa1edd8fd1de81392aeb83a691af14 
- is available in Ubuntu repos
- -->
-  <exec_depend>python3-pydantic</exec_depend>
-
-  <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>
+<?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>computer_vision</name>
+  <version>0.0.0</version>
+  <description>Camera-based detection of chess pieces, chessboard, etc</description>
+  <maintainer email="misha.nekrasov@gmail.com">mic</maintainer>
+  <license>MIT</license>
+
+  <exec_depend>usb_cam</exec_depend>
+  <exec_depend>image_transport_plugins</exec_depend>
+
+  <!-- Only required for the launch file of usb_cam, until
+ https://github.com/ros-drivers/usb_cam/commit/98fa950342fa1edd8fd1de81392aeb83a691af14 
+ is available in Ubuntu repos
+ -->
+  <exec_depend>python3-pydantic</exec_depend>
+
+  <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>

src/computer_vision/setup.cfg

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

src/computer_vision/train/.gitignore

@@ -1,4 +1,4 @@
-data/**
-
-# The model
-yolov8n.pt
+data/**
+
+# The model
+yolov8n.pt

src/computer_vision/train/.roboflow_key.example

@@ -1 +1 @@
-YOUR_KEY_HERE
+YOUR_KEY_HERE

src/computer_vision/train/requirements.txt

@@ -1,3 +1,3 @@
-ultralytics==8.3.73
-roboflow==1.1.53
-supervision==0.25.1
+ultralytics==8.3.73
+roboflow==1.1.53
+supervision==0.25.1