UMRT ROS PoE Camera Package - H264

CMakeLists.txt

@@ -1,61 +1,106 @@
-cmake_minimum_required(VERSION 3.16)
-project(********** Fill in project name **********)
+cmake_minimum_required(VERSION 3.10.2)
+project(umrt_ros_poe_cam VERSION 2.9.0 LANGUAGES CXX C)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+add_compile_options(-g)
 
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra -fPIC)
+## is used, also find other catkin packages
+if(POLICY CMP0057)
+      cmake_policy(SET CMP0057 NEW)
 endif()
 
-# Fixes intellisense not finding ros2 headers https://youtrack.jetbrains.com/issue/CPP-29747/Certain-ROS2-package-headers-missing-from-Intellisense-when-using-a-Docker-toolchain
-include_directories(SYSTEM /opt/ros/$ENV{ROS_DISTRO}/include)
+set(_opencv_version 4)
+find_package(OpenCV 4 QUIET COMPONENTS imgproc highgui)
+if(NOT OpenCV_FOUND)
+    set(_opencv_version 3)
+    find_package(OpenCV 3 REQUIRED COMPONENTS imgproc highgui)
+endif()
 
-# find dependencies
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-        rclcpp
-        rclcpp_lifecycle
-        )
+# find_package(depthai CONFIG REQUIRED PATHS "/home/sachin/Desktop/luxonis/depthai-core/build/install/lib/cmake/depthai")
+set(mobilenet_blob_name "mobilenet-ssd_openvino_2021.2_6shave.blob")
+
+set(mobilenet_blob "${PROJECT_SOURCE_DIR}/resources/${mobilenet_blob_name}")
+file(DOWNLOAD "https://artifacts.luxonis.com/artifactory/luxonis-depthai-data-local/network/mobilenet-ssd_openvino_2021.2_6shave.blob"
+        ${mobilenet_blob}
+        TIMEOUT 60  # seconds
+        EXPECTED_HASH SHA1=f0e14978b3f77a4f93b9f969cd39e58bb7aef490
+        TLS_VERIFY ON)
 
-# find dependencies
 find_package(ament_cmake REQUIRED)
-foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
-  find_package(${Dependency} REQUIRED)
-endforeach()
 
-add_executable(${PROJECT_NAME}
-    src/project_name.cpp
-    src/example_node.cpp
+message(STATUS "------------------------------------------")
+message(STATUS "Depthai Bridge is being built using AMENT.")
+message(STATUS "------------------------------------------")
+
+find_package(camera_info_manager REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(depthai CONFIG REQUIRED)
+find_package(depthai_ros_msgs REQUIRED)
+find_package(depthai_bridge REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(stereo_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+find_package(foxglove_msgs REQUIRED)
+
+set(dependencies
+        camera_info_manager
+        cv_bridge
+        depthai_ros_msgs
+        depthai_bridge
+        rclcpp
+        sensor_msgs
+        stereo_msgs
+        std_msgs
+        vision_msgs
+        foxglove_msgs
 )
-target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
-target_include_directories(${PROJECT_NAME} PUBLIC
-        $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-        $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
-        )
-ament_target_dependencies(
-        ${PROJECT_NAME} PUBLIC
-        ${THIS_PACKAGE_INCLUDE_DEPENDS}
+
+include_directories(
+        include
+        ${ament_INCLUDE_DIRS}
 )
 
-# Parse version number from the file
-file(READ "version" version_input)
-string(REGEX MATCH "([0-9]+)\.([0-9]+)\.([0-9]+)" _ ${version_input})
+# Macro to add nodes
+macro(dai_add_node_ros2 node_name node_src)
+  add_executable("${node_name}" "${node_src}")
 
-# Fill version number into package.xml
-configure_file(
-        package.in.xml
-        ${CMAKE_CURRENT_SOURCE_DIR}/package.xml
-        @ONLY
-)
+  target_link_libraries("${node_name}"
+          depthai::core
+          opencv_imgproc
+          opencv_highgui)
 
-# INSTALL
-install(TARGETS
-        ${PROJECT_NAME}
-        DESTINATION lib/${PROJECT_NAME}
-        )
+  ament_target_dependencies("${node_name}"
+          ${dependencies})
 
-install(
-        DIRECTORY launch
-        DESTINATION share/${PROJECT_NAME}/
-)
+endmacro()
+
+# Add MobileNet Publisher Node
+dai_add_node_ros2(mobilenet_node src/mobilenet_publisher.cpp)
+
+target_compile_definitions(mobilenet_node PRIVATE BLOB_NAME="${mobilenet_blob_name}")
+
+# Add Video Decoder Node
+# dai_add_node_ros2(video_decoder_node src/video_decoder_node.cpp)
+
+if($ENV{ROS_DISTRO} STREQUAL "galactic")
+  target_compile_definitions(rgb_stereo_node PRIVATE IS_GALACTIC)
+endif()
+
+# Install parameters, resources, and launch files
+install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY resources DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch
+        FILES_MATCHING PATTERN "*.py")
+
+# Install targets
+install(TARGETS
+        mobilenet_node
+        # video_decoder_node
+        DESTINATION lib/${PROJECT_NAME})
 
 ament_package()

Doxyfile

@@ -32,7 +32,7 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "********** Project name **********"
+PROJECT_NAME           = "UMRT PoE Camera ROS Package"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version

README.md

@@ -1,5 +1,7 @@
-# UMRT ROS Template
-ROS project repository template for the University of Manitoba Robotics Team.
+# UMRT ROS PoE Camera
+ROS project repository for the ROS PoE Camera.
+
+TO BE UPDATED 
 
 New projects should be **forked** from this repo (not using this as a template, as that prevents template changes from
 trickling down). Each new project must:
@@ -16,10 +18,17 @@ trickling down). Each new project must:
 8. Write something in mainpage.dox
 9. Replace example files with real code, add source files to CMake targets, document it with Doxygen, and proceed
 
+TO DO:
+Check H265
+Update Doxyfile
+Update CMakeLists.txt to match the umrt-template-ros
+Removal of unecesary src files 
+Separating mobule_publisher.cpp to different cpp and hpp files
+
 ---
-# Project Name
+# UMRT ROS PoE Camera
 
-This library/executable/project implements XYZ functionality for the University of Manitoba Robotics Team's 
+This library/executable/project implements PoE Camera functionality for the University of Manitoba Robotics Team's 
 rover/robotic arm.
 
-[See the documentation](https://umroboticsteam.github.io/********** project-name **********/)
+[See the documentation](https://umroboticsteam.github.io/umrt-ros-poe-cam/)

launch/mobile_publisher.launch.py

@@ -0,0 +1,139 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription, launch_description_sources
+from launch.actions import IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+import launch_ros.actions
+import launch_ros.descriptions
+from launch_ros.parameter_descriptions import ParameterValue
+
+def generate_launch_description():
+    umrt_ros_poe_cam_path = get_package_share_directory('umrt_ros_poe_cam')
+    default_rviz = os.path.join(umrt_ros_poe_cam_path, 'rviz', 'pointCloud.rviz')
+    default_resources_path = os.path.join(umrt_ros_poe_cam_path, 'resources')
+
+    urdf_launch_dir = os.path.join(get_package_share_directory('depthai_descriptions'), 'launch')
+
+    camera_model     = LaunchConfiguration('camera_model',  default = 'OAK-D')
+    tf_prefix        = LaunchConfiguration('tf_prefix',   default = 'oak')
+    base_frame       = LaunchConfiguration('base_frame',    default = 'oak-d_frame')
+    parent_frame     = LaunchConfiguration('parent_frame',  default = 'oak-d-base-frame')
+    cam_pos_x        = LaunchConfiguration('cam_pos_x',     default = '0.0')
+    cam_pos_y        = LaunchConfiguration('cam_pos_y',     default = '0.0')
+    cam_pos_z        = LaunchConfiguration('cam_pos_z',     default = '0.0')
+    cam_roll         = LaunchConfiguration('cam_roll',      default = '0.0')
+    cam_pitch        = LaunchConfiguration('cam_pitch',     default = '0.0')
+    cam_yaw          = LaunchConfiguration('cam_yaw',       default = '0.0')
+
+    camera_param_uri   = LaunchConfiguration('camera_param_uri', default = 'package://umrt-ros-poe-cam/params/camera')
+    sync_nn            = LaunchConfiguration('sync_nn', default = True)
+    nnName            = LaunchConfiguration('nnName', default = "x")
+    resourceBaseFolder = LaunchConfiguration('resourceBaseFolder', default = default_resources_path)
+
+    declare_camera_model_cmd = DeclareLaunchArgument(
+        'camera_model',
+        default_value=camera_model,
+        description='The model of the camera. Using a wrong camera model can disable camera features. Valid models: `OAK-D, OAK-D-LITE`.')
+
+    declare_tf_prefix_cmd = DeclareLaunchArgument(
+        'tf_prefix',
+        default_value=tf_prefix,
+        description='The name of the camera. It can be different from the camera model and it will be used in naming TF.')
+
+    declare_base_frame_cmd = DeclareLaunchArgument(
+        'base_frame',
+        default_value=base_frame,
+        description='Name of the base link.')
+
+    declare_parent_frame_cmd = DeclareLaunchArgument(
+        'parent_frame',
+        default_value=parent_frame,
+        description='Name of the parent link from other a robot TF for example that can be connected to the base of the OAK.')
+
+    declare_pos_x_cmd = DeclareLaunchArgument(
+        'cam_pos_x',
+        default_value=cam_pos_x,
+        description='Position X of the camera with respect to the base frame.')
+
+    declare_pos_y_cmd = DeclareLaunchArgument(
+        'cam_pos_y',
+        default_value=cam_pos_y,
+        description='Position Y of the camera with respect to the base frame.')
+
+    declare_pos_z_cmd = DeclareLaunchArgument(
+        'cam_pos_z',
+        default_value=cam_pos_z,
+        description='Position Z of the camera with respect to the base frame.')
+
+    declare_roll_cmd = DeclareLaunchArgument(
+        'cam_roll',
+        default_value=cam_roll,
+        description='Roll orientation of the camera with respect to the base frame.')
+
+    declare_pitch_cmd = DeclareLaunchArgument(
+        'cam_pitch',
+        default_value=cam_pitch,
+        description='Pitch orientation of the camera with respect to the base frame.')
+
+    declare_yaw_cmd = DeclareLaunchArgument(
+        'cam_yaw',
+        default_value=cam_yaw,
+        description='Yaw orientation of the camera with respect to the base frame.')
+
+    declare_camera_param_uri_cmd = DeclareLaunchArgument(
+        'camera_param_uri',
+        default_value=camera_param_uri,
+        description='Sending camera yaml path')
+
+    declare_sync_nn_cmd = DeclareLaunchArgument(
+        'sync_nn',
+        default_value=sync_nn,
+        description='Syncs the image output with the Detection.')
+
+    declare_nnName_cmd = DeclareLaunchArgument(
+        'nnName',
+        default_value=nnName,
+        description='Path to the object detection blob needed for detection')
+
+    declare_resourceBaseFolder_cmd = DeclareLaunchArgument(
+        'resourceBaseFolder',
+        default_value=resourceBaseFolder,
+        description='Path to the resources folder which contains the default blobs for the network')
+
+    mobilenet_node = launch_ros.actions.Node(
+        package='umrt_ros_poe_cam', executable='mobilenet_node',
+        output='screen',
+        parameters=[{'tf_prefix': 'oak'},
+                    {'camera_param_uri': camera_param_uri},
+                    {'sync_nn': sync_nn},
+                    {'nnName': nnName},
+                    {'resourceBaseFolder': resourceBaseFolder}])
+    rviz_node = launch_ros.actions.Node(
+        package='rviz2', executable='rviz2', output='screen',
+        arguments=['--display-config', default_rviz])
+
+    ld = LaunchDescription()
+    ld.add_action(declare_tf_prefix_cmd)
+    ld.add_action(declare_camera_model_cmd)
+    ld.add_action(declare_base_frame_cmd)
+    ld.add_action(declare_parent_frame_cmd)
+    ld.add_action(declare_pos_x_cmd)
+    ld.add_action(declare_pos_y_cmd)
+    ld.add_action(declare_pos_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+    ld.add_action(declare_camera_param_uri_cmd)
+    ld.add_action(declare_sync_nn_cmd)
+    ld.add_action(declare_nnName_cmd)
+    ld.add_action(declare_resourceBaseFolder_cmd)
+    ld.add_action(mobilenet_node)
+
+    # ld.add_action(urdf_launch)
+    # ld.add_action(metric_converter_node)
+    # ld.add_action(point_cloud_node)
+    # ld.add_action(rviz_node)
+
+    return ld

nodelet_plugins.xml

@@ -0,0 +1,7 @@
+<library path="lib/libnodelet_stereo">
+  <class name="depthai_examples/StereoNodelet" type="depthai_examples::StereoNodelet" base_class_type="nodelet::Nodelet">
+  <description>
+  This is stereo publishing nodelet.
+  </description>
+  </class>
+</library>

package.in.xml

@@ -1,9 +1,9 @@
 <?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>********** Fill in project name **********</name>
+  <name>umrt_ros_poe_cam</name>
   <version>@version_input@</version> <!-- Version number parsed from version file, replaced here by CMake -->
-  <description>********** Fill in project description **********</description>
+  <description>UMRT PoE Camera ROS Package</description>
   <maintainer email="***** email *****">***** First Last *****</maintainer>
   <license>MPL-2.0</license>
 
@@ -15,6 +15,26 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <!-- Package dependencies -->
+  <depend>cv_bridge</depend>
+  <depend>camera_info_manager</depend>
+  <depend>depthai</depend>
+  <depend>depthai_ros_msgs</depend>
+  <depend>depthai_bridge</depend>
+  <depend>depthai_descriptions</depend>
+  <depend>image_transport</depend>
+  <depend>libopencv-dev</depend>
+  <depend>ros_environment</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>stereo_msgs</depend>
+  <depend>vision_msgs</depend>
+
+  <!-- Execution dependencies -->
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>depth_image_proc</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>