From 3b364fd9b332ce50a38edaa831501970daf39961 Mon Sep 17 00:00:00 2001 From: spirkelmann Date: Thu, 8 Aug 2019 18:55:19 +0200 Subject: [PATCH] added ROS package for fiducial position transformation --- .../src/fiducial_transform/CMakeLists.txt | 206 ++++++++++++++++++ .../bin/fiducial_transform_script | 7 + .../fiducial_transform/msg/id_pos_angle.msg | 4 + .../src/fiducial_transform/package.xml | 70 ++++++ .../src/fiducial_transform/setup.py | 12 + .../src/fiducial_transform/__init__.py | 0 .../fiducial_to_2d_pos_angle.py | 37 ++++ 7 files changed, 336 insertions(+) create mode 100644 fiducial_transform/src/fiducial_transform/CMakeLists.txt create mode 100755 fiducial_transform/src/fiducial_transform/bin/fiducial_transform_script create mode 100644 fiducial_transform/src/fiducial_transform/msg/id_pos_angle.msg create mode 100644 fiducial_transform/src/fiducial_transform/package.xml create mode 100644 fiducial_transform/src/fiducial_transform/setup.py create mode 100644 fiducial_transform/src/fiducial_transform/src/fiducial_transform/__init__.py create mode 100644 fiducial_transform/src/fiducial_transform/src/fiducial_transform/fiducial_to_2d_pos_angle.py diff --git a/fiducial_transform/src/fiducial_transform/CMakeLists.txt b/fiducial_transform/src/fiducial_transform/CMakeLists.txt new file mode 100644 index 0000000..07cce07 --- /dev/null +++ b/fiducial_transform/src/fiducial_transform/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 2.8.3) +project(fiducial_transform) + +## 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 + roscpp + rospy + std_msgs + message_generation +) + +## 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 + id_pos_angle.msg +# 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 + 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 fiducial_transform +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib + CATKIN_DEPENDS message_runtime +) + +########### +## 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/${PROJECT_NAME}/fiducial_transform.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/fiducial_transform_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 +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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} +# ) + +catkin_install_python(PROGRAMS bin/fiducial_transform_script + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_fiducial_transform.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/fiducial_transform/src/fiducial_transform/bin/fiducial_transform_script b/fiducial_transform/src/fiducial_transform/bin/fiducial_transform_script new file mode 100755 index 0000000..c7ce963 --- /dev/null +++ b/fiducial_transform/src/fiducial_transform/bin/fiducial_transform_script @@ -0,0 +1,7 @@ +#!/usr/bin/env python +from fiducial_transform.fiducial_to_2d_pos_angle import main +import sys + +if __name__ == '__main__': + main(sys.argv) + diff --git a/fiducial_transform/src/fiducial_transform/msg/id_pos_angle.msg b/fiducial_transform/src/fiducial_transform/msg/id_pos_angle.msg new file mode 100644 index 0000000..31af1a0 --- /dev/null +++ b/fiducial_transform/src/fiducial_transform/msg/id_pos_angle.msg @@ -0,0 +1,4 @@ +int32 id +float32 x +float32 y +float32 angle diff --git a/fiducial_transform/src/fiducial_transform/package.xml b/fiducial_transform/src/fiducial_transform/package.xml new file mode 100644 index 0000000..8d318a6 --- /dev/null +++ b/fiducial_transform/src/fiducial_transform/package.xml @@ -0,0 +1,70 @@ + + + fiducial_transform + 0.0.0 + This package provides a script that transforms 3D position and orientation information from detected fiducial markers to 2D positions in the x-y-plane and orientation expressed as yaw angle (rotation around z axis). In addition, the id of the detected marker is published. + + + + + spirkelmann + + + + + + MIT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + message_generation + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + message_runtime + + + + + + + + diff --git a/fiducial_transform/src/fiducial_transform/setup.py b/fiducial_transform/src/fiducial_transform/setup.py new file mode 100644 index 0000000..d80ea37 --- /dev/null +++ b/fiducial_transform/src/fiducial_transform/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['fiducial_transform'], + package_dir={'': 'src'}, + ) + +setup(**setup_args) diff --git a/fiducial_transform/src/fiducial_transform/src/fiducial_transform/__init__.py b/fiducial_transform/src/fiducial_transform/src/fiducial_transform/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/fiducial_transform/src/fiducial_transform/src/fiducial_transform/fiducial_to_2d_pos_angle.py b/fiducial_transform/src/fiducial_transform/src/fiducial_transform/fiducial_to_2d_pos_angle.py new file mode 100644 index 0000000..3a3c10c --- /dev/null +++ b/fiducial_transform/src/fiducial_transform/src/fiducial_transform/fiducial_to_2d_pos_angle.py @@ -0,0 +1,37 @@ +import sys +import rospy + +from marker_pos_angle.msg import id_pos_angle +from fiducial_msgs.msg import FiducialTransformArray +from tf.transformations import euler_from_quaternion + +pub = rospy.Publisher('marker_id_pos_angle', id_pos_angle, queue_size=10) +''' +This callback function listens to fiducial messages that describe the translation and rotation of markers w.r.t. to the camera and transforms them to a position in the 2d plane and the angle of the robot in the plane +''' +def callback(data): + for d in data.transforms: + id = d.fiducial_id + + q = d.transform.rotation + t = d.transform.translation + + euler = euler_from_quaternion([q.x, q.y, q.z, q.w]) + + m = id_pos_angle() + m.id = id + m.x = t.x + m.y = -t.y + m.angle = -euler[2] + + pub.publish(m) + +def main(args): + rospy.init_node('euler_quaternion_node', anonymous=True) + + quaternion_sub = rospy.Subscriber("/fiducial_transforms", FiducialTransformArray, callback) + + rospy.spin() + +if __name__ == '__main__': + main(sys.argv)