RoboRally/remote_control/position_controller.py

169 lines
5.1 KiB
Python

# startup:
# roscore
# rosrun cv_camera cv_camera_node
import sys
import rospy
import pygame
import numpy as np
import cv2
import cv2.aruco as aruco
import socket
from sensor_msgs.msg import Image
from sensor_msgs.msg import CompressedImage
from cv_bridge import CvBridge, CvBridgeError
pygame.init()
pygame.font.init()
#pygame.joystick.init()
myfont = pygame.font.SysFont('Comic Sans MS', 30)
pygame.display.set_caption("ROS camera stream on Pygame")
screenheight = 480
screenwidth = 640 #4*screenheight//3
screen = pygame.display.set_mode([screenwidth, screenheight])
red = (255, 0, 0)
teal = (0, 255, 255)
# ros setup
camera_stream = "/cv_camera/image_raw"
#camera_stream = "/image_raw"
compression = False
class Robot:
def __init__(self, id, ip=None):
self.pos = None
self.id = id
self.ip = None
class RemoteController:
def __init__(self):
self.cam = cv2.VideoCapture(2)
#self.image_pub = rospy.Publisher("pygame_image", Image)
#self.bridge = CvBridge()
#if compression:
# self.image_sub = rospy.Subscriber(camera_stream + "/compressed", CompressedImage, self.callback)
#else:
# self.image_sub = rospy.Subscriber(camera_stream, Image, self.callback)
#self.cv_image = np.zeros((1, 1, 3), np.uint8)
self.robots = [Robot(1), Robot(2), Robot(512)]
screen.fill([0, 0, 0])
self.aruco_dict = aruco.Dictionary_get(aruco.DICT_ARUCO_ORIGINAL)
self.parameters = aruco.DetectorParameters_create()
self.rc_socket = socket.socket()
try:
pass
self.rc_socket.connect(('192.168.4.1', 1234)) # connect to robot
except socket.error:
print("could not connect to socket")
def callback(self, data):
try:
if compression:
self.cv_image = self.bridge.compressed_imgmsg_to_cv2(data)
else:
self.cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
#self.cv_image_small = np.fliplr(self.cv_image_small) # why is this necessary?
# marker detection
#gray = cv2.cvtColor(self.cv_image, cv2.COLOR_BGR2GRAY)
#print("robot {} pos = {}".format(r.id, r.pos))
def capture(self):
ret_val, self.cv_image = self.cam.read()
corners, ids, rejectedImgPoints = aruco.detectMarkers(self.cv_image, self.aruco_dict, parameters=self.parameters)
rvec, tvec, _ = aruco.estimatePoseSingleMarkers(corners[0], 0.05, mtx, dist)
marker_found = len(corners) > 0
if marker_found:
for i in range(len(corners)):
#print("id = {}".format(ids[i]))
pos = np.mean(corners[i][0], axis=0)
for r in self.robots:
if r.id == ids[i]:
pos_flipped = (self.cv_image.shape[1] - int(pos[0]), int(pos[1]))
r.pos = pos_flipped
def show_display(self):
while True:
self.capture()
# show ros camera image on the pygame screen
#image = cv2.resize(self.cv_image,(screenwidth,screenheight))
frame = cv2.cvtColor(self.cv_image, cv2.COLOR_BGR2RGB)
frame = np.rot90(frame)
frame = pygame.surfarray.make_surface(frame)
screen.blit(frame, (0, 0))
# plot robot positions
for r in self.robots:
if r.pos is not None:
#print("drawing at {}".format(r.pos))
pygame.draw.circle(screen, (255, 0, 0), r.pos, 10)
pygame.display.update()
events = pygame.event.get()
for event in events:
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LEFT:
u1 = 1.0
u2 = -1.0
#print("turn left: ({},{})".format(u1, u2))
elif event.key == pygame.K_RIGHT:
u1 = -1.0
u2 = 1.0
#print("turn right: ({},{})".format(u1, u2))
elif event.key == pygame.K_UP:
u1 = -1.0
u2 = -1.0
#print("forward: ({},{})".format(u1, u2))
elif event.key == pygame.K_DOWN:
u1 = 1.0
u2 = 1.0
#print("forward: ({},{})".format(u1, u2))
self.rc_socket.send('({},{})\n'.format(u1, u2))
elif event.type == pygame.KEYUP:
u1 = 0
u2 = 0
#print("key released, resetting: ({},{})".format(u1, u2))
self.rc_socket.send('({},{})\n'.format(u1, u2))
def main(args):
rospy.init_node('controller_node', anonymous=True)
rc = RemoteController()
pygame.init()
pygame.display.set_mode((640, 480))
rc.show_display()
#game.loop()
# try:
# rospy.spin()
# except KeyboardInterrupt:
# print("Shutting down")
# cv2.destroyAllWindows()
if __name__ == '__main__':
main(sys.argv)