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#35 Renaming the python package
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@aqil18
aqil18 committed Nov 27, 2024
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208 changes: 104 additions & 104 deletions ros2_ws/src/python_workspace/README.md → ros2_ws/src/python_package/README.md
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### List of Nodes

| Node Type | Subscribes To | Publishes To | Example command |
|-------------------|----------------|-----------------------------------|------|
| Picture Node | - | `/input_image` | `ros2 run python_workspace picture_node --ros-args -p static_image_path:='./../assets/maize' -p loop:=-1 -p frame_rate:=1`|
| Inference Node | `/input_image` | -`/inference_out` <br> - `/output_img` | `ros2 run python_workspace inference_node --ros-args -p weights_path:='../models/maize/Maize.pt'`|
| Extermination Node | `/inference_out` | external binary | `ros2 run python_workspace extermination_node`|


### List of Topics and Data Types

| Topic Name | Description | Data Type |
|-----------------------------|--------------------------------------|--------------------|
| `/input_image` | custom msg that sends raw image, processed image and velocity | `custom_interface/msg/ImageInput`|
| `/inference_out` | custom msg that passes inference output and raw image to extermination node | `custom_interface/msg/InferenceOutput` |
| `/output_img` | Processed output image | `sensor_msgs/Image`|

### Other commands
#### Running the camera node:
`ros2 run python_workspace camera_node --ros-args -p static_image_path:='/home/user/Desktop/ROS/Models/Maize Model/sample_maize_images' -p loop:=-1 -p frame_rate:=10 -p model_dimensions:=[640,640]`

#### Running the jetson_node
ros2 run python_workspace jetson_node

#### Running the extermination node
```ros2 run python_workspace extermination_node```

Without any additional arguments, this will also show a window with the drawn bounding boxes.
To turn it off,
add the argument `--ros-args -p use_display_node:=false` to the command.
#### Running the picture node:
File paths are relative to the working directory

`ros2 run python_workspace picture_node --ros-args -p static_image_path:='./../assets/maize' -p loop:=-1 -p frame_rate:=1`

#### Running the inference node:

The path for weights (.pt) is relative to the ROS/workspace_python/ros2_ws directory.


```bash
ros2 run python_workspace inference_node --ros-args -p weights_path:='../models/maize/Maize.pt'
```

### Compiling new Changes
```bash
colcon build --packages-select custom_interface python_workspace
source install/setup.bash
```

### using RQT to view
#### Installing RQT on ROS 2 Humble

To install RQT and its plugins on ROS 2 Humble, use the following command:

```bash
sudo apt update
sudo apt install ~nros-humble-rqt*
```

This command will install RQT along with all available plugins for ROS 2 Humble.

#### Running RQT

To start RQT, simply run:

```bash
rqt
```

You can now use RQT to visualize and interact with various ROS topics and nodes.

To view the image topic :

1. go to plugins/visualization/image view. a new box will open up
2. click refresh topic
3. select the name of the image topic you want to see



## Testing the performance of the zed ros2 wrapper:

### using top:
ros2 node list
top -c -p $(pgrep -d',' -f name_of_command)


### using rqt:
install rqt with

`sudo apt install ros-humble-rqt*`
sudo apt install ros-${ROS_DISTRO}-rqt-top
to launch, just type `rqt` into the terminal


### visualizing the image topics
source: https://ros2jsguy.medium.com/4-data-visualization-using-ros-2-rviz2-pub-sub-communications-and-javascript-typescript-6e43cde75029




### looking at the rviz2 display
`ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2`

### List of Nodes

| Node Type | Subscribes To | Publishes To | Example command |
|-------------------|----------------|-----------------------------------|------|
| Picture Node | - | `/input_image` | `ros2 run python_workspace picture_node --ros-args -p static_image_path:='./../assets/maize' -p loop:=-1 -p frame_rate:=1`|
| Inference Node | `/input_image` | -`/inference_out` <br> - `/output_img` | `ros2 run python_workspace inference_node --ros-args -p weights_path:='../models/maize/Maize.pt'`|
| Extermination Node | `/inference_out` | external binary | `ros2 run python_workspace extermination_node`|


### List of Topics and Data Types

| Topic Name | Description | Data Type |
|-----------------------------|--------------------------------------|--------------------|
| `/input_image` | custom msg that sends raw image, processed image and velocity | `custom_interface/msg/ImageInput`|
| `/inference_out` | custom msg that passes inference output and raw image to extermination node | `custom_interface/msg/InferenceOutput` |
| `/output_img` | Processed output image | `sensor_msgs/Image`|

### Other commands
#### Running the camera node:
`ros2 run python_workspace camera_node --ros-args -p static_image_path:='/home/user/Desktop/ROS/Models/Maize Model/sample_maize_images' -p loop:=-1 -p frame_rate:=10 -p model_dimensions:=[640,640]`

#### Running the jetson_node
ros2 run python_workspace jetson_node

#### Running the extermination node
```ros2 run python_workspace extermination_node```

Without any additional arguments, this will also show a window with the drawn bounding boxes.
To turn it off,
add the argument `--ros-args -p use_display_node:=false` to the command.
#### Running the picture node:
File paths are relative to the working directory

`ros2 run python_workspace picture_node --ros-args -p static_image_path:='./../assets/maize' -p loop:=-1 -p frame_rate:=1`

#### Running the inference node:

The path for weights (.pt) is relative to the ROS/workspace_python/ros2_ws directory.


```bash
ros2 run python_workspace inference_node --ros-args -p weights_path:='../models/maize/Maize.pt'
```

### Compiling new Changes
```bash
colcon build --packages-select custom_interface python_workspace
source install/setup.bash
```

### using RQT to view
#### Installing RQT on ROS 2 Humble

To install RQT and its plugins on ROS 2 Humble, use the following command:

```bash
sudo apt update
sudo apt install ~nros-humble-rqt*
```

This command will install RQT along with all available plugins for ROS 2 Humble.

#### Running RQT

To start RQT, simply run:

```bash
rqt
```

You can now use RQT to visualize and interact with various ROS topics and nodes.

To view the image topic :

1. go to plugins/visualization/image view. a new box will open up
2. click refresh topic
3. select the name of the image topic you want to see



## Testing the performance of the zed ros2 wrapper:

### using top:
ros2 node list
top -c -p $(pgrep -d',' -f name_of_command)


### using rqt:
install rqt with

`sudo apt install ros-humble-rqt*`
sudo apt install ros-${ROS_DISTRO}-rqt-top
to launch, just type `rqt` into the terminal


### visualizing the image topics
source: https://ros2jsguy.medium.com/4-data-visualization-using-ros-2-rviz2-pub-sub-communications-and-javascript-typescript-6e43cde75029




### looking at the rviz2 display
`ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2`
0 ..._ws/src/python_workspace/launch/README.md → ros2_ws/src/python_package/launch/README.md
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106 changes: 53 additions & 53 deletions .../src/python_workspace/launch/debugging.py → ...ws/src/python_package/launch/debugging.py
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration

def generate_launch_description():
return LaunchDescription([
DeclareLaunchArgument('static_image_path', default_value='/home/user/ROS/assets/maize/IMG_1822_14.JPG',description='The path to the static image for CameraNode'),
DeclareLaunchArgument('loop', default_value='-1', description='0 = do not loop, >0 = # of loops, -1 = loop forever'),
DeclareLaunchArgument('frame_rate', default_value='30', description='Frame rate for CameraNode publishing'),
DeclareLaunchArgument('precision', default_value='fp32', description='Precision for the inference data input'),
DeclareLaunchArgument('weights_path', default_value='/home/user/ROS/models/maize/Maize.onnx', description='Path to the model weights file (must be absolute!)'),
DeclareLaunchArgument('camera_side', default_value='left', description='Side of the Zed Camera for inference'),
DeclareLaunchArgument('use_display_node', default_value='False', description='Toggle for using the display'),

# Picture Node
Node(
package='python_workspace',
executable='picture_node',
name='picture_node',
parameters=[
{'static_image_path': LaunchConfiguration('static_image_path')},
{'loop': LaunchConfiguration('loop')},
{'frame_rate': LaunchConfiguration('frame_rate')},
],
output='screen'
),

# Inference Node
Node(
package='python_workspace',
executable='inference_node',
name='inference_node',
parameters=[
{'weights_path': LaunchConfiguration('weights_path')},
{'precision': LaunchConfiguration('precision')},
{'camera_side': LaunchConfiguration('camera_side')}
],
output='screen'
),

# Extermination Node
Node(
package='python_workspace',
executable='extermination_node',
name='extermination_node',
parameters=[
{'use_display_node': LaunchConfiguration('use_display_node')},
{'camera_side': LaunchConfiguration('camera_side')}
],
output='screen'
),

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration

def generate_launch_description():
return LaunchDescription([
DeclareLaunchArgument('static_image_path', default_value='/home/user/ROS/assets/maize/IMG_1822_14.JPG',description='The path to the static image for CameraNode'),
DeclareLaunchArgument('loop', default_value='-1', description='0 = do not loop, >0 = # of loops, -1 = loop forever'),
DeclareLaunchArgument('frame_rate', default_value='30', description='Frame rate for CameraNode publishing'),
DeclareLaunchArgument('precision', default_value='fp32', description='Precision for the inference data input'),
DeclareLaunchArgument('weights_path', default_value='/home/user/ROS/models/maize/Maize.onnx', description='Path to the model weights file (must be absolute!)'),
DeclareLaunchArgument('camera_side', default_value='left', description='Side of the Zed Camera for inference'),
DeclareLaunchArgument('use_display_node', default_value='False', description='Toggle for using the display'),

# Picture Node
Node(
package='python_package',
executable='picture_node',
name='picture_node',
parameters=[
{'static_image_path': LaunchConfiguration('static_image_path')},
{'loop': LaunchConfiguration('loop')},
{'frame_rate': LaunchConfiguration('frame_rate')},
],
output='screen'
),

# Inference Node
Node(
package='python_package',
executable='inference_node',
name='inference_node',
parameters=[
{'weights_path': LaunchConfiguration('weights_path')},
{'precision': LaunchConfiguration('precision')},
{'camera_side': LaunchConfiguration('camera_side')}
],
output='screen'
),

# Extermination Node
Node(
package='python_package',
executable='extermination_node',
name='extermination_node',
parameters=[
{'use_display_node': LaunchConfiguration('use_display_node')},
{'camera_side': LaunchConfiguration('camera_side')}
],
output='screen'
),

])
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