Merge pull request #32 from UBCAgroBot/feature/25-mvp-integration

Feature/25 mvp integration

workspace_python/.gitignore

@@ -0,0 +1,3 @@
+/build/
+/install/
+/log/

workspace_python/ros2_ws/.gitignore

@@ -1,4 +1,7 @@
-build/
-install/
-log/
-*.onnx
+build/
+install/
+log/
+datasets/
+
+*.onnx
+*.pt

workspace_python/ros2_ws/src/custom_interfaces/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(custom_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/ImageInput.msg"
+  "msg/InferenceOutput.msg"
+  "srv/GetOriginalImage.srv"
+  DEPENDENCIES sensor_msgs
+
+ )
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

workspace_python/ros2_ws/src/custom_interfaces/README.md

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+
+# Custom Interfaces in ROS2
+
+This interface uses the ROS2 tutorial on custom interfaces:
+[ROS2 Custom Interfaces Tutorial](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html)
+
+Instructions to use the custom message or services can be found here:
+[ROS2 Custom Interfaces Tutorial](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html)
+
+
+Custom message
+type name description
+x-velocity int64 x-velocity of the camera
+b-box int64 array array of bounding boxes
+
+
+
+## Re building the custom message interface
+```sh
+colcon build --packages-select custom_interfaces
+```
+
+## Fun ROS2 Commands
+
+### Show All Messages and Services
+Use the `-m` flag to show only messages:
+```sh
+ros2 interface list
+```
+
+### Show Message and Service Definitions
+```sh
+ros2 interface show custom_interfaces/msg/Custom
+```
+
+### Topic Commands
+```sh
+### Topic Commands
+List all active topics:
+```sh
+ros2 topic list
+```
+
+Show information about a specific topic:
+```sh
+ros2 topic info /topic_name
+```
+
+Echo messages from a specific topic:
+```sh
+ros2 topic echo /topic_name
+```
+
+### Troubleshooting
+If you get "the message type `custom_interface/msg/Custom` is invalid", source the ROS2 install/setup.bash and try to run the commands again.

workspace_python/ros2_ws/src/custom_interfaces/msg/ImageInput.msg

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+std_msgs/Header header
+sensor_msgs/Image raw_image
+float32 velocity
+sensor_msgs/Image preprocessed_image

workspace_python/ros2_ws/src/custom_interfaces/msg/InferenceOutput.msg

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+std_msgs/Header header #header should have the ID
+int64 num_boxes
+std_msgs/Float32MultiArray bounding_boxes
+std_msgs/Float32MultiArray confidences
+sensor_msgs/Image raw_image
+float32 velocity
+sensor_msgs/Image preprocessed_image

workspace_python/ros2_ws/src/custom_interfaces/package.xml

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+<?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>custom_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">valery</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

workspace_python/ros2_ws/src/custom_interfaces/srv/GetOriginalImage.srv

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+string image_id # to make sure the image is correctly received
+---
+sensor_msgs/Image original_image
+float32 velocity

workspace_python/ros2_ws/src/python_workspace/README.md

@@ -1,6 +1,82 @@
-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]
-
-ros2 run python_workspace jetson_node
-
-ros2 run python_workspace extermination_node
+
+### 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
+
+

workspace_python/ros2_ws/src/python_workspace/package.xml

@@ -22,6 +22,8 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
+  <exec_depend>custom_interfaces</exec_depend>
+
   <export>
     <build_type>ament_python</build_type>
   </export>