organized python directory and launch cfg

Python Folder/src/python_workspace/launch/launch.py

@@ -0,0 +1,251 @@
+# document launch parameters
+
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'model_path',
+            default_value='/default/path/to/model.trt',
+            description='Path to the TensorRT engine file'
+        ),
+        DeclareLaunchArgument(
+            'source_type',
+            default_value='static_image',
+            description='Type of source: static_image, video, zed'
+        ),
+        DeclareLaunchArgument(
+            'static_image_path',
+            default_value='/path/to/static/image.jpg',
+            description='Path to the static image file'
+        ),
+        DeclareLaunchArgument(
+            'video_path',
+            default_value='/path/to/video.mp4',
+            description='Path to the video file'
+        ),
+        DeclareLaunchArgument(
+            'loop',
+            default_value='-1',
+            description='Number of times to loop the video (-1 for infinite, 0 for 1 loop, >0 for # of loops )'
+        ),
+        DeclareLaunchArgument(
+            'frame_rate',
+            default_value='30',
+            description='Desired frame rate for publishing'
+        ),
+        DeclareLaunchArgument(
+            'model_type',
+            default_value='maize',
+            description='The model architecture being used'
+        ),
+        DeclareLaunchArgument(
+            'use_display_node',
+            default_value='True',
+            description='Whether to launch cv2 display screens'
+        ),
+        DeclareLaunchArgument(
+            'lower_range',
+            default_value='[78, 158, 124]',
+            description='Lower HSV range for color filtering'
+        ),
+        DeclareLaunchArgument(
+            'upper_range',
+            default_value='[60, 255, 255]',
+            description='The model architecture being used'
+        ),
+        DeclareLaunchArgument(
+            'min_area',
+            default_value='100',
+            description='The minimum area for a contour to be considered'
+        ),
+        DeclareLaunchArgument(
+            'min_confidence',
+            default_value='0.5',
+            description='The minimum confidence for a detection to be considered'
+        ),
+        DeclareLaunchArgument(
+            'roi_list',
+            default_value='[0,0,100,100]',
+            description='The region of interest for the camera'
+        ),
+        DeclareLaunchArgument(
+            'publish_rate',
+            default_value='10',
+            description='The rate at which to publish the bounding boxes'
+        ),
+        # example to toggle nodes on/off
+        # DeclareLaunchArgument(
+        #     'use_display_node',
+        #     default_value='true',
+        #     description='Whether to launch the display node'
+        # ),
+        Node(
+            package='python_workspace',
+            executable='camera_node', # not sure if should match setup.py
+            name='camera_node',
+            output='screen', # idk what this does
+            parameters=[
+                {'source_type': LaunchConfiguration('source_type')},
+                {'static_image_path': LaunchConfiguration('static_image_path')},
+                {'video_path': LaunchConfiguration('video_path')},
+                {'loop': LaunchConfiguration('loop')},
+                {'frame_rate': LaunchConfiguration('frame_rate')},
+                {'model_type': LaunchConfiguration('model_type')},
+            ]
+        ),
+        Node(
+            package='python_workspace',
+            executable='jetson_node',
+            name='jetson_node',
+            output='screen',
+            parameters=[{'model_path': LaunchConfiguration('model_path')}],
+        ),
+        Node(
+            package='python_workspace',
+            executable='extermination',
+            name='extermination_node',
+            output='screen',
+            # condition=IfCondition(LaunchConfiguration('use_display_node'))
+            parameters=[
+                {'use_display_node': LaunchConfiguration('use_display_node')},
+                {'lower_range': LaunchConfiguration('lower_range')},
+                {'upper_range': LaunchConfiguration('upper_range')},
+                {'min_area': LaunchConfiguration('min_area')},
+                {'min_confidence': LaunchConfiguration('min_confidence')},
+                {'roi_list': LaunchConfiguration('roi_list')},
+                {'publish_rate': LaunchConfiguration('publish_rate')},
+            ]
+        ),
+    ])
+
+# ## for composable:
+# # example_launch.py
+# from launch import LaunchDescription
+# from launch_ros.actions import LifecycleNode
+# from launch_ros.actions import ComposableNodeContainer
+# from launch_ros.descriptions import ComposableNode
+
+# def generate_launch_description():
+#     container = ComposableNodeContainer(
+#         name='my_container',
+#         namespace='',
+#         package='rclcpp_components',
+#         executable='component_container_mt',
+#         composable_node_descriptions=[
+#             ComposableNode(
+#                 package='my_package',
+#                 plugin='mypackage.ComposablePublisherNode',
+#                 name='composable_publisher_node'
+#             ),
+#         ],
+#         output='screen',
+#     )
+
+#     lifecycle_manager = LifecycleNode(
+#         package='my_package',
+#         executable='lifecycle_node',
+#         name='lifecycle_manager_node',
+#         namespace='',
+#         output='screen',
+#     )
+
+#     return LaunchDescription([
+#         container,
+#         lifecycle_manager
+#     ])
+
+# ## parameter handling:
+# from launch import LaunchDescription
+# from launch_ros.actions import LifecycleNode
+# from launch_ros.actions import ComposableNodeContainer
+# from launch_ros.descriptions import ComposableNode
+# from launch.actions import LogInfo, EmitEvent
+# from launch.events.lifecycle import ChangeState
+# from lifecycle_msgs.msg import Transition
+
+# def generate_launch_description():
+#     # Define parameters to pass to the composable node
+#     composable_params = {
+#         'message': 'This is a custom message from launch!',
+#         'publish_frequency': 1.0
+#     }
+
+#     container = ComposableNodeContainer(
+#         name='my_container',
+#         namespace='',
+#         package='rclcpp_components',
+#         executable='component_container_mt',
+#         composable_node_descriptions=[
+#             ComposableNode(
+#                 package='my_package',
+#                 plugin='mypackage.ComposablePublisherNode',
+#                 name='composable_publisher_node',
+#                 parameters=[composable_params]
+#             ),
+#             ComposableNode(
+#                 package='my_package',
+#                 plugin='mypackage.ComposablePublisherNode',
+#                 name='additional_publisher_node',
+#                 parameters=[{'message': 'This is the second node!', 'publish_frequency': 2.5}]
+#             )
+#         ],
+#         output='screen',
+#     )
+
+#     lifecycle_manager = LifecycleNode(
+#         package='my_package',
+#         executable='lifecycle_node',
+#         name='lifecycle_manager_node',
+#         namespace='',
+#         output='screen',
+#         parameters=[{'lifecycle_action': 'configure'}]
+#     )
+
+#     # Manually trigger lifecycle transitions after nodes are up
+#     configure_event = EmitEvent(
+#         event=ChangeState(
+#             lifecycle_node_matcher=launch.events.matches_action(lifecycle_manager),
+#             transition_id=Transition.TRANSITION_CONFIGURE
+#         )
+#     )
+
+#     activate_event = EmitEvent(
+#         event=ChangeState(
+#             lifecycle_node_matcher=launch.events.matches_action(lifecycle_manager),
+#             transition_id=Transition.TRANSITION_ACTIVATE
+#         )
+#     )
+
+#     deactivate_event = EmitEvent(
+#         event=ChangeState(
+#             lifecycle_node_matcher=launch.events.matches_action(lifecycle_manager),
+#             transition_id=Transition.TRANSITION_DEACTIVATE
+#         )
+#     )
+
+#     shutdown_event = EmitEvent(
+#         event=ChangeState(
+#             lifecycle_node_matcher=launch.events.matches_action(lifecycle_manager),
+#             transition_id=Transition.TRANSITION_SHUTDOWN
+#         )
+#     )
+
+#     return LaunchDescription([
+#         LogInfo(msg="Starting the container and lifecycle manager..."),
+#         container,
+#         lifecycle_manager,
+#         LogInfo(msg="Configuring the lifecycle node..."),
+#         configure_event,
+#         LogInfo(msg="Activating the lifecycle node..."),
+#         activate_event,
+#         LogInfo(msg="Deactivating the lifecycle node..."),
+#         deactivate_event,
+#         LogInfo(msg="Shutting down the lifecycle node..."),
+#         shutdown_event,
+#     ])

Python Folder/src/python_workspace/package.xml

@@ -0,0 +1,32 @@
+<?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>node_test</name>
+  <version>0.0.1</version>
+  <description>ROS2 Pure Python MVP</description>
+  <maintainer email="[email protected]">Ishaan Datta</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>cv_bridge</depend>
+  <exec_depend>numpy</depend>
+  <exec_depend>opencv-python</depend>
+  <exec_depend>pycuda</depend>
+  <exec_depend>tensorrt</depend>
+
+  <!-- <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend> -->
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>