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husmenhusmen
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MARC 2019 version
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‎deep_learning/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(deep_learning)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES deep_learning
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# CATKIN_DEPENDS roscpp rospy std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/deep_learning.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/deep_learning_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_deep_learning.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎deep_learning/package.xml

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<?xml version="1.0"?>
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<package>
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<name>deep_learning</name>
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<version>0.0.0</version>
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<description>The deep_learning package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
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<maintainer email="[email protected]">muhsinfatih</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/deep_learning</url> -->
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<!-- Author tags are optional, multiple are allowed, one per tag -->
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<!-- Authors do not have to be maintainers, but could be -->
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<!-- Example: -->
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<!-- <author email="[email protected]">Jane Doe</author> -->
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>std_msgs</build_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>rospy</run_depend>
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<run_depend>std_msgs</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎deep_learning/scripts/.model_new.json.swp

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‎deep_learning/scripts/.vscode/settings.json

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{
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"git.ignoreLimitWarning": true
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}

‎deep_learning/scripts/collect_data.py

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#!/usr/bin/python
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# -*- coding: utf-8 -*-
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import os
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import time
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import signal
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import threading
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# ROS Libraries
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import rospkg
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import sys
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import rospy
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from std_msgs.msg import Float64
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from sensor_msgs.msg import Image, CompressedImage
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from ackermann_msgs.msg import AckermannDriveStamped
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from sensor_msgs.msg import Joy
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# OpenCV & Numpy Libraries
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import cv2
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import numpy as np
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class seyir_logger:
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def __init__(self):
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self.debug = False
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self.resize = False
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self.rate = rospy.Rate(15)
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path = '/home/nvidia/data/'
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if not os.path.exists(path):
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os.makedirs(path)
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i = 1
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while True:
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dname = path+'%03d'%i
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if os.path.exists(dname):
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i += 1
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else:
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rospy.loginfo("directory: " + dname)
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os.makedirs(dname)
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break
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self.path = dname+'/'
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self.file_name_npy = self.path + '/training_data.npy'
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self.file_name_csv = self.path + '/training_data.csv'
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self.file_csv = file(self.file_name_csv, "w+")
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self.file_csv.write('FileName,Speed,Angle\n')
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self.index = 0
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self.training_data = np.array([0,0,0])
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self.speed = None
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self.angle = None
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self.record = None
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self.cv2_img = None
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self.zed_camera = rospy.Subscriber('/zed/right/image_rect_color/compressed', CompressedImage, self.zed_callback)
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self.sub = rospy.Subscriber('/ackermann_cmd', AckermannDriveStamped, self.drive_call, queue_size=1)
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self.joy = rospy.Subscriber('/joy', Joy, self.joy_callback)
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self.lock = threading.Lock()
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def joy_callback(self, data):
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if len(data.buttons)!=0 and data.buttons[5]!=0:
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self.record = True
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else:
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self.record = False
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def drive_call(self, data):
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if self.debug:
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rospy.loginfo(data)
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self.angle = data.drive.steering_angle
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self.speed = data.drive.speed
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def zed_callback(self,data):
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try:
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np_arr = np.fromstring(data.data, np.uint8)
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with self.lock:
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cv2_tmp = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
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if self.resize == True:
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self.cv2_img = cv2.resize(cv2_tmp,(640,360),interpolation=cv2.INTER_AREA)
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else:
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self.cv2_img = cv2_tmp
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except Exception as e:
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rospy.loginfo(e)
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def write(self):
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try:
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if self.cv2_img is None:
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rospy.loginfo('Camera could not be detected!')
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if self.speed is None:
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rospy.loginfo('Speed could not be detected!')
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if self.angle is None:
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rospy.loginfo('Angle could not be detected!')
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#if not self.cv2_img is None and not self.speed is None and not self.angle is None and self.record:
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if not self.cv2_img is None and not self.speed is None and not self.angle is None:
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fname = self.path+'%05d.jpg'%self.index
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line = '%05d.jpg'%self.index +','+ str(self.speed)+ ','+str(self.angle)+'\n'
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self.file_csv.write(line)
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with self.lock:
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cv2.imwrite(fname,self.cv2_img)
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rospy.loginfo('N: {} Speed: {} Angle: {}'.format(self.index, self.speed, self.angle))
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#generated_data = np.array(['%05d.jpg'%self.index,self.speed,self.angle])
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#self.training_data = np.vstack((self.training_data, generated_data))
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#np.save(self.file_name_npy, self.training_data)
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if self.debug:
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cv2.imshow('Image', self.cv2_img)
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k = cv2.waitKey(10)
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self.index += 1
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except Exception,e:
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rospy.loginfo(e)
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self.rate.sleep()
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def exit_gracefully(signal,frame):
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rospy.loginfo('Exiting, wait for it...')
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sys.exit(0)
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if __name__ == '__main__':
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rospy.init_node('collect_data')
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logger = seyir_logger()
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while not rospy.is_shutdown():
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signal.signal(signal.SIGINT, exit_gracefully)
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#logger.write()
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#if logger.speed != 0.0:
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if logger.record:
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logger.write()
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#else:
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# print("Not moving")
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rospy.spin()

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