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hilary-luohilary-luo
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Initial vision tutorial for driving using gestures
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‎turtlebot4_vision_tutorials/config/ffmpeg.yaml

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ffmpeg_encoder:
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ros__parameters:
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ffmpeg_image_transport:
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qmax: 24
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preset: ultrafast
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tune: zerolatency
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bit_rate: 800000
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gop_size: 6

‎turtlebot4_vision_tutorials/launch/pose_detection.launch.py

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#!/usr/bin/env python3
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# Copyright 2024 Clearpath Robotics, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# @author Hilary Luo ([email protected])
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# from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions.declare_launch_argument import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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namespace = LaunchConfiguration('namespace')
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# ffmpeg_param_file = LaunchConfiguration('ffmpeg_param_file')
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# turtlebot4_vision_tutorials = get_package_share_directory('turtlebot4_vision_tutorials')
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# arg_parameters = DeclareLaunchArgument(
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# 'ffmpeg_param_file',
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# default_value=PathJoinSubstitution(
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# [turtlebot4_vision_tutorials, 'config', 'ffmpeg.yaml']),
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# description='Turtlebot4 ffmpeg compression param file'
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# )
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arg_namespace = DeclareLaunchArgument(
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'namespace',
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default_value='')
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# parameters = RewrittenYaml(
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# source_file=ffmpeg_param_file,
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# root_key=namespace,
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# param_rewrites={},
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# convert_types=True)
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ffmpeg_node = Node(
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package='turtlebot4_vision_tutorials',
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executable='pose_detection',
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namespace=namespace,
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name='pose_detection',
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# parameters=[parameters],
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)
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ld = LaunchDescription()
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# ld.add_action(arg_parameters)
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ld.add_action(arg_namespace)
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ld.add_action(ffmpeg_node)
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return ld

‎turtlebot4_vision_tutorials/launch/video_compression.launch.py

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#!/usr/bin/env python3
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# Copyright 2024 Clearpath Robotics, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# @author Hilary Luo ([email protected])
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions.declare_launch_argument import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from nav2_common.launch import RewrittenYaml
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def generate_launch_description():
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namespace = LaunchConfiguration('namespace')
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ffmpeg_param_file = LaunchConfiguration('ffmpeg_param_file')
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turtlebot4_vision_tutorials = get_package_share_directory('turtlebot4_vision_tutorials')
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arg_parameters = DeclareLaunchArgument(
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'ffmpeg_param_file',
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default_value=PathJoinSubstitution(
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[turtlebot4_vision_tutorials, 'config', 'ffmpeg.yaml']),
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description='Turtlebot4 ffmpeg compression param file'
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)
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arg_namespace = DeclareLaunchArgument(
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'namespace',
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default_value='')
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parameters = RewrittenYaml(
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source_file=ffmpeg_param_file,
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root_key=namespace,
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param_rewrites={},
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convert_types=True)
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ffmpeg_node = Node(
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package='image_transport',
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executable='republish',
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namespace=namespace,
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name='ffmpeg_encoder',
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remappings=[
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('in', "oakd/rgb/preview/image_raw"),
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('out/ffmpeg', "oakd/rgb/preview/encoded/ffmpeg"),
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],
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arguments=['raw', 'ffmpeg'],
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parameters=[parameters],
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)
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ld = LaunchDescription()
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ld.add_action(arg_parameters)
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ld.add_action(arg_namespace)
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ld.add_action(ffmpeg_node)
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return ld

‎turtlebot4_vision_tutorials/launch/video_decode.launch.py

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#!/usr/bin/env python3
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# Copyright 2024 Clearpath Robotics, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# @author Hilary Luo ([email protected])
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from launch import LaunchDescription
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from launch.actions.declare_launch_argument import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def generate_launch_description():
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namespace = LaunchConfiguration('namespace')
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arg_namespace = DeclareLaunchArgument(
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'namespace',
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default_value='')
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parameters = {
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"/cpr_donatello/ffmpeg_decoder": {
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"ros__parameters": {
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"qos_overrides": {
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"/cpr_donatello/oakd/rgb/preview/encoded/ffmpeg": {
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"subscriber": {
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"reliability": "best_effort",
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"depth": 10,
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"history": "keep_last"
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}
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}
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}
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}
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}
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}
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ffmpeg_node = Node(
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package='image_transport',
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executable='republish',
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namespace=namespace,
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name='ffmpeg_decoder',
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remappings=[
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('in/ffmpeg', "oakd/rgb/preview/encoded/ffmpeg"),
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('out', "oakd/rgb/preview/ffmpeg_decoded"),
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],
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arguments=['ffmpeg', 'raw'],
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parameters=[parameters],
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)
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ld = LaunchDescription()
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ld.add_action(arg_namespace)
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ld.add_action(ffmpeg_node)
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return ld

‎turtlebot4_vision_tutorials/models/movenet_singlepose_lightning_U8_transpose.blob

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‎turtlebot4_vision_tutorials/models/movenet_singlepose_thunder_U8_transpose.blob

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‎turtlebot4_vision_tutorials/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>turtlebot4_vision_tutorials</name>
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<version>0.0.0</version>
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<description>TurtleBot Vision Tutorials</description>
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<maintainer email="[email protected]">Hilary Luo</maintainer>
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<license>Apache 2.0</license>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<exec_depend>cv_bridge</exec_depend>
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<exec_depend>depthai</exec_depend>
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<exec_depend>ffmpeg_image_transport</exec_depend>
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<exec_depend>irobot_create_msgs</exec_depend>
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<exec_depend>rclpy</exec_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>

‎turtlebot4_vision_tutorials/resource/turtlebot4_vision_tutorials

Whitespace-only changes.

‎turtlebot4_vision_tutorials/setup.cfg

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[develop]
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script_dir=$base/lib/turtlebot4_vision_tutorials
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[install]
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install_scripts=$base/lib/turtlebot4_vision_tutorials

‎turtlebot4_vision_tutorials/setup.py

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from glob import glob
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import os
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from setuptools import setup
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package_name = 'turtlebot4_vision_tutorials'
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setup(
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name=package_name,
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version='0.0.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name, 'models'), glob('models/*.blob')),
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(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
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(os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='hilary-luo',
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maintainer_email='[email protected]',
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description='TurtleBot 4 Vision Tutorials',
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license='Apache 2.0',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'pose_detection = turtlebot4_vision_tutorials.pose_detection:main',
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'pose_display = turtlebot4_vision_tutorials.pose_display:main',
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],
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},
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)

‎turtlebot4_vision_tutorials/test/test_copyright.py

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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_copyright.main import main
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import pytest
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@pytest.mark.copyright
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@pytest.mark.linter
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def test_copyright():
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rc = main(argv=['.', 'test'])
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assert rc == 0, 'Found errors'

‎turtlebot4_vision_tutorials/test/test_flake8.py

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# Copyright 2017 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_flake8.main import main_with_errors
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import pytest
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@pytest.mark.flake8
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@pytest.mark.linter
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def test_flake8():
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rc, errors = main_with_errors(argv=[])
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assert rc == 0, \
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'Found %d code style errors / warnings:\n' % len(errors) + \
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'\n'.join(errors)

‎turtlebot4_vision_tutorials/test/test_pep257.py

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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_pep257.main import main
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import pytest
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@pytest.mark.linter
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@pytest.mark.pep257
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def test_pep257():
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rc = main(argv=['.', 'test'])
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assert rc == 0, 'Found code style errors / warnings'

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