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From: <tum...@li...> - 2012-11-26 04:17:52
|
Revision: 1012
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=1012&view=rev
Author: moesenle
Date: 2012-11-26 04:17:45 +0000 (Mon, 26 Nov 2012)
Log Message:
-----------
Removed perception/objects_of_daily_use_finder
git-commit
Removed Paths:
-------------
perception/objects_of_daily_use_finder/
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-08-27 22:20:46
|
Revision: 1010
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=1010&view=rev
Author: moesenle
Date: 2012-08-27 22:20:40 +0000 (Mon, 27 Aug 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Mon Aug 27 15:13:41 2012 -0700
commit 54c8ada27e640e1be245d07c62dbcd0d0d47db8b
Author: Dejan Pangercic <dej...@gm...>
Date: Mon Aug 27 15:13:00 2012 -0700
bugfix: corrupted launch file
commit 3f1472995cecee2c6e568289333743ef43b15608
Author: Dejan Pangercic <dej...@gm...>
Date: Mon Aug 27 15:02:14 2012 -0700
public export
git-commit
Modified Paths:
--------------
perception/objects_of_daily_use_finder/launch/recognize.launch
Modified: perception/objects_of_daily_use_finder/launch/recognize.launch
===================================================================
--- perception/objects_of_daily_use_finder/launch/recognize.launch 2012-08-27 22:05:07 UTC (rev 1009)
+++ perception/objects_of_daily_use_finder/launch/recognize.launch 2012-08-27 22:20:40 UTC (rev 1010)
@@ -1,44 +1,33 @@
<launch>
- <node pkg="objects_of_daily_use_finder" type="odu_finder_node" name="odu_finder_node" output="screen">
- <!-- launch-prefix="xterm -e gdb -args" -->
- <param name="command" type="string" value="/load" />
-
- <param name="database_location" type="string" value="/u/pangerci/spring_demo_2011db/database_kinect2/data" />
- <param name="images_folder" type="string" value="/u/pangerci/spring_demo_2011db/database_kinect2/images" />
- <param name="images_for_visualization_directory" type="string" value="/u/pangerci/spring_demo_2011db/database_kinect2/data" />
-
- <param name="extract_roi" type="bool" value="true" />
- <param name="image_topic" type="string" value="/pointcloud_to_image_projector_opencv_node/image_with_projected_cluster" />
-
- <node pkg="objects_of_daily_use_finder" type="odu_finder_node" name="odu_finder_node" output="screen" >
- <!-- launch-prefix="xterm -e gdb -args" -->
- <param name="command" type="string" value="/load" />
-
- <param name="database_location" type="string" value="/home/monica/database_kinect/data/" />
- <param name="images_folder" type="string" value="/home/monica/database_kinect/images/" />
- <param name="images_for_visualization_directory" type="string" value="/home/monica/database_kinect/data/" />
-
- <param name="extract_roi" type="bool" value="true" />
- <!-- <param name="image_topic" type="string" value="/narrow_stereo/left/image_rect" /> -->
- <param name="image_topic" type="string" value="/camera/rgb/image_mono" />
-
- <param name="template_topic" type="string" value="/object_id" />
-
- <param name="enable_clustering" type="int" value="1" />
- <param name="enable_incremental_learning" type="int" value="0" />
- <param name="enable_visualization" type="int" value="1" />
-
- <param name="votes_count" type="int" value="10" />
-
- <param name="tree_k" type="int" value="6" />
- <param name="tree_levels" type="int" value="6" />
-
- <param name="unknown_object_threshold" type="double" value="0.0" />
-
- <param name="radius_adaptation_r_min" type="double" value="200" />
- <param name="radius_adaptation_r_mAX" type="double" value="600" />
- <param name="radius_adaptation_K" type="double" value="0.02" />
- <param name="radius_adaptation_A" type="double" value="800" />
- <param name="templates_to_show" type="int" value="4" />
- </node>
+ <node pkg="objects_of_daily_use_finder" type="odu_finder_node" name="odu_finder_node" output="screen" >
+ <!-- launch-prefix="xterm -e gdb -args" -->
+ <param name="command" type="string" value="/load" />
+
+ <param name="database_location" type="string" value="/home/monica/database_kinect/data/" />
+ <param name="images_folder" type="string" value="/home/monica/database_kinect/images/" />
+ <param name="images_for_visualization_directory" type="string" value="/home/monica/database_kinect/data/" />
+
+ <param name="extract_roi" type="bool" value="true" />
+ <!-- <param name="image_topic" type="string" value="/narrow_stereo/left/image_rect" /> -->
+ <param name="image_topic" type="string" value="/camera/rgb/image_mono" />
+
+ <param name="template_topic" type="string" value="/object_id" />
+
+ <param name="enable_clustering" type="int" value="1" />
+ <param name="enable_incremental_learning" type="int" value="0" />
+ <param name="enable_visualization" type="int" value="1" />
+
+ <param name="votes_count" type="int" value="10" />
+
+ <param name="tree_k" type="int" value="6" />
+ <param name="tree_levels" type="int" value="6" />
+
+ <param name="unknown_object_threshold" type="double" value="0.0" />
+
+ <param name="radius_adaptation_r_min" type="double" value="200" />
+ <param name="radius_adaptation_r_mAX" type="double" value="600" />
+ <param name="radius_adaptation_K" type="double" value="0.02" />
+ <param name="radius_adaptation_A" type="double" value="800" />
+ <param name="templates_to_show" type="int" value="4" />
+ </node>
</launch>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-08-07 14:37:07
|
Revision: 1007
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=1007&view=rev
Author: moesenle
Date: 2012-08-07 14:36:57 +0000 (Tue, 07 Aug 2012)
Log Message:
-----------
Author: Ingo Kresse <kr...@in...>
Date: Tue Aug 7 16:36:08 2012 +0200
publishing multi-joint velocity controller
git-commit
Modified Paths:
--------------
controllers/ias_mechanism_controllers/CMakeLists.txt
controllers/ias_mechanism_controllers/controller_plugins.xml
controllers/ias_mechanism_controllers/include/ias_mechanism_controllers/rosie_odometry.h
controllers/ias_mechanism_controllers/manifest.xml
controllers/ias_mechanism_controllers/src/rosie_odometry.cpp
Added Paths:
-----------
controllers/ias_mechanism_controllers/include/ias_mechanism_controllers/multi_joint_velocity_controller.h
controllers/ias_mechanism_controllers/launch/
controllers/ias_mechanism_controllers/launch/pr2_loopback.launch
controllers/ias_mechanism_controllers/launch/pr2_multi_vel.yaml
controllers/ias_mechanism_controllers/launch/rosie_loopback.launch
controllers/ias_mechanism_controllers/launch/rosie_multi_vel.yaml
controllers/ias_mechanism_controllers/src/multi_joint_velocity_controller.cpp
Modified: controllers/ias_mechanism_controllers/CMakeLists.txt
===================================================================
--- controllers/ias_mechanism_controllers/CMakeLists.txt 2012-07-18 11:05:18 UTC (rev 1006)
+++ controllers/ias_mechanism_controllers/CMakeLists.txt 2012-08-07 14:36:57 UTC (rev 1007)
@@ -10,6 +10,9 @@
#rosbuild_genmsg()
#gensrv()
-rosbuild_add_library(ias_mechanism_controllers src/rosie_odometry.cpp)
+rosbuild_add_library(ias_mechanism_controllers src/rosie_odometry.cpp
+ src/multi_joint_velocity_controller.cpp)
rosbuild_add_boost_directories()
rosbuild_link_boost(ias_mechanism_controllers thread)
+
+
Modified: controllers/ias_mechanism_controllers/controller_plugins.xml
===================================================================
--- controllers/ias_mechanism_controllers/controller_plugins.xml 2012-07-18 11:05:18 UTC (rev 1006)
+++ controllers/ias_mechanism_controllers/controller_plugins.xml 2012-08-07 14:36:57 UTC (rev 1007)
@@ -1,3 +1,4 @@
<library path="lib/libias_mechanism_controllers">
- <class name="RosieOdometry" type="controller::RosieOdometry" base_class_type="pr2_controller_interface::Controller" />
+ <class name="ias_mechanism_controllers/RosieOdometry" type="controller::RosieOdometry" base_class_type="pr2_controller_interface::Controller" />
+ <class name="ias_mechanism_controllers/MultiJointVelocityController" type="controller::MultiJointVelocityController" base_class_type="pr2_controller_interface::Controller" />
</library>
Added: controllers/ias_mechanism_controllers/include/ias_mechanism_controllers/multi_joint_velocity_controller.h
===================================================================
--- controllers/ias_mechanism_controllers/include/ias_mechanism_controllers/multi_joint_velocity_controller.h (rev 0)
+++ controllers/ias_mechanism_controllers/include/ias_mechanism_controllers/multi_joint_velocity_controller.h 2012-08-07 14:36:57 UTC (rev 1007)
@@ -0,0 +1,98 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/*!
+ \author Stuart Glaser
+
+ \class pr2_controller_interface::JointTrajectoryActionController
+
+*/
+
+#ifndef MULTI_JOINT_VELOCITY_CONTROLLER_H__
+#define MULTI_JOINT_VELOCITY_CONTROLLER_H__
+
+#include <vector>
+
+#include <boost/scoped_ptr.hpp>
+#include <boost/thread/recursive_mutex.hpp>
+#include <boost/thread/condition.hpp>
+#include <ros/node_handle.h>
+
+#include <control_toolbox/pid.h>
+#include <filters/filter_chain.h>
+#include <pr2_controller_interface/controller.h>
+#include <realtime_tools/realtime_publisher.h>
+
+#include <std_msgs/Float64MultiArray.h>
+#include <pr2_controllers_msgs/JointTrajectoryControllerState.h>
+
+
+namespace controller {
+
+
+class MultiJointVelocityController : public pr2_controller_interface::Controller
+{
+public:
+
+ MultiJointVelocityController();
+ ~MultiJointVelocityController();
+
+ bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
+
+ void starting();
+ void update();
+
+private:
+ int loop_count_;
+ pr2_mechanism_model::RobotState *robot_;
+ ros::Time last_time_;
+ std::vector<pr2_mechanism_model::JointState*> joints_;
+ std::vector<control_toolbox::Pid> pids_;
+
+ std::vector<boost::shared_ptr<filters::FilterChain<double> > > output_filters_;
+
+ ros::NodeHandle node_;
+
+ void commandCB(const std_msgs::Float64MultiArray::ConstPtr &msg);
+ ros::Subscriber sub_command_;
+
+ boost::scoped_ptr<
+ realtime_tools::RealtimePublisher<
+ pr2_controllers_msgs::JointTrajectoryControllerState> > controller_state_publisher_;
+
+ // ------ Mechanisms for passing the commands into realtime
+ // (double buffering for commanded velocities, and guarded copy operation)
+
+ boost::mutex command_mutex_;
+ std::vector<double> command_;
+};
+
+}
+
+#endif
Property changes on: controllers/ias_mechanism_controllers/include/ias_mechanism_controllers/multi_joint_velocity_controller.h
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:eol-style
+ native
Modified: controllers/ias_mechanism_controllers/include/ias_mechanism_controllers/rosie_odometry.h
===================================================================
--- controllers/ias_mechanism_controllers/include/ias_mechanism_controllers/rosie_odometry.h 2012-07-18 11:05:18 UTC (rev 1006)
+++ controllers/ias_mechanism_controllers/include/ias_mechanism_controllers/rosie_odometry.h 2012-08-07 14:36:57 UTC (rev 1007)
@@ -36,7 +36,8 @@
This file is copied from pr2_mechanism_controllers.
**/
-#include <Eigen/Array>
+#define EIGEN2_SUPPORT
+
#include <Eigen/SVD>
#include <nav_msgs/Odometry.h>
#include <realtime_tools/realtime_publisher.h>
Added: controllers/ias_mechanism_controllers/launch/pr2_loopback.launch
===================================================================
--- controllers/ias_mechanism_controllers/launch/pr2_loopback.launch (rev 0)
+++ controllers/ias_mechanism_controllers/launch/pr2_loopback.launch 2012-08-07 14:36:57 UTC (rev 1007)
@@ -0,0 +1,29 @@
+<launch>
+
+ <param name="/use_sim_time" value="false" />
+
+ <include file="$(find pr2_description)/robots/upload_pr2.launch" />
+
+ <!-- start loopback controller manager -->
+ <node name="loopback_controllers" type="loopback_controller_manager" pkg="loopback_controller_manager" output="screen">
+ <param name="dt" value="0.002" />
+ <param name="damping" value="1.0" />
+ </node>
+
+ <!-- start joint_states to tf transformer -->
+ <node pkg="robot_state_chain_publisher" type="state_chain_publisher" name="robot_state_publisher" output="log" />
+
+
+<!-- <node name="unspawn_arms"
+ pkg="pr2_controller_manager" type="unspawner"
+ args="l_arm_controller r_arm_controller" />
+-->
+
+ <rosparam command="load" file="$(find ias_mechanism_controllers)/launch/pr2_multi_vel.yaml"/>
+
+
+ <node name="spawn_vel"
+ pkg="pr2_controller_manager" type="spawner"
+ args="l_arm_vel r_arm_vel" />
+
+</launch>
Added: controllers/ias_mechanism_controllers/launch/pr2_multi_vel.yaml
===================================================================
--- controllers/ias_mechanism_controllers/launch/pr2_multi_vel.yaml (rev 0)
+++ controllers/ias_mechanism_controllers/launch/pr2_multi_vel.yaml 2012-08-07 14:36:57 UTC (rev 1007)
@@ -0,0 +1,39 @@
+r_arm_vel:
+ type: "ias_mechanism_controllers/MultiJointVelocityController"
+ joints:
+ - r_shoulder_pan_joint
+ - r_shoulder_lift_joint
+ - r_upper_arm_roll_joint
+ - r_elbow_flex_joint
+ - r_forearm_roll_joint
+ - r_wrist_flex_joint
+ - r_wrist_roll_joint
+ gains:
+ r_shoulder_pan_joint: {p: 4, d: 0.0}
+ r_shoulder_lift_joint: {p: 4, d: 0.0}
+ r_upper_arm_roll_joint: {p: 4, d: 0.0}
+ r_elbow_flex_joint: {p: 4, d: 0.0}
+ r_forearm_roll_joint: {p: 4, d: 0.0}
+ r_wrist_flex_joint: {p: 4, d: 0.0}
+ r_wrist_roll_joint: {p: 4, d: 0.0}
+
+
+l_arm_vel:
+ type: "ias_mechanism_controllers/MultiJointVelocityController"
+ joints:
+ - l_shoulder_pan_joint
+ - l_shoulder_lift_joint
+ - l_upper_arm_roll_joint
+ - l_elbow_flex_joint
+ - l_forearm_roll_joint
+ - l_wrist_flex_joint
+ - l_wrist_roll_joint
+ gains:
+ l_shoulder_pan_joint: {p: 4, d: 0.0}
+ l_shoulder_lift_joint: {p: 4, d: 0.0}
+ l_upper_arm_roll_joint: {p: 4, d: 0.0}
+ l_elbow_flex_joint: {p: 4, d: 0.0}
+ l_forearm_roll_joint: {p: 4, d: 0.0}
+ l_wrist_flex_joint: {p: 4, d: 0.0}
+ l_wrist_roll_joint: {p: 4, d: 0.0}
+
Added: controllers/ias_mechanism_controllers/launch/rosie_loopback.launch
===================================================================
--- controllers/ias_mechanism_controllers/launch/rosie_loopback.launch (rev 0)
+++ controllers/ias_mechanism_controllers/launch/rosie_loopback.launch 2012-08-07 14:36:57 UTC (rev 1007)
@@ -0,0 +1,29 @@
+<launch>
+
+ <param name="/use_sim_time" value="false" />
+
+ <include file="$(find rosie_description)/launch/upload_rosie.launch" />
+
+ <!-- start loopback controller manager -->
+ <node name="loopback_controllers" type="loopback_controller_manager" pkg="loopback_controller_manager" output="screen">
+ <param name="dt" value="0.002" />
+ <param name="damping" value="1.0" />
+ </node>
+
+ <!-- start joint_states to tf transformer -->
+ <node pkg="robot_state_chain_publisher" type="state_chain_publisher" name="robot_state_publisher" output="log" />
+
+
+<!-- <node name="unspawn_arms"
+ pkg="pr2_controller_manager" type="unspawner"
+ args="l_arm_controller r_arm_controller" />
+-->
+
+ <rosparam command="load" file="$(find ias_mechanism_controllers)/launch/rosie_multi_vel.yaml"/>
+
+
+ <node name="spawn_vel"
+ pkg="pr2_controller_manager" type="spawner"
+ args="l_arm_vel r_arm_vel" />
+
+</launch>
Added: controllers/ias_mechanism_controllers/launch/rosie_multi_vel.yaml
===================================================================
--- controllers/ias_mechanism_controllers/launch/rosie_multi_vel.yaml (rev 0)
+++ controllers/ias_mechanism_controllers/launch/rosie_multi_vel.yaml 2012-08-07 14:36:57 UTC (rev 1007)
@@ -0,0 +1,39 @@
+r_arm_vel:
+ type: "ias_mechanism_controllers/MultiJointVelocityController"
+ joints:
+ - right_arm_0_joint
+ - right_arm_1_joint
+ - right_arm_2_joint
+ - right_arm_3_joint
+ - right_arm_4_joint
+ - right_arm_5_joint
+ - right_arm_6_joint
+ gains:
+ right_arm_0_joint: {p: 4, d: 0.0}
+ right_arm_1_joint: {p: 4, d: 0.0}
+ right_arm_2_joint: {p: 4, d: 0.0}
+ right_arm_3_joint: {p: 4, d: 0.0}
+ right_arm_4_joint: {p: 4, d: 0.0}
+ right_arm_5_joint: {p: 4, d: 0.0}
+ right_arm_6_joint: {p: 4, d: 0.0}
+
+
+l_arm_vel:
+ type: "ias_mechanism_controllers/MultiJointVelocityController"
+ joints:
+ - left_arm_0_joint
+ - left_arm_1_joint
+ - left_arm_2_joint
+ - left_arm_3_joint
+ - left_arm_4_joint
+ - left_arm_5_joint
+ - left_arm_6_joint
+ gains:
+ left_arm_0_joint: {p: 4.0}
+ left_arm_1_joint: {p: 4.0}
+ left_arm_2_joint: {p: 4.0}
+ left_arm_3_joint: {p: 4.0}
+ left_arm_4_joint: {p: 4.0}
+ left_arm_5_joint: {p: 4.0}
+ left_arm_6_joint: {p: 4.0}
+
Modified: controllers/ias_mechanism_controllers/manifest.xml
===================================================================
--- controllers/ias_mechanism_controllers/manifest.xml 2012-07-18 11:05:18 UTC (rev 1006)
+++ controllers/ias_mechanism_controllers/manifest.xml 2012-08-07 14:36:57 UTC (rev 1007)
@@ -1,11 +1,15 @@
<package>
<description brief="ias_mechanism_controllers">
Mechanism controllers for ias related stuff
+ (Odometry publisher for simulated ROSIE and a
+ multi-joint velocity controller.)
</description>
- <author>Lorenz Moesenlechner</author>
+ <author>Lorenz Moesenlechner, Ingo Kresse</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
+ <depend package="pluginlib" />
+
<depend package="roscpp" />
<depend package="std_msgs" />
<depend package="pr2_controller_interface" />
@@ -13,7 +17,9 @@
<depend package="pr2_mechanism_controllers" />
<depend package="pr2_mechanism_msgs" />
<depend package="nav_msgs" />
+ <depend package="filters" />
<depend package="control_toolbox" />
+ <depend package="realtime_tools" />
<depend package="pr2_controller_manager" />
<export>
Added: controllers/ias_mechanism_controllers/src/multi_joint_velocity_controller.cpp
===================================================================
--- controllers/ias_mechanism_controllers/src/multi_joint_velocity_controller.cpp (rev 0)
+++ controllers/ias_mechanism_controllers/src/multi_joint_velocity_controller.cpp 2012-08-07 14:36:57 UTC (rev 1007)
@@ -0,0 +1,210 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from
+ * this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/*
+ * Author: Stuart Glaser
+ */
+
+#include "ias_mechanism_controllers/multi_joint_velocity_controller.h"
+#include <sstream>
+#include "angles/angles.h"
+#include "pluginlib/class_list_macros.h"
+
+PLUGINLIB_DECLARE_CLASS(ias_mechanism_controllers, MultiJointVelocityController, controller::MultiJointVelocityController, pr2_controller_interface::Controller)
+
+namespace controller {
+
+
+MultiJointVelocityController::MultiJointVelocityController()
+ : loop_count_(0), robot_(NULL)
+{
+}
+
+MultiJointVelocityController::~MultiJointVelocityController()
+{
+ sub_command_.shutdown();
+}
+
+bool MultiJointVelocityController::init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
+{
+ using namespace XmlRpc;
+ node_ = n;
+ robot_ = robot;
+
+ // Gets all of the joints
+ XmlRpc::XmlRpcValue joint_names;
+ if (!node_.getParam("joints", joint_names))
+ {
+ ROS_ERROR("No joints given. (namespace: %s)", node_.getNamespace().c_str());
+ return false;
+ }
+ if (joint_names.getType() != XmlRpc::XmlRpcValue::TypeArray)
+ {
+ ROS_ERROR("Malformed joint specification. (namespace: %s)", node_.getNamespace().c_str());
+ return false;
+ }
+ for (int i = 0; i < joint_names.size(); ++i)
+ {
+ XmlRpcValue &name_value = joint_names[i];
+ if (name_value.getType() != XmlRpcValue::TypeString)
+ {
+ ROS_ERROR("Array of joint names should contain all strings. (namespace: %s)",
+ node_.getNamespace().c_str());
+ return false;
+ }
+
+ pr2_mechanism_model::JointState *j = robot->getJointState((std::string)name_value);
+ if (!j) {
+ ROS_ERROR("Joint not found: %s. (namespace: %s)",
+ ((std::string)name_value).c_str(), node_.getNamespace().c_str());
+ return false;
+ }
+ joints_.push_back(j);
+ }
+
+ // Ensures that all the joints are calibrated.
+ for (size_t i = 0; i < joints_.size(); ++i)
+ {
+ if (!joints_[i]->calibrated_)
+ {
+ ROS_ERROR("Joint %s was not calibrated (namespace: %s)",
+ joints_[i]->joint_->name.c_str(), node_.getNamespace().c_str());
+ return false;
+ }
+ }
+
+ // Sets up pid controllers for all of the joints
+ std::string gains_ns;
+ if (!node_.getParam("gains", gains_ns))
+ gains_ns = node_.getNamespace() + "/gains";
+ pids_.resize(joints_.size());
+ for (size_t i = 0; i < joints_.size(); ++i)
+ if (!pids_[i].init(ros::NodeHandle(gains_ns + "/" + joints_[i]->joint_->name)))
+ return false;
+
+
+ output_filters_.resize(joints_.size());
+ for (size_t i = 0; i < joints_.size(); ++i)
+ {
+ std::string p = "output_filters/" + joints_[i]->joint_->name;
+ if (node_.hasParam(p))
+ {
+ output_filters_[i].reset(new filters::FilterChain<double>("double"));
+ if (!output_filters_[i]->configure(node_.resolveName(p)))
+ output_filters_[i].reset();
+ }
+ }
+
+ sub_command_ = node_.subscribe("command", 1, &MultiJointVelocityController::commandCB, this);
+
+ command_.resize(joints_.size());
+
+ controller_state_publisher_.reset(
+ new realtime_tools::RealtimePublisher<pr2_controllers_msgs::JointTrajectoryControllerState>
+ (node_, "state", 1));
+ controller_state_publisher_->lock();
+ for (size_t j = 0; j < joints_.size(); ++j)
+ controller_state_publisher_->msg_.joint_names.push_back(joints_[j]->joint_->name);
+ controller_state_publisher_->msg_.desired.velocities.resize(joints_.size());
+ controller_state_publisher_->msg_.actual.positions.resize(joints_.size());
+ controller_state_publisher_->msg_.actual.velocities.resize(joints_.size());
+ controller_state_publisher_->msg_.error.velocities.resize(joints_.size());
+ controller_state_publisher_->unlock();
+
+
+ return true;
+}
+
+void MultiJointVelocityController::starting()
+{
+ last_time_ = robot_->getTime();
+
+ for (size_t i = 0; i < pids_.size(); ++i)
+ pids_[i].reset();
+
+ // Creates a "hold current position" trajectory.
+}
+
+void MultiJointVelocityController::update()
+{
+ ros::Time time = robot_->getTime();
+ ros::Duration dt = time - last_time_;
+ last_time_ = time;
+
+ double command[joints_.size()];
+
+ boost::mutex::scoped_lock guard(command_mutex_);
+ for(unsigned int i=0; i < command_.size(); ++i)
+ command[i] = command_[i];
+ guard.unlock();
+
+ double error[joints_.size()];
+ for (size_t i = 0; i < joints_.size(); ++i)
+ {
+ error[i] = joints_[i]->velocity_ - command[i];
+ double effort = pids_[i].updatePid(error[i], dt);
+ double effort_filtered = effort;
+ if (output_filters_[i])
+ output_filters_[i]->update(effort, effort_filtered);
+ joints_[i]->commanded_effort_ += effort_filtered;
+ }
+
+
+ // ------ State publishing
+
+ if (loop_count_ % 10 == 0)
+ {
+ if (controller_state_publisher_ && controller_state_publisher_->trylock())
+ {
+ controller_state_publisher_->msg_.header.stamp = time;
+ for (size_t j = 0; j < joints_.size(); ++j)
+ {
+ controller_state_publisher_->msg_.desired.velocities[j] = command[j];
+ controller_state_publisher_->msg_.actual.positions[j] = joints_[j]->position_;
+ controller_state_publisher_->msg_.actual.velocities[j] = joints_[j]->velocity_;
+ controller_state_publisher_->msg_.error.velocities[j] = error[j];
+ }
+ controller_state_publisher_->unlockAndPublish();
+ }
+ }
+
+ ++loop_count_;
+}
+
+void MultiJointVelocityController::commandCB(const std_msgs::Float64MultiArray::ConstPtr &msg)
+{
+ boost::mutex::scoped_lock guard(command_mutex_);
+ for(unsigned int i=0; i < command_.size(); ++i)
+ command_[i] = msg->data[i];
+}
+
+
+
+
+}
Property changes on: controllers/ias_mechanism_controllers/src/multi_joint_velocity_controller.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:eol-style
+ native
Modified: controllers/ias_mechanism_controllers/src/rosie_odometry.cpp
===================================================================
--- controllers/ias_mechanism_controllers/src/rosie_odometry.cpp 2012-07-18 11:05:18 UTC (rev 1006)
+++ controllers/ias_mechanism_controllers/src/rosie_odometry.cpp 2012-08-07 14:36:57 UTC (rev 1007)
@@ -38,7 +38,7 @@
#include "ias_mechanism_controllers/rosie_odometry.h"
#include "pluginlib/class_list_macros.h"
-PLUGINLIB_REGISTER_CLASS(RosieOdometry, controller::RosieOdometry, pr2_controller_interface::Controller)
+PLUGINLIB_DECLARE_CLASS(ias_mechanism_controllers, RosieOdometry, controller::RosieOdometry, pr2_controller_interface::Controller)
namespace controller {
@@ -93,7 +93,7 @@
odometry_publisher_.reset(new realtime_tools::RealtimePublisher<nav_msgs::Odometry>(node_,odom_frame_, 1));
transform_publisher_.reset(new realtime_tools::RealtimePublisher<tf::tfMessage>(node_,"/tf", 1));
- transform_publisher_->msg_.set_transforms_size(1);
+ transform_publisher_->msg_.transforms.resize(1);
return true;
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-07-18 11:05:29
|
Revision: 1006
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=1006&view=rev
Author: moesenle
Date: 2012-07-18 11:05:18 +0000 (Wed, 18 Jul 2012)
Log Message:
-----------
Renamed cram_pl to cram_core.
Modified Paths:
--------------
rosinstall/tum-ros-pkg.rosinstall
Modified: rosinstall/tum-ros-pkg.rosinstall
===================================================================
--- rosinstall/tum-ros-pkg.rosinstall 2012-07-16 09:21:31 UTC (rev 1005)
+++ rosinstall/tum-ros-pkg.rosinstall 2012-07-18 11:05:18 UTC (rev 1006)
@@ -17,8 +17,8 @@
local-name: cram_physics
uri: https://github.com/moesenle/cram_physics.git
- git:
- local-name: cram_pl
- uri: http://code.in.tum.de/git/cram-pl.git
+ local-name: cram_core
+ uri: https://github.com/moesenle/cram_core.git
- git:
local-name: cram_highlevel
uri: https://github.com/moesenle/cram_highlevel.git
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-07-16 09:21:40
|
Revision: 1005
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=1005&view=rev
Author: moesenle
Date: 2012-07-16 09:21:31 +0000 (Mon, 16 Jul 2012)
Log Message:
-----------
Added repo pr2_led_kinect_calib
Modified Paths:
--------------
rosinstall/tum-ros-pkg.rosinstall
Modified: rosinstall/tum-ros-pkg.rosinstall
===================================================================
--- rosinstall/tum-ros-pkg.rosinstall 2012-07-13 11:23:09 UTC (rev 1004)
+++ rosinstall/tum-ros-pkg.rosinstall 2012-07-16 09:21:31 UTC (rev 1005)
@@ -34,6 +34,9 @@
- git:
local-name: roll
uri: http://code.in.tum.de/git/roll.git
+- git:
+ local-name: pr2_led_kinect_calib
+ uri: https://github.com/ruehr/pr2_led_kinect_calib.git
- git:
local-name: uncertain_tf
uri: https://github.com/ruehr/uncertain_tf.git
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-07-13 11:23:20
|
Revision: 1004
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=1004&view=rev
Author: moesenle
Date: 2012-07-13 11:23:09 +0000 (Fri, 13 Jul 2012)
Log Message:
-----------
Author: Thomas Ruehr <ru...@in...>
Date: Fri Jul 13 13:22:45 2012 +0200
scan_rate parameter.
warnings.
overhauled for roboearth workshop.
commit 9d1ab6e850f0e8fb1e497e691c686817c3b5f2f6
Author: Thomas Ruehr <ru...@in...>
Date: Tue Apr 26 19:16:32 2011 +0200
some demo scripting
commit 1d198d168e12c3b68143cbafc09e611430e98504
Author: Thomas Ruehr <ru...@in...>
Date: Wed Apr 20 11:16:35 2011 +0200
Republishes a PC2 on another topic, e.g. FreezeCloud2 /kinect/cloud_throttled /sample, this is useful for being able to deselect points in rviz (ctrl-klick/drag), since you cant deselect something that is not displayed anymore
commit 6d63ae310c09135346b8b918477418f917e66d5d
Author: Thomas Ruehr <ru...@in...>
Date: Tue Apr 19 09:23:59 2011 +0200
all play and no work
commit bba7b8cc4de9981b34436402c3132fb85e6f449f
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 31 10:38:18 2011 +0200
SnapMap->Diamondback(eigen namespace), OperatehandleController now extrapolates relative transform from start to current by 5cm to find next hand pose; added static tf publisher to provide fake odom for amcl when wheels are dead
commit dc0014e9b51398cfd690f578b7e2d974c4b1b17e
Author: Dejan Pangercic <dej...@gm...>
Date: Wed Mar 23 15:23:51 2011 +0100
snap map compiles with eigen
commit 7094fbd46755c501c9f62e7d16e6c794a43b807f
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 3 18:05:25 2011 +0100
moved 3d perception to new class
commit 861fcc248bd1a1013d95289b6ddafe34b3da787e
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 3 15:22:05 2011 +0100
moved SnapMapICP out of ias_drawer_executive
git-commit
Modified Paths:
--------------
highlevel/SnapMapICP/CMakeLists.txt
highlevel/SnapMapICP/src/SnapMapICP.cpp
Modified: highlevel/SnapMapICP/CMakeLists.txt
===================================================================
--- highlevel/SnapMapICP/CMakeLists.txt 2012-06-21 12:21:05 UTC (rev 1003)
+++ highlevel/SnapMapICP/CMakeLists.txt 2012-07-13 11:23:09 UTC (rev 1004)
@@ -21,6 +21,10 @@
#uncomment if you have defined services
#rosbuild_gensrv()
+find_package(Eigen REQUIRED)
+include_directories(${EIGEN_INCLUDE_DIRS})
+add_definitions(${EIGEN_DEFINITIONS})
+
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
Modified: highlevel/SnapMapICP/src/SnapMapICP.cpp
===================================================================
--- highlevel/SnapMapICP/src/SnapMapICP.cpp 2012-06-21 12:21:05 UTC (rev 1003)
+++ highlevel/SnapMapICP/src/SnapMapICP.cpp 2012-07-13 11:23:09 UTC (rev 1004)
@@ -71,6 +71,8 @@
double POSE_COVARIANCE_TRANS = 1.5;
double ICP_NUM_ITER = 250;
+double SCAN_RATE = 2;
+
std::string BASE_LASER_FRAME = "/base_laser_link";
std::string ODOM_FRAME = "/odom_combined";
@@ -137,7 +139,7 @@
btMatrix3x3 basis;
basis.setFromOpenGLSubMatrix(mv);
- btVector3 origin(out_mat (0, 3),out_mat (1, 3),out_mat (2, 3));
+ tf::Vector3 origin(out_mat (0, 3),out_mat (1, 3),out_mat (2, 3));
ROS_DEBUG("origin %f %f %f", origin.x(), origin.y(), origin.z());
@@ -213,11 +215,13 @@
{
bool gotTransform = false;
- if (!listener_->waitForTransform(parent_frame, child_frame, stamp, ros::Duration(0.05)))
+ ros::Time before = ros::Time::now();
+ if (!listener_->waitForTransform(parent_frame, child_frame, stamp, ros::Duration(0.5)))
{
ROS_WARN("DIDNT GET TRANSFORM %s %s IN c at %f", parent_frame.c_str(), child_frame.c_str(), stamp.toSec());
return false;
}
+ //ROS_INFO("waited for transform %f", (ros::Time::now() - before).toSec());
try
{
@@ -234,19 +238,43 @@
return gotTransform;
}
+ros::Time last_processed_scan;
void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
-
if (!we_have_a_map)
{
ROS_INFO("SnapMapICP waiting for map to be published");
return;
}
+
+ ros::Time scan_in_time = scan_in->header.stamp;
+ ros::Time time_received = ros::Time::now();
+
+ if ( scan_in_time - last_processed_scan < ros::Duration(1.0f / SCAN_RATE) )
+ {
+ ROS_DEBUG("rejected scan, last %f , this %f", last_processed_scan.toSec() ,scan_in_time.toSec());
+ return;
+ }
+
+
//projector_.transformLaserScanToPointCloud("base_link",*scan_in,cloud,listener_);
if (!scan_callback_mutex.try_lock())
return;
+ ros::Duration scan_age = ros::Time::now() - scan_in_time;
+
+ //check if we want to accept this scan, if its older than 1 sec, drop it
+ if (!use_sim_time)
+ if (scan_age.toSec() > AGE_THRESHOLD)
+ {
+ //ROS_WARN("SCAN SEEMS TOO OLD (%f seconds, %f threshold)", scan_age.toSec(), AGE_THRESHOLD);
+ ROS_WARN("SCAN SEEMS TOO OLD (%f seconds, %f threshold) scan time: %f , now %f", scan_age.toSec(), AGE_THRESHOLD, scan_in_time.toSec(),ros::Time::now().toSec() );
+ scan_callback_mutex.unlock();
+
+ return;
+ }
+
count_sc_++;
//ROS_DEBUG("count_sc %i MUTEX LOCKED", count_sc_);
@@ -255,8 +283,6 @@
{
count_sc_ = 0;
- ros::Time scan_in_time = scan_in->header.stamp;
-
tf::StampedTransform base_at_laser;
if (!getTransform(base_at_laser, ODOM_FRAME, "base_link", scan_in_time))
{
@@ -266,18 +292,6 @@
return;
}
- // nh.param<std::string>("default_param", default_param, "default_value");
- nh->param<bool>("USE_SIM_TIME", use_sim_time, false);
- nh->param<double>("SnapMapICP/icp_fitness_threshold", ICP_FITNESS_THRESHOLD, 100 );
- nh->param<double>("SnapMapICP/age_threshold", AGE_THRESHOLD, 1);
- nh->param<double>("SnapMapICP/angle_upper_threshold", ANGLE_UPPER_THRESHOLD, 1);
- nh->param<double>("SnapMapICP/angle_threshold", ANGLE_THRESHOLD, 0.01);
- nh->param<double>("SnapMapICP/update_age_threshold", UPDATE_AGE_THRESHOLD, 1);
- nh->param<double>("SnapMapICP/dist_threshold", DIST_THRESHOLD, 0.01);
- nh->param<double>("SnapMapICP/icp_inlier_threshold", ICP_INLIER_THRESHOLD, 0.88);
- nh->param<double>("SnapMapICP/icp_inlier_dist", ICP_INLIER_DIST, 0.1);
- nh->param<double>("SnapMapICP/icp_num_iter", ICP_NUM_ITER, 250);
- nh->param<double>("SnapMapICP/pose_covariance_trans", POSE_COVARIANCE_TRANS, 0.5);
sensor_msgs::PointCloud cloud;
sensor_msgs::PointCloud cloudInMap;
@@ -354,6 +368,8 @@
reg.setMaximumIterations (ICP_NUM_ITER);
// Set the point representation
+ //ros::Time bef = ros::Time::now();
+
PointCloudT::Ptr myMapCloud (new PointCloudT());
PointCloudT::Ptr myScanCloud (new PointCloudT());
@@ -365,22 +381,22 @@
PointCloudT unused;
int i = 0;
- reg.align (unused); //-- running the registration in a loop to visualize intermediate results
+ reg.align (unused);
+
const Eigen::Matrix4f &transf = reg.getFinalTransformation();
tf::Transform t;
matrixAsTransfrom(transf,t);
+ //ROS_ERROR("proc time %f", (ros::Time::now() - bef).toSec());
+
we_have_a_scan_transformed = false;
PointCloudT transformedCloud;
pcl::transformPointCloud (*myScanCloud, transformedCloud, reg.getFinalTransformation());
-
double inlier_perc = 0;
-
{
// count inliers
-
std::vector<int> nn_indices (1);
std::vector<float> nn_sqr_dists (1);
@@ -393,17 +409,19 @@
}
if (transformedCloud.points.size() > 0)
{
- ROS_DEBUG("Inliers in dist %f: %zu of %zu percentage %f (%f)", ICP_INLIER_DIST, numinliers, transformedCloud.points.size(), (double) numinliers / (double) transformedCloud.points.size(), ICP_INLIER_THRESHOLD);
+ //ROS_INFO("Inliers in dist %f: %zu of %zu percentage %f (%f)", ICP_INLIER_DIST, numinliers, transformedCloud.points.size(), (double) numinliers / (double) transformedCloud.points.size(), ICP_INLIER_THRESHOLD);
inlier_perc = (double) numinliers / (double) transformedCloud.points.size();
}
}
+ last_processed_scan = scan_in_time;
+
pcl::toROSMsg (transformedCloud, cloud2transformed);
we_have_a_scan_transformed = true;
double dist = sqrt((t.getOrigin().x() * t.getOrigin().x()) + (t.getOrigin().y() * t.getOrigin().y()));
double angleDist = t.getRotation().getAngle();
- btVector3 rotAxis = t.getRotation().getAxis();
+ tf::Vector3 rotAxis = t.getRotation().getAxis();
t = t * oldPose;
tf::StampedTransform base_after_icp;
@@ -423,8 +441,6 @@
//ROS_DEBUG("dist %f angleDist %f",dist, angleDist);
- ros::Time scan_time = scan_in->header.stamp;
- ros::Duration scan_age = ros::Time::now() - scan_time;
//ROS_DEBUG("SCAN_AGE seems to be %f", scan_age.toSec());
char msg_c_str[2048];
sprintf(msg_c_str,"INLIERS %f (%f) scan_age %f (%f age_threshold) dist %f angleDist %f axis(%f %f %f) fitting %f (icp_fitness_threshold %f)",inlier_perc, ICP_INLIER_THRESHOLD, scan_age.toSec(), AGE_THRESHOLD ,dist, angleDist, rotAxis.x(), rotAxis.y(), rotAxis.z(),reg.getFitnessScore(), ICP_FITNESS_THRESHOLD );
@@ -433,18 +449,6 @@
//ROS_DEBUG("%s", msg_c_str);
-
- //check if we want to accept this scan, if its older than 1 sec, drop it
- if (!use_sim_time)
- if (scan_age.toSec() > AGE_THRESHOLD)
- {
- ROS_WARN("SCAN SEEMS TOO OLD (%f seconds, %f threshold)", scan_age.toSec(), AGE_THRESHOLD);
- scan_callback_mutex.unlock();
-
- return;
- }
-
-
double cov = POSE_COVARIANCE_TRANS;
//if ((actScan - lastTimeSent > UPDATE_AGE_THRESHOLD) && ((dist > DIST_THRESHOLD) || (angleDist > ANGLE_THRESHOLD)) && (angleDist < ANGLE_UPPER_THRESHOLD))
@@ -457,7 +461,7 @@
pose.pose.pose.position.x = t.getOrigin().x();
pose.pose.pose.position.y = t.getOrigin().y();
- btQuaternion quat = t.getRotation();
+ tf::Quaternion quat = t.getRotation();
//quat.setRPY(0.0, 0.0, theta);
tf::quaternionTFToMsg(quat,pose.pose.pose.orientation);
float factorPos = 0.03;
@@ -471,6 +475,8 @@
strmsg.data += " << SENT";
}
+ //ROS_INFO("processing time : %f", (ros::Time::now() - time_received).toSec());
+
pub_info_.publish(strmsg);
//ROS_DEBUG("map width %i height %i size %i, %s", myMapCloud.width, myMapCloud.height, (int)myMapCloud.points.size(), myMapCloud.header.frame_id.c_str());
//ROS_DEBUG("scan width %i height %i size %i, %s", myScanCloud.width, myScanCloud.height, (int)myScanCloud.points.size(), myScanCloud.header.frame_id.c_str());
@@ -479,6 +485,32 @@
scan_callback_mutex.unlock();
}
+
+ros::Time paramsWereUpdated;
+
+
+void updateParams()
+{
+ paramsWereUpdated = ros::Time::now();
+ // nh.param<std::string>("default_param", default_param, "default_value");
+ nh->param<bool>("USE_SIM_TIME", use_sim_time, false);
+ nh->param<double>("SnapMapICP/icp_fitness_threshold", ICP_FITNESS_THRESHOLD, 100 );
+ nh->param<double>("SnapMapICP/age_threshold", AGE_THRESHOLD, 1);
+ nh->param<double>("SnapMapICP/angle_upper_threshold", ANGLE_UPPER_THRESHOLD, 1);
+ nh->param<double>("SnapMapICP/angle_threshold", ANGLE_THRESHOLD, 0.01);
+ nh->param<double>("SnapMapICP/update_age_threshold", UPDATE_AGE_THRESHOLD, 1);
+ nh->param<double>("SnapMapICP/dist_threshold", DIST_THRESHOLD, 0.01);
+ nh->param<double>("SnapMapICP/icp_inlier_threshold", ICP_INLIER_THRESHOLD, 0.88);
+ nh->param<double>("SnapMapICP/icp_inlier_dist", ICP_INLIER_DIST, 0.1);
+ nh->param<double>("SnapMapICP/icp_num_iter", ICP_NUM_ITER, 250);
+ nh->param<double>("SnapMapICP/pose_covariance_trans", POSE_COVARIANCE_TRANS, 0.5);
+ nh->param<double>("SnapMapICP/scan_rate", SCAN_RATE, 2);
+ if (SCAN_RATE < .001)
+ SCAN_RATE = .001;
+ //ROS_DEBUG("PARAM UPDATE");
+
+}
+
int main(int argc, char** argv)
{
@@ -490,6 +522,7 @@
nh->param<std::string>("SnapMapICP/odom_frame", ODOM_FRAME, "/odom_combined");
nh->param<std::string>("SnapMapICP/base_laser_frame", BASE_LASER_FRAME, "/base_laser_link");
+ last_processed_scan = ros::Time::now();
projector_ = new laser_geometry::LaserProjection();
tf::TransformListener listener;
@@ -501,10 +534,10 @@
pub_output_scan_transformed = nh->advertise<sensor_msgs::PointCloud2> ("scan_points_transformed", 1);
pub_pose = nh->advertise<geometry_msgs::PoseWithCovarianceStamped>("initialpose", 1);
- ros::Subscriber subMap = nh_.subscribe("map", 10, mapCallback);
- ros::Subscriber subScan = nh_.subscribe("base_scan", 10, scanCallback);
+ ros::Subscriber subMap = nh_.subscribe("map", 1, mapCallback);
+ ros::Subscriber subScan = nh_.subscribe("base_scan", 1, scanCallback);
- ros::Rate loop_rate(10);
+ ros::Rate loop_rate(5);
listener_->waitForTransform("/base_link", "/map",
ros::Time(0), ros::Duration(30.0));
@@ -512,6 +545,14 @@
listener_->waitForTransform(BASE_LASER_FRAME, "/map",
ros::Time(0), ros::Duration(30.0));
+ ros::AsyncSpinner spinner(1);
+ spinner.start();
+
+ updateParams();
+
+ ROS_INFO("SnapMapICP running.");
+
+
while (ros::ok())
{
if (actScan > lastScan)
@@ -529,6 +570,9 @@
}
loop_rate.sleep();
ros::spinOnce();
+
+ if (ros::Time::now() - paramsWereUpdated > ros::Duration(1))
+ updateParams();
}
}
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|
|
From: <tum...@li...> - 2012-06-21 12:21:14
|
Revision: 1003
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=1003&view=rev
Author: blodow
Date: 2012-06-21 12:21:05 +0000 (Thu, 21 Jun 2012)
Log Message:
-----------
added realtime_urdf_filter to tum-ros-pkg.rosinstall file
Modified Paths:
--------------
rosinstall/tum-ros-pkg.rosinstall
Modified: rosinstall/tum-ros-pkg.rosinstall
===================================================================
--- rosinstall/tum-ros-pkg.rosinstall 2012-06-12 15:53:08 UTC (rev 1002)
+++ rosinstall/tum-ros-pkg.rosinstall 2012-06-21 12:21:05 UTC (rev 1003)
@@ -37,3 +37,6 @@
- git:
local-name: uncertain_tf
uri: https://github.com/ruehr/uncertain_tf.git
+- git:
+ local-name: realtime_urdf_filter
+ uri: https://github.com/blodow/realtime_urdf_filter.git
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|
|
From: <tum...@li...> - 2012-06-12 15:53:15
|
Revision: 1002
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=1002&view=rev
Author: moesenle
Date: 2012-06-12 15:53:08 +0000 (Tue, 12 Jun 2012)
Log Message:
-----------
Author: Moritz Tenorth <te...@cs...>
Date: Tue Jun 12 17:52:42 2012 +0200
commit 1272f340018a12a16e8706460faf8d5aa4c8e0d9
Author: Moritz Tenorth <te...@cs...>
Date: Tue Jun 12 17:52:24 2012 +0200
added demo launch file
commit 91784cef32b90c9bf91359f520171a9e4e5e8a9b
Author: Moritz Tenorth <te...@cs...>
Date: Tue Jun 12 14:03:11 2012 +0200
public export
git-commit
Added Paths:
-----------
knowledge/knowrob_tutorial/launch/
knowledge/knowrob_tutorial/launch/tutorial.launch
Added: knowledge/knowrob_tutorial/launch/tutorial.launch
===================================================================
--- knowledge/knowrob_tutorial/launch/tutorial.launch (rev 0)
+++ knowledge/knowrob_tutorial/launch/tutorial.launch 2012-06-12 15:53:08 UTC (rev 1002)
@@ -0,0 +1,3 @@
+<launch>
+ <node name="json_prolog" pkg="rosprolog" type="run_with_prolog_env" args="ias_semantic_map $(find json_prolog)/bin/json_prolog" />
+</launch>
\ No newline at end of file
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|
|
From: <tum...@li...> - 2012-04-23 09:30:57
|
Revision: 1000
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=1000&view=rev
Author: moesenle
Date: 2012-04-23 09:30:47 +0000 (Mon, 23 Apr 2012)
Log Message:
-----------
added uncertain_tf stack to tum-ros-pkg
Modified Paths:
--------------
rosinstall/tum-ros-pkg.rosinstall
Modified: rosinstall/tum-ros-pkg.rosinstall
===================================================================
--- rosinstall/tum-ros-pkg.rosinstall 2012-04-18 15:57:41 UTC (rev 999)
+++ rosinstall/tum-ros-pkg.rosinstall 2012-04-23 09:30:47 UTC (rev 1000)
@@ -34,3 +34,6 @@
- git:
local-name: roll
uri: http://code.in.tum.de/git/roll.git
+- git:
+ local-name: uncertain_tf
+ uri: https://github.com/ruehr/uncertain_tf.git
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|
|
From: <tum...@li...> - 2012-04-18 15:57:51
|
Revision: 999
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=999&view=rev
Author: moesenle
Date: 2012-04-18 15:57:41 +0000 (Wed, 18 Apr 2012)
Log Message:
-----------
Moved cram_highlevel to github.
Modified Paths:
--------------
rosinstall/tum-ros-pkg.rosinstall
Modified: rosinstall/tum-ros-pkg.rosinstall
===================================================================
--- rosinstall/tum-ros-pkg.rosinstall 2012-03-28 14:04:03 UTC (rev 998)
+++ rosinstall/tum-ros-pkg.rosinstall 2012-04-18 15:57:41 UTC (rev 999)
@@ -21,7 +21,7 @@
uri: http://code.in.tum.de/git/cram-pl.git
- git:
local-name: cram_highlevel
- uri: http://code.in.tum.de/git/cram-highlevel.git
+ uri: https://github.com/moesenle/cram_highlevel.git
- git:
local-name: cram_rosie
uri: http://code.in.tum.de/git/cram-rosie.git
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|
|
From: <tum...@li...> - 2012-03-28 14:04:13
|
Revision: 998
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=998&view=rev
Author: moesenle
Date: 2012-03-28 14:04:03 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
Removed perception/zbar_barcode_reader_node
git-commit
Removed Paths:
-------------
perception/zbar_barcode_reader_node/
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|
|
From: <tum...@li...> - 2012-03-28 14:04:00
|
Revision: 997
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=997&view=rev
Author: moesenle
Date: 2012-03-28 14:03:54 +0000 (Wed, 28 Mar 2012)
Log Message:
-----------
Removed 3rdparty/zbar
git-commit
Removed Paths:
-------------
3rdparty/zbar/
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|
|
From: <tum...@li...> - 2012-02-24 00:37:52
|
Revision: 996
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=996&view=rev
Author: moesenle
Date: 2012-02-24 00:37:45 +0000 (Fri, 24 Feb 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@cs...>
Date: Fri Feb 24 01:37:22 2012 +0100
commit cbb807243e3bbe09543973f9d8976c70f7904eab
Author: Dejan Pangercic <dej...@cs...>
Date: Fri Feb 24 01:36:20 2012 +0100
got rid of IplImage, needed to be tested
commit 9d9f1f2127342dfece2d09aa07b355aa0cf4feaf
Author: Dejan Pangercic <dej...@cs...>
Date: Fri Feb 24 00:40:34 2012 +0100
ROS_INFO_STREAM, cv_bridge_ptr as class member
commit 92834a4d47ff06e0809906e59bbddbfed2848ee9
Author: Dejan Pangercic <dej...@cs...>
Date: Sat Feb 18 22:15:45 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-18 21:16:22 UTC (rev 995)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-24 00:37:45 UTC (rev 996)
@@ -49,12 +49,6 @@
BarcodeReaderNode(ros::NodeHandle &n) :
n_(n), it_(n_)
{
- //link1 = "http://www.barcoo.com/api/get_product_complete?pi=";
- //link2 = "&pins=ean&format=xml&source=ias-tum";
- //tag1 = "answer";
- //tag2 = "picture_high";
- //tag3 = "picture_low";
-
n_.param ("input_image_topic", input_image_topic_, std::string("/image_raw"));
n_.param ("outout_barcode_topic", output_barcode_topic_, std::string("barcode"));
n_.param ("link1", link1_, std::string("http://www.barcoo.com/api/get_product_complete?pi="));
@@ -66,7 +60,6 @@
input_image_topic_, 1, &BarcodeReaderNode::imageCallback, this);
barcode_pub_ =
n_.advertise<std_msgs::String>(output_barcode_topic_, 1);
- //cv::namedWindow ("Barcoo img");
enable_barcode_reader_ = 0;
service_ = n.advertiseService("enable_barcode_reader_service", &BarcodeReaderNode::enable_barcode_reader,this);
image_received_ = 0;
@@ -221,15 +214,12 @@
//Check if there is a result
std:: string result;
- cout << "ohhh my goooooood\n\n";
findElement(&doc,result,tag1_);
if(result.compare("0") == 0) //This condition checks if there is a result in the XML file if not returns 0
{
- cout << "heloooooo barcode does not correspond to any object in the barcoo database";
+ ROS_INFO_STREAM("Barcode does not correspond to any object in the barcoo database");
return 0;
}
- else
- cout << "ELSE ELSE ELSE\n";
//Search for first tag
findElement (&doc, picture,tag2_);
@@ -333,15 +323,14 @@
if(!enable_barcode_reader_)
return;
- IplImage *cv_image = NULL;
ROS_INFO("[BarcodeReaderNode: ] Image received");
try
{
- cv_image = bridge_.imgMsgToCv(msg_ptr, "mono8");
+ cv_bridge_ptr_ = cv_bridge::toCvCopy(msg_ptr, "mono8");
}
- catch (sensor_msgs::CvBridgeException error)
+ catch (cv_bridge::Exception& e)
{
- ROS_ERROR("error");
+ ROS_ERROR("Error converting ROS Image");
}
// create a reader
@@ -350,12 +339,12 @@
// configure the reader
scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);
+ int width = cv_bridge_ptr_->image.cols; // extract dimensions
+ int height = cv_bridge_ptr_->image.rows;
+
// obtain image data
- // IplImage * cv_image = cvLoadImage(argv[1], CV_LOAD_IMAGE_GRAYSCALE);
- Magick::Blob blob(cv_image->imageData, cv_image->imageSize);
+ Magick::Blob blob(cv_bridge_ptr_->image.ptr(0), width * height);
- int width = cv_image->width; // extract dimensions
- int height = cv_image->height;
const void *raw = blob.data();
// wrap image data
@@ -403,7 +392,7 @@
image_received_ = 1;
return;
}
- // std::cerr << "buffer after callBarcoo " << buffer << std::endl;
+
//Search for info in the xml file
std::string pictureLink;
res = getPictureLink (buffer,pictureLink);
@@ -411,7 +400,7 @@
if(res == 0) //If barcode does not exist in the database return
{
- cout << "Barcode does not exist in the barcoo datbase\n";
+ ROS_INFO_STREAM("Barcode does not exist in the barcoo datbase");
image_received_ = 1;
return;
}
@@ -423,7 +412,7 @@
std::string htmlPage;
std::string htmlLink;
findElement(&doc,htmlLink,"back_link");
- cout << "html link: "+htmlLink+"\n";
+ ROS_INFO_STREAM ("html link: " << htmlLink);
//Download HTML page
getHTMLpage(htmlLink,htmlPage);
std::string ss = pattern_;
@@ -447,32 +436,19 @@
//publish image
if (!(imgTmp.empty()))
{
- //imshow("Barcoo img", imgTmp);
- cv_bridge::CvImagePtr cv_ptr (new cv_bridge::CvImage);
-
- std::cerr<< "\n\n\n\n\nTESTESTESTESTESTn\n\n\n\n";
-
- cv_ptr->header.stamp = ros::Time::now();
- cv_ptr->header.frame_id = "frame";
- cv_ptr->encoding = "bgr8";
- std::cerr<< "\n\n\n\n\nHELO00000n\n\n\n\n";
- cv_ptr->image = imgTmp;
- std::cerr<< "\n\n\n\n\nHELOn\n\n\n\n";
-
- ros_image = cv_ptr->toImageMsg();
+ cv_bridge_ptr_->header.stamp = ros::Time::now();
+ cv_bridge_ptr_->header.frame_id = "frame";
+ cv_bridge_ptr_->encoding = "bgr8";
+ cv_bridge_ptr_->image = imgTmp;
+ ros_image = cv_bridge_ptr_->toImageMsg();
findElement(&doc,product_title,"title");
findElement(&doc,product_producer,"producer");
findElement(&doc,product_category,"category_key");
-
-
-
image_found_ = 1;
}
image_received_ = 1;
}
cv::waitKey(3);
- // clean up
- //image.set_data(NULL, 0);
}
protected:
@@ -488,6 +464,7 @@
std::string product_producer;
std::string product_category;
ros::ServiceServer service_;
+ cv_bridge::CvImagePtr cv_bridge_ptr_;
};
int main(int argc, char** argv)
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|
|
From: <tum...@li...> - 2012-02-18 21:16:29
|
Revision: 995
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=995&view=rev
Author: moesenle
Date: 2012-02-18 21:16:22 +0000 (Sat, 18 Feb 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@cs...>
Date: Sat Feb 18 22:15:45 2012 +0100
commit 5cd7d5d41dca1d643ab5a61c680a35629b2f7573
Author: Dejan Pangercic <dej...@cs...>
Date: Sat Feb 18 22:15:23 2012 +0100
forgotten include
commit bc1d4b8e52767b7ad77db2b4e142f9f8ac5b4ec8
Author: Dejan Pangercic <dej...@cs...>
Date: Sat Feb 18 22:09:16 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-18 21:16:15 UTC (rev 994)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-18 21:16:22 UTC (rev 995)
@@ -13,7 +13,7 @@
#include "tinyxml.h"
#include <highgui.h>
#include <zbar_barcode_reader_node/enable_barcode_reader.h>
-
+#include <cv_bridge/cv_bridge.h>
//Magick++ lib
#include <Magick++.h>
//zbar
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|
|
From: <tum...@li...> - 2012-02-18 21:16:21
|
Revision: 994
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=994&view=rev
Author: moesenle
Date: 2012-02-18 21:16:15 +0000 (Sat, 18 Feb 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@cs...>
Date: Sat Feb 18 22:09:16 2012 +0100
commit 15f57613e25e8ac1395a38f99f8bad776e07e8a4
Author: Dejan Pangercic <dej...@cs...>
Date: Sat Feb 18 22:08:43 2012 +0100
new service definition and integration into the server
commit d9f59658e46f74926677d131c1941e1fed7e9fdb
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Feb 5 19:32:04 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/CMakeLists.txt
perception/zbar_barcode_reader_node/manifest.xml
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Added Paths:
-----------
perception/zbar_barcode_reader_node/srv/
perception/zbar_barcode_reader_node/srv/enable_barcode_reader.srv
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-14 13:27:57 UTC (rev 993)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-18 21:16:15 UTC (rev 994)
@@ -17,7 +17,7 @@
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#uncomment if you have defined messages
-#rosbuild_genmsg()
+rosbuild_genmsg()
#uncomment if you have defined services
rosbuild_gensrv()
Modified: perception/zbar_barcode_reader_node/manifest.xml
===================================================================
--- perception/zbar_barcode_reader_node/manifest.xml 2012-02-14 13:27:57 UTC (rev 993)
+++ perception/zbar_barcode_reader_node/manifest.xml 2012-02-18 21:16:15 UTC (rev 994)
@@ -12,9 +12,10 @@
<depend package="opencv2"/>
<depend package="cv_bridge"/>
<depend package="image_transport"/>
- <depend package="sensor_msgs"/>
+ <depend package="sensor_msgs"/>
<rosdep name="libcurl"/>
- <rosdep name="libtinyxml"/>
+ <rosdep name="libtinyxml"/>
+
</package>
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-14 13:27:57 UTC (rev 993)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-18 21:16:15 UTC (rev 994)
@@ -31,7 +31,8 @@
std:: string pattern_;// = "<meta property=\"og:image\" content=\"";
TiXmlDocument doc;
int enable_barcode_reader_;
-
+ int image_received_;
+ int image_found_;
public:
struct memoryStruct {
char *memory;
@@ -65,9 +66,10 @@
input_image_topic_, 1, &BarcodeReaderNode::imageCallback, this);
barcode_pub_ =
n_.advertise<std_msgs::String>(output_barcode_topic_, 1);
- cv::namedWindow ("Barcoo img");
+ //cv::namedWindow ("Barcoo img");
enable_barcode_reader_ = 0;
service_ = n.advertiseService("enable_barcode_reader_service", &BarcodeReaderNode::enable_barcode_reader,this);
+ image_received_ = 0;
}
~BarcodeReaderNode()
@@ -78,8 +80,31 @@
bool enable_barcode_reader(zbar_barcode_reader_node::enable_barcode_reader::Request &req,
zbar_barcode_reader_node::enable_barcode_reader::Response &res )
{
- enable_barcode_reader_ = req.enable;
- return true;
+ enable_barcode_reader_ = req.enable;
+ while(!image_received_)
+ {
+ sleep(1);
+ }
+
+ if(image_found_)
+ {
+ res.title.data = product_title;
+ res.subtitle.data = product_producer;
+ res.category_key.data = product_category;
+ res.image_msg = *ros_image;
+ enable_barcode_reader_ = 0;
+ image_received_ = 0;
+ image_found_ = 0;
+ enable_barcode_reader_ = 0;
+
+ return true;
+ }
+ else
+ {
+ image_received_ = 0;
+ enable_barcode_reader_ = 0;
+ return false;
+ }
}
static void* CURL_realloc(void *ptr, size_t size)
@@ -359,12 +384,14 @@
if (n == 0)
{
ROS_WARN("Barcode not found");
+ image_received_ = 1;
return;
}
if (n < 0)
{
ROS_ERROR("Error occured while finding barcode");
+ image_received_ = 1;
return;
}
@@ -372,7 +399,10 @@
//Get xml file from barcoo database
int res = getBarcooXML(ss.str(), buffer);
if(res != 1)
+ {
+ image_received_ = 1;
return;
+ }
// std::cerr << "buffer after callBarcoo " << buffer << std::endl;
//Search for info in the xml file
std::string pictureLink;
@@ -382,6 +412,7 @@
if(res == 0) //If barcode does not exist in the database return
{
cout << "Barcode does not exist in the barcoo datbase\n";
+ image_received_ = 1;
return;
}
if(res == -1) //This condition is true when the image link is not given
@@ -413,14 +444,35 @@
cv::Mat imgTmp; // image object
getImage (pictureLink ,& imgTmp);
// display image
+ //publish image
if (!(imgTmp.empty()))
{
- imshow("Barcoo img", imgTmp);
+ //imshow("Barcoo img", imgTmp);
+ cv_bridge::CvImagePtr cv_ptr (new cv_bridge::CvImage);
+
+ std::cerr<< "\n\n\n\n\nTESTESTESTESTESTn\n\n\n\n";
+
+ cv_ptr->header.stamp = ros::Time::now();
+ cv_ptr->header.frame_id = "frame";
+ cv_ptr->encoding = "bgr8";
+ std::cerr<< "\n\n\n\n\nHELO00000n\n\n\n\n";
+ cv_ptr->image = imgTmp;
+ std::cerr<< "\n\n\n\n\nHELOn\n\n\n\n";
+
+ ros_image = cv_ptr->toImageMsg();
+ findElement(&doc,product_title,"title");
+ findElement(&doc,product_producer,"producer");
+ findElement(&doc,product_category,"category_key");
+
+
+
+ image_found_ = 1;
}
+ image_received_ = 1;
}
cv::waitKey(3);
// clean up
- image.set_data(NULL, 0);
+ //image.set_data(NULL, 0);
}
protected:
@@ -431,14 +483,21 @@
ros::Publisher barcode_pub_;
sensor_msgs::CvBridge bridge_;
std::string input_image_topic_, output_barcode_topic_;
+ sensor_msgs::ImagePtr ros_image;
+ std::string product_title;
+ std::string product_producer;
+ std::string product_category;
ros::ServiceServer service_;
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "barcode_reader_node");
+ ros::AsyncSpinner spinner(1); // Use 4 threads
+ spinner.start();
ros::NodeHandle n("~");
BarcodeReaderNode br(n);
ros::spin();
+
return 0;
}
Added: perception/zbar_barcode_reader_node/srv/enable_barcode_reader.srv
===================================================================
--- perception/zbar_barcode_reader_node/srv/enable_barcode_reader.srv (rev 0)
+++ perception/zbar_barcode_reader_node/srv/enable_barcode_reader.srv 2012-02-18 21:16:15 UTC (rev 994)
@@ -0,0 +1,6 @@
+int64 enable
+---
+std_msgs/String title
+std_msgs/String subtitle
+std_msgs/String category_key
+sensor_msgs/Image image_msg
\ No newline at end of file
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|
|
From: <tum...@li...> - 2012-02-14 13:28:08
|
Revision: 993
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=993&view=rev
Author: moesenle
Date: 2012-02-14 13:27:57 +0000 (Tue, 14 Feb 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Feb 14 14:27:37 2012 +0100
commit 87397cf1d1b5ccd96507252dcc26e0379750e2ba
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Feb 14 14:27:08 2012 +0100
server side of service for trigering the barcode recognition from a QT client
commit d9f59658e46f74926677d131c1941e1fed7e9fdb
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Feb 5 19:32:04 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/CMakeLists.txt
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-13 09:08:17 UTC (rev 992)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-02-14 13:27:57 UTC (rev 993)
@@ -19,7 +19,7 @@
#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
-#rosbuild_gensrv()
+rosbuild_gensrv()
#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-13 09:08:17 UTC (rev 992)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-14 13:27:57 UTC (rev 993)
@@ -12,6 +12,7 @@
#include "curl/curl.h"
#include "tinyxml.h"
#include <highgui.h>
+#include <zbar_barcode_reader_node/enable_barcode_reader.h>
//Magick++ lib
#include <Magick++.h>
@@ -29,6 +30,7 @@
std:: string tag3_;// = "picture_low";
std:: string pattern_;// = "<meta property=\"og:image\" content=\"";
TiXmlDocument doc;
+ int enable_barcode_reader_;
public:
struct memoryStruct {
@@ -64,12 +66,22 @@
barcode_pub_ =
n_.advertise<std_msgs::String>(output_barcode_topic_, 1);
cv::namedWindow ("Barcoo img");
+ enable_barcode_reader_ = 0;
+ service_ = n.advertiseService("enable_barcode_reader_service", &BarcodeReaderNode::enable_barcode_reader,this);
}
~BarcodeReaderNode()
{
cv::destroyAllWindows();
}
+
+ bool enable_barcode_reader(zbar_barcode_reader_node::enable_barcode_reader::Request &req,
+ zbar_barcode_reader_node::enable_barcode_reader::Response &res )
+ {
+ enable_barcode_reader_ = req.enable;
+ return true;
+ }
+
static void* CURL_realloc(void *ptr, size_t size)
{
/* There might be a realloc() out there that doesn't like reallocing
@@ -79,7 +91,7 @@
else
return malloc(size);
}
-
+
static size_t WriteMemoryCallback
(void *ptr, size_t size, size_t nmemb, void *data)
{
@@ -290,10 +302,12 @@
}
return -1;
}
-
+
void imageCallback(const sensor_msgs::ImageConstPtr& msg_ptr)
{
-
+
+ if(!enable_barcode_reader_)
+ return;
IplImage *cv_image = NULL;
ROS_INFO("[BarcodeReaderNode: ] Image received");
try
@@ -417,6 +431,7 @@
ros::Publisher barcode_pub_;
sensor_msgs::CvBridge bridge_;
std::string input_image_topic_, output_barcode_topic_;
+ ros::ServiceServer service_;
};
int main(int argc, char** argv)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-02-13 09:08:26
|
Revision: 992
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=992&view=rev
Author: moesenle
Date: 2012-02-13 09:08:17 +0000 (Mon, 13 Feb 2012)
Log Message:
-----------
Author: Thomas Ruehr <ru...@in...>
Date: Mon Feb 13 10:08:04 2012 +0100
warnings.
overhauled for roboearth workshop.
commit 9d1ab6e850f0e8fb1e497e691c686817c3b5f2f6
Author: Thomas Ruehr <ru...@in...>
Date: Tue Apr 26 19:16:32 2011 +0200
some demo scripting
commit 1d198d168e12c3b68143cbafc09e611430e98504
Author: Thomas Ruehr <ru...@in...>
Date: Wed Apr 20 11:16:35 2011 +0200
Republishes a PC2 on another topic, e.g. FreezeCloud2 /kinect/cloud_throttled /sample, this is useful for being able to deselect points in rviz (ctrl-klick/drag), since you cant deselect something that is not displayed anymore
commit 6d63ae310c09135346b8b918477418f917e66d5d
Author: Thomas Ruehr <ru...@in...>
Date: Tue Apr 19 09:23:59 2011 +0200
all play and no work
commit bba7b8cc4de9981b34436402c3132fb85e6f449f
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 31 10:38:18 2011 +0200
SnapMap->Diamondback(eigen namespace), OperatehandleController now extrapolates relative transform from start to current by 5cm to find next hand pose; added static tf publisher to provide fake odom for amcl when wheels are dead
commit dc0014e9b51398cfd690f578b7e2d974c4b1b17e
Author: Dejan Pangercic <dej...@gm...>
Date: Wed Mar 23 15:23:51 2011 +0100
snap map compiles with eigen
commit 7094fbd46755c501c9f62e7d16e6c794a43b807f
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 3 18:05:25 2011 +0100
moved 3d perception to new class
commit 861fcc248bd1a1013d95289b6ddafe34b3da787e
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 3 15:22:05 2011 +0100
moved SnapMapICP out of ias_drawer_executive
git-commit
Modified Paths:
--------------
highlevel/SnapMapICP/src/SnapMapICP.cpp
Modified: highlevel/SnapMapICP/src/SnapMapICP.cpp
===================================================================
--- highlevel/SnapMapICP/src/SnapMapICP.cpp 2012-02-10 13:18:43 UTC (rev 991)
+++ highlevel/SnapMapICP/src/SnapMapICP.cpp 2012-02-13 09:08:17 UTC (rev 992)
@@ -215,7 +215,7 @@
if (!listener_->waitForTransform(parent_frame, child_frame, stamp, ros::Duration(0.05)))
{
- ROS_ERROR("DIDNT GET TRANSFORM %s %s IN c at %f", parent_frame.c_str(), child_frame.c_str(), stamp.toSec());
+ ROS_WARN("DIDNT GET TRANSFORM %s %s IN c at %f", parent_frame.c_str(), child_frame.c_str(), stamp.toSec());
return false;
}
@@ -227,7 +227,7 @@
catch (tf::TransformException ex)
{
gotTransform = false;
- ROS_ERROR("DIDNT GET TRANSFORM %s %s IN B", parent_frame.c_str(), child_frame.c_str());
+ ROS_WARN("DIDNT GET TRANSFORM %s %s IN B", parent_frame.c_str(), child_frame.c_str());
}
@@ -240,7 +240,7 @@
if (!we_have_a_map)
{
- ROS_INFO("Waiting for map");
+ ROS_INFO("SnapMapICP waiting for map to be published");
return;
}
//projector_.transformLaserScanToPointCloud("base_link",*scan_in,cloud,listener_);
@@ -248,7 +248,7 @@
return;
count_sc_++;
- //ROS_INFO("count_sc %i MUTEX LOCKED", count_sc_);
+ //ROS_DEBUG("count_sc %i MUTEX LOCKED", count_sc_);
//if (count_sc_ > 10)
//if (count_sc_ > 10)
@@ -260,7 +260,7 @@
tf::StampedTransform base_at_laser;
if (!getTransform(base_at_laser, ODOM_FRAME, "base_link", scan_in_time))
{
- ROS_ERROR("Did not get base pose at laser scan time");
+ ROS_WARN("Did not get base pose at laser scan time");
scan_callback_mutex.unlock();
return;
@@ -312,7 +312,7 @@
catch (...)
{
gotTransform = false;
- ROS_ERROR("DIDNT GET TRANSFORM IN A");
+ ROS_WARN("DIDNT GET TRANSFORM IN A");
}
}
@@ -335,7 +335,7 @@
catch (tf::TransformException ex)
{
gotTransform = false;
- ROS_ERROR("DIDNT GET TRANSFORM IN B");
+ ROS_WARN("DIDNT GET TRANSFORM IN B");
}
}
if (we_have_a_map && gotTransform)
@@ -393,7 +393,7 @@
}
if (transformedCloud.points.size() > 0)
{
- ROS_WARN("Inliers in dist %f: %zu of %zu percentage %f (%f)", ICP_INLIER_DIST, numinliers, transformedCloud.points.size(), (double) numinliers / (double) transformedCloud.points.size(), ICP_INLIER_THRESHOLD);
+ ROS_DEBUG("Inliers in dist %f: %zu of %zu percentage %f (%f)", ICP_INLIER_DIST, numinliers, transformedCloud.points.size(), (double) numinliers / (double) transformedCloud.points.size(), ICP_INLIER_THRESHOLD);
inlier_perc = (double) numinliers / (double) transformedCloud.points.size();
}
}
@@ -409,7 +409,7 @@
tf::StampedTransform base_after_icp;
if (!getTransform(base_after_icp, ODOM_FRAME, "base_link", ros::Time(0)))
{
- ROS_ERROR("Did not get base pose at now");
+ ROS_WARN("Did not get base pose at now");
scan_callback_mutex.unlock();
return;
@@ -417,28 +417,28 @@
else
{
tf::Transform rel = base_at_laser.inverseTimes(base_after_icp);
- ROS_INFO("relative motion of robot while doing icp: %fcm %fdeg", rel.getOrigin().length(), rel.getRotation().getAngle() * 180 / M_PI);
+ ROS_DEBUG("relative motion of robot while doing icp: %fcm %fdeg", rel.getOrigin().length(), rel.getRotation().getAngle() * 180 / M_PI);
t= t * rel;
}
- //ROS_INFO("dist %f angleDist %f",dist, angleDist);
+ //ROS_DEBUG("dist %f angleDist %f",dist, angleDist);
ros::Time scan_time = scan_in->header.stamp;
ros::Duration scan_age = ros::Time::now() - scan_time;
- //ROS_INFO("SCAN_AGE seems to be %f", scan_age.toSec());
+ //ROS_DEBUG("SCAN_AGE seems to be %f", scan_age.toSec());
char msg_c_str[2048];
sprintf(msg_c_str,"INLIERS %f (%f) scan_age %f (%f age_threshold) dist %f angleDist %f axis(%f %f %f) fitting %f (icp_fitness_threshold %f)",inlier_perc, ICP_INLIER_THRESHOLD, scan_age.toSec(), AGE_THRESHOLD ,dist, angleDist, rotAxis.x(), rotAxis.y(), rotAxis.z(),reg.getFitnessScore(), ICP_FITNESS_THRESHOLD );
std_msgs::String strmsg;
strmsg.data = msg_c_str;
- //ROS_INFO("%s", msg_c_str);
+ //ROS_DEBUG("%s", msg_c_str);
//check if we want to accept this scan, if its older than 1 sec, drop it
if (!use_sim_time)
if (scan_age.toSec() > AGE_THRESHOLD)
{
- ROS_ERROR("SCAN SEEMS TOO OLD (%f seconds, %f threshold)", scan_age.toSec(), AGE_THRESHOLD);
+ ROS_WARN("SCAN SEEMS TOO OLD (%f seconds, %f threshold)", scan_age.toSec(), AGE_THRESHOLD);
scan_callback_mutex.unlock();
return;
@@ -465,8 +465,8 @@
pose.pose.covariance[6*0+0] = (cov * cov) * factorPos;
pose.pose.covariance[6*1+1] = (cov * cov) * factorPos;
pose.pose.covariance[6*3+3] = (M_PI/12.0 * M_PI/12.0) * factorRot;
- ROS_INFO("i %i converged %i SCORE: %f", i, reg.hasConverged (), reg.getFitnessScore() );
- ROS_INFO("PUBLISHING A NEW INITIAL POSE dist %f angleDist %f Setting pose: %.3f %.3f [frame=%s]",dist, angleDist , pose.pose.pose.position.x , pose.pose.pose.position.y , pose.header.frame_id.c_str());
+ ROS_DEBUG("i %i converged %i SCORE: %f", i, reg.hasConverged (), reg.getFitnessScore() );
+ ROS_DEBUG("PUBLISHING A NEW INITIAL POSE dist %f angleDist %f Setting pose: %.3f %.3f [frame=%s]",dist, angleDist , pose.pose.pose.position.x , pose.pose.pose.position.y , pose.header.frame_id.c_str());
pub_pose.publish(pose);
strmsg.data += " << SENT";
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-02-10 13:18:50
|
Revision: 991
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=991&view=rev
Author: moesenle
Date: 2012-02-10 13:18:43 +0000 (Fri, 10 Feb 2012)
Log Message:
-----------
Author: Thomas Ruehr <ru...@in...>
Date: Fri Feb 10 14:18:23 2012 +0100
overhauled for roboearth workshop.
commit 9d1ab6e850f0e8fb1e497e691c686817c3b5f2f6
Author: Thomas Ruehr <ru...@in...>
Date: Tue Apr 26 19:16:32 2011 +0200
some demo scripting
commit 1d198d168e12c3b68143cbafc09e611430e98504
Author: Thomas Ruehr <ru...@in...>
Date: Wed Apr 20 11:16:35 2011 +0200
Republishes a PC2 on another topic, e.g. FreezeCloud2 /kinect/cloud_throttled /sample, this is useful for being able to deselect points in rviz (ctrl-klick/drag), since you cant deselect something that is not displayed anymore
commit 6d63ae310c09135346b8b918477418f917e66d5d
Author: Thomas Ruehr <ru...@in...>
Date: Tue Apr 19 09:23:59 2011 +0200
all play and no work
commit bba7b8cc4de9981b34436402c3132fb85e6f449f
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 31 10:38:18 2011 +0200
SnapMap->Diamondback(eigen namespace), OperatehandleController now extrapolates relative transform from start to current by 5cm to find next hand pose; added static tf publisher to provide fake odom for amcl when wheels are dead
commit dc0014e9b51398cfd690f578b7e2d974c4b1b17e
Author: Dejan Pangercic <dej...@gm...>
Date: Wed Mar 23 15:23:51 2011 +0100
snap map compiles with eigen
commit 7094fbd46755c501c9f62e7d16e6c794a43b807f
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 3 18:05:25 2011 +0100
moved 3d perception to new class
commit 861fcc248bd1a1013d95289b6ddafe34b3da787e
Author: Thomas Ruehr <ru...@in...>
Date: Thu Mar 3 15:22:05 2011 +0100
moved SnapMapICP out of ias_drawer_executive
git-commit
Modified Paths:
--------------
highlevel/SnapMapICP/manifest.xml
highlevel/SnapMapICP/src/SnapMapICP.cpp
Modified: highlevel/SnapMapICP/manifest.xml
===================================================================
--- highlevel/SnapMapICP/manifest.xml 2012-02-09 10:13:47 UTC (rev 990)
+++ highlevel/SnapMapICP/manifest.xml 2012-02-10 13:18:43 UTC (rev 991)
@@ -8,6 +8,7 @@
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/SnapMapICP</url>
+ <depend package="std_msgs"/>
<depend package="pcl"/>
<depend package="nav_msgs"/>
<depend package="laser_geometry"/>
Modified: highlevel/SnapMapICP/src/SnapMapICP.cpp
===================================================================
--- highlevel/SnapMapICP/src/SnapMapICP.cpp 2012-02-09 10:13:47 UTC (rev 990)
+++ highlevel/SnapMapICP/src/SnapMapICP.cpp 2012-02-10 13:18:43 UTC (rev 991)
@@ -29,6 +29,7 @@
#include <ros/ros.h>
+#include <std_msgs/String.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <nav_msgs/OccupancyGrid.h>
@@ -44,22 +45,40 @@
#include <pcl/registration/icp.h>
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/transforms.h>
+#include <pcl/kdtree/kdtree_flann.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <boost/thread/mutex.hpp>
+
+boost::mutex scan_callback_mutex;
+
//these should be parameters
// defines how good the match has to be to create a candidate for publishing a pose
-float ICP_FITNESS_THRESHOLD = 100.1;// = 0.025;
+double ICP_FITNESS_THRESHOLD = 100.1;// = 0.025;
//defines how much distance deviation from amcl to icp pose is needed to make us publish a pose
-float DIST_THRESHOLD = 0.05;
+double DIST_THRESHOLD = 0.05;
// same for angle
-float ANGLE_THRESHOLD = 0.01;
+double ANGLE_THRESHOLD = 0.01;
+double ANGLE_UPPER_THRESHOLD = M_PI / 6;
+// accept only scans one second old or younger
+double AGE_THRESHOLD = 1;
+double UPDATE_AGE_THRESHOLD = 1;
+double ICP_INLIER_THRESHOLD = 0.9;
+double ICP_INLIER_DIST = 0.1;
+double POSE_COVARIANCE_TRANS = 1.5;
+double ICP_NUM_ITER = 250;
+
+std::string BASE_LASER_FRAME = "/base_laser_link";
+std::string ODOM_FRAME = "/odom_combined";
+
ros::NodeHandle *nh = 0;
ros::Publisher pub_output_;
ros::Publisher pub_output_scan;
ros::Publisher pub_output_scan_transformed;
+ros::Publisher pub_info_;
ros::Publisher pub_pose;
@@ -78,6 +97,8 @@
bool we_have_a_scan = false;
bool we_have_a_scan_transformed = false;
+bool use_sim_time = false;
+
int lastScan = 0;
int actScan = 0;
@@ -124,6 +145,21 @@
}
+boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > cloud_xyz;
+
+pcl::KdTree<pcl::PointXYZ>::Ptr mapTree;
+
+
+pcl::KdTree<pcl::PointXYZ>::Ptr getTree(pcl::PointCloud<pcl::PointXYZ>::Ptr cloudb)
+{
+ pcl::KdTree<pcl::PointXYZ>::Ptr tree;
+ tree.reset (new pcl::KdTreeFLANN<pcl::PointXYZ>);
+
+ tree->setInputCloud (cloudb);
+ return tree;
+}
+
+
void mapCallback(const nav_msgs::OccupancyGrid& msg)
{
ROS_DEBUG("I heard frame_id: [%s]", msg.header.frame_id.c_str());
@@ -135,7 +171,7 @@
float posx = msg.info.origin.position.x;
float posy = msg.info.origin.position.y;
- boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > cloud_xyz = boost::shared_ptr< pcl::PointCloud<pcl::PointXYZ> >(new pcl::PointCloud<pcl::PointXYZ>());
+ cloud_xyz = boost::shared_ptr< pcl::PointCloud<pcl::PointXYZ> >(new pcl::PointCloud<pcl::PointXYZ>());
//cloud_xyz->width = 100; // 100
cloud_xyz->height = 1;
@@ -160,6 +196,8 @@
}
cloud_xyz->width = cloud_xyz->points.size();
+ mapTree = getTree(cloud_xyz);
+
pcl::toROSMsg (*cloud_xyz, *output_cloud);
ROS_DEBUG("Publishing PointXYZ cloud with %ld points in frame %s", cloud_xyz->points.size(),output_cloud->header.frame_id.c_str());
@@ -171,16 +209,76 @@
int count_sc_ = 0;
+bool getTransform(tf::StampedTransform &trans , const std::string parent_frame, const std::string child_frame, const ros::Time stamp)
+{
+ bool gotTransform = false;
+
+ if (!listener_->waitForTransform(parent_frame, child_frame, stamp, ros::Duration(0.05)))
+ {
+ ROS_ERROR("DIDNT GET TRANSFORM %s %s IN c at %f", parent_frame.c_str(), child_frame.c_str(), stamp.toSec());
+ return false;
+ }
+
+ try
+ {
+ gotTransform = true;
+ listener_->lookupTransform(parent_frame,child_frame,stamp , trans);
+ }
+ catch (tf::TransformException ex)
+ {
+ gotTransform = false;
+ ROS_ERROR("DIDNT GET TRANSFORM %s %s IN B", parent_frame.c_str(), child_frame.c_str());
+ }
+
+
+ return gotTransform;
+}
+
+
void scanCallback (const sensor_msgs::LaserScan::ConstPtr& scan_in)
{
+ if (!we_have_a_map)
+ {
+ ROS_INFO("Waiting for map");
+ return;
+ }
//projector_.transformLaserScanToPointCloud("base_link",*scan_in,cloud,listener_);
+ if (!scan_callback_mutex.try_lock())
+ return;
+
count_sc_++;
- if (count_sc_ > 10)
+ //ROS_INFO("count_sc %i MUTEX LOCKED", count_sc_);
+
+ //if (count_sc_ > 10)
+ //if (count_sc_ > 10)
{
count_sc_ = 0;
+ ros::Time scan_in_time = scan_in->header.stamp;
+ tf::StampedTransform base_at_laser;
+ if (!getTransform(base_at_laser, ODOM_FRAME, "base_link", scan_in_time))
+ {
+ ROS_ERROR("Did not get base pose at laser scan time");
+ scan_callback_mutex.unlock();
+
+ return;
+ }
+
+ // nh.param<std::string>("default_param", default_param, "default_value");
+ nh->param<bool>("USE_SIM_TIME", use_sim_time, false);
+ nh->param<double>("SnapMapICP/icp_fitness_threshold", ICP_FITNESS_THRESHOLD, 100 );
+ nh->param<double>("SnapMapICP/age_threshold", AGE_THRESHOLD, 1);
+ nh->param<double>("SnapMapICP/angle_upper_threshold", ANGLE_UPPER_THRESHOLD, 1);
+ nh->param<double>("SnapMapICP/angle_threshold", ANGLE_THRESHOLD, 0.01);
+ nh->param<double>("SnapMapICP/update_age_threshold", UPDATE_AGE_THRESHOLD, 1);
+ nh->param<double>("SnapMapICP/dist_threshold", DIST_THRESHOLD, 0.01);
+ nh->param<double>("SnapMapICP/icp_inlier_threshold", ICP_INLIER_THRESHOLD, 0.88);
+ nh->param<double>("SnapMapICP/icp_inlier_dist", ICP_INLIER_DIST, 0.1);
+ nh->param<double>("SnapMapICP/icp_num_iter", ICP_NUM_ITER, 250);
+ nh->param<double>("SnapMapICP/pose_covariance_trans", POSE_COVARIANCE_TRANS, 0.5);
+
sensor_msgs::PointCloud cloud;
sensor_msgs::PointCloud cloudInMap;
@@ -188,6 +286,22 @@
we_have_a_scan = false;
bool gotTransform = false;
+
+ if (!listener_->waitForTransform("/map", cloud.header.frame_id, cloud.header.stamp, ros::Duration(0.05)))
+ {
+ scan_callback_mutex.unlock();
+ ROS_WARN("SnapMapICP no map to cloud transform found MUTEX UNLOCKED");
+ return;
+ }
+
+ if (!listener_->waitForTransform("/map", "/base_link", cloud.header.stamp, ros::Duration(0.05)))
+ {
+ scan_callback_mutex.unlock();
+ ROS_WARN("SnapMapICP no map to base transform found MUTEX UNLOCKED");
+ return;
+ }
+
+
while (!gotTransform && (ros::ok()))
{
try
@@ -198,9 +312,16 @@
catch (...)
{
gotTransform = false;
+ ROS_ERROR("DIDNT GET TRANSFORM IN A");
}
}
+ for (size_t k =0; k < cloudInMap.points.size(); k++)
+ {
+ cloudInMap.points[k].z = 0;
+ }
+
+
gotTransform = false;
tf::StampedTransform oldPose;
while (!gotTransform && (ros::ok()))
@@ -208,12 +329,13 @@
try
{
gotTransform = true;
- listener_->lookupTransform("/map", "/base_footprint",
- ros::Time(0), oldPose);
+ listener_->lookupTransform("/map", "/base_link",
+ cloud.header.stamp , oldPose);
}
catch (tf::TransformException ex)
{
gotTransform = false;
+ ROS_ERROR("DIDNT GET TRANSFORM IN B");
}
}
if (we_have_a_map && gotTransform)
@@ -228,68 +350,133 @@
reg.setTransformationEpsilon (1e-6);
// Set the maximum distance between two correspondences (src<->tgt) to 10cm
// Note: adjust this based on the size of your datasets
- reg.setMaxCorrespondenceDistance(0.5);
- reg.setMaximumIterations (100);
+ reg.setMaxCorrespondenceDistance(1.5);
+ reg.setMaximumIterations (ICP_NUM_ITER);
// Set the point representation
- PointCloudT myMapCloud;
- PointCloudT myScanCloud;
+ PointCloudT::Ptr myMapCloud (new PointCloudT());
+ PointCloudT::Ptr myScanCloud (new PointCloudT());
- pcl::fromROSMsg(*output_cloud,myMapCloud);
- pcl::fromROSMsg(cloud2,myScanCloud);
+ pcl::fromROSMsg(*output_cloud,*myMapCloud);
+ pcl::fromROSMsg(cloud2,*myScanCloud);
- reg.setInputCloud(boost::make_shared< const PointCloudT > (myScanCloud));
- reg.setInputTarget(boost::make_shared< const PointCloudT > (myMapCloud));
+ reg.setInputCloud(myScanCloud);
+ reg.setInputTarget(myMapCloud);
PointCloudT unused;
int i = 0;
reg.align (unused); //-- running the registration in a loop to visualize intermediate results
- Eigen::Matrix4f transf = reg.getFinalTransformation();
+ const Eigen::Matrix4f &transf = reg.getFinalTransformation();
tf::Transform t;
matrixAsTransfrom(transf,t);
we_have_a_scan_transformed = false;
PointCloudT transformedCloud;
- pcl::transformPointCloud (myScanCloud, transformedCloud, reg.getFinalTransformation());
+ pcl::transformPointCloud (*myScanCloud, transformedCloud, reg.getFinalTransformation());
+
+ double inlier_perc = 0;
+
+ {
+ // count inliers
+
+ std::vector<int> nn_indices (1);
+ std::vector<float> nn_sqr_dists (1);
+
+ size_t numinliers = 0;
+
+ for (size_t k = 0; k < transformedCloud.points.size(); ++k )
+ {
+ if (mapTree->radiusSearch (transformedCloud.points[k], ICP_INLIER_DIST, nn_indices,nn_sqr_dists, 1) != 0)
+ numinliers += 1;
+ }
+ if (transformedCloud.points.size() > 0)
+ {
+ ROS_WARN("Inliers in dist %f: %zu of %zu percentage %f (%f)", ICP_INLIER_DIST, numinliers, transformedCloud.points.size(), (double) numinliers / (double) transformedCloud.points.size(), ICP_INLIER_THRESHOLD);
+ inlier_perc = (double) numinliers / (double) transformedCloud.points.size();
+ }
+ }
+
pcl::toROSMsg (transformedCloud, cloud2transformed);
we_have_a_scan_transformed = true;
-
double dist = sqrt((t.getOrigin().x() * t.getOrigin().x()) + (t.getOrigin().y() * t.getOrigin().y()));
double angleDist = t.getRotation().getAngle();
- t = t * oldPose ;
+ btVector3 rotAxis = t.getRotation().getAxis();
+ t = t * oldPose;
+ tf::StampedTransform base_after_icp;
+ if (!getTransform(base_after_icp, ODOM_FRAME, "base_link", ros::Time(0)))
+ {
+ ROS_ERROR("Did not get base pose at now");
+ scan_callback_mutex.unlock();
+
+ return;
+ }
+ else
+ {
+ tf::Transform rel = base_at_laser.inverseTimes(base_after_icp);
+ ROS_INFO("relative motion of robot while doing icp: %fcm %fdeg", rel.getOrigin().length(), rel.getRotation().getAngle() * 180 / M_PI);
+ t= t * rel;
+ }
+
//ROS_INFO("dist %f angleDist %f",dist, angleDist);
+ ros::Time scan_time = scan_in->header.stamp;
+ ros::Duration scan_age = ros::Time::now() - scan_time;
+ //ROS_INFO("SCAN_AGE seems to be %f", scan_age.toSec());
+ char msg_c_str[2048];
+ sprintf(msg_c_str,"INLIERS %f (%f) scan_age %f (%f age_threshold) dist %f angleDist %f axis(%f %f %f) fitting %f (icp_fitness_threshold %f)",inlier_perc, ICP_INLIER_THRESHOLD, scan_age.toSec(), AGE_THRESHOLD ,dist, angleDist, rotAxis.x(), rotAxis.y(), rotAxis.z(),reg.getFitnessScore(), ICP_FITNESS_THRESHOLD );
+ std_msgs::String strmsg;
+ strmsg.data = msg_c_str;
- if ((actScan - lastTimeSent > 10) && ((dist > DIST_THRESHOLD) || (angleDist > ANGLE_THRESHOLD)))
- if ( reg.getFitnessScore() <= ICP_FITNESS_THRESHOLD )
+ //ROS_INFO("%s", msg_c_str);
+
+
+ //check if we want to accept this scan, if its older than 1 sec, drop it
+ if (!use_sim_time)
+ if (scan_age.toSec() > AGE_THRESHOLD)
{
- lastTimeSent = actScan;
- geometry_msgs::PoseWithCovarianceStamped pose;
- pose.header.frame_id = "map";
- pose.pose.pose.position.x = t.getOrigin().x();
- pose.pose.pose.position.y = t.getOrigin().y();
+ ROS_ERROR("SCAN SEEMS TOO OLD (%f seconds, %f threshold)", scan_age.toSec(), AGE_THRESHOLD);
+ scan_callback_mutex.unlock();
- btQuaternion quat = t.getRotation();
- //quat.setRPY(0.0, 0.0, theta);
- tf::quaternionTFToMsg(quat,pose.pose.pose.orientation);
- float factorPos = 0.03;
- float factorRot = 0.1;
- pose.pose.covariance[6*0+0] = (0.5 * 0.5) * factorPos;
- pose.pose.covariance[6*1+1] = (0.5 * 0.5) * factorPos;
- pose.pose.covariance[6*3+3] = (M_PI/12.0 * M_PI/12.0) * factorRot;
- ROS_INFO("i %i converged %i SCORE: %f", i, reg.hasConverged (), reg.getFitnessScore() );
- ROS_INFO("PUBLISHING A NEW INITIAL POSE dist %f angleDist %f Setting pose: %.3f %.3f [frame=%s]",dist, angleDist , pose.pose.pose.position.x , pose.pose.pose.position.y , pose.header.frame_id.c_str());
- pub_pose.publish(pose);
+ return;
}
+
+
+ double cov = POSE_COVARIANCE_TRANS;
+
+ //if ((actScan - lastTimeSent > UPDATE_AGE_THRESHOLD) && ((dist > DIST_THRESHOLD) || (angleDist > ANGLE_THRESHOLD)) && (angleDist < ANGLE_UPPER_THRESHOLD))
+ // if ( reg.getFitnessScore() <= ICP_FITNESS_THRESHOLD )
+ if ((actScan - lastTimeSent > UPDATE_AGE_THRESHOLD) && ((dist > DIST_THRESHOLD) || (angleDist > ANGLE_THRESHOLD)) && (inlier_perc > ICP_INLIER_THRESHOLD) && (angleDist < ANGLE_UPPER_THRESHOLD))
+ {
+ lastTimeSent = actScan;
+ geometry_msgs::PoseWithCovarianceStamped pose;
+ pose.header.frame_id = "map";
+ pose.pose.pose.position.x = t.getOrigin().x();
+ pose.pose.pose.position.y = t.getOrigin().y();
+
+ btQuaternion quat = t.getRotation();
+ //quat.setRPY(0.0, 0.0, theta);
+ tf::quaternionTFToMsg(quat,pose.pose.pose.orientation);
+ float factorPos = 0.03;
+ float factorRot = 0.1;
+ pose.pose.covariance[6*0+0] = (cov * cov) * factorPos;
+ pose.pose.covariance[6*1+1] = (cov * cov) * factorPos;
+ pose.pose.covariance[6*3+3] = (M_PI/12.0 * M_PI/12.0) * factorRot;
+ ROS_INFO("i %i converged %i SCORE: %f", i, reg.hasConverged (), reg.getFitnessScore() );
+ ROS_INFO("PUBLISHING A NEW INITIAL POSE dist %f angleDist %f Setting pose: %.3f %.3f [frame=%s]",dist, angleDist , pose.pose.pose.position.x , pose.pose.pose.position.y , pose.header.frame_id.c_str());
+ pub_pose.publish(pose);
+ strmsg.data += " << SENT";
+ }
+
+ pub_info_.publish(strmsg);
//ROS_DEBUG("map width %i height %i size %i, %s", myMapCloud.width, myMapCloud.height, (int)myMapCloud.points.size(), myMapCloud.header.frame_id.c_str());
//ROS_DEBUG("scan width %i height %i size %i, %s", myScanCloud.width, myScanCloud.height, (int)myScanCloud.points.size(), myScanCloud.header.frame_id.c_str());
}
}
- // Do something with cloud.
+ scan_callback_mutex.unlock();
}
int main(int argc, char** argv)
@@ -300,10 +487,15 @@
ros::NodeHandle nh_;
nh = &nh_;
+ nh->param<std::string>("SnapMapICP/odom_frame", ODOM_FRAME, "/odom_combined");
+ nh->param<std::string>("SnapMapICP/base_laser_frame", BASE_LASER_FRAME, "/base_laser_link");
+
+
projector_ = new laser_geometry::LaserProjection();
tf::TransformListener listener;
listener_ = &listener;
+ pub_info_ = nh->advertise<std_msgs::String> ("SnapMapICP", 1);
pub_output_ = nh->advertise<sensor_msgs::PointCloud2> ("map_points", 1);
pub_output_scan = nh->advertise<sensor_msgs::PointCloud2> ("scan_points", 1);
pub_output_scan_transformed = nh->advertise<sensor_msgs::PointCloud2> ("scan_points_transformed", 1);
@@ -317,7 +509,7 @@
listener_->waitForTransform("/base_link", "/map",
ros::Time(0), ros::Duration(30.0));
- listener_->waitForTransform("/base_laser_link", "/map",
+ listener_->waitForTransform(BASE_LASER_FRAME, "/map",
ros::Time(0), ros::Duration(30.0));
while (ros::ok())
@@ -340,101 +532,3 @@
}
}
-
-
-/*
-Full name: /Motors/EtherCAT Device (r_wrist_l_motor)
-Component: EtherCAT Device (r_wrist_l_motor)
-Hardware ID: 68-05005-01769
-Level: Warning
-Message: Could not collect WG0X diagnostics; Could not collect diagnostics
-
-Configuration: good
-Name: r_wrist_l_motor
-Position: 31
-Product code: WG05 (6805005) Firmware Revision 1.21, PCB Revision F.02
-Robot: PR2
-Motor: Maxon 310009
-Serial Number: 68-05005-01769
-Nominal Current Scale: 0.000500
-Nominal Voltage Scale: 0.006250
-HW Max Current: 3.250000
-SW Max Current: 1.720000
-Speed Constant: 178.000000
-Resistance: 2.520000
-Motor Torque Constant: 0.053800
-Pulses Per Revolution: 1200
-Encoder Reduction: -1.000000
-Status Checksum Error Count: 0
-Safety Disable Status: ENABLED (00)
-Safety Disable Status Hold: ENABLED (00)
-Safety Disable Count: 6
-Undervoltage Count: 5
-Over Current Count: 0
-Board Over Temp Count: 0
-Bridge Over Temp Count: 0
-Operate Disable Count: 1
-Watchdog Disable Count: 1
-MBX Command IRQ Count: 181
-PDI Timeout Error Count: 0
-PDI Checksum Error Count: 0
-Supply Current: 0.051398
-Configured Offset A: 0.022000
-Configured Offset B: -0.006000
-Mailbox Write Errors: 0
-Mailbox Read Errors: 0
-Mailbox Retries: 0
-Mailbox Retry Errors: 0
-Calibration Offset: -198.797365
-Calibration Status: Calibrated by controller
-Watchdog Limit: 100ms
-Mode: ENABLE, CURRENT
-Digital out: 254
-Programmed pwm value: -291
-Programmed current: -0.197000
-Measured current: -0.194500
-Timestamp: 3546451304
-Encoder count: -38034
-Encoder index pos: -38034
-Num encoder_errors: 0
-Encoder status: 15
-Calibration reading: 15
-Last calibration rising edge: -43040
-Last calibration falling edge: -18976
-Board temperature: 44.250000
-Max board temperature: 44.375000
-Bridge temperature: 50.687500
-Max bridge temperature: 50.812500
-Supply voltage: 70.787498
-Motor voltage: -1.125000
-Current Loop Kp: 16
-Current Loop Ki: 4
-Motor Voltage Error %: 10.172653
-Max Motor Voltage Error %: 34.376442
-Abs Filtered Voltage Error %: 8.273659
-Max Abs Filtered Voltage Error %: 15.651860
-Current Error: 0.000720
-Max Current Error: 0.017975
-Abs Filtered Current Error: 0.000570
-Max Abs Filtered Current Error: 0.003362
-Motor Resistance Estimate: 4.495118
-# Published traces: 5
-Packet count: 48769
-Drops: 0
-Consecutive Drops: 0
-Max Consecutive Drops: 0
-Reset detected: No
-Valid: No
-EPU Errors: 0
-PDI Errors: 0
-Status Port 0: Has Link, Open, Has Comm
-RX Error Port 0: 0
-Forwarded RX Error Port 0: 0
-Invalid Frame Port 0: 0
-Lost Link Port 0: 0
-Status Port 1: Has Link, Open, Has Comm
-RX Error Port 1: 0
-Forwarded RX Error Port 1: 0
-Invalid Frame Port 1: 0
-Lost Link Port 1: 0
-*/
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-02-09 10:13:53
|
Revision: 990
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=990&view=rev
Author: moesenle
Date: 2012-02-09 10:13:47 +0000 (Thu, 09 Feb 2012)
Log Message:
-----------
Moved cram_pr2 and cram_physics to github.
Modified Paths:
--------------
rosinstall/tum-ros-pkg.rosinstall
Modified: rosinstall/tum-ros-pkg.rosinstall
===================================================================
--- rosinstall/tum-ros-pkg.rosinstall 2012-02-05 18:32:38 UTC (rev 989)
+++ rosinstall/tum-ros-pkg.rosinstall 2012-02-09 10:13:47 UTC (rev 990)
@@ -15,7 +15,7 @@
uri: http://code.in.tum.de/git/mapping.git
- git:
local-name: cram_physics
- uri: git://code.in.tum.de/git/cram-physics.git
+ uri: https://github.com/moesenle/cram_physics.git
- git:
local-name: cram_pl
uri: http://code.in.tum.de/git/cram-pl.git
@@ -27,7 +27,7 @@
uri: http://code.in.tum.de/git/cram-rosie.git
- git:
local-name: cram_pr2
- uri: http://code.in.tum.de/git/cram-pr2.git
+ uri: https://github.com/moesenle/cram_pr2.git
- git:
local-name: ias_common
uri: http://code.in.tum.de/git/ias-common.git
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <tum...@li...> - 2012-02-05 18:32:45
|
Revision: 989
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=989&view=rev
Author: moesenle
Date: 2012-02-05 18:32:38 +0000 (Sun, 05 Feb 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Feb 5 19:32:04 2012 +0100
commit 0d6623d44c2cb9056ee62606f63b79be374f2dfe
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Feb 5 19:31:38 2012 +0100
refactored the code
commit 2b90812f874db614252cc411ea9f6581e05cc527
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 17:56:00 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/launch/barcode_reader.launch
perception/zbar_barcode_reader_node/rosdep.yaml
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Modified: perception/zbar_barcode_reader_node/launch/barcode_reader.launch
===================================================================
--- perception/zbar_barcode_reader_node/launch/barcode_reader.launch 2012-01-31 16:56:47 UTC (rev 988)
+++ perception/zbar_barcode_reader_node/launch/barcode_reader.launch 2012-02-05 18:32:38 UTC (rev 989)
@@ -1,5 +1,12 @@
<launch>
- <node pkg="zbar_barcode_reader_node" type="zbar_barcode_reader_node" name="barcode_reader_node" output="screen" respawn="true">
+ <node pkg="zbar_barcode_reader_node" type="zbar_barcode_reader_node" name="barcode_reader_node" output="screen" respawn="false">
<param name="input_image_topic" type="string" value="/image_raw" />
+ <param name="link1" type="string" value="http://www.barcoo.com/api/get_product_complete?pi=" />
+ <param name="link2" type="string" value="&pins=ean&format=xml&source=ias-tum" />
+ <param name="tag1" type="string" value="answer" />
+ <param name="tag2" type="string" value="picture_high" />
+ <param name="tag3" type="string" value="picture_low" />
+ <param name="image_pattern" type="string" value="<meta property="og:image" content="" />
+
</node>
</launch>
Modified: perception/zbar_barcode_reader_node/rosdep.yaml
===================================================================
--- perception/zbar_barcode_reader_node/rosdep.yaml 2012-01-31 16:56:47 UTC (rev 988)
+++ perception/zbar_barcode_reader_node/rosdep.yaml 2012-02-05 18:32:38 UTC (rev 989)
@@ -1,7 +1,11 @@
libcurl:
ubuntu:
11.04: libcurl3
+ oneiric: libcurl3
libtinyxml:
ubuntu:
11.04: libtinyxml-dev
+ oneiric: libtinyxml-dev
+
+
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-31 16:56:47 UTC (rev 988)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-02-05 18:32:38 UTC (rev 989)
@@ -22,6 +22,13 @@
using namespace zbar;
class BarcodeReaderNode {
+ std:: string link1_;// = "http://www.barcoo.com/api/get_product_complete?pi=";
+ std:: string link2_;// = "&pins=ean&format=xml&source=ias-tum";
+ std:: string tag1_;// = "answer";
+ std:: string tag2_;// = "picture_high";
+ std:: string tag3_;// = "picture_low";
+ std:: string pattern_;// = "<meta property=\"og:image\" content=\"";
+ TiXmlDocument doc;
public:
struct memoryStruct {
@@ -39,8 +46,19 @@
BarcodeReaderNode(ros::NodeHandle &n) :
n_(n), it_(n_)
{
- n_.param ("input_image_topic", input_image_topic_, std::string("/stereo/left/image_rect"));
+ //link1 = "http://www.barcoo.com/api/get_product_complete?pi=";
+ //link2 = "&pins=ean&format=xml&source=ias-tum";
+ //tag1 = "answer";
+ //tag2 = "picture_high";
+ //tag3 = "picture_low";
+
+ n_.param ("input_image_topic", input_image_topic_, std::string("/image_raw"));
n_.param ("outout_barcode_topic", output_barcode_topic_, std::string("barcode"));
+ n_.param ("link1", link1_, std::string("http://www.barcoo.com/api/get_product_complete?pi="));
+ n_.param ("link2", link2_, std::string("&pins=ean&format=xml&source=ias-tum"));
+ n_.param ("tag2", tag2_, std::string("picture_high"));
+ n_.param ("tag3", tag3_, std::string("picture_low"));
+ n_.param ("image_pattern", pattern_, std::string("<meta property=\"og:image\" content=\""));
image_sub_ = it_.subscribe(
input_image_topic_, 1, &BarcodeReaderNode::imageCallback, this);
barcode_pub_ =
@@ -67,7 +85,7 @@
{
UserData *userdata = reinterpret_cast<UserData *>(data);
struct memoryStruct *mem = userdata->memory;
- BarcodeReaderNode *self = userdata->self;
+ //BarcodeReaderNode *self = userdata->self;
size_t realsize = size * nmemb;
mem->memory = (char *)
@@ -100,11 +118,10 @@
return result;
}
- int getImage(std::string & image)
+ int getImage(std::string image, cv::Mat * imgTmp)
{
CURL *curl; // CURL objects
CURLcode res;
- cv::Mat imgTmp; // image object
memoryStruct buffer; // memory buffer
UserData userdata(&buffer, this);
@@ -129,16 +146,7 @@
// get the image from the specified URL
res = curl_easy_perform(curl);
// decode memory buffer using OpenCV
- imgTmp = cv::imdecode(cv::Mat(1, buffer.size, CV_8UC1, buffer.memory), CV_LOAD_IMAGE_UNCHANGED);
- // display image (if we got / decoded it correctly)
-
-
- if (!(imgTmp.empty()))
- {
- imshow("Barcoo img", imgTmp);
- }
- cv::waitKey(3);
-
+ *imgTmp = cv::imdecode(cv::Mat(1, buffer.size, CV_8UC1, buffer.memory), CV_LOAD_IMAGE_UNCHANGED);
// always cleanup
curl_easy_cleanup(curl);
@@ -147,52 +155,60 @@
return 1;
}
- void findElement( TiXmlNode* pParent, std::string & picture)
+ void findElement( TiXmlNode* pParent, std::string & picture, std:: string tag)
{
- if ( !pParent ) return;
+ //if ( !pParent ) return;
TiXmlNode* pChild;
- //std::string picture ("Picture Not Found");
std::string pstring = pParent->Value();
- // std::cerr << "pstring: " << pstring << std::endl;
- size_t found=pstring.find("picture_high");
+
+ //Search for tag
+ size_t found=pstring.find(tag);
if (found!=std::string::npos)
- {
- ROS_INFO_STREAM("First child: " << pParent->FirstChild()->Value());
- picture = pParent->FirstChild()->Value();
- return;
- }
- size_t found2=pstring.find("picture_low");
- if (found2!=std::string::npos && picture == "")
- {
- ROS_INFO_STREAM("First child: " << pParent->FirstChild()->Value());
- picture = pParent->FirstChild()->Value();
- return;
- }
- for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling())
- {
- findElement(pChild, picture);
- // std::cerr << "in for " << std::endl;
- }
+ {
+ ROS_INFO_STREAM("First child: " << pParent->FirstChild()->Value());
+ picture = pParent->FirstChild()->Value();
+ return;
+ }
+
+ for( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling())
+ {
+ findElement(pChild, picture,tag);
+ }
}
- int visBarcooPicture(std::string buffer)
+ int getPictureLink(std::string buffer,std::string & picture)
{
- // std::cerr << "buffer: " << buffer << std::endl;
- TiXmlDocument doc;
doc.Parse((const char*)buffer.c_str(), 0, TIXML_ENCODING_UTF8);
- std::string picture;
- findElement (&doc, picture);
+
+ //Check if there is a result
+ std:: string result;
+ cout << "ohhh my goooooood\n\n";
+ findElement(&doc,result,tag1_);
+ if(result.compare("0") == 0) //This condition checks if there is a result in the XML file if not returns 0
+ {
+ cout << "heloooooo barcode does not correspond to any object in the barcoo database";
+ return 0;
+ }
+ else
+ cout << "ELSE ELSE ELSE\n";
+
+ //Search for first tag
+ findElement (&doc, picture,tag2_);
+
+ if(picture == "")
+ findElement (&doc, picture,tag3_); //Search for second tag
+
ROS_INFO_STREAM ("Picture link: " << picture);
if (picture == "")
return -1;
- getImage (picture);
+
return 1;
}
- int callBarcoo(std::string bar_code, std::string & buffer)
+ int getBarcooXML(std::string bar_code, std::string & buffer)
{
char errorBuffer[CURL_ERROR_SIZE];
// Our curl objects
@@ -200,7 +216,7 @@
CURLcode result;
// Create our curl handle
curl = curl_easy_init();
- std::string full_url = "http://www.barcoo.com/api/get_product_complete?pi=" + bar_code + "&pins=ean&format=xml&source=ias-tum";
+ std::string full_url = link1_ + bar_code + link2_;
ROS_INFO_STREAM("full_url: " << full_url);
if (curl)
@@ -236,6 +252,45 @@
return -1;
}
+ int getHTMLpage(std::string url, std::string & buffer)
+ {
+ char errorBuffer[CURL_ERROR_SIZE];
+ // Our curl objects
+ CURL *curl;
+ CURLcode result;
+ // Create our curl handle
+ curl = curl_easy_init();
+ if (curl)
+ {
+ // Now set up all of the curl options
+ curl_easy_setopt(curl, CURLOPT_ERRORBUFFER, errorBuffer);
+ curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+ curl_easy_setopt(curl, CURLOPT_HEADER, 0);
+ curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
+ curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, &BarcodeReaderNode::writer);
+ // curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writer);
+ curl_easy_setopt(curl, CURLOPT_WRITEDATA, &buffer);
+
+ // Attempt to retrieve the remote page
+ result = curl_easy_perform(curl);
+
+ // Always cleanup
+ curl_easy_cleanup(curl);
+
+ // Did we succeed?
+ if (result == CURLE_OK)
+ {
+
+ return 1;
+ }
+ else
+ {
+ return -1;
+ }
+ }
+ return -1;
+ }
+
void imageCallback(const sensor_msgs::ImageConstPtr& msg_ptr)
{
@@ -288,26 +343,70 @@
barcode_pub_.publish(msg);
}
if (n == 0)
- {
- ROS_WARN("Barcode not found");
- return;
- }
+ {
+ ROS_WARN("Barcode not found");
+ return;
+ }
if (n < 0)
- {
- ROS_ERROR("Error occured while finding barcode");
- return;
- }
+ {
+ ROS_ERROR("Error occured while finding barcode");
+ return;
+ }
std::string buffer;
- if (callBarcoo(ss.str(), buffer) == 1)
- {
- // std::cerr << "buffer after callBarcoo " << buffer << std::endl;
- visBarcooPicture (buffer);
- }
+ //Get xml file from barcoo database
+ int res = getBarcooXML(ss.str(), buffer);
+ if(res != 1)
+ return;
+ // std::cerr << "buffer after callBarcoo " << buffer << std::endl;
+ //Search for info in the xml file
+ std::string pictureLink;
+ res = getPictureLink (buffer,pictureLink);
+
+
+ if(res == 0) //If barcode does not exist in the database return
+ {
+ cout << "Barcode does not exist in the barcoo datbase\n";
+ return;
+ }
+ if(res == -1) //This condition is true when the image link is not given
+ {
+ //Look for an image in the HTML file
+
+ //First find the link to the barcoo website of the file
+ std::string htmlPage;
+ std::string htmlLink;
+ findElement(&doc,htmlLink,"back_link");
+ cout << "html link: "+htmlLink+"\n";
+ //Download HTML page
+ getHTMLpage(htmlLink,htmlPage);
+ std::string ss = pattern_;
+ long position = htmlPage.find(ss, ss.length()) + ss.length();
+
+ std::string link;
+ while(htmlPage.at(position) !='"')
+ {
+ link += htmlPage.at(position);
+ position++;
+ }
+ pictureLink = link;
+
+ }
+ //Get Image
+ if(!pictureLink.empty())
+ {
+ cv::Mat imgTmp; // image object
+ getImage (pictureLink ,& imgTmp);
+ // display image
+ if (!(imgTmp.empty()))
+ {
+ imshow("Barcoo img", imgTmp);
+ }
+ }
+ cv::waitKey(3);
// clean up
image.set_data(NULL, 0);
-
}
protected:
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|
|
From: <tum...@li...> - 2012-01-31 16:56:54
|
Revision: 988
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=988&view=rev
Author: moesenle
Date: 2012-01-31 16:56:47 +0000 (Tue, 31 Jan 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 17:56:00 2012 +0100
commit 18a0d38c68c6c7687b2dc686099d920b40fa5f8d
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 17:55:38 2012 +0100
no need to save an xml
commit 1f4fc5e466ea6b71c55184c96db00c0861f6287a
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 17:55:00 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-31 16:56:40 UTC (rev 987)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-31 16:56:47 UTC (rev 988)
@@ -182,7 +182,6 @@
// std::cerr << "buffer: " << buffer << std::endl;
TiXmlDocument doc;
doc.Parse((const char*)buffer.c_str(), 0, TIXML_ENCODING_UTF8);
- doc.SaveFile ("text.xml");
std::string picture;
findElement (&doc, picture);
ROS_INFO_STREAM ("Picture link: " << picture);
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|
|
From: <tum...@li...> - 2012-01-31 16:56:49
|
Revision: 987
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=987&view=rev
Author: moesenle
Date: 2012-01-31 16:56:40 +0000 (Tue, 31 Jan 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 17:55:00 2012 +0100
commit 0b6c0c9cb2a8e0f40e1b195cc0ae1472185c591a
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 17:54:39 2012 +0100
got rid of static functions (thx Lorenz)
commit 4810db7739748ed8a5f4750d6a992fbaa4fb6a6e
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 13:04:23 2012 +0100
different default topic
commit e73893c803108e9e9dc500fa1e77667da40da120
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 12:07:05 2012 +0100
public export
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/launch/barcode_reader.launch
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Modified: perception/zbar_barcode_reader_node/launch/barcode_reader.launch
===================================================================
--- perception/zbar_barcode_reader_node/launch/barcode_reader.launch 2012-01-31 11:07:48 UTC (rev 986)
+++ perception/zbar_barcode_reader_node/launch/barcode_reader.launch 2012-01-31 16:56:40 UTC (rev 987)
@@ -1,5 +1,5 @@
<launch>
<node pkg="zbar_barcode_reader_node" type="zbar_barcode_reader_node" name="barcode_reader_node" output="screen" respawn="true">
- <param name="input_image_topic" type="string" value="/image_topic_2" />
+ <param name="input_image_topic" type="string" value="/image_raw" />
</node>
</launch>
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-31 11:07:48 UTC (rev 986)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-31 16:56:40 UTC (rev 987)
@@ -21,64 +21,21 @@
using namespace std;
using namespace zbar;
- static int writer(char *data, size_t size, size_t nmemb,
- std::string *buffer)
- {
- // What we will return
- int result = 0;
-
- // Is there anything in the buffer?
- if (buffer != NULL)
- {
- // Append the data to the buffer
- buffer->append(data, size * nmemb);
-
- // How much did we write?
- result = size * nmemb;
- }
-
- return result;
- }
-
-static void* CURL_realloc(void *ptr, size_t size)
-{
- /* There might be a realloc() out there that doesn't like reallocing
- NULL pointers, so we take care of it here */
- if(ptr)
- return realloc(ptr, size);
- else
- return malloc(size);
-}
-
-struct memoryStruct {
- char *memory;
- size_t size;
-};
-
- size_t WriteMemoryCallback
- (void *ptr, size_t size, size_t nmemb, void *data)
- {
- size_t realsize = size * nmemb;
- struct memoryStruct *mem = (struct memoryStruct *)data;
-
- mem->memory = (char *)
- CURL_realloc(mem->memory, mem->size + realsize + 1);
- if (mem->memory) {
- memcpy(&(mem->memory[mem->size]), ptr, realsize);
- mem->size += realsize;
- mem->memory[mem->size] = 0;
- }
- return realsize;
- }
-
-
class BarcodeReaderNode {
- // struct memoryStruct {
- // char *memory;
- // size_t size;
- // };
public:
+ struct memoryStruct {
+ char *memory;
+ size_t size;
+ };
+
+ struct UserData {
+ memoryStruct *memory;
+ BarcodeReaderNode *self;
+ UserData(memoryStruct *memory, BarcodeReaderNode *self)
+ : memory(memory), self(self) {}
+ };
+
BarcodeReaderNode(ros::NodeHandle &n) :
n_(n), it_(n_)
{
@@ -86,63 +43,70 @@
n_.param ("outout_barcode_topic", output_barcode_topic_, std::string("barcode"));
image_sub_ = it_.subscribe(
input_image_topic_, 1, &BarcodeReaderNode::imageCallback, this);
- barcode_pub_ = n_.advertise<std_msgs::String>(output_barcode_topic_, 1);
+ barcode_pub_ =
+ n_.advertise<std_msgs::String>(output_barcode_topic_, 1);
+ cv::namedWindow ("Barcoo img");
}
~BarcodeReaderNode()
{
-
+ cv::destroyAllWindows();
}
- // void* CURL_realloc(void *ptr, size_t size)
- // {
- // /* There might be a realloc() out there that doesn't like reallocing
- // NULL pointers, so we take care of it here */
- // if(ptr)
- // return realloc(ptr, size);
- // else
- // return malloc(size);
- // }
+ static void* CURL_realloc(void *ptr, size_t size)
+ {
+ /* There might be a realloc() out there that doesn't like reallocing
+ NULL pointers, so we take care of it here */
+ if(ptr)
+ return realloc(ptr, size);
+ else
+ return malloc(size);
+ }
- // size_t WriteMemoryCallback
- // (void *ptr, size_t size, size_t nmemb, void *data)
- // {
- // size_t realsize = size * nmemb;
- // struct memoryStruct *mem = (struct memoryStruct *)data;
+ static size_t WriteMemoryCallback
+ (void *ptr, size_t size, size_t nmemb, void *data)
+ {
+ UserData *userdata = reinterpret_cast<UserData *>(data);
+ struct memoryStruct *mem = userdata->memory;
+ BarcodeReaderNode *self = userdata->self;
+ size_t realsize = size * nmemb;
- // mem->memory = (char *)
- // CURL_realloc(mem->memory, mem->size + realsize + 1);
- // if (mem->memory) {
- // memcpy(&(mem->memory[mem->size]), ptr, realsize);
- // mem->size += realsize;
- // mem->memory[mem->size] = 0;
- // }
- // return realsize;
- // }
+ mem->memory = (char *)
+ CURL_realloc(mem->memory, mem->size + realsize + 1);
+ if (mem->memory) {
+ memcpy(&(mem->memory[mem->size]), ptr, realsize);
+ mem->size += realsize;
+ mem->memory[mem->size] = 0;
+ }
+ return realsize;
+ }
+
// This is the writer call back function used by curl
- // int writer(char *data, size_t size, size_t nmemb,
- // std::string *buffer)
- // {
- // // What we will return
- // int result = 0;
-
- // // Is there anything in the buffer?
- // if (buffer != NULL)
- // {
- // // Append the data to the buffer
- // buffer->append(data, size * nmemb);
-
- // // How much did we write?
- // result = size * nmemb;
- // }
-
- // return result;
- // }
+ static int writer(char *data, size_t size, size_t nmemb,
+ std::string *buffer)
+ {
+ // What we will return
+ int result = 0;
+
+ // Is there anything in the buffer?
+ if (buffer != NULL)
+ {
+ // Append the data to the buffer
+ buffer->append(data, size * nmemb);
+
+ // How much did we write?
+ result = size * nmemb;
+ }
+
+ return result;
+ }
+
int getImage(std::string & image)
{
CURL *curl; // CURL objects
CURLcode res;
cv::Mat imgTmp; // image object
memoryStruct buffer; // memory buffer
+ UserData userdata(&buffer, this);
curl = curl_easy_init(); // init CURL library object/structure
@@ -159,8 +123,8 @@
// tell libcurl where to write the image (to a dynamic memory buffer)
- curl_easy_setopt(curl,CURLOPT_WRITEFUNCTION, WriteMemoryCallback);
- curl_easy_setopt(curl,CURLOPT_WRITEDATA, (void *) &buffer);
+ curl_easy_setopt(curl,CURLOPT_WRITEFUNCTION, &BarcodeReaderNode::WriteMemoryCallback);
+ curl_easy_setopt(curl,CURLOPT_WRITEDATA, (void *) &userdata);
// get the image from the specified URL
res = curl_easy_perform(curl);
@@ -171,7 +135,7 @@
if (!(imgTmp.empty()))
{
- imshow("Image from URL", imgTmp);
+ imshow("Barcoo img", imgTmp);
}
cv::waitKey(3);
@@ -247,8 +211,8 @@
curl_easy_setopt(curl, CURLOPT_URL, full_url.c_str());
curl_easy_setopt(curl, CURLOPT_HEADER, 0);
curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
- //curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, &BarcodeReaderNode::writer);
- curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writer);
+ curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, &BarcodeReaderNode::writer);
+ // curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writer);
curl_easy_setopt(curl, CURLOPT_WRITEDATA, &buffer);
// Attempt to retrieve the remote page
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|
|
From: <tum...@li...> - 2012-01-31 11:07:55
|
Revision: 986
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=986&view=rev
Author: moesenle
Date: 2012-01-31 11:07:48 +0000 (Tue, 31 Jan 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 12:07:05 2012 +0100
commit 05ca8af0ca8c6b8e96876789e20ddceac4db4ecc
Author: Dejan Pangercic <dej...@gm...>
Date: Tue Jan 31 12:06:34 2012 +0100
added system deps
commit ac04cfa29420148be13c98195eb1ea423b406457
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:53:49 2012 +0100
not needed filed anymore
commit e0ae46178d3e1ce6787ba2bb0d5924f142d4fc34
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:49:26 2012 +0100
public export
commit 694aac589283166617448c925b62fea7e506f343
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:48:26 2012 +0100
object recognition using barcoo working, major refactoring of the barcode_reader_node.zpp needed
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/CMakeLists.txt
perception/zbar_barcode_reader_node/manifest.xml
Added Paths:
-----------
perception/zbar_barcode_reader_node/rosdep.yaml
Removed Paths:
-------------
perception/zbar_barcode_reader_node/src/scan_image.cpp
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-30 20:53:08 UTC (rev 985)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-31 11:07:48 UTC (rev 986)
@@ -31,9 +31,6 @@
rosbuild_add_executable(zbar_barcode_reader src/zbar_barcode_reader.c)
target_link_libraries(zbar_barcode_reader MagickWand MagickCore)
-rosbuild_add_executable(zbar_barcode_reader_cpp src/scan_image.cpp)
-target_link_libraries(zbar_barcode_reader_cpp MagickWand MagickCore Magick++ curl)
-
rosbuild_add_executable(zbar_barcode_reader_node src/zbar_barcode_reader_node.cpp)
target_link_libraries(zbar_barcode_reader_node Magick++ curl)
Modified: perception/zbar_barcode_reader_node/manifest.xml
===================================================================
--- perception/zbar_barcode_reader_node/manifest.xml 2012-01-30 20:53:08 UTC (rev 985)
+++ perception/zbar_barcode_reader_node/manifest.xml 2012-01-31 11:07:48 UTC (rev 986)
@@ -13,7 +13,8 @@
<depend package="cv_bridge"/>
<depend package="image_transport"/>
<depend package="sensor_msgs"/>
-
+ <rosdep name="libcurl"/>
+ <rosdep name="libtinyxml"/>
</package>
Added: perception/zbar_barcode_reader_node/rosdep.yaml
===================================================================
--- perception/zbar_barcode_reader_node/rosdep.yaml (rev 0)
+++ perception/zbar_barcode_reader_node/rosdep.yaml 2012-01-31 11:07:48 UTC (rev 986)
@@ -0,0 +1,7 @@
+libcurl:
+ ubuntu:
+ 11.04: libcurl3
+
+libtinyxml:
+ ubuntu:
+ 11.04: libtinyxml-dev
Deleted: perception/zbar_barcode_reader_node/src/scan_image.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/scan_image.cpp 2012-01-30 20:53:08 UTC (rev 985)
+++ perception/zbar_barcode_reader_node/src/scan_image.cpp 2012-01-31 11:07:48 UTC (rev 986)
@@ -1,54 +0,0 @@
-#include <iostream>
-#include <Magick++.h>
-#include <zbar.h>
-#define STR(s) #s
-
-using namespace std;
-using namespace zbar;
-
-int main (int argc, char **argv)
-{
- if(argc < 2) return(1);
-
-#ifdef MAGICK_HOME
- // http://www.imagemagick.org/Magick++/
- // under Windows it is necessary to initialize the ImageMagick
- // library prior to using the Magick++ library
- Magick::InitializeMagick(MAGICK_HOME);
-#endif
-
- // create a reader
- ImageScanner scanner;
-
- // configure the reader
- scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);
-
- // obtain image data
- Magick::Image magick(argv[1]); // read an image file
- int width = magick.columns(); // extract dimensions
- int height = magick.rows();
- Magick::Blob blob; // extract the raw data
- magick.modifyImage();
- magick.write(&blob, "GRAY", 8);
- const void *raw = blob.data();
-
- // wrap image data
- Image image(width, height, "Y800", raw, width * height);
-
- // scan the image for barcodes
- int n = scanner.scan(image);
-
- // extract results
- for(Image::SymbolIterator symbol = image.symbol_begin();
- symbol != image.symbol_end();
- ++symbol) {
- // do something useful with results
- cout << "decoded " << symbol->get_type_name()
- << " symbol \"" << symbol->get_data() << '"' << endl;
- }
-
- // clean up
- image.set_data(NULL, 0);
-
- return(0);
-}
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|
|
From: <tum...@li...> - 2012-01-30 20:53:15
|
Revision: 985
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=985&view=rev
Author: moesenle
Date: 2012-01-30 20:53:08 +0000 (Mon, 30 Jan 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:49:26 2012 +0100
commit 7d2243e92e66feb8b1f48eab599384708ffa3da7
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:48:26 2012 +0100
object recognition using barcoo working, major refactoring of the barcode_reader_node.zpp needed
commit 73c93f2f13c5445cfc3955773a323c5e98deada8
Author: Dejan Pangercic <dej...@cs...>
Date: Mon Jan 30 21:47:14 2012 +0100
examples for tinyxml and loading of images with curl and opencv
commit c358c7210ee1c53d032b34118fb84b15c35b9c68
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:59:21 2010 +0200
created a node for barcode reading,
input: image
output: type,value
exchanged c for c++ interface
tested
TODO:
find a n..... that will port to cop:-)
commit 0fd52914acf001cc75df60a84dffc0395a2e769b
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:24:21 2010 +0200
c++ implementation of zbar
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/CMakeLists.txt
perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
Added Paths:
-----------
perception/zbar_barcode_reader_node/src/curl_opencv.cpp
perception/zbar_barcode_reader_node/src/tinyxml.cpp
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-27 18:36:55 UTC (rev 984)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-30 20:53:08 UTC (rev 985)
@@ -32,7 +32,13 @@
target_link_libraries(zbar_barcode_reader MagickWand MagickCore)
rosbuild_add_executable(zbar_barcode_reader_cpp src/scan_image.cpp)
-target_link_libraries(zbar_barcode_reader_cpp MagickWand MagickCore Magick++)
+target_link_libraries(zbar_barcode_reader_cpp MagickWand MagickCore Magick++ curl)
rosbuild_add_executable(zbar_barcode_reader_node src/zbar_barcode_reader_node.cpp)
-target_link_libraries(zbar_barcode_reader_node Magick++)
\ No newline at end of file
+target_link_libraries(zbar_barcode_reader_node Magick++ curl)
+
+# rosbuild_add_executable(test_tinyxml src/tinyxml.cpp)
+# target_link_libraries(test_tinyxml tinyxml)
+
+# rosbuild_add_executable(curl_opencv src/curl_opencv.cpp)
+# target_link_libraries(curl_opencv curl)
Added: perception/zbar_barcode_reader_node/src/curl_opencv.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/curl_opencv.cpp (rev 0)
+++ perception/zbar_barcode_reader_node/src/curl_opencv.cpp 2012-01-30 20:53:08 UTC (rev 985)
@@ -0,0 +1,95 @@
+#include <stdio.h>
+#include <curl/curl.h>
+
+#include <cv.h>
+#include <highgui.h>
+using namespace cv;
+
+// *****************************************************************************
+
+struct memoryStruct {
+ char *memory;
+ size_t size;
+};
+
+static void* CURL_realloc(void *ptr, size_t size)
+{
+ /* There might be a realloc() out there that doesn't like reallocing
+ NULL pointers, so we take care of it here */
+ if(ptr)
+ return realloc(ptr, size);
+ else
+ return malloc(size);
+}
+
+size_t WriteMemoryCallback
+(void *ptr, size_t size, size_t nmemb, void *data)
+{
+ size_t realsize = size * nmemb;
+ struct memoryStruct *mem = (struct memoryStruct *)data;
+
+ mem->memory = (char *)
+ CURL_realloc(mem->memory, mem->size + realsize + 1);
+ if (mem->memory) {
+ memcpy(&(mem->memory[mem->size]), ptr, realsize);
+ mem->size += realsize;
+ mem->memory[mem->size] = 0;
+ }
+ return realsize;
+}
+
+// *****************************************************************************
+
+int main(void)
+{
+ CURL *curl; // CURL objects
+ CURLcode res;
+ cv::Mat imgTmp; // image object
+ memoryStruct buffer; // memory buffer
+
+ curl = curl_easy_init(); // init CURL library object/structure
+
+ if(curl) {
+
+ // set up the write to memory buffer
+ // (buffer starts off empty)
+
+ buffer.memory = NULL;
+ buffer.size = 0;
+
+ // (N.B. check this URL still works in browser in case image has moved)
+
+ curl_easy_setopt(curl, CURLOPT_URL, "http://www.froodies.de/FroodiesImages/images/products/large/29278.jpg");
+ curl_easy_setopt(curl, CURLOPT_VERBOSE, 1); // tell us what is happening
+
+ // tell libcurl where to write the image (to a dynamic memory buffer)
+
+ curl_easy_setopt(curl,CURLOPT_WRITEFUNCTION, WriteMemoryCallback);
+ curl_easy_setopt(curl,CURLOPT_WRITEDATA, (void *) &buffer);
+
+ // get the image from the specified URL
+
+ res = curl_easy_perform(curl);
+
+ // decode memory buffer using OpenCV
+
+ imgTmp = cv::imdecode(cv::Mat(1, buffer.size, CV_8UC1, buffer.memory), CV_LOAD_IMAGE_UNCHANGED);
+
+ // display image (if we got / decoded it correctly)
+
+ namedWindow("Image from URL", CV_WINDOW_AUTOSIZE);
+ if (!(imgTmp.empty()))
+ {
+ imshow("Image from URL", imgTmp);
+ }
+ waitKey(0);
+
+
+ // always cleanup
+
+ curl_easy_cleanup(curl);
+ free(buffer.memory);
+
+ }
+ return 0;
+}
Property changes on: perception/zbar_barcode_reader_node/src/curl_opencv.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:eol-style
+ native
Added: perception/zbar_barcode_reader_node/src/tinyxml.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/tinyxml.cpp (rev 0)
+++ perception/zbar_barcode_reader_node/src/tinyxml.cpp 2012-01-30 20:53:08 UTC (rev 985)
@@ -0,0 +1,146 @@
+// tutorial demo program
+//#include "stdafx.h"
+#include "tinyxml.h"
+
+// ----------------------------------------------------------------------
+// STDOUT dump and indenting utility functions
+// ----------------------------------------------------------------------
+const unsigned int NUM_INDENTS_PER_SPACE=2;
+
+const char * getIndent( unsigned int numIndents )
+{
+ static const char * pINDENT=" + ";
+ static const unsigned int LENGTH=strlen( pINDENT );
+ unsigned int n=numIndents*NUM_INDENTS_PER_SPACE;
+ if ( n > LENGTH ) n = LENGTH;
+
+ return &pINDENT[ LENGTH-n ];
+}
+
+// same as getIndent but no "+" at the end
+const char * getIndentAlt( unsigned int numIndents )
+{
+ static const char * pINDENT=" ";
+ static const unsigned int LENGTH=strlen( pINDENT );
+ unsigned int n=numIndents*NUM_INDENTS_PER_SPACE;
+ if ( n > LENGTH ) n = LENGTH;
+
+ return &pINDENT[ LENGTH-n ];
+}
+
+int dump_attribs_to_stdout(TiXmlElement* pElement, unsigned int indent)
+{
+ if ( !pElement ) return 0;
+
+ TiXmlAttribute* pAttrib=pElement->FirstAttribute();
+ int i=0;
+ int ival;
+ double dval;
+ const char* pIndent=getIndent(indent);
+ printf("\n");
+ while (pAttrib)
+ {
+ printf( "%s%s: value=[%s]", pIndent, pAttrib->Name(), pAttrib->Value());
+
+ if (pAttrib->QueryIntValue(&ival)==TIXML_SUCCESS) printf( " int=%d", ival);
+ if (pAttrib->QueryDoubleValue(&dval)==TIXML_SUCCESS) printf( " d=%1.1f", dval);
+ printf( "\n" );
+ i++;
+ pAttrib=pAttrib->Next();
+ }
+ return i;
+}
+
+void dump_to_stdout( TiXmlNode* pParent, unsigned int indent = 0 )
+{
+ if ( !pParent ) return;
+
+ TiXmlNode* pChild;
+ TiXmlText* pText;
+ int t = pParent->Type();
+ //printf( "%s", getIndent(indent));
+ int num;
+
+ //switch ( t )
+ //{
+ // case TiXmlNode::DOCUMENT:
+ // printf( "Document" );
+ // break;
+
+ //case TiXmlNode::ELEMENT:
+ //case "picture_high":
+ // if (pParent->Value() == "picture_high")
+ // {
+ std::string pstring = pParent->Value();
+ // std::cerr << "pstring: " << pstring << std::endl;
+ size_t found=pstring.rfind("picture_high");
+ if (found!=std::string::npos)
+ {
+ std::cerr << "First child: " << pParent->FirstChild()->Value() << std::endl;
+ }
+ // std::cerr << "picture_high: " << int(found) << std::endl;
+ // exit(0);
+ // }
+ // printf( "Element value [%s]", pParent->Value() );
+ // num=dump_attribs_to_stdout(pParent->ToElement(), indent+1);
+ // switch(num)
+ // {
+ // case 0: printf( " (No attributes)"); break;
+ // case 1: printf( "%s1 attribute", getIndentAlt(indent)); break;
+ // default: printf( "%s%d attributes", getIndentAlt(indent), num); break;
+ // }
+ // break;
+
+ // case TiXmlNode::COMMENT:
+ // printf( "Comment: [%s]", pParent->Value());
+ // break;
+
+ // case TiXmlNode::UNKNOWN:
+ // printf( "Unknown" );
+ // break;
+
+ // case TiXmlNode::TEXT:
+ // pText = pParent->ToText();
+ // printf( "Text: [%s]", pText->Value() );
+ // break;
+
+ // case TiXmlNode::DECLARATION:
+ // printf( "Declaration" );
+ // break;
+ // default:
+ // break;
+ //}
+ //printf( "\n" );
+ for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling())
+ {
+ dump_to_stdout( pChild, indent+1 );
+ }
+}
+
+// load the named file and dump its structure to STDOUT
+void dump_to_stdout(const char* pFilename)
+{
+ TiXmlDocument doc(pFilename);
+ bool loadOkay = doc.LoadFile();
+ if (loadOkay)
+ {
+ printf("\n%s:\n", pFilename);
+ dump_to_stdout( &doc ); // defined later in the tutorial
+ }
+ else
+ {
+ printf("Failed to load file \"%s\"\n", pFilename);
+ }
+}
+
+// ----------------------------------------------------------------------
+// main() for printing files named on the command line
+// ----------------------------------------------------------------------
+int main(int argc, char* argv[])
+{
+ for (int i=1; i<argc; i++)
+ {
+ dump_to_stdout(argv[i]);
+ }
+ return 0;
+}
Property changes on: perception/zbar_barcode_reader_node/src/tinyxml.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:eol-style
+ native
Modified: perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-27 18:36:55 UTC (rev 984)
+++ perception/zbar_barcode_reader_node/src/zbar_barcode_reader_node.cpp 2012-01-30 20:53:08 UTC (rev 985)
@@ -9,6 +9,9 @@
#include <string.h>
#include "std_msgs/String.h"
#include <sstream>
+#include "curl/curl.h"
+#include "tinyxml.h"
+#include <highgui.h>
//Magick++ lib
#include <Magick++.h>
@@ -18,8 +21,63 @@
using namespace std;
using namespace zbar;
+ static int writer(char *data, size_t size, size_t nmemb,
+ std::string *buffer)
+ {
+ // What we will return
+ int result = 0;
+
+ // Is there anything in the buffer?
+ if (buffer != NULL)
+ {
+ // Append the data to the buffer
+ buffer->append(data, size * nmemb);
+
+ // How much did we write?
+ result = size * nmemb;
+ }
+
+ return result;
+ }
+
+static void* CURL_realloc(void *ptr, size_t size)
+{
+ /* There might be a realloc() out there that doesn't like reallocing
+ NULL pointers, so we take care of it here */
+ if(ptr)
+ return realloc(ptr, size);
+ else
+ return malloc(size);
+}
+
+struct memoryStruct {
+ char *memory;
+ size_t size;
+};
+
+ size_t WriteMemoryCallback
+ (void *ptr, size_t size, size_t nmemb, void *data)
+ {
+ size_t realsize = size * nmemb;
+ struct memoryStruct *mem = (struct memoryStruct *)data;
+
+ mem->memory = (char *)
+ CURL_realloc(mem->memory, mem->size + realsize + 1);
+ if (mem->memory) {
+ memcpy(&(mem->memory[mem->size]), ptr, realsize);
+ mem->size += realsize;
+ mem->memory[mem->size] = 0;
+ }
+ return realsize;
+ }
+
+
class BarcodeReaderNode {
+ // struct memoryStruct {
+ // char *memory;
+ // size_t size;
+ // };
public:
BarcodeReaderNode(ros::NodeHandle &n) :
n_(n), it_(n_)
@@ -35,7 +93,186 @@
{
}
+ // void* CURL_realloc(void *ptr, size_t size)
+ // {
+ // /* There might be a realloc() out there that doesn't like reallocing
+ // NULL pointers, so we take care of it here */
+ // if(ptr)
+ // return realloc(ptr, size);
+ // else
+ // return malloc(size);
+ // }
+ // size_t WriteMemoryCallback
+ // (void *ptr, size_t size, size_t nmemb, void *data)
+ // {
+ // size_t realsize = size * nmemb;
+ // struct memoryStruct *mem = (struct memoryStruct *)data;
+
+ // mem->memory = (char *)
+ // CURL_realloc(mem->memory, mem->size + realsize + 1);
+ // if (mem->memory) {
+ // memcpy(&(mem->memory[mem->size]), ptr, realsize);
+ // mem->size += realsize;
+ // mem->memory[mem->size] = 0;
+ // }
+ // return realsize;
+ // }
+ // This is the writer call back function used by curl
+ // int writer(char *data, size_t size, size_t nmemb,
+ // std::string *buffer)
+ // {
+ // // What we will return
+ // int result = 0;
+
+ // // Is there anything in the buffer?
+ // if (buffer != NULL)
+ // {
+ // // Append the data to the buffer
+ // buffer->append(data, size * nmemb);
+
+ // // How much did we write?
+ // result = size * nmemb;
+ // }
+
+ // return result;
+ // }
+ int getImage(std::string & image)
+ {
+ CURL *curl; // CURL objects
+ CURLcode res;
+ cv::Mat imgTmp; // image object
+ memoryStruct buffer; // memory buffer
+
+ curl = curl_easy_init(); // init CURL library object/structure
+
+ if(curl)
+ {
+ // set up the write to memory buffer
+ // (buffer starts off empty)
+ buffer.memory = NULL;
+ buffer.size = 0;
+
+ // (N.B. check this URL still works in browser in case image has moved)
+ curl_easy_setopt(curl, CURLOPT_URL, image.c_str());
+ curl_easy_setopt(curl, CURLOPT_VERBOSE, 1); // tell us what is happening
+
+ // tell libcurl where to write the image (to a dynamic memory buffer)
+
+ curl_easy_setopt(curl,CURLOPT_WRITEFUNCTION, WriteMemoryCallback);
+ curl_easy_setopt(curl,CURLOPT_WRITEDATA, (void *) &buffer);
+
+ // get the image from the specified URL
+ res = curl_easy_perform(curl);
+ // decode memory buffer using OpenCV
+ imgTmp = cv::imdecode(cv::Mat(1, buffer.size, CV_8UC1, buffer.memory), CV_LOAD_IMAGE_UNCHANGED);
+ // display image (if we got / decoded it correctly)
+
+
+ if (!(imgTmp.empty()))
+ {
+ imshow("Image from URL", imgTmp);
+ }
+ cv::waitKey(3);
+
+ // always cleanup
+
+ curl_easy_cleanup(curl);
+ free(buffer.memory);
+ }
+ return 1;
+ }
+
+ void findElement( TiXmlNode* pParent, std::string & picture)
+ {
+ if ( !pParent ) return;
+
+ TiXmlNode* pChild;
+ //std::string picture ("Picture Not Found");
+ std::string pstring = pParent->Value();
+ // std::cerr << "pstring: " << pstring << std::endl;
+ size_t found=pstring.find("picture_high");
+ if (found!=std::string::npos)
+ {
+ ROS_INFO_STREAM("First child: " << pParent->FirstChild()->Value());
+ picture = pParent->FirstChild()->Value();
+ return;
+ }
+ size_t found2=pstring.find("picture_low");
+ if (found2!=std::string::npos && picture == "")
+ {
+ ROS_INFO_STREAM("First child: " << pParent->FirstChild()->Value());
+ picture = pParent->FirstChild()->Value();
+ return;
+ }
+ for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling())
+ {
+ findElement(pChild, picture);
+ // std::cerr << "in for " << std::endl;
+ }
+ }
+
+
+ int visBarcooPicture(std::string buffer)
+ {
+ // std::cerr << "buffer: " << buffer << std::endl;
+ TiXmlDocument doc;
+ doc.Parse((const char*)buffer.c_str(), 0, TIXML_ENCODING_UTF8);
+ doc.SaveFile ("text.xml");
+ std::string picture;
+ findElement (&doc, picture);
+ ROS_INFO_STREAM ("Picture link: " << picture);
+ if (picture == "")
+ return -1;
+ getImage (picture);
+ return 1;
+ }
+
+
+ int callBarcoo(std::string bar_code, std::string & buffer)
+ {
+ char errorBuffer[CURL_ERROR_SIZE];
+ // Our curl objects
+ CURL *curl;
+ CURLcode result;
+ // Create our curl handle
+ curl = curl_easy_init();
+ std::string full_url = "http://www.barcoo.com/api/get_product_complete?pi=" + bar_code + "&pins=ean&format=xml&source=ias-tum";
+ ROS_INFO_STREAM("full_url: " << full_url);
+
+ if (curl)
+ {
+ // Now set up all of the curl options
+ curl_easy_setopt(curl, CURLOPT_ERRORBUFFER, errorBuffer);
+ curl_easy_setopt(curl, CURLOPT_URL, full_url.c_str());
+ curl_easy_setopt(curl, CURLOPT_HEADER, 0);
+ curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
+ //curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, &BarcodeReaderNode::writer);
+ curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, writer);
+ curl_easy_setopt(curl, CURLOPT_WRITEDATA, &buffer);
+
+ // Attempt to retrieve the remote page
+ result = curl_easy_perform(curl);
+
+ // Always cleanup
+ curl_easy_cleanup(curl);
+
+ // Did we succeed?
+ if (result == CURLE_OK)
+ {
+ ROS_INFO_STREAM ("CURLE_OK");
+ return 1;
+ }
+ else
+ {
+ ROS_INFO_STREAM ( "CURLE_NOT OK");
+ ROS_ERROR_STREAM ("Error: [" << result << "] - " << errorBuffer);
+ return -1;
+ }
+ }
+ return -1;
+ }
+
void imageCallback(const sensor_msgs::ImageConstPtr& msg_ptr)
{
@@ -43,7 +280,7 @@
ROS_INFO("[BarcodeReaderNode: ] Image received");
try
{
- cv_image = bridge_.imgMsgToCv(msg_ptr, "passthrough");
+ cv_image = bridge_.imgMsgToCv(msg_ptr, "mono8");
}
catch (sensor_msgs::CvBridgeException error)
{
@@ -71,6 +308,7 @@
int n = scanner.scan(image);
// extract results
+ std::stringstream ss;
for(Image::SymbolIterator symbol = image.symbol_begin();
symbol != image.symbol_end();
++symbol)
@@ -80,16 +318,30 @@
<< " barcode value " << symbol->get_data());
std_msgs::String msg;
- std::stringstream ss;
- ss << symbol->get_type_name() << "," << symbol->get_data();
+
+ //ss << symbol->get_type_name() << "," << symbol->get_data();
+ ss << symbol->get_data();
msg.data = ss.str();
barcode_pub_.publish(msg);
}
if (n == 0)
- ROS_WARN("Barcode not found");
+ {
+ ROS_WARN("Barcode not found");
+ return;
+ }
if (n < 0)
- ROS_ERROR("Error occured while finding barcode");
+ {
+ ROS_ERROR("Error occured while finding barcode");
+ return;
+ }
+
+ std::string buffer;
+ if (callBarcoo(ss.str(), buffer) == 1)
+ {
+ // std::cerr << "buffer after callBarcoo " << buffer << std::endl;
+ visBarcooPicture (buffer);
+ }
// clean up
image.set_data(NULL, 0);
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|
![http://www.froodies.de/FroodiesImages/images/products/large/29278.jpg");](http://www.froodies.de/FroodiesImages/images/products/large/29278.jpg");){kind=link}
|
From: <tum...@li...> - 2012-01-27 18:37:06
|
Revision: 984
http://tum-ros-pkg.svn.sourceforge.net/tum-ros-pkg/?rev=984&view=rev
Author: moesenle
Date: 2012-01-27 18:36:55 +0000 (Fri, 27 Jan 2012)
Log Message:
-----------
Author: Dejan Pangercic <dej...@gm...>
Date: Fri Jan 27 19:36:01 2012 +0100
commit 260b7704746b8185e64e3ccb0284ec3054176ff2
Author: Dejan Pangercic <dej...@gm...>
Date: Fri Jan 27 19:34:40 2012 +0100
zbar compiled w/o video support, cpp example of zbar client
commit 60392bba300cd3b7908678100b1645ff182ef8d1
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 22:04:18 2010 +0200
public export
commit 24765aef5f57c082d078c5b599947ed71d0c8437
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 22:02:29 2010 +0200
added a launch file
commit c358c7210ee1c53d032b34118fb84b15c35b9c68
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:59:21 2010 +0200
created a node for barcode reading,
input: image
output: type,value
exchanged c for c++ interface
tested
TODO:
find a n..... that will port to cop:-)
commit 0fd52914acf001cc75df60a84dffc0395a2e769b
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:24:21 2010 +0200
c++ implementation of zbar
commit 1c567129b5432e62765bd0e87f1bc18f2a126bd2
Author: Dejan Pangercic <dej...@cs...>
Date: Sun Aug 29 21:23:38 2010 +0200
added dependency
git-commit
Modified Paths:
--------------
perception/zbar_barcode_reader_node/CMakeLists.txt
Added Paths:
-----------
perception/zbar_barcode_reader_node/src/scan_image.cpp
Modified: perception/zbar_barcode_reader_node/CMakeLists.txt
===================================================================
--- perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-27 18:36:44 UTC (rev 983)
+++ perception/zbar_barcode_reader_node/CMakeLists.txt 2012-01-27 18:36:55 UTC (rev 984)
@@ -31,5 +31,8 @@
rosbuild_add_executable(zbar_barcode_reader src/zbar_barcode_reader.c)
target_link_libraries(zbar_barcode_reader MagickWand MagickCore)
+rosbuild_add_executable(zbar_barcode_reader_cpp src/scan_image.cpp)
+target_link_libraries(zbar_barcode_reader_cpp MagickWand MagickCore Magick++)
+
rosbuild_add_executable(zbar_barcode_reader_node src/zbar_barcode_reader_node.cpp)
target_link_libraries(zbar_barcode_reader_node Magick++)
\ No newline at end of file
Added: perception/zbar_barcode_reader_node/src/scan_image.cpp
===================================================================
--- perception/zbar_barcode_reader_node/src/scan_image.cpp (rev 0)
+++ perception/zbar_barcode_reader_node/src/scan_image.cpp 2012-01-27 18:36:55 UTC (rev 984)
@@ -0,0 +1,54 @@
+#include <iostream>
+#include <Magick++.h>
+#include <zbar.h>
+#define STR(s) #s
+
+using namespace std;
+using namespace zbar;
+
+int main (int argc, char **argv)
+{
+ if(argc < 2) return(1);
+
+#ifdef MAGICK_HOME
+ // http://www.imagemagick.org/Magick++/
+ // under Windows it is necessary to initialize the ImageMagick
+ // library prior to using the Magick++ library
+ Magick::InitializeMagick(MAGICK_HOME);
+#endif
+
+ // create a reader
+ ImageScanner scanner;
+
+ // configure the reader
+ scanner.set_config(ZBAR_NONE, ZBAR_CFG_ENABLE, 1);
+
+ // obtain image data
+ Magick::Image magick(argv[1]); // read an image file
+ int width = magick.columns(); // extract dimensions
+ int height = magick.rows();
+ Magick::Blob blob; // extract the raw data
+ magick.modifyImage();
+ magick.write(&blob, "GRAY", 8);
+ const void *raw = blob.data();
+
+ // wrap image data
+ Image image(width, height, "Y800", raw, width * height);
+
+ // scan the image for barcodes
+ int n = scanner.scan(image);
+
+ // extract results
+ for(Image::SymbolIterator symbol = image.symbol_begin();
+ symbol != image.symbol_end();
+ ++symbol) {
+ // do something useful with results
+ cout << "decoded " << symbol->get_type_name()
+ << " symbol \"" << symbol->get_data() << '"' << endl;
+ }
+
+ // clean up
+ image.set_data(NULL, 0);
+
+ return(0);
+}
Property changes on: perception/zbar_barcode_reader_node/src/scan_image.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:eol-style
+ native
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|