Merge pull request #18 from ROBOTIS-GIT/master

merge for sync kinetic-devel and master branch

README.md

@@ -1,4 +1,4 @@
-## ROBOTIS OP3
+# ROBOTIS OP3
 <img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/op3/default_op3.jpg" width="40%" />  
 
 ## ROS Packages for ROBOTIS OP3 Demo

ball_detector/CMakeLists.txt → op3_ball_detector/CMakeLists.txt

@@ -2,7 +2,7 @@
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 2.8.3)
-project(ball_detector)
+project(op3_ball_detector)
 
 ################################################################################
 # Find catkin packages and libraries for catkin and system dependencies

ball_detector/cfg/DetectorParams.cfg → op3_ball_detector/cfg/DetectorParams.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='ball_detector'
+PACKAGE='op3_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 

ball_detector/cfg/DetectorParamsBlue.cfg → op3_ball_detector/cfg/DetectorParamsBlue.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='ball_detector'
+PACKAGE='op3_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 

ball_detector/cfg/DetectorParamsRed.cfg → op3_ball_detector/cfg/DetectorParamsRed.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='ball_detector'
+PACKAGE='op3_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 

ball_detector/include/ball_detector/ball_detector.h → op3_ball_detector/include/op3_ball_detector/ball_detector.h

@@ -36,13 +36,12 @@
 #include <boost/thread.hpp>
 #include <yaml-cpp/yaml.h>
 
-#include "ball_detector/DetectorParamsConfig.h"
+#include "op3_ball_detector/ball_detector_config.h"
 
-#include "ball_detector/ball_detector_config.h"
-
-#include "ball_detector/CircleSetStamped.h"
-#include "ball_detector/GetParameters.h"
-#include "ball_detector/SetParameters.h"
+#include "op3_ball_detector/DetectorParamsConfig.h"
+#include "op3_ball_detector/CircleSetStamped.h"
+#include "op3_ball_detector/GetParameters.h"
+#include "op3_ball_detector/SetParameters.h"
 
 namespace robotis_op
 {
@@ -74,12 +73,12 @@ class BallDetector
   //callbacks to camera info subscription
   void cameraInfoCallback(const sensor_msgs::CameraInfo & msg);
 
-  void dynParamCallback(ball_detector::DetectorParamsConfig &config, uint32_t level);
+  void dynParamCallback(op3_ball_detector::DetectorParamsConfig &config, uint32_t level);
   void enableCallback(const std_msgs::Bool::ConstPtr &msg);
 
   void paramCommandCallback(const std_msgs::String::ConstPtr &msg);
-  bool setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res);
-  bool getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res);
+  bool setParamCallback(op3_ball_detector::SetParameters::Request &req, op3_ball_detector::SetParameters::Response &res);
+  bool getParamCallback(op3_ball_detector::GetParameters::Request &req, op3_ball_detector::GetParameters::Response &res);
   void resetParameter();
   void publishParam();
 
@@ -115,7 +114,7 @@ class BallDetector
   int not_found_count_;
 
   //circle set publisher
-  ball_detector::CircleSetStamped circles_msg_;
+  op3_ball_detector::CircleSetStamped circles_msg_;
   ros::Publisher circles_pub_;
 
   //camera info subscriber
@@ -157,8 +156,8 @@ class BallDetector
   cv::Mat in_image_;
   cv::Mat out_image_;
 
-  dynamic_reconfigure::Server<ball_detector::DetectorParamsConfig> param_server_;
-  dynamic_reconfigure::Server<ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
+  dynamic_reconfigure::Server<op3_ball_detector::DetectorParamsConfig> param_server_;
+  dynamic_reconfigure::Server<op3_ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
 };
 
 }       // namespace robotis_op

ball_detector/launch/ball_detector.launch → op3_ball_detector/launch/ball_detector.launch

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="config_path" default="$(find ball_detector)/config/ball_detector_params.yaml"/>
+  <arg name="config_path" default="$(find op3_ball_detector)/config/ball_detector_params.yaml"/>
 
   <!-- ball detector -->
-  <node pkg="ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
+  <node pkg="op3_ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
     <rosparam command="load" file="$(arg config_path)"/>  
     <param name="yaml_path" type="string" value="$(arg config_path)"/>
     <remap from="/ball_detector_node/image_in" to="/usb_cam_node/image_raw" />

ball_detector/launch/ball_detector_from_usb_cam.launch → op3_ball_detector/launch/ball_detector_from_usb_cam.launch

@@ -23,5 +23,5 @@
   </node>
 
   <!-- ball detector -->
-  <include file="$(find ball_detector)/launch/ball_detector.launch" />
+  <include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
 </launch>

ball_detector/launch/ball_detector_from_uvc.launch → op3_ball_detector/launch/ball_detector_from_uvc.launch

@@ -25,6 +25,6 @@
     <!-- <param name="white_balance_temperature" value="2800" /> -->       
 
   <!-- ball detector -->
-  <include file="$(find ball_detector)/launch/ball_detector.launch" />
+  <include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
 </launch>
 

ball_detector/package.xml → op3_ball_detector/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>ball_detector</name>
+  <name>op3_ball_detector</name>
   <version>0.1.0</version>
   <description>
     This package implements a circle-like shape detector of the input image.

ball_detector/src/ball_detector.cpp → op3_ball_detector/src/ball_detector.cpp

@@ -18,7 +18,7 @@
 
 #include <fstream>
 
-#include "ball_detector/ball_detector.h"
+#include "op3_ball_detector/ball_detector.h"
 
 namespace robotis_op
 {
@@ -71,7 +71,7 @@ BallDetector::BallDetector()
 
   //sets publishers
   image_pub_ = it_.advertise("image_out", 100);
-  circles_pub_ = nh_.advertise<ball_detector::CircleSetStamped>("circle_set", 100);
+  circles_pub_ = nh_.advertise<op3_ball_detector::CircleSetStamped>("circle_set", 100);
   camera_info_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera_info", 100);
 
   //sets subscribers
@@ -87,7 +87,7 @@ BallDetector::BallDetector()
   param_server_.setCallback(callback_fnc_);
 
   // web setting
-  param_pub_ = nh_.advertise<ball_detector::BallDetectorParams>("current_params", 1);
+  param_pub_ = nh_.advertise<op3_ball_detector::BallDetectorParams>("current_params", 1);
   param_command_sub_ = nh_.subscribe("param_command", 1, &BallDetector::paramCommandCallback, this);
   set_param_client_ = nh_.advertiseService("set_param", &BallDetector::setParamCallback, this);
   get_param_client_ = nh_.advertiseService("get_param", &BallDetector::getParamCallback, this);
@@ -233,7 +233,7 @@ void BallDetector::imageCallback(const sensor_msgs::ImageConstPtr & msg)
   return;
 }
 
-void BallDetector::dynParamCallback(ball_detector::DetectorParamsConfig &config, uint32_t level)
+void BallDetector::dynParamCallback(op3_ball_detector::DetectorParamsConfig &config, uint32_t level)
 {
   params_config_.gaussian_blur_size = config.gaussian_blur_size;
   params_config_.gaussian_blur_sigma = config.gaussian_blur_sigma;
@@ -296,7 +296,7 @@ void BallDetector::paramCommandCallback(const std_msgs::String::ConstPtr &msg)
   }
 }
 
-bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res)
+bool BallDetector::setParamCallback(op3_ball_detector::SetParameters::Request &req, op3_ball_detector::SetParameters::Response &res)
 {
   params_config_.gaussian_blur_size = req.params.gaussian_blur_size;
   params_config_.gaussian_blur_sigma = req.params.gaussian_blur_sigma;
@@ -321,7 +321,7 @@ bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req,
   return true;
 }
 
-bool BallDetector:: getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res)
+bool BallDetector:: getParamCallback(op3_ball_detector::GetParameters::Request &req, op3_ball_detector::GetParameters::Response &res)
 {
   res.returns.gaussian_blur_size = params_config_.gaussian_blur_size;
   res.returns.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;
@@ -396,7 +396,7 @@ void BallDetector::resetParameter()
 
 void BallDetector::publishParam()
 {
-  ball_detector::BallDetectorParams params;
+  op3_ball_detector::BallDetectorParams params;
 
   params.gaussian_blur_size = params_config_.gaussian_blur_size;
   params.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;

ball_detector/src/ball_detector_node.cpp → op3_ball_detector/src/ball_detector_node.cpp

@@ -16,7 +16,7 @@
 
 /* Author: Kayman Jung */
 
-#include "ball_detector/ball_detector.h"
+#include "op3_ball_detector/ball_detector.h"
 
 //node main
 int main(int argc, char **argv)

op3_bringup/CMakeLists.txt

@@ -0,0 +1,42 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 2.8.3)
+project(op3_bringup)
+
+################################################################################
+# Find catkin packages and libraries for catkin and system dependencies
+################################################################################
+find_package(catkin REQUIRED)
+
+################################################################################
+# Setup for python modules and scripts
+################################################################################
+
+################################################################################
+# Declare ROS messages, services and actions
+################################################################################
+
+################################################################################
+# Declare ROS dynamic reconfigure parameters
+################################################################################
+
+################################################################################
+# Declare catkin specific configuration to be passed to dependent projects
+################################################################################
+catkin_package()
+
+################################################################################
+# Build
+################################################################################
+
+################################################################################
+# Install
+################################################################################
+install(DIRECTORY launch rviz
+	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+################################################################################
+# Test
+################################################################################

op3_bringup/launch/op3_bringup.launch

@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<launch>        
+  <!-- OP3 Manager -->
+  <include file="$(find op3_manager)/launch/op3_manager.launch" />	
+
+  <!-- UVC camera -->
+  <node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
+    <param name="video_device" type="string" value="/dev/video0" />
+    <param name="image_width" type="int" value="1280" />
+    <param name="image_height" type="int" value="720" />
+    <param name="framerate " type="int" value="30" />
+    <param name="camera_frame_id" type="string" value="cam_link" />
+    <param name="camera_name" type="string" value="camera" />
+  </node>
+</launch>

op3_bringup/launch/op3_bringup_visualization.launch

@@ -0,0 +1,18 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find op3_description)/urdf/robotis_op3.urdf.xacro'"/>
+
+  <!-- Send fake joint values and monitoring present joint angle -->
+  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
+    <param name="use_gui" value="TRUE"/>
+    <rosparam param="/source_list">[/robotis/present_joint_states]</rosparam>
+  </node>
+
+  <!-- Combine joint values -->
+  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+    <remap from="/joint_states" to="/robotis/present_joint_states" />
+  </node>
+
+  <!-- Show in Rviz   -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find op3_bringup)/rviz/op3_bringup.rviz"/>
+</launch>

op3_bringup/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>op3_bringup</name>
+  <version>0.0.1</version>
+  <description>
+    This package is a demo for first time users.
+    There is an example in the demo where you can run and visualize the robot.
+  </description>
+  <license>Apache 2.0</license>
+  <author email="kmjung@robotis.com">Kayman</author>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <url type="website">http://wiki.ros.org/op3_bringup</url>
+  <url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>op3_manager</exec_depend>
+  <exec_depend>usb_cam</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>  
+</package>