Merge pull request #70 from lge-ros2/main

Merge into humble

.vscode/c_cpp_properties.json

@@ -8,7 +8,11 @@
                 "${workspaceFolder}/../../install/perception_msgs/include/",
                 "${workspaceFolder}/../../install/elevator_system_msgs/include/",
                 "${workspaceFolder}/../../install/cloisim_ros_protobuf_msgs/include/",
-                "${workspaceFolder}/../../install/cloisim_ros_msgs/include/"
+                "${workspaceFolder}/../../install/cloisim_ros_msgs/include/",
+                "${workspaceFolder}/../../../install/perception_msgs/include/",
+                "${workspaceFolder}/../../../install/elevator_system_msgs/include/",
+                "${workspaceFolder}/../../../install/cloisim_ros_protobuf_msgs/include/",
+                "${workspaceFolder}/../../../install/cloisim_ros_msgs/include/"
             ],
             "defines": [],
             "compilerPath": "/usr/bin/gcc",

cloisim_ros_actor/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_actor</name>
-  <version>3.4.3</version>
+  <version>3.5.0</version>
   <description>node for actor plugin</description>
 
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

cloisim_ros_base/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_base</name>
-  <version>3.4.3</version>
+  <version>3.5.0</version>
   <description>CLOiSim-ROS base class for other CLOiSim-ROS</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

cloisim_ros_bridge_zmq/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bridge_zmq</name>
-  <version>3.4.3</version>
+  <version>3.5.0</version>
   <description>bridge for cloisim(simulator) connection through ZMQ</description>
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
   <author email="hyunseok7.yang@lge.com">Hyunseok Yang</author>

cloisim_ros_bringup/CMakeLists.txt

@@ -21,7 +21,6 @@ find_package(cloisim_ros_camera REQUIRED)
 find_package(cloisim_ros_micom REQUIRED)
 find_package(cloisim_ros_lidar REQUIRED)
 find_package(cloisim_ros_camera REQUIRED)
-find_package(cloisim_ros_depthcamera REQUIRED)
 find_package(cloisim_ros_multicamera REQUIRED)
 find_package(cloisim_ros_realsense REQUIRED)
 find_package(cloisim_ros_gps REQUIRED)
@@ -41,7 +40,6 @@ set(dependencies
   cloisim_ros_micom
   cloisim_ros_lidar
   cloisim_ros_camera
-  cloisim_ros_depthcamera
   cloisim_ros_multicamera
   cloisim_ros_realsense
   cloisim_ros_gps

cloisim_ros_bringup/README.md

@@ -59,3 +59,11 @@ or
 ```shell
 ros2 launch cloisim_ros_bringup bringup.launch.py single_mode:=True
 ```
+
+or 
+
+specific target model without namespace
+
+```shell
+ros2 launch cloisim_ros_bringup bringup.launch.py single_mode:=True target_model:=cloi0
+```

cloisim_ros_bringup/launch/bringup.launch.py

@@ -23,14 +23,19 @@ def generate_launch_description():
     _target_parts_name = LaunchConfiguration('target_parts_name')
     _scan = LaunchConfiguration('scan')
     _cmd_vel = LaunchConfiguration('cmd_vel')
-
+    _odom = LaunchConfiguration('odom')
+    _imu = LaunchConfiguration('imu')
+    _navsatfix = LaunchConfiguration('navsatfix')
 
     cloisim_ros_cmd = Node(
         package="cloisim_ros_bringup",
         executable="bringup",
         output='screen',
         remappings=[('scan', _scan),
-                    ('cmd_vel', _cmd_vel)],
+                    ('cmd_vel', _cmd_vel),
+                    ('odom', _odom),
+                    ('imu', _imu),
+                    ('navsatfix', _navsatfix)],
         parameters=[{'single_mode': _single_mode,
                      'target_model': ParameterValue(_target_model, value_type=str),
                      'target_parts_type': ParameterValue(_target_parts_type, value_type=str),
@@ -66,6 +71,21 @@ def generate_launch_description():
         'cmd_vel',
         default_value='cmd_vel',
         description='specify cmd_vel topic you want')
+
+    declare_launch_argument_odom = DeclareLaunchArgument(
+        'odom',
+        default_value='odom',
+        description='specify odom topic you want')
+
+    declare_launch_argument_imu = DeclareLaunchArgument(
+        'imu',
+        default_value='imu',
+        description='specify imu/data topic you want')
+
+    declare_launch_argument_navsatfix = DeclareLaunchArgument(
+        'navsatfix',
+        default_value='navsatfix',
+        description='specify navsatfix topic you want')
 
     stdout_log_use_stdout_envvar = SetEnvironmentVariable(
         'RCUTILS_LOGGING_USE_STDOUT', '1')
@@ -85,6 +105,9 @@ def generate_launch_description():
     ld.add_action(declare_launch_argument_tpn)
     ld.add_action(declare_launch_argument_sc)
     ld.add_action(declare_launch_argument_cmdvel)
+    ld.add_action(declare_launch_argument_odom)
+    ld.add_action(declare_launch_argument_imu)
+    ld.add_action(declare_launch_argument_navsatfix)
     ld.add_action(cloisim_ros_cmd)
 
     return ld

cloisim_ros_bringup/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bringup</name>
-  <version>3.4.3</version>
+  <version>3.5.0</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
 
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>
@@ -22,7 +22,6 @@
   <depend>cloisim_ros_micom</depend>
   <depend>cloisim_ros_lidar</depend>
   <depend>cloisim_ros_camera</depend>
-  <depend>cloisim_ros_depthcamera</depend>
   <depend>cloisim_ros_multicamera</depend>
   <depend>cloisim_ros_realsense</depend>
   <depend>cloisim_ros_gps</depend>

cloisim_ros_bringup/src/bringup.cpp

@@ -15,7 +15,8 @@
 #include <cloisim_ros_actor/actor.hpp>
 #include <cloisim_ros_bringup_param/bringup_param.hpp>
 #include <cloisim_ros_camera/camera.hpp>
-#include <cloisim_ros_depthcamera/depthcamera.hpp>
+#include <cloisim_ros_camera/depth_camera.hpp>
+#include <cloisim_ros_camera/segmentation_camera.hpp>
 #include <cloisim_ros_elevator_system/elevator_system.hpp>
 #include <cloisim_ros_gps/gps.hpp>
 #include <cloisim_ros_ground_truth/ground_truth.hpp>
@@ -96,6 +97,13 @@ static shared_ptr<cloisim_ros::Base> make_device_node(
     else
       node = std::make_shared<cloisim_ros::RealSense>(node_options, node_name, model_name);
   }
+  else if (!node_type.compare("SEGMENTCAMERA"))
+  {
+    if (enable_single_mode)
+      node = std::make_shared<cloisim_ros::SegmentationCamera>(node_options, node_name);
+    else
+      node = std::make_shared<cloisim_ros::SegmentationCamera>(node_options, node_name, model_name);
+  }
   else if (!node_type.compare("GPS"))
   {
     if (enable_single_mode)

cloisim_ros_bringup_param/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cloisim_ros_bringup_param</name>
-  <version>3.4.3</version>
+  <version>3.5.0</version>
   <description>Bringup scripts and configurations for cloisim_ros</description>
 
   <maintainer email="hyunseok7.yang@lge.com">Hyunseok Yang</maintainer>

cloisim_ros_bringup_param/src/bringup_param.cpp

@@ -22,7 +22,8 @@ bool BringUpParam::IsRobotSpecificType(const string node_type)
   return (!node_type.compare("MICOM") || !node_type.compare("JOINTCONTROL") ||
           !node_type.compare("LIDAR") || !node_type.compare("LASER") ||
           !node_type.compare("CAMERA") || !node_type.compare("DEPTHCAMERA") ||
-          !node_type.compare("MULTICAMERA") || !node_type.compare("REALSENSE") ||
+          !node_type.compare("MULTICAMERA") || !node_type.compare("SEGMENTCAMERA") ||
+          !node_type.compare("REALSENSE") ||
           !node_type.compare("GPS") || !node_type.compare("IMU") ||
           !node_type.compare("SONAR"));
 }
@@ -72,10 +73,12 @@ Json::Value BringUpParam::RequestBringUpList()
   if (ws_service_ptr_ == nullptr)
     ws_service_ptr_ = new WebSocketService();
 
+  // cout << "ws Run" << endl;
   ws_service_ptr_->Run();
 
   while (true)
   {
+    // cout << "ws request" << endl;
     ws_service_ptr_->Request();
 
     // cout << "start to load payload" << endl;
@@ -106,8 +109,9 @@ Json::Value BringUpParam::RequestBringUpList()
 
       if (root["result"].size() > 0)
       {
-        // cout << "There is node map list: " << result_map_.size() << endl;
         result = root["result"];
+        // cout << "There is node map list: " << result.size() << endl;
+        // cout << result << endl;
         break;
       }
       else
@@ -124,7 +128,7 @@ Json::Value BringUpParam::RequestBringUpList()
 Json::Value BringUpParam::GetFilteredListByParameters(const Json::Value result)
 {
   Json::Value root;
-  // cout << result << endl;
+  cout << result << endl;
   for (auto it = result.begin(); it != result.end(); it++)
   {
     const auto node_namespace = it.key().asString();
@@ -204,4 +208,4 @@ void BringUpParam::StoreFilteredInfoAsParameters(
   cloisim_ros::BringUpParam::StoreBridgeInfosAsParameters(bridge_infos, node_options);
 }
 
-}  // namespace cloisim_ros
+}  // namespace cloisim_ros

cloisim_ros_camera/CMakeLists.txt

@@ -7,6 +7,10 @@ project(cloisim_ros_camera)
 include("../cloisim_ros_base/cmake/cloisim_ros_package.cmake")
 cloisim_ros_package()
 
+set(STANDALONE_CAMERA "camera")
+set(STANDALONE_DEPTHCAMERA "depth_camera")
+set(STANDALONE_SEGMENTATIONCAMERA "segmentation_camera")
+
 ################################################################################
 # Find colcon packages and libraries for colcon and system dependencies
 ################################################################################
@@ -16,20 +20,25 @@ find_package(camera_info_manager REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(cloisim_ros_base REQUIRED)
 find_package(cloisim_ros_bringup_param REQUIRED)
+find_package(vision_msgs REQUIRED)
 
 set(dependencies
   sensor_msgs
   camera_info_manager
   image_transport
   cloisim_ros_base
   cloisim_ros_bringup_param
+  vision_msgs
 )
 
 ################################################################################
 # Build
 ################################################################################
 add_library(${PROJECT_NAME}_core SHARED
+  src/camera_base.cpp
   src/camera.cpp
+  src/depth_camera.cpp
+  src/segmentation_camera.cpp
 )
 
 target_include_directories(
@@ -44,12 +53,32 @@ ament_target_dependencies(
 )
 
 add_executable(
-  ${STANDALONE_EXEC_NAME}
-  src/main.cpp
+  ${STANDALONE_CAMERA}
+  src/main_cam.cpp
+)
+
+target_link_libraries(
+  ${STANDALONE_CAMERA} PRIVATE
+  ${PROJECT_NAME}_core
+)
+
+add_executable(
+  ${STANDALONE_DEPTHCAMERA}
+  src/main_depthcam.cpp
 )
 
 target_link_libraries(
-  ${STANDALONE_EXEC_NAME} PRIVATE
+  ${STANDALONE_DEPTHCAMERA} PRIVATE
+  ${PROJECT_NAME}_core
+)
+
+add_executable(
+  ${STANDALONE_SEGMENTATIONCAMERA}
+  src/main_segcam.cpp
+)
+
+target_link_libraries(
+  ${STANDALONE_SEGMENTATIONCAMERA} PRIVATE
   ${PROJECT_NAME}_core
 )
 
@@ -70,7 +99,17 @@ install(
 )
 
 install(
-  TARGETS ${STANDALONE_EXEC_NAME}
+  TARGETS ${STANDALONE_CAMERA}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  TARGETS ${STANDALONE_DEPTHCAMERA}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  TARGETS ${STANDALONE_SEGMENTATIONCAMERA}
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 

cloisim_ros_camera/README.md

@@ -25,20 +25,58 @@ This filename in `<plugin>` element enables to connect cloisim_ros_camera.
 </sensor>
 ```
 
-
 ## how to run
+
+### Camera
+
+```shell
+ros2 run cloisim_ros_camera camera
+```
+
+or
+
+```shell
+ros2 run cloisim_ros_camera camera --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=camera
+```
+
+or
+
+```shell
+ros2 run cloisim_ros_camera camera --ros-args -p target_model:=cloi1 -p target_parts_name:=camera
+```
+
+### Depth Camera
+
+```shell
+ros2 run cloisim_ros_camera depth_camera
+```
+
+or
+
+```shell
+ros2 run cloisim_ros_camera depth_camera --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=depthcamera
+```
+
+or
+
+```shell
+ros2 run cloisim_ros_camera depth_camera --ros-args -p target_model:=cloi1 -p target_parts_name:=depthcamera
+```
+
+### Segmentation Camera
+
 ```shell
-ros2 run cloisim_ros_camera standalone
+ros2 run cloisim_ros_camera segmentation_camera
 ```
 
 or
 
 ```shell
-ros2 run cloisim_ros_camera standalone --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=camera
+ros2 run cloisim_ros_camera segmentation_camera --ros-args -p single_mode:=True -p target_model:=cloi -p target_parts_name:=segmentationcamera
 ```
 
 or
 
 ```shell
-ros2 run cloisim_ros_camera standalone --ros-args -p target_model:=cloi1 -p target_parts_name:=camera
+ros2 run cloisim_ros_camera segmentation_camera --ros-args -p target_model:=cloi -p target_parts_name:=segmentationcamera
 ```