Add Polygon Info obtained from zbar

README.md

@@ -56,7 +56,8 @@ Subscriptions:
 * `image` (`sensor_msgs/msg/Image`)
 
 Publisher:
-* `barcode` (`std_msgs/msg/String`)
+* `symbol` (`zbar_ros_interfaces/msg/Symbol`)
+* `barcode` (`std_msgs/msg/String`) - **DEPRECATED**
 
 
 ## Debugging the barcode_reader node

CMakeLists.txt → zbar_ros/CMakeLists.txt

@@ -19,7 +19,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(zbar_ros_interfaces REQUIRED)
 find_package(cv_bridge REQUIRED)
 
 # Include header files
@@ -32,7 +32,8 @@ ament_target_dependencies(barcode_reader_node
  rclcpp
  sensor_msgs
  std_msgs
- cv_bridge)
+ cv_bridge
+ zbar_ros_interfaces)
 target_link_libraries(barcode_reader_node zbar)
 
 # Build executable

include/zbar_ros/barcode_reader_node.hpp → zbar_ros/include/zbar_ros/barcode_reader_node.hpp

@@ -38,6 +38,7 @@
 #include "./zbar.h"
 #include "sensor_msgs/msg/image.hpp"
 #include "std_msgs/msg/string.hpp"
+#include "zbar_ros_interfaces/msg/symbol.hpp"
 
 namespace zbar_ros
 {
@@ -52,7 +53,8 @@ class BarcodeReaderNode : public rclcpp::Node
  void cleanCb();
 
  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr camera_sub_;
- rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_;
+ rclcpp::Publisher<zbar_ros_interfaces::msg::Symbol>::SharedPtr symbol_pub_;
+ rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_; // DEPRECATED
  zbar::ImageScanner scanner_;
 
  rclcpp::TimerBase::SharedPtr clean_timer_;

package.xml → zbar_ros/package.xml

@@ -16,6 +16,7 @@
  <depend>cv_bridge</depend>
  <depend>sensor_msgs</depend>
  <depend>std_msgs</depend>
+ <depend>zbar_ros_interfaces</depend>
 
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

src/barcode_reader_node.cpp → zbar_ros/src/barcode_reader_node.cpp

@@ -44,10 +44,10 @@ BarcodeReaderNode::BarcodeReaderNode()
 {
  scanner_.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
 
-
  camera_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
  "image", 10, std::bind(&BarcodeReaderNode::imageCb, this, std::placeholders::_1));
 
+ symbol_pub_ = this->create_publisher<zbar_ros_interfaces::msg::Symbol>("symbol", 10);
  barcode_pub_ = this->create_publisher<std_msgs::msg::String>("barcode", 10);
 
  throttle_ = this->declare_parameter<double>("throttle_repeated_barcodes", 0.0);
@@ -74,14 +74,29 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
  auto it_end = zbar_image.symbol_end();
  if (it_start != it_end) {
  // If there are barcodes in the image, iterate over all barcode readings from image
- for (zbar::Image::SymbolIterator symbol = it_start; symbol != it_end; ++symbol) {
- std::string barcode = symbol->get_data();
- RCLCPP_DEBUG(get_logger(), "Barcode detected with data: '%s'", barcode.c_str());
+ for (zbar::Image::SymbolIterator symbol_it = it_start; symbol_it != it_end; ++symbol_it) {
+ zbar_ros_interfaces::msg::Symbol symbol;
+ symbol.data = symbol_it->get_data();
+ RCLCPP_DEBUG(get_logger(), "Barcode detected with data: '%s'", symbol.data.c_str());
+
+ RCLCPP_DEBUG(
+ get_logger(), "Polygon around barcode has %d points", symbol_it->get_location_size());
+ for (zbar::Symbol::PointIterator point_it = symbol_it->point_begin();
+ point_it != symbol_it->point_end();
+ ++point_it)
+ {
+ vision_msgs::msg::Point2D point;
+ point.x = (*point_it).x;
+ point.y = (*point_it).y;
+ RCLCPP_DEBUG(get_logger(), " Point: %f, %f", point.x, point.y);
+ symbol.points.push_back(point);
+ }
 
  // verify if repeated barcode throttling is enabled
  if (throttle_ > 0.0) {
  const std::lock_guard<std::mutex> lock(memory_mutex_);
 
+ const std::string & barcode = symbol.data;
  // check if barcode has been recorded as seen, and skip detection
  if (barcode_memory_.count(barcode) > 0) {
  // check if time reached to forget barcode
@@ -100,16 +115,32 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
  now() + rclcpp::Duration(std::chrono::duration<double>(throttle_))));
  }
 
- // publish barcode
+ // publish symbol
+ RCLCPP_DEBUG(get_logger(), "Publishing Symbol");
+ symbol_pub_->publish(symbol);
+
+ // publish on deprecated barcode topic
  RCLCPP_DEBUG(get_logger(), "Publishing data as string");
  std_msgs::msg::String barcode_string;
- barcode_string.data = barcode;
+ barcode_string.data = symbol.data;
  barcode_pub_->publish(barcode_string);
  }
  } else {
  RCLCPP_DEBUG(get_logger(), "No barcode detected in image");
  }
 
+ // Warn if there are subscriptions on barcode topic, because it's deprecated.
+ static bool alreadyWarnedDeprecation = false;
+ if (!alreadyWarnedDeprecation && count_subscribers("barcode") > 0) {
+ alreadyWarnedDeprecation = true;
+ RCLCPP_WARN(
+ get_logger(),
+ "A subscription was detected on the deprecated topic 'barcode'. Please update the node "
+ "that is subscribing to use the new topic 'symbol' with type "
+ "'zbar_ros_interfaces::msg::Symbol' instead. The 'barcode' topic will be removed "
+ "in the next distribution.");
+ }
+
  zbar_image.set_data(NULL, 0);
 }
 

zbar_ros_interfaces/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.5)
+project(zbar_ros_interfaces)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+ set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+ set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(vision_msgs REQUIRED)
+
+# generate interfaces
+rosidl_generate_interfaces(${PROJECT_NAME}
+ "msg/Symbol.msg"
+ DEPENDENCIES vision_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+if(BUILD_TESTING)
+ find_package(ament_lint_auto REQUIRED)
+ ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

zbar_ros_interfaces/msg/Symbol.msg

@@ -0,0 +1,2 @@
+string data
+vision_msgs/Point2D[] points

zbar_ros_interfaces/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>zbar_ros_interfaces</name>
+ <version>0.0.0</version>
+ <description>Package containing interfaces for zbar_ros to use to publish results</description>
+ <maintainer email="kenjibrameld@gmail.com">ijnek</maintainer>
+ <license>BSD</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <depend>vision_msgs</depend>
+
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
+
+ <build_depend>rosidl_default_generators</build_depend>
+ <exec_depend>rosidl_default_runtime</exec_depend>
+ <member_of_group>rosidl_interface_packages</member_of_group>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>