diff --git a/NaviGator/perception/darknet_ros b/NaviGator/perception/darknet_ros index a506c9286..1abc8c83f 160000 --- a/NaviGator/perception/darknet_ros +++ b/NaviGator/perception/darknet_ros @@ -1 +1 @@ -Subproject commit a506c9286b270ddb8bb1c074648df7149ec6b20e +Subproject commit 1abc8c83f4d3d7a74003c9793169d5c8452dae12 diff --git a/SubjuGator/command/sub8_launch/config/darknet_params/ros.yaml b/SubjuGator/command/sub8_launch/config/darknet_params/ros.yaml new file mode 100644 index 000000000..f783c9a45 --- /dev/null +++ b/SubjuGator/command/sub8_launch/config/darknet_params/ros.yaml @@ -0,0 +1,33 @@ +subscribers: + + camera_reading: + topic: /camera/front/left/image_raw + queue_size: 1 + +actions: + + camera_reading: + name: /darknet_ros/check_for_objects + +publishers: + + object_detector: + topic: /darknet_ros/found_object + queue_size: 1 + latch: false + + bounding_boxes: + topic: /darknet_ros/bounding_boxes + queue_size: 1 + latch: false + + detection_image: + topic: /darknet_ros/detection_image + queue_size: 1 + latch: true + +image_view: + + enable_opencv: false + wait_key_delay: 1 + enable_console_output: false diff --git a/SubjuGator/command/sub8_launch/config/darknet_params/yolov4-tiny.cfg b/SubjuGator/command/sub8_launch/config/darknet_params/yolov4-tiny.cfg new file mode 100644 index 000000000..e81aea6a2 --- /dev/null +++ b/SubjuGator/command/sub8_launch/config/darknet_params/yolov4-tiny.cfg @@ -0,0 +1,279 @@ +[net] +# Testing +#batch=1 +#subdivisions=1 +# Training +batch=64 +subdivisions=24 +width=416 +height=416 +channels=3 +momentum=0.9 +decay=0.0005 +angle=0 +saturation = 1.5 +exposure = 1.5 +hue=.1 + +learning_rate=0.00261 +burn_in=1000 +max_batches = 10000 +policy=steps +steps=8000.0,9000.0 +scales=.1,.1 + +[convolutional] +batch_normalize=1 +filters=32 +size=3 +stride=2 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=64 +size=3 +stride=2 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=64 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers=-1 +groups=2 +group_id=1 + +[convolutional] +batch_normalize=1 +filters=32 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=32 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-2 + +[convolutional] +batch_normalize=1 +filters=64 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -6,-1 + +[maxpool] +size=2 +stride=2 + +[convolutional] +batch_normalize=1 +filters=128 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers=-1 +groups=2 +group_id=1 + +[convolutional] +batch_normalize=1 +filters=64 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=64 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-2 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -6,-1 + +[maxpool] +size=2 +stride=2 + +[convolutional] +batch_normalize=1 +filters=256 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers=-1 +groups=2 +group_id=1 + +[convolutional] +batch_normalize=1 +filters=128 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=128 +size=3 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -1,-2 + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[route] +layers = -6,-1 + +[maxpool] +size=2 +stride=2 + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +stride=1 +pad=1 +activation=leaky + +################################## + +[convolutional] +batch_normalize=1 +filters=256 +size=1 +stride=1 +pad=1 +activation=leaky + +[convolutional] +batch_normalize=1 +filters=512 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +size=1 +stride=1 +pad=1 +filters=30 +activation=linear + + + +[yolo] +mask = 3,4,5 +anchors = 10,14, 23,27, 37,58, 81,82, 135,169, 344,319 +classes=5 +num=6 +jitter=.3 +scale_x_y = 1.05 +cls_normalizer=1.0 +iou_normalizer=0.07 +iou_loss=ciou +ignore_thresh = .7 +truth_thresh = 1 +random=0 +nms_kind=greedynms +beta_nms=0.6 + +[route] +layers = -4 + +[convolutional] +batch_normalize=1 +filters=128 +size=1 +stride=1 +pad=1 +activation=leaky + +[upsample] +stride=2 + +[route] +layers = -1, 23 + +[convolutional] +batch_normalize=1 +filters=256 +size=3 +stride=1 +pad=1 +activation=leaky + +[convolutional] +size=1 +stride=1 +pad=1 +filters=30 +activation=linear + +[yolo] +mask = 1,2,3 +anchors = 10,14, 23,27, 37,58, 81,82, 135,169, 344,319 +classes=5 +num=6 +jitter=.3 +scale_x_y = 1.05 +cls_normalizer=1.0 +iou_normalizer=0.07 +iou_loss=ciou +ignore_thresh = .7 +truth_thresh = 1 +random=0 +nms_kind=greedynms +beta_nms=0.6 \ No newline at end of file diff --git a/SubjuGator/command/sub8_launch/config/darknet_params/yolov4-tiny.yaml b/SubjuGator/command/sub8_launch/config/darknet_params/yolov4-tiny.yaml new file mode 100644 index 000000000..1c8bdd4b3 --- /dev/null +++ b/SubjuGator/command/sub8_launch/config/darknet_params/yolov4-tiny.yaml @@ -0,0 +1,15 @@ +yolo_model: + + config_file: + name: yolov4-tiny.cfg + weight_file: + name: yolov4-tiny.weights + threshold: + value: 0.5 + detection_classes: + names: + - Badge + - Bootlegger + - Gun + - Gunman + - StartGate diff --git a/SubjuGator/command/sub8_launch/launch/sub8.launch b/SubjuGator/command/sub8_launch/launch/sub8.launch index 864a61dce..c31048a5a 100644 --- a/SubjuGator/command/sub8_launch/launch/sub8.launch +++ b/SubjuGator/command/sub8_launch/launch/sub8.launch @@ -6,7 +6,7 @@ - False + True @@ -25,6 +25,8 @@ + + diff --git a/SubjuGator/command/sub8_launch/launch/subsystems/calibration.launch b/SubjuGator/command/sub8_launch/launch/subsystems/calibration.launch new file mode 100644 index 000000000..f0ab5802e --- /dev/null +++ b/SubjuGator/command/sub8_launch/launch/subsystems/calibration.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/SubjuGator/command/sub8_launch/launch/subsystems/passive_sonar.launch b/SubjuGator/command/sub8_launch/launch/subsystems/passive_sonar.launch index 9858b90a2..62a0ff9ad 100644 --- a/SubjuGator/command/sub8_launch/launch/subsystems/passive_sonar.launch +++ b/SubjuGator/command/sub8_launch/launch/subsystems/passive_sonar.launch @@ -9,6 +9,7 @@ + diff --git a/SubjuGator/command/sub8_launch/launch/subsystems/perception.launch b/SubjuGator/command/sub8_launch/launch/subsystems/perception.launch index b526bc7fb..20e501676 100644 --- a/SubjuGator/command/sub8_launch/launch/subsystems/perception.launch +++ b/SubjuGator/command/sub8_launch/launch/subsystems/perception.launch @@ -3,7 +3,8 @@ - + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/SubjuGator/command/sub8_launch/package.xml b/SubjuGator/command/sub8_launch/package.xml index 5edf7d085..901368f13 100644 --- a/SubjuGator/command/sub8_launch/package.xml +++ b/SubjuGator/command/sub8_launch/package.xml @@ -6,6 +6,7 @@ Jacob Panikulam MIT roslaunch + darknet_ros roslaunch robot_state_publisher nodelet diff --git a/SubjuGator/command/sub8_missions/sub8_missions/__init__.py b/SubjuGator/command/sub8_missions/sub8_missions/__init__.py index 20a2aba0d..31dcd0960 100644 --- a/SubjuGator/command/sub8_missions/sub8_missions/__init__.py +++ b/SubjuGator/command/sub8_missions/sub8_missions/__init__.py @@ -4,7 +4,6 @@ from .start_gate import StartGate from .start_gate_guess import StartGateGuess from .pinger import Pinger -from .surface import Surface from .vampire_slayer import VampireSlayer from .autonomous import Autonomous from .ball_drop_test import BallDropTest @@ -15,3 +14,9 @@ from .arm_torpedos import FireTorpedos from .dracula_grab import DraculaGrabber from .start_gate_guess import StartGateGuess +from .prequal_mission import PrequalMission + +from .autonomous_2022 import Autonomous2022 +from .start_gate_2022 import StartGate2022 +from .surface import Surface + diff --git a/SubjuGator/command/sub8_missions/sub8_missions/autonomous_2022.py b/SubjuGator/command/sub8_missions/sub8_missions/autonomous_2022.py new file mode 100644 index 000000000..9f02e2d49 --- /dev/null +++ b/SubjuGator/command/sub8_missions/sub8_missions/autonomous_2022.py @@ -0,0 +1,105 @@ +import txros +from twisted.internet import defer +from ros_alarms import TxAlarmListener, TxAlarmBroadcaster +from mil_misc_tools import text_effects +import genpy +from .sub_singleton import SubjuGator + +# Import missions here +from .start_gate_2022 import StartGate2022 +from .follow_path_2022 import FollowPath2022 +from .make_the_grade_2022 import MakeGrade2022 +from .bin_2022 import Bin2022 +from .pinger_2022 import Pinger2022 +from .fire_torpedos_2022 import FireTorpedos2022 +from .surface import Surface + + +fprint = text_effects.FprintFactory(title="AUTO_MISSION").fprint +WAIT_SECONDS = 5.0 + + +class Autonomous2022(SubjuGator): + + @txros.util.cancellableInlineCallbacks + def run_mission(self, mission, timeout): + # timeout in seconds + m = mission.run(self).addErrback(lambda x: None) + start_time = yield self.nh.get_time() + while self.nh.get_time() - start_time < genpy.Duration(timeout): + if len(m.callbacks) == 0: + m.cancel() + defer.returnValue(True) + yield self.nh.sleep(0.5) + fprint('MISSION TIMEOUT', msg_color='red') + m.cancel() + defer.returnValue(False) + + @txros.util.cancellableInlineCallbacks + def do_mission(self): + fprint("RUNNING MISSION", msg_color="blue") + + try: + # Run start gate mission + fprint("Running start gate mission", msg_color='green') + yield self.run_mission(StartGate2022(), 400) + + # Run mission to follow orange marker + fprint("Following orange marker", msg_color='green') + yield self.run_mission(FollowPath2022(), 400) + + # Run mission to do phase 1 buoys + fprint("Making the Grade", msg_color='green') + yield self.run_mission(MakeGrade2022(), 400) + + # Run mission to follow orange marker + fprint("Following orange marker", msg_color='green') + yield self.run_mission(FollowPath2022(), 400) + + # Run mission to do bins mission + fprint("Starting bins mission", msg_color='green') + yield self.run_mission(Bin2022(), 400) + + # Run mission to get to next pinger location + fprint("Going to pinger location", msg_color='green') + yield self.run_mission(Pinger2022(), 400) + + # Run mission to Analyze where to fire torpedos + fprint("Starting mission to fire torpedos", msg_color='green') + yield self.run_mission(FireTorpedos2022(), 400) + + # Run mission to get to next pinger location + fprint("Finding other pinger location", msg_color='green') + yield self.run_mission(Pinger2022(), 400) + + # Rise from Octagon + fprint("Rising from Octagon", msg_color='green') + yield self.run_mission(Surface(), 400) + + except Exception as e: + fprint("Error in Chain 1 missions!", msg_color="red") + print(e) + + # Create a mission kill alarm and kill in the final area + ab = yield TxAlarmBroadcaster.init(self.nh, "mission-kill") + yield ab.raise_alarm() + fprint("MISSION COMPLETE", msg_color="blue") + + @txros.util.cancellableInlineCallbacks + def wait_before_start(self, nh): + ''' Waits for the network loss alarm to trigger before ''' + if (yield nh.has_param("autonomous")): + fprint("Waiting {} seconds before running missions...".format(WAIT_SECONDS)) + + yield nh.sleep(WAIT_SECONDS) + fprint('Running Missions') + yield self.do_mission() + else: + fprint( + "Please place sub in autonomous mode", + msg_color='red') + + @txros.util.cancellableInlineCallbacks + def run(self, args): + + yield self.wait_before_start(self.nh) diff --git a/SubjuGator/command/sub8_missions/sub8_missions/prequal_mission.py b/SubjuGator/command/sub8_missions/sub8_missions/prequal_mission.py new file mode 100755 index 000000000..b9da475c6 --- /dev/null +++ b/SubjuGator/command/sub8_missions/sub8_missions/prequal_mission.py @@ -0,0 +1,241 @@ +from distutils.util import subst_vars +from .sub_singleton import SubjuGator +from txros import util +import cv2 +from cv_bridge import CvBridge +import numpy as np +from twisted.internet import defer +import math +import tf +from sensor_msgs.msg import Image, CameraInfo + +SPEED_LIMIT = .5 # m/s + + +class PrequalMission(SubjuGator): + + @util.cancellableInlineCallbacks + def run(self, args): + + #obtain camera data + + self.bridge = CvBridge() + self.front_left_camera_sub = self.nh.subscribe( + "/camera/front/left/image_color", Image) + self.image_debug_pub = self.nh.advertise('/prequal_image_debug', Image) + + #submerge submarine + yield self.move.down(2).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + + #look for start gate + yield self.find_start_gate() + + #look for pole + yield self.find_marker() + + #turn around + yield self.nh.sleep(5) + yield self.move.yaw_right(1.57).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + + #go through start gate again + yield self.nh.sleep(5) + yield self.find_start_gate() + + + print("Done!") + + #returns center of first and last vertical lines + @util.cancellableInlineCallbacks + def find_start_gate(self): + + center_pixel = 480 + + while True: + + img = yield self.front_left_camera_sub.get_next_message() + img = self.bridge.imgmsg_to_cv2(img) + + #obtain one image + hsv_img = cv2.cvtColor(img, cv2.COLOR_RGB2HSV) + _,width,height = hsv_img.shape[::-1] + + #mask for only black + lower = np.array([0, 0, 0], dtype="uint8") + upper = np.array([50, 50,50], dtype="uint8") + mask = cv2.inRange(hsv_img, lower, upper) + + #publish mask for debuggin purposes + masked_msg = self.bridge.cv2_to_imgmsg(mask, "mono8") + self.image_debug_pub.publish(masked_msg) + + white = False + black = False + vertical_lines = [] + + for i in range(width): + if mask[(height/2), i] != 0 and not white: + + white = True + black = False + vertical_lines.append(i) + + elif mask[(height/2), i] == 0 and not black: + + white = False + black = True + + center_pixel = width/2 + if len(vertical_lines) > 1: + center_pixel = (vertical_lines[0] + vertical_lines[len(vertical_lines) - 1]) / 2 + else: + print("Going through the gate!") + yield self.move.forward(5).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + break + + #move based on center pixel + #if difference is negative, we adjust right + #if difference is positive, we adjust left + + print(center_pixel) + + difference = (width/2) - center_pixel + magic_ratio = 1000.0 + meters = difference / magic_ratio + + if abs(difference) > 30: + + if difference < 0: + print("Adjusting right", abs(meters)) + yield self.move.yaw_right(abs(meters)).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + elif difference > 0: + print("Adjusting left", abs(meters)) + yield self.move.yaw_left(abs(meters)).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + + print("Going forward and inspecting again") + yield self.move.forward(2).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + + #returns center of marker and width + @util.cancellableInlineCallbacks + def find_marker(self): + + while True: + + img = yield self.front_left_camera_sub.get_next_message() + img = self.bridge.imgmsg_to_cv2(img) + + #obtain one image + hsv_img = cv2.cvtColor(img, cv2.COLOR_RGB2HSV) + _,width,height = hsv_img.shape[::-1] + + #mask for only blue (to get only the water for the most part) + lower = np.array([0, 0, 0], dtype="uint8") + upper = np.array([50, 50,50], dtype="uint8") + mask = cv2.inRange(hsv_img, lower, upper) + + #publish mask for debuggin purposes + masked_msg = self.bridge.cv2_to_imgmsg(mask, "mono8") + self.image_debug_pub.publish(masked_msg) + + white = False + black = False + vertical_lines = [] + start = 0 + stop = 0 + + for i in range(width): + if mask[(height/2), i] != 0 and not white: + + white = True + black = False + vertical_lines.append(i) + start = i + + elif mask[(height/2), i] == 0 and not black: + + white = False + black = True + stop = i + + if len(vertical_lines) == 1: + center_pixel = vertical_lines[0] + else: + #There is more than on vertical line + print("I am confused") + center_pixel = width/2 + + difference = (width/2.0) - center_pixel + magic_ratio = 1000.0 + angle = difference / magic_ratio + + #check if we are aligned or not with center of pole + if abs(difference) > 30: + + if difference < 0: + print("Adjusting right") + yield self.move.yaw_right(abs(angle)).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + elif difference > 0: + print("Adjusting left") + yield self.move.yaw_left(abs(angle)).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + + #if the width of the pole is bigger than a certain amount, rotate around pole + if stop - start > 25: + #this is where we would call the rotation function + yield self.circle_marker() + break + + yield self.move.forward(2).zero_roll_and_pitch().go(speed=SPEED_LIMIT) + + print("Marker is in pixel: " + str(center_pixel)) + print("Pipe width: " + str(stop - start)) + print("\n") + + @util.cancellableInlineCallbacks + def circle_marker(self): + print("Entering circle marker function") + + steps = 8 + + #get vector between sub and estimated marker location + sub_position = yield self.pose.position + sub_orientation = yield self.pose.orientation + center_point = self.get_point_in_front_of_sub(sub_position,sub_orientation, 2.5) + vect = np.array([ sub_position[0] - center_point[0], sub_position[1] - center_point[1], 0]) + + #go around animal + for i in range(steps-2): + print(i) + + #calculate new position by rotating vector + new_vect = self.rotate_vector(vect[0:2], math.radians(360/steps) ) + vect[0] = new_vect[0] + vect[1] = new_vect[1] + new_pos = center_point + vect + + #move to next spot in circle + print(new_pos) + print(vect) + yield self.move.set_position(new_pos).look_at_without_pitching(center_point).go() + + def point_at_goal(self, current_pos, center_pos): + vect = [ center_pos[0] - current_pos[0], center_pos[1] - current_pos[1]] + theta = math.atan2(vect[1], vect[0]) + return tf.transformations.quaternion_from_euler(0,0,theta) + + def rotate_vector(self, vector, theta): + #rotate a vector theta radians + rot = np.array([ [math.cos(theta), -math.sin(theta)], [math.sin(theta), math.cos(theta)]]) + res = np.dot(rot, vector) + return res + + def get_point_in_front_of_sub(self, sub_position, sub_ori, distance): + '''Provides a point a certain distance in front of sub''' + offset = distance + (roll, pitch, yaw) = tf.transformations.euler_from_quaternion(sub_ori) + dx = offset * math.cos(yaw) + dy = offset * math.sin(yaw) + + new_pos = np.array([0.0,0.0,sub_position[2]]) + new_pos[0] = sub_position[0] + dx + new_pos[1] = sub_position[1] + dy + + return new_pos \ No newline at end of file diff --git a/SubjuGator/command/sub8_missions/sub8_missions/square.py b/SubjuGator/command/sub8_missions/sub8_missions/square.py index 78a8aff6a..92ca19301 100755 --- a/SubjuGator/command/sub8_missions/sub8_missions/square.py +++ b/SubjuGator/command/sub8_missions/sub8_missions/square.py @@ -21,4 +21,4 @@ def run(self, args): center = center.yaw_right_deg(90) yield center.go(speed=SPEED_LIMIT) - print "Done!" + print("Done!") diff --git a/SubjuGator/command/sub8_missions/sub8_missions/start_gate_2022.py b/SubjuGator/command/sub8_missions/sub8_missions/start_gate_2022.py new file mode 100644 index 000000000..113dfed58 --- /dev/null +++ b/SubjuGator/command/sub8_missions/sub8_missions/start_gate_2022.py @@ -0,0 +1,44 @@ +#!/usr/bin/env python +from __future__ import division + +import txros +from twisted.internet import defer + +from mil_misc_tools import text_effects + +from .sub_singleton import SubjuGator, SonarObjects +from mil_ros_tools import rosmsg_to_numpy +from scipy.spatial import distance + +import numpy as np + +fprint = text_effects.FprintFactory( + title="START_GATE", msg_color="cyan").fprint + +SPEED = 0.6 + +CAREFUL_SPEED = 0.3 + +# How many meters to pass the gate by +DIST_AFTER_GATE = 1 +WAIT_SECONDS = 180 + +RIGHT_OR_LEFT = 1 + + +class StartGate2022(SubjuGator): + + @txros.util.cancellableInlineCallbacks + def run(self, args): + fprint('Waiting for odom') + yield self.tx_pose() + + fprint('Waiting {} seconds...'.format(WAIT_SECONDS)) + yield self.nh.sleep(WAIT_SECONDS) + + fprint('Found odom') + down = self.move.down(1).zero_roll_and_pitch() + forward = self.move.forward(4).zero_roll_and_pitch() + + yield down.go(speed=SPEED) + yield forward.go(speed=SPEED) diff --git a/SubjuGator/command/sub8_missions/sub8_missions/sub_singleton.py b/SubjuGator/command/sub8_missions/sub8_missions/sub_singleton.py index 91a998d87..9d845d0cc 100644 --- a/SubjuGator/command/sub8_missions/sub8_missions/sub_singleton.py +++ b/SubjuGator/command/sub8_missions/sub8_missions/sub_singleton.py @@ -11,6 +11,7 @@ from sub8_msgs.srv import VisionRequest, VisionRequestRequest, VisionRequest2DRequest, VisionRequest2D from mil_msgs.srv import SetGeometry, SetGeometryRequest from mil_msgs.srv import ObjectDBQuery, ObjectDBQueryRequest +from darknet_ros_msgs.msg import BoundingBoxes #from sub8_msgs.srv import SetValve, SetValveRequest from sub8_actuator_board.srv import SetValve, SetValveRequest from std_srvs.srv import SetBool, SetBoolRequest, Trigger, TriggerRequest @@ -264,6 +265,7 @@ def _init(cls, mission_server): cls.actuators = _ActuatorProxy(cls.nh) cls.test_mode = False cls.pinger_sub = yield cls.nh.subscribe('/hydrophones/processed', ProcessedPing) + cls.darknet_objects = yield cls.nh.subscribe("/darknet_ros/bounding_boxes", BoundingBoxes) @property def pose(self): diff --git a/SubjuGator/perception/sub8_perception/CMakeLists.txt b/SubjuGator/perception/sub8_perception/CMakeLists.txt index b0d9ef0fa..c0691e346 100644 --- a/SubjuGator/perception/sub8_perception/CMakeLists.txt +++ b/SubjuGator/perception/sub8_perception/CMakeLists.txt @@ -28,6 +28,7 @@ catkin_python_setup() generate_dynamic_reconfigure_options( cfg/VampireIdentifier.cfg + cfg/HSVCalibration.cfg ) catkin_package( diff --git a/SubjuGator/perception/sub8_perception/cfg/HSVCalibration.cfg b/SubjuGator/perception/sub8_perception/cfg/HSVCalibration.cfg new file mode 100755 index 000000000..218a2b661 --- /dev/null +++ b/SubjuGator/perception/sub8_perception/cfg/HSVCalibration.cfg @@ -0,0 +1,7 @@ +#! /usr/bin/env python +PACKAGE = 'sub8_perception' +from dynamic_reconfigure.parameter_generator_catkin import * +gen = ParameterGenerator() +gen.add('dyn_lower', str_t, 0, 'Lower RGB Threshold', '0,0,0') +gen.add('dyn_upper', str_t, 0, 'Upper RGB Threshold', '179, 255, 255') +exit(gen.generate(PACKAGE, PACKAGE, 'HSVCalibration')) diff --git a/SubjuGator/perception/sub8_perception/nodes/camera_calibration.py b/SubjuGator/perception/sub8_perception/nodes/camera_calibration.py new file mode 100755 index 000000000..ad62d0f6b --- /dev/null +++ b/SubjuGator/perception/sub8_perception/nodes/camera_calibration.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python +import cv2 +import rospy +from collections import deque +import numpy as np +from mil_ros_tools import Image_Subscriber, Image_Publisher +from sensor_msgs.msg import Image + +class CameraCalibration: + def __init__(self): + self.camera = "/camera/front/left/image_raw" + self.image_sub = Image_Subscriber(self.camera, self.image_cb) + self.image_pub = Image_Publisher("/image/checkerboard") + self.count = 0 + self.checkerboard = (6,9) # measured from inner corners + self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001) + self.objp = np.zeros((1, self.checkerboard[0] * self.checkerboard[1], 3), np.float32) + self.objp[0, :, :2] = np.mgrid[0:self.checkerboard[0], 0:self.checkerboard[1]].T.reshape(-1, 2) * 25.4 + self.objpoints = deque() + self.imgpoints = deque() + self.width = None + self.height = None + self.shape = None + + def calculatePoints(self, image): + self.count = self.count + 1 + gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY) + ret, corners = cv2.findChessboardCorners(gray, self.checkerboard, cv2.CALIB_CB_ADAPTIVE_THRESH + cv2.CALIB_CB_FAST_CHECK + cv2.CALIB_CB_NORMALIZE_IMAGE) + + if ret == True: + corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), self.criteria) + img = cv2.drawChessboardCorners(image, self.checkerboard, corners2, ret) + self.image_pub.publish(img) + self.height, self.width = img.shape[:2] + self.shape = gray.shape[::-1] + if self.count >= 7: + self.imgpoints.append(corners2) + self.objpoints.append(self.objp) + self.count = 0 + print(len(self.imgpoints)) + if len(self.imgpoints) > 50: + self.calculate_matrix() + + def image_cb(self, image): + self.calculatePoints(image) + + def calculate_matrix(self): + print("Calculating camera matrix") + obj = list(self.objpoints) + img = list(self.imgpoints) + ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(obj, img, self.shape, None, None) + print("done") + print(mtx) + print(dist) + + + +def main(): + rospy.init_node('camera_calibration', anonymous=False) + CameraCalibration() + + rospy.spin() + +if __name__ == '__main__': + main() diff --git a/SubjuGator/perception/sub8_perception/nodes/hsv_calibration.py b/SubjuGator/perception/sub8_perception/nodes/hsv_calibration.py new file mode 100755 index 000000000..cc9c5d213 --- /dev/null +++ b/SubjuGator/perception/sub8_perception/nodes/hsv_calibration.py @@ -0,0 +1,53 @@ +#!/usr/bin/env python +import cv2 +import rospy +import numpy as np +from mil_ros_tools import Image_Subscriber, Image_Publisher +from dynamic_reconfigure.server import Server as DynamicReconfigureServer +from sub8_perception.cfg import HSVCalibrationConfig + +class HSVCalibration: + def __init__(self): + self.camera = "/camera/front/left/image_raw" + self.image_sub = Image_Subscriber(self.camera, self.image_cb) + self.image_pub = Image_Publisher("/image/hsv") + self.reconfigure_server = DynamicReconfigureServer(HSVCalibrationConfig, self.reconfigure) + self.lower = np.array([0,0,0], dtype=np.uint8) + self.upper = np.array([179,255,255], dtype=np.uint8) + + def image_cb(self, img): + img = np.array(img) + img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) + mask = cv2.inRange(img_hsv, self.lower, self.upper) + img = cv2.bitwise_and(img, img, mask=mask) + self.image_pub.publish(img) + + @staticmethod + def parse_string(threshes): + ret = [float(thresh.strip()) for thresh in threshes.split(',')] + if len(ret) != 3: + raise ValueError('not 3') + return ret + + def reconfigure(self, config, level): + try: + self.lower = np.array(self.parse_string(config['dyn_lower'])) + rospy.logwarn('HSV lower bound below minimum value') if (self.lower < 0).any() else None + self.upper = np.array(self.parse_string(config['dyn_upper'])) + rospy.logwarn('HSV upper bound above maximum values') if (self.upper[0] > 179).any() or (self.upper[1:] > 255).any() else None + + except ValueError as e: + rospy.logwarn('Invalid dynamic reconfigure: {}'.format(e)) + return self.last_config + + self.last_config = config + return config + +def main(): + rospy.init_node('hsv_calibration', anonymous=False) + HSVCalibration() + + rospy.spin() + +if __name__ == '__main__': + main() diff --git a/SubjuGator/simulation/sub8_gazebo/launch/duck.launch b/SubjuGator/simulation/sub8_gazebo/launch/duck.launch index da4befd3d..9545a0c2d 100644 --- a/SubjuGator/simulation/sub8_gazebo/launch/duck.launch +++ b/SubjuGator/simulation/sub8_gazebo/launch/duck.launch @@ -7,7 +7,7 @@ + args="$(find sub8_gazebo)/worlds/robosub_2022.world --verbose" /> diff --git a/SubjuGator/simulation/sub8_gazebo/models/bin/model.config b/SubjuGator/simulation/sub8_gazebo/models/bin/model.config new file mode 100644 index 000000000..9e3413c47 --- /dev/null +++ b/SubjuGator/simulation/sub8_gazebo/models/bin/model.config @@ -0,0 +1,14 @@ + + Bin + 1.0 + bin_assembly.sdf + + + Unknown + someone@gmail.com + + + + The bin + + \ No newline at end of file diff --git a/SubjuGator/simulation/sub8_gazebo/models/buoys/model.config b/SubjuGator/simulation/sub8_gazebo/models/buoys/model.config new file mode 100644 index 000000000..735107299 --- /dev/null +++ b/SubjuGator/simulation/sub8_gazebo/models/buoys/model.config @@ -0,0 +1,15 @@ + + Yellow Buoy + 1.0 + yellow.sdf + + + Unknown + someone@gmail.com + + + + ??? + + + diff --git a/SubjuGator/simulation/sub8_gazebo/models/esp_board/model.config b/SubjuGator/simulation/sub8_gazebo/models/esp_board/model.config new file mode 100644 index 000000000..84dfbc517 --- /dev/null +++ b/SubjuGator/simulation/sub8_gazebo/models/esp_board/model.config @@ -0,0 +1,15 @@ + + Board + 1.0 + esp_board.sdf + + + Unknown + someone@gmail.com + + + + ??? + + + diff --git a/SubjuGator/simulation/sub8_gazebo/models/markers/model.config b/SubjuGator/simulation/sub8_gazebo/models/markers/model.config new file mode 100644 index 000000000..6c0f91f9c --- /dev/null +++ b/SubjuGator/simulation/sub8_gazebo/models/markers/model.config @@ -0,0 +1,15 @@ + + Path Marker + 1.0 + pathmarkers2018.sdf + + + Unknown + someone@gmail.com + + + + The path marker for the sub competition + + + diff --git a/SubjuGator/simulation/sub8_gazebo/models/markers/pathmarkers2018.sdf b/SubjuGator/simulation/sub8_gazebo/models/markers/pathmarkers2018.sdf index f3e518084..a48709220 100644 --- a/SubjuGator/simulation/sub8_gazebo/models/markers/pathmarkers2018.sdf +++ b/SubjuGator/simulation/sub8_gazebo/models/markers/pathmarkers2018.sdf @@ -51,5 +51,7 @@ file://markers/PathMarkers2018s.dae + + diff --git a/SubjuGator/simulation/sub8_gazebo/models/nav_gate/model.config b/SubjuGator/simulation/sub8_gazebo/models/nav_gate/model.config new file mode 100644 index 000000000..4db09ab97 --- /dev/null +++ b/SubjuGator/simulation/sub8_gazebo/models/nav_gate/model.config @@ -0,0 +1,15 @@ + + NavGate + 1.0 + nav_gate.sdf + + + Unknown + someone@gmail.com + + + + The sub NavGate + + + diff --git a/SubjuGator/simulation/sub8_gazebo/models/octogon/model.config b/SubjuGator/simulation/sub8_gazebo/models/octogon/model.config new file mode 100644 index 000000000..2d967d8fd --- /dev/null +++ b/SubjuGator/simulation/sub8_gazebo/models/octogon/model.config @@ -0,0 +1,15 @@ + + octogon + 1.0 + octogon.sdf + + + Unknown + someone@gmail.com + + + + The octagon goal for robosub + + + diff --git a/SubjuGator/simulation/sub8_gazebo/models/posters/base_link.dae b/SubjuGator/simulation/sub8_gazebo/models/posters/base_link.dae new file mode 100644 index 000000000..f5043fb6e --- /dev/null +++ b/SubjuGator/simulation/sub8_gazebo/models/posters/base_link.dae @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + -0.5050747990608215 0.012007034383714199 -0.3917074501514435 -0.5051696300506592 0.011425687931478024 -0.3899359107017517 -0.5048520565032959 0.00562463141977787 -0.39586904644966125 -0.50491863489151 0.0042341323569417 -0.39462509751319885 -0.5044885873794556 0.0021810727193951607 -0.40265971422195435 -0.5045090913772583 0.00035400353954173625 -0.4022766649723053 -0.5040817856788635 0.0025990582071244717 -0.4102599024772644 -0.5040506720542908 0.0008249806123785675 -0.4108404219150543 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+ 0 + 0 + + -0.957126 1.98002 0 0 -0 0 + + + diff --git a/SubjuGator/sub.rviz b/SubjuGator/sub.rviz index 92c45accc..bfd43c824 100644 --- a/SubjuGator/sub.rviz +++ b/SubjuGator/sub.rviz @@ -3,9 +3,10 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ - Splitter Ratio: 0.467647046 - Tree Height: 1021 + Expanded: + - /Image1 + Splitter Ratio: 0.4676470458507538 + Tree Height: 475 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -14,7 +15,7 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679016 + Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 @@ -24,7 +25,11 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: Image +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -34,7 +39,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.0299999993 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -46,7 +51,7 @@ Visualization Manager: Plane Cell Count: 10000 Reference Frame: Value: true - - Angle Tolerance: 0.00100000005 + - Angle Tolerance: 0.0010000000474974513 Class: rviz/Odometry Covariance: Orientation: @@ -58,7 +63,7 @@ Visualization Manager: Scale: 1 Value: true Position: - Alpha: 0.300000012 + Alpha: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true @@ -66,16 +71,16 @@ Visualization Manager: Enabled: true Keep: 1 Name: Odometry - Position Tolerance: 0.00100000005 + Position Tolerance: 0.0010000000474974513 Shape: Alpha: 1 Axes Length: 1 - Axes Radius: 0.100000001 + Axes Radius: 0.10000000149011612 Color: 255; 25; 0 - Head Length: 0.300000012 - Head Radius: 0.100000001 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 Shaft Length: 1 - Shaft Radius: 0.0500000007 + Shaft Radius: 0.05000000074505806 Value: Arrow Topic: /odom Unreliable: false @@ -90,15 +95,15 @@ Visualization Manager: Value: true - Alpha: 1 Axes Length: 1 - Axes Radius: 0.100000001 + Axes Radius: 0.10000000149011612 Class: rviz/Pose Color: 26; 125; 255 Enabled: true - Head Length: 0.300000012 - Head Radius: 0.100000001 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 Name: 3D Mouse Goal Shaft Length: 1 - Shaft Radius: 0.0500000007 + Shaft Radius: 0.05000000074505806 Shape: Arrow Topic: /posegoal Unreliable: false @@ -166,6 +171,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + inclinometer: + Alpha: 1 + Show Axes: false + Show Trail: false Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -174,15 +183,15 @@ Visualization Manager: Visual Enabled: true - Alpha: 1 Axes Length: 1 - Axes Radius: 0.100000001 + Axes Radius: 0.10000000149011612 Class: rviz/Pose Color: 25; 255; 0 Enabled: true - Head Length: 0.300000012 - Head Radius: 0.100000001 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 Name: Waypoint Shaft Length: 1 - Shaft Radius: 0.0500000007 + Shaft Radius: 0.05000000074505806 Shape: Arrow Topic: /c3_trajectory_generator/waypoint Unreliable: false @@ -206,15 +215,15 @@ Visualization Manager: Value: true - Alpha: 1 Axes Length: 1 - Axes Radius: 0.100000001 + Axes Radius: 0.10000000149011612 Class: rviz/Pose Color: 255; 225; 0 Enabled: true - Head Length: 0.300000012 - Head Radius: 0.100000001 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 Name: Trajectory Shaft Length: 1 - Shaft Radius: 0.0500000007 + Shaft Radius: 0.05000000074505806 Shape: Arrow Topic: /c3_trajectory_generator/trajectory_v Unreliable: false @@ -233,6 +242,7 @@ Visualization Manager: Enabled: false Force Arrow Scale: 2 Force Color: 204; 51; 51 + Hide Small Values: true History Length: 1 Name: /wrench Topic: /wrench @@ -321,12 +331,24 @@ Visualization Manager: Update Topic: /guess_markers/update Value: true - Class: rviz/Marker - Enabled: true + Enabled: false Marker Topic: /hydrophones/direction_marker Name: Pinger Heading Namespaces: - "": true + {} Queue Size: 100 + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /camera/front/left/image_color + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false Value: true Enabled: true Global Options: @@ -343,7 +365,10 @@ Visualization Manager: - Class: rviz/FocusCamera - Class: rviz/Measure - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint @@ -353,25 +378,25 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 14.386797 + Distance: 8.627695083618164 Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: 1.4457731246948242 + Y: -3.5584964752197266 + Z: 1.7837358713150024 Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 + Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 1.56479633 + Near Clip Distance: 0.009999999776482582 + Pitch: 0.2697972059249878 Target Frame: map Value: Orbit (rviz) - Yaw: 1.56368017 + Yaw: 3.723677635192871 Saved: ~ Window Geometry: Blueview: @@ -384,10 +409,12 @@ Window Geometry: collapsed: false Front Right: collapsed: false - Height: 1163 + Height: 960 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 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Selection: collapsed: false Time: @@ -398,4 +425,4 @@ Window Geometry: collapsed: true Width: 1920 X: 0 - Y: 0 + Y: 27 diff --git a/mil_common/drivers/mil_passive_sonar/src/sylphase_ros_bridge.cpp b/mil_common/drivers/mil_passive_sonar/src/sylphase_ros_bridge.cpp index d7f2452ad..a3449a317 100644 --- a/mil_common/drivers/mil_passive_sonar/src/sylphase_ros_bridge.cpp +++ b/mil_common/drivers/mil_passive_sonar/src/sylphase_ros_bridge.cpp @@ -34,6 +34,7 @@ class SylphaseSonarToRosNode std::string ip_; int port_; double seconds_per_message_; + bool is_little_endian_; }; void SylphaseSonarToRosNode::run() @@ -67,6 +68,7 @@ SylphaseSonarToRosNode::SylphaseSonarToRosNode(ros::NodeHandle nh, ros::NodeHand port_ = private_nh.param("port", 10001); frame_id_ = private_nh.param("frame", "hydrophones"); seconds_per_message_ = private_nh.param("seconds_to_capture", 0.1); + is_little_endian_ = private_nh.param("is_little_endian", true); } boost::asio::ip::tcp::socket SylphaseSonarToRosNode::connect() @@ -103,11 +105,16 @@ void SylphaseSonarToRosNode::read_messages(boost::asio::ip::tcp::socket& socket) // If the buffer is now full, ship the message off if (!boost::asio::buffer_size(buffer)) { - // Received packets are Big-Endian, convert to system - for (size_t i = 0; i < msg.hydrophone_samples.data.size(); ++i) + // check if packets are Big-Endian + if (!is_little_endian_) { - msg.hydrophone_samples.data[i] = ntohs(msg.hydrophone_samples.data[i]); + // Received packets are Big-Endian, convert to system + for (size_t i = 0; i < msg.hydrophone_samples.data.size(); ++i) + { + msg.hydrophone_samples.data[i] = ntohs(msg.hydrophone_samples.data[i]); + } } + ++msg.header.seq; pub_.publish(msg); @@ -140,4 +147,4 @@ int main(int argc, char** argv) SylphaseSonarToRosNode node(nh, private_nh); node.run(); -} +} \ No newline at end of file diff --git a/mil_common/utils/mil_tools/mil_ros_tools/plotter.py b/mil_common/utils/mil_tools/mil_ros_tools/plotter.py index 62d5427bb..42aff6bb5 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/plotter.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/plotter.py @@ -109,7 +109,7 @@ def publish_plots_(self, plots, titles=[], v_lines=[]): for ax in self.fig.axes: ax.cla() # make ros msg of the img - msg = self.bridge.cv2_to_imgmsg(img, encoding='passthrough') + msg = self.bridge.cv2_to_imgmsg(img, encoding='rgba8') # publish the image self.pub.publish(msg)