Vision pipeline

.gitmodules

@@ -23,3 +23,6 @@
 [submodule "mil_common/perception/yolov7-ros"]
 	path = mil_common/perception/yolov7-ros
 	url = https://github.com/uf-mil/yolov7-ros.git
+[submodule "mil_common/perception/vision_stack"]
+	path = mil_common/perception/vision_stack
+	url = https://github.com/uf-mil/vision_stack.git

.pre-commit-config.yaml

@@ -14,6 +14,7 @@ repos:
     rev: v1.32.0
     hooks:
       - id: yamllint
+        exclude: mil_common/perception/yoloros
   - repo: https://github.com/psf/black
     rev: 23.7.0
     hooks:
@@ -31,7 +32,7 @@ repos:
     rev: v0.9.0.5
     hooks:
       - id: shellcheck
-        exclude: ^docker|deprecated|NaviGator/simulation/VRX
+        exclude: ^docker|deprecated|NaviGator/simulation/VRX|mil_common/perception/yoloros
         args: [--severity=warning, --exclude=SC1090]
   - repo: https://github.com/scop/pre-commit-shfmt
     rev: v3.7.0-1
@@ -44,6 +45,7 @@ repos:
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]
+        exclude: mil_common/perception/yoloros
   - repo: https://github.com/codespell-project/codespell
     rev: v2.2.5
     hooks:

SubjuGator/command/subjugator_launch/launch/subsystems/perception.launch

@@ -19,6 +19,7 @@
       <rosparam file="$(find subjugator_launch)/config/path_localizer.yaml" command="load" />
     </node>
   </group>-->
+  <node pkg="subjugator_perception" type="vision_pipeline_test.py" name="vision_pipeline_test" />
 
   <!-- TODO: Create weights file for sub-->
   <arg name="weights" default="" />

SubjuGator/perception/subjugator_perception/nodes/symbols_detect.py

@@ -0,0 +1,3 @@
+from yoloros import Detector
+
+Detector("robosub24").test_detection(conf_thres=0.77)

SubjuGator/perception/subjugator_perception/nodes/vision_pipeline_test.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+import rospy
+from image_geometry import PinholeCameraModel
+from mil_ros_tools import (
+    Image_Subscriber,
+)
+from yoloros import Detector
+
+# from vision_stack import VisionStack
+
+__author__ = "Daniel Parra"
+
+
+class ObjectDetectionTest:
+    def __init__(self):
+        camera = rospy.get_param("~image_topic", "/camera/front/right/image_rect_color")
+        self.detector = Detector("robosub24", device="cpu")
+
+        self.image_sub = Image_Subscriber(camera, self.detection_callback)
+        self.camera_info = self.image_sub.wait_for_camera_info()
+        assert self.camera_info is not None
+        self.cam = PinholeCameraModel()
+        self.cam.fromCameraInfo(self.camera_info)
+
+    def detection_callback(self, msg):
+        # Create Image from array
+        print("Detecting...")
+        self.detector.display_detection_ros_msg(msg, conf_thres=0.85)
+
+
+if __name__ == "__main__":
+    rospy.init_node("vision_pipeline_test")
+    ObjectDetectionTest()
+    rospy.spin()

docs/software/index.rst

@@ -11,6 +11,7 @@ Various documentation related to practices followed by the MIL Software team.
    documentation_syntax
    adding_documentation
    help
+   vrx_2023
    zobelisk
    asyncio
    rqt

docs/software/vrx_2023.md

@@ -0,0 +1,64 @@
+# VRX 2023
+
+Thanks for your interest in working with the VRX tasks for 2023! We're happy to
+have you participate in the competition!
+
+There are some design changes for the competition this year that you need to be
+aware of. First, VRX now defaults to supporting ROS 2, which is unfortunate for
+us since we use ROS 1. But, don't be afraid! Thankfully, the VRX staff have built
+a bridge between ROS 1 and ROS 2 that we can use to connect our submission with
+their competition environment. This guide will help you get familiar with that
+setup and how to work with VRX.
+
+## Working with ROS 2
+
+Your machine will have both ROS 1 and ROS 2 running on it. To work with two versions
+of ROS, it's best to only source one version of ROS at a time.
+
+### Installing ROS 2
+
+To install ROS 2, run the `./scripts/install_ros2.sh` script. This will install
+ROS 2, the ROS 1 to 2 bridge, and the bridge VRX messages packages.
+
+### Working with ROS 1 and 2
+
+Currently, the MIL installation will source `./scripts/setup.bash` each time you
+open your terminal. While this works for most members and most applications, for
+VRX this is no longer ideal. We recommend changing that line to this (or
+something similar) such that you will be able to choose a version to run with each
+new terminal:
+
+```bash
+noetic() {
+    source ~/catkin_ws/src/mil/scripts/setup.bash
+}
+
+humble() {
+    source ./ros2_humble/install/local_setup.bash
+}
+```
+
+Then, in terminals where you want to run ROS 2, you can type `humble`. Likewise,
+in terminals where you want to run ROS 1, run `noetic`.
+
+## Bridging VRX
+
+Because the VRX platform is built for ROS 2 and our current software focuses on
+ROS 1, we will create a ROS 1 to 2 bridge to allow for communication. The bridge,
+our ROS 1 code, and the VRX platform (in ROS 2) will all run on your host machine.
+
+## Launching Missions
+
+To run the entire the entire VRX simulation, you can `roslaunch`. This launches
+the example world (a basic setup).
+
+```bash
+roslaunch navigator_launch vrx.launch --screen
+```
+
+Some arguments you may want to provide include:
+
+* `run_task` - This flag allows you to run and get scored for a certain task.
+  An example argument includes `Navigation` (to run the navigation task). The
+  task runs the mission named `Vrx<your_argument>` (so in our case, it would
+  run `VrxNavigation`).

mil_common/perception/yoloros/CMakeLists.txt

@@ -0,0 +1,208 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(mil_yolov7_pkg)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+  vision_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs#   std_msgs#   vision_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES mil_yolov7_pkg
+#  CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs vision_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/mil_yolov7_pkg.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/mil_yolov7_pkg_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_mil_yolov7_pkg.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)