GREAT INTEGRATION #15

DSsoto · 2017-03-28T04:30:45Z

Lets make sure that everything is clean here before we merge back to master.

It would be helpful to have as many people as possible review this.

GPS Bounds and Coordinate Conversion

…r-dev Merge uf-mil/dev into shooter-dev

Lake Day 10-2

PERCEPTION: Add initial dock shape vision service and shooter mission

…n_system Conflicts: mission_control/navigator_missions/navigator_singleton/vision_services.yaml utils/navigator_msgs/CMakeLists.txt

Mission system

SHOOTER: Work with new motor controller + other improvements

SHOOTER: Tuned timing vals/bug fixes

…o mergeTesting

T-GEN: Add ros interface

PERCEPTION: ros camera stream class, tf changes, and fix to point cloud colorer

Lake Day 10-15/16

…o tf.launch

MISSIONS: Start gate and teleop

The scripts here were demoted from being a ros package. It should be removed from the SubjuGator repo.

It was previously in the great_merge_purgatory of mil_vision

TOOLS: add script to rename topics/frames in bags

RustyBamboo · 2017-04-08T22:50:05Z

perception/mil_vision/great_merge_purgatory/README.txt

@@ -0,0 +1,5 @@
+Some of these files can be made generic and therefore be able to stay as a part of mil_common. Until that is done, they will remain in this folder.


great_merge_purgatory

kev-the-dev

Could use some work. 6/10

Some of these changes need to be done before merging:

namespace changes
anything specific to sub8/navigator

Later

document

kev-the-dev · 2017-04-09T00:23:50Z

perception/mil_vision/include/mil_vision_lib/colorizer/camera_observer.hpp

+#include <image_geometry/pinhole_camera_model.h>
+#include <opencv2/core/eigen.hpp>
+
+namespace nav{


All namespaces should be mil_vision for resources in this library.

kev-the-dev · 2017-04-09T00:25:11Z

perception/mil_vision/include/mil_vision_lib/colorizer/camera_observer.hpp

+
+namespace nav{
+
+class CameraObserver


Let's have just one (David's) wrapper for camera subscribers/publishers. @DSsoto can you remove the other ones that do the same thing?

kev-the-dev · 2017-04-09T00:28:30Z

perception/mil_vision/include/mil_vision_lib/cv_tools.hpp

+                                    const float low_thresh_gain = 0.5,
+                                    const float high_thresh_gain = 0.5);
+
+cv::Mat triangulate_Linear_LS(cv::Mat mat_P_l, cv::Mat mat_P_r,


No documentation for this function. I do I use it/ what does it do? Same with others

kev-the-dev · 2017-04-09T00:39:31Z

perception/mil_vision/include/mil_vision_lib/point_cloud_algorithms.hpp

+};
+
+
+class PcdColorizer : public PcdSubPubAlgorithm{


Add TODO comment, mention unfinished

kev-the-dev · 2017-04-09T00:39:46Z

perception/mil_vision/include/mil_vision_lib/visualization.hpp

+  ros::Publisher rviz_pub;
+  ros::NodeHandle nh;
+  RvizVisualizer(std::string rviz_topic);
+  void visualize_buoy(geometry_msgs::Pose &pose, std::string &frame_id);


sub specific, remove

kev-the-dev · 2017-04-09T01:03:16Z

utils/mil_tools/mil_ros_tools/image_helpers.py

+from mil_ros_tools import wait_for_param
+
+
+def get_parameter_range(parameter_root):


sub specific, remove

kev-the-dev · 2017-04-09T01:04:11Z

utils/mil_tools/mil_ros_tools/image_helpers.py

+        self.bridge = CvBridge()
+        self.callback = callback
+
+    def wait_for_camera_info(self, timeout=10):


known bug when time goes backwards, fixed on sub8 version

kev-the-dev · 2017-04-09T01:05:15Z

utils/mil_tools/mil_ros_tools/msg_helpers.py

+import rospy
+
+
+def rosmsg_to_numpy(rosmsg, keys=None):


@RustyBamboo has some fix for this. Please PR it

kev-the-dev · 2017-04-09T01:09:06Z

utils/mil_tools/nodes/tf_fudger.py

+    if k == ord('z'):
+        set_bars((0, 0, 0), (0, 0, 0))
+
+    # This functionality was configured to replace lines in navigator's tf launch file, should refactor to be general later


IF someone wants to refactor to be generic, that'd be cool

kev-the-dev · 2017-04-09T01:10:00Z

utils/mil_tools/nodes/video_player

+      self.paused = not self.paused
+
+def main():
+    rospy.init_node('video_player', anonymous=True)


use argparse instead of params

This is new mesage should be used by the depth driver instead of Float64Stamped

@RustyBamboo

Replaced with RangeStamped. DVL related cold that previously used Float64Stamped should be transitioned to use RangeStamped instead. Other depth driver related code should be changed to use DepthStamped. The only usage of Float64Stamped that is not DVL or depth or depth driver related is in the start gate mission and should be removed (@RustyBamboo).

Node used to be in the great_merge_transformer subdirectory. All other nodes were considered not generic and removed from the repo.

It was decided that all the nodes directory would only be used for python nodes, wile the src and include directories will include c++ nodes, not just library code.

Remove Float64stamped

Remove mil_vision/great_merge_purgatory

* fix up namespaces in mil_vision * move mil_msgs stuff that isnt messages to mil_tools

REPO: Namespace changes to prepare for sub8 integration

REPO: replace navigator dependencies with mil_common

kev-the-dev · 2017-04-11T05:23:38Z

Comments addressed and tested (at least for building) with SubjuGator, except for changes mentioned in #30, which can be done in a post-integration repo.

sentree · 2017-04-11T05:23:54Z

This built on the CI and passed all unit tests except the ros_alarms test that always fails.
-- Your friendly temporary CI guy

CONTROLLER and INTERFACE: lake day changes

mattlangford and others added 30 commits October 1, 2016 18:48

COMMAND: Integrate bounds param into mission runner

7c49902

TOOLS: Add tool to fudge tf values on the fly

1b8d156

COMMAND: Update bounds system, integrate that system into pose editor

04b469d

Merge pull request #73 from mattlangford/master

ee7ea6d

GPS Bounds and Coordinate Conversion

Merge branch 'dev' of https://github.com/uf-mil/Navigator into shoote…

a2bec0c

…r-dev Merge uf-mil/dev into shooter-dev

Merge uf-mil/dev into dock-shapes-dev

bcc490d

Merge branch 'master' of https://github.com/uf-mil/Navigator into lidar

1b5c4c9

Merge pull request #74 from uf-mil/dev

b986c3a

Lake Day 10-2

Merge pull request #41 from ironmig/dock-shapes-dev

424ed79

PERCEPTION: Add initial dock shape vision service and shooter mission

Merge branch 'dev' of https://github.com/uf-mil/Navigator into missio…

858b5b0

…n_system Conflicts: mission_control/navigator_missions/navigator_singleton/vision_services.yaml utils/navigator_msgs/CMakeLists.txt

Merged uf-mil/dev to shooter-dev

629eee1

Merge pull request #75 from tessbianchi/mission_system

c692164

Mission system

Merge uf-mil/dev to shooter-dev

4ac1370

Merge pull request #71 from ironmig/shooter-dev

4df30e4

SHOOTER: Work with new motor controller + other improvements

Merge pull request #77 from ironmig/shooter-dev

4c30340

SHOOTER: Tuned timing vals/bug fixes

TOOLS: Add print function with formatted time

9bdb720

Remove depricated packages.

44915fd

Merge branch 'master' of https://github.com/uf-mil/Navigator into lidar

76691ff

Merge branch 'master' of https://github.com/tessbianchi/Navigator int…

f29e2fa

…o mergeTesting

LIDAR: Merge with Tess mission system branch

4c4327c

UTILS: Add rviz waypoint move commands

4d3a41d

Merge pull request #79 from mattlangford/master

314044e

T-GEN: Add ros interface

TF: improve tf_fudger tool interface and code structure

1390494

Merge pull request #87 from DSsoto/dev

9cab256

PERCEPTION: ros camera stream class, tf changes, and fix to point cloud colorer

Merge pull request #93 from uf-mil/dev

52c3038

Lake Day 10-15/16

LIDAR: Merge with master

1ac4432

TOOLS: Add ability to switch from displaying quaternion and euler angles

0683209

TF: Fix the fixed TF for front stereo

e214ff0

PR: Fix spelling mistakes, remove debug prints, make TF_fudger save t…

4b93de9

…o tf.launch

Merge pull request #88 from mattlangford/master

57505f2

MISSIONS: Start gate and teleop

PASSIVE SONAR: make paulboard_driver a python pkg

3e74544

The scripts here were demoted from being a ros package. It should be removed from the SubjuGator repo.

sentree mentioned this pull request Apr 4, 2017

Remove packages migrated to mil_common uf-mil/SubjuGator#205

Closed

DSsoto and others added 3 commits April 8, 2017 10:17

PASSIVE SONAR: move pinger finder node to mil_passive_sonar

b57201a

It was previously in the great_merge_purgatory of mil_vision

TOOLS: add script to rename topics/frames in bags

af63501

Merge pull request #21 from ironmig/fix-bag

68a8b50

TOOLS: add script to rename topics/frames in bags

RustyBamboo reviewed Apr 8, 2017

View reviewed changes

kev-the-dev requested changes Apr 9, 2017

View reviewed changes

kev-the-dev mentioned this pull request Apr 10, 2017

Replace uf_common with mil_msgs for great merge compatibility uf-mil-archive/odometry_tools#3

Merged

DSsoto and others added 5 commits April 10, 2017 13:15

GREAT MERGE: make DepthStamped.msg (mil_msgs)

acc6c81

This is new mesage should be used by the depth driver instead of Float64Stamped

VISION: integrate camera_lidar_transformer

d7972e2

Node used to be in the great_merge_transformer subdirectory. All other nodes were considered not generic and removed from the repo.

VISION: copy CameraToLidarTransform.srv from NaviGator

96744be

VISION: move camera_stream_demo.cpp from nodes to src

a7fc227

It was decided that all the nodes directory would only be used for python nodes, wile the src and include directories will include c++ nodes, not just library code.

kev-the-dev mentioned this pull request Apr 11, 2017

MIL COMMON: clean redundant packages and prepare for great merge & sonar OS uf-mil/SubjuGator#216

Merged

DSsoto and others added 10 commits April 10, 2017 23:23

GREAT MERGE: include new msgs in mil_msgs cmkaelists

7cd0f5e

Merge pull request #25 from DSsoto/deprecate_float64stamped

5c9d8a6

Remove Float64stamped

GREAT MERGE: add camera_lidar_transform to mil_msgs cmake

a61f148

Merge pull request #26 from DSsoto/great_merge

b2fc588

Remove mil_vision/great_merge_purgatory

REPO: various changes for sub8 integration

652d9ae

* fix up namespaces in mil_vision * move mil_msgs stuff that isnt messages to mil_tools

REPO: remove sub8 specific visualizaton

5aa72f6

DEPENDENCIES: update odometry_utils submodule

711eb4a

Merge pull request #28 from ironmig/great_merge

17d7556

REPO: Namespace changes to prepare for sub8 integration

REPO: replace navigator dependencies with mil_common

0c8a905

Merge pull request #29 from ironmig/great_merge

e43044a

REPO: replace navigator dependencies with mil_common

kev-the-dev approved these changes Apr 11, 2017

View reviewed changes

sentree merged commit dfe89ed into master Apr 11, 2017

sentree pushed a commit that referenced this pull request Apr 11, 2017

Merge pull request #15 from jnez71/master

9f3931a

CONTROLLER and INTERFACE: lake day changes

DSsoto deleted the great_merge branch April 11, 2017 05:32

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GREAT INTEGRATION #15

GREAT INTEGRATION #15

DSsoto commented Mar 28, 2017

RustyBamboo Apr 8, 2017

kev-the-dev left a comment

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kev-the-dev commented Apr 11, 2017

sentree commented Apr 11, 2017

		@@ -0,0 +1,5 @@
		Some of these files can be made generic and therefore be able to stay as a part of mil_common. Until that is done, they will remain in this folder.

		from mil_ros_tools import wait_for_param


		def get_parameter_range(parameter_root):


		namespace nav{

		class CameraObserver

GREAT INTEGRATION #15

GREAT INTEGRATION #15

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DSsoto commented Mar 28, 2017

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kev-the-dev commented Apr 11, 2017

sentree commented Apr 11, 2017