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GREAT INTEGRATION #15

Merged
merged 458 commits into from
Apr 11, 2017
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7c49902
COMMAND: Integrate bounds param into mission runner
mattlangford Sep 30, 2016
1b8d156
TOOLS: Add tool to fudge tf values on the fly
mattlangford Sep 30, 2016
04b469d
COMMAND: Update bounds system, integrate that system into pose editor
mattlangford Oct 1, 2016
ee7ea6d
Merge pull request #73 from mattlangford/master
tessbianchi Oct 2, 2016
a2bec0c
Merge branch 'dev' of https://github.com/uf-mil/Navigator into shoote…
kev-the-dev Oct 2, 2016
bcc490d
Merge uf-mil/dev into dock-shapes-dev
kev-the-dev Oct 2, 2016
1b5c4c9
Merge branch 'master' of https://github.com/uf-mil/Navigator into lidar
Oct 6, 2016
b986c3a
Merge pull request #74 from uf-mil/dev
DSsoto Oct 7, 2016
424ed79
Merge pull request #41 from ironmig/dock-shapes-dev
DSsoto Oct 7, 2016
858b5b0
Merge branch 'dev' of https://github.com/uf-mil/Navigator into missio…
tessbianchi Oct 7, 2016
629eee1
Merged uf-mil/dev to shooter-dev
kev-the-dev Oct 7, 2016
c692164
Merge pull request #75 from tessbianchi/mission_system
mattlangford Oct 7, 2016
4ac1370
Merge uf-mil/dev to shooter-dev
kev-the-dev Oct 7, 2016
4df30e4
Merge pull request #71 from ironmig/shooter-dev
mattlangford Oct 7, 2016
4c30340
Merge pull request #77 from ironmig/shooter-dev
mattlangford Oct 8, 2016
9bdb720
TOOLS: Add print function with formatted time
mattlangford Oct 8, 2016
44915fd
Remove depricated packages.
mattlangford Oct 8, 2016
76691ff
Merge branch 'master' of https://github.com/uf-mil/Navigator into lidar
Oct 8, 2016
f29e2fa
Merge branch 'master' of https://github.com/tessbianchi/Navigator int…
Oct 8, 2016
4c4327c
LIDAR: Merge with Tess mission system branch
Oct 9, 2016
4d3a41d
UTILS: Add rviz waypoint move commands
mattlangford Oct 10, 2016
314044e
Merge pull request #79 from mattlangford/master
DSsoto Oct 15, 2016
1390494
TF: improve tf_fudger tool interface and code structure
DSsoto Oct 6, 2016
9cab256
Merge pull request #87 from DSsoto/dev
mattlangford Oct 16, 2016
52c3038
Merge pull request #93 from uf-mil/dev
mattlangford Oct 20, 2016
1ac4432
LIDAR: Merge with master
Oct 20, 2016
0683209
TOOLS: Add ability to switch from displaying quaternion and euler angles
mattlangford Oct 14, 2016
e214ff0
TF: Fix the fixed TF for front stereo
mattlangford Oct 16, 2016
4b93de9
PR: Fix spelling mistakes, remove debug prints, make TF_fudger save t…
mattlangford Oct 21, 2016
57505f2
Merge pull request #88 from mattlangford/master
DSsoto Oct 22, 2016
88b3f5e
Merge pull request #86 from ironmig/detect-deliver-dev-rebased
mattlangford Oct 22, 2016
ae8309e
TOOLS: make print_t() handle printing without rospy initialization
DSsoto Oct 24, 2016
a0cdba4
Merge pull request #103 from DSsoto/hydrophones
mattlangford Oct 25, 2016
a90d364
LIDAR MERGE: Had to add files back that I previously had deleted, wil…
Oct 28, 2016
42bec60
LIDAR: Merge with boat code to add in new lidar changes
Oct 28, 2016
06b8f0a
Merge pull request #106 from maverick7170/lidar
mattlangford Oct 29, 2016
f552eb9
PERCEPTION: Rename package to navigator_vison
kev-the-dev Oct 29, 2016
b0df0cd
LIDAR: Merge with dev
Oct 29, 2016
ec54a08
Merge pull request #107 from ironmig/detect-deliver-dev
DSsoto Oct 30, 2016
3692a10
Merge pull request #109 from maverick7170/lidar
DSsoto Oct 30, 2016
5dcf140
TOOLS: Add 'title' param to print_t
mattlangford Oct 27, 2016
d6ad3b4
TOOLS: Add color printing features to fprint, transition mission comp…
mattlangford Oct 27, 2016
8dca2f8
FPRINT: Add features to fprint and incorporate in mission runner
mattlangford Oct 29, 2016
fa24cbf
MISSIONS: Add failure check to move.go()
mattlangford Oct 29, 2016
0cc31cc
OGRID, MISSIONS, TOOLS: Merge ogrid server, coral surey, start gate, …
kev-the-dev Nov 3, 2016
49d9d28
DETECT DELIVER: perception services/topics are relative, roi fixed fo…
kev-the-dev Oct 30, 2016
ed849f4
DETECT DELIVER: Switch to using front camera, resize for performance
kev-the-dev Oct 31, 2016
70e92f1
DETECT DELIVER: Cleaner mission code and fix bug while using front ca…
kev-the-dev Nov 1, 2016
4795e6a
LIDAR: Merge with dev
Nov 4, 2016
3003bec
Merge pull request #114 from ironmig/detect-deliver-dev
mattlangford Nov 4, 2016
7b88ce3
TOOLS: Update tf_fudger to accept '/' in name.
mattlangford Nov 2, 2016
efbc05a
Merge pull request #119 from mattlangford/dev
kev-the-dev Nov 5, 2016
29a284f
LAKE DAY: Merge dev branch changes from lakeday 10-23 and 10-39
kev-the-dev Nov 5, 2016
395af81
LIDAR: Merge with dev
Nov 5, 2016
e5c501b
BOUNDS: Add sim mode to bounds server, remove need for convert server…
mattlangford Nov 3, 2016
e413c41
ALARMS: Move station holding to its own node - hopes to fix the stati…
mattlangford Nov 3, 2016
73ad146
OGRID: Add ogrid draw node back, add ogrid fuse script to launch
mattlangford Nov 3, 2016
52bde49
GAZEBO: Make absodom correct, meaning bounds can be real now
mattlangford Nov 4, 2016
eba4c1d
SIM: Adjust launch files to launch lidar oa in correct order with bou…
mattlangford Nov 5, 2016
3f7c607
Merge pull request #120 from mattlangford/master
tessbianchi Nov 5, 2016
3af41ae
SCAN THE CODE: finishes scan the code mission, updates TF from the bo…
tessbianchi Nov 5, 2016
4036e63
Merge pull request #123 from maverick7170/lidar
mattlangford Nov 6, 2016
3d391d3
TOOLS: Add script to move fake database objects based on lla coordinates
mattlangford Nov 6, 2016
b255ae5
Merge branch 'dev' of https://github.com/uf-mil/Navigator into scan_t…
tessbianchi Nov 10, 2016
e2442ec
MISSION PLANNER: object database uses incorrect message type
tessbianchi Nov 10, 2016
4978d84
Merge pull request #125 from mattlangford/master
Nov 11, 2016
b4a1ea2
Scan the Code, Mission Planner, Object Classifcation merge from tess…
kev-the-dev Nov 11, 2016
eefb795
LIDAR: Merge with dev...
Nov 12, 2016
067773a
DETECT DELIVER: Clearer text in debug image
kev-the-dev Nov 11, 2016
22b4e4e
SIMULATION: Fix sensor pose + tool for getting gazebo pose from tf
kev-the-dev Nov 11, 2016
f6be9f8
DETECT DELIVER: Better normal approx and debug
kev-the-dev Nov 11, 2016
081b7cc
SHOOTER: Move joystick control to joystick control node
kev-the-dev Nov 11, 2016
45777c2
DETECT DELIVER: Use PCL for better normal approximation
kev-the-dev Nov 12, 2016
427a75e
TOOLS: Add tool to play video files into ros
kev-the-dev Nov 12, 2016
72ee87f
TOOLS: tf fudger starts with current tf
kev-the-dev Nov 12, 2016
1d89978
TOOLS: add tool to publish voltage and wrench to rviz
kev-the-dev Nov 13, 2016
195f9e6
Merge pull request #129 from ironmig/tools-dev
tessbianchi Nov 14, 2016
4a68bca
TESTING FRAMEWORK: adds unit test for the mission planner. This also …
tessbianchi Nov 11, 2016
e366742
MISSION PLANNER: adds timeouts to missions, constantly checks for obj…
tessbianchi Nov 13, 2016
be18f1f
NAVIGATOR TESTS: removes missing import
tessbianchi Nov 13, 2016
86b3d48
Merge pull request #138 from whispercoros/remote_control
mattlangford Nov 16, 2016
74e0ab0
Merge pull request #131 from ironmig/pinger-dev
mattlangford Nov 17, 2016
7590075
BOUNDS: Move bounds to dynamic reconfig
mattlangford Nov 10, 2016
b20b302
OGRID: Draw bounds on ogrid
mattlangford Nov 11, 2016
46354e5
MOVE: Add circle to move command
mattlangford Nov 11, 2016
0dc1db4
VISION: Add node to estimate color of totem buoys
mattlangford Nov 11, 2016
46acb44
BOUNDS: Fix bug where node would crash on startup
mattlangford Nov 12, 2016
039f067
BOUNDS: Add config files for sim and wauberg to set bounds
mattlangford Nov 12, 2016
5fa15d2
VISION: Set color in databse
mattlangford Nov 12, 2016
db4b507
COLORAMA: Add service to get color directly
mattlangford Nov 13, 2016
9cbbdaa
NAVIGATOR: Make database_query raise an exception if an object isn't …
mattlangford Nov 17, 2016
2562c9d
Merge pull request #140 from mattlangford/lake_day_11-13
tessbianchi Nov 17, 2016
77c24cc
Merge
Nov 19, 2016
b956df6
Merge pull request #143 from uf-mil/dev
Nov 19, 2016
7976f72
UTILS: Add check for valid rosmsg->numpy conversion
mattlangford Nov 17, 2016
a704c2f
BAG: Add fake action server and image proc
mattlangford Nov 18, 2016
73f0d88
BAG: Add feasibility check to fake action client
mattlangford Nov 18, 2016
e8ff405
FPRINT: Fix missing color, add yellow
mattlangford Nov 19, 2016
91f37e5
LIDAR: Merge Ira lidar changes into latest dev
kev-the-dev Nov 20, 2016
0824a6f
Merge pull request #149 from ironmig/lidar
tessbianchi Nov 20, 2016
8c9a2a0
DETECT DELIVER: Cleaner camera-to-lidar code
kev-the-dev Nov 18, 2016
9790b59
PINGER: add least squares based pinger pose estimator
DSsoto Nov 20, 2016
88df3d0
PINGER: framework for mission with color identification
kev-the-dev Nov 20, 2016
e7a3f99
DETECT DELIVER: Fix bug in shape perception when approaching at extre…
kev-the-dev Nov 22, 2016
9d61e4d
PINGER: put pinger perception into class, cleaner code
DSsoto Nov 22, 2016
74a2434
TOOLS: add tool to record rviz clicked points to csv
kev-the-dev Nov 22, 2016
dcefb14
TOOLS: Add roi controls to video player
kev-the-dev Nov 23, 2016
ce0f211
DETECT DELIVER, PINGER, TOOLS: address pr comments
kev-the-dev Nov 24, 2016
a365586
Merge pull request #145 from ironmig/detect-deliver-dev
mattlangford Nov 28, 2016
8d56d42
TESS CHANGES
Nov 13, 2016
7c0b846
TESS CHANGES
Nov 13, 2016
cf4e635
MISSION PLANNER: Published when a new missions completes or starts. F…
tessbianchi Nov 17, 2016
1e2c1c9
MISSION PLANNER: adds requested changes to the mission planner
tessbianchi Nov 19, 2016
0b82744
MISSION PLANNER: fix broken dependency on navigator_singleton
tessbianchi Nov 19, 2016
a781cde
EXPLORE MISSION: adds kwargs to missions, makes explore mission, fixe…
tessbianchi Nov 19, 2016
d31889a
EXPLORER MISSION: finish the explore mission
tessbianchi Nov 19, 2016
5d96aba
LAKE DAY CHANGES: fixes from lake day
tessbianchi Nov 20, 2016
d567797
Merge pull request #150 from tessbianchi/mission_planner_updates
mattlangford Nov 29, 2016
5943c76
UTILS: add navigator_tools c++ library
DSsoto Oct 21, 2016
4033489
PERCEPTION: clean up navigator_perception CMakeLists
DSsoto Oct 21, 2016
7614400
PERCEPTION: separate pcd_colorizer node from stereo driver
DSsoto Oct 21, 2016
ff924db
PERCEPTION: restructure pcd_colorizer and image acquisition code, add…
DSsoto Oct 28, 2016
955d031
PERCEPTION: collect all colorizer common resources into 'common.hpp'
DSsoto Oct 29, 2016
f50590f
TOOLS: add conversion to sring operator
DSsoto Nov 5, 2016
bd62273
PERCEPTION: add ros shutdown handling to nodes
DSsoto Nov 5, 2016
019fe1a
PERCEPTION: refactoring of pcd colorizer that gets observations from …
DSsoto Nov 28, 2016
dfe3fe9
TOOLS: fix bugs and improve usability of video player
DSsoto Nov 30, 2016
466e8c1
MOVE: fix bug with kwargs passed to MoveGoal
DSsoto Nov 30, 2016
99a2e09
Merge branch 'dev' into devpush
kev-the-dev Dec 6, 2016
6e59826
Merge pull request #160 from zobeld/devpush
kev-the-dev Dec 6, 2016
490e4ab
TOOLS: add graceful CTRL-C exit to tf_to_gazebo
DSsoto Dec 1, 2016
3c2999c
CORAL SURVEY: add underwater shape templates
DSsoto Dec 4, 2016
9802e8c
PERCEPTION: add underwater shape id node
DSsoto Dec 4, 2016
3dcabae
PERCEPTION: add rotational invariance for filter kernels
DSsoto Dec 4, 2016
47526cd
PERCEPTION: remove repeated files from bad merge
DSsoto Dec 4, 2016
37be6e5
PERCEPTION: add UnderwaterShapeDetector + Shape class
DSsoto Dec 4, 2016
ce0c19b
UTILS: add PI constant to navigator_tools header
DSsoto Dec 4, 2016
eb15b05
PERCEPTION: add config of underwater shape id via yaml
DSsoto Dec 4, 2016
430427e
PERCEPTION: make rotateKernel separate and configurable
DSsoto Dec 4, 2016
44f8d81
PERCEPTION: add function to find angle of radial symmetry
DSsoto Dec 4, 2016
2c5613a
PERCEPTION: load templates from directory
DSsoto Dec 6, 2016
8373f6d
PR172: address comments
DSsoto Dec 6, 2016
6ed6e54
PERCEPTION: looking at images for object detection
tessbianchi Dec 2, 2016
de0035a
OBJECT CLASSIFICATION: Uses HOG Descriptors to act as a final image o…
tessbianchi Dec 4, 2016
f35ca37
OBJECT CLASSIFICATION: removing unecessary changed for PR
tessbianchi Dec 4, 2016
f304304
OBJECT CLASSIFICATION: adds authorship
tessbianchi Dec 4, 2016
d44fb72
OBJECT CLASSIFICATION: changes for PR
tessbianchi Dec 7, 2016
ad10f85
OBJECT CLASSIFICATION: file name change
tessbianchi Dec 7, 2016
6dbfccb
Merge pull request #174 from uf-mil/dev
mattlangford Dec 11, 2016
7608e6e
COLORAMA: Update how confidence is calucated and updated weights
mattlangford Dec 2, 2016
415c32e
Merge pull request #162 from mattlangford/dev
tessbianchi Dec 12, 2016
2076c44
DETECT DELIVER: Catch more pottential errors in camera_to_lidar
kev-the-dev Nov 29, 2016
9aa96ff
EXPLORE_MISSION:
tessbianchi Dec 12, 2016
8707621
EXPLORE_MISSION:
tessbianchi Dec 12, 2016
c9a31c7
EXPLORE MISSION: updates for pr
tessbianchi Dec 13, 2016
7829d9e
Merge pull request #178 from tessbianchi/explore_mission
mattlangford Dec 13, 2016
0b39e50
IDENTIFY DOCK: untested mission for docking using dd vision service
kev-the-dev Dec 12, 2016
cf350c0
PINGER: exit through gate after circling
kev-the-dev Dec 13, 2016
140c0b3
PERCEPTION: Improve normal approx in shapefinder
kev-the-dev Dec 15, 2016
5b1bfe9
Merge pull request #182 from ironmig/competition-dev
mattlangford Dec 15, 2016
d2f63d0
BOUNDS: Add gps coordinates for the channel we compete in
mattlangford Dec 13, 2016
fb1c9bc
COLORAMA: Add debug message
mattlangford Dec 14, 2016
b3574dc
BOUNDS: Add updated bounds files
mattlangford Dec 17, 2016
e20c6c9
PERCEPTION: find all perturbations of a curve segment
DSsoto Dec 12, 2016
5320925
PERCEPTION: add utility to sort curves by length
DSsoto Dec 14, 2016
a000be3
PERCEPTION: perturb closed curves by index
DSsoto Dec 15, 2016
9ab4262
PINGER: correct 'None' return of service
DSsoto Dec 17, 2016
f9d1dae
USID: test active contours
DSsoto Dec 17, 2016
2d0d95a
Merge pull request #186 from ironmig/competition-dev-with-david
mattlangford Dec 17, 2016
bc16992
scan_the_code
tessbianchi Dec 17, 2016
84e56b2
DETECT DELIVER: add perception node to track shooter platform
forrestv Dec 18, 2016
66722ab
Merge pull request #188 from ironmig/competition-dev
mattlangford Dec 18, 2016
0b0f35e
scan the code
tessbianchi Dec 17, 2016
1f5ca35
changes to stc, and db
tessbianchi Dec 18, 2016
9846552
changed mission planner to allow for sime mode
tessbianchi Dec 18, 2016
acfb757
Merge pull request #191 from uf-mil/dev
Dec 20, 2016
a67b150
TOOLS: Add fprint, add more generic tool interface
mattlangford Jan 3, 2017
e1feec4
MISSIONS: Add vision proxy config, port some more navigator files back
mattlangford Jan 3, 2017
72e9134
FPRINT: Glorious updates
mattlangford Jan 3, 2017
ee785e2
SONAR: fix sporadic bootloading bug
DSsoto Jan 9, 2017
b7f5d60
FPRINT: Fixed typo in initiating FPrintFactor with default color
RustyBamboo Jan 13, 2017
9542ba8
Merge pull request #189 from mattlangford/master
DSsoto Jan 15, 2017
f6c085a
FPRINT: Add auto_bold option
mattlangford Jan 21, 2017
ce79f07
Merge pull request #192 from mattlangford/master
DSsoto Jan 22, 2017
4fbd5c0
TESTS: add ros_alarms server to integration test
DSsoto Jan 16, 2017
c776d2a
INSTALL: Replace all progressbar dependencies with tqdm
sentree Feb 2, 2017
9d25d00
Merge pull request #192 from whispercoros/master
DSsoto Feb 11, 2017
f4bd9e6
PERCEPTION: move sub pkg to top level perception dir
DSsoto Jan 31, 2017
94129f2
REPO: Update references to uf-mil repositories after renaming
sentree Feb 24, 2017
f113c95
Merge pull request #193 from whispercoros/master
DSsoto Mar 9, 2017
47a0600
Merge branch 'master' of SubjuGator into great_merge
sentree Mar 17, 2017
78ce305
Merge branch 'master' of NaviGator into great_merge
sentree Mar 17, 2017
cc95eaf
Merge pull request #11 from whispercoros/great_merge
DSsoto Mar 17, 2017
824d295
REPO: temporarily move all great merge files to .great_merge so catki…
kev-the-dev Mar 17, 2017
9c052c8
REPO: move sub8 tools to mil_dev_tools
kev-the-dev Mar 17, 2017
b07a0a1
REPO: clear remaining sub8 tools
kev-the-dev Mar 17, 2017
318eac4
REPO: move navigator_tools files to mil_dev_tools, purge remaining
kev-the-dev Mar 17, 2017
ad621d5
REPO: merge overlapped tools files in sub8 and navigator
kev-the-dev Mar 17, 2017
2b54766
TOOLS: change naming to mil_dev_tools in imported tools
kev-the-dev Mar 17, 2017
bf0cd42
TOOLS: fix import error in geometry helpers
kev-the-dev Mar 17, 2017
bcadfb9
TOOLS: fix typo in msg helpers
kev-the-dev Mar 17, 2017
8d5c826
TOOLS: rename mil_dev_tools to mil_tools for ease
kev-the-dev Mar 20, 2017
143e366
REPO: add CATKIN_IGNORE to greatmerge temp dir
kev-the-dev Mar 21, 2017
e49047b
Merge pull request #12 from ironmig/sweet-great-sweet
DSsoto Mar 21, 2017
e417de1
UTILS: Add online_bagger
Mar 7, 2017
c5d1f96
ONLINE_BAGGER: Add resubscribe on failed topics to callback
Mar 7, 2017
9aed2d2
ONLINE BAGGER: Add ram limit
Mar 21, 2017
18b0605
ONLINE_BAGGER: Enforce PEP8
Mar 21, 2017
dd3237f
ONLINE_BAGGER: Add custom service BaggerCommands.srv
Mar 21, 2017
89f3ea5
ONLINE_BAGGER: Remove Client Example
Mar 21, 2017
674fcc7
ONLINE_BAGGER: Fix failed topic subscription
Mar 22, 2017
b90eec4
ONLINE_BAGGER: Add bag naming feature to client
Mar 23, 2017
1a550bb
ONLINE_BAGGER: Fix variable naming conventions
Mar 23, 2017
34d1710
GREAT MERGE: rename navigator_vision to mil_vision
DSsoto Mar 17, 2017
d1759a3
GREAT MERGE: remove files that were specific to a robot
DSsoto Mar 18, 2017
3be80f9
GREAT MERGE: create purgatory for files that aren't yet generic
DSsoto Mar 18, 2017
4edc676
GREAT MERGE: change navigator_vision refs to mil_vision
DSsoto Mar 18, 2017
79f6675
GREAT MERGE: transform uf_common to mil_msgs
DSsoto Mar 18, 2017
284a0c4
GREAT MERGE: convert sub8_sonar to mil_passive_sonar
DSsoto Mar 19, 2017
d1e5a15
SONAR: add script to generate dtoas to test hardware
DSsoto Mar 19, 2017
324bcdb
GREAT MERGE: adapt mil_vision to compile w/ new names
DSsoto Mar 19, 2017
7891563
GREAT MERGE: add mil_tools cpp lib
DSsoto Mar 19, 2017
46ba90e
GREAT MERGE: convert sub8_sonar to mil_passive_sonar
DSsoto Mar 19, 2017
0ff7acb
GREAT MERGE: add sub8_perception tools to mil_vision
DSsoto Mar 19, 2017
bfadfc1
REPO: move mil_tools to utils/
kev-the-dev Mar 21, 2017
15dd9b3
VISION: add mil_tools as dependency to vision
kev-the-dev Mar 21, 2017
d6719e4
ONLINE_BAGGER: Add individual bag times to topic config
Mar 24, 2017
b3cec5a
ONLINE_BAGGER: Add bag time to service call
Mar 25, 2017
88329ba
Merge pull request #6 from kingkevlar/online_bagger
DSsoto Mar 25, 2017
bc89570
PASSSIVE SONAR: remove legacy hydrophones pkg
DSsoto Mar 28, 2017
1c3a53c
PASSIVE SONAR: move paulboard pkg to mil_passive_sonar
DSsoto Mar 28, 2017
3e74544
PASSIVE SONAR: make paulboard_driver a python pkg
DSsoto Mar 28, 2017
b57201a
PASSIVE SONAR: move pinger finder node to mil_passive_sonar
DSsoto Mar 28, 2017
af63501
TOOLS: add script to rename topics/frames in bags
kev-the-dev Apr 8, 2017
68a8b50
Merge pull request #21 from ironmig/fix-bag
DSsoto Apr 8, 2017
acc6c81
GREAT MERGE: make DepthStamped.msg (mil_msgs)
DSsoto Apr 10, 2017
f9bf045
GREAT MERGE: deprecate Float64Stamped.msg
DSsoto Apr 10, 2017
d7972e2
VISION: integrate camera_lidar_transformer
DSsoto Apr 2, 2017
96744be
VISION: copy CameraToLidarTransform.srv from NaviGator
kev-the-dev Apr 2, 2017
a7fc227
VISION: move camera_stream_demo.cpp from nodes to src
DSsoto Apr 2, 2017
7cd0f5e
GREAT MERGE: include new msgs in mil_msgs cmkaelists
DSsoto Apr 11, 2017
5c9d8a6
Merge pull request #25 from DSsoto/deprecate_float64stamped
sentree Apr 11, 2017
a61f148
GREAT MERGE: add camera_lidar_transform to mil_msgs cmake
DSsoto Apr 11, 2017
b2fc588
Merge pull request #26 from DSsoto/great_merge
kev-the-dev Apr 11, 2017
652d9ae
REPO: various changes for sub8 integration
kev-the-dev Apr 10, 2017
5aa72f6
REPO: remove sub8 specific visualizaton
kev-the-dev Apr 10, 2017
711eb4a
DEPENDENCIES: update odometry_utils submodule
kev-the-dev Apr 11, 2017
17d7556
Merge pull request #28 from ironmig/great_merge
sentree Apr 11, 2017
0c8a905
REPO: replace navigator dependencies with mil_common
kev-the-dev Apr 11, 2017
e43044a
Merge pull request #29 from ironmig/great_merge
sentree Apr 11, 2017
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79 changes: 79 additions & 0 deletions .gitignore
Original file line number Diff line number Diff line change
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# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]

# C extensions
*.so

# Distribution / packaging
.Python
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dist/
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eggs/
.eggs/
lib/
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var/
*.egg-info/
.installed.cfg
*.egg

# PyInstaller
# Usually these files are written by a python script from a template
# before PyInstaller builds the exe, so as to inject date/other infos into it.
*.manifest
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htmlcov/
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15 changes: 11 additions & 4 deletions utils/sub8_ros_tools/CMakeLists.txt → mil_tools/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -1,11 +1,18 @@
cmake_minimum_required(VERSION 2.8.3)
project(sub8_ros_tools)
find_package(catkin REQUIRED COMPONENTS rostest std_msgs)
catkin_python_setup()
project(mil_tools)
find_package(catkin REQUIRED COMPONENTS
rostest
std_msgs
rospy
roscpp
)

catkin_package()

# Add folders to be run by python nosetests
if(CATKIN_ENABLE_TESTING)
catkin_add_nosetests(test_ros_tools)
catkin_add_nosetests(test)
endif()

catkin_python_setup()

2 changes: 2 additions & 0 deletions mil_tools/mil_misc_tools/__init__.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
from download import *
from text_effects import *
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8 changes: 8 additions & 0 deletions mil_tools/mil_ros_tools/__init__.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
from init_helpers import *
from image_helpers import *
from msg_helpers import *
from threading_helpers import *
from geometry_helpers import *
from rviz_helpers import *
from cv_debug import *
from bag_crawler import *
Original file line number Diff line number Diff line change
@@ -63,7 +63,7 @@ def image_info_topics(self, cam="right"):
if __name__ == '__main__':
import cv2

bag = '/home/jacob/catkin_ws/src/SubjuGator/gnc/sub8_perception/data/bag_test.bag'
bag = 'test.bag'
bc = BagCrawler(bag)

for image in bc.crawl(topic=bc.image_topics[0]):
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Original file line number Diff line number Diff line change
@@ -1,7 +1,8 @@
from __future__ import division
import numpy as np
from tf import transformations
import tf
from tf.transformations import quaternion_from_euler, euler_from_quaternion, random_quaternion
from msg_helpers import numpy_quat_pair_to_pose
from geometry_msgs.msg import Quaternion


def rotate_vect_by_quat(v, q):
@@ -118,3 +119,23 @@ def clip_norm(vector, lower_bound, upper_bound):
def quaternion_matrix(q):
mat_h = transformations.quaternion_matrix(q)
return mat_h[:3, :3] / mat_h[3, 3]

def quat_to_euler(q):
''' Approximate a quaternion as a euler rotation vector'''

euler_rot_vec = euler_from_quaternion([q.x, q.y, q.z, q.w])
final = np.array(([euler_rot_vec[0], euler_rot_vec[1], euler_rot_vec[2]]))
return final


def euler_to_quat(rotvec):
''' convert a euler rotation vector into a ROS quaternion '''

quat = quaternion_from_euler(rotvec[0], rotvec[1], rotvec[2])
return Quaternion(quat[0], quat[1], quat[2], quat[3])

def random_pose(_min, _max):
''' Gives a random pose in the xyz range `_min` to `_max` '''
pos = np.random.uniform(low=_min, high=_max, size=3)
quat = random_quaternion()
return numpy_quat_pair_to_pose(pos, quat)
Original file line number Diff line number Diff line change
@@ -9,7 +9,7 @@
from os import path
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image, CameraInfo
from navigator_tools.init_helpers import wait_for_param
from mil_ros_tools import wait_for_param


def get_parameter_range(parameter_root):
@@ -113,4 +113,4 @@ def convert(self, data):
self.callback(image)
except CvBridgeError, e:
# Intentionally absorb CvBridge Errors
rospy.logerr(e)
rospy.logerr(e)
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Original file line number Diff line number Diff line change
@@ -5,6 +5,7 @@
import nav_msgs.msg as nav_msgs
import rospy


def rosmsg_to_numpy(rosmsg, keys=None):
'''Convert an arbitrary ROS msg to a numpy array
With no additional arguments, it will by default handle:
@@ -22,6 +23,7 @@ def rosmsg_to_numpy(rosmsg, keys=None):
Further, imagine a bounding box message, BB, with properties BB.x, BB.h, BB.y, and BB.w

rosmsg_to_numpy(BB, ['x', 'h', 'y', 'w']) -> array([BB.x, BB.h, BB.y, BB.w])

or...
rosmsg_to_numpy(some_Pose2D, ['x', 'y', 'yaw']) = array([x, y, yaw])

@@ -38,9 +40,7 @@ def rosmsg_to_numpy(rosmsg, keys=None):
output_array.append(getattr(rosmsg, key))
else:
break

assert len(output_array) is not 0, "Input type {} has none of these attributes {}.".format(type(rosmsg).__name__, keys)

return np.array(output_array).astype(np.float32)

else:
@@ -50,8 +50,6 @@ def rosmsg_to_numpy(rosmsg, keys=None):

return output_array

point_to_numpy = rosmsg_to_numpy
quaternion_to_numpy = rosmsg_to_numpy

def pose_to_numpy(pose):
'''TODO: Unit-test
@@ -111,6 +109,8 @@ def numpy_to_quaternion(np_quaternion):


def numpy_to_twist(linear_vel, angular_vel):
'''TODO: Unit-test
'''
return geometry_msgs.Twist(linear=geometry_msgs.Vector3(*linear_vel), angular=geometry_msgs.Vector3(*angular_vel))


@@ -189,7 +189,6 @@ def wrapped_callback(*args):

return rospy.Subscriber(topic, nav_msgs.Odometry, wrapped_callback, queue_size=1)


def ros_to_np_3D(msg):
xyz_array = np.array(([msg.x, msg.y, msg.z]))
return xyz_array
Original file line number Diff line number Diff line change
@@ -7,22 +7,21 @@

from geometry_msgs.msg import Pose, Vector3, Point
from std_msgs.msg import ColorRGBA
from uf_common.msg import Float64Stamped # This needs to be deprecated

import navigator_tools
import mil_ros_tools

rviz_pub = rospy.Publisher("visualization", visualization_msgs.Marker, queue_size=3)

def draw_sphere(position, color, scaling=(0.11, 0.11, 0.11), m_id=4, frame='/base_link'):
pose = Pose(
position=navigator_tools.numpy_to_point(position),
orientation=navigator_tools.numpy_to_quaternion([0.0, 0.0, 0.0, 1.0])
position=mil_ros_tools.numpy_to_point(position),
orientation=mil_ros_tools.numpy_to_quaternion([0.0, 0.0, 0.0, 1.0])
)

marker = visualization_msgs.Marker(
ns='wamv',
id=m_id,
header=navigator_tools.make_header(frame=frame),
header=mil_ros_tools.make_header(frame=frame),
type=visualization_msgs.Marker.SPHERE,
action=visualization_msgs.Marker.ADD,
pose=pose,
@@ -49,7 +48,7 @@ def make_ray(base, direction, length, color, frame='/base_link', m_id=0, **kwarg
marker = visualization_msgs.Marker(
ns='wamv',
id=m_id,
header=navigator_tools.make_header(frame=frame),
header=mil_ros_tools.make_header(frame=frame),
type=visualization_msgs.Marker.LINE_STRIP,
action=visualization_msgs.Marker.ADD,
color=ColorRGBA(*color),
@@ -58,4 +57,4 @@ def make_ray(base, direction, length, color, frame='/base_link', m_id=0, **kwarg
lifetime=rospy.Duration(),
**kwargs
)
return marker
return marker
2 changes: 2 additions & 0 deletions mil_tools/mil_tools/__init__.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
from mil_ros_tools import *
from mil_misc_tools import *
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Original file line number Diff line number Diff line change
@@ -122,6 +122,8 @@ def reset():
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 k == ord('s'):
# Save the transform in navigator_launch/launch/tf.launch replacing the line
import rospkg
@@ -162,6 +164,7 @@ def reset():
f.write(line)

break
'''

br.sendTransform(p, q, rospy.Time.now(), args.tf_child, args.tf_parent)

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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
#!/usr/bin/env python
"""
Usage: rosrun navigator_tools video_player _filename:=MyVideoFile.mp4
rosrun navigator_tools video_player MyVideoFile.mp4
Usage: rosrun mil_dev_tools video_player _filename:=MyVideoFile.mp4
rosrun mil_dev_tools video_player MyVideoFile.mp4

Utility to play video files into a ros topic
with some added conveniences like pausing and
11 changes: 5 additions & 6 deletions utils/navigator_tools/package.xml → mil_tools/package.xml
Original file line number Diff line number Diff line change
@@ -1,16 +1,15 @@
<?xml version="1.0"?>
<package>
<name>navigator_tools</name>
<name>mil_tools</name>
<version>1.0.0</version>
<description>The navigator_tools package</description>
<description>Development tools used in MIL projects</description>
<maintainer email="[email protected]">Kevin Allen</maintainer>
<maintainer email="[email protected]">David Soto</maintainer>
<maintainer email="[email protected]">Matthew Langford</maintainer>
<maintainer email="[email protected]">Matthew Langford</maintainer>
<license>MIT</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rostest</build_depend>
<build_depend>roscpp</build_depend>
<run_depend>rospy</run_depend>
<run_depend>roscpp</run_depend>
<export>
</export>
</package>
</package>
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2 changes: 1 addition & 1 deletion utils/sub8_ros_tools/setup.py → mil_tools/setup.py
Original file line number Diff line number Diff line change
@@ -5,7 +5,7 @@

# fetch values from package.xml
setup_args = generate_distutils_setup(
packages=['sub8_ros_tools', 'sub8_misc_tools', 'sub8_tools'],
packages=['mil_ros_tools', 'mil_misc_tools', 'mil_tools'],
)

setup(**setup_args)
Original file line number Diff line number Diff line change
@@ -2,8 +2,8 @@
import unittest
import numpy as np
from geometry_msgs.msg import Quaternion
from navigator_tools import quat_to_euler, euler_to_quat, normalize
from navigator_tools import compose_transformation
from mil_ros_tools import quat_to_euler, euler_to_quat, normalize
from mil_ros_tools import compose_transformation


class TestROSTools(unittest.TestCase):
Original file line number Diff line number Diff line change
@@ -3,10 +3,10 @@
import numpy as np
from geometry_msgs.msg import Quaternion, Vector3, Pose2D
from sensor_msgs.msg import Image
from sub8_ros_tools.image_helpers import make_image_msg, get_image_msg
from sub8_ros_tools.msg_helpers import rosmsg_to_numpy, make_wrench_stamped
from sub8_ros_tools.threading_helpers import thread_lock
from sub8_ros_tools.geometry_helpers import skew_symmetric_cross, make_rotation, normalize
from mil_ros_tools import make_image_msg, get_image_msg
from mil_ros_tools import rosmsg_to_numpy, make_wrench_stamped
from mil_ros_tools import thread_lock
from mil_ros_tools import skew_symmetric_cross, make_rotation, normalize


class TestROSTools(unittest.TestCase):
38 changes: 0 additions & 38 deletions utils/navigator_tools/CMakeLists.txt

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