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Ajout Readme + Modif mineures interface

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Unknown 2018-08-10 16:57:26 +02:00
parent 1c72d90e9a
commit 3300e0efd3
100 changed files with 298 additions and 63 deletions
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17
rviz_interface/rviz_interface/launch/interface.launch Normal file
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@ -0,0 +1,17 @@
<launch>
<node name="rviz" pkg="rviz" type="rviz"/>
<!--Interface/-->
<!--Objects/-->
<param name="frame_id" value="/map"/>
<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
<!--Topics/-->
<param name="objective_topic" value="/RvizInterface/state_objective"/>
<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
<param name="config_topic" value="/RvizInterface/interface_config"/>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
</launch>

16
rviz_interface/rviz_interface/launch/interface.launch~ Normal file
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@ -0,0 +1,16 @@
<launch>
<node name="rviz" pkg="rviz" type="rviz"/>
<!--Interface/-->
<!--Objects/-->
<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
<!--Topics/-->
<param name="objective_topic" value="/RvizInterface/state_objective"/>
<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
<param name="config_topic" value="/RvizInterface/interface_config"/>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
</launch>

27
rviz_interface/rviz_interface/launch/interface_matching.launch
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@ -1,11 +1,12 @@
<launch>
<node name="rviz" pkg="rviz" type="rviz"/>
<!--Objects/-->
<rosparam param="tracked_object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="tracked_object_types"> [3, 2, 1, 0]</rosparam>
<!--Interface/-->
<!--Objects/-->
<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
<!--Topics/-->
<param name="objective_topic" value="/RvizInterface/state_objective"/>
<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
<param name="config_topic" value="/RvizInterface/interface_config"/>
@ -13,13 +14,19 @@
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
<!--Matcher/-->
<!--Matcher Parameters/-->
<param name="tracked_object" value="Foo"/>
<param name="num_tilt" type="int" value="8"/>
<param name="std_dev_filter_coeff" type="int" value="2"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/robobo_references.txt"/>
<!--rosparam param="reference_data">[
"$(find asift_matching)/reference_data/train_image_000.png",
"$(find asift_matching)/reference_data/train_image_001.png"]</rosparam-->
<param name="std_dev_filter_coeff" type="double" value="2"/>
<!--Matcher References/-->
<param name="reference_path" value="$(find asift_matching)/reference_data/"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
<rosparam param="reference_data">[
"train_image_000.png",
"train_image_001.png"]
</rosparam>
<!--Topics/-->
<param name="object_center_topic" value="/object_center"/>
<param name="image_topic" value="/camera/rgb/image_raw"/>
<param name="pointcloud_topic" value="/camera/depth_registered/points"/>

25
rviz_interface/rviz_interface/launch/interface_matching.launch~
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@ -2,6 +2,11 @@
<node name="rviz" pkg="rviz" type="rviz"/>
<!--Interface/-->
<!--Objects/-->
<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
<!--Topics/-->
<param name="objective_topic" value="/RvizInterface/state_objective"/>
<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
<param name="config_topic" value="/RvizInterface/interface_config"/>
@ -9,15 +14,19 @@
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
<!--Matcher/-->
<rosparam param="tracked_object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="tracked_object_types"> [3, 2, 1, 0]</rosparam>
<!--Matcher Parameters/-->
<param name="tracked_object" value="Foo"/>
<param name="num_tilt" type="int" value="8"/>
<param name="std_dev_filter_coeff" type="int" value="2"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/robobo_references.txt"/>
<!--rosparam param="reference_data">[
"$(find asift_matching)/reference_data/train_image_000.png",
"$(find asift_matching)/reference_data/train_image_001.png"]</rosparam-->
<param name="std_dev_filter_coeff" type="double" value="0.5"/>
<!--Matcher References/-->
<param name="reference_path" value="$(find asift_matching)/reference_data/"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
<rosparam param="reference_data">[
"train_image_000.png",
"train_image_001.png"]
</rosparam>
<!--Topics/-->
<param name="object_center_topic" value="/object_center"/>
<param name="image_topic" value="/camera/rgb/image_raw"/>
<param name="pointcloud_topic" value="/camera/depth_registered/points"/>

4
rviz_interface/rviz_interface/launch/interface_plannar_seg.launch
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@ -2,8 +2,8 @@
<node name="rviz" pkg="rviz" type="rviz"/>
<!--Interface/-->
<rosparam param="tracked_object_names"> ["6DOF"]</rosparam>
<rosparam param="tracked_object_types"> [0]</rosparam>
<rosparam param="object_names"> ["6DOF"]</rosparam>
<rosparam param="object_types"> [0]</rosparam>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>

4
rviz_interface/rviz_interface/src/InteractiveObject.cpp
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@ -9,7 +9,7 @@
unsigned int InteractiveObject::nextObjectID = 1;
//Constructeur
InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape = Marker::CUBE, const tf::Vector3& position = tf::Vector3(0,0,0)) : _name(name), _type(type), _server(server), _showVisuals(true), _followObject(true)
InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape = Marker::CUBE, const tf::Vector3& position) : _name(name), _type(type), _server(server), _showVisuals(true), _followObject(true)
{
_objectID = nextObjectID++;
_state.name = name;
@ -31,7 +31,7 @@ InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServe
}
//Construit un InteractiveMarker
void InteractiveObject::createInteractiveMarker(Marker& marker, const tf::Vector3& position = tf::Vector3(0,0,0))
void InteractiveObject::createInteractiveMarker(Marker& marker, const tf::Vector3& position)
{
//// Création d'un marker interactif ////
// _int_marker.header.frame_id = "/map"; //Par défaut

4
rviz_interface/rviz_interface/src/InteractiveObject.hpp
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@ -36,10 +36,10 @@ protected:
ros::Publisher* _visual_pub;
public:
InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape, const tf::Vector3& position);
InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, unsigned int type, unsigned int shape, const tf::Vector3& position = tf::Vector3(0,0,0));
//Construit un InteractiveMarker
void createInteractiveMarker(Marker& marker, const tf::Vector3& position);
void createInteractiveMarker(Marker& marker, const tf::Vector3& position = tf::Vector3(0,0,0));
//Fonction callback du serveur d' InteractiveMarker
void processFeedback( const InteractiveMarkerFeedbackConstPtr &feedback );

18
rviz_interface/rviz_interface/src/RvizInterface.cpp
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@ -13,6 +13,7 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
std::string objective_topic, vizualization_topic, config_topic, position_topic;
std::vector<std::string> object_names;
std::vector<int> object_types;
std::string frame_id;
//Load Topics param
_n.param<std::string>("objective_topic", objective_topic,"/RvizInterface/state_objective");
@ -29,8 +30,9 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
_position_sub = _n.subscribe(position_topic, 1, &RvizInterface::positionCallback, this);
//Load objects
_n.getParam("tracked_object_names",object_names);
_n.getParam("tracked_object_types",object_types);
_n.param<std::string>("frame_id", frame_id,"/map");
_n.getParam("object_names",object_names);
_n.getParam("object_types",object_types);
int names_size = object_names.size();
@ -57,7 +59,7 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
break;
case 1:
_objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::STATE_BOOL, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
_objects[i]->addButtoncontrol();
// _objects[i]->addButtoncontrol();
break;
case 2:
_objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
@ -69,16 +71,6 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
break;
}
}
// _objects.push_back(new InteractiveObject(&_server, object_name, (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
// _objects[0]->add6DOFcontrol();
// _objects.push_back(new InteractiveObject(&_server, "3DOF", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
// _objects[1]->add3DOFcontrol();
// _objects.push_back(new InteractiveObject(&_server, "3DOF 2", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(-1,1,0)));
// _objects[2]->add3DOFcontrol(tf::Vector3(0.5,0.5,0));
// _objects.push_back(new InteractiveObject(&_server, "Button", (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(1,-1,0)));
for(unsigned int i=0;i<_objects.size();i++)
{