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Résolution du problème de frame_id des header (RvizInterface)

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Unknown 2018-08-16 18:13:54 +02:00
parent 97b12ef01e
commit 4fc9c6566b
14 changed files with 37 additions and 29 deletions
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1
README.md
View file

@ -30,7 +30,6 @@ Thus refrences are required for the module to work properly. It can be loaded th
### Done
### Todo
rviz_interface - InteractiveObject : Solve the issue with the frame_id, so it could be chosen in the launch file.
asift_matching - ASIFT_matcher : Issue on total number of match (after filtering ?).
asift_matching - ROS_matcher : Working loader of images for reference.
asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ?

9
README.md~
View file

@ -30,10 +30,11 @@ Thus refrences are required for the module to work properly. It can be loaded th
### Done
### Todo
ASIFT_matcher : Issue on total number of match (after filtering ?).
ROS_matcher : Working loader of images for reference.
ROS_matcher : Improve reactivity. Slow process due to the message queue length ?
ROS_matcher : Swap the callback function to a service called for matching.
rviz_interface - InteractiveObject : Solve the issue with the frame_id, so it could be chosen in the launch file.
asift_matching - ASIFT_matcher : Issue on total number of match (after filtering ?).
asift_matching - ROS_matcher : Working loader of images for reference.
asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ?
asift_matching - ROS_matcher : Swap the callback function to a service called for matching.
## How to use it ?

4
ongoing/pcl_tests/src/plannar_segmentation.cpp
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@ -92,7 +92,7 @@ cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
// geometry_msgs::PointStamped center_msg;
rviz_interface::NamedPoint center_msg;
center_msg.name = "6DOF";
center_msg.name = "foo";
// for (size_t i = 0; i < pcl_output->size (); ++i)
// {
// if( pcl_output->points[i].x)
@ -134,7 +134,7 @@ int main (int argc, char** argv)
// Create a ROS publisher for the output point cloud
pub = nh.advertise<sensor_msgs::PointCloud2> ("/plane_output", 1);
// pubc = nh.advertise<geometry_msgs::PointStamped> ("/object_center", 1);
pubc = nh.advertise<rviz_interface::NamedPoint> ("/RvizInterface/object_center", 1);
pubc = nh.advertise<rviz_interface::NamedPoint> ("/object_center", 1);
// printinfo();
// Spin

1
rviz_interface/launch/interface.launch
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@ -4,6 +4,7 @@
<!--Interface/-->
<!--Objects/-->
<param name="frame_id" value="/map"/>
<!--param name="frame_id" value="/camera_rgb_optical_frame"/-->
<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>

1
rviz_interface/launch/interface.launch~
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@ -3,6 +3,7 @@
<!--Interface/-->
<!--Objects/-->
<param name="frame_id" value="/camera_rgb_optical_frame"/>
<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>

1
rviz_interface/launch/interface_matching.launch
View file

@ -3,6 +3,7 @@
<!--Interface/-->
<!--Objects/-->
<param name="frame_id" value="/camera_rgb_optical_frame"/>
<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>

4
rviz_interface/launch/interface_matching.launch~
View file

@ -3,6 +3,8 @@
<!--Interface/-->
<!--Objects/-->
<!--param name="frame_id" value="/map"/-->
<param name="frame_id" value="/camera_rgb_optical_frame"/>
<rosparam param="object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="object_types"> [3, 2, 1, 0]</rosparam>
@ -17,7 +19,7 @@
<!--Matcher Parameters/-->
<param name="tracked_object" value="Foo"/>
<param name="num_tilt" type="int" value="8"/>
<param name="std_dev_filter_coeff" type="double" value="0.5"/>
<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"/>

4
rviz_interface/launch/interface_plannar_seg.launch
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@ -2,9 +2,11 @@
<node name="rviz" pkg="rviz" type="rviz"/>
<!--Interface/-->
<rosparam param="object_names"> ["6DOF"]</rosparam>
<!--NE PAS CHANGER SANS MODIFIER LE CODE PCL/-->
<rosparam param="object_names"> ["foo"]</rosparam>
<rosparam param="object_types"> [0]</rosparam>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>
<param name="object_center_topic" value="/object_center"/>
<node name="plannar_seg" pkg="pcl_tests" type="plannar_seg"/>

5
rviz_interface/launch/interface_plannar_seg.launch~
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@ -2,9 +2,10 @@
<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"> ["foo"]</rosparam>
<rosparam param="object_types"> [0]</rosparam>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>
<param name="object_center_topic" value="/object_center"/>
<node name="plannar_seg" pkg="pcl_tests" type="plannar_seg"/>

4
rviz_interface/msg/StateSpace.msg
View file

@ -11,7 +11,7 @@ string name
# ORDINARY : General display / compute of the state space without any assumption.
# STATE_2D : Expect a 2D position and orientation (Dimension = 3).
# STATE_3D : Expect a 3D position and orientation (quaternion) (Dimension = 7).
# STATE_BOOL : Expect a single boolean information (ie bouton on/off) (Dimension = 1).
# STATE_BOOL : Expect a single boolean information (ie on/off button) (Dimension = 1).
uint8 ORDINARY=0
uint8 STATE_BOOL=1
uint8 STATE_2D=2
@ -19,7 +19,7 @@ uint8 STATE_3D=3
uint8 state_type
#Objective type: boolean (true : Juste bouger l'objet)
#Objective type: boolean (true : Just interact with the object without taking in account State Space data)
uint8 objective_type
#Maximum distance error allowed arround the objective

10
rviz_interface/msg/StateSpace.msg~
View file

@ -11,15 +11,15 @@ string name
# ORDINARY : General display / compute of the state space without any assumption.
# STATE_2D : Expect a 2D position and orientation (Dimension = 3).
# STATE_3D : Expect a 3D position and orientation (quaternion) (Dimension = 7).
# STATE_BOOL : Expect a single boolean information (ie bouton on/off) (Dimension = 1).
# STATE_BOOL : Expect a single boolean information (ie on/off button) (Dimension = 1).
uint8 ORDINARY=0
uint8 STATE_2D=1
uint8 STATE_3D=2
uint8 STATE_BOOL=3
uint8 STATE_BOOL=1
uint8 STATE_2D=2
uint8 STATE_3D=3
uint8 state_type
#Objective type: boolean (true : Juste bouger l'objet)
#Objective type: boolean (true : Just move the object without taking in account State Space data)
uint8 objective_type
#Maximum distance error allowed arround the objective

8
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) : _name(name), _type(type), _server(server), _showVisuals(true), _followObject(true)
InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, const std::string& frame_id, 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;
@ -26,16 +26,16 @@ InteractiveObject::InteractiveObject(interactive_markers::InteractiveMarkerServe
marker.color.b = 0.5;
marker.color.a = 1.0;
createInteractiveMarker(marker, position);
createInteractiveMarker(marker, frame_id, position);
addButtoncontrol();
}
//Construit un InteractiveMarker
void InteractiveObject::createInteractiveMarker(Marker& marker, const tf::Vector3& position)
void InteractiveObject::createInteractiveMarker(Marker& marker, const std::string& frame_id, const tf::Vector3& position)
{
//// Création d'un marker interactif ////
// _int_marker.header.frame_id = "/map"; //Par défaut
_int_marker.header.frame_id = "/camera_rgb_optical_frame";
_int_marker.header.frame_id = frame_id;
_int_marker.header.stamp= ros::Time::now();
_int_marker.name = _name; //ATTENTION !
_int_marker.description = _name;

4
rviz_interface/src/InteractiveObject.hpp
View file

@ -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 = tf::Vector3(0,0,0));
InteractiveObject(interactive_markers::InteractiveMarkerServer* server, const std::string& name, const std::string& frame_id, 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 = tf::Vector3(0,0,0));
void createInteractiveMarker(Marker& marker, const std::string& frame_id, const tf::Vector3& position = tf::Vector3(0,0,0));
//Fonction callback du serveur d' InteractiveMarker
void processFeedback( const InteractiveMarkerFeedbackConstPtr &feedback );

8
rviz_interface/src/RvizInterface.cpp
View file

@ -54,19 +54,19 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
switch(object_types[i])
{
case 0:
_objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::ORDINARY, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
_objects.push_back(new InteractiveObject(&_server, object_names[i], frame_id, (int) rviz_interface::StateSpace::ORDINARY, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
_objects[i]->add6DOFcontrol();
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.push_back(new InteractiveObject(&_server, object_names[i], frame_id, (int) rviz_interface::StateSpace::STATE_BOOL, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
// _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)));
_objects.push_back(new InteractiveObject(&_server, object_names[i], frame_id, (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
_objects[i]->add3DOFcontrol();
break;
case 3:
_objects.push_back(new InteractiveObject(&_server, object_names[i], (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
_objects.push_back(new InteractiveObject(&_server, object_names[i], frame_id, (int) rviz_interface::StateSpace::STATE_3D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(0,0,0)));
_objects[i]->add6DOFcontrol();
break;
}