AntoineH/BaxterInterface
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

Ajout accès objets depuis launch file

Browse source
This commit is contained in:
Unknown 2018-08-10 11:43:49 +02:00
parent 6b4be0fecb
commit 9dddc9ba23
12 changed files with 183 additions and 4035 deletions
Download patch file Download diff file Expand all files Collapse all files

7
rviz_interface/rviz_interface/launch/interface_matching.launch
View file

@ -1,15 +1,18 @@
<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/-->
<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"/>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
<!--Matcher/-->
<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"/>

7
rviz_interface/rviz_interface/launch/interface_matching.launch~
View file

@ -6,13 +6,14 @@
<param name="vizualization_topic" value="/RvizInterface/visual_marker"/>
<param name="config_topic" value="/RvizInterface/interface_config"/>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>
<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface" output="screen"/>
<!--Matcher/-->
<param name="tracked_object" value="Foo"/>
<rosparam param="tracked_object_names"> ["Foo", "KungFoo", "Panda", "Boo"]</rosparam>
<rosparam param="tracked_object_types"> [3, 2, 1, 0]</rosparam>
<param name="num_tilt" type="int" value="8"/>
<param name="std_dev_filter_coeff" type="int" value="2"/>
<param name="reference_txt_path" value="$(find asift_matching)/reference_data/book_references.txt"/>
<param name="reference_txt_path" value="$(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-->

8
rviz_interface/rviz_interface/msg/StateSpace.msg
View file

@ -12,10 +12,10 @@ string name
# 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).
uint8 ORDINARY=0
uint8 STATE_2D=1
uint8 STATE_3D=2
uint8 STATE_BOOL=3
uint8 ORDINARY=0
uint8 STATE_BOOL=1
uint8 STATE_2D=2
uint8 STATE_3D=3
uint8 state_type

2
rviz_interface/rviz_interface/msg/StateSpace.msg~
View file

@ -1,7 +1,7 @@
# Represents a state space.
# General info.
#Header header
Header header
# Identifying string for this state space. (ID ?)
string name

54
rviz_interface/rviz_interface/src/RvizInterface.cpp
View file

@ -11,15 +11,14 @@
RvizInterface::RvizInterface(): _server("RvizInterface")
{
std::string objective_topic, vizualization_topic, config_topic, position_topic;
//Need to load multiple object
std::string object_name;
std::vector<std::string> object_names;
std::vector<int> object_types;
//Load Param
//Load Topics param
_n.param<std::string>("objective_topic", objective_topic,"/RvizInterface/state_objective");
_n.param<std::string>("vizualization_topic", vizualization_topic,"/RvizInterface/visual_marker");
_n.param<std::string>("config_topic", config_topic,"/RvizInterface/interface_config");
_n.param<std::string>("object_center_topic", position_topic,"/ASIFT_matcher/object_center");
_n.param<std::string>("tracked_object", object_name,"Object");
//Topic you want to publish
_objective_pub = _n.advertise<rviz_interface::StateSpace>(objective_topic, 10);
@ -29,10 +28,51 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
_config_sub = _n.subscribe(config_topic, 1, &RvizInterface::configCallback, this);
_position_sub = _n.subscribe(position_topic, 1, &RvizInterface::positionCallback, this);
_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();
//Load objects
_n.getParam("tracked_object_names",object_names);
_n.getParam("tracked_object_types",object_types);
// _objects.push_back(new InteractiveObject(&_server, "3DOF", (int) rviz_interface::StateSpace::STATE_2D, (int) visualization_msgs::Marker::SPHERE, tf::Vector3(1,1,0)));
int names_size = object_names.size();
if(names_size<object_types.size())
{
ROS_WARN("Missing object names. Objects without names won't be added...");
}
else if(names_size>object_types.size())
{
ROS_WARN("Missing object types. Missing types are set to Ordinary by default...");
while(names_size>object_types.size())
{
object_types.push_back(0);
}
}
for(unsigned int i=0; i< names_size;i++)
{
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[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[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[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[i]->add6DOFcontrol();
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)));