Feature: RGB Led controlled via ROS #2

acbuynak · 2022-04-05T15:10:14Z

RGB Led onboard an Arduino Uno is controllable via ROS. PR updates Arduino Sketchbook.

Major Updates

Reorganize Arduino Sketchbook
Add ROS integration to have Arduino listen for a ROS topic to set the RGB led
Python code to publish to /paintbrush_color topic

Tests

Launched control to Arduino using roslaunch light_painting t2_led_paintbrush.launch.
Used RQT's Message Publisher to publish test messages and confirmed LED updated to match RGB setting.

Design Notes:

Verified Arduino had sufficient buffer size on Arduino Uno. Message is 3xUINT8 values (ie. 3 bytes). Current program size leaves ~600 bytes of memory available for variables. This is sufficient.

Program Control Flow:

Remaining Work

Update control calls from main python code @MohammadKhan-3

- still using Serial Connection --> should consider moving to ROS publisher for RGB. Can publish an array of the RGB values and send that to the Arduino script to input the values to the RGB - Will test on 4/4

- Need to use nested For loop to go through all RGB image values - Might need to do a ROS connection. Publish the RGB values read from the image to the arduino script rather than serial connection

- Already able to read pixel values using img[0][0] command - NEXT: How to send the pixel data to the Arduino Serial Connection tutorials aren't clear on how to send multiple integers to RGB - Could publish RGB values into a topic then have Arduino script pull that from the rgb topic

* Use `/arduino_control` as Arduino Sketchbook folder for compiling * Individual files were not reviewed

* add libraries callout * add libraries .gitignore * add README.md for arduino controller codes

* Add RGB led control interface. Compiels, but untested on hardware. * Add custom message for RGB led state * Update CMakeLists and Package.xml for new message

* add launch file with argument for port * locked Arduino Baud rate at 500,000

acbuynak · 2022-04-06T03:38:25Z

Next Steps

Setup

1 - Init ROS Node
2 - Setup Publisher to topic /paintbrush_color using custom message type: light_painting/RGBState.msg

Main

3 - Read pixel value < r, g, b >
4 - Instantiate and build a new RGBState message
5 - Set values of message. Must be UINT8 values (0-255)

Pseudo Code

This might look something like this pseudo-ish code.
This is just some relevant chunks, does not include everything needed for a ROS node w/ publisher. This will not run.

import rospy
from light_painting.msg import RGBState

pub = rospy.Publisher('paintbrush_color ', RGBState, queue_size=5)

msg = RGBState()
msg.red = 187
msg.green = 0
msg.blue = 0

pub.publish(msg)

- USE RGB_values_publisher to test the publisher - Added nested for loop to RGB_no_descartes script - NEED TO TEST IF ARDUINO READS THE RGB VALUES SENT FROM PUBLISHER

-Keep losing sync with arduino -have not successfully used rgb publisher in robot_motion script

To launch: just run light_painting.launch. it already initializes the ARduino connection. - Added Block O RGB - Occasionally gets Timeout for Trajectory motion for large images (10x10)

- Removed comments, notes, unused variables in RGB_no_descartes script - Added grayscale images for next feature

* reformat * remove extra scraps and notes

acbuynak

Thanks for the commits! Overall, this looks pretty good. I made a few suggestions and requested a few changes to help overall clarity of the code. Comments are here as well as scattered throughout the code.
Please make those changes and then this should be ready. Changes can just be pushed to the same branch again.

General Comments:

Suggest removing extra image files that are not directly used by the project.
Please improve naming convention for python scripts or provide a README. The multiple py_to_ino... and no_descartes... scripts are confusing.
Unclear which file is the main file to start. No ros .launch file to automatically select the correct file either.

launch/light_painting.launch

.gitignore

acbuynak · 2022-04-08T21:28:44Z

scripts/image_inputs.py

@@ -11,7 +11,7 @@
 BINARY = join(RESOURCES,'binary') # combine image folder location with binary
 # print('Binary Directory:',BINARY)


Remove extra print() statements that were used for original debugging.

acbuynak · 2022-04-08T21:30:29Z

scripts/image_inputs.py

+# BGR = cv2.imread(join(R_G_B,blockO_rgb))
+# RGB = cv2.cvtColor(BGR,cv2.COLOR_BGR2RGB)


Only keep a single line that's being run. Don't duplicate.
This is convenient when doing your own debugging/testing, but shouldn't be kept in final version.

Remove this and other duplicated & commented out sections (ie. the above blockO_rgb line as well).

acbuynak · 2022-04-08T21:33:59Z

scripts/py_to_ino_RGB_LED_test.py

+# arduino = serial.Serial(port='/dev/ttyACM0',baudrate=9600,timeout=0.1)
+# Code from: https://www.electronicshub.org/controlling-arduino-led-python/


Remove all serial commands from script since we're using the roslaunch & rosserial package to communicate with Arduino.

acbuynak · 2022-04-08T21:37:27Z

scripts/py_to_ino_RGB_LED_test.py

+    # print('Size of RGB: ',rgb_img.size)
+    # print('rgb_img[0,0] pixel 1 value:',rgb_img[0,0])
+    # print('rgb_img.item(0) pixel 1 value:',rgb_img.item(0)) # gets only the 1st value
+    # print('rgb_img[0,0] pixel 4 value(mid pixel):',rgb_img[1,1])
+    # print('rgb_img[0,0] pixel 8 value(bottom right):',rgb_img[2,2])
+    # red,green,blue = rgb_img[1,1]
+    # print('Red value of pixel 4:',red)
+    # print('Green value of Pixel 4:',green)
+    # print('Blue value of pixel 4:',blue) 


Please remove this block of print statements. Not used by the actual code.
Not helpful for debugging.

Suggest adding a sentence or two explaining what this function does, you already kind of have it with the top comment "Testing reading values....". Maybe just add what the input value needs to be and what the function returns.

A comment about the specific order of RGB vs BGR may be good to include since you mention it a few lines below as well.

acbuynak · 2022-04-08T21:39:26Z

scripts/py_to_ino_RGB_LED_test.py

+class RGB_publisher():
+    def __init__(self,rgb_values):
+        self.rgb_values = rgb_values
+    def runner(self,data):
+        try:
+            rgb_values = [0,0,0]
+            rgb_img = input_image.rgb
+
+
+            r,g,b = RGB_values(rgb_img)
+            data = (r,g,b)
+
+            rgb_values.data = list(bytearray(data))
+
+            self.rgb_values.publish(rgb_values)
+            rospy.loginfo(rgb_values)
+
+
+        except rospy.ROSInterruptException:
+            exit()
+        except KeyboardInterrupt:
+            exit()


Don't understand why class is at the bottom of the file.
Suggest moving above main() function to more consistently organize code like other python scripts.

scripts/py_to_ino_RGB_LED_test.py

acbuynak · 2022-04-08T21:48:40Z

scripts/RGB_no_descartes_robot_motion.py

+                print('Keep moving horizontally')
+                waypoints = nextColumn(wpose)
+
+            # input(f"Cartesian Plan {i}: press <enter>") # uncomment this line if you want robot to run automatically


Remove this comment as was used for debugging and would not be used in final code.

acbuynak · 2022-04-08T21:50:37Z

scripts/RGB_no_descartes_robot_motion.py

+                plan, fraction = rc.plan_cartesian_path(waypoints)
+                rc.execute_plan(plan)
+                sendRGB2LED(pub_rgb_values,r,g,b)
+                time.sleep(0.5)
+                sendRGB2LED(pub_rgb_values)
+                time.sleep(0.5)        


Suggest adding a comment on why send value, sleep, then send again.
The practical function of these lines of code are vague, but critical to operation of this script. Add documentation.

* gitignore all .pyc files * misc code formatting * remove extra/unused imports

acbuynak · 2022-04-08T22:06:12Z

@MohammadKhan-3 Left a review of code. See comments in the review. Once changes made, I think this is ready to merge.
Let's do a regular Merge Pull Request on this one to maintain the commit history.

MohammadKhan-3 · 2022-04-11T14:46:13Z

Built the rosserial_arduino library

I ran rosrun rosserial_arduino serial_node.py -port=/tty/ACM0 -baud=500000
but still getting this error:

[ERROR] [1649688048.164270]: Error opening serial: [Errno 2] could not open port -port=/tty/ACM0: [Errno 2] No such file or directory: '-port=/tty/ACM0'

To create the Binary publisher:

made a custom msg type & added Binary_values_publisher script (similar structure to RGB)

acbuynak · 2022-04-13T14:54:02Z

Rolled back three commits to have this PR only include RGB. Moving Greyscale feature onto a new branch following this PR.

Mohammad Khan and others added 8 commits April 4, 2022 16:43

Added RGB Led Arduino and python script

045297d

- still using Serial Connection --> should consider moving to ROS publisher for RGB. Can publish an array of the RGB values and send that to the Arduino script to input the values to the RGB - Will test on 4/4

Created Arduino & Python script for RGB

e7c99b8

- Need to use nested For loop to go through all RGB image values - Might need to do a ROS connection. Publish the RGB values read from the image to the arduino script rather than serial connection

Refactor: Remove intermediate Arduino sketchbook folder

5ff1611

* Use `/arduino_control` as Arduino Sketchbook folder for compiling * Individual files were not reviewed

Setup Required ROS Libraries

8df92dd

* add libraries callout * add libraries .gitignore * add README.md for arduino controller codes

Feature: RGB Led State Subscriber via ROS

1a224dd

* Add RGB led control interface. Compiels, but untested on hardware. * Add custom message for RGB led state * Update CMakeLists and Package.xml for new message

Hardware Test Fix: RGB Led Integration

05f4539

* add launch file with argument for port * locked Arduino Baud rate at 500,000

Integrate Arduino launch into top level program launch

1a0294a

acbuynak added documentation Improvements or additions to documentation enhancement New feature or request labels Apr 5, 2022

acbuynak requested a review from MohammadKhan-3 April 5, 2022 15:10

MohammadKhan-3 and others added 6 commits April 6, 2022 10:52

Created Publisher & modifed main code

146fe17

- USE RGB_values_publisher to test the publisher - Added nested for loop to RGB_no_descartes script - NEED TO TEST IF ARDUINO READS THE RGB VALUES SENT FROM PUBLISHER

Losing Arduino Connection

8a63796

-Keep losing sync with arduino -have not successfully used rgb publisher in robot_motion script

RGB + Robot motion successful

f7fc370

To launch: just run light_painting.launch. it already initializes the ARduino connection. - Added Block O RGB - Occasionally gets Timeout for Trajectory motion for large images (10x10)

Cleaned image input script

e55807c

Refactored RGB Script

6e8e789

- Removed comments, notes, unused variables in RGB_no_descartes script - Added grayscale images for next feature

Review: Serial based control of LED

d86b691

* reformat * remove extra scraps and notes

acbuynak commented Apr 8, 2022

View reviewed changes

Resolve Review Notes: Misc

24a4c52

* gitignore all .pyc files * misc code formatting * remove extra/unused imports

acbuynak force-pushed the feature/rgb-led branch from 084047d to 24a4c52 Compare April 13, 2022 14:52

acbuynak merged commit f905f8f into noetic Apr 13, 2022

acbuynak deleted the feature/rgb-led branch April 18, 2022 15:00

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Feature: RGB Led controlled via ROS #2

Feature: RGB Led controlled via ROS #2

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MohammadKhan-3 commented Apr 11, 2022

acbuynak commented Apr 13, 2022

		@@ -11,7 +11,7 @@
		BINARY = join(RESOURCES,'binary') # combine image folder location with binary
		# print('Binary Directory:',BINARY)

		# BGR = cv2.imread(join(R_G_B,blockO_rgb))
		# RGB = cv2.cvtColor(BGR,cv2.COLOR_BGR2RGB)

		# arduino = serial.Serial(port='/dev/ttyACM0',baudrate=9600,timeout=0.1)
		# Code from: https://www.electronicshub.org/controlling-arduino-led-python/

Feature: RGB Led controlled via ROS #2

Feature: RGB Led controlled via ROS #2

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acbuynak commented Apr 5, 2022 • edited Loading

Major Updates

Tests

Design Notes:

Program Control Flow:

Remaining Work

acbuynak commented Apr 6, 2022 • edited Loading

Next Steps

Pseudo Code

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