Merge branch 'master' of https://github.com/bjajoh/runway-light-inspe…

…ction

README.md

@@ -2,9 +2,15 @@
 ## Mobile robot for automated visual inspection of the approach lighting system at Aarhus Airport (AAR). 
 https://www.ilocator.com/proposal//cover.php?ProposalID=6ymasXDnLmC3NSEPzF7ANSlGMOQGCzl4Lx3Svz0prog&debug=yes
 
+### Running the camera
+``` 
+roslaunch ueye mono.launch
+``` 
+``` 
+roslaunch ueye stereo.launch
+``` 
 
-
-![Bilby Stampede](https://www.scientia.com/wp-content/uploads/2018/04/Aalborg-university-logo.png)
+![Bilby Stampede](https://upload.wikimedia.org/wikipedia/en/b/b9/AAU_logo_2012.png)
 
 ![Bilby Stampede](https://s3-eu-west-1.amazonaws.com/businessautomation/Proposal_Full_Images/iLocator-GmbH_AAR_5774.jpg)
 ![Bilby Stampede](https://s3-eu-west-1.amazonaws.com/businessautomation/Proposal_Full_Images/iLocator-GmbH_inserts_5611.png)

light_detector/CMakeLists.txt

@@ -0,0 +1,205 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(light_detector)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES light_detector
+#  CATKIN_DEPENDS roscpp rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/light_detector.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/light_detector_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_light_detector.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

light_detector/include/light_detector/util.py

@@ -0,0 +1,7 @@
+import random
+
+def getName():
+    return "your_name"
+
+def getStatus():
+    return random.choice(["happy","awesome"])

light_detector/package.xml

@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>light_detector</name>
+  <version>0.0.0</version>
+  <description>The light_detector package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Bjarne Johannsen</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>GPLv2</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/light_detector</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

light_detector/setup.py

@@ -0,0 +1,10 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+	packages=['light_detector'],
+	package_dir={'': 'include'},
+)
+setup(**setup_args)

light_detector/src/publisher_node.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+import rospy
+from std_msgs.msg import String
+from light_detector import util 
+
+# Initialize the node with rospy
+rospy.init_node('publisher_node')
+
+# Create publisher
+publisher = rospy.Publisher("~topic",String,queue_size=1)
+
+# Define Timer callback
+def callback(event):
+    msg = String()
+    msg.data = "%s is %s!" %(util.getName(),util.getStatus())
+    publisher.publish(msg)
+
+# Read parameter
+pub_period = rospy.get_param("~pub_period",1.0)
+
+# Create timer
+rospy.Timer(rospy.Duration.from_sec(pub_period),callback)
+
+# spin to keep the script for exiting
+rospy.spin()

ueye/launch/nodelets.launch

@@ -3,25 +3,28 @@
 <launch>
 
 	<!-- see cfg/mono.cfg for detail -->  
-	<arg name="camera_id"		default="0" />
+	<arg name="camera_id"		default="1" />
+	<arg name="pixel_clock"	    default="86" />
+	<arg name="r_pixel_clock"	default="86" />
+	<arg name="l_frame_id"		default="1" />
+	<arg name="r_frame_id"		default="2" />
 	<arg name="auto_exposure"	default="false" />
 	<arg name="auto_gain"		default="false" />
-	<arg name="color"		default="6" /> <!-- 0:MONO8, 1:MONO16, 2:YUV, 3:YCbCr, 4:BGR5, 5:BGR565, 6:BGR8, 7:BGRA8, 9:BGRY8, 9:RGB8, 10:RGBA8, 11, RGBY8 -->
+	<arg name="color"			default="6" /> <!-- 0:MONO8, 1:MONO16, 2:YUV, 3:YCbCr, 4:BGR5, 5:BGR565, 6:BGR8, 7:BGRA8, 9:BGRY8, 9:RGB8, 10:RGBA8, 11, RGBY8 -->
 	<arg name="config_path"		default="" />
-	<arg name="exposure_time"	default="85" />
+	<arg name="exposure_time"	default="100" />
 	<arg name="force_streaming"	default="false" />
 	<arg name="frame_id"		default="/camera" />
-	<arg name="frame_rate"		default="30" />
-	<arg name="gain"		default="100" />
+	<arg name="frame_rate"		default="10" />
+	<arg name="gain"			default="100" />
 	<arg name="gain_boost"		default="false" />
 	<arg name="hardware_gamma"	default="true" />
-	<arg name="pixel_clock"		default="86" />
-	<arg name="trigger"		default="0" /> <!-- 0:AUTO, 1:HARDWARE_RISING, 2:HARDWARE_FALLING -->
-	<arg name="zoom"		default="1" />
+	<arg name="trigger"			default="0" /> <!-- 0:AUTO, 1:HARDWARE_RISING, 2:HARDWARE_FALLING -->
+	<arg name="zoom"			default="1" />
 
 	<node pkg="nodelet" type="nodelet" name="ueye_manager" args="manager" output="screen"/>
 
-	<node pkg="nodelet" type="nodelet" name="camera_nodelet" args="load ueye/CameraNodelet ueye_manager" >
+	<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="load ueye/StereoNodelet ueye_manager" >
 		<param name="cameraId"		value="$(arg camera_id)" />
 		<param name="auto_exposure"	value="$(arg auto_exposure)" />
 		<param name="auto_gain"		value="$(arg auto_gain)" />