From 9fad5656968676f295d091ca69afb199cbccc5c8 Mon Sep 17 00:00:00 2001
From: Manuel <gomesnelito@gmail.com>
Date: Wed, 13 Oct 2021 16:01:57 +0100
Subject: [PATCH 01/11] Launch file to test signals independent of the physical
car
---
.../modules/signal_panel_recognition.launch | 6 ------
physical_bringup/launch/signal_usbcam.launch | 17 +++++++++++++++++
.../launch/signal_panel_recognition.launch | 6 ------
3 files changed, 17 insertions(+), 12 deletions(-)
create mode 100644 physical_bringup/launch/signal_usbcam.launch
diff --git a/physical_bringup/launch/modules/signal_panel_recognition.launch b/physical_bringup/launch/modules/signal_panel_recognition.launch
index e7195813..0221c937 100644
--- a/physical_bringup/launch/modules/signal_panel_recognition.launch
+++ b/physical_bringup/launch/modules/signal_panel_recognition.launch
@@ -1,16 +1,10 @@
<launch>
<arg name="image_raw_topic" default="/real_camera"/>
- <arg name="vel_cmd_topic" default="/android_input_vel"/>
- <arg name="twist_linear_x" default="1"/>
<arg name="signal_cmd_topic" default="/signal_vel"/>
- <arg name="twist_cmd_topic" default=""/>
<include file="$(find signal_recognition)/launch/signal_panel_recognition.launch">
- <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
- <arg name="twist_cmd_topic" value="$(arg twist_cmd_topic)"/>
<arg name="image_raw_topic" value="$(arg image_raw_topic)"/>
<arg name="signal_cmd_topic" value="$(arg signal_cmd_topic)"/>
- <arg name="twist_linear_x" value="$(arg twist_linear_x)"/>
</include>
</launch>
\ No newline at end of file
diff --git a/physical_bringup/launch/signal_usbcam.launch b/physical_bringup/launch/signal_usbcam.launch
new file mode 100644
index 00000000..05f2829e
--- /dev/null
+++ b/physical_bringup/launch/signal_usbcam.launch
@@ -0,0 +1,17 @@
+<launch>
+ <arg name="camera_topic" default="/real_camera"/>
+ <arg name="int_camera_id" default="2"/>
+ <arg name="signal_cmd_topic" default="/signal_vel"/>
+
+ <include file="$(find physical_bringup)/launch/modules/signal_panel_recognition.launch">
+ <arg name="signal_cmd_topic" value="$(arg signal_cmd_topic)"/>
+ <arg name="image_raw_topic" value="$(arg camera_topic)"/>
+ </include>
+
+ <include file="$(find physical_bringup)/launch/modules/lane_camera.launch">
+ <arg name="camera_topic" value="$(arg camera_topic)"/>
+ <arg name="int_camera_id" value="$(arg int_camera_id)"/>
+ </include>
+
+
+</launch>
diff --git a/signal_recognition/launch/signal_panel_recognition.launch b/signal_recognition/launch/signal_panel_recognition.launch
index 7fd4c9e8..58a78af7 100644
--- a/signal_recognition/launch/signal_panel_recognition.launch
+++ b/signal_recognition/launch/signal_panel_recognition.launch
@@ -1,16 +1,10 @@
<launch>
<arg name="image_raw_topic" default="/real_camera"/>
- <arg name="vel_cmd_topic" default="/android_input_vel"/>
- <arg name="twist_cmd_topic" default="/vel_cmd"/>
<arg name="signal_cmd_topic" default="/signal_vel"/>
- <arg name="twist_linear_x" default="1"/>
<node name="signal_panel_recognition" pkg="signal_recognition" type="signal_panel_recognition.py" output="screen">
- <param name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
<param name="image_raw_topic" value="$(arg image_raw_topic)"/>
- <param name="twist_cmd_topic" value="$(arg twist_cmd_topic)"/>
<param name="signal_cmd_topic" value="$(arg signal_cmd_topic)"/>
- <param name="twist_linear_x" value="$(arg twist_linear_x)"/>
</node>
</launch>
\ No newline at end of file
From f1b6f278f5a5c04030074b331a091e812f0dcac0 Mon Sep 17 00:00:00 2001
From: Manuel <gomesnelito@gmail.com>
Date: Wed, 13 Oct 2021 17:42:22 +0100
Subject: [PATCH 02/11] Removing lines of code not used
---
.../scripts/signal_panel_recognition.py | 35 +------------------
1 file changed, 1 insertion(+), 34 deletions(-)
diff --git a/signal_recognition/scripts/signal_panel_recognition.py b/signal_recognition/scripts/signal_panel_recognition.py
index cfd2340e..700457da 100755
--- a/signal_recognition/scripts/signal_panel_recognition.py
+++ b/signal_recognition/scripts/signal_panel_recognition.py
@@ -1,21 +1,13 @@
#!/usr/bin/env python3
# Imports
-#import argparse
import cv2
-from csv import writer
-#import copy
import numpy as np
import rospy
from std_msgs.msg import Bool
-from geometry_msgs.msg._Twist import Twist
from sensor_msgs.msg._Image import Image
from cv_bridge.core import CvBridge
-from datetime import datetime
-#from tensorflow.keras.models import load_model
import pathlib
-#import os
-#import string
global img_rbg
global bridge
@@ -91,22 +83,15 @@ def main():
begin_img = False
velbool = False
- #twist = Twist()
# Init Node
rospy.init_node('ml_driving', anonymous=False)
# Get parameters
- image_raw_topic = rospy.get_param('~image_raw_topic', '/ackermann_vehicle/camera2/rgb/image_raw')
- twist_cmd_topic = rospy.get_param('~twist_cmd_topic', '/cmd_vel')
+ image_raw_topic = rospy.get_param('~image_raw_topic', '/ackermann_vehicle/camera2/rgb/image_raw')
signal_cmd_topic = rospy.get_param('~signal_cmd_topic', '/signal_vel')
- twist_linear_x = rospy.get_param('~twist_linear_x', 0.5)
# Create publishers
- #if twist_cmd_topic!= "":
- #pubtwist = rospy.Publisher(twist_cmd_topic, Twist, queue_size=10)
-
- #if vel_cmd_topic!= "":
pubbool = rospy.Publisher(signal_cmd_topic, Bool, queue_size=10)
# ______________________________________________________________________________
@@ -205,7 +190,6 @@ def main():
for name in dict_images.keys():
for key in dict_images[name]['images']:
dict_images[name]['images'][key] = cv2.GaussianBlur(dict_images[name]['images'][key], (3, 3), 0)
- #cv2.imshow(name + ' ' + key, dict_images[name]['images'][key])
# ______________________________________________________________________________
@@ -244,11 +228,6 @@ def main():
max_key = ''
- ##cv2.imshow('Robot View Processed', resized_)
- #cv2.imshow('Robot View', img_rbg)
- #cv2.imshow('Robot View used', frame)
- #cv2.waitKey(1)
-
# For each image:
for name in dict_images.keys():
for key in dict_images[name]['images']:
@@ -264,7 +243,6 @@ def main():
max_name = name
max_key = key
- #print (max_res, max_key)
if max_res > detection_threshold:
@@ -295,17 +273,6 @@ def main():
elif max_name == "pStop":
velbool = False
- # Send twist or bool
- #if twist_cmd_topic != "":
- # twist.linear.x = vel
- # twist.linear.y = 0
- # twist.linear.z = 0
- # twist.angular.x = 0
- # twist.angular.y = 0
- # twist.angular.z = 0
- # pubtwist.publish(twist)
-
- #if vel_cmd_topic != "":
pubbool.publish(velbool)
# Show image
From e33aa4cd0c51a2560c7280f64c3b96a4efa81724 Mon Sep 17 00:00:00 2001
From: Manuel <gomesnelito@gmail.com>
Date: Wed, 13 Oct 2021 18:30:55 +0100
Subject: [PATCH 03/11] Introduced a threshold to only publish on /signal_vel
after a few consecutive signal detections
---
.../scripts/signal_panel_recognition.py | 17 ++++++++++++++---
1 file changed, 14 insertions(+), 3 deletions(-)
diff --git a/signal_recognition/scripts/signal_panel_recognition.py b/signal_recognition/scripts/signal_panel_recognition.py
index 700457da..81ec3bd9 100755
--- a/signal_recognition/scripts/signal_panel_recognition.py
+++ b/signal_recognition/scripts/signal_panel_recognition.py
@@ -82,7 +82,9 @@ def main():
global begin_img
begin_img = False
velbool = False
-
+ count_stop = 0
+ count_start = 0
+ count_max = 5
# Init Node
rospy.init_node('ml_driving', anonymous=False)
@@ -202,7 +204,7 @@ def main():
Image, message_RGB_ReceivedCallback)
- rate = rospy.Rate(10)
+ rate = rospy.Rate(30)
while not rospy.is_shutdown():
@@ -270,10 +272,19 @@ def main():
# Defining and publishing the velocity of the car in regards to the signal seen
if max_name == "pForward":
velbool = True
+ count_start = count_start + 1
+ count_stop = 0
elif max_name == "pStop":
velbool = False
+ count_stop = count_stop + 1
+ count_start = 0
+
+ if count_stop >= count_max or count_start >= count_max:
+ pubbool.publish(velbool)
- pubbool.publish(velbool)
+ else:
+ count_stop = 0
+ count_start = 0
# Show image
cv2.imshow("Frame", img_rbg)
From 14b9e115694fc09a31494fc339655dbf960908c0 Mon Sep 17 00:00:00 2001
From: Manuel <gomesnelito@gmail.com>
Date: Wed, 20 Oct 2021 15:52:10 +0100
Subject: [PATCH 04/11] Removing lines of code not used
---
.../scripts/signal_panel_recognition.py | 57 +------------------
1 file changed, 2 insertions(+), 55 deletions(-)
diff --git a/signal_recognition/scripts/signal_panel_recognition.py b/signal_recognition/scripts/signal_panel_recognition.py
index cfd2340e..045c2f48 100755
--- a/signal_recognition/scripts/signal_panel_recognition.py
+++ b/signal_recognition/scripts/signal_panel_recognition.py
@@ -1,35 +1,18 @@
#!/usr/bin/env python3
# Imports
-#import argparse
import cv2
-from csv import writer
-#import copy
import numpy as np
import rospy
from std_msgs.msg import Bool
-from geometry_msgs.msg._Twist import Twist
from sensor_msgs.msg._Image import Image
from cv_bridge.core import CvBridge
-from datetime import datetime
-#from tensorflow.keras.models import load_model
import pathlib
-#import os
-#import string
global img_rbg
global bridge
global begin_img
-# not used by now
-def preProcess(img):
- img = cv2.cvtColor(img, cv2.COLOR_RGB2YUV)
- img = cv2.GaussianBlur(img, (3, 3), 0)
- img = cv2.resize(img, (200, 66))
- img = img/255
-
- return img
-
def message_RGB_ReceivedCallback(message):
global img_rbg
@@ -48,7 +31,6 @@ def main():
# Import Parameters
scale_import = 0.1 # The scale of the first image, related to the imported one.
N_red = 2 # Number of piramidizations to apply to each image.
- factor_red = 0.8
# Font Parameters
subtitle_offset = -10
@@ -62,13 +44,9 @@ def main():
line_thickness = 3
# Detection Parameters
-
scale_cap = 0.4
detection_threshold = 0.85
- # Initial velocity
- vel = 0
-
# ______________________________________________________________________________
# Images to import and Images Info
@@ -91,22 +69,14 @@ def main():
begin_img = False
velbool = False
- #twist = Twist()
-
# Init Node
rospy.init_node('ml_driving', anonymous=False)
# Get parameters
- image_raw_topic = rospy.get_param('~image_raw_topic', '/ackermann_vehicle/camera2/rgb/image_raw')
- twist_cmd_topic = rospy.get_param('~twist_cmd_topic', '/cmd_vel')
+ image_raw_topic = rospy.get_param('~image_raw_topic', '/ackermann_vehicle/camera2/rgb/image_raw')
signal_cmd_topic = rospy.get_param('~signal_cmd_topic', '/signal_vel')
- twist_linear_x = rospy.get_param('~twist_linear_x', 0.5)
# Create publishers
- #if twist_cmd_topic!= "":
- #pubtwist = rospy.Publisher(twist_cmd_topic, Twist, queue_size=10)
-
- #if vel_cmd_topic!= "":
pubbool = rospy.Publisher(signal_cmd_topic, Bool, queue_size=10)
# ______________________________________________________________________________
@@ -205,7 +175,6 @@ def main():
for name in dict_images.keys():
for key in dict_images[name]['images']:
dict_images[name]['images'][key] = cv2.GaussianBlur(dict_images[name]['images'][key], (3, 3), 0)
- #cv2.imshow(name + ' ' + key, dict_images[name]['images'][key])
# ______________________________________________________________________________
@@ -225,11 +194,8 @@ def main():
if begin_img == False:
continue
- #resized_ = preProcess(img_rbg)
-
width_frame = img_rbg.shape[1]
height_frame = img_rbg.shape[0]
- #default_dim = (width_frame, height_frame)
reduced_dim = (int(width_frame * scale_cap), int(height_frame * scale_cap))
frame = cv2.resize(img_rbg, reduced_dim)
@@ -244,11 +210,6 @@ def main():
max_key = ''
- ##cv2.imshow('Robot View Processed', resized_)
- #cv2.imshow('Robot View', img_rbg)
- #cv2.imshow('Robot View used', frame)
- #cv2.waitKey(1)
-
# For each image:
for name in dict_images.keys():
for key in dict_images[name]['images']:
@@ -264,13 +225,11 @@ def main():
max_name = name
max_key = key
- #print (max_res, max_key)
if max_res > detection_threshold:
max_width = int(dict_images[max_name]['images'][max_key].shape[1] / scale_cap)
max_height = int(dict_images[max_name]['images'][max_key].shape[0] / scale_cap)
- max_dim = (max_width, max_height)
for pt in zip(*max_loc[::-1]):
pt = tuple(int(pti / scale_cap) for pti in pt)
@@ -278,8 +237,6 @@ def main():
dict_colors.get(dict_images[max_name]['color']), line_thickness)
text = 'Detected: ' + max_name + ' ' + max_key + ' > ' + dict_images[max_name]['type'] + ': ' + \
dict_images[max_name]['title']
-
- #print(text)
origin = (pt[0], pt[1] + subtitle_offset)
origin_2 = (0, height_frame + subtitle_2_offset)
@@ -295,17 +252,7 @@ def main():
elif max_name == "pStop":
velbool = False
- # Send twist or bool
- #if twist_cmd_topic != "":
- # twist.linear.x = vel
- # twist.linear.y = 0
- # twist.linear.z = 0
- # twist.angular.x = 0
- # twist.angular.y = 0
- # twist.angular.z = 0
- # pubtwist.publish(twist)
-
- #if vel_cmd_topic != "":
+ # Send bool
pubbool.publish(velbool)
# Show image
From eb4ac437eb5758395bc04b1b6293793991f26556 Mon Sep 17 00:00:00 2001
From: BrunoMonteiro <brunomonteiro98@ua.pt>
Date: Wed, 20 Oct 2021 16:39:57 +0100
Subject: [PATCH 05/11] changed signal fps from 10 to 30
---
signal_recognition/scripts/signal_panel_recognition.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/signal_recognition/scripts/signal_panel_recognition.py b/signal_recognition/scripts/signal_panel_recognition.py
index 045c2f48..53e90f3a 100755
--- a/signal_recognition/scripts/signal_panel_recognition.py
+++ b/signal_recognition/scripts/signal_panel_recognition.py
@@ -187,7 +187,7 @@ def main():
Image, message_RGB_ReceivedCallback)
- rate = rospy.Rate(10)
+ rate = rospy.Rate(30)
while not rospy.is_shutdown():
From 237e349dcfae8fc9042bfede08994df4e3cef0af Mon Sep 17 00:00:00 2001
From: Manuel <gomesnelito@gmail.com>
Date: Wed, 20 Oct 2021 18:25:49 +0100
Subject: [PATCH 06/11] hotfixes for launch file without kinects
---
physical_bringup/launch/modules/driving_cnn1.launch | 2 +-
physical_bringup/launch/modules/driving_cnn2a.launch | 2 +-
physical_bringup/launch/traxxas_drive1.launch | 4 ----
physical_bringup/launch/traxxas_drive2a.launch | 5 -----
physical_bringup/launch/traxxas_drive2a_kinect.launch | 5 -----
5 files changed, 2 insertions(+), 16 deletions(-)
diff --git a/physical_bringup/launch/modules/driving_cnn1.launch b/physical_bringup/launch/modules/driving_cnn1.launch
index b81fce09..744f0291 100644
--- a/physical_bringup/launch/modules/driving_cnn1.launch
+++ b/physical_bringup/launch/modules/driving_cnn1.launch
@@ -4,7 +4,7 @@
<arg name="twist_cmd_topic" default="/android_input_dir" />
<arg name="vel_cmd_topic" default="android_input_vel" />
<arg name="model" default="" />
- <arg name="signal_cmd_topic" default="/signal_vel"/>
+ <arg name="signal_cmd_topic" default=""/>
<include file="$(find cnn)/launch/driving1.launch">
<arg name="image_raw_topic" value="$(arg image_raw_topic)" />
diff --git a/physical_bringup/launch/modules/driving_cnn2a.launch b/physical_bringup/launch/modules/driving_cnn2a.launch
index 0d68273e..1c18fdbb 100644
--- a/physical_bringup/launch/modules/driving_cnn2a.launch
+++ b/physical_bringup/launch/modules/driving_cnn2a.launch
@@ -4,7 +4,7 @@
<arg name="twist_cmd_topic" default="/android_input_dir" />
<arg name="vel_cmd_topic" default="android_input_vel" />
<arg name="model" default="" />
- <arg name="signal_cmd_topic" default="/signal_vel"/>
+ <arg name="signal_cmd_topic" default=""/>
<include file="$(find cnn)/launch/driving2a.launch">
<arg name="image_raw_topic" value="$(arg image_raw_topic)" />
diff --git a/physical_bringup/launch/traxxas_drive1.launch b/physical_bringup/launch/traxxas_drive1.launch
index c3ed09b0..178c7662 100644
--- a/physical_bringup/launch/traxxas_drive1.launch
+++ b/physical_bringup/launch/traxxas_drive1.launch
@@ -1,14 +1,11 @@
<launch>
<arg name="model" default="" />
- <arg name="twist_linear_x" default="1" />
-
<arg name="twist_dir_topic" default="/android_input_dir"/>
<arg name="int_dir_topic" default="/pub_dir"/>
<arg name="int_vel_topic" default="/pub_vel"/>
<arg name="int_vel_max" default="108"/>
<arg name="vel_cmd_topic" default="/android_input_vel"/>
-
<arg name="camera_topic" default="/real_camera"/>
<arg name="int_camera_id" default="2"/>
@@ -18,7 +15,6 @@
<include file="$(find physical_bringup)/launch/modules/driving_cnn1.launch" >
<arg name="model" value="$(arg model)"/>
- <arg name="twist_linear_x" value="$(arg twist_linear_x)"/>
<arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
</include>
diff --git a/physical_bringup/launch/traxxas_drive2a.launch b/physical_bringup/launch/traxxas_drive2a.launch
index 5a0e2f35..8fd4622e 100644
--- a/physical_bringup/launch/traxxas_drive2a.launch
+++ b/physical_bringup/launch/traxxas_drive2a.launch
@@ -1,9 +1,6 @@
<launch>
<arg name="model" default="" />
- <arg name="float_cmd_topic" default="" />
- <arg name="twist_linear_x" default="1" />
-
<arg name="twist_dir_topic" default="/android_input_dir"/>
<arg name="int_dir_topic" default="/pub_dir"/>
<arg name="int_vel_topic" default="/pub_vel"/>
@@ -19,8 +16,6 @@
<include file="$(find physical_bringup)/launch/modules/driving_cnn2a.launch" >
<arg name="model" value="$(arg model)"/>
- <arg name="float_cmd_topic" value="$(arg float_cmd_topic)"/>
- <arg name="twist_linear_x" value="$(arg twist_linear_x)"/>
<arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
</include>
diff --git a/physical_bringup/launch/traxxas_drive2a_kinect.launch b/physical_bringup/launch/traxxas_drive2a_kinect.launch
index 89a29976..2d75fe55 100644
--- a/physical_bringup/launch/traxxas_drive2a_kinect.launch
+++ b/physical_bringup/launch/traxxas_drive2a_kinect.launch
@@ -1,9 +1,6 @@
<launch>
<arg name="model" default="" />
- <arg name="float_cmd_topic" default="" />
- <arg name="twist_linear_x" default="1" />
-
<arg name="twist_dir_topic" default="/android_input_dir"/>
<arg name="int_dir_topic" default="/pub_dir"/>
<arg name="int_vel_topic" default="/pub_vel"/>
@@ -18,8 +15,6 @@
<include file="$(find physical_bringup)/launch/modules/driving_cnn2a.launch" >
<arg name="model" value="$(arg model)"/>
- <arg name="float_cmd_topic" value="$(arg float_cmd_topic)"/>
- <arg name="twist_linear_x" value="$(arg twist_linear_x)"/>
<arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
<arg name="image_raw_topic" value="$(arg image_raw_topic)"/>
</include>
From 771569d121b35d78281ef9e2d70ea58452a7e2f7 Mon Sep 17 00:00:00 2001
From: Manuel <gomesnelito@gmail.com>
Date: Wed, 20 Oct 2021 19:03:20 +0100
Subject: [PATCH 07/11] Test creation of csv
---
.../scripts/signal_panel_recognition.py | 35 ++++++++++++++++++-
1 file changed, 34 insertions(+), 1 deletion(-)
diff --git a/signal_recognition/scripts/signal_panel_recognition.py b/signal_recognition/scripts/signal_panel_recognition.py
index 53e90f3a..7e421773 100755
--- a/signal_recognition/scripts/signal_panel_recognition.py
+++ b/signal_recognition/scripts/signal_panel_recognition.py
@@ -8,6 +8,10 @@
from sensor_msgs.msg._Image import Image
from cv_bridge.core import CvBridge
import pathlib
+from datetime import datetime
+import pandas as pd
+import signal
+import sys
global img_rbg
global bridge
@@ -24,8 +28,17 @@ def message_RGB_ReceivedCallback(message):
begin_img = True
-def main():
+def signal_handler(sig, frame):
+ global driving_log
+ global log_path
+
+ rospy.loginfo('You pressed Ctrl+C!')
+ driving_log.to_csv(log_path + '/driving_log.csv', mode='a', index=False, header=False)
+ sys.exit(0)
+def main():
+ global driving_log
+ global log_path
# PARAMETERS__________________________________________________________________
# Import Parameters
@@ -79,6 +92,17 @@ def main():
# Create publishers
pubbool = rospy.Publisher(signal_cmd_topic, Bool, queue_size=10)
+ # Define path for .csv
+ s = str(pathlib.Path(__file__).parent.absolute())
+ log_path = s + '/../log/'
+ rospy.loginfo(log_path)
+
+ # Create pandas dataframe
+ driving_log = pd.DataFrame(columns=['Time', 'Signal', 'Resolution'])
+
+ # set handler on termination
+ signal.signal(signal.SIGINT, signal_handler)
+
# ______________________________________________________________________________
path = str(pathlib.Path(__file__).parent.absolute())
@@ -226,6 +250,15 @@ def main():
max_key = key
+ # Write log files
+ curr_time = datetime.datetime.now()
+ time_str = str(curr_time.year) + '_' + str(curr_time.month) + '_' + str(curr_time.day) + '__' + str(
+ curr_time.hour) + '_' + str(curr_time.minute) + '_' + str(curr_time.second) + '__' + str(
+ curr_time.microsecond)
+ # add image, angle and velocity to the driving_log pandas
+ row = pd.DataFrame([[time_str, max_name, max_res]], columns=['Time', 'Signal', 'Recognition'])
+ driving_log = driving_log.append(row, ignore_index=True)
+
if max_res > detection_threshold:
max_width = int(dict_images[max_name]['images'][max_key].shape[1] / scale_cap)
From b4b5e5cc45a89905d32cb0222436a63ad6d30867 Mon Sep 17 00:00:00 2001
From: Manuel <gomesnelito@gmail.com>
Date: Fri, 22 Oct 2021 15:20:19 +0100
Subject: [PATCH 08/11] Creates log file for signal recognition, with the
signal detected and it's resolution
---
.../scripts/signal_panel_recognition.py | 19 ++++++++++---------
1 file changed, 10 insertions(+), 9 deletions(-)
diff --git a/signal_recognition/scripts/signal_panel_recognition.py b/signal_recognition/scripts/signal_panel_recognition.py
index f0cb1bac..6d47c276 100755
--- a/signal_recognition/scripts/signal_panel_recognition.py
+++ b/signal_recognition/scripts/signal_panel_recognition.py
@@ -30,15 +30,16 @@ def message_RGB_ReceivedCallback(message):
def signal_handler(sig, frame):
- global driving_log
+ global signal_log
global log_path
rospy.loginfo('You pressed Ctrl+C!')
- driving_log.to_csv(log_path + '/driving_log.csv', mode='a', index=False, header=False)
+ signal_log.to_csv(log_path + '/signal_log.csv', mode='a', index=False, header=False)
+ print(signal_log)
sys.exit(0)
def main():
- global driving_log
+ global signal_log
global log_path
# PARAMETERS__________________________________________________________________
@@ -99,11 +100,11 @@ def main():
# Define path for .csv
s = str(pathlib.Path(__file__).parent.absolute())
- log_path = s + '/../log/'
+ log_path = s + '/log/'
rospy.loginfo(log_path)
# Create pandas dataframe
- driving_log = pd.DataFrame(columns=['Time', 'Signal', 'Resolution'])
+ signal_log = pd.DataFrame(columns=['Time', 'Signal', 'Resolution'])
# set handler on termination
signal.signal(signal.SIGINT, signal_handler)
@@ -256,13 +257,13 @@ def main():
# Write log files
- curr_time = datetime.datetime.now()
+ curr_time = datetime.now()
time_str = str(curr_time.year) + '_' + str(curr_time.month) + '_' + str(curr_time.day) + '__' + str(
curr_time.hour) + '_' + str(curr_time.minute) + '_' + str(curr_time.second) + '__' + str(
curr_time.microsecond)
- # add image, angle and velocity to the driving_log pandas
- row = pd.DataFrame([[time_str, max_name, max_res]], columns=['Time', 'Signal', 'Recognition'])
- driving_log = driving_log.append(row, ignore_index=True)
+ # add image, angle and velocity to the signal_log pandas
+ row = pd.DataFrame([[time_str, max_name, max_res]], columns=['Time', 'Signal', 'Resolution'])
+ signal_log = signal_log.append(row, ignore_index=True)
if max_res > detection_threshold:
From 6a08c5293397d6b45a5acdb029f09e4e554cd2bb Mon Sep 17 00:00:00 2001
From: Manuel <gomesnelito@gmail.com>
Date: Fri, 22 Oct 2021 15:38:14 +0100
Subject: [PATCH 09/11] Different names for each log file
---
signal_recognition/scripts/signal_panel_recognition.py | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/signal_recognition/scripts/signal_panel_recognition.py b/signal_recognition/scripts/signal_panel_recognition.py
index 6d47c276..f5951231 100755
--- a/signal_recognition/scripts/signal_panel_recognition.py
+++ b/signal_recognition/scripts/signal_panel_recognition.py
@@ -34,8 +34,10 @@ def signal_handler(sig, frame):
global log_path
rospy.loginfo('You pressed Ctrl+C!')
- signal_log.to_csv(log_path + '/signal_log.csv', mode='a', index=False, header=False)
- print(signal_log)
+ curr_time = datetime.now()
+ time_str = str(curr_time.year) + '_' + str(curr_time.month) + '_' + str(curr_time.day) + '__' + str(
+ curr_time.hour) + '_' + str(curr_time.minute)
+ signal_log.to_csv(log_path + '/signal_log_' + time_str + '.csv', mode='a', index=False, header=False)
sys.exit(0)
def main():
From 6e1d29fdacd2ede90e6a035b60525bdff1525951 Mon Sep 17 00:00:00 2001
From: Manuel <gomesnelito@gmail.com>
Date: Wed, 27 Oct 2021 15:01:48 +0100
Subject: [PATCH 10/11] Create new folder for log files and rounded the
percentages
---
signal_recognition/scripts/signal_panel_recognition.py | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/signal_recognition/scripts/signal_panel_recognition.py b/signal_recognition/scripts/signal_panel_recognition.py
index f5951231..19e871ec 100755
--- a/signal_recognition/scripts/signal_panel_recognition.py
+++ b/signal_recognition/scripts/signal_panel_recognition.py
@@ -12,6 +12,7 @@
import pandas as pd
import signal
import sys
+import os
global img_rbg
@@ -105,6 +106,10 @@ def main():
log_path = s + '/log/'
rospy.loginfo(log_path)
+ # If the path does not exist, create it
+ if not os.path.exists(log_path):
+ os.makedirs(log_path)
+
# Create pandas dataframe
signal_log = pd.DataFrame(columns=['Time', 'Signal', 'Resolution'])
@@ -264,7 +269,9 @@ def main():
curr_time.hour) + '_' + str(curr_time.minute) + '_' + str(curr_time.second) + '__' + str(
curr_time.microsecond)
# add image, angle and velocity to the signal_log pandas
- row = pd.DataFrame([[time_str, max_name, max_res]], columns=['Time', 'Signal', 'Resolution'])
+ max_res_round = round(max_res, 3)
+ print(max_res_round)
+ row = pd.DataFrame([[time_str, max_name, max_res_round]], columns=['Time', 'Signal', 'Resolution'])
signal_log = signal_log.append(row, ignore_index=True)
if max_res > detection_threshold:
From 3d75f6e92f515b635fd218b425b6c291e4e4bb76 Mon Sep 17 00:00:00 2001
From: BrunoMonteiro <brunomonteiro98@ua.pt>
Date: Wed, 27 Oct 2021 15:46:56 +0100
Subject: [PATCH 11/11] removed vel_cmd_topic from drive1 and drive2
---
physical_bringup/launch/traxxas_drive_signal1.launch | 1 -
physical_bringup/launch/traxxas_drive_signal2a.launch | 1 -
2 files changed, 2 deletions(-)
diff --git a/physical_bringup/launch/traxxas_drive_signal1.launch b/physical_bringup/launch/traxxas_drive_signal1.launch
index 4970713b..71ec8310 100644
--- a/physical_bringup/launch/traxxas_drive_signal1.launch
+++ b/physical_bringup/launch/traxxas_drive_signal1.launch
@@ -33,7 +33,6 @@
</include>
<include file="$(find physical_bringup)/launch/modules/signal_panel_recognition.launch">
- <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
<arg name="signal_cmd_topic" value="$(arg signal_cmd_topic)"/>
<arg name="image_raw_topic" value="$(arg camera_topic)"/>
</include>
diff --git a/physical_bringup/launch/traxxas_drive_signal2a.launch b/physical_bringup/launch/traxxas_drive_signal2a.launch
index b66e6e72..4755d451 100644
--- a/physical_bringup/launch/traxxas_drive_signal2a.launch
+++ b/physical_bringup/launch/traxxas_drive_signal2a.launch
@@ -33,7 +33,6 @@
</include>
<include file="$(find physical_bringup)/launch/modules/signal_panel_recognition.launch">
- <arg name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
<arg name="signal_cmd_topic" value="$(arg signal_cmd_topic)"/>
<arg name="image_raw_topic" value="$(arg camera_topic)"/>
</include>