Merge pull request #89 from AutomecUA/dev

Release 0.2.0

.gitignore

@@ -109,6 +109,7 @@ venv/
 ENV/
 env.bak/
 venv.bak/
+automec_env/
 
 # Spyder project settings
 .spyderproject
@@ -132,8 +133,9 @@ dmypy.json
 .vscode
 
 
-# images
-*.jpg
+# databases and models
+cnn/data/**
+cnn/models/**
 
 # csv
 *.csv

README.md

@@ -84,10 +84,9 @@ And add the previous line to the end of your file. Same procedure if you use zsh
 To Save press Cntrl+O , Enter . Cntrl+X to exit
 
 # Ackerman dependencies
-    sudo apt install ros-noetic-ros-controllers
-    sudo apt-get install ros-noetic-ackermann-msgs
+    sudo apt-get install ros-noetic-ros-controllers ros-noetic-ackermann-msgs
 
-# Launch woth ackerman
+# Launch with ackerman
     roslaunch ackermann_vehicle_gazebo ackermann_robot_with_arena_conversion.launch
 
 # Running the simulation enviroment

cnn/launch/driving1.launch

@@ -3,8 +3,8 @@
   <arg name="image_raw_topic" default="/ackermann_vehicle/camera/rgb/image_raw" />
   <arg name="twist_cmd_topic" default="/cmd_vel" />
   <arg name="twist_linear_x" default="1" />
+  <arg name="signal_cmd_topic" default=""/>
   <arg name="vel_cmd_topic" default="" /> <!-- /android_input_vel -->
-  <arg name="float_cmd_topic" default="" /> <!-- /flt_cmd -->
   <arg name="model" default=""/>
 
   <group if="$(eval arg('model') != '')">
@@ -13,7 +13,7 @@
       <param name="twist_cmd_topic" value="$(arg twist_cmd_topic)" />
       <param name="twist_linear_x" value="$(arg twist_linear_x)" />
       <param name="vel_cmd_topic" value="$(arg vel_cmd_topic)" />
-      <param name="float_cmd_topic" value="$(arg float_cmd_topic)" />
+      <param name="signal_cmd_topic" value="$(arg signal_cmd_topic)"/>
       <param name="modelname" value="$(arg model)" />
     </node>
   </group>

cnn/launch/driving2a.launch

@@ -3,19 +3,18 @@
   <arg name="image_raw_topic" default="/ackermann_vehicle/camera/rgb/image_raw" />
   <arg name="twist_cmd_topic" default="/cmd_vel" />
   <arg name="twist_linear_x" default="1" />
-  <arg name="float_cmd_topic" default="" /> <!-- /flt_cmd -->
+  <arg name="signal_cmd_topic" default=""/>
+  <arg name="vel_cmd_topic" default="" />
   <arg name="model" default=""/>
-  <arg name="vel_cmd_topic" default="android_input_vel" />
-
 
   <group if="$(eval arg('model') != '')">
     <node name="driving" pkg="cnn" type="drive2a.py" output="screen" required="true" >
       <param name="image_raw_topic" value="$(arg image_raw_topic)" />
       <param name="twist_cmd_topic" value="$(arg twist_cmd_topic)" />
       <param name="twist_linear_x" value="$(arg twist_linear_x)" />
-      <param name="float_cmd_topic" value="$(arg float_cmd_topic)" />
-      <param name="modelname" value="$(arg model)" />
       <param name="vel_cmd_topic" value="$(arg vel_cmd_topic)" />
+      <param name="signal_cmd_topic" value="$(arg signal_cmd_topic)"/>
+      <param name="modelname" value="$(arg model)" />
     </node>
   </group>
 

cnn/launch/training1.launch

@@ -5,6 +5,9 @@
   <arg name="batch_size" default="32"/>
   <arg name="folder" default="set1"/>
   <arg name="model" default="model1.h5"/>
+  <arg name="width" default="320"/>
+  <arg name="height" default="160"/>
+
 
   <!--
   <arg name="folder" default=""/>
@@ -17,6 +20,8 @@
       <param name="base_folder" value="$(arg folder)"/>
       <param name="modelname" value="$(arg model)"/>
       <param name="batch_size" value="$(arg batch_size)"/>
+      <param name="width" value="$(arg width)"/>
+      <param name="height" value="$(arg height)"/>
     </node>
   <!--</group>-->
 

cnn/launch/write.launch

@@ -2,18 +2,29 @@
 
   <arg name="image_raw_topic" default="/ackermann_vehicle/camera/rgb/image_raw"/>
   <arg name="twist_cmd_topic" default="/cmd_vel"/>
+  <arg name="vel_cmd_topic" default=""/>
   <arg name="folder" default="set1"/>
   <arg name="rate" default="30"/>
   <arg name="width" default="320"/>
   <arg name="height" default="160"/>
+  <!-- only for yaml file -->
+  <arg name="cam_height" default=""/>
+  <arg name="cam_angle" default=""/>
+  <arg name="env" default=""/>
+  <arg name="vel" default="0"/>
 
     <node name="cnn_write" pkg="cnn" type="write.py" output="screen" required="true">
       <param name="image_raw_topic" value="$(arg image_raw_topic)"/>
       <param name="twist_cmd_topic" value="$(arg twist_cmd_topic)"/>
+      <param name="vel_cmd_topic" value="$(arg vel_cmd_topic)"/>
       <param name="folder" value="$(arg folder)"/>
       <param name="rate" value="$(arg rate)"/>
       <param name="width" value="$(arg width)"/>
       <param name="height" value="$(arg height)"/>
+      <param name="cam_height" value="$(arg cam_height)"/>
+      <param name="cam_angle" value="$(arg cam_angle)"/>
+      <param name="env" value="$(arg env)"/>
+      <param name="vel" value="$(arg vel)"/>
     </node>
 
 </launch>

cnn/scripts/cnn1/driving1.py

@@ -23,7 +23,7 @@
 global begin_img
 
 def preProcess(img):
-    # Define Region of intrest- Perguntar ao Daniel se corto ou não , problema do angulo da camera
+    # Define Region of interest
     #img = img[60:135, :, :]
     img = cv2.cvtColor(img, cv2.COLOR_RGB2YUV)
     img = cv2.GaussianBlur(img,  (3, 3), 0)
@@ -40,33 +40,48 @@ def message_RGB_ReceivedCallback(message):
 
     begin_img = True
 
-def signal_Callback(message):
-    global vel
 
-    vel = message.data
+def signalCallback(message):
+    global vel
+    global velbool
+    global twist_linear_x
+
+    # If we receive a positive message from the signal topic, we should go. If not, we should stop.
+    if message.data:
+        vel = twist_linear_x
+        velbool = True
+    else:
+        vel = 0
+        velbool = False
 
 
 def main():
 
     # Global variables
-    global vel
+    global vel, velbool
     global img_rbg
     global bridge
     global begin_img
-    begin_img = False
+    global twist_linear_x
 
+    # Defining starting values
+    begin_img = False
+    vel = 0
+    velbool = False
     twist = Twist()
 
     # Init Node
     rospy.init_node('driving', anonymous=False)
 
-    image_raw_topic = rospy.get_param('~image_raw_topic', '/ackermann_vehicle/camera/rgb/image_raw') 
-    twist_cmd_topic = rospy.get_param('~twist_cmd_topic', '/cmd_vel') 
-    vel_cmd_topic = rospy.get_param('~vel_cmd_topic', '') 
+    # Getting parameters
+    image_raw_topic = rospy.get_param('~image_raw_topic', '/ackermann_vehicle/camera/rgb/image_raw')
+    twist_cmd_topic = rospy.get_param('~twist_cmd_topic', '')
+    vel_cmd_topic = rospy.get_param('~vel_cmd_topic', '')
     twist_linear_x = rospy.get_param('~twist_linear_x', 1)
-    float_cmd_topic = rospy.get_param('~float_cmd_topic', '') 
+    signal_cmd_topic = rospy.get_param('~signal_cmd_topic', '')
     modelname = rospy.get_param('~modelname', 'model1.h5')
 
+    # Defining path to model
     s = str(pathlib.Path(__file__).parent.absolute())
     path = s + '/../../models/cnn1_' + modelname
 
@@ -75,25 +90,27 @@ def main():
 
     # Subscribe and publish topics
     rospy.Subscriber(image_raw_topic, Image, message_RGB_ReceivedCallback)
-
-    # does we need to check float_cmd_topic ?
-    if float_cmd_topic != '':
-        vel = 0
-        rospy.Subscriber(float_cmd_topic, Float32, signal_Callback)
-
-    vel = twist_linear_x
 
-    pub = rospy.Publisher(twist_cmd_topic, Twist, queue_size=10)
+    # If there is the signal topic, it should subscribe to it and act accordingly.
+    # If not, the velocity should be max.
+    if signal_cmd_topic == '':
+        vel = twist_linear_x
+        velbool = True
+    else:
+        rospy.Subscriber(signal_cmd_topic, Bool, signalCallback)
+
+    # Differentiation between gazebo and real car
+    if twist_cmd_topic != '':
+        pub = rospy.Publisher(twist_cmd_topic, Twist, queue_size=10)
 
-    # does we need to publish vel_cmd_topic ?
     if vel_cmd_topic != '':
         pub_velocity = rospy.Publisher(vel_cmd_topic, Bool, queue_size=10)
-        print('Boolean is on')
-    
+
+
     # Create an object of the CvBridge class
     bridge = CvBridge()
 
-    #Frames per second 
+    #Frames per second
     rate = rospy.Rate(30)
 
     while not rospy.is_shutdown():
@@ -114,17 +131,18 @@ def main():
 
         # Send twist
         twist.linear.x = vel
-        #twist.linear.x = 1
         twist.linear.y = 0
         twist.linear.z = 0
         twist.angular.x = 0
         twist.angular.y = 0
         twist.angular.z = angle
 
-        pub.publish(twist)
+        # To avoid any errors
+        if twist_cmd_topic != '':
+            pub.publish(twist)
 
         if vel_cmd_topic != '':
-            pub_velocity.publish(True)
+            pub_velocity.publish(velbool)
 
         rate.sleep()