Ben/obs det only six cells

.gitignore

@@ -162,5 +162,6 @@ cython_debug/
 # ignore NOVA external repos, log and install  drs
 src/external/
 src/phinix_ui/
+src/manager/
 log/
 install/

build_stack_humble.sh

@@ -0,0 +1,150 @@
+#ARG ROS_DISTRO=humble
+#FROM openvino/ubuntu20_dev:2023.2.0
+#ARG USE_RVIZ
+#ARG BUILD_SEQUENTIAL=0
+#ARG OPENCV_VERSION=4.7.0
+#ENV DEBIAN_FRONTEND=noninteractive
+#USER root
+#RUN useradd -m docker && echo "docker:docker" | chpasswd && adduser docker sudo
+sudo echo 'ALL ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+sudo apt-get update -q && \
+    apt-get upgrade -yq && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -yq --no-install-recommends keyboard-configuration language-pack-en && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -yq --no-install-recommends software-properties-common libusb-1.0-0-dev wget curl git build-essential ca-certificates tzdata tmux gnupg2 \
+        vim sudo lsb-release locales bash-completion zsh iproute2 iputils-ping net-tools dnsutils && \
+    rm -rf /var/lib/apt/lists/*
+
+# setup timezone
+sudo echo 'Etc/UTC' > /etc/timezone && \
+   #  ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
+
+# install packages
+sudo apt-get update && apt-get install -q -y --no-install-recommends \
+    dirmngr \
+    gnupg2 \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup sources.list
+#sudo echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list
+
+# setup keys
+#sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+# setup environment
+#ENV LANG C.UTF-8
+#ENV LC_ALL C.UTF-8
+
+#ENV ROS_DISTRO humble
+
+# install ros2 packages
+sudo apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-ros-core=0.9.2-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# install bootstrap tools
+sudo apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    git \
+    software-properties-common \
+    libusb-1.0-0-dev \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+
+# setup colcon mixin and metadata
+colcon mixin add default \
+      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+
+# install ros2 packages
+sudo apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-ros-base=0.9.2-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+sudo apt-get update && apt-get install -y --no-install-recommends \
+    libqt5svg5 ros-humble-rviz2 ros-humble-rviz2 ros-humble-vision-msgs ros-humble-cv-bridge ros-humble-camera-info-manager* ros-humble-image-transport*\
+    && rm -rf /var/lib/apt/lists/*
+
+python3 -m pip install --upgrade pip
+
+# install dependencies for obstacle detector
+python3 -m pip install pyopencl
+
+# install dependencies for TTS
+sudo apt-get update && apt-get install -y --no-install-recommends \
+    libportaudio2
+python3 -m pip install sounddevice 
+python3 -m pip install -i https://pypi.fury.io/balacoon/ balacoon-tts
+python3 -m pip install pydub
+
+# install dependencies for Text detection 
+python3 -m pip install pip install rapidocr-openvinogpu
+
+cd /opt/
+# Install OpenCV from Source
+git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv.git && \
+    git clone --depth 1 --branch ${OPENCV_VERSION} https://github.com/opencv/opencv_contrib.git && \
+    cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake \
+	-D CMAKE_BUILD_TYPE=RELEASE \
+	-D CMAKE_INSTALL_PREFIX=/usr/ \
+	-D PYTHON3_PACKAGES_PATH=/usr/lib/python3/dist-packages \
+	-D WITH_V4L=ON \
+	-D WITH_QT=OFF \
+	-D WITH_OPENGL=ON \
+	-D WITH_GSTREAMER=ON \
+	-D OPENCV_GENERATE_PKGCONFIG=ON \
+	-D OPENCV_ENABLE_NONFREE=ON \
+	-D OPENCV_EXTRA_MODULES_PATH=/opt/opencv_contrib/modules \
+	-D INSTALL_PYTHON_EXAMPLES=OFF \
+	-D INSTALL_C_EXAMPLES=OFF \
+	-D BUILD_EXAMPLES=OFF .. && \
+   make -j"$(nproc)" && \
+   make install
+
+# install dependencies for openwakeword
+sudo apt-get update && apt-get install -y --no-install-recommends \
+    libspeexdsp-dev portaudio19-dev python3-pyaudio pulseaudio
+python3 -m pip install openwakeword \
+      https://github.com/dscripka/openWakeWord/releases/download/v0.1.1/speexdsp_ns-0.1.2-cp310-cp310-linux_x86_64.whl
+
+# install dependancies for bt connection 
+pyhton3 -m pip install bluepy
+
+# install dependancies for SFX UI
+python3 -m pip install -U pygame --user
+
+# install dependancies for wakeword
+python3 -m pip install playsound
+
+cd /home/
+mkdir -p /home/PHINIX
+#COPY ./ /home/PHINIX
+# RUN wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/main/install_dependencies.sh | sudo bash
+sh -c "$(wget https://raw.github.com/ohmyzsh/ohmyzsh/master/tools/install.sh -O -)"
+cd /home/PHINIX/src/external && rosdep install --from-paths . --ignore-src  -y
+#ENV DEBIAN_FRONTEND=dialog
+cd /home/PHINIX/src/external && cmake -S depthai-python/depthai-core -B /build -D CMAKE_BUILD_TYPE=Release -D BUILD_SHARED_LIBS=ON -D CMAKE_INSTALL_PREFIX=/usr/local
+cmake --build /build --parallel 4 --config Relase --target install
+cd /home/PHINIX/src/external/depthai-python && python3 -m pip install .
+python3 -m pip install blobconverter
+sudo apt install pocl-opencl-icd -y
+python3 -m pip install rapidocr_openvino
+python3 -m pip install ultralytics==8.0.231
+sudo apt-get install libspeexdsp-dev
+python3 -m pip install openwakeword https://github.com/dscripka/openWakeWord/releases/download/v0.1.1/speexdsp_ns-0.1.2-cp310-cp310-linux_x86_64.whl
+cd /home/PHINIX

docs/setup_local.md

@@ -1,7 +1,7 @@
 ## This document describes how to setup NUC to run PHINIX locally. 
 
 ### Install Ubuntu
-* Download Ubuntu 20.04 from [here](https://releases.ubuntu.com/focal/)
+* Follow instructions to install Ubuntu 22.04-iot and GPU drivers [here](https://github.com/intel/edge-insights-vision) 
 
 * Installation: follow the instructions from [here](https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview).
 
@@ -13,41 +13,28 @@
 
 * Set up SSH key using [this](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent).
 
-### Install ROS2 Foxy
-* Install ROS2 Foxy using the binary version. Follow [this](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
+### Install ROS2 Humble
+* Install ROS2 Humble using the binary version. Follow [this](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
 
-* Include `source /opt/ros/foxy/setup.bash` in bashrc.
+* Include `source /opt/ros/humble/setup.bash` in bashrc.
 
 * Make sure ROS2 installed correctly by running the talker listener examples explained in the above link.
 
 * Install colcon for ROS2, follow [here](https://colcon.readthedocs.io/en/released/user/installation.html).
 
-### Install VCS tool 
-* `sudo pip install vcstool`
+### Install Dependancies
+* `sudo sh build_stack_humble.sh`
 
-### Install OpenVINO
-* Install OpenVino following the steps [here](https://docs.openvino.ai/latest/openvino_docs_install_guides_installing_openvino_from_archive_linux.html).
+### Test With DepthAi Demo
+* To make sure the camera is functioning properly, you can run the DepthAi demo `https://github.com/luxonis/depthai#depthai-api-demo-program`
 
-* Install development tools by following C++ instructions [here](https://docs.openvino.ai/latest/openvino_docs_install_guides_install_dev_tools.html#install-dev-tools).
+### Pull External Repos
+* `sh setup_code.sh`
 
-* Install requirements for at least tensorflow2, pytorch, onnx. Eg: `pip install -r tools/requirements_pytorch.txt`
+### Build PHINIX
+* Source ROS2 `source /opt/ros/humble/setup.bash`
+* Build PHINX `colcon build`
+* Source your install folder `source install/setup.bash`
 
-* [This](https://docs.openvino.ai/2022.3/notebooks/002-openvino-api-with-output.html#loading-openvino-runtime-and-showing-info) example should be working.
-
-* Install Opencl Openvino runtime : https://github.com/intel/compute-runtime/
-
-* Install GPU requirements: https://github.com/intel/compute-runtime/releases/tag/22.35.24055
-
-### Install depthai-ros
-
-* Follow steps [here](https://github.com/luxonis/depthai-ros).
-
-* Probably building from source is a better idea as it provides more control. Check [here](https://github.com/luxonis/depthai-ros#install-from-source)
-
-* `ros2 launch depthai_ros_driver camera.launch.py` should produce the necessary topics.
-
-* Note: The above command doesn’t work for OAK-D Lite.
-
-### Text detection (currently only OpenVINO GPU is supported)
-
-* `python3 -m pip install rapidocr-openvinogpu`
+### Launch all nodes at once with launch.py
+* `ros2 launch phinix_launch phinix.launch.py camera_model:=OAK-D-PRO-W`

phinix.repos

@@ -1,13 +1,35 @@
 repositories:
-  src/external/depthai-ros:
+  src/manager/phinix_node_manager:
     type: git
-    url: https://github.com/luxonis/depthai-ros.git
-    version: foxy
+    url: [email protected]:ximira-org/phinix_node_manager.git
+    version: main
+
   src/phinix_ui/phinix_tts_balacoon:
     type: git
     url: [email protected]:ximira-org/phinix_tts_balacoon.git
-    version: main
+    version: ben/tts_broadcasts_availability
+
   src/phinix_ui/phinix_openwakeword:
     type: git
     url: [email protected]:ximira-org/phinix_openwakeword.git
-    version: main
+    version: ben/connect_to_node_manager
+
+  src/phinix_ui/phinix_sound_effects_ui:
+    type: git
+    url: [email protected]:ximira-org/phinix_sound_effects_ui.git
+    version: ben/direct_depth_sfx_ui
+
+  src/phinix_ui/phinix_haptics_ui:
+    type: git
+    url: [email protected]:ximira-org/phinix_haptics_ui.git
+    version: main
+
+  src/phinix_ui/phinix_ui_message_juggler:
+    type: git
+    url: [email protected]:ximira-org/phinix_ui_message_juggler.git
+    version: ben/integrate_with_ui
+
+  src/phinix_ui/phinix_obstacle_detector_ui_translator:
+    type: git
+    url: [email protected]:ximira-org/phinix_obstacle_detector_ui_translator.git
+    version: ben/obs_det_only_six_cells

src/launch/phinix_launch/launch/phinix.launch.py

@@ -78,19 +78,49 @@ def generate_launch_description():
         parameters=[LaunchConfiguration('face_rec_node_param_file')],
     )
 
+    phinix_sound_effects_ui_node = Node(
+        package="phinix_sound_effects_ui",
+        executable="phinix_sound_effects_ui_py_exe"
+    )
+
+    phinix_haptics_ui_node = Node(
+        package="phinix_haptics_ui",
+        executable="phinix_haptics_ui_py_exe"
+    )
+
+    phinix_node_manager_node = Node(
+        package="phinix_node_manager",
+        executable="phinix_node_manager_py_exe"
+    )
+
+    phinix_ui_message_juggler_node = Node(
+        package="phinix_ui_message_juggler",
+        executable="phinix_ui_message_juggler_py_exe"
+    )
+
+    phinix_obstacle_detector_ui_translator_node = Node(
+        package="phinix_obstacle_detector_ui_translator",
+        executable="phinix_obstacle_detector_ui_translator_py_exe"
+    )
+
 
     ld = [
         oak_ros_node,
         phinix_obstacle_detector_node,
         tts_balacoon_param,
         face_rec__param,
         phinix_text_detector_node,
-        # phinix_tts_simulator_node,
+        #phinix_tts_simulator_node,
         phinix_tts_balacoon_node,
         phinix_sensor_abstractor_node,
         phinix_face_rec_node,
         phinix_face_reg_node,
-        # phinix_wakeword_node
+        phinix_wakeword_node,
+        phinix_sound_effects_ui_node,
+        phinix_haptics_ui_node,
+        phinix_node_manager_node,
+        phinix_ui_message_juggler_node,
+        phinix_obstacle_detector_ui_translator_node
     ]
 
     return LaunchDescription(ld)