diff --git a/ReadMe.md b/ReadMe.md new file mode 100644 index 0000000..25fb011 --- /dev/null +++ b/ReadMe.md @@ -0,0 +1,8 @@ +### ReadMe + +Using keyboard to control the vehicle + +``` +roslaunch r_gator_launch r_gator_highbay.launch +``` + diff --git a/images/Polaris_GEM_e2.png b/images/Polaris_GEM_e2.png new file mode 100755 index 0000000..91fa721 Binary files /dev/null and b/images/Polaris_GEM_e2.png differ diff --git a/images/example_gazebo.png b/images/example_gazebo.png new file mode 100755 index 0000000..c6fda2d Binary files /dev/null and b/images/example_gazebo.png differ diff --git a/images/example_rviz.png b/images/example_rviz.png new file mode 100755 index 0000000..3f8ecd5 Binary files /dev/null and b/images/example_rviz.png differ diff --git a/images/highbay_gazebo.png b/images/highbay_gazebo.png new file mode 100755 index 0000000..a438590 Binary files /dev/null and b/images/highbay_gazebo.png differ diff --git a/images/highbay_rviz.png b/images/highbay_rviz.png new file mode 100755 index 0000000..e024dd9 Binary files /dev/null and b/images/highbay_rviz.png differ diff --git a/images/pp_controller.gif b/images/pp_controller.gif new file mode 100755 index 0000000..97bbc91 Binary files /dev/null and b/images/pp_controller.gif differ diff --git a/images/simple_track_gazebo.png b/images/simple_track_gazebo.png new file mode 100755 index 0000000..0dc0d99 Binary files /dev/null and b/images/simple_track_gazebo.png differ diff --git a/images/simple_track_rviz.png b/images/simple_track_rviz.png new file mode 100755 index 0000000..b297dd8 Binary files /dev/null and b/images/simple_track_rviz.png differ diff --git a/images/stanley_controller_gazebo.gif b/images/stanley_controller_gazebo.gif new file mode 100755 index 0000000..9cc7bcf Binary files /dev/null and b/images/stanley_controller_gazebo.gif differ diff --git a/images/stanley_controller_rviz.gif b/images/stanley_controller_rviz.gif new file mode 100755 index 0000000..37b719a Binary files /dev/null and b/images/stanley_controller_rviz.gif differ diff --git a/images/track2_gazebo.png b/images/track2_gazebo.png new file mode 100755 index 0000000..f68389b Binary files /dev/null and b/images/track2_gazebo.png differ diff --git a/r_gator_simulator/r_gator_description/CMakeLists.txt b/r_gator_simulator/r_gator_description/CMakeLists.txt new file mode 100755 index 0000000..6e08fae --- /dev/null +++ b/r_gator_simulator/r_gator_description/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(r_gator_description) + +find_package(roslaunch) +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch urdf meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/r_gator_simulator/r_gator_description/LICENSE b/r_gator_simulator/r_gator_description/LICENSE new file mode 100755 index 0000000..237c676 --- /dev/null +++ b/r_gator_simulator/r_gator_description/LICENSE @@ -0,0 +1,27 @@ +Software License Agreement (BSD License) + +Copyright (c) 2018-2025, Center for Autonomy (University of Illinois at Urbana-Champaign). +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + * Neither the name of Dataspeed Inc. nor the names of its + contributors may be used to endorse or promote products derived from this + software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/r_gator_simulator/r_gator_description/launch/r_gator_description.launch b/r_gator_simulator/r_gator_description/launch/r_gator_description.launch new file mode 100755 index 0000000..365888e --- /dev/null +++ b/r_gator_simulator/r_gator_description/launch/r_gator_description.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_description/meshes/base_link.STL 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b/r_gator_simulator/r_gator_description/meshes/right_fixed_hinge_link.STL differ diff --git a/r_gator_simulator/r_gator_description/meshes/right_steering_hinge_link.STL b/r_gator_simulator/r_gator_description/meshes/right_steering_hinge_link.STL new file mode 100755 index 0000000..01cb60e Binary files /dev/null and b/r_gator_simulator/r_gator_description/meshes/right_steering_hinge_link.STL differ diff --git a/r_gator_simulator/r_gator_description/meshes/top_rack_link.STL b/r_gator_simulator/r_gator_description/meshes/top_rack_link.STL new file mode 100755 index 0000000..33cbd12 Binary files /dev/null and b/r_gator_simulator/r_gator_description/meshes/top_rack_link.STL differ diff --git a/r_gator_simulator/r_gator_description/package.xml b/r_gator_simulator/r_gator_description/package.xml new file mode 100755 index 0000000..c4413bc --- /dev/null +++ b/r_gator_simulator/r_gator_description/package.xml @@ -0,0 +1,23 @@ + + + r_gator_description + 1.0.0 + The gem_description is the description of gem vehicle + Hang Cui + Hang Cui + https://github.com/hangcui1201/POLARIS_GEM_e2_Simulator.git + BSD + catkin + roslaunch + rviz + gazebo_ros + xacro + robot_state_publisher + joint_state_publisher + gazebo_ros_control + hardware_interface + transmission_interface + + + + diff --git a/r_gator_simulator/r_gator_description/urdf/gem.gazebo b/r_gator_simulator/r_gator_description/urdf/gem.gazebo new file mode 100755 index 0000000..b569a60 --- /dev/null +++ b/r_gator_simulator/r_gator_description/urdf/gem.gazebo @@ -0,0 +1,445 @@ + + + + + Gazebo/Red + + + + Gazebo/Red + + + + 10000 + 100000000 + 1000000 + 1e8 + 0.001 + 100.0 + Gazebo/Blue + + + + 10000 + 100000000 + 1000000 + 1e8 + 0.001 + 100.0 + Gazebo/Blue + + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + + 0.9 + 1000000 + 0.005 + 1e8 + Gazebo/Black + + + + + + + + + Gazebo/White + + + + Gazebo/Grey + + + + Gazebo/White + + + + + + Gazebo/Black + + + + Gazebo/Black + + + + Gazebo/Black + + + + Gazebo/Red + + + + Gazebo/Red + + + + Gazebo/Red + + + + Gazebo/Red + + + + Gazebo/Red + + + + Gazebo/Red + + + + Gazebo/Red + + + + Gazebo/White + + + + Gazebo/White + + + + Gazebo/Orange + + + + Gazebo/Orange + + + + Gazebo/Orange + + + + Gazebo/Orange + + + + Gazebo/Blue + + + + Gazebo/Blue + + + + Gazebo/Grey + + + + Gazebo/Grey + + + + Gazebo/Red + + + + Gazebo/Red + + + + Gazebo/Red + + + + Gazebo/Red + + + + Gazebo/Orange + + + + Gazebo/Orange + + + + Gazebo/Red + + + + + true + gazebo_ros_control/DefaultRobotHWSim + + + + + + + + + 30.0 + + + 1.5707963 + + 640 + 480 + + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 0.0 + front_single_camera + image_raw + camera_info + front_single_camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + true + IMU_link + IMU_link + imu + imu_service + 0.0 + 50.0 + + + + + + + + 20.0 + GPS_link + GPS_link + /gps/fix + /gps/fix_velocity + 40.09302494 + -88.23575484 + 90 + 220 + 0 0 0 + 0.001 0.001 0.001 + 0.05 0.05 0.05 + 0.001 0.001 0.001 + 0.5 0.5 0.5 + + + + + + + + + + + + true + 20 + 0 0 0 0 0 0 + false + + + + 2 + 1 + -28 + 28 + + + 2 + 1 + -28 + 28 + + + + 0.3 + 5 + 0.01 + + + + 0.005 + /front_sonar_distance + front_sonar_link + + + + + + + + + true + 20 + 0 0 0 0 0 0 + false + + + + 2 + 1 + -28 + 28 + + + 2 + 1 + -28 + 28 + + + + 0.3 + 5 + 0.01 + + + + 0.005 + /rear_sonar_distance + rear_sonar_link + + + + + + + + + 30.0 + + 1.5707963 + + 800 + 600 + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + 0 -0.07 0 0 0 0 + 1.5707963 + + 800 + 600 + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 0.0 + stereo/camera + image_raw + camera_info + stereo_camera_link + + + 0.5 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_description/urdf/gem.urdf.xacro b/r_gator_simulator/r_gator_description/urdf/gem.urdf.xacro new file mode 100755 index 0000000..060d5e2 --- /dev/null +++ b/r_gator_simulator/r_gator_description/urdf/gem.urdf.xacro @@ -0,0 +1,1437 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_description/urdf/macros.xacro b/r_gator_simulator/r_gator_description/urdf/macros.xacro new file mode 100755 index 0000000..c9fa1ab --- /dev/null +++ b/r_gator_simulator/r_gator_description/urdf/macros.xacro @@ -0,0 +1,33 @@ + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + diff --git a/r_gator_simulator/r_gator_description/urdf/materials.xacro b/r_gator_simulator/r_gator_description/urdf/materials.xacro new file mode 100755 index 0000000..8a9f85b --- /dev/null +++ b/r_gator_simulator/r_gator_description/urdf/materials.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_description/urdf/sick_laser_points.gazebo b/r_gator_simulator/r_gator_description/urdf/sick_laser_points.gazebo new file mode 100755 index 0000000..e3f38bd --- /dev/null +++ b/r_gator_simulator/r_gator_description/urdf/sick_laser_points.gazebo @@ -0,0 +1,46 @@ + + + + + + + + + Gazebo/Orange + + + + + + 0 0 0 0 0 0 + true + 75 + + + + 180 + 1 + -1.57 + 1.57 + + + + 1.5 + 80.0 + 0.05 + + + + front_laser_points + 75 + front_laser_link + 0.02 + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/CMakeLists.txt b/r_gator_simulator/r_gator_gazebo/CMakeLists.txt new file mode 100755 index 0000000..7f17937 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(r_gator_gazebo) + +find_package(catkin REQUIRED COMPONENTS + cv_bridge + roscpp + rospy + sensor_msgs + geometry_msgs + ackermann_msgs + std_msgs +) + +catkin_package() + +catkin_install_python(PROGRAMS scripts/r_gator_control.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +catkin_install_python(PROGRAMS scripts/r_gator_sensor_info.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY config launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/r_gator_simulator/r_gator_gazebo/LICENSE b/r_gator_simulator/r_gator_gazebo/LICENSE new file mode 100755 index 0000000..237c676 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/LICENSE @@ -0,0 +1,27 @@ +Software License Agreement (BSD License) + +Copyright (c) 2018-2025, Center for Autonomy (University of Illinois at Urbana-Champaign). +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + * Neither the name of Dataspeed Inc. nor the names of its + contributors may be used to endorse or promote products derived from this + software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/r_gator_simulator/r_gator_gazebo/config/gem_ackermann_control_params.yaml b/r_gator_simulator/r_gator_gazebo/config/gem_ackermann_control_params.yaml new file mode 100755 index 0000000..1ec922c --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/config/gem_ackermann_control_params.yaml @@ -0,0 +1,21 @@ +left_front_wheel: + steering_link_name: front_left_wheel_link + steering_controller_name: left_steering_ctrlr + axle_controller_name: left_front_wheel_ctrlr + diameter: 0.59 # tire diameter + +right_front_wheel: + steering_link_name: front_right_wheel_link + steering_controller_name: right_steering_ctrlr + axle_controller_name: right_front_wheel_ctrlr + diameter: 0.59 # tire diameter + +left_rear_wheel: + link_name: rear_left_wheel_link + axle_controller_name: left_rear_wheel_ctrlr + diameter: 0.59 # tire diameter + +right_rear_wheel: + link_name: rear_right_wheel_link + axle_controller_name: right_rear_wheel_ctrlr + diameter: 0.59 # tire diameter diff --git a/r_gator_simulator/r_gator_gazebo/config/gem_joint_control_params.yaml b/r_gator_simulator/r_gator_gazebo/config/gem_joint_control_params.yaml new file mode 100755 index 0000000..2f0c6f6 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/config/gem_joint_control_params.yaml @@ -0,0 +1,35 @@ +joint_state_ctrlr: + type: joint_state_controller/JointStateController + publish_rate: 30 + +left_steering_ctrlr: + joint: left_steering_hinge_joint + type: effort_controllers/JointPositionController + pid: {p: 35.0, i: 0.0, d: 5.0} + +right_steering_ctrlr: + joint: right_steering_hinge_joint + type: effort_controllers/JointPositionController + pid: {p: 35.0, i: 0.0, d: 5.0} + +left_front_wheel_ctrlr: + joint: front_left_wheel_joint + type: effort_controllers/JointVelocityController + pid: {p: 10, i: 1.0, d: 0.0, i_clamp: 5.0} + +right_front_wheel_ctrlr: + joint: front_right_wheel_joint + type: effort_controllers/JointVelocityController + pid: {p: 10, i: 1.0, d: 0.0, i_clamp: 5.0} + +left_rear_wheel_ctrlr: + joint: rear_left_wheel_joint + type: effort_controllers/JointVelocityController + pid: {p: 10, i: 1.0, d: 0.0, i_clamp: 5.0} + +right_rear_wheel_ctrlr: + joint: rear_right_wheel_joint + type: effort_controllers/JointVelocityController + pid: {p: 10, i: 1.0, d: 0.0, i_clamp: 5.0} + + diff --git a/r_gator_simulator/r_gator_gazebo/config/r_gator_ackermann_control_params.yaml b/r_gator_simulator/r_gator_gazebo/config/r_gator_ackermann_control_params.yaml new file mode 100755 index 0000000..1ec922c --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/config/r_gator_ackermann_control_params.yaml @@ -0,0 +1,21 @@ +left_front_wheel: + steering_link_name: front_left_wheel_link + steering_controller_name: left_steering_ctrlr + axle_controller_name: left_front_wheel_ctrlr + diameter: 0.59 # tire diameter + +right_front_wheel: + steering_link_name: front_right_wheel_link + steering_controller_name: right_steering_ctrlr + axle_controller_name: right_front_wheel_ctrlr + diameter: 0.59 # tire diameter + +left_rear_wheel: + link_name: rear_left_wheel_link + axle_controller_name: left_rear_wheel_ctrlr + diameter: 0.59 # tire diameter + +right_rear_wheel: + link_name: rear_right_wheel_link + axle_controller_name: right_rear_wheel_ctrlr + diameter: 0.59 # tire diameter diff --git a/r_gator_simulator/r_gator_gazebo/config/r_gator_joint_control_params.yaml b/r_gator_simulator/r_gator_gazebo/config/r_gator_joint_control_params.yaml new file mode 100755 index 0000000..a560564 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/config/r_gator_joint_control_params.yaml @@ -0,0 +1,35 @@ +joint_state_ctrlr: + type: joint_state_controller/JointStateController + publish_rate: 30 + +left_steering_ctrlr: + joint: left_steering_hinge_joint + type: effort_controllers/JointPositionController + pid: {p: 1000.0, i: 1.0, d: 5.0} + +right_steering_ctrlr: + joint: right_steering_hinge_joint + type: effort_controllers/JointPositionController + pid: {p: 1000.0, i: 1.0, d: 5.0} + +left_front_wheel_ctrlr: + joint: front_left_wheel_joint + type: effort_controllers/JointVelocityController + pid: {p: 1000.0, i: 1.0, d: 0.0, i_clamp: 5.0} + +right_front_wheel_ctrlr: + joint: front_right_wheel_joint + type: effort_controllers/JointVelocityController + pid: {p: 1000.0, i: 1.0, d: 0.0, i_clamp: 5.0} + +left_rear_wheel_ctrlr: + joint: rear_left_wheel_joint + type: effort_controllers/JointVelocityController + pid: {p: 1000.0, i: 1.0, d: 0.0, i_clamp: 5.0} + +right_rear_wheel_ctrlr: + joint: rear_right_wheel_joint + type: effort_controllers/JointVelocityController + pid: {p: 1000.0, i: 1.0, d: 0.0, i_clamp: 5.0} + + diff --git a/r_gator_simulator/r_gator_gazebo/launch/gem_vehicle.zip b/r_gator_simulator/r_gator_gazebo/launch/gem_vehicle.zip new file mode 100755 index 0000000..c941efd Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/launch/gem_vehicle.zip differ diff --git a/r_gator_simulator/r_gator_gazebo/launch/r_gator_vehicle.launch b/r_gator_simulator/r_gator_gazebo/launch/r_gator_vehicle.launch new file mode 100755 index 0000000..a9e30ec --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/launch/r_gator_vehicle.launch @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/media/materials/scripts/ds_sim.material b/r_gator_simulator/r_gator_gazebo/media/materials/scripts/ds_sim.material new file mode 100755 index 0000000..2e72832 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/media/materials/scripts/ds_sim.material @@ -0,0 +1,76 @@ +material DSSim/Road +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture road.png + filtering none + } + } + } +} + +material DSSim/Intersection +{ + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.01 0.01 0.01 1.0 2.0 + + texture_unit + { + texture intersection.png + filtering none + } + } + } +} + +material DSSim/GrassBackground +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.2 0.2 0.2 1.0 12.5 + + texture_unit + { + texture grass.png + scale 0.0001 0.0001 + filtering trilinear + } + } + } +} + +material DSSim/DSCube +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 0.2 0.2 0.2 1.0 12.5 + + texture_unit + { + texture ds_cube.png + filtering trilinear + } + } + } +} diff --git a/r_gator_simulator/r_gator_gazebo/media/materials/textures/ds_cube.png b/r_gator_simulator/r_gator_gazebo/media/materials/textures/ds_cube.png new file mode 100755 index 0000000..dd0285e Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/media/materials/textures/ds_cube.png differ diff --git a/r_gator_simulator/r_gator_gazebo/media/materials/textures/grass.png b/r_gator_simulator/r_gator_gazebo/media/materials/textures/grass.png new file mode 100755 index 0000000..0eec5a7 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/media/materials/textures/grass.png differ diff --git a/r_gator_simulator/r_gator_gazebo/media/materials/textures/intersection.png b/r_gator_simulator/r_gator_gazebo/media/materials/textures/intersection.png new file mode 100755 index 0000000..786c3ab Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/media/materials/textures/intersection.png differ diff --git a/r_gator_simulator/r_gator_gazebo/media/materials/textures/road.png b/r_gator_simulator/r_gator_gazebo/media/materials/textures/road.png new file mode 100755 index 0000000..61fba79 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/media/materials/textures/road.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/54m_redline/materials/scripts/my_ground_plane.material b/r_gator_simulator/r_gator_gazebo/models/54m_redline/materials/scripts/my_ground_plane.material new file mode 100755 index 0000000..214f285 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/54m_redline/materials/scripts/my_ground_plane.material @@ -0,0 +1,19 @@ +material MyGroundPlane/Image + { + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + + texture_unit + { + texture MyImage.png + } + } + } + } + + diff --git a/r_gator_simulator/r_gator_gazebo/models/54m_redline/materials/textures/MyImage.png b/r_gator_simulator/r_gator_gazebo/models/54m_redline/materials/textures/MyImage.png new file mode 100755 index 0000000..6f78ee4 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/54m_redline/materials/textures/MyImage.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/54m_redline/model.config b/r_gator_simulator/r_gator_gazebo/models/54m_redline/model.config new file mode 100755 index 0000000..f11ca27 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/54m_redline/model.config @@ -0,0 +1,8 @@ + + + 54m_redline + 1.0 + model.sdf + My textured ground plane. + + diff --git a/r_gator_simulator/r_gator_gazebo/models/54m_redline/model.sdf b/r_gator_simulator/r_gator_gazebo/models/54m_redline/model.sdf new file mode 100755 index 0000000..5c1d7a1 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/54m_redline/model.sdf @@ -0,0 +1,42 @@ + + + + + true + + + + + 0 0 1 + 54 0.1 + + + + + + 100 + 50 + + + + + + false + + + 0 0 1 + 54 0.1 + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/models/92m_redline/materials/scripts/MyGroundPlane.material b/r_gator_simulator/r_gator_gazebo/models/92m_redline/materials/scripts/MyGroundPlane.material new file mode 100755 index 0000000..214f285 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/92m_redline/materials/scripts/MyGroundPlane.material @@ -0,0 +1,19 @@ +material MyGroundPlane/Image + { + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + + texture_unit + { + texture MyImage.png + } + } + } + } + + diff --git a/r_gator_simulator/r_gator_gazebo/models/92m_redline/materials/scripts/my_ground_plane.material b/r_gator_simulator/r_gator_gazebo/models/92m_redline/materials/scripts/my_ground_plane.material new file mode 100755 index 0000000..214f285 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/92m_redline/materials/scripts/my_ground_plane.material @@ -0,0 +1,19 @@ +material MyGroundPlane/Image + { + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + + texture_unit + { + texture MyImage.png + } + } + } + } + + diff --git a/r_gator_simulator/r_gator_gazebo/models/92m_redline/materials/textures/MyImage.png b/r_gator_simulator/r_gator_gazebo/models/92m_redline/materials/textures/MyImage.png new file mode 100755 index 0000000..6f78ee4 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/92m_redline/materials/textures/MyImage.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/92m_redline/model.config b/r_gator_simulator/r_gator_gazebo/models/92m_redline/model.config new file mode 100755 index 0000000..2124f03 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/92m_redline/model.config @@ -0,0 +1,8 @@ + + + 92m_redline + 1.0 + model.sdf + My textured ground plane. + + diff --git a/r_gator_simulator/r_gator_gazebo/models/92m_redline/model.sdf b/r_gator_simulator/r_gator_gazebo/models/92m_redline/model.sdf new file mode 100755 index 0000000..d07a294 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/92m_redline/model.sdf @@ -0,0 +1,42 @@ + + + + + true + + + + + 0 0 1 + 92 0.1 + + + + + + 100 + 50 + + + + + + false + + + 0 0 1 + 92 0.1 + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/models/bars/materials/scripts/yellow.material b/r_gator_simulator/r_gator_gazebo/models/bars/materials/scripts/yellow.material new file mode 100755 index 0000000..365b72a --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/bars/materials/scripts/yellow.material @@ -0,0 +1,19 @@ +material yellow + { + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + + texture_unit + { + texture yellow.jpg + } + } + } + } + + diff --git a/r_gator_simulator/r_gator_gazebo/models/bars/materials/textures/yellow.jpg b/r_gator_simulator/r_gator_gazebo/models/bars/materials/textures/yellow.jpg new file mode 100755 index 0000000..bcc6db8 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/bars/materials/textures/yellow.jpg differ diff --git a/r_gator_simulator/r_gator_gazebo/models/bars/meshes/bars.dae b/r_gator_simulator/r_gator_gazebo/models/bars/meshes/bars.dae new file mode 100755 index 0000000..ed3003d --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/bars/meshes/bars.dae @@ -0,0 +1,59 @@ + + + + + Blender User + Blender 2.93.1 commit date:2021-06-22, commit time:05:57, hash:1b8d33b18c2f + + 2021-08-01T20:09:36 + 2021-08-01T20:09:36 + + Z_UP + + + + + + + 1422.595 100 68.77446 72.59536 100 1493.775 1422.595 0 68.77446 72.59536 0 1493.775 1350 100 0 1350 0 0 0 100 1425 0 0 1425 2700 100 0 2772.595 100 68.77446 2700 0 0 2772.595 0 68.77446 0 100 2850 0 0 2850 2700 0 0 72.59536 100 2918.775 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model://ds_straight_road_50m/meshes/straight_road_50m.dae + + + + + + + + model://ds_straight_road_50m/meshes/straight_road_50m.dae + + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/models/grassland/materials/scripts/my_ground_plane.material b/r_gator_simulator/r_gator_gazebo/models/grassland/materials/scripts/my_ground_plane.material new file mode 100755 index 0000000..f6666a3 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/grassland/materials/scripts/my_ground_plane.material @@ -0,0 +1,19 @@ +material grass/Image + { + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + + texture_unit + { + texture grass.png + } + } + } + } + + diff --git a/r_gator_simulator/r_gator_gazebo/models/grassland/materials/textures/grass.png b/r_gator_simulator/r_gator_gazebo/models/grassland/materials/textures/grass.png new file mode 100755 index 0000000..9f21a0e Binary files /dev/null and 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a/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/GuardRail.png b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/GuardRail.png new file mode 100755 index 0000000..28bf5d5 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/GuardRail.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/OverheadSignBase.png b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/OverheadSignBase.png new file mode 100755 index 0000000..f9a5eb8 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/OverheadSignBase.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/OverheadSigns.png b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/OverheadSigns.png new file mode 100755 index 0000000..12c2a7d Binary files /dev/null and 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b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/Road_SingleWhiteLine.png new file mode 100755 index 0000000..e9e39c7 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/Road_SingleWhiteLine.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/StreetLamp_Short.png b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/StreetLamp_Short.png new file mode 100755 index 0000000..c4f5a6b Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/StreetLamp_Short.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/StreetLamp_Tall.png b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/StreetLamp_Tall.png new file mode 100755 index 0000000..e81f7e6 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/StreetLamp_Tall.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/TrafficBarrel.png b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/TrafficBarrel.png new file mode 100755 index 0000000..f197667 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/TrafficBarrel.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/Tunnel.png b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/Tunnel.png new file mode 100755 index 0000000..5ddf73c Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/mcity/materials/textures/Tunnel.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/meshes/mcity.mtl b/r_gator_simulator/r_gator_gazebo/models/mcity/meshes/mcity.mtl new file mode 100755 index 0000000..9a33232 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/mcity/meshes/mcity.mtl @@ -0,0 +1,224 @@ +# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware +# File Created: 26.01.2017 22:00:22 + +newmtl Road_DoubleYellowLine + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Road_DoubleYellowLine.png + map_Kd ../materials/textures/Road_DoubleYellowLine.png + +newmtl Road_Blank + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Road_Blank.png + map_Kd ../materials/textures/Road_Blank.png + +newmtl Road_Blank_Light + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Road_Blank_Light.png + map_Kd ../materials/textures/Road_Blank_Light.png + +newmtl Road_DoubleYellowLine_Light + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Road_DoubleYellowLine_Light.png + map_Kd ../materials/textures/Road_DoubleYellowLine_Light.png + +newmtl Road_SingleWhiteLine + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Road_SingleWhiteLine.png + map_Kd ../materials/textures/Road_SingleWhiteLine.png + +newmtl Crosswalk + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Crosswalk.png + map_Kd ../materials/textures/Crosswalk.png + +newmtl Asphalt + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Asphalt.png + map_Kd ../materials/textures/Asphalt.png + +newmtl Gravel + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Gravel.png + map_Kd ../materials/textures/Gravel.png + +newmtl Material__590 + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5880 0.5880 0.5880 + Kd 0.5880 0.5880 0.5880 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + +newmtl Grass + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Grass.png + map_Kd ../materials/textures/Grass.png + +newmtl Curb + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Curb.png + map_Kd ../materials/textures/Curb.png + +newmtl Concrete_Ground + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Concrete_Ground.png + map_Kd ../materials/textures/Concrete_Ground.png + +newmtl Colors + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.2510 0.2706 0.4235 + Kd 0.2510 0.2706 0.4235 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Colors.png + map_Kd ../materials/textures/Colors.png + +newmtl Buildings + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 1.0000 1.0000 1.0000 + Kd 1.0000 1.0000 1.0000 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Buildings.png + map_Kd ../materials/textures/Buildings.png + +newmtl Brick + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.5882 0.5882 0.5882 + Kd 0.5882 0.5882 0.5882 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Brick.png + map_Kd ../materials/textures/Brick.png + +newmtl Tunnel + Ns 10.0000 + Ni 1.5000 + d 1.0000 + Tr 0.0000 + Tf 1.0000 1.0000 1.0000 + illum 2 + Ka 0.7529 0.7686 0.5686 + Kd 0.7529 0.7686 0.5686 + Ks 0.0000 0.0000 0.0000 + Ke 0.0000 0.0000 0.0000 + map_Ka ../materials/textures/Tunnel.png + map_Kd ../materials/textures/Tunnel.png diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/meshes/mcity.obj b/r_gator_simulator/r_gator_gazebo/models/mcity/meshes/mcity.obj new file mode 100755 index 0000000..590b46c --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/mcity/meshes/mcity.obj @@ -0,0 +1,19799 @@ +# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware +# File Created: 26.01.2017 22:00:22 + +mtllib mcity.mtl + +# +# object Mcity +# + +v 383.1781 89.1440 -0.0000 +v 445.4763 89.2834 -0.0000 +v 447.3263 262.2493 -0.0000 +v 385.2126 262.2493 -0.0000 +v 543.1954 89.1753 -0.0000 +v 543.9210 262.2494 -0.0000 +v 375.8147 -1017.9546 -0.0000 +v 437.9285 -1017.9546 -0.0000 +v 439.9265 -728.3679 -0.0000 +v 377.8127 -728.3679 -0.0000 +v 379.5827 -533.1915 -0.0000 +v 441.6965 -533.1915 -0.0000 +v 443.6264 -320.3905 -0.0000 +v 381.5126 -320.3905 -0.0000 +v 452.8762 1025.6936 -0.0000 +v 390.7625 1025.6936 -0.0000 +v 388.9125 771.2122 -0.0000 +v 451.0262 771.2122 -0.0000 +v 447.6863 311.7642 -0.0000 +v 385.5697 311.3818 -0.0000 +v 508.9521 -1017.9546 -0.0000 +v 527.0706 -728.3679 -0.0000 +v 533.8773 -533.1915 -0.0000 +v 541.2988 -320.3905 -0.0000 +v 516.4562 1025.5084 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3192/5849/589 3202/5822/726 3203/5823/727 +f 3203/5823/727 3191/5848/588 3192/5849/589 +f 3191/5848/588 3203/5823/727 3204/5824/728 +f 3204/5824/728 3189/5847/586 3191/5848/588 +f 1943/5846/40 3189/5847/586 3204/5824/728 +f 3204/5824/728 1922/5825/20 1943/5846/40 +f 1379/6173/585 1378/5971/60 3190/6849/587 +f 3190/6849/587 1378/5971/60 3089/6014/533 +# 7333 faces + diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/model.config b/r_gator_simulator/r_gator_gazebo/models/mcity/model.config new file mode 100755 index 0000000..8d83e72 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/mcity/model.config @@ -0,0 +1,17 @@ + + + + MCity + 1.0 + model.sdf + + + Nate Koenig + nate@osrfoundation.org + + + + A model of MCity + + + diff --git a/r_gator_simulator/r_gator_gazebo/models/mcity/model.sdf b/r_gator_simulator/r_gator_gazebo/models/mcity/model.sdf new file mode 100755 index 0000000..4561e10 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/mcity/model.sdf @@ -0,0 +1,25 @@ + + + + true + + + + + 0.254 0.254 0.254 + model://mcity/meshes/mcity.obj + + + + + + + + 0.254 0.254 0.254 + model://mcity/meshes/mcity.obj + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/models/parking_line/materials/scripts/yellow.material b/r_gator_simulator/r_gator_gazebo/models/parking_line/materials/scripts/yellow.material new file mode 100755 index 0000000..365b72a --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/parking_line/materials/scripts/yellow.material @@ -0,0 +1,19 @@ +material yellow + { + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + + texture_unit + { + texture yellow.jpg + } + } + } + } + + diff --git a/r_gator_simulator/r_gator_gazebo/models/parking_line/materials/textures/yellow.jpg b/r_gator_simulator/r_gator_gazebo/models/parking_line/materials/textures/yellow.jpg new file mode 100755 index 0000000..bcc6db8 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/parking_line/materials/textures/yellow.jpg differ diff --git a/r_gator_simulator/r_gator_gazebo/models/parking_line/meshes/parking_line.dae b/r_gator_simulator/r_gator_gazebo/models/parking_line/meshes/parking_line.dae new file mode 100755 index 0000000..25181a7 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/parking_line/meshes/parking_line.dae @@ -0,0 +1,89 @@ + + + + + Blender User + Blender 2.93.1 commit date:2021-06-22, commit time:05:57, hash:1b8d33b18c2f + + 2021-07-23T14:17:19 + 2021-07-23T14:17:19 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.8000001 0.5459729 0.001049173 1 + + + 0.5 + + + + + + + + + + + + + + + + + 5700 100 0 5700 100 100 5700 0 0 5700 0 100 0 100 0 0 0 0 0 100 100 0 0 100 + + + + + + + + + + 1 0 0 0 0 -1 -1 0 0 0 0 1 0 1 0 0 -1 0 + + + + + + + + + + + + + + +

0 0 1 0 2 0 2 0 1 0 3 0 4 1 0 1 5 1 5 1 0 1 2 1 6 2 4 2 7 2 7 2 4 2 5 2 1 3 6 3 3 3 3 3 6 3 7 3 4 4 6 4 0 4 0 4 6 4 1 4 7 5 5 5 3 5 3 5 5 5 2 5

+ + + + + + + + 0.001 0 0 0 0 0.001 0 0 0 0 0.001 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/r_gator_simulator/r_gator_gazebo/models/parking_line/model.config b/r_gator_simulator/r_gator_gazebo/models/parking_line/model.config new file mode 100755 index 0000000..e1768e4 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/parking_line/model.config @@ -0,0 +1,11 @@ + + + + parking_line + 1.0 + model.sdf + + + Jamie + + diff --git a/r_gator_simulator/r_gator_gazebo/models/parking_line/model.sdf b/r_gator_simulator/r_gator_gazebo/models/parking_line/model.sdf new file mode 100755 index 0000000..60644f8 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/parking_line/model.sdf @@ -0,0 +1,45 @@ + + + + true + + + 0 0 1 0 0 0 + 5 + + 0.833 + 0.833 + 0.833 + 0 + 0 + + + + 0 0 1 0 0 0 + + + model://parking_line/meshes/parking_line.dae + 1 1 1 + + + + + + 0 0 1 0 0 0 + + + model://parking_line/meshes/parking_line.dae + 1 1 1 + + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/models/start_grid/materials/scripts/write.material b/r_gator_simulator/r_gator_gazebo/models/start_grid/materials/scripts/write.material new file mode 100755 index 0000000..1c5c9a8 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/start_grid/materials/scripts/write.material @@ -0,0 +1,19 @@ +material white + { + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + + texture_unit + { + texture white.png + } + } + } + } + + diff --git a/r_gator_simulator/r_gator_gazebo/models/start_grid/materials/textures/white.png b/r_gator_simulator/r_gator_gazebo/models/start_grid/materials/textures/white.png new file mode 100755 index 0000000..da5f2a6 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/start_grid/materials/textures/white.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/start_grid/meshes/start_grid.dae b/r_gator_simulator/r_gator_gazebo/models/start_grid/meshes/start_grid.dae new file mode 100755 index 0000000..ce2d065 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/start_grid/meshes/start_grid.dae @@ -0,0 +1,59 @@ + + + + + Blender User + Blender 2.93.1 commit date:2021-06-22, commit time:05:57, hash:1b8d33b18c2f + + 2021-08-14T12:45:48 + 2021-08-14T12:45:48 + + Z_UP + + + + + + + 2700 10 500 2700 10 99.99996 2700 0 500 2700 0 99.99996 2800 10 500 2800 0 500 2800 10 0 2800 0 0 0 10 0 0 0 0 0 10 500 0 0 500 100 10 500 100 0 500 100 10 99.99996 100 0 99.99996 100 10 1300 100 10 1700 100 0 1300 100 0 1700 0 10 1300 0 0 1300 0 10 1800 0 0 1800 2800 10 1800 2800 0 1800 2800 10 1300 2800 0 1300 2700 10 1300 2700 0 1300 2700 10 1700 2700 0 1700 + + + + + + + + + + -1 0 0 0 0 1 1 0 0 0 0 -1 0 1 0 0 -1 0 + + + + + + + + + + + + + + +

0 0 1 0 2 0 2 0 1 0 3 0 4 1 0 1 5 1 5 1 0 1 2 1 6 2 4 2 7 2 7 2 4 2 5 2 8 3 6 3 9 3 9 3 6 3 7 3 10 0 8 0 11 0 11 0 8 0 9 0 12 1 10 1 13 1 13 1 10 1 11 1 14 2 12 2 15 2 15 2 12 2 13 2 1 1 14 1 3 1 3 1 14 1 15 1 0 4 4 4 1 4 1 4 4 4 6 4 1 4 6 4 14 4 14 4 6 4 8 4 14 4 8 4 12 4 12 4 8 4 10 4 13 5 11 5 15 5 15 5 11 5 9 5 15 5 9 5 3 5 3 5 9 5 7 5 3 5 7 5 2 5 2 5 7 5 5 5 16 2 17 2 18 2 18 2 17 2 19 2 20 3 16 3 21 3 21 3 16 3 18 3 22 0 20 0 23 0 23 0 20 0 21 0 24 1 22 1 25 1 25 1 22 1 23 1 26 2 24 2 27 2 27 2 24 2 25 2 28 3 26 3 29 3 29 3 26 3 27 3 30 0 28 0 31 0 31 0 28 0 29 0 17 3 30 3 19 3 19 3 30 3 31 3 16 4 20 4 17 4 17 4 20 4 22 4 17 4 22 4 30 4 30 4 22 4 24 4 30 4 24 4 28 4 28 4 24 4 26 4 29 5 27 5 31 5 31 5 27 5 25 5 31 5 25 5 19 5 19 5 25 5 23 5 19 5 23 5 18 5 18 5 23 5 21 5

+ + + + + + + + 0.001 0 0 0 0 0.001 0 0 0 0 0.001 0 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/r_gator_simulator/r_gator_gazebo/models/start_grid/model (copy).sdf b/r_gator_simulator/r_gator_gazebo/models/start_grid/model (copy).sdf new file mode 100755 index 0000000..b10967b --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/start_grid/model (copy).sdf @@ -0,0 +1,45 @@ + + + + true + + + 0 0 1 0 0 0 + 5 + + 0.833 + 0.833 + 0.833 + 0 + 0 + + + + 0 0 1 0 0 0 + + + model://start_grid/meshes/start_grid.dae + 1 1 1 + + + + + + 0 0 1 0 0 0 + + + model://start_grid/meshes/start_grid.dae + 1 1 1 + + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/models/start_grid/model.config b/r_gator_simulator/r_gator_gazebo/models/start_grid/model.config new file mode 100755 index 0000000..36c68f2 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/start_grid/model.config @@ -0,0 +1,11 @@ + + + + start_grid + 1.0 + model.sdf + + + Jamie + + diff --git a/r_gator_simulator/r_gator_gazebo/models/start_grid/model.sdf b/r_gator_simulator/r_gator_gazebo/models/start_grid/model.sdf new file mode 100755 index 0000000..b10967b --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/start_grid/model.sdf @@ -0,0 +1,45 @@ + + + + true + + + 0 0 1 0 0 0 + 5 + + 0.833 + 0.833 + 0.833 + 0 + 0 + + + + 0 0 1 0 0 0 + + + model://start_grid/meshes/start_grid.dae + 1 1 1 + + + + + + 0 0 1 0 0 0 + + + model://start_grid/meshes/start_grid.dae + 1 1 1 + + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/models/track_curb/materials/scripts/write.material b/r_gator_simulator/r_gator_gazebo/models/track_curb/materials/scripts/write.material new file mode 100755 index 0000000..1c5c9a8 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/track_curb/materials/scripts/write.material @@ -0,0 +1,19 @@ +material white + { + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + + texture_unit + { + texture white.png + } + } + } + } + + diff --git a/r_gator_simulator/r_gator_gazebo/models/track_curb/materials/textures/white.png b/r_gator_simulator/r_gator_gazebo/models/track_curb/materials/textures/white.png new file mode 100755 index 0000000..da5f2a6 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/track_curb/materials/textures/white.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/track_curb/meshes/track.dae b/r_gator_simulator/r_gator_gazebo/models/track_curb/meshes/track.dae new file mode 100755 index 0000000..69c58d5 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/track_curb/meshes/track.dae @@ -0,0 +1,89 @@ + + + + + Blender User + Blender 2.93.1 commit date:2021-06-22, commit time:05:57, hash:1b8d33b18c2f + + 2021-07-23T11:48:09 + 2021-07-23T11:48:09 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + 0.5 + + + + + + + + + + + + + + + + + 12230.1 304.8 76.20049 12230.1 0 76.20049 13282.04 304.8 168.2339 13282.04 0 168.2339 14302.02 304.8 441.5369 14302.02 0 441.5369 15259.05 304.8 887.805 15259.05 0 887.805 16124.04 304.8 1493.48 16124.04 0 1493.48 16870.72 304.8 2240.157 16870.72 0 2240.157 17476.4 304.8 3105.151 17476.4 0 3105.151 17922.66 304.8 4062.177 17922.66 0 4062.177 18195.97 304.8 5082.157 18195.97 0 5082.157 18288 304.8 6134.101 18288 0 6134.101 18334.89 0 6669.996 18334.89 304.8 6669.996 18474.12 0 7189.608 18474.12 304.8 7189.608 18701.46 0 7677.151 18701.46 304.8 7677.151 19010.01 0 8117.808 19010.01 304.8 8117.808 19390.4 0 8498.19 19390.4 304.8 8498.19 19831.05 0 8806.743 19831.05 304.8 8806.743 20318.59 0 9034.086 20318.59 304.8 9034.086 20838.21 0 9173.317 20838.21 304.8 9173.317 21374.1 0 9220.201 21374.1 304.8 9220.201 46977.3 304.8 9220.201 46977.3 0 9220.201 21374.1 0 9220.201 46977.3 0 9220.201 47460.07 0 9182.206 47460.07 304.8 9182.206 47930.96 0 9069.156 47930.96 304.8 9069.156 48378.36 0 8883.836 48378.36 304.8 8883.836 48791.26 0 8630.808 48791.26 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62087.16 0 5082.157 62179.2 304.8 6134.101 62179.2 0 6134.101 62087.16 304.8 7186.044 62087.16 0 7186.044 61813.87 304.8 8206.025 61813.87 0 8206.025 61367.59 304.8 9163.051 61367.59 0 9163.051 60761.92 304.8 10028.04 60761.92 0 10028.04 60015.24 304.8 10774.72 60015.24 0 10774.72 59150.25 304.8 11380.4 59150.25 0 11380.4 58193.22 304.8 11826.66 58193.22 0 11826.66 57173.25 304.8 12099.97 57173.25 0 12099.97 56121.3 304.8 12192 56121.3 0 12192 33870.9 304.8 12192 33870.9 0 12192 56121.3 0 12192 33870.9 0 12192 33388.13 0 12230 33388.13 304.8 12230 32917.24 0 12343.04 32917.24 304.8 12343.04 32469.84 0 12528.37 32469.84 304.8 12528.37 32056.94 0 12781.39 32056.94 304.8 12781.39 31688.7 0 13095.9 31688.7 304.8 13095.9 31374.19 0 13464.14 31374.19 304.8 13464.14 31121.17 0 13877.04 31121.17 304.8 13877.04 30935.84 0 14324.44 30935.84 304.8 14324.44 30822.8 0 14795.33 30822.8 304.8 14795.33 30784.8 0 15278.1 30784.8 304.8 15278.1 30784.8 304.8 18288 30784.8 0 18288 30784.8 0 15278.1 27813 304.8 18288 27813 0 18288 27813 304.8 15278.1 27813 0 15278.1 27813 0 15278.1 27775.01 0 14795.33 27775.01 304.8 14795.33 27661.96 0 14324.44 27661.96 304.8 14324.44 27476.64 0 13877.04 27476.64 304.8 13877.04 27223.61 0 13464.14 27223.61 304.8 13464.14 26909.1 0 13095.9 26909.1 304.8 13095.9 26540.87 0 12781.39 26540.87 304.8 12781.39 26127.96 0 12528.37 26127.96 304.8 12528.37 25680.56 0 12343.04 25680.56 304.8 12343.04 25209.67 0 12230 25209.67 304.8 12230 24726.9 0 12192 24726.9 304.8 12192 6134.1 304.8 12192 6134.1 0 12192 24726.9 0 12192 6134.1 0 12192 5082.157 304.8 12099.97 5082.157 0 12099.97 4062.178 304.8 11826.66 4062.178 0 11826.66 3105.15 304.8 11380.4 3105.15 0 11380.4 2240.158 304.8 10774.72 2240.158 0 10774.72 1493.481 304.8 10028.04 1493.481 0 10028.04 887.8059 304.8 9163.051 887.8059 0 9163.051 441.536 304.8 8206.025 441.536 0 8206.025 168.2339 304.8 7186.044 168.2339 0 7186.044 76.20049 304.8 6134.101 76.20049 0 6134.101 168.2339 304.8 5082.157 168.2339 0 5082.157 441.536 304.8 4062.177 441.536 0 4062.177 887.8059 304.8 3105.151 887.8059 0 3105.151 1493.481 304.8 2240.157 1493.481 0 2240.157 2240.158 304.8 1493.48 2240.158 0 1493.48 3105.15 304.8 887.805 3105.15 0 887.805 4062.178 304.8 441.5369 4062.178 0 441.5369 5082.157 304.8 168.2339 5082.157 0 168.2339 6134.1 304.8 76.20049 6134.1 0 76.20049 21374.1 304.8 9144 21374.1 0 9144 20851.44 304.8 9098.274 20851.44 0 9098.274 20344.66 304.8 8962.482 20344.66 0 8962.482 19869.15 304.8 8740.75 19869.15 0 8740.75 19439.37 304.8 8439.818 19439.37 0 8439.818 19068.38 304.8 8068.827 19068.38 0 8068.827 18767.45 304.8 7639.05 18767.45 0 7639.05 18545.72 304.8 7163.546 18545.72 0 7163.546 18409.93 304.8 6656.764 18409.93 0 6656.764 18364.2 304.8 6134.101 18364.2 0 6134.101 18271.01 0 5068.925 18271.01 304.8 5068.925 17994.27 0 4036.115 17994.27 304.8 4036.115 17542.39 0 3067.051 17542.39 304.8 3067.051 16929.09 0 2191.177 16929.09 304.8 2191.177 16173.02 0 1435.107 16173.02 304.8 1435.107 15297.15 0 821.8136 15297.15 304.8 821.8136 14328.09 0 369.9322 14328.09 304.8 369.9322 13295.28 0 93.19115 13295.28 304.8 93.19115 12230.1 0 0 12230.1 304.8 0 6134.1 304.8 0 6134.1 0 0 12230.1 0 0 6134.1 0 0 5068.926 0 93.19115 5068.926 304.8 93.19115 4036.116 0 369.9322 4036.116 304.8 369.9322 3067.051 0 821.8136 3067.051 304.8 821.8136 2191.177 0 1435.107 2191.177 304.8 1435.107 1435.108 0 2191.177 1435.108 304.8 2191.177 821.8136 0 3067.051 821.8136 304.8 3067.051 369.9322 0 4036.115 369.9322 304.8 4036.115 93.19115 0 5068.925 93.19115 304.8 5068.925 0 0 6134.101 0 304.8 6134.101 93.19115 0 7199.276 93.19115 304.8 7199.276 369.9322 0 8232.086 369.9322 304.8 8232.086 821.8136 0 9201.152 821.8136 304.8 9201.152 1435.108 0 10077.02 1435.108 304.8 10077.02 2191.177 0 10833.09 2191.177 304.8 10833.09 3067.051 0 11446.39 3067.051 304.8 11446.39 4036.116 0 11898.27 4036.116 304.8 11898.27 5068.926 0 12175.01 5068.926 304.8 12175.01 6134.1 0 12268.2 6134.1 304.8 12268.2 24726.9 304.8 12268.2 24726.9 0 12268.2 6134.1 0 12268.2 24726.9 0 12268.2 25197.75 304.8 12305.26 25197.75 0 12305.26 25657.01 304.8 12415.52 25657.01 0 12415.52 26093.37 304.8 12596.26 26093.37 0 12596.26 26496.08 304.8 12843.04 26496.08 0 12843.04 26855.22 304.8 13149.78 26855.22 0 13149.78 27161.96 304.8 13508.93 27161.96 0 13508.93 27408.74 304.8 13911.63 27408.74 0 13911.63 27589.49 304.8 14347.99 27589.49 0 14347.99 27699.75 304.8 14807.25 27699.75 0 14807.25 27736.8 304.8 15278.1 27736.8 0 15278.1 27736.8 304.8 18364.2 27736.8 0 18364.2 27736.8 0 15278.1 30861 304.8 18364.2 30861 0 18364.2 30861 304.8 15278.1 30861 0 15278.1 30861 0 15278.1 30898.06 304.8 14807.25 30898.06 0 14807.25 31008.32 304.8 14347.99 31008.32 0 14347.99 31189.06 304.8 13911.63 31189.06 0 13911.63 31435.84 304.8 13508.93 31435.84 0 13508.93 31742.58 304.8 13149.78 31742.58 0 13149.78 32101.73 304.8 12843.04 32101.73 0 12843.04 32504.43 304.8 12596.26 32504.43 0 12596.26 32940.79 304.8 12415.52 32940.79 0 12415.52 33400.05 304.8 12305.26 33400.05 0 12305.26 33870.9 304.8 12268.2 33870.9 0 12268.2 56121.3 304.8 12268.2 56121.3 0 12268.2 33870.9 0 12268.2 56121.3 0 12268.2 57186.48 0 12175.01 57186.48 304.8 12175.01 58219.28 0 11898.27 58219.28 304.8 11898.27 59188.35 0 11446.39 59188.35 304.8 11446.39 60064.22 0 10833.09 60064.22 304.8 10833.09 60820.29 0 10077.02 60820.29 304.8 10077.02 61433.58 0 9201.152 61433.58 304.8 9201.152 61885.47 0 8232.086 61885.47 304.8 8232.086 62162.21 0 7199.276 62162.21 304.8 7199.276 62255.4 0 6134.101 62255.4 304.8 6134.101 62162.21 0 5068.925 62162.21 304.8 5068.925 61885.47 0 4036.115 61885.47 304.8 4036.115 61433.58 0 3067.051 61433.58 304.8 3067.051 60820.29 0 2191.177 60820.29 304.8 2191.177 60064.22 0 1435.107 60064.22 304.8 1435.107 59188.35 0 821.8136 59188.35 304.8 821.8136 58219.28 0 369.9322 58219.28 304.8 369.9322 57186.48 0 93.19115 57186.48 304.8 93.19115 56121.3 0 0 56121.3 304.8 0 55056.12 0 93.19115 55056.12 304.8 93.19115 54023.32 0 369.9322 54023.32 304.8 369.9322 53054.25 0 821.8136 53054.25 304.8 821.8136 52178.37 0 1435.107 52178.37 304.8 1435.107 51422.31 0 2191.177 51422.31 304.8 2191.177 50809.01 0 3067.051 50809.01 304.8 3067.051 50357.13 0 4036.115 50357.13 304.8 4036.115 50080.39 0 5068.925 50080.39 304.8 5068.925 49987.2 0 6134.101 49987.2 304.8 6134.101 49950.14 304.8 6604.952 49950.14 0 6604.952 49839.89 304.8 7064.211 49839.89 0 7064.211 49659.14 304.8 7500.566 49659.14 0 7500.566 49412.36 304.8 7903.275 49412.36 0 7903.275 49105.62 304.8 8262.421 49105.62 0 8262.421 48746.48 304.8 8569.161 48746.48 0 8569.161 48343.76 304.8 8815.941 48343.76 0 8815.941 47907.41 304.8 8996.685 47907.41 0 8996.685 47448.15 304.8 9106.944 47448.15 0 9106.944 46977.3 304.8 9144 46977.3 0 9144 21374.1 0 9144 46977.3 0 9144 12230.1 0 76.20049 6134.1 0 76.20049 46977.3 0 9144 46977.3 0 9220.201 21374.1 0 9144 21374.1 0 9220.201 20851.44 0 9098.274 20838.21 0 9173.317 20344.66 0 8962.482 20318.59 0 9034.086 19869.15 0 8740.75 19831.05 0 8806.743 19439.37 0 8439.818 19390.4 0 8498.19 19068.38 0 8068.827 19010.01 0 8117.808 18767.45 0 7639.05 18701.46 0 7677.151 18545.72 0 7163.546 18474.12 0 7189.608 18409.93 0 6656.764 18334.89 0 6669.996 18364.2 0 6134.101 18288 0 6134.101 18271.01 0 5068.925 18195.97 0 5082.157 17994.27 0 4036.115 17922.66 0 4062.177 17542.39 0 3067.051 17476.4 0 3105.151 16929.09 0 2191.177 16870.72 0 2240.157 16173.02 0 1435.107 16124.04 0 1493.48 15297.15 0 821.8136 15259.05 0 887.805 14328.09 0 369.9322 14302.02 0 441.5369 13295.28 0 93.19115 13282.04 0 168.2339 12230.1 0 0 12230.1 0 76.20049 6134.1 0 0 6134.1 0 76.20049 5068.926 0 93.19115 5082.157 0 168.2339 4036.116 0 369.9322 4062.178 0 441.5369 3067.051 0 821.8136 3105.15 0 887.805 2191.177 0 1435.107 2240.158 0 1493.48 1435.108 0 2191.177 1493.481 0 2240.157 821.8136 0 3067.051 887.8059 0 3105.151 369.9322 0 4036.115 441.536 0 4062.177 93.19115 0 5068.925 168.2339 0 5082.157 0 0 6134.101 76.20049 0 6134.101 93.19115 0 7199.276 168.2339 0 7186.044 369.9322 0 8232.086 441.536 0 8206.025 821.8136 0 9201.152 887.8059 0 9163.051 1435.108 0 10077.02 1493.481 0 10028.04 2191.177 0 10833.09 2240.158 0 10774.72 3067.051 0 11446.39 3105.15 0 11380.4 4036.116 0 11898.27 4062.178 0 11826.66 5068.926 0 12175.01 5082.157 0 12099.97 6134.1 0 12268.2 6134.1 0 12192 24726.9 0 12268.2 24726.9 0 12192 25197.75 0 12305.26 25209.67 0 12230 25657.01 0 12415.52 25680.56 0 12343.04 26093.37 0 12596.26 26127.96 0 12528.37 26496.08 0 12843.04 26540.87 0 12781.39 26855.22 0 13149.78 26909.1 0 13095.9 27161.96 0 13508.93 27223.61 0 13464.14 27408.74 0 13911.63 27476.64 0 13877.04 27589.49 0 14347.99 27661.96 0 14324.44 27699.75 0 14807.25 27775.01 0 14795.33 27736.8 0 15278.1 27813 0 15278.1 27736.8 0 18364.2 27813 0 18288 30861 0 18364.2 30784.8 0 18288 30861 0 15278.1 30784.8 0 15278.1 30898.06 0 14807.25 30822.8 0 14795.33 31008.32 0 14347.99 30935.84 0 14324.44 31189.06 0 13911.63 31121.17 0 13877.04 31435.84 0 13508.93 31374.19 0 13464.14 31742.58 0 13149.78 31688.7 0 13095.9 32101.73 0 12843.04 32056.94 0 12781.39 32504.43 0 12596.26 32469.84 0 12528.37 32940.79 0 12415.52 32917.24 0 12343.04 33400.05 0 12305.26 33388.13 0 12230 33870.9 0 12268.2 33870.9 0 12192 56121.3 0 12268.2 56121.3 0 12192 57186.48 0 12175.01 57173.25 0 12099.97 58219.28 0 11898.27 58193.22 0 11826.66 59188.35 0 11446.39 59150.25 0 11380.4 60064.22 0 10833.09 60015.24 0 10774.72 60820.29 0 10077.02 60761.92 0 10028.04 61433.58 0 9201.152 61367.59 0 9163.051 61885.47 0 8232.086 61813.87 0 8206.025 62162.21 0 7199.276 62087.16 0 7186.044 62255.4 0 6134.101 62179.2 0 6134.101 62162.21 0 5068.925 62087.16 0 5082.157 61885.47 0 4036.115 61813.87 0 4062.177 61433.58 0 3067.051 61367.59 0 3105.151 60820.29 0 2191.177 60761.92 0 2240.157 60064.22 0 1435.107 60015.24 0 1493.48 59188.35 0 821.8136 59150.25 0 887.805 58219.28 0 369.9322 58193.22 0 441.5369 57186.48 0 93.19115 57173.25 0 168.2339 56121.3 0 0 56121.3 0 76.20049 55056.12 0 93.19115 55069.36 0 168.2339 54023.32 0 369.9322 54049.38 0 441.5369 53054.25 0 821.8136 53092.35 0 887.805 52178.37 0 1435.107 52227.35 0 1493.48 51422.31 0 2191.177 51480.68 0 2240.157 50809.01 0 3067.051 50875.01 0 3105.151 50357.13 0 4036.115 50428.73 0 4062.177 50080.39 0 5068.925 50155.43 0 5082.157 49987.2 0 6134.101 50063.4 0 6134.101 49950.14 0 6604.952 50025.41 0 6616.873 49839.89 0 7064.211 49912.35 0 7087.758 49659.14 0 7500.566 49727.03 0 7535.161 49412.36 0 7903.275 49474.01 0 7948.065 49105.62 0 8262.421 49159.5 0 8316.304 48746.48 0 8569.161 48791.26 0 8630.808 48343.76 0 8815.941 48378.36 0 8883.836 47907.41 0 8996.685 47930.96 0 9069.156 47448.15 0 9106.944 47460.07 0 9182.206 12230.1 304.8 9220.201 6134.1 304.8 9220.201 12230.1 0 9220.201 6134.1 0 9220.201 12230.1 0 9220.201 12616.89 0 9195.866 12616.89 304.8 9195.866 12997.58 0 9123.246 12997.58 304.8 9123.246 13366.17 0 9003.484 13366.17 304.8 9003.484 13716.84 0 8838.471 13716.84 304.8 8838.471 14044.06 0 8630.808 14044.06 304.8 8630.808 14342.68 0 8383.77 14342.68 304.8 8383.77 14607.98 0 8101.254 14607.98 304.8 8101.254 14835.78 0 7787.715 14835.78 304.8 7787.715 15022.49 0 7448.098 15022.49 304.8 7448.098 15165.16 0 7087.758 15165.16 304.8 7087.758 15261.54 0 6712.378 15261.54 304.8 6712.378 15310.11 0 6327.878 15310.11 304.8 6327.878 15310.11 0 5940.323 15310.11 304.8 5940.323 15261.54 0 5555.823 15261.54 304.8 5555.823 15165.16 0 5180.443 15165.16 304.8 5180.443 15022.49 0 4820.103 15022.49 304.8 4820.103 14835.78 0 4480.485 14835.78 304.8 4480.485 14607.98 0 4166.946 14607.98 304.8 4166.946 14342.68 0 3884.43 14342.68 304.8 3884.43 14044.06 0 3637.393 14044.06 304.8 3637.393 13716.84 0 3429.73 13716.84 304.8 3429.73 13366.17 0 3264.717 13366.17 304.8 3264.717 12997.58 0 3144.956 12997.58 304.8 3144.956 12616.89 0 3072.335 12616.89 304.8 3072.335 12230.1 0 3048 12230.1 304.8 3048 6134.1 304.8 3048 6134.1 0 3048 12230.1 0 3048 12230.1 304.8 3124.2 12230.1 0 3124.2 12622.97 304.8 3149.95 12622.97 0 3149.95 13009.12 304.8 3226.76 13009.12 0 3226.76 13381.94 304.8 3353.315 13381.94 0 3353.315 13735.05 304.8 3527.451 13735.05 0 3527.451 14062.41 304.8 3746.186 14062.41 0 3746.186 14358.42 304.8 4005.78 14358.42 0 4005.78 14618.02 304.8 4301.789 14618.02 0 4301.789 14836.75 304.8 4629.15 14836.75 0 4629.15 15010.88 304.8 4982.262 15010.88 0 4982.262 15137.44 304.8 5355.081 15137.44 0 5355.081 15214.25 304.8 5741.229 15214.25 0 5741.229 15240 304.8 6134.101 15240 0 6134.101 15214.25 304.8 6526.971 15214.25 0 6526.971 15137.44 304.8 6913.12 15137.44 0 6913.12 15010.88 304.8 7285.939 15010.88 0 7285.939 14836.75 304.8 7639.05 14836.75 0 7639.05 14618.02 304.8 7966.412 14618.02 0 7966.412 14358.42 304.8 8262.421 14358.42 0 8262.421 14062.41 304.8 8522.015 14062.41 0 8522.015 13735.05 304.8 8740.75 13735.05 0 8740.75 13381.94 304.8 8914.886 13381.94 0 8914.886 13009.12 304.8 9041.442 13009.12 0 9041.442 12622.97 304.8 9118.25 12622.97 0 9118.25 12230.1 304.8 9144 12230.1 0 9144 6134.1 304.8 9144 6134.1 0 9144 12230.1 0 9144 6134.1 0 9144 5741.23 304.8 9118.25 5741.23 0 9118.25 5355.082 304.8 9041.442 5355.082 0 9041.442 4982.262 304.8 8914.886 4982.262 0 8914.886 4629.15 304.8 8740.75 4629.15 0 8740.75 4301.79 304.8 8522.015 4301.79 0 8522.015 4005.779 304.8 8262.421 4005.779 0 8262.421 3746.187 304.8 7966.412 3746.187 0 7966.412 3527.451 304.8 7639.05 3527.451 0 7639.05 3353.315 304.8 7285.939 3353.315 0 7285.939 3226.761 304.8 6913.12 3226.761 0 6913.12 3149.95 304.8 6526.971 3149.95 0 6526.971 3124.201 304.8 6134.101 3124.201 0 6134.101 3149.95 304.8 5741.229 3149.95 0 5741.229 3226.761 304.8 5355.081 3226.761 0 5355.081 3353.315 304.8 4982.262 3353.315 0 4982.262 3527.451 304.8 4629.15 3527.451 0 4629.15 3746.187 304.8 4301.789 3746.187 0 4301.789 4005.779 304.8 4005.78 4005.779 0 4005.78 4301.79 304.8 3746.186 4301.79 0 3746.186 4629.15 304.8 3527.451 4629.15 0 3527.451 4982.262 304.8 3353.315 4982.262 0 3353.315 5355.082 304.8 3226.76 5355.082 0 3226.76 5741.23 304.8 3149.95 5741.23 0 3149.95 6134.1 304.8 3124.2 6134.1 0 3124.2 12230.1 0 3124.2 6134.1 0 3124.2 6134.1 0 3048 5747.311 0 3072.335 5747.311 304.8 3072.335 5366.619 0 3144.956 5366.619 304.8 3144.956 4998.032 0 3264.717 4998.032 304.8 3264.717 4647.36 0 3429.73 4647.36 304.8 3429.73 4320.137 0 3637.393 4320.137 304.8 3637.393 4021.52 0 3884.43 4021.52 304.8 3884.43 3756.22 0 4166.946 3756.22 304.8 4166.946 3528.419 0 4480.485 3528.419 304.8 4480.485 3341.713 0 4820.103 3341.713 304.8 4820.103 3199.045 0 5180.443 3199.045 304.8 5180.443 3102.663 0 5555.823 3102.663 304.8 5555.823 3054.091 0 5940.323 3054.091 304.8 5940.323 3054.091 0 6327.878 3054.091 304.8 6327.878 3102.663 0 6712.378 3102.663 304.8 6712.378 3199.045 0 7087.758 3199.045 304.8 7087.758 3341.713 0 7448.098 3341.713 304.8 7448.098 3528.419 0 7787.715 3528.419 304.8 7787.715 3756.22 0 8101.254 3756.22 304.8 8101.254 4021.52 0 8383.77 4021.52 304.8 8383.77 4320.137 0 8630.808 4320.137 304.8 8630.808 4647.36 0 8838.471 4647.36 304.8 8838.471 4998.032 0 9003.484 4998.032 304.8 9003.484 5366.619 0 9123.246 5366.619 304.8 9123.246 5747.311 0 9195.866 5747.311 304.8 9195.866 6134.1 0 9220.201 3124.201 0 6134.101 3054.091 0 5940.323 3149.95 0 5741.229 3102.663 0 5555.823 3226.761 0 5355.081 3199.045 0 5180.443 3353.315 0 4982.262 3341.713 0 4820.103 3527.451 0 4629.15 3528.419 0 4480.485 3746.187 0 4301.789 3756.22 0 4166.946 4005.779 0 4005.78 4021.52 0 3884.43 4301.79 0 3746.186 4320.137 0 3637.393 4629.15 0 3527.451 4647.36 0 3429.73 4982.262 0 3353.315 4998.032 0 3264.717 5355.082 0 3226.76 5366.619 0 3144.956 5741.23 0 3149.95 5747.311 0 3072.335 6134.1 0 3124.2 6134.1 0 3048 12230.1 0 3124.2 12230.1 0 3048 12622.97 0 3149.95 12616.89 0 3072.335 13009.12 0 3226.76 12997.58 0 3144.956 13381.94 0 3353.315 13366.17 0 3264.717 13735.05 0 3527.451 13716.84 0 3429.73 14062.41 0 3746.186 14044.06 0 3637.393 14358.42 0 4005.78 14342.68 0 3884.43 14618.02 0 4301.789 14607.98 0 4166.946 14836.75 0 4629.15 14835.78 0 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+ + + + + + + + 0.0033 0 0 0 0 -1.44248e-10 -0.0033 0 0 0.0033 -1.44248e-10 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/r_gator_simulator/r_gator_gazebo/models/track_curb/model.config b/r_gator_simulator/r_gator_gazebo/models/track_curb/model.config new file mode 100755 index 0000000..cecc28c --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/track_curb/model.config @@ -0,0 +1,11 @@ + + + + track_curb + 1.0 + model.sdf + + + Jamie + + diff --git a/r_gator_simulator/r_gator_gazebo/models/track_curb/model.sdf b/r_gator_simulator/r_gator_gazebo/models/track_curb/model.sdf new file mode 100755 index 0000000..b1db395 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/track_curb/model.sdf @@ -0,0 +1,45 @@ + + + + true + + + 0 0 1 0 0 0 + 5 + + 0.833 + 0.833 + 0.833 + 0 + 0 + + + + 0 0 1 0 0 0 + + + model://track_curb/meshes/track.dae + 0.3048 0.3048 0.3048 + + + + + + 0 0 1 0 0 0 + + + model://track_curb/meshes/track.dae + 0.3048 0.3048 0.3048 + + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/models/yellow_point/materials/scripts/my_ground_plane.material b/r_gator_simulator/r_gator_gazebo/models/yellow_point/materials/scripts/my_ground_plane.material new file mode 100755 index 0000000..214f285 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/yellow_point/materials/scripts/my_ground_plane.material @@ -0,0 +1,19 @@ +material MyGroundPlane/Image + { + technique + { + pass + { + ambient 1 1 1 1.000000 + diffuse 1 1 1 1.000000 + specular 0.03 0.03 0.03 1.000000 + + texture_unit + { + texture MyImage.png + } + } + } + } + + diff --git a/r_gator_simulator/r_gator_gazebo/models/yellow_point/materials/textures/MyImage.png b/r_gator_simulator/r_gator_gazebo/models/yellow_point/materials/textures/MyImage.png new file mode 100755 index 0000000..3374e86 Binary files /dev/null and b/r_gator_simulator/r_gator_gazebo/models/yellow_point/materials/textures/MyImage.png differ diff --git a/r_gator_simulator/r_gator_gazebo/models/yellow_point/model.config b/r_gator_simulator/r_gator_gazebo/models/yellow_point/model.config new file mode 100755 index 0000000..959421a --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/yellow_point/model.config @@ -0,0 +1,8 @@ + + + yellow_point + 1.0 + model.sdf + My textured ground plane. + + diff --git a/r_gator_simulator/r_gator_gazebo/models/yellow_point/model.sdf b/r_gator_simulator/r_gator_gazebo/models/yellow_point/model.sdf new file mode 100755 index 0000000..279dc10 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/models/yellow_point/model.sdf @@ -0,0 +1,42 @@ + + + + + true + + + + + 0 0 1 + 0.5 0.5 + + + + + + 100 + 50 + + + + + + false + + + 0 0 1 + 0.5 0.5 + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/package.xml b/r_gator_simulator/r_gator_gazebo/package.xml new file mode 100755 index 0000000..ca61131 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/package.xml @@ -0,0 +1,28 @@ + + + r_gator_gazebo + 1.0.0 + The r_gator_gazebo is used with Gazebo to simulate gem vehicle with Ackermann steering + Hang Cui + Hang Cui + https://github.com/hangcui1201/POLARIS_GEM_e2_Simulator.git + BSD + catkin + cv_bridge + roscpp + rospy + sensor_msgs + geometry_msgs + ackermann_msgs + std_msgs + gazebo_ros + gem_description + controller_manager + controller_manager_msgs + effort_controllers + joint_state_controller + tf + + + + diff --git a/r_gator_simulator/r_gator_gazebo/scripts/r_gator_control.py b/r_gator_simulator/r_gator_gazebo/scripts/r_gator_control.py new file mode 100755 index 0000000..402bd61 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/scripts/r_gator_control.py @@ -0,0 +1,246 @@ +#!/usr/bin/env python + +#================================================================ +# File name: gem_control.py +# Description: take care of GEM control in Gazebo +# Author: Hang Cui +# Email: hangcui3@illinois.edu +# Date created: 06/05/2021 +# Date last modified: 07/12/2021 +# Version: 0.1 +# Usage: rosrun gem_gazebo gem_control.py +# Python version: 3.8 +#================================================================ + +import math +import numpy as np +import threading + +import tf +import rospy + +from ackermann_msgs.msg import AckermannDrive +from std_msgs.msg import Float64 +from controller_manager_msgs.srv import ListControllers + + +PI = 3.141592653589739 + + +def get_steer_angle(phi): + if phi >= 0.0: + return (PI / 2) - phi + return (-PI / 2) - phi + + +class GEMController(object): + + def __init__(self): + + rospy.init_node("gem_ackermann_controller") + + self.right_rear_link = None + + (left_steer_link, left_steer_controller, left_front_wheel_controller, self.left_front_inv_circ) = \ + self.get_front_wheel_params("~left_front_wheel/") + + (right_steer_link, right_steer_controller, right_front_wheel_controller, self.right_front_inv_circ) = \ + self.get_front_wheel_params("~right_front_wheel/") + + (left_rear_link, left_rear_wheel_controller, self.left_rear_inv_circ) = \ + self.get_rear_wheel_params("~left_rear_wheel/") + + (right_rear_link, right_rear_wheel_controller, self.right_rear_inv_circ) = \ + self.get_rear_wheel_params("~right_rear_wheel/") + + self.right_rear_link = right_rear_link + + list_controllers = rospy.ServiceProxy("controller_manager/list_controllers", ListControllers) + + list_controllers.wait_for_service() + + self.cmd_timeout = float(rospy.get_param("~cmd_timeout", 0.5)) + + self.sleep = rospy.Rate(float(rospy.get_param("~publishing_frequency", 30.0))) + + self.last_cmd_time = rospy.get_time() + + tfl = tf.TransformListener() + + ls = self.get_link_position(tfl, left_steer_link) + + rs = self.get_link_position(tfl, right_steer_link) + + lrw= self.get_link_position(tfl, left_rear_link) + + rrw = np.array([0.0] * 3) + + self.steer_joint_dist_div_2 = np.linalg.norm(ls-rs)/2.0 + + self.wheelbase = np.linalg.norm((ls+rs)/2.0 - (lrw+rrw)/2.0) + + self.wheelbase_inv = 1 / (self.wheelbase*1.0) + + self.wheelbase_sqr = self.wheelbase**2 + + self.ackermann_cmd_lock = threading.Lock() + + self.steer_ang = 0.0 + self.steer_ang_vel = 0.0 + self.speed = 0.0 + self.accel = 0.0 + self.last_steer_ang = 0.0 + self.theta_left = 0.0 + self.theta_left_old = 0.0 + self.theta_right = 0.0 + self.theta_right_old = 0.0 + self.last_speed = 0.0 + self.last_accel_limit = 0.0 + self.left_front_ang_vel = 0.0 + self.right_front_ang_vel = 0.0 + self.left_rear_ang_vel = 0.0 + self.right_rear_ang_vel = 0.0 + + self.left_steer_pub = rospy.Publisher(left_steer_controller + "/command", Float64, queue_size=1) + self.right_steer_pub = rospy.Publisher(right_steer_controller + "/command", Float64, queue_size=1) + self.left_front_wheel_pub = rospy.Publisher(left_front_wheel_controller + "/command", Float64, queue_size=1) + self.right_front_wheel_pub = rospy.Publisher(right_front_wheel_controller + "/command", Float64, queue_size=1) + self.left_rear_wheel_pub = rospy.Publisher(left_rear_wheel_controller + "/command", Float64, queue_size=1) + self.right_rear_wheel_pub = rospy.Publisher(right_rear_wheel_controller + "/command", Float64, queue_size=1) + self.gem_ackermann_sub = rospy.Subscriber("ackermann_cmd", AckermannDrive, self.ackermann_callback, queue_size=1) + + def spin(self): + + last_time = rospy.get_time() + + while not rospy.is_shutdown(): + + t = rospy.get_time() + delta_t = t - last_time + last_time = t + + if (self.cmd_timeout > 0.0 and (t - self.last_cmd_time > self.cmd_timeout)): + + steer_ang_changed, center_y = self.control_steering(self.last_steer_ang, 0.0, 0.001) + + self.control_wheels(0.0, 0.0, 0.0, steer_ang_changed, center_y) + + elif delta_t > 0.0: + + with self.ackermann_cmd_lock: + steer_ang = self.steer_ang + steer_ang_vel = self.steer_ang_vel + speed = self.speed + accel = self.accel + + steer_ang_changed, center_y = self.control_steering(steer_ang, steer_ang_vel, delta_t) + + self.control_wheels(speed, accel, delta_t, steer_ang_changed, center_y) + + # # change is bigger than 0.1 degree + # if(np.abs(self.theta_left - self.theta_left_old) >= 0.0015): + # self.theta_left_old = self.theta_left + # self.left_steer_pub.publish(self.theta_left) + + # if(np.abs(self.theta_right - self.theta_right_old) >= 0.0015): + # self.theta_right_old = self.theta_right + # self.left_steer_pub.publish(self.theta_right) + + self.left_steer_pub.publish(self.theta_left) + self.right_steer_pub.publish(self.theta_right) + + if self.left_front_wheel_pub: + self.left_front_wheel_pub.publish(self.left_front_ang_vel) + + if self.right_front_wheel_pub: + self.right_front_wheel_pub.publish(self.right_front_ang_vel) + + if self.left_rear_wheel_pub: + self.left_rear_wheel_pub.publish(self.left_rear_ang_vel) + + if self.right_rear_wheel_pub: + self.right_rear_wheel_pub.publish(self.right_rear_ang_vel) + + self.sleep.sleep() + + def ackermann_callback(self, ackermann_cmd): + self.last_cmd_time = rospy.get_time() + with self.ackermann_cmd_lock: + self.steer_ang = ackermann_cmd.steering_angle + self.steer_ang_vel = ackermann_cmd.steering_angle_velocity + self.speed = ackermann_cmd.speed + self.accel = ackermann_cmd.acceleration + + def get_front_wheel_params(self, prefix): + steer_link = rospy.get_param(prefix + "steering_link_name") + steer_controller = rospy.get_param(prefix + "steering_controller_name") + wheel_controller = rospy.get_param(prefix + "axle_controller_name") + diameter = float(rospy.get_param(prefix + "diameter")) + return steer_link, steer_controller, wheel_controller, 1 / (PI * diameter) + + def get_rear_wheel_params(self, prefix): + link = rospy.get_param(prefix + "link_name") + wheel_controller = rospy.get_param(prefix + "axle_controller_name") + diameter = float(rospy.get_param(prefix + "diameter")) + return link, wheel_controller, 1 / (PI * diameter) + + def get_link_position(self, tfl, link): + while True: + try: + trans, not_used = tfl.lookupTransform(self.right_rear_link, link, rospy.Time(0)) + return np.array(trans) + except: + pass + + def control_steering(self, steer_ang, steer_ang_vel_limit, delta_t): + + if steer_ang_vel_limit > 0.0: + ang_vel = (steer_ang - self.last_steer_ang) / delta_t + ang_vel = max(-steer_ang_vel_limit, min(ang_vel, steer_ang_vel_limit)) + theta = self.last_steer_ang + ang_vel * delta_t + else: + theta = steer_ang + + center_y = self.wheelbase * math.tan((PI/2)-theta) + + steer_ang_changed = theta != self.last_steer_ang + + if steer_ang_changed: + self.last_steer_ang = theta + self.theta_left = get_steer_angle(math.atan(self.wheelbase_inv * (center_y - self.steer_joint_dist_div_2))) + self.theta_right = get_steer_angle(math.atan(self.wheelbase_inv * (center_y + self.steer_joint_dist_div_2))) + + return steer_ang_changed, center_y + + def control_wheels(self, speed, accel_limit, delta_t, steer_ang_changed, center_y): + + if accel_limit > 0.0: + self.last_accel_limit = accel_limit + accel = (speed - self.last_speed) / delta_t + accel = max(-accel_limit, min(accel, accel_limit)) + veh_speed = self.last_speed + accel * delta_t + else: + self.last_accel_limit = accel_limit + veh_speed = speed + + if veh_speed != self.last_speed or steer_ang_changed: + self.last_speed = veh_speed + left_dist = center_y - self.steer_joint_dist_div_2 + right_dist = center_y + self.steer_joint_dist_div_2 + gain = (2 * PI) * veh_speed / abs(center_y) + r = math.sqrt(left_dist ** 2 + self.wheelbase_sqr) + self.left_front_ang_vel = gain * r * self.left_front_inv_circ + r = math.sqrt(right_dist ** 2 + self.wheelbase_sqr) + self.right_front_ang_vel = gain * r * self.right_front_inv_circ + gain = (2 * PI) * veh_speed / center_y + self.left_rear_ang_vel = gain * left_dist * self.left_rear_inv_circ + self.right_rear_ang_vel = gain * right_dist * self.right_rear_inv_circ + +if __name__ == "__main__": + controller = GEMController() + controller.spin() + + + + + diff --git a/r_gator_simulator/r_gator_gazebo/scripts/r_gator_sensor_info.py b/r_gator_simulator/r_gator_gazebo/scripts/r_gator_sensor_info.py new file mode 100755 index 0000000..13c013f --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/scripts/r_gator_sensor_info.py @@ -0,0 +1,180 @@ +#!/usr/bin/env python3 + +#================================================================ +# File name: gem_sensor_info.py +# Description: show sensor info in Rviz +# Author: Hang Cui +# Email: hangcui3@illinois.edu +# Date created: 06/10/2021 +# Date last modified: 07/02/2021 +# Version: 0.1 +# Usage: rosrun gem_gazebo gem_sensor_info.py +# Python version: 3.8 +#================================================================ + +# Python Headers +import math +import random +import numpy as np + +# ROS Headers +import rospy +from sensor_msgs.msg import NavSatFix, Imu +from geometry_msgs.msg import Twist, Vector3 +from jsk_rviz_plugins.msg import OverlayText +from std_msgs.msg import ColorRGBA, Float32 +from tf.transformations import euler_from_quaternion, quaternion_from_euler + +# Gazebo Headers +from gazebo_msgs.srv import GetModelState +from gazebo_msgs.msg import ModelState + + +class GEMOverlay(object): + + def __init__(self): + + self.sensor_info_pub = rospy.Publisher("/gem/sensor_info", OverlayText, queue_size=1) + self.gps_sub = rospy.Subscriber("/gps/fix", NavSatFix, self.gps_callback) + self.imu_sub = rospy.Subscriber("/imu", Imu, self.imu_callback) + self.rate = rospy.Rate(10) + + self.sensor_overlaytext = self.update_sensor_overlaytext() + self.sensor_info_update = False + + self.lat = 0.0 + self.lon = 0.0 + self.alt = 0.0 + self.imu_yaw = 0.0 + + self.x = 0.0 + self.y = 0.0 + self.x_dot = 0.0 + self.y_dot = 0.0 + self.gazebo_yaw = 0.0 + + + def gps_callback(self, msg): + self.lat = round(msg.latitude, 6) + self.lon = round(msg.longitude, 6) + self.alt = round(msg.altitude, 6) + + + def imu_callback(self, msg): + orientation_q = msg.orientation + angular_velocity = msg.angular_velocity + linear_accel = msg.linear_acceleration + orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] + (roll, pitch, yaw) = euler_from_quaternion(orientation_list) + self.imu_yaw = round(yaw, 6) + + + def get_gem_state(self): + + rospy.wait_for_service('/gazebo/get_model_state') + + try: + service_response = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState) + model_state = service_response(model_name='gem') + except rospy.ServiceException as exc: + rospy.loginfo("Service did not process request: " + str(exc)) + + x = model_state.pose.position.x + y = model_state.pose.position.y + + orientation_q = model_state.pose.orientation + orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] + + # roll: x-axis, pitch: y-axis, yaw: z-axis + (roll, pitch, yaw) = euler_from_quaternion(orientation_list) + + x_dot = model_state.twist.linear.x + y_dot = model_state.twist.linear.y + + return round(x,3), round(y,3), round(yaw,3), round(x_dot,3), round(y_dot,3) + + + def update_sensor_overlaytext(self, lat=0.0, lon=0.0, alt=0.0, imu_yaw=0.0, x=0.0, y=0.0, gazebo_yaw=0.0, x_dot=0.0, y_dot=0.0, f_vel=0.0): + + text = OverlayText() + text.width = 230 + text.height = 290 + text.left = 10 + text.top = 10 + text.text_size = 12 + text.line_width = 2 + text.font = "DejaVu Sans Mono" + text.text = """---------------------- + Sensor (Measurement): + Lat = %s + Lon = %s + Alt = %s + Yaw = %s + ---------------------- + Gazebo (Ground Truth): + X = %s + Y = %s + X_dot = %s + Y_dot = %s + F_vel = %s + Yaw = %s + ---------------------- + """ % (str(lat), str(lon), str(alt), str(imu_yaw), str(x), str(y), str(x_dot), str(y_dot), str(f_vel), str(gazebo_yaw)) + text.fg_color = ColorRGBA(25 / 255.0, 1.0, 240.0 / 255.0, 1.0) + text.bg_color = ColorRGBA(0.0, 0.0, 0.0, 0.2) + return text + + + def update_sensor_overlaytext_only(self, new_text): + self.sensor_overlaytext.text = new_text + + + def start_demo(self): + + while not rospy.is_shutdown(): + + self.x, self.y, self.gazebo_yaw, self.x_dot, self.y_dot = self.get_gem_state() + + f_vel = round(np.sqrt(self.x_dot**2 + self.y_dot**2), 3) + + if(self.sensor_info_update): + sensor_text = """---------------------- + Sensor (Measurement): + Lat = %s + Lon = %s + Alt = %s + Yaw = %s + ---------------------- + Gazebo (Ground Truth): + X_pos = %s + Y_pos = %s + X_dot = %s + Y_dot = %s + F_vel = %s + Yaw = %s + ---------------------- + """ % ( str(self.lat), str(self.lon), str(self.alt), str(self.imu_yaw), \ + str(self.x), str(self.y), str(self.x_dot), str(self.y_dot), str(f_vel), str(self.gazebo_yaw)) + self.update_sensor_overlaytext_only(sensor_text) + else: + self.sensor_overlaytext = self.update_sensor_overlaytext() + self.sensor_info_update = True + + self.sensor_info_pub.publish(self.sensor_overlaytext) + + self.rate.sleep() + + +def gem_overlay(): + + rospy.init_node('gem_sensor_info', anonymous=True) + + gem_overlay_object = GEMOverlay() + + try: + gem_overlay_object.start_demo() + except rospy.ROSInterruptException: + pass + +if __name__ == '__main__': + gem_overlay() \ No newline at end of file diff --git a/r_gator_simulator/r_gator_gazebo/worlds/example.world b/r_gator_simulator/r_gator_gazebo/worlds/example.world new file mode 100755 index 0000000..adf1b57 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo/worlds/example.world @@ -0,0 +1,459 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + 1 + + + + + 0 0 1 + 100 100 + + + + + + 100 + 50 + + + + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + 655 723000000 + 632 993993136 + 1595193024 426858016 + 622674 + + 8 -0 1 1e-06 1e-06 3.2e-05 + 1 1 1 + + 8 -0 1 1e-06 1e-06 3.2e-05 + 0 0 0 0 -0 0 + -6.97759 4.24467 6.41503 1.63935 -0.496857 0.032691 + -6.97759 4.24467 6.41503 0 -0 0 + 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a/r_gator_simulator/r_gator_gazebo_tool/CMakeLists.txt b/r_gator_simulator/r_gator_gazebo_tool/CMakeLists.txt new file mode 100755 index 0000000..6232ee6 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo_tool/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 3.0.2) +project(r_gator_gazebo_tool) + +## 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 + ackermann_msgs + roscpp + rospy + std_msgs + tf +) + +## 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 +# ackermann_msgs# std_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 r_gator_gazebo_tool +# CATKIN_DEPENDS ackermann_msgs roscpp rospy std_msgs +# 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/${PROJECT_NAME}/r_gator_gazebo_tool.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/gazebo_odom_publisher.cpp) +add_executable(tf_broadcaster_node src/tf_broadcaster.cpp) +target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${PCL_LIBRARIES}) + +target_link_libraries(tf_broadcaster_node ${catkin_LIBRARIES} ${PCL_LIBRARIES}) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${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_r_gator_gazebo_tool.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) diff --git a/r_gator_simulator/r_gator_gazebo_tool/package.xml b/r_gator_simulator/r_gator_gazebo_tool/package.xml new file mode 100755 index 0000000..c5df6e1 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo_tool/package.xml @@ -0,0 +1,71 @@ + + + r_gator_gazebo_tool + 0.0.0 + The r_gator_gazebo_tool package + + + + + chris + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + ackermann_msgs + roscpp + rospy + std_msgs + ackermann_msgs + roscpp + rospy + std_msgs + ackermann_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/r_gator_simulator/r_gator_gazebo_tool/src/cmd_vel_to_ackermann_drive.py b/r_gator_simulator/r_gator_gazebo_tool/src/cmd_vel_to_ackermann_drive.py new file mode 100755 index 0000000..14f4603 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo_tool/src/cmd_vel_to_ackermann_drive.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python3 + +# Author: christoph.roesmann@tu-dortmund.de +# Modifier: Donghee Han, hdh7485@kaist.ac.kr + +import rospy, math +from geometry_msgs.msg import Twist +from ackermann_msgs.msg import AckermannDriveStamped +from ackermann_msgs.msg import AckermannDrive + + +def convert_trans_rot_vel_to_steering_angle(v, omega, wheelbase): + if omega == 0 or v == 0: + return 0 + + radius = v / omega + return math.atan(wheelbase / radius) + + +def cmd_callback(data): + global wheelbase + global ackermann_cmd_topic + global frame_id + global pub + global message_type + + if message_type == 'ackermann_drive': + v = data.linear.x + steering = convert_trans_rot_vel_to_steering_angle(v, data.angular.z, wheelbase) + + msg = AckermannDrive() + msg.steering_angle = steering + msg.speed = v + + pub.publish(msg) + + else: + v = data.linear.x + steering = convert_trans_rot_vel_to_steering_angle(v, data.angular.z, wheelbase) + + msg = AckermannDriveStamped() + msg.header.stamp = rospy.Time.now() + msg.header.frame_id = frame_id + msg.drive.steering_angle = steering + msg.drive.speed = v + + pub.publish(msg) + +if __name__ == '__main__': + try: + + rospy.init_node('cmd_vel_to_ackermann_drive') + + twist_cmd_topic = rospy.get_param('~twist_cmd_topic', '/cmd_vel') + ackermann_cmd_topic = rospy.get_param('~ackermann_cmd_topic', '/ackermann_cmd') + wheelbase = rospy.get_param('~wheelbase', 1.0) + frame_id = rospy.get_param('~frame_id', 'odom') + message_type = rospy.get_param('~message_type', 'ackermann_drive') # ackermann_drive or ackermann_drive_stamped + + rospy.Subscriber(twist_cmd_topic, Twist, cmd_callback, queue_size=1) + if message_type == 'ackermann_drive': + pub = rospy.Publisher(ackermann_cmd_topic, AckermannDrive, queue_size=1) + else: + pub = rospy.Publisher(ackermann_cmd_topic, AckermannDriveStamped, queue_size=1) + + rospy.loginfo("Node 'cmd_vel_to_ackermann_drive' started.\nListening to %s, publishing to %s. Frame id: %s, wheelbase: %f", "/cmd_vel", ackermann_cmd_topic, frame_id, wheelbase) + + rospy.spin() + + except rospy.ROSInterruptException: + pass diff --git a/r_gator_simulator/r_gator_gazebo_tool/src/gazebo_odom_publisher.cpp b/r_gator_simulator/r_gator_gazebo_tool/src/gazebo_odom_publisher.cpp new file mode 100755 index 0000000..534cdc9 --- /dev/null +++ b/r_gator_simulator/r_gator_gazebo_tool/src/gazebo_odom_publisher.cpp @@ -0,0 +1,158 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; +using namespace ros; + +class Gazebo_Odometry +{ +public: + Gazebo_Odometry(); + bool check_robot_name(); + void ModelStatecallback(const gazebo_msgs::ModelStates& box_state_current); + void pub_odom(); + + // tf广播 + // static tf::TransformBroadcaster odom_broadcaster; +private: + NodeHandle node; + + // å‚æ•° + string robot_name; // 机器人在gazebo里的å称 + string odom_topic; // å‘布的è¯é¢˜ + // 里程计的下一级 + string robot_frame_id; + string hz; // è¯é¢˜å‘布的频率 + + bool robot_exist; + + ServiceClient states_client; + gazebo_msgs::GetModelState model_states; + nav_msgs::Odometry odom; + + Publisher odometry_pub; + + tf::TransformBroadcaster odom_broadcaster; + + tf::Transform transform; + tf::Quaternion quaternion; +}; + +// 订阅"/gazebo/model_states"的回调 +void Gazebo_Odometry::ModelStatecallback(const gazebo_msgs::ModelStates& model_state_current) +{ + // 一个模型都没有 + if(model_state_current.name.size()==0) + { + return; + } + // 更新从系统中获å–模型的åå­— + for(int i=0;i("robot_name",robot_name,"gem"); + nh.param("odom_topic",odom_topic,"/odom"); + // nh.param("global_frame_id",global_frame_id,"/map"); + nh.param("robot_frame_id",robot_frame_id,"/base_footprint"); + nh.param("Frequency_of_odom_publisher",hz,"10"); + + // åˆå§‹èµ‹å€¼ï¼Œé»˜è®¤æœºå™¨äººå°šæœªåŠ è½½å‡ºæ¥ + robot_exist = false; + + // 读å–机器人åç§°å¯¹åº”çš„æœºå™¨äººçŠ¶æ€ + states_client = node.serviceClient("/gazebo/get_model_state"); + + // å‘布 + odometry_pub = node.advertise(odom_topic,atoi(hz.c_str())); + // cout<<"å‘布的频率："< +#include +#include +#include + +// map pointer +nav_msgs::OccupancyGridPtr grid; + +// map callback +void setMap(const nav_msgs::OccupancyGrid::Ptr map) { + std::cout << "Creating transform for map..." << std::endl; + grid = map; +} + +int main(int argc, char** argv) { + // initiate the broadcaster + ros::init(argc, argv, "tf_broadcaster"); + ros::NodeHandle n; + + // subscribe to map updates + ros::Subscriber sub_map = n.subscribe("/occ_map", 1, setMap); + tf::Pose tfPose; + + + ros::Rate r(100); + tf::TransformBroadcaster broadcaster; + + while (ros::ok()) { + // transform from geometry msg to TF + if (grid != nullptr) { + tf::poseMsgToTF(grid->info.origin, tfPose); + } + + // odom to map + broadcaster.sendTransform( + tf::StampedTransform( + tf::Transform(tf::Quaternion(0, 0, 0, 1), tfPose.getOrigin()), + ros::Time::now(), "odom", "map")); + + // map to path + broadcaster.sendTransform( + tf::StampedTransform( + tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0, 0, 0)), + ros::Time::now(), "map", "path")); + ros::spinOnce(); + r.sleep(); + } +} diff --git a/r_gator_simulator/r_gator_launch/CMakeLists.txt b/r_gator_simulator/r_gator_launch/CMakeLists.txt new file mode 100755 index 0000000..7951bae --- /dev/null +++ b/r_gator_simulator/r_gator_launch/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 2.8.3) +project(r_gator_launch) + +find_package(catkin REQUIRED) +catkin_package() diff --git a/r_gator_simulator/r_gator_launch/LICENSE b/r_gator_simulator/r_gator_launch/LICENSE new file mode 100755 index 0000000..237c676 --- /dev/null +++ b/r_gator_simulator/r_gator_launch/LICENSE @@ -0,0 +1,27 @@ +Software License Agreement (BSD License) + +Copyright (c) 2018-2025, Center for Autonomy (University of Illinois at Urbana-Champaign). +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + * Neither the name of Dataspeed Inc. nor the names of its + contributors may be used to endorse or promote products derived from this + software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/r_gator_simulator/r_gator_launch/config_rviz/r_gator_velodyne.rviz b/r_gator_simulator/r_gator_launch/config_rviz/r_gator_velodyne.rviz new file mode 100755 index 0000000..8f83986 --- /dev/null +++ b/r_gator_simulator/r_gator_launch/config_rviz/r_gator_velodyne.rviz @@ -0,0 +1,423 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.6296296119689941 + Tree Height: 708 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: FrontCamera +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + GPS_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + IMU_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + chair_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + door_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_head_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_turn_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_head_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_turn_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_single_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_I_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_antenna_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_blue_outer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_steering_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + rear_left_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_stop_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_light_bar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_stop_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_I_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_antenna_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_blue_outer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_steering_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + top_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: ring + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: VLP-16 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: /velodyne_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 239; 41; 41 + Enabled: false + Name: Range + Queue Size: 100 + Topic: /front_sonar_distance + Unreliable: false + Value: false + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 32; 74; 135 + Enabled: false + Name: Range + Queue Size: 100 + Topic: /rear_sonar_distance + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /front_single_camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: FrontCamera + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Align Bottom: false + Background Alpha: 0.800000011920929 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000011920929 + Foreground Color: 25; 255; 240 + Invert Shadow: false + Name: OverlayText + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Overtake Position Properties: false + Topic: /gem/sensor_info + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 21.94896697998047 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0.4518122673034668 + Y: -0.279840886592865 + Z: 0.6682773232460022 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.35479748249053955 + Target Frame: + Yaw: 3.1304025650024414 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + FrontCamera: + collapsed: false + Height: 948 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1920 + X: 0 + Y: 27 diff --git a/r_gator_simulator/r_gator_launch/config_rviz/reference/gem.rviz b/r_gator_simulator/r_gator_launch/config_rviz/reference/gem.rviz new file mode 100755 index 0000000..180d813 --- /dev/null +++ b/r_gator_simulator/r_gator_launch/config_rviz/reference/gem.rviz @@ -0,0 +1,311 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1 + Splitter Ratio: 0.5 + Tree Height: 675 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + chair_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + door_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_head_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_turn_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_head_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_turn_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_I_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_antenna_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_blue_outer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_fixed_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_steering_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_stop_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_light_bar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_stop_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_I_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_antenna_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_blue_outer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_fixed_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_steering_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 4.564784049987793 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.03143683075904846 + Y: 0.3718608319759369 + Z: 0.6975626349449158 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6103980541229248 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.073588848114014 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 972 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/r_gator_simulator/r_gator_launch/config_rviz/reference/gem_mp3.rviz b/r_gator_simulator/r_gator_launch/config_rviz/reference/gem_mp3.rviz new file mode 100755 index 0000000..c33239c --- /dev/null +++ b/r_gator_simulator/r_gator_launch/config_rviz/reference/gem_mp3.rviz @@ -0,0 +1,460 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /Image1 + - /TF1/Frames1 + - /Image2 + Splitter Ratio: 0.7897091507911682 + Tree Height: 949 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: VLP-16 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + GPS_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + IMU_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + chair_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + door_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_head_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_turn_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_head_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_turn_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_single_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_I_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_antenna_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_blue_outer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_steering_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + rear_left_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_stop_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_light_bar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_stop_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_I_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_antenna_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_blue_outer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_steering_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + top_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: ring + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: VLP-16 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: /velodyne_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /gem/front_single_camera/front_single_camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 239; 41; 41 + Enabled: true + Name: Range + Queue Size: 100 + Topic: /front_sonar_distance + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 32; 74; 135 + Enabled: true + Name: Range + Queue Size: 100 + Topic: /rear_sonar_distance + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /gem/sensor_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /mp3/BirdsEye + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /gem/front_single_camera/front_single_camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /mp3/BirdsEye + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: + Yaw: 0.7853981852531433 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1136 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/r_gator_simulator/r_gator_launch/config_rviz/reference/gem_velodyne_stereo.rviz b/r_gator_simulator/r_gator_launch/config_rviz/reference/gem_velodyne_stereo.rviz new file mode 100755 index 0000000..e80237a --- /dev/null +++ b/r_gator_simulator/r_gator_launch/config_rviz/reference/gem_velodyne_stereo.rviz @@ -0,0 +1,407 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1 + - /TF1/Frames1 + Splitter Ratio: 0.7897091507911682 + Tree Height: 671 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: VLP-16 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + GPS_link: + Alpha: 1 + Show Axes: false + Show Trail: false + IMU_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + chair_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + door_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_head_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_turn_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_head_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_turn_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_I_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_antenna_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_blue_outer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_steering_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + rear_left_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_stop_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_light_bar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_emergency_button_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_stop_light_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_I_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_antenna_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_blue_outer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_steering_hinge_link: + Alpha: 1 + Show Axes: false + Show Trail: false + stereo_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_rack_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: ring + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 7 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VLP-16 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: /velodyne_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /stereo/camera/right/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: false + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 239; 41; 41 + Enabled: true + Name: Range + Queue Size: 100 + Topic: /sonar_distance + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /stereo/camera/left/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 8.365825653076172 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.3572566509246826 + Y: 0.8425958156585693 + Z: 0.4694201946258545 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.21479769051074982 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.7067203521728516 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 972 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000003270000032efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007303000008a7000000520000054f000002defb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000003d000000f10000000000000000fb0000000a0049006d006100670065010000003d000001940000001600fffffffb0000000a0049006d00610067006501000001d7000001940000001600ffffff000000010000010f0000037efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000037e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004530000032e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1920 + X: 0 + Y: 27 diff --git a/r_gator_simulator/r_gator_launch/launch/r_gator_highbay.launch b/r_gator_simulator/r_gator_launch/launch/r_gator_highbay.launch new file mode 100755 index 0000000..167782d --- /dev/null +++ b/r_gator_simulator/r_gator_launch/launch/r_gator_highbay.launch @@ -0,0 +1,111 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_launch/launch/r_gator_init.launch b/r_gator_simulator/r_gator_launch/launch/r_gator_init.launch new file mode 100755 index 0000000..62c7d68 --- /dev/null +++ b/r_gator_simulator/r_gator_launch/launch/r_gator_init.launch @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/r_gator_simulator/r_gator_launch/launch/r_gator_sensor_info.launch b/r_gator_simulator/r_gator_launch/launch/r_gator_sensor_info.launch new file mode 100755 index 0000000..7e599cc --- /dev/null +++ b/r_gator_simulator/r_gator_launch/launch/r_gator_sensor_info.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/r_gator_simulator/r_gator_launch/package.xml b/r_gator_simulator/r_gator_launch/package.xml new file mode 100755 index 0000000..b8a7a2a --- /dev/null +++ b/r_gator_simulator/r_gator_launch/package.xml @@ -0,0 +1,11 @@ + + + r_gator_launch + 1.0.0 + The r_gator_launch is used to launch GEM simulator + Hang Cui + Hang Cui + https://github.com/hangcui1201/POLARIS_GEM_e2_Simulator.git + BSD + catkin + diff --git a/r_gator_simulator/rgator_model/CMakeLists.txt b/r_gator_simulator/rgator_model/CMakeLists.txt new file mode 100755 index 0000000..a8b5ef3 --- /dev/null +++ b/r_gator_simulator/rgator_model/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(rgator_model) + +find_package(catkin REQUIRED) + +catkin_package() + +find_package(roslaunch) + +foreach(dir config launch meshes urdf) + install(DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach(dir) diff --git a/r_gator_simulator/rgator_model/config/joint_names_rgator_model.yaml b/r_gator_simulator/rgator_model/config/joint_names_rgator_model.yaml new file mode 100755 index 0000000..900c5bd --- /dev/null +++ b/r_gator_simulator/rgator_model/config/joint_names_rgator_model.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 'front_left_wheel_joint', 'front_right_wheel_joint', 'middle_left_wheel_joint', 'middle_right_wheel_joint', 'rear_left_wheel_joint', 'rear_right_wheel_joint', ] diff --git a/r_gator_simulator/rgator_model/export.log b/r_gator_simulator/rgator_model/export.log new file mode 100755 index 0000000..4b7a134 --- /dev/null +++ b/r_gator_simulator/rgator_model/export.log @@ -0,0 +1,3240 @@ +2023-01-08 16:32:32,917 INFO Logger.cs: 70 - +-------------------------------------------------------------------------------- +2023-01-08 16:32:32,948 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter +2023-01-08 16:32:32,948 INFO Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe +2023-01-08 16:32:32,948 INFO Logger.cs: 74 - Build version 1.6.7995.38578 +2023-01-08 16:32:32,948 INFO SwAddin.cs: 192 - Attempting to connect to SW +2023-01-08 16:32:32,948 INFO SwAddin.cs: 197 - Setting up callbacks +2023-01-08 16:32:32,948 INFO SwAddin.cs: 201 - Setting up command manager +2023-01-08 16:32:32,948 INFO SwAddin.cs: 204 - Adding command manager +2023-01-08 16:32:32,964 INFO SwAddin.cs: 263 - Adding Assembly export to file menu +2023-01-08 16:32:32,964 INFO SwAddin.cs: 272 - Adding Part export to file menu +2023-01-08 16:32:32,964 INFO SwAddin.cs: 210 - Adding event handlers +2023-01-08 16:32:32,964 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks +2023-01-08 17:26:13,224 INFO SwAddin.cs: 294 - Assembly export called for file 20210720MT01 +2023-01-08 17:26:13,225 INFO SwAddin.cs: 299 - Save is required +2023-01-08 17:26:13,225 INFO SwAddin.cs: 313 - Saving assembly +2023-01-08 17:26:15,535 INFO SwAddin.cs: 316 - Opening property manager +2023-01-08 17:26:15,546 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 20210720MT01 +2023-01-08 17:26:15,551 INFO ExportHelperExtension.cs: 1136 - Found 172 in 20210720MT01 +2023-01-08 17:26:15,552 INFO ExportHelperExtension.cs: 1145 - Found 6 features of type [CoordSys] in 20210720MT01 +2023-01-08 17:26:15,552 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:26:15,553 INFO ExportHelperExtension.cs: 1160 - 133 components to check +2023-01-08 17:26:15,554 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:26:15,554 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:26:15,555 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:26:15,555 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:26:15,555 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:26:15,555 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:26:15,556 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:26:15,556 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:26:15,556 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:26:15,556 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:26:15,557 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:26:15,557 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:26:15,558 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:26:15,558 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:26:15,558 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:26:15,558 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:26:15,559 INFO ExportHelperExtension.cs: 1136 - Found 26 in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:26:15,559 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:26:15,559 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:26:15,559 INFO ExportHelperExtension.cs: 1136 - Found 26 in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:26:15,560 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:26:15,560 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:26:15,560 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:26:15,561 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:26:15,561 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:26:15,561 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:26:15,561 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:26:15,562 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Document-1 +2023-01-08 17:26:15,562 INFO ExportHelperExtension.cs: 1136 - Found 109 in Document-1 +2023-01-08 17:26:15,562 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Document-1 +2023-01-08 17:26:15,563 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:26:15,563 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:26:15,563 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:26:15,563 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:26:15,564 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:26:15,564 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:26:15,564 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:26:15,564 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:26:15,565 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:26:15,565 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:26:15,565 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:26:15,565 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:26:15,566 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:26:15,566 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:26:15,566 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:26:15,566 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:26:15,566 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:26:15,567 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:26:15,567 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:26:15,567 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:26:15,567 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:26:15,568 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:26:15,568 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:26:15,568 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:26:15,568 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:26:15,569 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:26:15,569 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:26:15,569 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:26:15,569 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:26:15,570 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:26:15,570 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:26:15,570 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:26:15,570 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:26:15,570 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:26:15,571 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:26:15,571 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:26:15,571 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3086-1 +2023-01-08 17:26:15,571 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-1 +2023-01-08 17:26:15,572 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3086-1 +2023-01-08 17:26:15,572 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:26:15,572 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:26:15,572 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:26:15,573 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:26:15,573 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:26:15,573 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:26:15,573 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:26:15,573 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:26:15,574 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:26:15,574 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:26:15,574 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:26:15,574 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:26:15,575 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 600643-1 +2023-01-08 17:26:15,575 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-1 +2023-01-08 17:26:15,575 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 600643-1 +2023-01-08 17:26:15,575 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:26:15,576 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:26:15,576 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:26:15,576 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:26:15,576 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:26:15,577 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:26:15,577 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:26:15,577 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:26:15,577 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:26:15,578 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:26:15,578 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:26:15,578 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:26:15,578 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 600643-2 +2023-01-08 17:26:15,579 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-2 +2023-01-08 17:26:15,579 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 600643-2 +2023-01-08 17:26:15,579 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:26:15,579 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:26:15,580 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:26:15,580 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:26:15,580 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:26:15,580 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:26:15,580 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:26:15,581 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:26:15,581 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:26:15,581 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-15-2517-1 +2023-01-08 17:26:15,582 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-1 +2023-01-08 17:26:15,585 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-15-2517-1 +2023-01-08 17:26:15,585 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:26:15,652 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:26:15,653 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:26:15,653 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:26:15,653 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:26:15,654 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:26:15,654 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:26:15,654 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:26:15,655 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:26:15,655 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:26:15,655 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:26:15,655 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:26:15,656 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-3 +2023-01-08 17:26:15,656 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-3 +2023-01-08 17:26:15,656 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-3 +2023-01-08 17:26:15,657 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:26:15,657 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:26:15,657 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:26:15,658 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:26:15,658 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:26:15,658 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:26:15,659 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3086-2 +2023-01-08 17:26:15,659 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-2 +2023-01-08 17:26:15,659 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3086-2 +2023-01-08 17:26:15,660 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:26:15,660 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:26:15,660 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:26:15,660 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:26:15,661 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:26:15,661 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:26:15,661 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:26:15,662 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:26:15,662 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:26:15,662 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:26:15,663 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:26:15,663 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:26:15,663 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:26:15,663 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:26:15,664 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:26:15,664 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:26:15,664 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:26:15,665 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:26:15,665 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:26:15,665 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:26:15,666 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:26:15,666 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:26:15,666 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:26:15,667 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:26:15,667 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:26:15,667 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:26:15,667 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:26:15,668 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-1 +2023-01-08 17:26:15,668 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-1 +2023-01-08 17:26:15,668 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-1 +2023-01-08 17:26:15,669 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:26:15,669 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:26:15,669 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:26:15,669 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-2 +2023-01-08 17:26:15,670 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-2 +2023-01-08 17:26:15,670 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-2 +2023-01-08 17:26:15,670 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:26:15,671 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:26:15,671 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:26:15,671 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:26:15,672 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:26:15,672 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:26:15,672 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:26:15,673 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:26:15,673 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:26:15,673 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:26:15,674 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:26:15,674 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:26:15,674 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-15-2517-2 +2023-01-08 17:26:15,675 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-2 +2023-01-08 17:26:15,675 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-15-2517-2 +2023-01-08 17:26:15,675 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:26:15,676 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:26:15,676 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:26:15,676 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:26:15,676 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:26:15,677 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:26:15,677 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:26:15,677 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:26:15,678 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:26:15,678 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:26:15,678 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:26:15,678 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:26:15,679 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:26:15,679 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:26:15,679 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:26:15,680 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:26:15,680 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:26:15,680 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:26:15,680 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:26:15,681 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:26:15,681 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:26:15,681 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:26:15,682 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:26:15,682 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:26:15,682 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:26:15,683 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:26:15,683 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:26:15,683 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:26:15,683 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:26:15,684 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:26:15,684 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:26:15,684 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:26:15,685 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:26:15,685 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-4 +2023-01-08 17:26:15,685 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-4 +2023-01-08 17:26:15,686 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-4 +2023-01-08 17:26:15,686 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:26:15,686 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:26:15,686 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:26:15,687 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:26:15,687 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:26:15,687 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:26:15,687 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:26:15,687 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:26:15,688 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:26:15,688 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-5 +2023-01-08 17:26:15,688 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-5 +2023-01-08 17:26:15,689 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-5 +2023-01-08 17:26:15,689 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:26:15,689 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:26:15,689 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:26:15,689 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:26:15,690 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:26:15,690 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:26:15,690 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:26:15,690 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:26:15,691 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:26:15,691 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:26:15,691 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:26:15,691 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:26:15,691 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:26:15,692 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:26:15,692 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:26:15,692 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:26:15,692 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:26:15,693 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:26:15,693 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:26:15,693 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:26:15,693 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:26:15,693 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:26:15,694 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:26:15,694 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:26:15,694 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:26:15,694 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:26:15,695 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:26:15,695 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:26:15,695 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:26:15,695 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:26:15,695 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:26:15,696 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:26:15,696 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:26:15,696 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:26:15,696 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:26:15,697 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:26:15,699 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:26:15,710 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:26:15,710 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:26:15,710 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-6 +2023-01-08 17:26:15,710 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-6 +2023-01-08 17:26:15,711 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-6 +2023-01-08 17:26:15,711 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:26:15,711 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:26:15,711 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:26:15,712 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:26:15,712 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:26:15,712 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:26:15,712 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-7 +2023-01-08 17:26:15,712 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-7 +2023-01-08 17:26:15,713 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-7 +2023-01-08 17:26:15,713 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:26:15,713 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:26:15,713 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:26:15,713 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:26:15,714 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:26:15,714 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:26:15,714 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:26:15,714 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:26:15,715 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:26:15,715 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:26:15,715 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:26:15,715 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:26:15,716 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:26:15,716 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:26:15,716 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:26:15,716 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:26:15,716 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:26:15,717 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:26:15,717 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:26:15,717 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:26:15,717 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:26:15,718 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:26:15,718 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:26:15,718 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:26:15,718 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:26:15,718 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:26:15,719 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:26:15,719 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:26:15,719 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:26:15,719 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:26:15,720 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:26:15,720 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:26:15,720 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:26:15,720 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:26:15,720 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:26:15,721 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:26:15,721 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:26:15,721 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:26:15,721 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:26:15,721 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:26:15,722 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:26:15,722 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:26:15,722 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:26:15,722 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:26:15,722 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:26:15,723 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:26:15,723 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:26:15,723 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:26:15,723 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:26:15,723 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:26:15,724 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:26:15,724 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:26:15,724 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:26:15,724 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:26:15,724 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-8 +2023-01-08 17:26:15,725 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-8 +2023-01-08 17:26:15,725 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-8 +2023-01-08 17:26:15,725 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:26:15,725 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:26:15,725 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:26:15,726 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:26:15,726 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:26:15,726 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:26:15,726 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:26:15,727 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:26:15,727 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:26:15,727 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:26:15,727 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:26:15,727 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:26:15,728 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:26:15,728 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:26:15,728 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:26:15,728 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:26:15,728 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:26:15,729 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:26:15,729 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:26:15,729 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:26:15,729 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:26:15,729 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:26:15,730 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:26:15,730 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:26:15,730 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:26:15,730 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:26:15,730 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:26:15,731 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:26:15,731 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:26:15,731 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:26:15,731 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:26:15,731 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:26:15,732 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:26:15,732 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:26:15,732 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:26:15,732 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:26:15,732 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:26:15,733 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:26:15,733 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:26:15,733 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:26:15,733 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:26:15,734 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:26:15,734 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ?-2 +2023-01-08 17:26:15,735 INFO ExportHelperExtension.cs: 1136 - Found 27 in ?-2 +2023-01-08 17:26:15,736 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ?-2 +2023-01-08 17:26:15,736 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ??-1 +2023-01-08 17:26:15,736 INFO ExportHelperExtension.cs: 1136 - Found 27 in ??-1 +2023-01-08 17:26:15,736 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ??-1 +2023-01-08 17:26:15,736 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:26:15,737 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:26:15,737 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:26:15,737 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:26:15,737 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:26:15,738 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:26:15,738 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:26:15,738 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:26:15,738 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:26:15,739 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 20210720MT01 +2023-01-08 17:26:15,739 INFO ExportHelperExtension.cs: 1136 - Found 172 in 20210720MT01 +2023-01-08 17:26:15,739 INFO ExportHelperExtension.cs: 1145 - Found 2 features of type [RefAxis] in 20210720MT01 +2023-01-08 17:26:15,740 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:26:15,740 INFO ExportHelperExtension.cs: 1160 - 133 components to check +2023-01-08 17:26:15,740 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:26:15,740 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:26:15,741 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:26:15,741 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:26:15,741 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:26:15,741 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:26:15,741 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:26:15,742 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:26:15,742 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:26:15,742 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:26:15,742 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:26:15,743 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:26:15,743 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:26:15,743 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:26:15,744 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:26:15,744 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:26:15,744 INFO ExportHelperExtension.cs: 1136 - Found 26 in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:26:15,744 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:26:15,744 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:26:15,745 INFO ExportHelperExtension.cs: 1136 - Found 26 in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:26:15,745 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:26:15,745 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:26:15,745 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:26:15,746 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:26:15,746 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:26:15,746 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:26:15,748 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:26:15,749 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Document-1 +2023-01-08 17:26:15,757 INFO ExportHelperExtension.cs: 1136 - Found 109 in Document-1 +2023-01-08 17:26:15,757 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Document-1 +2023-01-08 17:26:15,757 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:26:15,758 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:26:15,758 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:26:15,758 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:26:15,758 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:26:15,758 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:26:15,759 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:26:15,759 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:26:15,759 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:26:15,759 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:26:15,759 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:26:15,760 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:26:15,760 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:26:15,760 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:26:15,760 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:26:15,761 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:26:15,761 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:26:15,761 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:26:15,761 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:26:15,761 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:26:15,762 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:26:15,762 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:26:15,762 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:26:15,762 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:26:15,762 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:26:15,763 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:26:15,763 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:26:15,763 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:26:15,763 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:26:15,763 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:26:15,764 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:26:15,764 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:26:15,764 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:26:15,764 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:26:15,764 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:26:15,765 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:26:15,765 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3086-1 +2023-01-08 17:26:15,765 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-1 +2023-01-08 17:26:15,765 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3086-1 +2023-01-08 17:26:15,765 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:26:15,766 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:26:15,766 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:26:15,766 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:26:15,766 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:26:15,766 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:26:15,767 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:26:15,767 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:26:15,767 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:26:15,767 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:26:15,768 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:26:15,768 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:26:15,768 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 600643-1 +2023-01-08 17:26:15,768 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-1 +2023-01-08 17:26:15,768 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 600643-1 +2023-01-08 17:26:15,769 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:26:15,769 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:26:15,769 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:26:15,769 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:26:15,769 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:26:15,770 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:26:15,770 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:26:15,770 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:26:15,770 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:26:15,770 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:26:15,770 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:26:15,771 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:26:15,771 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 600643-2 +2023-01-08 17:26:15,771 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-2 +2023-01-08 17:26:15,771 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 600643-2 +2023-01-08 17:26:15,771 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:26:15,772 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:26:15,772 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:26:15,772 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:26:15,772 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:26:15,772 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:26:15,773 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:26:15,773 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:26:15,773 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:26:15,773 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-15-2517-1 +2023-01-08 17:26:15,773 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-1 +2023-01-08 17:26:15,774 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-15-2517-1 +2023-01-08 17:26:15,774 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:26:15,774 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:26:15,774 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:26:15,774 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:26:15,775 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:26:15,775 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:26:15,775 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:26:15,775 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:26:15,775 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:26:15,776 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:26:15,776 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:26:15,776 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:26:15,776 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-3 +2023-01-08 17:26:15,776 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-3 +2023-01-08 17:26:15,777 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-3 +2023-01-08 17:26:15,777 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:26:15,777 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:26:15,777 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:26:15,777 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:26:15,777 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:26:15,778 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:26:15,778 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3086-2 +2023-01-08 17:26:15,778 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-2 +2023-01-08 17:26:15,778 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3086-2 +2023-01-08 17:26:15,778 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:26:15,779 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:26:15,779 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:26:15,779 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:26:15,779 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:26:15,780 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:26:15,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:26:15,780 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:26:15,780 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:26:15,780 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:26:15,781 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:26:15,781 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:26:15,781 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:26:15,781 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:26:15,781 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:26:15,782 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:26:15,782 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:26:15,782 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:26:15,782 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:26:15,782 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:26:15,783 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:26:15,783 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:26:15,783 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:26:15,783 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:26:15,783 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:26:15,784 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:26:15,784 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:26:15,784 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-1 +2023-01-08 17:26:15,784 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-1 +2023-01-08 17:26:15,785 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-1 +2023-01-08 17:26:15,785 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:26:15,785 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:26:15,785 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:26:15,785 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-2 +2023-01-08 17:26:15,786 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-2 +2023-01-08 17:26:15,786 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-2 +2023-01-08 17:26:15,786 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:26:15,786 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:26:15,786 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:26:15,787 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:26:15,787 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:26:15,787 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:26:15,787 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:26:15,787 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:26:15,788 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:26:15,788 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:26:15,788 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:26:15,788 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:26:15,788 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-15-2517-2 +2023-01-08 17:26:15,789 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-2 +2023-01-08 17:26:15,789 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-15-2517-2 +2023-01-08 17:26:15,791 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:26:15,804 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:26:15,804 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:26:15,804 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:26:15,804 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:26:15,805 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:26:15,805 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:26:15,805 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:26:15,805 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:26:15,806 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:26:15,806 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:26:15,806 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:26:15,806 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:26:15,806 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:26:15,807 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:26:15,807 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:26:15,807 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:26:15,807 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:26:15,807 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:26:15,808 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:26:15,808 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:26:15,808 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:26:15,808 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:26:15,808 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:26:15,809 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:26:15,809 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:26:15,809 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:26:15,809 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:26:15,809 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:26:15,810 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:26:15,810 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:26:15,810 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:26:15,810 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:26:15,810 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-4 +2023-01-08 17:26:15,811 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-4 +2023-01-08 17:26:15,811 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-4 +2023-01-08 17:26:15,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:26:15,811 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:26:15,811 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:26:15,812 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:26:15,812 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:26:15,812 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:26:15,812 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:26:15,813 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:26:15,813 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:26:15,813 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-5 +2023-01-08 17:26:15,813 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-5 +2023-01-08 17:26:15,813 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-5 +2023-01-08 17:26:15,814 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:26:15,814 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:26:15,814 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:26:15,814 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:26:15,815 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:26:15,815 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:26:15,815 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:26:15,815 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:26:15,816 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:26:15,816 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:26:15,816 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:26:15,816 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:26:15,816 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:26:15,817 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:26:15,817 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:26:15,817 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:26:15,817 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:26:15,817 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:26:15,818 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:26:15,818 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:26:15,818 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:26:15,818 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:26:15,818 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:26:15,819 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:26:15,819 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:26:15,819 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:26:15,819 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:26:15,819 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:26:15,820 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:26:15,820 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:26:15,820 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:26:15,820 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:26:15,820 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:26:15,821 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:26:15,821 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:26:15,821 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:26:15,821 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:26:15,821 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:26:15,822 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:26:15,822 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-6 +2023-01-08 17:26:15,822 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-6 +2023-01-08 17:26:15,822 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-6 +2023-01-08 17:26:15,822 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:26:15,823 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:26:15,823 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:26:15,823 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:26:15,823 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:26:15,824 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:26:15,824 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-7 +2023-01-08 17:26:15,824 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-7 +2023-01-08 17:26:15,824 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-7 +2023-01-08 17:26:15,824 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:26:15,825 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:26:15,825 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:26:15,825 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:26:15,825 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:26:15,825 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:26:15,826 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:26:15,826 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:26:15,826 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:26:15,826 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:26:15,826 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:26:15,827 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:26:15,827 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:26:15,827 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:26:15,827 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:26:15,828 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:26:15,828 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:26:15,828 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:26:15,828 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:26:15,828 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:26:15,829 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:26:15,829 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:26:15,829 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:26:15,829 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:26:15,830 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:26:15,830 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:26:15,830 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:26:15,830 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:26:15,830 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:26:15,831 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:26:15,831 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:26:15,831 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:26:15,831 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:26:15,832 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:26:15,832 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:26:15,832 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:26:15,832 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:26:15,832 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:26:15,833 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:26:15,833 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:26:15,833 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:26:15,833 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:26:15,834 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:26:15,834 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:26:15,834 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:26:15,834 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:26:15,834 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:26:15,835 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:26:15,835 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:26:15,835 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:26:15,835 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:26:15,836 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:26:15,836 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:26:15,836 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:26:15,836 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-8 +2023-01-08 17:26:15,836 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-8 +2023-01-08 17:26:15,837 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-8 +2023-01-08 17:26:15,837 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:26:15,837 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:26:15,837 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:26:15,838 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:26:15,851 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:26:15,851 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:26:15,851 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:26:15,852 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:26:15,852 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:26:15,852 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:26:15,853 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:26:15,853 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:26:15,853 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:26:15,853 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:26:15,854 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:26:15,854 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:26:15,854 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:26:15,854 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:26:15,854 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:26:15,855 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:26:15,855 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:26:15,855 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:26:15,856 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:26:15,856 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:26:15,856 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:26:15,856 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:26:15,857 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:26:15,857 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:26:15,857 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:26:15,857 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:26:15,857 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:26:15,858 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:26:15,858 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:26:15,858 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:26:15,858 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:26:15,859 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:26:15,859 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:26:15,859 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:26:15,859 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:26:15,860 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:26:15,860 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:26:15,860 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:26:15,860 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ?-2 +2023-01-08 17:26:15,861 INFO ExportHelperExtension.cs: 1136 - Found 27 in ?-2 +2023-01-08 17:26:15,861 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ?-2 +2023-01-08 17:26:15,861 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ??-1 +2023-01-08 17:26:15,861 INFO ExportHelperExtension.cs: 1136 - Found 27 in ??-1 +2023-01-08 17:26:15,862 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ??-1 +2023-01-08 17:26:15,862 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:26:15,862 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:26:15,862 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:26:15,863 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:26:15,863 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:26:15,863 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:26:15,863 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:26:15,863 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:26:15,864 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:26:16,166 INFO SwAddin.cs: 339 - Loading config tree +2023-01-08 17:26:16,170 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue0.024021223633258634-0.00105147840435170320.11959604082639583rpytrue000originfalsefalsevaluetrue6.5015602227581111massfalseixxtrue0.19999777457272835ixytrue-0.0017739275443715374ixztrue0.045283664547911072iyytrue0.6699551906393818iyztrue-0.00032330535188077861izztrue0.74863738981090433inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseglobal_coordiationlinktruenametruewheel_lf_linkxyztrue-0.0020783174394125026-0.00150118764136880630.0026851438214488266rpytrue000originfalsefalsevaluetrue1.1113666100096316massfalseixxtrue0.011918876541329535ixytrue-2.0060327877189049E-17ixztrue1.4367723048594898E-08iyytrue0.020259798417657255iyztrue1.9355227330416915E-17izztrue0.011917839985292597inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_lf_jointtypetruecontinuousxyztrue0.269260.273750.046rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_lf_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront axleleft_front_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAwAAAAfalsefalsenametruewheel_lb_linkxyztrue-3.3306690738754696E-160.0018388123586141614-2.7755575615628914E-17rpytrue000originfalsefalsevaluetrue1.1113666100096327massfalseixxtrue0.011918876541327745ixytrue2.0530293210888313E-17ixztrue1.4367723029139926E-08iyytrue0.020259798417657234iyztrue-1.6126387438882625E-17izztrue0.011917839985290812inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_lb_jointtypetruecontinuousxyztrue-0.290740.261410.046rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_lb_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear axleleft_back_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0ANABAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAABCAAAAfalsefalsenametruewheel_rf_linkxyztrue4.2870151872875795E-12-0.0074988123586143263-1.0269562977782698E-15rpytrue000originfalsefalsevaluetrue1.111366610009628massfalseixxtrue0.011918734214292603ixytrue1.7411847342155967E-17ixztrue3.5704256609650227E-07iyytrue0.020259798417657186iyztrue2.715481827834994E-17izztrue0.011917982312325907inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_rf_jointtypetruecontinuousxyztrue0.26926-0.264750.046rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_rf_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront axleright_front_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAhAAAAfalsefalsenametruewheel_rb_linkxyztrue2.7755575615628914E-160.0115011876413853585.5511151231257827E-17rpytrue000originfalsefalsevaluetrue1.1113666100096324massfalseixxtrue0.0119188765413295ixytrue2.6637740894357E-17ixztrue-1.4367723045689354E-08iyytrue0.020259798417657172iyztrue2.0679071399966136E-17izztrue0.011917839985292583inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_rb_jointtypetruecontinuousxyztrue-0.29074081697907483-0.274750000003405880.045999999999998986rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_rb_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear axleright_back_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0AMwBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAA5AAAAfalsefalsefalseKCMAAAUAAAD//v8RTVJ0jy0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAADHAAAAKCMAAAUAAAD//v86XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQAXwBYADAAXwAxADcANgAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAHAAAAA==KCMAAAUAAAD//v86XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQAXwBYADAAXwAxADcANgAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAALQAAAA==KCMAAAUAAAD//v8mXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADYANgA4AC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACYAAAAKCMAAAUAAAD//v8qXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADYAMAA2ADAALQAyAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAI8AAAA=KCMAAAUAAAD//v8mXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADYANgA4AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACGAAAAKCMAAAUAAAD//v8QdI8tADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAtgAAAA==KCMAAAUAAAD//v8rXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8AMgAxADMAMgAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAnQAAAA==KCMAAAUAAAD//v8sXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADEANAAwADEAMwAwAC0AMwBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACeAAAAKCMAAAUAAAD//v8+XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADUARgAwAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMgA5AC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAByAAAAKCMAAAUAAAD//v8+XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADUARgAwAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMgA5AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAABLAAAAKCMAAAUAAAD//v8rXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8AMgAxADMAMgAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAlwAAAA==KCMAAAUAAAD//v8sXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADEANAAwADEAMwAwAC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACHAAAAKCMAAAUAAAD//v8sXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADEANAAwADEAMwAwAC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACbAAAAKCMAAAUAAAD//v8yXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADMAMwA2AEYARgBGAEQARgBGAEYARABfAFgAMABfADEAOQAyAC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAA7AAAAKCMAAAUAAAD//v8VNgAwADAANgA0ADMALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAADcAAAA=KCMAAAUAAAD//v8yXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADMAMwA2AEYARgBGAEQARgBGAEYARABfAFgAMABfADEAOQAyAC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAABFAAAAKCMAAAUAAAD//v8TMwAwADgANgAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAPgAAAA==KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQA0AEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAJ8AAAA=KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQAzAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAJEAAAA=KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAIgAAAA=KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQAyAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAI0AAAA=KCMAAAUAAAD//v8ZMQAwAC0AMQA1AC0AMgA1ADEANwAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAWQAAAA==KCMAAAUAAAD//v8XRABvAGMAdQBtAGUAbgB0AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAWAAAAKCMAAAUAAAD//v8TMwAwADgANgAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAANAAAAA==KCMAAAUAAAD//v8qXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADYAMAA2ADAALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAIIAAAA=KCMAAAUAAAD//v8ZMQAwAC0AMQA1AC0AMgA1ADEANwAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAUgAAAA==KCMAAAUAAAD//v8qXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADgANQA0ADEALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAGkAAAA=KCMAAAUAAAD//v84RgA2ADAAMAA0AF8AWAAyAF8ARgBGAEYARABfAFgAMABfAF8AXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMwA5AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAmAAAAKCMAAAUAAAD//v8pTQAyADAAXwBYADIAXwBGAEYARgBEAEYARgBGAEQAMAAxADMAOABfAFgAMABfADEAMgAyAC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAnAAAAfalsefalse +2023-01-08 17:26:16,230 INFO LinkNode.cs: 35 - Building node base_link +2023-01-08 17:26:16,231 INFO LinkNode.cs: 35 - Building node wheel_lf_link +2023-01-08 17:26:16,231 INFO LinkNode.cs: 35 - Building node wheel_lb_link +2023-01-08 17:26:16,231 INFO LinkNode.cs: 35 - Building node wheel_rf_link +2023-01-08 17:26:16,231 INFO LinkNode.cs: 35 - Building node wheel_rb_link +2023-01-08 17:26:16,232 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:26:16,233 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???MRt?-1@20210720MT01? +2023-01-08 17:26:16,235 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\??.SLDPRT +2023-01-08 17:26:16,235 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???:_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1@20210720MT01 +2023-01-08 17:26:16,235 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176.SLDPRT +2023-01-08 17:26:16,236 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???:_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2@20210720MT01- +2023-01-08 17:26:16,236 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176.SLDPRT +2023-01-08 17:26:16,236 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???&_X2_FFFDFFFDFFFD_X0_668-2@20210720MT01? +2023-01-08 17:26:16,237 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_668.SLDPRT +2023-01-08 17:26:16,237 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???*_X2_FFFDFFFDFFFD_X0_10-6060-2@20210720MT01? +2023-01-08 17:26:16,237 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-6060.SLDPRT +2023-01-08 17:26:16,237 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???&_X2_FFFDFFFDFFFD_X0_668-1@20210720MT01? +2023-01-08 17:26:16,238 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_668.SLDPRT +2023-01-08 17:26:16,238 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???t?-2@20210720MT01? +2023-01-08 17:26:16,238 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\?.SLDPRT +2023-01-08 17:26:16,238 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???+_X2_FFFDFFFDFFFDFFFD_X0_2132-2@20210720MT01? +2023-01-08 17:26:16,238 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFD_X0_2132.SLDPRT +2023-01-08 17:26:16,239 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???,_X2_FFFDFFFDFFFD_X0_10-140130-3@20210720MT01? +2023-01-08 17:26:16,239 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-140130.SLDPRT +2023-01-08 17:26:16,239 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???>_X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2@20210720MT01r +2023-01-08 17:26:16,239 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129.SLDPRT +2023-01-08 17:26:16,240 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???>_X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1@20210720MT01K +2023-01-08 17:26:16,240 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129.SLDPRT +2023-01-08 17:26:16,240 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???+_X2_FFFDFFFDFFFDFFFD_X0_2132-1@20210720MT01? +2023-01-08 17:26:16,240 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFD_X0_2132.SLDPRT +2023-01-08 17:26:16,244 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???,_X2_FFFDFFFDFFFD_X0_10-140130-1@20210720MT01? +2023-01-08 17:26:16,287 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-140130.SLDPRT +2023-01-08 17:26:16,287 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???,_X2_FFFDFFFDFFFD_X0_10-140130-2@20210720MT01? +2023-01-08 17:26:16,288 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-140130.SLDPRT +2023-01-08 17:26:16,288 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???2_X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1@20210720MT01; +2023-01-08 17:26:16,288 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192.SLDPRT +2023-01-08 17:26:16,289 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???600643-1@20210720MT017 +2023-01-08 17:26:16,289 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\600643.SLDPRT +2023-01-08 17:26:16,289 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???2_X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2@20210720MT01E +2023-01-08 17:26:16,290 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192.SLDPRT +2023-01-08 17:26:16,290 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???3086-2@20210720MT01> +2023-01-08 17:26:16,290 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\3086.SLDPRT +2023-01-08 17:26:16,291 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???-_X2_FFFDFFFDFFFD_X0_10-95118_1-4@20210720MT01? +2023-01-08 17:26:16,291 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-95118_1.SLDPRT +2023-01-08 17:26:16,291 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???-_X2_FFFDFFFDFFFD_X0_10-95118_1-3@20210720MT01? +2023-01-08 17:26:16,292 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-95118_1.SLDPRT +2023-01-08 17:26:16,292 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???-_X2_FFFDFFFDFFFD_X0_10-95118_1-1@20210720MT01? +2023-01-08 17:26:16,292 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-95118_1.SLDPRT +2023-01-08 17:26:16,293 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???-_X2_FFFDFFFDFFFD_X0_10-95118_1-2@20210720MT01? +2023-01-08 17:26:16,293 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-95118_1.SLDPRT +2023-01-08 17:26:16,293 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???10-15-2517-2@20210720MT01Y +2023-01-08 17:26:16,293 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\10-15-2517.SLDPRT +2023-01-08 17:26:16,294 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???Document-1@20210720MT01 +2023-01-08 17:26:16,294 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\Document.SLDPRT +2023-01-08 17:26:16,294 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???3086-1@20210720MT014 +2023-01-08 17:26:16,295 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\3086.SLDPRT +2023-01-08 17:26:16,295 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???*_X2_FFFDFFFDFFFD_X0_10-6060-1@20210720MT01? +2023-01-08 17:26:16,295 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-6060.SLDPRT +2023-01-08 17:26:16,296 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???10-15-2517-1@20210720MT01R +2023-01-08 17:26:16,296 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\10-15-2517.SLDPRT +2023-01-08 17:26:16,296 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???*_X2_FFFDFFFDFFFD_X0_10-8541-1@20210720MT01i +2023-01-08 17:26:16,297 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-8541.SLDPRT +2023-01-08 17:26:16,297 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???8F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1@20210720MT01& +2023-01-08 17:26:16,297 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139.SLDPRT +2023-01-08 17:26:16,298 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???)M20_X2_FFFDFFFD0138_X0_122-1@20210720MT01' +2023-01-08 17:26:16,298 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\M20_X2_FFFDFFFD0138_X0_122.SLDPRT +2023-01-08 17:26:16,298 INFO CommonSwOperations.cs: 230 - Loaded 30 components for link base_link +2023-01-08 17:26:16,298 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for wheel_lf_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:26:16,299 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???513-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2@20210720MT010 +2023-01-08 17:26:16,299 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56.SLDPRT +2023-01-08 17:26:16,299 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link wheel_lf_link +2023-01-08 17:26:16,299 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for wheel_lb_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:26:16,300 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???513-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4@20210720MT01B +2023-01-08 17:26:16,300 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56.SLDPRT +2023-01-08 17:26:16,300 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link wheel_lb_link +2023-01-08 17:26:16,301 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for wheel_rf_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:26:16,301 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???513-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1@20210720MT01! +2023-01-08 17:26:16,301 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56.SLDPRT +2023-01-08 17:26:16,301 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link wheel_rf_link +2023-01-08 17:26:16,302 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for wheel_rb_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:26:16,302 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???513-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3@20210720MT019 +2023-01-08 17:26:16,302 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56.SLDPRT +2023-01-08 17:26:16,302 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link wheel_rb_link +2023-01-08 17:26:17,231 INFO SwAddin.cs: 344 - Showing property manager +2023-01-08 17:27:57,611 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:28:27,898 INFO SwAddin.cs: 294 - Assembly export called for file vehicel +2023-01-08 17:28:27,899 INFO SwAddin.cs: 299 - Save is required +2023-01-08 17:28:27,899 INFO SwAddin.cs: 313 - Saving assembly +2023-01-08 17:28:28,174 INFO SwAddin.cs: 316 - Opening property manager +2023-01-08 17:28:28,174 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from vehicel +2023-01-08 17:28:28,175 INFO ExportHelperExtension.cs: 1136 - Found 77 in vehicel +2023-01-08 17:28:28,175 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in vehicel +2023-01-08 17:28:28,176 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:28:28,176 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:28:28,176 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_mr-1 +2023-01-08 17:28:28,176 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:28:28,177 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_mr-1 +2023-01-08 17:28:28,177 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rl-1 +2023-01-08 17:28:28,177 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:28:28,178 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rl-1 +2023-01-08 17:28:28,178 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rr-1 +2023-01-08 17:28:28,178 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:28:28,179 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rr-1 +2023-01-08 17:28:28,179 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fr-1 +2023-01-08 17:28:28,179 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:28:28,179 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fr-1 +2023-01-08 17:28:28,180 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fl-1 +2023-01-08 17:28:28,180 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:28:28,180 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fl-1 +2023-01-08 17:28:28,181 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_ml-1 +2023-01-08 17:28:28,181 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:28:28,181 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_ml-1 +2023-01-08 17:28:28,181 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_right-1 +2023-01-08 17:28:28,182 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:28:28,182 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_right-1 +2023-01-08 17:28:28,182 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from chassis-1 +2023-01-08 17:28:28,183 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:28:28,184 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in chassis-1 +2023-01-08 17:28:28,184 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_left-1 +2023-01-08 17:28:28,184 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:28:28,184 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_left-1 +2023-01-08 17:28:28,185 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_left-3 +2023-01-08 17:28:28,186 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:28:28,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_left-3 +2023-01-08 17:28:28,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from steering_wheel-1 +2023-01-08 17:28:28,188 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:28:28,189 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in steering_wheel-1 +2023-01-08 17:28:28,190 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_right-2 +2023-01-08 17:28:28,190 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:28:28,191 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_right-2 +2023-01-08 17:28:28,192 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from vehicel +2023-01-08 17:28:28,192 INFO ExportHelperExtension.cs: 1136 - Found 77 in vehicel +2023-01-08 17:28:28,192 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [RefAxis] in vehicel +2023-01-08 17:28:28,193 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:28:28,193 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:28:28,193 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_mr-1 +2023-01-08 17:28:28,194 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:28:28,194 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_mr-1 +2023-01-08 17:28:28,194 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rl-1 +2023-01-08 17:28:28,195 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:28:28,195 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rl-1 +2023-01-08 17:28:28,195 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rr-1 +2023-01-08 17:28:28,196 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:28:28,196 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rr-1 +2023-01-08 17:28:28,196 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fr-1 +2023-01-08 17:28:28,196 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:28:28,197 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fr-1 +2023-01-08 17:28:28,197 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fl-1 +2023-01-08 17:28:28,197 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:28:28,197 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fl-1 +2023-01-08 17:28:28,198 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_ml-1 +2023-01-08 17:28:28,198 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:28:28,198 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_ml-1 +2023-01-08 17:28:28,198 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_right-1 +2023-01-08 17:28:28,199 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:28:28,199 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_right-1 +2023-01-08 17:28:28,199 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from chassis-1 +2023-01-08 17:28:28,199 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:28:28,200 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in chassis-1 +2023-01-08 17:28:28,201 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_left-1 +2023-01-08 17:28:28,201 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:28:28,201 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_left-1 +2023-01-08 17:28:28,201 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_left-3 +2023-01-08 17:28:28,202 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:28:28,202 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_left-3 +2023-01-08 17:28:28,205 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from steering_wheel-1 +2023-01-08 17:28:28,274 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:28:28,275 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in steering_wheel-1 +2023-01-08 17:28:28,275 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_right-2 +2023-01-08 17:28:28,276 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:28:28,278 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_right-2 +2023-01-08 17:28:28,522 INFO SwAddin.cs: 339 - Loading config tree +2023-01-08 17:28:28,523 INFO ExportPropertyManagerExtension.cs: 520 - Starting new configuration +2023-01-08 17:28:28,524 INFO SwAddin.cs: 344 - Showing property manager +2023-01-08 17:28:37,448 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:28:55,682 INFO ExportPropertyManager.cs: 416 - Configuration canceled +2023-01-08 17:28:55,730 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:30:15,638 INFO SwAddin.cs: 294 - Assembly export called for file vehicel +2023-01-08 17:30:15,639 INFO SwAddin.cs: 299 - Save is required +2023-01-08 17:30:15,639 INFO SwAddin.cs: 313 - Saving assembly +2023-01-08 17:30:15,917 INFO SwAddin.cs: 316 - Opening property manager +2023-01-08 17:30:15,918 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from vehicel +2023-01-08 17:30:15,918 INFO ExportHelperExtension.cs: 1136 - Found 77 in vehicel +2023-01-08 17:30:15,918 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in vehicel +2023-01-08 17:30:15,919 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:30:15,920 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:30:15,920 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_mr-1 +2023-01-08 17:30:15,920 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:30:15,920 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_mr-1 +2023-01-08 17:30:15,921 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rl-1 +2023-01-08 17:30:15,921 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:30:15,921 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rl-1 +2023-01-08 17:30:15,921 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rr-1 +2023-01-08 17:30:15,922 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:30:15,922 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rr-1 +2023-01-08 17:30:15,922 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fr-1 +2023-01-08 17:30:15,923 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:30:15,923 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fr-1 +2023-01-08 17:30:15,923 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fl-1 +2023-01-08 17:30:15,924 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:30:15,924 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fl-1 +2023-01-08 17:30:15,925 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_ml-1 +2023-01-08 17:30:15,926 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:30:15,926 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_ml-1 +2023-01-08 17:30:15,927 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_right-1 +2023-01-08 17:30:15,927 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:30:15,928 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_right-1 +2023-01-08 17:30:15,928 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from chassis-1 +2023-01-08 17:30:15,929 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:30:15,932 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in chassis-1 +2023-01-08 17:30:15,932 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_left-1 +2023-01-08 17:30:15,933 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:30:15,933 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_left-1 +2023-01-08 17:30:15,933 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_left-3 +2023-01-08 17:30:15,934 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:30:15,935 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_left-3 +2023-01-08 17:30:15,936 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from steering_wheel-1 +2023-01-08 17:30:15,936 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:30:15,937 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in steering_wheel-1 +2023-01-08 17:30:15,938 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_right-2 +2023-01-08 17:30:15,938 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:30:15,939 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_right-2 +2023-01-08 17:30:15,939 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from vehicel +2023-01-08 17:30:15,940 INFO ExportHelperExtension.cs: 1136 - Found 77 in vehicel +2023-01-08 17:30:15,940 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [RefAxis] in vehicel +2023-01-08 17:30:15,940 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:30:15,940 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:30:15,941 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_mr-1 +2023-01-08 17:30:15,941 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:30:15,941 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_mr-1 +2023-01-08 17:30:15,941 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rl-1 +2023-01-08 17:30:15,942 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:30:15,942 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rl-1 +2023-01-08 17:30:15,942 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rr-1 +2023-01-08 17:30:15,943 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:30:15,943 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rr-1 +2023-01-08 17:30:15,943 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fr-1 +2023-01-08 17:30:15,943 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:30:15,944 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fr-1 +2023-01-08 17:30:15,944 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fl-1 +2023-01-08 17:30:15,944 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:30:15,944 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fl-1 +2023-01-08 17:30:15,945 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_ml-1 +2023-01-08 17:30:15,945 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:30:15,945 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_ml-1 +2023-01-08 17:30:15,955 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_right-1 +2023-01-08 17:30:16,018 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:30:16,019 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_right-1 +2023-01-08 17:30:16,020 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from chassis-1 +2023-01-08 17:30:16,022 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:30:16,024 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in chassis-1 +2023-01-08 17:30:16,025 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_left-1 +2023-01-08 17:30:16,025 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:30:16,026 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_left-1 +2023-01-08 17:30:16,026 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_left-3 +2023-01-08 17:30:16,027 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:30:16,029 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_left-3 +2023-01-08 17:30:16,029 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from steering_wheel-1 +2023-01-08 17:30:16,030 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:30:16,032 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in steering_wheel-1 +2023-01-08 17:30:16,032 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_right-2 +2023-01-08 17:30:16,033 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:30:16,035 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_right-2 +2023-01-08 17:30:16,132 INFO SwAddin.cs: 339 - Loading config tree +2023-01-08 17:30:16,133 INFO ExportPropertyManagerExtension.cs: 520 - Starting new configuration +2023-01-08 17:30:16,134 INFO SwAddin.cs: 344 - Showing property manager +2023-01-08 17:30:19,630 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:30:21,844 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:30:22,887 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:30:23,279 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:30:23,487 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:30:23,647 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:30:26,647 INFO ExportPropertyManager.cs: 1136 - OnNumberBoxTrackingCompleted called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:33:58,310 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:34:01,723 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:34:03,862 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:34:33,704 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:34:36,483 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:34:37,782 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:35:12,970 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:35:17,090 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:35:21,997 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:35:25,926 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:37:58,836 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:38:02,527 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:38:04,904 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:38:52,537 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:38:54,848 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:38:57,400 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:39:28,919 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:39:31,261 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:39:33,478 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:40:03,103 INFO ExportPropertyManager.cs: 422 - Configuration saved +2023-01-08 17:40:03,259 INFO ExportHelperExtension.cs: 347 - Creating joint front_left_wheel_link +2023-01-08 17:40:03,489 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child front_left_wheel_link failed +2023-01-08 17:40:03,492 INFO ExportHelperExtension.cs: 347 - Creating joint front_right_wheel_link +2023-01-08 17:40:03,548 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child front_right_wheel_link failed +2023-01-08 17:40:03,551 INFO ExportHelperExtension.cs: 347 - Creating joint middle_left_wheel_link +2023-01-08 17:40:03,633 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child middle_left_wheel_link failed +2023-01-08 17:40:03,636 INFO ExportHelperExtension.cs: 347 - Creating joint middle_right_wheel_link +2023-01-08 17:40:03,690 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child middle_right_wheel_link failed +2023-01-08 17:40:03,692 INFO ExportHelperExtension.cs: 347 - Creating joint rear_left_wheel_link +2023-01-08 17:40:03,770 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rear_left_wheel_link failed +2023-01-08 17:40:03,772 INFO ExportHelperExtension.cs: 347 - Creating joint rear_right_wheel_link +2023-01-08 17:40:03,827 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rear_right_wheel_link failed +2023-01-08 17:40:03,925 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from vehicel +2023-01-08 17:40:03,929 INFO ExportHelperExtension.cs: 1136 - Found 78 in vehicel +2023-01-08 17:40:03,929 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in vehicel +2023-01-08 17:40:03,929 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:40:03,930 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:40:03,930 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_mr-1 +2023-01-08 17:40:03,930 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:40:03,930 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_mr-1 +2023-01-08 17:40:03,931 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rl-1 +2023-01-08 17:40:03,931 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:40:03,931 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rl-1 +2023-01-08 17:40:03,931 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rr-1 +2023-01-08 17:40:03,932 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:40:03,932 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rr-1 +2023-01-08 17:40:03,932 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fr-1 +2023-01-08 17:40:03,933 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:40:03,933 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fr-1 +2023-01-08 17:40:03,933 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fl-1 +2023-01-08 17:40:03,933 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:40:03,934 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fl-1 +2023-01-08 17:40:03,934 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_ml-1 +2023-01-08 17:40:03,934 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:40:03,934 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_ml-1 +2023-01-08 17:40:03,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_right-1 +2023-01-08 17:40:03,935 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:40:03,935 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_right-1 +2023-01-08 17:40:03,935 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from chassis-1 +2023-01-08 17:40:03,936 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:40:03,937 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in chassis-1 +2023-01-08 17:40:03,937 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_left-1 +2023-01-08 17:40:03,938 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:40:03,938 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_left-1 +2023-01-08 17:40:03,938 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_left-3 +2023-01-08 17:40:03,939 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:40:03,940 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_left-3 +2023-01-08 17:40:03,940 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from steering_wheel-1 +2023-01-08 17:40:03,941 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:40:03,942 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in steering_wheel-1 +2023-01-08 17:40:03,943 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_right-2 +2023-01-08 17:40:03,943 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:40:03,944 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_right-2 +2023-01-08 17:40:03,944 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from vehicel +2023-01-08 17:40:03,945 INFO ExportHelperExtension.cs: 1136 - Found 78 in vehicel +2023-01-08 17:40:03,945 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [RefAxis] in vehicel +2023-01-08 17:40:03,945 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:40:03,945 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:40:03,946 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_mr-1 +2023-01-08 17:40:03,946 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:40:03,946 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_mr-1 +2023-01-08 17:40:03,946 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rl-1 +2023-01-08 17:40:03,947 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:40:03,947 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rl-1 +2023-01-08 17:40:03,947 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rr-1 +2023-01-08 17:40:03,947 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:40:03,947 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rr-1 +2023-01-08 17:40:03,948 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fr-1 +2023-01-08 17:40:03,948 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:40:03,948 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fr-1 +2023-01-08 17:40:03,948 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fl-1 +2023-01-08 17:40:03,949 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:40:03,949 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fl-1 +2023-01-08 17:40:03,949 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_ml-1 +2023-01-08 17:40:03,949 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:40:03,950 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_ml-1 +2023-01-08 17:40:03,950 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_right-1 +2023-01-08 17:40:03,950 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:40:03,950 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_right-1 +2023-01-08 17:40:03,951 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from chassis-1 +2023-01-08 17:40:03,951 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:40:03,952 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in chassis-1 +2023-01-08 17:40:03,952 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_left-1 +2023-01-08 17:40:03,952 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:40:03,952 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_left-1 +2023-01-08 17:40:03,953 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_left-3 +2023-01-08 17:40:03,953 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:40:03,954 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_left-3 +2023-01-08 17:40:03,954 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from steering_wheel-1 +2023-01-08 17:40:03,954 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:40:03,955 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in steering_wheel-1 +2023-01-08 17:40:03,955 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_right-2 +2023-01-08 17:40:03,956 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:40:03,956 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_right-2 +2023-01-08 17:40:04,017 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:41:42,038 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseCoordinate System1linktruenametruefront_left_wheel_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruefront_left_wheel_jointtypetruecontinuousxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront Axisfront_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AZgBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEcAAAA=falsefalsenametruefront_right_wheel_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruefront_right_wheel_jointtypetruecontinuousxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront Axisfront_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AZgByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEwAAAA=falsefalsenametruemiddle_left_wheel_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruemiddle_left_wheel_jointtypetruecontinuousxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemiddle Axismiddle_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AbQBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAD0AAAA=falsefalsenametruemiddle_right_wheel_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruemiddle_right_wheel_jointtypetruecontinuousxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemiddle Axismiddle_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AbQByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEIAAAA=falsefalsenametruerear_left_wheel_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruerear_left_wheel_jointtypetruecontinuousxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear Axisrear_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AcgBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAADMAAAA=falsefalsenametruerear_right_wheel_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruerear_right_wheel_jointtypetruecontinuousxyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear Axisrear_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AcgByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAADgAAAA=falsefalsefalsemDoAAAUAAAD//v8RYwBoAGEAcwBzAGkAcwAtADEAQAB2AGUAaABpAGMAZQBsAAQAAAAQAAAAAQAAAAEAAAAYAAAAmDoAAAUAAAD//v8YcwB0AGUAZQByAGkAbgBnAF8AdwBoAGUAZQBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAC4AAAA=mDoAAAUAAAD//v8TcwBlAGEAdABfAGwAZQBmAHQALQAzAEAAdgBlAGgAaQBjAGUAbAAEAAAAEAAAAAEAAAABAAAAIQAAAA==mDoAAAUAAAD//v8UcwBlAGEAdABfAHIAaQBnAGgAdAAtADIAQAB2AGUAaABpAGMAZQBsAAQAAAAQAAAAAQAAAAEAAAAdAAAAfalsefalse +2023-01-08 17:42:16,401 INFO SwAddin.cs: 294 - Assembly export called for file 20210720MT01 +2023-01-08 17:42:17,768 INFO SwAddin.cs: 313 - Saving assembly +2023-01-08 17:42:18,004 INFO SwAddin.cs: 316 - Opening property manager +2023-01-08 17:42:18,005 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 20210720MT01 +2023-01-08 17:42:18,006 INFO ExportHelperExtension.cs: 1136 - Found 172 in 20210720MT01 +2023-01-08 17:42:18,007 INFO ExportHelperExtension.cs: 1145 - Found 6 features of type [CoordSys] in 20210720MT01 +2023-01-08 17:42:18,007 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:42:18,007 INFO ExportHelperExtension.cs: 1160 - 133 components to check +2023-01-08 17:42:18,008 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:18,008 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:18,008 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:18,009 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:18,009 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:18,009 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:18,009 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:18,010 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:18,010 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:18,010 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:18,010 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:18,011 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:18,011 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:18,011 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:18,012 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:18,012 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:18,012 INFO ExportHelperExtension.cs: 1136 - Found 26 in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:18,013 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:18,013 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:18,013 INFO ExportHelperExtension.cs: 1136 - Found 26 in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:18,014 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:18,014 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:18,014 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:18,015 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:18,015 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:18,015 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:18,015 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:18,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Document-1 +2023-01-08 17:42:18,016 INFO ExportHelperExtension.cs: 1136 - Found 109 in Document-1 +2023-01-08 17:42:18,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Document-1 +2023-01-08 17:42:18,017 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:18,017 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:18,017 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:18,017 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:18,018 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:18,019 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:18,019 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:18,019 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:18,024 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:18,025 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:18,047 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:18,048 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:18,048 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:18,049 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:18,049 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:18,049 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:18,049 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:18,050 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:18,050 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:18,050 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:18,051 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:18,051 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:18,051 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:18,051 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:18,052 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:18,052 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:18,052 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:18,052 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:18,053 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:18,053 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:18,053 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:18,053 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:18,054 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:18,054 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:18,054 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:18,054 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:18,055 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3086-1 +2023-01-08 17:42:18,055 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-1 +2023-01-08 17:42:18,055 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3086-1 +2023-01-08 17:42:18,056 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:18,056 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:18,056 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:18,056 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:18,057 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:18,057 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:18,057 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:18,057 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:18,057 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:18,058 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:18,058 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:18,058 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:18,058 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 600643-1 +2023-01-08 17:42:18,059 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-1 +2023-01-08 17:42:18,059 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 600643-1 +2023-01-08 17:42:18,059 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:18,060 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:18,060 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:18,060 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:18,060 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:18,061 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:18,061 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:18,061 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:18,061 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:18,062 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:18,062 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:18,062 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:18,062 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 600643-2 +2023-01-08 17:42:18,063 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-2 +2023-01-08 17:42:18,063 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 600643-2 +2023-01-08 17:42:18,063 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:18,063 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:18,064 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:18,064 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:18,064 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:18,064 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:18,065 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:18,065 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:18,065 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:18,065 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-15-2517-1 +2023-01-08 17:42:18,066 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-1 +2023-01-08 17:42:18,066 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-15-2517-1 +2023-01-08 17:42:18,066 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:18,066 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:18,067 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:18,067 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:18,067 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:18,068 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:18,068 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:18,068 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:18,068 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:18,069 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:18,069 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:18,069 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:18,069 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-3 +2023-01-08 17:42:18,070 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-3 +2023-01-08 17:42:18,070 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-3 +2023-01-08 17:42:18,070 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:18,071 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:18,071 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:18,071 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:18,071 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:18,072 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:18,072 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3086-2 +2023-01-08 17:42:18,072 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-2 +2023-01-08 17:42:18,072 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3086-2 +2023-01-08 17:42:18,073 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:18,073 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:18,073 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:18,073 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:18,074 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:18,074 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:18,074 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:18,074 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:18,075 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:18,075 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:18,075 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:18,076 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:18,076 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:18,076 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:18,077 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:18,077 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:18,077 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:18,078 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:18,078 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:18,078 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:18,079 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:18,079 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:18,079 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:18,080 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:18,080 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:18,081 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:18,081 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:18,081 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-1 +2023-01-08 17:42:18,082 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-1 +2023-01-08 17:42:18,082 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-1 +2023-01-08 17:42:18,082 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:18,082 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:18,083 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:18,083 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-2 +2023-01-08 17:42:18,083 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-2 +2023-01-08 17:42:18,083 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-2 +2023-01-08 17:42:18,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:18,084 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:18,084 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:18,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:18,085 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:18,085 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:18,085 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:18,085 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:18,086 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:18,086 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:18,086 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:18,086 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:18,087 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-15-2517-2 +2023-01-08 17:42:18,087 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-2 +2023-01-08 17:42:18,087 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-15-2517-2 +2023-01-08 17:42:18,087 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:18,088 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:18,088 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:18,088 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:18,088 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:18,089 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:18,089 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:18,089 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:18,089 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:18,090 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:18,090 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:18,090 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:18,093 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:18,101 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:18,101 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:18,102 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:18,102 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:18,102 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:18,102 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:18,103 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:18,103 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:18,103 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:18,103 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:18,104 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:18,104 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:18,104 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:18,105 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:18,105 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:18,105 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:18,105 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:18,105 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:18,106 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:18,106 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:18,106 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-4 +2023-01-08 17:42:18,106 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-4 +2023-01-08 17:42:18,107 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-4 +2023-01-08 17:42:18,107 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:18,107 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:18,107 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:18,108 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:18,108 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:18,108 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:18,108 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:18,109 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:18,109 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:18,109 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-5 +2023-01-08 17:42:18,109 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-5 +2023-01-08 17:42:18,109 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-5 +2023-01-08 17:42:18,110 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:18,110 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:18,110 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:18,110 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:18,111 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:18,111 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:18,111 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:18,111 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:18,112 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:18,112 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:18,112 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:18,112 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:18,113 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:18,113 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:18,113 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:18,113 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:18,113 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:18,114 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:18,114 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:18,114 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:18,114 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:18,114 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:18,115 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:18,115 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:18,115 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:18,115 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:18,116 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:18,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:18,116 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:18,116 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:18,117 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:18,117 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:18,117 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:18,117 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:18,117 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:18,118 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:18,118 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:18,118 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:18,118 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:18,118 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-6 +2023-01-08 17:42:18,119 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-6 +2023-01-08 17:42:18,119 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-6 +2023-01-08 17:42:18,119 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:18,119 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:18,120 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:18,120 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:18,120 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:18,120 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:18,120 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-7 +2023-01-08 17:42:18,121 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-7 +2023-01-08 17:42:18,121 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-7 +2023-01-08 17:42:18,121 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:18,121 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:18,122 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:18,122 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:18,122 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:18,122 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:18,122 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:18,123 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:18,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:18,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:18,123 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:18,124 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:18,124 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:18,124 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:18,124 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:18,125 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:18,125 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:18,125 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:18,125 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:18,126 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:18,126 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:18,126 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:18,126 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:18,126 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:18,127 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:18,127 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:18,127 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:18,128 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:18,128 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:18,128 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:18,128 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:18,129 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:18,129 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:18,129 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:18,130 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:18,130 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:18,130 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:18,130 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:18,131 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:18,131 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:18,131 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:18,131 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:18,132 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:18,132 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:18,132 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:18,132 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:18,133 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:18,133 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:18,133 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:18,133 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:18,134 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:18,134 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:18,134 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:18,134 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:18,135 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-8 +2023-01-08 17:42:18,135 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-8 +2023-01-08 17:42:18,135 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-8 +2023-01-08 17:42:18,135 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:18,136 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:18,136 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:18,136 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:18,136 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:18,137 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:18,137 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:18,137 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:18,138 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:18,138 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:18,138 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:18,138 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:18,139 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:18,139 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:18,140 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:18,140 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:18,147 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:18,147 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:18,147 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:18,148 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:18,148 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:18,148 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:18,149 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:18,149 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:18,149 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:18,149 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:18,150 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:18,150 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:18,150 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:18,150 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:18,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:18,151 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:18,151 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:18,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:18,152 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:18,152 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:18,152 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:18,152 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:18,153 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:18,153 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:18,153 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:18,153 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:18,154 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ?-2 +2023-01-08 17:42:18,154 INFO ExportHelperExtension.cs: 1136 - Found 27 in ?-2 +2023-01-08 17:42:18,154 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ?-2 +2023-01-08 17:42:18,154 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ??-1 +2023-01-08 17:42:18,154 INFO ExportHelperExtension.cs: 1136 - Found 27 in ??-1 +2023-01-08 17:42:18,155 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ??-1 +2023-01-08 17:42:18,155 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:18,155 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:18,155 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:18,156 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:18,156 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:18,156 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:18,156 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:18,157 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:18,157 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:18,157 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 20210720MT01 +2023-01-08 17:42:18,158 INFO ExportHelperExtension.cs: 1136 - Found 172 in 20210720MT01 +2023-01-08 17:42:18,158 INFO ExportHelperExtension.cs: 1145 - Found 2 features of type [RefAxis] in 20210720MT01 +2023-01-08 17:42:18,158 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:42:18,158 INFO ExportHelperExtension.cs: 1160 - 133 components to check +2023-01-08 17:42:18,159 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:18,159 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:18,159 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:18,159 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:18,160 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:18,160 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:18,160 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:18,160 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:18,160 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:18,161 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:18,161 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:18,161 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:18,161 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:18,162 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:18,162 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:18,162 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:18,162 INFO ExportHelperExtension.cs: 1136 - Found 26 in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:18,162 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:18,163 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:18,163 INFO ExportHelperExtension.cs: 1136 - Found 26 in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:18,163 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:18,163 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:18,164 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:18,164 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:18,164 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:18,164 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:18,164 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:18,165 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Document-1 +2023-01-08 17:42:18,165 INFO ExportHelperExtension.cs: 1136 - Found 109 in Document-1 +2023-01-08 17:42:18,165 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Document-1 +2023-01-08 17:42:18,166 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:18,166 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:18,166 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:18,166 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:18,166 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:18,167 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:18,167 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:18,167 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:18,167 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:18,167 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:18,168 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:18,168 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:18,168 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:18,168 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:18,169 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:18,169 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:18,169 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:18,169 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:18,169 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:18,170 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:18,170 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:18,170 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:18,170 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:18,171 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:18,171 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:18,171 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:18,171 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:18,171 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:18,172 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:18,172 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:18,172 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:18,172 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:18,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:18,173 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:18,173 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:18,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:18,174 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3086-1 +2023-01-08 17:42:18,174 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-1 +2023-01-08 17:42:18,174 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3086-1 +2023-01-08 17:42:18,174 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:18,175 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:18,175 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:18,175 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:18,175 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:18,176 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:18,176 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:18,176 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:18,176 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:18,176 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:18,177 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:18,177 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:18,177 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 600643-1 +2023-01-08 17:42:18,177 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-1 +2023-01-08 17:42:18,178 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 600643-1 +2023-01-08 17:42:18,178 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:18,178 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:18,178 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:18,179 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:18,179 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:18,179 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:18,179 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:18,179 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:18,180 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:18,180 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:18,180 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:18,180 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:18,181 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 600643-2 +2023-01-08 17:42:18,181 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-2 +2023-01-08 17:42:18,181 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 600643-2 +2023-01-08 17:42:18,181 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:18,182 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:18,182 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:18,182 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:18,182 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:18,182 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:18,183 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:18,183 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:18,183 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:18,183 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-15-2517-1 +2023-01-08 17:42:18,184 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-1 +2023-01-08 17:42:18,184 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-15-2517-1 +2023-01-08 17:42:18,184 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:18,184 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:18,185 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:18,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:18,187 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:18,188 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:18,188 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:18,194 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:18,194 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:18,194 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:18,194 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:18,195 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:18,195 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-3 +2023-01-08 17:42:18,195 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-3 +2023-01-08 17:42:18,195 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-3 +2023-01-08 17:42:18,196 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:18,196 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:18,196 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:18,196 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:18,196 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:18,197 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:18,197 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3086-2 +2023-01-08 17:42:18,197 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-2 +2023-01-08 17:42:18,197 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3086-2 +2023-01-08 17:42:18,198 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:18,198 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:18,198 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:18,198 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:18,198 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:18,199 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:18,199 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:18,199 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:18,199 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:18,200 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:18,200 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:18,200 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:18,200 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:18,201 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:18,201 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:18,201 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:18,201 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:18,202 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:18,202 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:18,202 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:18,202 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:18,202 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:18,203 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:18,203 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:18,203 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:18,203 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:18,204 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:18,204 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-1 +2023-01-08 17:42:18,204 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-1 +2023-01-08 17:42:18,204 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-1 +2023-01-08 17:42:18,204 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:18,205 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:18,205 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:18,205 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-2 +2023-01-08 17:42:18,205 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-2 +2023-01-08 17:42:18,206 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-2 +2023-01-08 17:42:18,206 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:18,206 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:18,206 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:18,206 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:18,207 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:18,207 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:18,207 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:18,207 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:18,208 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:18,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:18,208 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:18,208 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:18,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-15-2517-2 +2023-01-08 17:42:18,209 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-2 +2023-01-08 17:42:18,209 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-15-2517-2 +2023-01-08 17:42:18,209 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:18,209 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:18,210 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:18,210 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:18,210 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:18,210 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:18,210 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:18,211 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:18,211 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:18,211 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:18,211 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:18,212 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:18,212 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:18,212 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:18,212 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:18,212 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:18,213 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:18,213 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:18,213 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:18,213 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:18,214 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:18,214 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:18,214 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:18,214 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:18,214 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:18,215 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:18,215 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:18,215 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:18,215 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:18,216 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:18,216 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:18,216 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:18,216 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:18,216 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-4 +2023-01-08 17:42:18,217 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-4 +2023-01-08 17:42:18,217 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-4 +2023-01-08 17:42:18,217 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:18,217 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:18,217 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:18,218 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:18,218 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:18,218 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:18,218 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:18,219 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:18,219 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:18,219 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-5 +2023-01-08 17:42:18,220 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-5 +2023-01-08 17:42:18,220 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-5 +2023-01-08 17:42:18,220 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:18,220 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:18,221 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:18,221 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:18,221 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:18,221 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:18,221 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:18,222 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:18,222 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:18,222 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:18,222 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:18,223 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:18,223 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:18,223 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:18,223 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:18,224 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:18,224 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:18,224 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:18,224 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:18,224 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:18,225 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:18,225 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:18,225 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:18,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:18,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:18,226 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:18,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:18,227 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:18,227 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:18,227 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:18,227 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:18,228 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:18,228 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:18,228 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:18,228 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:18,229 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:18,229 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:18,229 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:18,229 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:18,229 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-6 +2023-01-08 17:42:18,242 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-6 +2023-01-08 17:42:18,242 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-6 +2023-01-08 17:42:18,242 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:18,243 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:18,243 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:18,243 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:18,244 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:18,244 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:18,244 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-7 +2023-01-08 17:42:18,244 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-7 +2023-01-08 17:42:18,245 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-7 +2023-01-08 17:42:18,245 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:18,245 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:18,245 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:18,246 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:18,246 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:18,246 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:18,246 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:18,246 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:18,247 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:18,247 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:18,247 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:18,247 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:18,248 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:18,248 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:18,248 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:18,248 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:18,249 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:18,249 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:18,249 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:18,249 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:18,250 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:18,250 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:18,250 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:18,250 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:18,250 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:18,251 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:18,251 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:18,251 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:18,251 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:18,252 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:18,252 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:18,252 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:18,252 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:18,253 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:18,253 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:18,253 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:18,253 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:18,253 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:18,254 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:18,254 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:18,254 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:18,254 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:18,255 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:18,255 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:18,255 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:18,255 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:18,255 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:18,256 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:18,256 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:18,256 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:18,256 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:18,257 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:18,257 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:18,257 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:18,257 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-8 +2023-01-08 17:42:18,258 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-8 +2023-01-08 17:42:18,258 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-8 +2023-01-08 17:42:18,258 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:18,258 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:18,259 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:18,259 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:18,259 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:18,259 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:18,259 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:18,260 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:18,260 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:18,260 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:18,260 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:18,261 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:18,261 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:18,261 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:18,262 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:18,262 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:18,262 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:18,262 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:18,263 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:18,263 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:18,263 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:18,263 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:18,263 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:18,264 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:18,264 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:18,264 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:18,264 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:18,265 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:18,265 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:18,265 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:18,265 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:18,266 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:18,266 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:18,266 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:18,266 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:18,267 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:18,267 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:18,267 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:18,267 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:18,268 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:18,268 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:18,268 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:18,268 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ?-2 +2023-01-08 17:42:18,269 INFO ExportHelperExtension.cs: 1136 - Found 27 in ?-2 +2023-01-08 17:42:18,269 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ?-2 +2023-01-08 17:42:18,269 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ??-1 +2023-01-08 17:42:18,269 INFO ExportHelperExtension.cs: 1136 - Found 27 in ??-1 +2023-01-08 17:42:18,270 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ??-1 +2023-01-08 17:42:18,270 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:18,270 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:18,270 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:18,270 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:18,271 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:18,271 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:18,271 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:18,271 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:18,272 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:18,408 INFO SwAddin.cs: 339 - Loading config tree +2023-01-08 17:42:18,409 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue0.024021223633258634-0.00105147840435170320.11959604082639583rpytrue000originfalsefalsevaluetrue6.5015602227581111massfalseixxtrue0.19999777457272835ixytrue-0.0017739275443715374ixztrue0.045283664547911072iyytrue0.6699551906393818iyztrue-0.00032330535188077861izztrue0.74863738981090433inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseglobal_coordiationlinktruenametruewheel_lf_linkxyztrue-0.0020783174394125026-0.00150118764136880630.0026851438214488266rpytrue000originfalsefalsevaluetrue1.1113666100096316massfalseixxtrue0.011918876541329535ixytrue-2.0060327877189049E-17ixztrue1.4367723048594898E-08iyytrue0.020259798417657255iyztrue1.9355227330416915E-17izztrue0.011917839985292597inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_lf_jointtypetruecontinuousxyztrue0.269260.273750.046rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_lf_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront axleleft_front_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAwAAAAfalsefalsenametruewheel_lb_linkxyztrue-3.3306690738754696E-160.0018388123586141614-2.7755575615628914E-17rpytrue000originfalsefalsevaluetrue1.1113666100096327massfalseixxtrue0.011918876541327745ixytrue2.0530293210888313E-17ixztrue1.4367723029139926E-08iyytrue0.020259798417657234iyztrue-1.6126387438882625E-17izztrue0.011917839985290812inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_lb_jointtypetruecontinuousxyztrue-0.290740.261410.046rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_lb_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear axleleft_back_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0ANABAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAABCAAAAfalsefalsenametruewheel_rf_linkxyztrue4.2870151872875795E-12-0.0074988123586143263-1.0269562977782698E-15rpytrue000originfalsefalsevaluetrue1.111366610009628massfalseixxtrue0.011918734214292603ixytrue1.7411847342155967E-17ixztrue3.5704256609650227E-07iyytrue0.020259798417657186iyztrue2.715481827834994E-17izztrue0.011917982312325907inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_rf_jointtypetruecontinuousxyztrue0.26926-0.264750.046rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_rf_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront axleright_front_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAhAAAAfalsefalsenametruewheel_rb_linkxyztrue2.7755575615628914E-160.0115011876413853585.5511151231257827E-17rpytrue000originfalsefalsevaluetrue1.1113666100096324massfalseixxtrue0.0119188765413295ixytrue2.6637740894357E-17ixztrue-1.4367723045689354E-08iyytrue0.020259798417657172iyztrue2.0679071399966136E-17izztrue0.011917839985292583inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_rb_jointtypetruecontinuousxyztrue-0.29074081697907483-0.274750000003405880.045999999999998986rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_rb_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear axleright_back_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0AMwBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAA5AAAAfalsefalsefalseKCMAAAUAAAD//v8RTVJ0jy0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAADHAAAAKCMAAAUAAAD//v86XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQAXwBYADAAXwAxADcANgAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAHAAAAA==KCMAAAUAAAD//v86XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQAXwBYADAAXwAxADcANgAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAALQAAAA==KCMAAAUAAAD//v8mXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADYANgA4AC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACYAAAAKCMAAAUAAAD//v8qXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADYAMAA2ADAALQAyAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAI8AAAA=KCMAAAUAAAD//v8mXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADYANgA4AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACGAAAAKCMAAAUAAAD//v8QdI8tADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAtgAAAA==KCMAAAUAAAD//v8rXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8AMgAxADMAMgAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAnQAAAA==KCMAAAUAAAD//v8sXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADEANAAwADEAMwAwAC0AMwBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACeAAAAKCMAAAUAAAD//v8+XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADUARgAwAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMgA5AC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAByAAAAKCMAAAUAAAD//v8+XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADUARgAwAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMgA5AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAABLAAAAKCMAAAUAAAD//v8rXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8AMgAxADMAMgAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAlwAAAA==KCMAAAUAAAD//v8sXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADEANAAwADEAMwAwAC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACHAAAAKCMAAAUAAAD//v8sXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADEANAAwADEAMwAwAC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACbAAAAKCMAAAUAAAD//v8yXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADMAMwA2AEYARgBGAEQARgBGAEYARABfAFgAMABfADEAOQAyAC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAA7AAAAKCMAAAUAAAD//v8VNgAwADAANgA0ADMALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAADcAAAA=KCMAAAUAAAD//v8yXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADMAMwA2AEYARgBGAEQARgBGAEYARABfAFgAMABfADEAOQAyAC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAABFAAAAKCMAAAUAAAD//v8TMwAwADgANgAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAPgAAAA==KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQA0AEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAJ8AAAA=KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQAzAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAJEAAAA=KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAIgAAAA=KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQAyAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAI0AAAA=KCMAAAUAAAD//v8ZMQAwAC0AMQA1AC0AMgA1ADEANwAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAWQAAAA==KCMAAAUAAAD//v8XRABvAGMAdQBtAGUAbgB0AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAWAAAAKCMAAAUAAAD//v8TMwAwADgANgAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAANAAAAA==KCMAAAUAAAD//v8qXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADYAMAA2ADAALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAIIAAAA=KCMAAAUAAAD//v8ZMQAwAC0AMQA1AC0AMgA1ADEANwAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAUgAAAA==KCMAAAUAAAD//v8qXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADgANQA0ADEALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAGkAAAA=KCMAAAUAAAD//v84RgA2ADAAMAA0AF8AWAAyAF8ARgBGAEYARABfAFgAMABfAF8AXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMwA5AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAmAAAAKCMAAAUAAAD//v8pTQAyADAAXwBYADIAXwBGAEYARgBEAEYARgBGAEQAMAAxADMAOABfAFgAMABfADEAMgAyAC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAnAAAAfalsefalse +2023-01-08 17:42:18,410 INFO LinkNode.cs: 35 - Building node base_link +2023-01-08 17:42:18,411 INFO LinkNode.cs: 35 - Building node wheel_lf_link +2023-01-08 17:42:18,411 INFO LinkNode.cs: 35 - Building node wheel_lb_link +2023-01-08 17:42:18,411 INFO LinkNode.cs: 35 - Building node wheel_rf_link +2023-01-08 17:42:18,411 INFO LinkNode.cs: 35 - Building node wheel_rb_link +2023-01-08 17:42:18,412 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:42:18,412 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???MRt?-1@20210720MT01? +2023-01-08 17:42:18,412 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\??.SLDPRT +2023-01-08 17:42:18,412 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???:_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1@20210720MT01 +2023-01-08 17:42:18,413 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176.SLDPRT +2023-01-08 17:42:18,413 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???:_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2@20210720MT01- +2023-01-08 17:42:18,413 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176.SLDPRT +2023-01-08 17:42:18,414 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???&_X2_FFFDFFFDFFFD_X0_668-2@20210720MT01? +2023-01-08 17:42:18,414 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_668.SLDPRT +2023-01-08 17:42:18,414 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???*_X2_FFFDFFFDFFFD_X0_10-6060-2@20210720MT01? +2023-01-08 17:42:18,414 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-6060.SLDPRT +2023-01-08 17:42:18,415 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???&_X2_FFFDFFFDFFFD_X0_668-1@20210720MT01? +2023-01-08 17:42:18,415 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_668.SLDPRT +2023-01-08 17:42:18,415 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???t?-2@20210720MT01? +2023-01-08 17:42:18,415 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\?.SLDPRT +2023-01-08 17:42:18,416 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???+_X2_FFFDFFFDFFFDFFFD_X0_2132-2@20210720MT01? +2023-01-08 17:42:18,416 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFD_X0_2132.SLDPRT +2023-01-08 17:42:18,416 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???,_X2_FFFDFFFDFFFD_X0_10-140130-3@20210720MT01? +2023-01-08 17:42:18,420 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-140130.SLDPRT +2023-01-08 17:42:18,420 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???>_X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2@20210720MT01r +2023-01-08 17:42:18,420 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129.SLDPRT +2023-01-08 17:42:18,420 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???>_X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1@20210720MT01K +2023-01-08 17:42:18,421 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129.SLDPRT +2023-01-08 17:42:18,421 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???+_X2_FFFDFFFDFFFDFFFD_X0_2132-1@20210720MT01? +2023-01-08 17:42:18,421 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFDFFFD_X0_2132.SLDPRT +2023-01-08 17:42:18,421 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???,_X2_FFFDFFFDFFFD_X0_10-140130-1@20210720MT01? +2023-01-08 17:42:18,421 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-140130.SLDPRT +2023-01-08 17:42:18,422 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???,_X2_FFFDFFFDFFFD_X0_10-140130-2@20210720MT01? +2023-01-08 17:42:18,422 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-140130.SLDPRT +2023-01-08 17:42:18,422 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???2_X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1@20210720MT01; +2023-01-08 17:42:18,422 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192.SLDPRT +2023-01-08 17:42:18,422 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???600643-1@20210720MT017 +2023-01-08 17:42:18,423 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\600643.SLDPRT +2023-01-08 17:42:18,423 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???2_X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2@20210720MT01E +2023-01-08 17:42:18,423 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192.SLDPRT +2023-01-08 17:42:18,423 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???3086-2@20210720MT01> +2023-01-08 17:42:18,423 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\3086.SLDPRT +2023-01-08 17:42:18,424 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???-_X2_FFFDFFFDFFFD_X0_10-95118_1-4@20210720MT01? +2023-01-08 17:42:18,424 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-95118_1.SLDPRT +2023-01-08 17:42:18,424 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???-_X2_FFFDFFFDFFFD_X0_10-95118_1-3@20210720MT01? +2023-01-08 17:42:18,424 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-95118_1.SLDPRT +2023-01-08 17:42:18,424 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???-_X2_FFFDFFFDFFFD_X0_10-95118_1-1@20210720MT01? +2023-01-08 17:42:18,425 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-95118_1.SLDPRT +2023-01-08 17:42:18,425 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???-_X2_FFFDFFFDFFFD_X0_10-95118_1-2@20210720MT01? +2023-01-08 17:42:18,425 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-95118_1.SLDPRT +2023-01-08 17:42:18,425 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???10-15-2517-2@20210720MT01Y +2023-01-08 17:42:18,426 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\10-15-2517.SLDPRT +2023-01-08 17:42:18,426 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???Document-1@20210720MT01 +2023-01-08 17:42:18,426 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\Document.SLDPRT +2023-01-08 17:42:18,427 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???3086-1@20210720MT014 +2023-01-08 17:42:18,427 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\3086.SLDPRT +2023-01-08 17:42:18,427 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???*_X2_FFFDFFFDFFFD_X0_10-6060-1@20210720MT01? +2023-01-08 17:42:18,427 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-6060.SLDPRT +2023-01-08 17:42:18,428 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???10-15-2517-1@20210720MT01R +2023-01-08 17:42:18,428 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\10-15-2517.SLDPRT +2023-01-08 17:42:18,428 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???*_X2_FFFDFFFDFFFD_X0_10-8541-1@20210720MT01i +2023-01-08 17:42:18,428 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\_X2_FFFDFFFDFFFD_X0_10-8541.SLDPRT +2023-01-08 17:42:18,428 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???8F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1@20210720MT01& +2023-01-08 17:42:18,429 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139.SLDPRT +2023-01-08 17:42:18,429 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???)M20_X2_FFFDFFFD0138_X0_122-1@20210720MT01' +2023-01-08 17:42:18,429 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\M20_X2_FFFDFFFD0138_X0_122.SLDPRT +2023-01-08 17:42:18,429 INFO CommonSwOperations.cs: 230 - Loaded 30 components for link base_link +2023-01-08 17:42:18,430 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for wheel_lf_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:42:18,430 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???513-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2@20210720MT010 +2023-01-08 17:42:18,430 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56.SLDPRT +2023-01-08 17:42:18,430 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link wheel_lf_link +2023-01-08 17:42:18,430 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for wheel_lb_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:42:18,431 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???513-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4@20210720MT01B +2023-01-08 17:42:18,431 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56.SLDPRT +2023-01-08 17:42:18,431 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link wheel_lb_link +2023-01-08 17:42:18,431 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for wheel_rf_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:42:18,431 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???513-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1@20210720MT01! +2023-01-08 17:42:18,432 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56.SLDPRT +2023-01-08 17:42:18,432 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link wheel_rf_link +2023-01-08 17:42:18,432 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for wheel_rb_link from C:\Users\dongd\Downloads\MT?????urdf??\20210720MT01.SLDASM +2023-01-08 17:42:18,432 INFO CommonSwOperations.cs: 245 - Loading component with PID (#???513-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3@20210720MT019 +2023-01-08 17:42:18,433 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\MT?????urdf??\13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56.SLDPRT +2023-01-08 17:42:18,433 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link wheel_rb_link +2023-01-08 17:42:19,397 INFO SwAddin.cs: 344 - Showing property manager +2023-01-08 17:42:24,765 INFO ExportPropertyManager.cs: 422 - Configuration saved +2023-01-08 17:42:24,767 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found 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axleleft_back_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0ANABAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAABCAAAAfalsefalsenametruewheel_rf_linkxyztrue4.2870151872875795E-12-0.0074988123586143263-1.0269562977782698E-15rpytrue000originfalsefalsevaluetrue1.111366610009628massfalseixxtrue0.011918734214292603ixytrue1.7411847342155967E-17ixztrue3.5704256609650227E-07iyytrue0.020259798417657186iyztrue2.715481827834994E-17izztrue0.011917982312325907inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_rf_jointtypetruecontinuousxyztrue0.26926-0.264750.046rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_rf_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront axleright_front_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAhAAAAfalsefalsenametruewheel_rb_linkxyztrue2.7755575615628914E-160.0115011876413853585.5511151231257827E-17rpytrue000originfalsefalsevaluetrue1.1113666100096324massfalseixxtrue0.0119188765413295ixytrue2.6637740894357E-17ixztrue-1.4367723045689354E-08iyytrue0.020259798417657172iyztrue2.0679071399966136E-17izztrue0.011917839985292583inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruewheel_rb_jointtypetruecontinuousxyztrue-0.29074081697907483-0.274750000003405880.045999999999998986rpytrue000originfalsefalselinktruebase_linkparenttruelinktruewheel_rb_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upperfalsesoft_lowerfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear axleright_back_coordinationlinktruefalseKCMAAAUAAAD//v81MQAzAC0AMQA1AC0ANgBXAEEATgBEAEEAXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8ANQA2AC0AMwBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAA5AAAAfalsefalsefalseKCMAAAUAAAD//v8RTVJ0jy0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAADHAAAAKCMAAAUAAAD//v86XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQAXwBYADAAXwAxADcANgAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAHAAAAA==KCMAAAUAAAD//v86XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQAXwBYADAAXwAxADcANgAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAALQAAAA==KCMAAAUAAAD//v8mXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADYANgA4AC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACYAAAAKCMAAAUAAAD//v8qXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADYAMAA2ADAALQAyAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAI8AAAA=KCMAAAUAAAD//v8mXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADYANgA4AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACGAAAAKCMAAAUAAAD//v8QdI8tADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAtgAAAA==KCMAAAUAAAD//v8rXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8AMgAxADMAMgAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAnQAAAA==KCMAAAUAAAD//v8sXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADEANAAwADEAMwAwAC0AMwBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACeAAAAKCMAAAUAAAD//v8+XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADUARgAwAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMgA5AC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAByAAAAKCMAAAUAAAD//v8+XwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADUARgAwAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMgA5AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAABLAAAAKCMAAAUAAAD//v8rXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABGAEYARgBEAF8AWAAwAF8AMgAxADMAMgAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAlwAAAA==KCMAAAUAAAD//v8sXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADEANAAwADEAMwAwAC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACHAAAAKCMAAAUAAAD//v8sXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADEANAAwADEAMwAwAC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAACbAAAAKCMAAAUAAAD//v8yXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADMAMwA2AEYARgBGAEQARgBGAEYARABfAFgAMABfADEAOQAyAC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAA7AAAAKCMAAAUAAAD//v8VNgAwADAANgA0ADMALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAADcAAAA=KCMAAAUAAAD//v8yXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARAAwADMAMwA2AEYARgBGAEQARgBGAEYARABfAFgAMABfADEAOQAyAC0AMgBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAABFAAAAKCMAAAUAAAD//v8TMwAwADgANgAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAPgAAAA==KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQA0AEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAJ8AAAA=KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQAzAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAJEAAAA=KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAIgAAAA=KCMAAAUAAAD//v8tXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADkANQAxADEAOABfADEALQAyAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAI0AAAA=KCMAAAUAAAD//v8ZMQAwAC0AMQA1AC0AMgA1ADEANwAtADIAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAWQAAAA==KCMAAAUAAAD//v8XRABvAGMAdQBtAGUAbgB0AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAWAAAAKCMAAAUAAAD//v8TMwAwADgANgAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAANAAAAA==KCMAAAUAAAD//v8qXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADYAMAA2ADAALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAIIAAAA=KCMAAAUAAAD//v8ZMQAwAC0AMQA1AC0AMgA1ADEANwAtADEAQAAyADAAMgAxADAANwAyADAATQBUADAAMQAEAAAAEAAAAAEAAAABAAAAUgAAAA==KCMAAAUAAAD//v8qXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMAAtADgANQA0ADEALQAxAEAAMgAwADIAMQAwADcAMgAwAE0AVAAwADEABAAAABAAAAABAAAAAQAAAGkAAAA=KCMAAAUAAAD//v84RgA2ADAAMAA0AF8AWAAyAF8ARgBGAEYARABfAFgAMABfAF8AXwBYADIAXwBGAEYARgBEAEYARgBGAEQARgBGAEYARABfAFgAMABfADEAMwA5AC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAmAAAAKCMAAAUAAAD//v8pTQAyADAAXwBYADIAXwBGAEYARgBEAEYARgBGAEQAMAAxADMAOABfAFgAMABfADEAMgAyAC0AMQBAADIAMAAyADEAMAA3ADIAMABNAFQAMAAxAAQAAAAQAAAAAQAAAAEAAAAnAAAAfalsefalse +2023-01-08 17:42:25,503 INFO ExportHelperExtension.cs: 347 - Creating joint wheel_lf_link +2023-01-08 17:42:25,633 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child wheel_lf_link failed +2023-01-08 17:42:25,650 INFO ExportHelperExtension.cs: 347 - Creating joint wheel_lb_link +2023-01-08 17:42:25,727 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child wheel_lb_link failed +2023-01-08 17:42:25,743 INFO ExportHelperExtension.cs: 347 - Creating joint wheel_rf_link +2023-01-08 17:42:25,819 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child wheel_rf_link failed +2023-01-08 17:42:25,835 INFO ExportHelperExtension.cs: 347 - Creating joint wheel_rb_link +2023-01-08 17:42:25,910 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child wheel_rb_link failed +2023-01-08 17:42:25,963 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 20210720MT01 +2023-01-08 17:42:25,964 INFO ExportHelperExtension.cs: 1136 - Found 172 in 20210720MT01 +2023-01-08 17:42:25,965 INFO ExportHelperExtension.cs: 1145 - Found 6 features of type [CoordSys] in 20210720MT01 +2023-01-08 17:42:25,965 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:42:25,965 INFO ExportHelperExtension.cs: 1160 - 133 components to check +2023-01-08 17:42:25,965 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:25,966 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:25,966 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:25,966 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:25,967 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:25,967 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:25,967 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:25,967 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:25,968 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:25,968 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:25,968 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:25,969 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:25,969 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:25,969 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:25,969 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:25,970 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:25,970 INFO ExportHelperExtension.cs: 1136 - Found 26 in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:25,970 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:25,970 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:25,971 INFO ExportHelperExtension.cs: 1136 - Found 26 in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:25,971 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:25,971 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:25,971 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:25,972 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:25,972 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:25,972 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:25,973 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:25,973 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from Document-1 +2023-01-08 17:42:25,973 INFO ExportHelperExtension.cs: 1136 - Found 109 in Document-1 +2023-01-08 17:42:25,974 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in Document-1 +2023-01-08 17:42:25,974 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:25,974 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:25,974 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:25,975 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:25,975 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:25,975 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:25,975 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:25,976 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:25,976 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:25,976 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:25,976 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:25,977 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:25,979 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:25,996 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:25,996 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:25,997 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:25,997 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:25,997 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:25,997 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:25,998 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:25,998 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:25,998 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:25,998 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:25,999 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:25,999 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:25,999 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:25,999 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:26,000 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:26,000 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:26,000 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:26,000 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:26,000 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:26,001 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:26,001 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:26,001 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:26,001 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:26,002 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3086-1 +2023-01-08 17:42:26,002 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-1 +2023-01-08 17:42:26,002 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3086-1 +2023-01-08 17:42:26,002 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:26,002 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:26,003 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:26,003 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:26,003 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:26,003 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:26,004 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:26,004 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:26,004 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:26,004 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:26,005 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:26,005 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:26,005 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 600643-1 +2023-01-08 17:42:26,005 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-1 +2023-01-08 17:42:26,005 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 600643-1 +2023-01-08 17:42:26,006 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:26,006 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:26,006 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:26,006 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:26,007 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:26,007 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:26,007 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:26,007 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:26,007 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:26,008 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:26,008 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:26,008 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:26,008 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 600643-2 +2023-01-08 17:42:26,009 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-2 +2023-01-08 17:42:26,009 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 600643-2 +2023-01-08 17:42:26,009 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:26,009 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:26,010 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:26,010 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:26,010 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:26,010 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:26,011 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:26,011 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:26,011 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:26,011 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-15-2517-1 +2023-01-08 17:42:26,012 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-1 +2023-01-08 17:42:26,012 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-15-2517-1 +2023-01-08 17:42:26,012 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:26,012 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:26,013 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:26,013 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:26,013 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:26,013 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:26,013 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:26,014 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:26,014 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:26,014 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:26,014 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:26,015 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:26,015 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-3 +2023-01-08 17:42:26,015 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-3 +2023-01-08 17:42:26,015 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-3 +2023-01-08 17:42:26,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:26,016 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:26,016 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:26,016 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:26,016 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:26,017 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:26,017 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 3086-2 +2023-01-08 17:42:26,017 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-2 +2023-01-08 17:42:26,017 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 3086-2 +2023-01-08 17:42:26,018 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:26,018 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:26,018 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:26,018 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:26,019 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:26,019 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:26,019 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:26,019 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:26,020 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:26,020 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:26,020 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:26,020 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:26,021 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:26,021 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:26,021 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:26,021 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:26,022 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:26,022 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:26,022 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:26,022 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:26,025 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:26,025 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:26,038 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:26,038 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:26,038 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:26,038 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:26,039 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:26,039 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-1 +2023-01-08 17:42:26,039 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-1 +2023-01-08 17:42:26,040 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-1 +2023-01-08 17:42:26,040 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:26,040 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:26,040 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:26,040 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-2 +2023-01-08 17:42:26,041 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-2 +2023-01-08 17:42:26,041 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-2 +2023-01-08 17:42:26,041 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:26,042 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:26,042 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:26,042 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:26,042 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:26,043 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:26,043 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:26,043 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:26,043 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:26,043 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:26,044 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:26,044 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:26,044 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-15-2517-2 +2023-01-08 17:42:26,044 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-2 +2023-01-08 17:42:26,044 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-15-2517-2 +2023-01-08 17:42:26,045 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:26,045 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:26,045 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:26,045 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:26,046 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:26,046 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:26,046 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:26,046 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:26,046 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:26,047 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:26,047 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:26,047 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:26,047 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:26,048 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:26,048 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:26,048 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:26,048 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:26,048 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:26,049 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:26,049 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:26,049 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:26,049 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:26,049 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:26,050 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:26,050 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:26,050 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:26,050 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:26,051 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:26,051 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:26,051 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:26,051 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:26,051 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:26,052 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:26,052 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-4 +2023-01-08 17:42:26,052 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-4 +2023-01-08 17:42:26,052 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-4 +2023-01-08 17:42:26,052 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:26,053 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:26,053 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:26,053 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:26,053 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:26,054 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:26,054 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:26,054 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:26,054 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:26,054 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-5 +2023-01-08 17:42:26,055 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-5 +2023-01-08 17:42:26,055 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-5 +2023-01-08 17:42:26,055 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:26,055 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:26,056 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:26,056 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:26,056 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:26,056 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:26,057 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:26,057 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:26,057 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:26,057 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:26,057 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:26,058 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:26,058 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:26,058 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:26,058 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:26,059 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:26,059 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:26,059 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:26,059 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:26,060 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:26,060 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:26,060 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:26,060 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:26,061 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:26,061 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:26,061 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:26,061 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:26,062 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:26,062 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:26,062 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:26,062 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:26,063 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:26,063 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:26,063 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:26,063 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:26,065 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:26,066 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:26,069 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:26,069 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:26,069 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-6 +2023-01-08 17:42:26,069 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-6 +2023-01-08 17:42:26,070 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-6 +2023-01-08 17:42:26,070 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:26,070 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:26,070 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:26,071 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:26,071 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:26,071 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:26,071 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-7 +2023-01-08 17:42:26,072 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-7 +2023-01-08 17:42:26,072 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-7 +2023-01-08 17:42:26,072 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:26,072 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:26,073 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:26,073 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:26,073 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:26,073 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:26,073 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:26,074 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:26,074 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:26,074 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:26,074 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:26,075 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:26,075 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:26,075 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:26,075 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:26,075 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:26,076 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:26,076 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:26,076 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:26,076 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:26,076 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:26,077 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:26,077 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:26,077 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:26,078 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:26,078 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:26,078 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:26,078 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:26,078 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:26,079 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:26,079 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:26,079 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:26,079 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:26,080 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:26,080 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:26,080 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:26,080 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:26,080 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:26,081 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:26,081 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:26,081 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:26,081 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:26,082 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:26,082 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:26,082 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:26,082 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:26,082 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:26,083 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:26,083 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:26,083 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:26,083 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:26,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:26,084 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:26,084 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:26,084 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 10-25-147-8 +2023-01-08 17:42:26,085 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-8 +2023-01-08 17:42:26,085 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 10-25-147-8 +2023-01-08 17:42:26,085 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:26,085 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:26,085 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:26,086 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:26,086 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:26,086 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:26,086 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:26,087 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:26,087 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:26,087 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:26,087 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:26,088 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:26,088 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:26,088 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:26,088 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:26,088 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:26,089 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:26,089 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:26,089 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:26,090 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:26,090 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:26,090 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:26,090 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:26,091 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:26,091 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:26,091 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:26,091 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:26,091 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:26,092 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:26,092 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:26,092 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:26,092 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:26,093 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:26,093 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:26,093 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:26,093 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:26,094 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:26,094 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:26,094 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:26,094 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:26,094 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:26,101 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:26,101 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ?-2 +2023-01-08 17:42:26,116 INFO ExportHelperExtension.cs: 1136 - Found 27 in ?-2 +2023-01-08 17:42:26,116 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ?-2 +2023-01-08 17:42:26,116 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from ??-1 +2023-01-08 17:42:26,117 INFO ExportHelperExtension.cs: 1136 - Found 27 in ??-1 +2023-01-08 17:42:26,117 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in ??-1 +2023-01-08 17:42:26,117 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:26,117 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:26,118 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:26,118 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:26,118 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:26,118 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:26,119 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:26,119 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:26,119 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:26,119 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 20210720MT01 +2023-01-08 17:42:26,120 INFO ExportHelperExtension.cs: 1136 - Found 172 in 20210720MT01 +2023-01-08 17:42:26,120 INFO ExportHelperExtension.cs: 1145 - Found 2 features of type [RefAxis] in 20210720MT01 +2023-01-08 17:42:26,121 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:42:26,121 INFO ExportHelperExtension.cs: 1160 - 133 components to check +2023-01-08 17:42:26,121 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:26,121 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:26,122 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-4 +2023-01-08 17:42:26,122 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:26,122 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:26,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-3 +2023-01-08 17:42:26,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:26,123 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:26,123 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-1 +2023-01-08 17:42:26,123 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:26,124 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:26,124 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-4 +2023-01-08 17:42:26,124 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:26,124 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:26,125 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-3 +2023-01-08 17:42:26,125 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:26,125 INFO ExportHelperExtension.cs: 1136 - Found 26 in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:26,125 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in M20_X2_FFFDFFFD0138_X0_122-1 +2023-01-08 17:42:26,126 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:26,126 INFO ExportHelperExtension.cs: 1136 - Found 26 in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:26,126 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in F6004_X2_FFFD_X0___X2_FFFDFFFDFFFD_X0_139-1 +2023-01-08 17:42:26,127 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:26,127 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:26,127 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-1 +2023-01-08 17:42:26,127 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:26,127 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:26,128 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-1 +2023-01-08 17:42:26,128 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from Document-1 +2023-01-08 17:42:26,128 INFO ExportHelperExtension.cs: 1136 - Found 109 in Document-1 +2023-01-08 17:42:26,129 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in Document-1 +2023-01-08 17:42:26,129 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:26,129 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:26,130 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-2 +2023-01-08 17:42:26,130 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:26,130 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:26,130 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-1 +2023-01-08 17:42:26,131 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:26,131 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:26,131 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-2 +2023-01-08 17:42:26,131 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:26,131 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:26,132 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFDFFFD_X0_176-2 +2023-01-08 17:42:26,132 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:26,132 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:26,133 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-5 +2023-01-08 17:42:26,133 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:26,133 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:26,133 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-5 +2023-01-08 17:42:26,134 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:26,134 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:26,134 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-4 +2023-01-08 17:42:26,134 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:26,135 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:26,135 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-2 +2023-01-08 17:42:26,135 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:26,135 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:26,135 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-6 +2023-01-08 17:42:26,136 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:26,136 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:26,136 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-8 +2023-01-08 17:42:26,136 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:26,137 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:26,137 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-9 +2023-01-08 17:42:26,137 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:26,137 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:26,138 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-6 +2023-01-08 17:42:26,138 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3086-1 +2023-01-08 17:42:26,138 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-1 +2023-01-08 17:42:26,139 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3086-1 +2023-01-08 17:42:26,139 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:26,139 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:26,139 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-7 +2023-01-08 17:42:26,140 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:26,140 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:26,140 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-3 +2023-01-08 17:42:26,140 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:26,141 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:26,141 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-7 +2023-01-08 17:42:26,141 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:26,141 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:26,142 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-1 +2023-01-08 17:42:26,142 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 600643-1 +2023-01-08 17:42:26,142 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-1 +2023-01-08 17:42:26,142 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 600643-1 +2023-01-08 17:42:26,143 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:26,143 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:26,143 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-8 +2023-01-08 17:42:26,143 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:26,144 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:26,144 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-9 +2023-01-08 17:42:26,144 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:26,145 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:26,145 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-4 +2023-01-08 17:42:26,147 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:26,163 INFO ExportHelperExtension.cs: 1136 - Found 29 in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:26,163 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD0336FFFDFFFD_X0_192-2 +2023-01-08 17:42:26,163 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 600643-2 +2023-01-08 17:42:26,163 INFO ExportHelperExtension.cs: 1136 - Found 26 in 600643-2 +2023-01-08 17:42:26,164 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 600643-2 +2023-01-08 17:42:26,164 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:26,164 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:26,164 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-6 +2023-01-08 17:42:26,164 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:26,165 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:26,165 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-10 +2023-01-08 17:42:26,165 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:26,165 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:26,166 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-2 +2023-01-08 17:42:26,166 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-15-2517-1 +2023-01-08 17:42:26,166 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-1 +2023-01-08 17:42:26,166 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-15-2517-1 +2023-01-08 17:42:26,166 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:26,167 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:26,167 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-2 +2023-01-08 17:42:26,167 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:26,167 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:26,168 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-1 +2023-01-08 17:42:26,168 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:26,168 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:26,168 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-7 +2023-01-08 17:42:26,168 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:26,169 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:26,169 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-4 +2023-01-08 17:42:26,169 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-3 +2023-01-08 17:42:26,170 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-3 +2023-01-08 17:42:26,170 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-3 +2023-01-08 17:42:26,170 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:26,170 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:26,170 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-11 +2023-01-08 17:42:26,171 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:26,171 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:26,171 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_8-16126-12 +2023-01-08 17:42:26,171 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 3086-2 +2023-01-08 17:42:26,171 INFO ExportHelperExtension.cs: 1136 - Found 26 in 3086-2 +2023-01-08 17:42:26,172 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 3086-2 +2023-01-08 17:42:26,172 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:26,172 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:26,172 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-5 +2023-01-08 17:42:26,172 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:26,173 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:26,173 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-1 +2023-01-08 17:42:26,173 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:26,173 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:26,174 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-1 +2023-01-08 17:42:26,174 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:26,174 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:26,174 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-1 +2023-01-08 17:42:26,174 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:26,175 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:26,175 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-11 +2023-01-08 17:42:26,175 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:26,175 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:26,176 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-12 +2023-01-08 17:42:26,176 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:26,176 INFO ExportHelperExtension.cs: 1136 - Found 28 in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:26,176 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 13-15-6WANDA_X2_FFFDFFFDFFFDFFFD_X0_56-4 +2023-01-08 17:42:26,177 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:26,177 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:26,177 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-1 +2023-01-08 17:42:26,177 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:26,178 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:26,178 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_8mm_X2_FFFD0275FFFD0226_X0_90-10 +2023-01-08 17:42:26,178 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-1 +2023-01-08 17:42:26,178 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-1 +2023-01-08 17:42:26,178 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-1 +2023-01-08 17:42:26,179 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:26,179 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:26,179 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-5 +2023-01-08 17:42:26,179 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-2 +2023-01-08 17:42:26,179 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-2 +2023-01-08 17:42:26,180 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-2 +2023-01-08 17:42:26,180 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:26,180 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:26,180 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-6 +2023-01-08 17:42:26,180 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:26,181 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:26,181 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-2 +2023-01-08 17:42:26,181 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:26,181 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:26,182 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-3 +2023-01-08 17:42:26,182 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:26,182 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:26,182 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-1 +2023-01-08 17:42:26,182 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-15-2517-2 +2023-01-08 17:42:26,183 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-15-2517-2 +2023-01-08 17:42:26,183 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-15-2517-2 +2023-01-08 17:42:26,183 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:26,183 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:26,183 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-3 +2023-01-08 17:42:26,184 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:26,184 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:26,184 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-2 +2023-01-08 17:42:26,184 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:26,184 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:26,185 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-3 +2023-01-08 17:42:26,185 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:26,185 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:26,185 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-7 +2023-01-08 17:42:26,185 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:26,186 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:26,186 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFDFFFD05F0FFFDFFFD_X0_129-2 +2023-01-08 17:42:26,186 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:26,186 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:26,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_01BDFFFDFFFD_X0_4-9-1106-4 +2023-01-08 17:42:26,187 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:26,187 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:26,187 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-8 +2023-01-08 17:42:26,190 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:26,194 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:26,194 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-3 +2023-01-08 17:42:26,194 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:26,194 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:26,195 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-8 +2023-01-08 17:42:26,195 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:26,195 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:26,195 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-4 +2023-01-08 17:42:26,196 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:26,196 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:26,196 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-3 +2023-01-08 17:42:26,196 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-4 +2023-01-08 17:42:26,196 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-4 +2023-01-08 17:42:26,197 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-4 +2023-01-08 17:42:26,197 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:26,197 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:26,197 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-2 +2023-01-08 17:42:26,197 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:26,198 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:26,198 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-5 +2023-01-08 17:42:26,198 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:26,198 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:26,199 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-6 +2023-01-08 17:42:26,199 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-5 +2023-01-08 17:42:26,199 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-5 +2023-01-08 17:42:26,199 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-5 +2023-01-08 17:42:26,200 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:26,200 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:26,200 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-1 +2023-01-08 17:42:26,200 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:26,201 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:26,201 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-3 +2023-01-08 17:42:26,201 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:26,201 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:26,202 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-6 +2023-01-08 17:42:26,202 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:26,202 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:26,202 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-1 +2023-01-08 17:42:26,202 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:26,203 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:26,203 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-5 +2023-01-08 17:42:26,203 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:26,203 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:26,203 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-2 +2023-01-08 17:42:26,204 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:26,204 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:26,204 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_6-2035-7 +2023-01-08 17:42:26,204 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:26,204 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:26,205 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-4 +2023-01-08 17:42:26,205 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:26,205 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:26,205 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-8541-1 +2023-01-08 17:42:26,206 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:26,206 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:26,206 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_4-108-2 +2023-01-08 17:42:26,206 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:26,206 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:26,207 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-3 +2023-01-08 17:42:26,207 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:26,207 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:26,207 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-4 +2023-01-08 17:42:26,207 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:26,208 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:26,208 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_3mm_X2_FFFD0275FFFD0226_X0_136-7 +2023-01-08 17:42:26,208 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-6 +2023-01-08 17:42:26,208 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-6 +2023-01-08 17:42:26,208 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-6 +2023-01-08 17:42:26,209 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:26,209 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:26,209 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-5 +2023-01-08 17:42:26,209 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:26,209 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:26,210 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_6mm_X2_FFFD0275FFFD0226_X0_88-8 +2023-01-08 17:42:26,210 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-7 +2023-01-08 17:42:26,210 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-7 +2023-01-08 17:42:26,210 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-7 +2023-01-08 17:42:26,210 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:26,211 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:26,211 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-11 +2023-01-08 17:42:26,211 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:26,211 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:26,212 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-12 +2023-01-08 17:42:26,212 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:26,212 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:26,212 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-14 +2023-01-08 17:42:26,212 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:26,213 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:26,213 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-3 +2023-01-08 17:42:26,213 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:26,213 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:26,214 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFD_X0_2132-1 +2023-01-08 17:42:26,214 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:26,214 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:26,214 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-2 +2023-01-08 17:42:26,214 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:26,215 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:26,215 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-18 +2023-01-08 17:42:26,215 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:26,215 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:26,215 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-2 +2023-01-08 17:42:26,216 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:26,216 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:26,216 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFDFFFD0532FFFDFFFD0377FFFD0776FFFD_X0_M_3-1062-8 +2023-01-08 17:42:26,216 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:26,217 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:26,217 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_02AEFFFDFFFD042105320377FFFD0776FFFD_X0_M3-615-4 +2023-01-08 17:42:26,217 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:26,217 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:26,218 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-1 +2023-01-08 17:42:26,218 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:26,218 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:26,218 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-7 +2023-01-08 17:42:26,220 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:26,221 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:26,221 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-140130-1 +2023-01-08 17:42:26,221 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:26,221 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:26,221 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-10 +2023-01-08 17:42:26,222 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:26,226 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:26,226 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-3 +2023-01-08 17:42:26,226 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:26,226 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:26,227 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-9 +2023-01-08 17:42:26,227 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:26,227 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:26,227 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-8 +2023-01-08 17:42:26,227 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:26,228 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:26,228 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-15 +2023-01-08 17:42:26,228 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 10-25-147-8 +2023-01-08 17:42:26,228 INFO ExportHelperExtension.cs: 1136 - Found 26 in 10-25-147-8 +2023-01-08 17:42:26,229 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 10-25-147-8 +2023-01-08 17:42:26,229 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:26,229 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:26,229 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-6060-1 +2023-01-08 17:42:26,230 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:26,230 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:26,230 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-6 +2023-01-08 17:42:26,230 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:26,231 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:26,231 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFD05FC_X0_4mm_X2_FFFD0275FFFD0226_X0_4-4 +2023-01-08 17:42:26,231 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:26,231 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:26,231 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_668-1 +2023-01-08 17:42:26,232 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:26,232 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:26,233 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-1 +2023-01-08 17:42:26,233 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:26,233 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:26,233 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-6060-2 +2023-01-08 17:42:26,233 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:26,234 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:26,234 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-13 +2023-01-08 17:42:26,234 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:26,234 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:26,235 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-16 +2023-01-08 17:42:26,235 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:26,235 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:26,235 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-17 +2023-01-08 17:42:26,235 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:26,236 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:26,236 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_668-2 +2023-01-08 17:42:26,236 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:26,236 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:26,237 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-1027-4 +2023-01-08 17:42:26,237 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:26,237 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:26,237 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-140130-2 +2023-01-08 17:42:26,237 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:26,238 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:26,238 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-19 +2023-01-08 17:42:26,238 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:26,238 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:26,239 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-140130-3 +2023-01-08 17:42:26,239 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ?-2 +2023-01-08 17:42:26,239 INFO ExportHelperExtension.cs: 1136 - Found 27 in ?-2 +2023-01-08 17:42:26,239 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ?-2 +2023-01-08 17:42:26,239 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from ??-1 +2023-01-08 17:42:26,240 INFO ExportHelperExtension.cs: 1136 - Found 27 in ??-1 +2023-01-08 17:42:26,240 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in ??-1 +2023-01-08 17:42:26,240 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:26,240 INFO ExportHelperExtension.cs: 1136 - Found 26 in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:26,241 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 1_X2_FFFDFFFDFFFDFFFDFFFDFFFDFFFD0138_X0_M884-20 +2023-01-08 17:42:26,241 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:26,241 INFO ExportHelperExtension.cs: 1136 - Found 26 in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:26,241 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFD_X0_10-95118_1-4 +2023-01-08 17:42:26,241 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:26,242 INFO ExportHelperExtension.cs: 1136 - Found 28 in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:26,242 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in _X2_FFFDFFFDFFFDFFFD_X0_2132-2 +2023-01-08 17:42:26,274 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:43:06,035 INFO SwAddin.cs: 294 - Assembly export called for file vehicel +2023-01-08 17:43:06,036 INFO SwAddin.cs: 299 - Save is required +2023-01-08 17:43:06,036 INFO SwAddin.cs: 313 - Saving assembly +2023-01-08 17:43:06,314 INFO SwAddin.cs: 316 - Opening property manager +2023-01-08 17:43:06,314 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from vehicel +2023-01-08 17:43:06,315 INFO ExportHelperExtension.cs: 1136 - Found 78 in vehicel +2023-01-08 17:43:06,316 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in vehicel +2023-01-08 17:43:06,316 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:43:06,318 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:43:06,319 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_mr-1 +2023-01-08 17:43:06,367 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:43:06,368 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_mr-1 +2023-01-08 17:43:06,368 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rl-1 +2023-01-08 17:43:06,369 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:43:06,369 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rl-1 +2023-01-08 17:43:06,369 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rr-1 +2023-01-08 17:43:06,369 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:43:06,370 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rr-1 +2023-01-08 17:43:06,370 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fr-1 +2023-01-08 17:43:06,370 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:43:06,371 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fr-1 +2023-01-08 17:43:06,371 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fl-1 +2023-01-08 17:43:06,371 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:43:06,371 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fl-1 +2023-01-08 17:43:06,372 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_ml-1 +2023-01-08 17:43:06,372 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:43:06,372 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_ml-1 +2023-01-08 17:43:06,372 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_right-1 +2023-01-08 17:43:06,373 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:43:06,373 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_right-1 +2023-01-08 17:43:06,373 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from chassis-1 +2023-01-08 17:43:06,374 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:43:06,375 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in chassis-1 +2023-01-08 17:43:06,375 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_left-1 +2023-01-08 17:43:06,376 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:43:06,376 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_left-1 +2023-01-08 17:43:06,376 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_left-3 +2023-01-08 17:43:06,377 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:43:06,378 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_left-3 +2023-01-08 17:43:06,378 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from steering_wheel-1 +2023-01-08 17:43:06,379 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:43:06,380 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in steering_wheel-1 +2023-01-08 17:43:06,380 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_right-2 +2023-01-08 17:43:06,381 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:43:06,382 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_right-2 +2023-01-08 17:43:06,383 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from vehicel +2023-01-08 17:43:06,383 INFO ExportHelperExtension.cs: 1136 - Found 78 in vehicel +2023-01-08 17:43:06,383 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [RefAxis] in vehicel +2023-01-08 17:43:06,384 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:43:06,384 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:43:06,384 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_mr-1 +2023-01-08 17:43:06,384 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:43:06,385 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_mr-1 +2023-01-08 17:43:06,385 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rl-1 +2023-01-08 17:43:06,385 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:43:06,385 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rl-1 +2023-01-08 17:43:06,386 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rr-1 +2023-01-08 17:43:06,386 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:43:06,386 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rr-1 +2023-01-08 17:43:06,386 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fr-1 +2023-01-08 17:43:06,387 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:43:06,387 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fr-1 +2023-01-08 17:43:06,387 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fl-1 +2023-01-08 17:43:06,387 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:43:06,388 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fl-1 +2023-01-08 17:43:06,388 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_ml-1 +2023-01-08 17:43:06,388 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:43:06,388 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_ml-1 +2023-01-08 17:43:06,389 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_right-1 +2023-01-08 17:43:06,389 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:43:06,389 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_right-1 +2023-01-08 17:43:06,389 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from chassis-1 +2023-01-08 17:43:06,390 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:43:06,391 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in chassis-1 +2023-01-08 17:43:06,391 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_left-1 +2023-01-08 17:43:06,391 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:43:06,391 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_left-1 +2023-01-08 17:43:06,391 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_left-3 +2023-01-08 17:43:06,392 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:43:06,393 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_left-3 +2023-01-08 17:43:06,393 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from steering_wheel-1 +2023-01-08 17:43:06,393 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:43:06,394 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in steering_wheel-1 +2023-01-08 17:43:06,394 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_right-2 +2023-01-08 17:43:06,395 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:43:06,396 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_right-2 +2023-01-08 17:43:06,607 INFO SwAddin.cs: 339 - Loading config tree +2023-01-08 17:43:06,608 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue-0.0376810.00054160.38334rpytrue000originfalsefalsevaluetrue1146.5massfalseixxtrue186.85ixytrue-0.0060656ixztrue-42.111iyytrue677.82iyztrue-0.002351izztrue717.22inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.14510.2470601colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseCoordinate System1linktruenametruefront_left_wheel_linkxyztrue4.4408920985006262E-16-0.022323009295947660rpytrue000originfalsefalsevaluetrue68.020233587353431massfalseixxtrue1.8451330504804031ixytrue4.8136903367726467E-19ixztrue8.0454233354867709E-19iyytrue2.5590684867938203iyztrue1.2023082357298854E-16izztrue1.8451330504804031inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruefront_left_wheel_jointtypetruecontinuousxyztrue0.998680.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruefront_left_wheel_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront Axisfront_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AZgBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEcAAAA=falsefalsenametruefront_right_wheel_linkxyztrue00.0223230092959477160rpytrue000originfalsefalsevaluetrue68.020233587353431massfalseixxtrue1.8451330504804022ixytrue-1.0872357562460205E-17ixztrue-1.0165941202180339E-16iyytrue2.5590684867938189iyztrue9.13042816242677E-17izztrue1.8451330504804022inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruefront_right_wheel_jointtypetruecontinuousxyztrue0.99868-0.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruefront_right_wheel_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront Axisfront_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AZgByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEwAAAA=falsefalsenametruemiddle_left_wheel_linkxyztrue0-0.022323009295947660rpytrue000originfalsefalsevaluetrue68.020233587353431massfalseixxtrue1.8451330504804031ixytrue-5.9359427690436369E-17ixztrue-3.5706268021551146E-17iyytrue2.5590684867938203iyztrue2.359178794132975E-16izztrue1.8451330504804031inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruemiddle_left_wheel_jointtypetruecontinuousxyztrue-0.331320.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruemiddle_left_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemiddle Axismiddle_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AbQBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAD0AAAA=falsefalsenametruemiddle_right_wheel_linkxyztrue00.02232300929594766-4.4408920985006262E-16rpytrue000originfalsefalsevaluetrue68.020233587353417massfalseixxtrue1.845133050480402ixytrue-6.7930538374035108E-17ixztrue2.7211568705254873E-17iyytrue2.5590684867938194iyztrue1.2408972829141323E-16izztrue1.845133050480402inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruemiddle_right_wheel_jointtypetruecontinuousxyztrue-0.33132-0.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruemiddle_right_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemiddle Axismiddle_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AbQByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEIAAAA=falsefalsenametruerear_left_wheel_linkxyztrue-1.1102230246251565E-16-0.02232300929594766-4.4408920985006262E-16rpytrue000originfalsefalsevaluetrue68.020233587353417massfalseixxtrue1.8451330504804022ixytrue1.1108547756444628E-33ixztrue4.5637052915872917E-34iyytrue2.5590684867938189iyztrue1.9058388693846931E-16izztrue1.8451330504804022inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruerear_left_wheel_jointtypetruecontinuousxyztrue-1.02130.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruerear_left_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear Axisrear_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AcgBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAADMAAAA=falsefalsenametruerear_right_wheel_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruerear_right_wheel_jointtypetruecontinuousxyztrue-1.0213-0.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruerear_right_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear Axisrear_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AcgByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAADgAAAA=falsefalsefalsemDoAAAUAAAD//v8RYwBoAGEAcwBzAGkAcwAtADEAQAB2AGUAaABpAGMAZQBsAAQAAAAQAAAAAQAAAAEAAAAYAAAAmDoAAAUAAAD//v8YcwB0AGUAZQByAGkAbgBnAF8AdwBoAGUAZQBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAC4AAAA=mDoAAAUAAAD//v8TcwBlAGEAdABfAGwAZQBmAHQALQAzAEAAdgBlAGgAaQBjAGUAbAAEAAAAEAAAAAEAAAABAAAAIQAAAA==mDoAAAUAAAD//v8UcwBlAGEAdABfAHIAaQBnAGgAdAAtADIAQAB2AGUAaABpAGMAZQBsAAQAAAAQAAAAAQAAAAEAAAAdAAAAfalsefalse +2023-01-08 17:43:06,609 INFO LinkNode.cs: 35 - Building node base_link +2023-01-08 17:43:06,610 INFO LinkNode.cs: 35 - Building node front_left_wheel_link +2023-01-08 17:43:06,610 INFO LinkNode.cs: 35 - Building node front_right_wheel_link +2023-01-08 17:43:06,610 INFO LinkNode.cs: 35 - Building node middle_left_wheel_link +2023-01-08 17:43:06,610 INFO LinkNode.cs: 35 - Building node middle_right_wheel_link +2023-01-08 17:43:06,610 INFO LinkNode.cs: 35 - Building node rear_left_wheel_link +2023-01-08 17:43:06,611 INFO LinkNode.cs: 35 - Building node rear_right_wheel_link +2023-01-08 17:43:06,611 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for base_link from C:\Users\dongd\Downloads\new_version\vehicel.SLDASM +2023-01-08 17:43:06,611 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???chassis-1@vehicel +2023-01-08 17:43:06,611 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\chassis.SLDPRT +2023-01-08 17:43:06,612 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???steering_wheel-1@vehicel. +2023-01-08 17:43:06,612 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\steering_wheel.SLDPRT +2023-01-08 17:43:06,612 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???seat_left-3@vehicel! +2023-01-08 17:43:06,612 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\seat_left.SLDPRT +2023-01-08 17:43:06,613 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???seat_right-2@vehicel +2023-01-08 17:43:06,613 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\seat_right.SLDPRT +2023-01-08 17:43:06,613 INFO CommonSwOperations.cs: 230 - Loaded 4 components for link base_link +2023-01-08 17:43:06,613 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for front_left_wheel_link from C:\Users\dongd\Downloads\new_version\vehicel.SLDASM +2023-01-08 17:43:06,613 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???wheel_fl-1@vehicelG +2023-01-08 17:43:06,614 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\wheel_fl.SLDPRT +2023-01-08 17:43:06,614 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link front_left_wheel_link +2023-01-08 17:43:06,614 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for front_right_wheel_link from C:\Users\dongd\Downloads\new_version\vehicel.SLDASM +2023-01-08 17:43:06,614 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???wheel_fr-1@vehicelL +2023-01-08 17:43:06,614 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\wheel_fr.SLDPRT +2023-01-08 17:43:06,615 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link front_right_wheel_link +2023-01-08 17:43:06,615 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for middle_left_wheel_link from C:\Users\dongd\Downloads\new_version\vehicel.SLDASM +2023-01-08 17:43:06,615 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???wheel_ml-1@vehicel= +2023-01-08 17:43:06,615 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\wheel_ml.SLDPRT +2023-01-08 17:43:06,615 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link middle_left_wheel_link +2023-01-08 17:43:06,616 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for middle_right_wheel_link from C:\Users\dongd\Downloads\new_version\vehicel.SLDASM +2023-01-08 17:43:06,616 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???wheel_mr-1@vehicelB +2023-01-08 17:43:06,616 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\wheel_mr.SLDPRT +2023-01-08 17:43:06,616 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link middle_right_wheel_link +2023-01-08 17:43:06,617 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for rear_left_wheel_link from C:\Users\dongd\Downloads\new_version\vehicel.SLDASM +2023-01-08 17:43:06,617 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???wheel_rl-1@vehicel3 +2023-01-08 17:43:06,617 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\wheel_rl.SLDPRT +2023-01-08 17:43:06,617 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link rear_left_wheel_link +2023-01-08 17:43:06,617 INFO CommonSwOperations.cs: 221 - Loading SolidWorks components for rear_right_wheel_link from C:\Users\dongd\Downloads\new_version\vehicel.SLDASM +2023-01-08 17:43:06,618 INFO CommonSwOperations.cs: 245 - Loading component with PID ?:???wheel_rr-1@vehicel8 +2023-01-08 17:43:06,618 INFO CommonSwOperations.cs: 254 - Successfully loaded component C:\Users\dongd\Downloads\new_version\wheel_rr.SLDPRT +2023-01-08 17:43:06,618 INFO CommonSwOperations.cs: 230 - Loaded 1 components for link rear_right_wheel_link +2023-01-08 17:43:06,699 INFO SwAddin.cs: 344 - Showing property manager +2023-01-08 17:43:09,245 INFO ExportPropertyManager.cs: 422 - Configuration saved +2023-01-08 17:43:09,246 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue-0.0376810.00054160.38334rpytrue000originfalsefalsevaluetrue1146.5massfalseixxtrue186.85ixytrue-0.0060656ixztrue-42.111iyytrue677.82iyztrue-0.002351izztrue717.22inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.14510.2470601colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseCoordinate System1linktruenametruefront_left_wheel_linkxyztrue4.4408920985006262E-16-0.022323009295947660rpytrue000originfalsefalsevaluetrue68.020233587353431massfalseixxtrue1.8451330504804031ixytrue4.8136903367726467E-19ixztrue8.0454233354867709E-19iyytrue2.5590684867938203iyztrue1.2023082357298854E-16izztrue1.8451330504804031inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruefront_left_wheel_jointtypetruecontinuousxyztrue0.998680.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruefront_left_wheel_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront Axisfront_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AZgBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEcAAAA=falsefalsenametruefront_right_wheel_linkxyztrue00.0223230092959477160rpytrue000originfalsefalsevaluetrue68.020233587353431massfalseixxtrue1.8451330504804022ixytrue-1.0872357562460205E-17ixztrue-1.0165941202180339E-16iyytrue2.5590684867938189iyztrue9.13042816242677E-17izztrue1.8451330504804022inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruefront_right_wheel_jointtypetruecontinuousxyztrue0.99868-0.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruefront_right_wheel_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront Axisfront_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AZgByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEwAAAA=falsefalsenametruemiddle_left_wheel_linkxyztrue0-0.022323009295947660rpytrue000originfalsefalsevaluetrue68.020233587353431massfalseixxtrue1.8451330504804031ixytrue-5.9359427690436369E-17ixztrue-3.5706268021551146E-17iyytrue2.5590684867938203iyztrue2.359178794132975E-16izztrue1.8451330504804031inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruemiddle_left_wheel_jointtypetruecontinuousxyztrue-0.331320.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruemiddle_left_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemiddle Axismiddle_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AbQBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAD0AAAA=falsefalsenametruemiddle_right_wheel_linkxyztrue00.02232300929594766-4.4408920985006262E-16rpytrue000originfalsefalsevaluetrue68.020233587353417massfalseixxtrue1.845133050480402ixytrue-6.7930538374035108E-17ixztrue2.7211568705254873E-17iyytrue2.5590684867938194iyztrue1.2408972829141323E-16izztrue1.845133050480402inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruemiddle_right_wheel_jointtypetruecontinuousxyztrue-0.33132-0.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruemiddle_right_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemiddle Axismiddle_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AbQByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEIAAAA=falsefalsenametruerear_left_wheel_linkxyztrue-1.1102230246251565E-16-0.02232300929594766-4.4408920985006262E-16rpytrue000originfalsefalsevaluetrue68.020233587353417massfalseixxtrue1.8451330504804022ixytrue1.1108547756444628E-33ixztrue4.5637052915872917E-34iyytrue2.5590684867938189iyztrue1.9058388693846931E-16izztrue1.8451330504804022inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruerear_left_wheel_jointtypetruecontinuousxyztrue-1.02130.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruerear_left_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear Axisrear_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AcgBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAADMAAAA=falsefalsenametruerear_right_wheel_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruerear_right_wheel_jointtypetruecontinuousxyztrue-1.0213-0.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruerear_right_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear Axisrear_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AcgByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAADgAAAA=falsefalsefalsemDoAAAUAAAD//v8RYwBoAGEAcwBzAGkAcwAtADEAQAB2AGUAaABpAGMAZQBsAAQAAAAQAAAAAQAAAAEAAAAYAAAAmDoAAAUAAAD//v8YcwB0AGUAZQByAGkAbgBnAF8AdwBoAGUAZQBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAC4AAAA=mDoAAAUAAAD//v8TcwBlAGEAdABfAGwAZQBmAHQALQAzAEAAdgBlAGgAaQBjAGUAbAAEAAAAEAAAAAEAAAABAAAAIQAAAA==mDoAAAUAAAD//v8UcwBlAGEAdABfAHIAaQBnAGgAdAAtADIAQAB2AGUAaABpAGMAZQBsAAQAAAAQAAAAAQAAAAEAAAAdAAAAfalsefalse +2023-01-08 17:43:09,341 INFO ExportHelperExtension.cs: 347 - Creating joint front_left_wheel_link +2023-01-08 17:43:09,419 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child front_left_wheel_link failed +2023-01-08 17:43:09,422 INFO ExportHelperExtension.cs: 347 - Creating joint front_right_wheel_link +2023-01-08 17:43:09,477 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child front_right_wheel_link failed +2023-01-08 17:43:09,479 INFO ExportHelperExtension.cs: 347 - Creating joint middle_left_wheel_link +2023-01-08 17:43:09,535 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child middle_left_wheel_link failed +2023-01-08 17:43:09,538 INFO ExportHelperExtension.cs: 347 - Creating joint middle_right_wheel_link +2023-01-08 17:43:09,592 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child middle_right_wheel_link failed +2023-01-08 17:43:09,633 INFO ExportHelperExtension.cs: 347 - Creating joint rear_left_wheel_link +2023-01-08 17:43:09,688 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rear_left_wheel_link failed +2023-01-08 17:43:09,691 INFO ExportHelperExtension.cs: 347 - Creating joint rear_right_wheel_link +2023-01-08 17:43:09,774 WARN ExportHelperExtension.cs: 351 - Creating joint from parent base_link to child rear_right_wheel_link failed +2023-01-08 17:43:09,808 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from vehicel +2023-01-08 17:43:09,809 INFO ExportHelperExtension.cs: 1136 - Found 78 in vehicel +2023-01-08 17:43:09,809 INFO ExportHelperExtension.cs: 1145 - Found 7 features of type [CoordSys] in vehicel +2023-01-08 17:43:09,809 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:43:09,810 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:43:09,810 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_mr-1 +2023-01-08 17:43:09,810 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:43:09,810 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_mr-1 +2023-01-08 17:43:09,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rl-1 +2023-01-08 17:43:09,811 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:43:09,811 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rl-1 +2023-01-08 17:43:09,811 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_rr-1 +2023-01-08 17:43:09,812 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:43:09,812 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_rr-1 +2023-01-08 17:43:09,812 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fr-1 +2023-01-08 17:43:09,813 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:43:09,813 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fr-1 +2023-01-08 17:43:09,813 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_fl-1 +2023-01-08 17:43:09,813 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:43:09,814 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_fl-1 +2023-01-08 17:43:09,814 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from wheel_ml-1 +2023-01-08 17:43:09,814 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:43:09,814 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in wheel_ml-1 +2023-01-08 17:43:09,814 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_right-1 +2023-01-08 17:43:09,815 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:43:09,815 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_right-1 +2023-01-08 17:43:09,815 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from chassis-1 +2023-01-08 17:43:09,816 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:43:09,817 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in chassis-1 +2023-01-08 17:43:09,817 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from light_left-1 +2023-01-08 17:43:09,817 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:43:09,818 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in light_left-1 +2023-01-08 17:43:09,818 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_left-3 +2023-01-08 17:43:09,819 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:43:09,819 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_left-3 +2023-01-08 17:43:09,820 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from steering_wheel-1 +2023-01-08 17:43:09,820 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:43:09,821 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in steering_wheel-1 +2023-01-08 17:43:09,821 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from seat_right-2 +2023-01-08 17:43:09,822 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:43:09,823 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in seat_right-2 +2023-01-08 17:43:09,823 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from vehicel +2023-01-08 17:43:09,824 INFO ExportHelperExtension.cs: 1136 - Found 78 in vehicel +2023-01-08 17:43:09,824 INFO ExportHelperExtension.cs: 1145 - Found 3 features of type [RefAxis] in vehicel +2023-01-08 17:43:09,824 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components +2023-01-08 17:43:09,825 INFO ExportHelperExtension.cs: 1160 - 12 components to check +2023-01-08 17:43:09,825 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_mr-1 +2023-01-08 17:43:09,825 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_mr-1 +2023-01-08 17:43:09,825 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_mr-1 +2023-01-08 17:43:09,826 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rl-1 +2023-01-08 17:43:09,826 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rl-1 +2023-01-08 17:43:09,826 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rl-1 +2023-01-08 17:43:09,826 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_rr-1 +2023-01-08 17:43:09,827 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_rr-1 +2023-01-08 17:43:09,827 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_rr-1 +2023-01-08 17:43:09,827 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fr-1 +2023-01-08 17:43:09,827 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fr-1 +2023-01-08 17:43:09,827 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fr-1 +2023-01-08 17:43:09,828 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_fl-1 +2023-01-08 17:43:09,828 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_fl-1 +2023-01-08 17:43:09,828 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_fl-1 +2023-01-08 17:43:09,828 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from wheel_ml-1 +2023-01-08 17:43:09,829 INFO ExportHelperExtension.cs: 1136 - Found 27 in wheel_ml-1 +2023-01-08 17:43:09,829 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in wheel_ml-1 +2023-01-08 17:43:09,829 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_right-1 +2023-01-08 17:43:09,829 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_right-1 +2023-01-08 17:43:09,829 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_right-1 +2023-01-08 17:43:09,830 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from chassis-1 +2023-01-08 17:43:09,830 INFO ExportHelperExtension.cs: 1136 - Found 383 in chassis-1 +2023-01-08 17:43:09,831 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in chassis-1 +2023-01-08 17:43:09,831 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from light_left-1 +2023-01-08 17:43:09,831 INFO ExportHelperExtension.cs: 1136 - Found 25 in light_left-1 +2023-01-08 17:43:09,831 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in light_left-1 +2023-01-08 17:43:09,832 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_left-3 +2023-01-08 17:43:09,832 INFO ExportHelperExtension.cs: 1136 - Found 362 in seat_left-3 +2023-01-08 17:43:09,833 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_left-3 +2023-01-08 17:43:09,833 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from steering_wheel-1 +2023-01-08 17:43:09,833 INFO ExportHelperExtension.cs: 1136 - Found 381 in steering_wheel-1 +2023-01-08 17:43:09,834 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in steering_wheel-1 +2023-01-08 17:43:09,834 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from seat_right-2 +2023-01-08 17:43:09,835 INFO ExportHelperExtension.cs: 1136 - Found 364 in seat_right-2 +2023-01-08 17:43:09,835 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in seat_right-2 +2023-01-08 17:43:09,866 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message +2023-01-08 17:43:47,079 INFO AssemblyExportForm.cs: 253 - Completing URDF export +2023-01-08 17:43:47,080 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found +nametruebase_linkxyztrue-0.0376810.00054160.38334rpytrue000originfalsefalsevaluetrue1146.5massfalseixxtrue186.85ixytrue-0.0060656ixztrue-42.111iyytrue677.82iyztrue-0.002351izztrue717.22inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.14510.2470601colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalseCoordinate System1linktruenametruefront_left_wheel_linkxyztrue4.4408920985006262E-16-0.022323009295947660rpytrue000originfalsefalsevaluetrue68.020233587353431massfalseixxtrue1.8451330504804031ixytrue4.8136903367726467E-19ixztrue8.0454233354867709E-19iyytrue2.5590684867938203iyztrue1.2023082357298854E-16izztrue1.8451330504804031inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruefront_left_wheel_jointtypetruecontinuousxyztrue0.998680.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruefront_left_wheel_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront Axisfront_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AZgBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEcAAAA=falsefalsenametruefront_right_wheel_linkxyztrue00.0223230092959477160rpytrue000originfalsefalsevaluetrue68.020233587353431massfalseixxtrue1.8451330504804022ixytrue-1.0872357562460205E-17ixztrue-1.0165941202180339E-16iyytrue2.5590684867938189iyztrue9.13042816242677E-17izztrue1.8451330504804022inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruefront_right_wheel_jointtypetruecontinuousxyztrue0.99868-0.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruefront_right_wheel_linkchildtruexyztrue0-10axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsefront Axisfront_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AZgByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEwAAAA=falsefalsenametruemiddle_left_wheel_linkxyztrue0-0.022323009295947660rpytrue000originfalsefalsevaluetrue68.020233587353431massfalseixxtrue1.8451330504804031ixytrue-5.9359427690436369E-17ixztrue-3.5706268021551146E-17iyytrue2.5590684867938203iyztrue2.359178794132975E-16izztrue1.8451330504804031inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruemiddle_left_wheel_jointtypetruecontinuousxyztrue-0.331320.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruemiddle_left_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemiddle Axismiddle_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AbQBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAD0AAAA=falsefalsenametruemiddle_right_wheel_linkxyztrue00.02232300929594766-4.4408920985006262E-16rpytrue000originfalsefalsevaluetrue68.020233587353417massfalseixxtrue1.845133050480402ixytrue-6.7930538374035108E-17ixztrue2.7211568705254873E-17iyytrue2.5590684867938194iyztrue1.2408972829141323E-16izztrue1.845133050480402inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruemiddle_right_wheel_jointtypetruecontinuousxyztrue-0.33132-0.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruemiddle_right_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalsemiddle Axismiddle_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AbQByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAEIAAAA=falsefalsenametruerear_left_wheel_linkxyztrue-1.1102230246251565E-16-0.02232300929594766-4.4408920985006262E-16rpytrue000originfalsefalsevaluetrue68.020233587353417massfalseixxtrue1.8451330504804022ixytrue1.1108547756444628E-33ixztrue4.5637052915872917E-34iyytrue2.5590684867938189iyztrue1.9058388693846931E-16izztrue1.8451330504804022inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue0.250980392156862740.250980392156862740.250980392156862741colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruerear_left_wheel_jointtypetruecontinuousxyztrue-1.02130.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruerear_left_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear Axisrear_left_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AcgBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAADMAAAA=falsefalsenametruerear_right_wheel_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruerear_right_wheel_jointtypetruecontinuousxyztrue-1.0213-0.610.09rpytrue000originfalsefalselinktruebase_linkparenttruelinktruerear_right_wheel_linkchildtruexyztrue010axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalserear Axisrear_right_CoordinatelinktruefalsemDoAAAUAAAD//v8SdwBoAGUAZQBsAF8AcgByAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAADgAAAA=falsefalsefalsemDoAAAUAAAD//v8RYwBoAGEAcwBzAGkAcwAtADEAQAB2AGUAaABpAGMAZQBsAAQAAAAQAAAAAQAAAAEAAAAYAAAAmDoAAAUAAAD//v8YcwB0AGUAZQByAGkAbgBnAF8AdwBoAGUAZQBsAC0AMQBAAHYAZQBoAGkAYwBlAGwABAAAABAAAAABAAAAAQAAAC4AAAA=mDoAAAUAAAD//v8TcwBlAGEAdABfAGwAZQBmAHQALQAzAEAAdgBlAGgAaQBjAGUAbAAEAAAAEAAAAAEAAAABAAAAIQAAAA==mDoAAAUAAAD//v8UcwBlAGEAdABfAHIAaQBnAGgAdAAtADIAQAB2AGUAaABpAGMAZQBsAAQAAAAQAAAAAQAAAAEAAAAdAAAAfalsefalse +2023-01-08 17:44:10,711 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\Users\dongd\Desktop\rgator_model +2023-01-08 17:44:10,712 INFO ExportHelper.cs: 147 - Beginning the export process +2023-01-08 17:44:10,714 INFO ExportHelper.cs: 153 - Creating package directories with name rgator_model and save path C:\Users\dongd\Desktop +2023-01-08 17:44:12,388 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\Users\dongd\Desktop\rgator_model\CMakeLists.txt +2023-01-08 17:44:12,390 INFO ExportHelper.cs: 166 - Creating joint names config at C:\Users\dongd\Desktop\rgator_model\config\joint_names_rgator_model.yaml +2023-01-08 17:44:12,391 INFO ExportHelper.cs: 170 - Creating package.xml at C:\Users\dongd\Desktop\rgator_model\package.xml +2023-01-08 17:44:12,391 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\Users\dongd\Desktop\rgator_model\package.xml +2023-01-08 17:44:12,393 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\Users\dongd\Desktop\rgator_model\launch\ +2023-01-08 17:44:12,395 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\Users\dongd\Desktop\rgator_model\launch\ +2023-01-08 17:44:12,396 INFO ExportHelper.cs: 187 - Saving existing STL preferences +2023-01-08 17:44:12,396 INFO ExportHelper.cs: 450 - Saving users preferences +2023-01-08 17:44:12,397 INFO ExportHelper.cs: 190 - Modifying STL preferences +2023-01-08 17:44:12,397 INFO ExportHelper.cs: 464 - Setting STL preferences +2023-01-08 17:44:12,401 INFO ExportHelper.cs: 196 - Found 0 hidden components +2023-01-08 17:44:12,401 INFO ExportHelper.cs: 197 - Hiding all components +2023-01-08 17:44:12,524 INFO ExportHelper.cs: 204 - Beginning individual files export +2023-01-08 17:44:12,549 INFO ExportHelper.cs: 270 - Exporting link: base_link +2023-01-08 17:44:12,550 INFO ExportHelper.cs: 272 - Link base_link has 6 children +2023-01-08 17:44:12,550 INFO ExportHelper.cs: 270 - Exporting link: front_left_wheel_link +2023-01-08 17:44:12,550 INFO ExportHelper.cs: 272 - Link front_left_wheel_link has 0 children +2023-01-08 17:44:12,551 INFO ExportHelper.cs: 317 - front_left_wheel_link: Exporting STL with coordinate frame front_left_Coordinate +2023-01-08 17:44:12,551 INFO ExportHelper.cs: 322 - front_left_wheel_link: Reference geometry name +2023-01-08 17:44:12,570 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\dongd\Desktop\rgator_model\meshes\front_left_wheel_link.STL +2023-01-08 17:44:12,621 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2023-01-08 17:44:12,622 INFO ExportHelper.cs: 270 - Exporting link: front_right_wheel_link +2023-01-08 17:44:12,623 INFO ExportHelper.cs: 272 - Link front_right_wheel_link has 0 children +2023-01-08 17:44:12,623 INFO ExportHelper.cs: 317 - front_right_wheel_link: Exporting STL with coordinate frame front_right_Coordinate +2023-01-08 17:44:12,623 INFO ExportHelper.cs: 322 - front_right_wheel_link: Reference geometry name +2023-01-08 17:44:12,629 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\dongd\Desktop\rgator_model\meshes\front_right_wheel_link.STL +2023-01-08 17:44:12,655 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2023-01-08 17:44:12,656 INFO ExportHelper.cs: 270 - Exporting link: middle_left_wheel_link +2023-01-08 17:44:12,656 INFO ExportHelper.cs: 272 - Link middle_left_wheel_link has 0 children +2023-01-08 17:44:12,657 INFO ExportHelper.cs: 317 - middle_left_wheel_link: Exporting STL with coordinate frame middle_left_Coordinate +2023-01-08 17:44:12,657 INFO ExportHelper.cs: 322 - middle_left_wheel_link: Reference geometry name +2023-01-08 17:44:12,662 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\dongd\Desktop\rgator_model\meshes\middle_left_wheel_link.STL +2023-01-08 17:44:12,687 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2023-01-08 17:44:12,688 INFO ExportHelper.cs: 270 - Exporting link: middle_right_wheel_link +2023-01-08 17:44:12,688 INFO ExportHelper.cs: 272 - Link middle_right_wheel_link has 0 children +2023-01-08 17:44:12,688 INFO ExportHelper.cs: 317 - middle_right_wheel_link: Exporting STL with coordinate frame middle_right_Coordinate +2023-01-08 17:44:12,689 INFO ExportHelper.cs: 322 - middle_right_wheel_link: Reference geometry name +2023-01-08 17:44:12,694 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\dongd\Desktop\rgator_model\meshes\middle_right_wheel_link.STL +2023-01-08 17:44:12,719 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2023-01-08 17:44:12,721 INFO ExportHelper.cs: 270 - Exporting link: rear_left_wheel_link +2023-01-08 17:44:12,721 INFO ExportHelper.cs: 272 - Link rear_left_wheel_link has 0 children +2023-01-08 17:44:12,721 INFO ExportHelper.cs: 317 - rear_left_wheel_link: Exporting STL with coordinate frame rear_left_Coordinate +2023-01-08 17:44:12,721 INFO ExportHelper.cs: 322 - rear_left_wheel_link: Reference geometry name +2023-01-08 17:44:12,726 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\dongd\Desktop\rgator_model\meshes\rear_left_wheel_link.STL +2023-01-08 17:44:12,751 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2023-01-08 17:44:12,753 INFO ExportHelper.cs: 270 - Exporting link: rear_right_wheel_link +2023-01-08 17:44:12,753 INFO ExportHelper.cs: 272 - Link rear_right_wheel_link has 0 children +2023-01-08 17:44:12,753 INFO ExportHelper.cs: 317 - rear_right_wheel_link: Exporting STL with coordinate frame rear_right_Coordinate +2023-01-08 17:44:12,754 INFO ExportHelper.cs: 322 - rear_right_wheel_link: Reference geometry name +2023-01-08 17:44:12,759 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\dongd\Desktop\rgator_model\meshes\rear_right_wheel_link.STL +2023-01-08 17:44:12,783 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2023-01-08 17:44:12,784 INFO ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame Coordinate System1 +2023-01-08 17:44:12,784 INFO ExportHelper.cs: 322 - base_link: Reference geometry name +2023-01-08 17:44:12,796 INFO ExportHelper.cs: 330 - Saving STL to C:\Users\dongd\Desktop\rgator_model\meshes\base_link.STL +2023-01-08 17:44:12,993 INFO ExportHelper.cs: 405 - Removing SW header in STL file +2023-01-08 17:44:12,994 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components +2023-01-08 17:44:13,038 INFO ExportHelper.cs: 145 - Resetting STL preferences +2023-01-08 17:44:13,038 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences +2023-01-08 17:44:13,039 INFO ExportHelper.cs: 228 - Writing URDF file to C:\Users\dongd\Desktop\rgator_model\urdf\rgator_model.urdf +2023-01-08 17:44:13,203 INFO CSVImportExport.cs: 32 - Writing CSV file C:\Users\dongd\Desktop\rgator_model\urdf\rgator_model.csv +2023-01-08 17:44:13,218 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2023-01-08 17:44:13,219 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2023-01-08 17:44:13,219 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2023-01-08 17:44:13,220 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2023-01-08 17:44:13,220 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2023-01-08 17:44:13,220 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2023-01-08 17:44:13,220 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link, +2023-01-08 17:44:13,221 INFO ExportHelper.cs: 234 - Copying log file +2023-01-08 17:44:13,225 INFO ExportHelper.cs: 439 - Copying C:\Users\dongd\sw2urdf_logs\sw2urdf.log to C:\Users\dongd\Desktop\rgator_model\export.log diff --git a/r_gator_simulator/rgator_model/launch/display.launch b/r_gator_simulator/rgator_model/launch/display.launch new file mode 100755 index 0000000..baeec82 --- /dev/null +++ b/r_gator_simulator/rgator_model/launch/display.launch @@ -0,0 +1,20 @@ + + + + + + + \ No newline at end of file diff --git a/r_gator_simulator/rgator_model/launch/gazebo.launch b/r_gator_simulator/rgator_model/launch/gazebo.launch new file mode 100755 index 0000000..a56be90 --- /dev/null +++ b/r_gator_simulator/rgator_model/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + \ No newline at end of file diff --git a/r_gator_simulator/rgator_model/meshes/base_link.STL b/r_gator_simulator/rgator_model/meshes/base_link.STL new file mode 100755 index 0000000..62de730 Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/base_link.STL differ diff --git a/r_gator_simulator/rgator_model/meshes/base_link.stl b/r_gator_simulator/rgator_model/meshes/base_link.stl new file mode 100644 index 0000000..f7e459e Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/base_link.stl differ diff --git a/r_gator_simulator/rgator_model/meshes/front_left_wheel_link.STL b/r_gator_simulator/rgator_model/meshes/front_left_wheel_link.STL new file mode 100755 index 0000000..a04013f Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/front_left_wheel_link.STL differ diff --git a/r_gator_simulator/rgator_model/meshes/front_left_wheel_link.stl b/r_gator_simulator/rgator_model/meshes/front_left_wheel_link.stl new file mode 100644 index 0000000..7eadbaa Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/front_left_wheel_link.stl differ diff --git a/r_gator_simulator/rgator_model/meshes/front_right_wheel_link.STL b/r_gator_simulator/rgator_model/meshes/front_right_wheel_link.STL new file mode 100755 index 0000000..c3200d5 Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/front_right_wheel_link.STL differ diff --git a/r_gator_simulator/rgator_model/meshes/front_right_wheel_link.stl b/r_gator_simulator/rgator_model/meshes/front_right_wheel_link.stl new file mode 100644 index 0000000..a2506fc Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/front_right_wheel_link.stl differ diff --git a/r_gator_simulator/rgator_model/meshes/middle_left_wheel_link.STL b/r_gator_simulator/rgator_model/meshes/middle_left_wheel_link.STL new file mode 100755 index 0000000..0faaea4 Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/middle_left_wheel_link.STL differ diff --git a/r_gator_simulator/rgator_model/meshes/middle_left_wheel_link.stl b/r_gator_simulator/rgator_model/meshes/middle_left_wheel_link.stl new file mode 100644 index 0000000..0fa8ffb Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/middle_left_wheel_link.stl differ diff --git a/r_gator_simulator/rgator_model/meshes/middle_right_wheel_link.STL b/r_gator_simulator/rgator_model/meshes/middle_right_wheel_link.STL new file mode 100755 index 0000000..c3200d5 Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/middle_right_wheel_link.STL differ diff --git a/r_gator_simulator/rgator_model/meshes/middle_right_wheel_link.stl b/r_gator_simulator/rgator_model/meshes/middle_right_wheel_link.stl new file mode 100644 index 0000000..a2506fc Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/middle_right_wheel_link.stl differ diff --git a/r_gator_simulator/rgator_model/meshes/rear_left_wheel_link.STL b/r_gator_simulator/rgator_model/meshes/rear_left_wheel_link.STL new file mode 100755 index 0000000..422ac4b Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/rear_left_wheel_link.STL differ diff --git a/r_gator_simulator/rgator_model/meshes/rear_left_wheel_link.stl b/r_gator_simulator/rgator_model/meshes/rear_left_wheel_link.stl new file mode 100644 index 0000000..29aa1f1 Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/rear_left_wheel_link.stl differ diff --git a/r_gator_simulator/rgator_model/meshes/rear_right_wheel_link.STL b/r_gator_simulator/rgator_model/meshes/rear_right_wheel_link.STL new file mode 100755 index 0000000..358cf12 Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/rear_right_wheel_link.STL differ diff --git a/r_gator_simulator/rgator_model/meshes/rear_right_wheel_link.stl b/r_gator_simulator/rgator_model/meshes/rear_right_wheel_link.stl new file mode 100644 index 0000000..d1a8191 Binary files /dev/null and b/r_gator_simulator/rgator_model/meshes/rear_right_wheel_link.stl differ diff --git a/r_gator_simulator/rgator_model/package.xml b/r_gator_simulator/rgator_model/package.xml new file mode 100755 index 0000000..5923a51 --- /dev/null +++ b/r_gator_simulator/rgator_model/package.xml @@ -0,0 +1,21 @@ + + rgator_model + 1.0.0 + +

URDF Description package for rgator_model

+

This package contains configuration data, 3D models and launch files +for rgator_model robot

+ + TODO + + BSD + catkin + roslaunch + robot_state_publisher + rviz + joint_state_publisher_gui + gazebo + + + + \ No newline at end of file diff --git a/r_gator_simulator/rgator_model/urdf/macros.xacro b/r_gator_simulator/rgator_model/urdf/macros.xacro new file mode 100755 index 0000000..b5f00b8 --- /dev/null +++ b/r_gator_simulator/rgator_model/urdf/macros.xacro @@ -0,0 +1,34 @@ + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + 1000000 + + + + + + diff --git a/r_gator_simulator/rgator_model/urdf/rgator.gazebo b/r_gator_simulator/rgator_model/urdf/rgator.gazebo new file mode 100755 index 0000000..b70a544 --- /dev/null +++ b/r_gator_simulator/rgator_model/urdf/rgator.gazebo @@ -0,0 +1,471 @@ + + + + + 0.9 + Gazebo/Blue + + + + 0.9 + Gazebo/Blue + + + + 0.9 + 0.9 + 0.005 + 1e8 + Gazebo/Black + + + + 0.9 + 0.9 + 0.005 + 1e8 + Gazebo/Black + + + + 0.9 + 0.9 + 0.005 + 1e8 + Gazebo/Black + + + + 0.9 + 0.9 + 0.005 + 1e8 + Gazebo/Black + + + + 0.9 + 0.9 + 0.005 + 1e8 + Gazebo/Black + + + + 0.9 + 0.9 + 0.005 + 1e8 + Gazebo/Black + + + + 0.9 + 0.9 + 0.005 + 1e8 + Gazebo/Green + + + + Gazebo/Red + + + + Gazebo/Red + + + + + + + + + + + + true + gazebo_ros_control/DefaultRobotHWSim + + + + + + + + + 30.0 + + + 1.5707963 + + 640 + 480 + + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 0.0 + front_single_camera + image_raw + camera_info + front_single_camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + true + IMU_link + IMU_link + imu + imu_service + 0.0 + 50.0 + + + + + + + + 20.0 + GPS_link + GPS_link + /gps/fix + /gps/fix_velocity + 40.09302494 + -88.23575484 + 90 + 220 + 0 0 0 + 0.001 0.001 0.001 + 0.05 0.05 0.05 + 0.001 0.001 0.001 + 0.5 0.5 0.5 + + + + + + + + + + + + + + + + + + + + 30.0 + + 1.5707963 + + 800 + 600 + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + 0 -0.07 0 0 0 0 + 1.5707963 + + 800 + 600 + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 0.0 + stereo/camera + image_raw + camera_info + stereo_camera_link + + + 0.5 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/r_gator_simulator/rgator_model/urdf/rgator_model.csv b/r_gator_simulator/rgator_model/urdf/rgator_model.csv new file mode 100755 index 0000000..424acdc --- /dev/null +++ b/r_gator_simulator/rgator_model/urdf/rgator_model.csv @@ -0,0 +1,8 @@ +Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity +base_link,-0.037681,0.0005416,0.38334,0,0,0,1146.5,186.85,-0.0060656,-42.111,677.82,-0.002351,717.22,0,0,0,0,0,0,package://rgator_model/meshes/base_link.STL,0.1451,0.24706,0,1,0,0,0,0,0,0,package://rgator_model/meshes/base_link.STL,,chassis-1;steering_wheel-1;seat_left-3;seat_right-2,Coordinate System1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,, +front_left_wheel_link,4.44089209850063E-16,-0.0223230092959477,0,0,0,0,68.0202335873534,1.8451330504804,4.81369033677265E-19,8.04542333548677E-19,2.55906848679382,1.20230823572989E-16,1.8451330504804,0,0,0,0,0,0,package://rgator_model/meshes/front_left_wheel_link.STL,0.250980392156863,0.250980392156863,0.250980392156863,1,0,0,0,0,0,0,package://rgator_model/meshes/front_left_wheel_link.STL,,wheel_fl-1,front_left_Coordinate,front Axis,front_left_wheel_joint,continuous,0.998679994403652,0.61,0.0899999999999999,0,0,0,base_link,0,-1,0,,,,,,,,,,,, +front_right_wheel_link,0,0.0223230092959477,0,0,0,0,68.0202335873534,1.8451330504804,-1.08723575624602E-17,-1.01659412021803E-16,2.55906848679382,9.13042816242676E-17,1.8451330504804,0,0,0,0,0,0,package://rgator_model/meshes/front_right_wheel_link.STL,0.250980392156863,0.250980392156863,0.250980392156863,1,0,0,0,0,0,0,package://rgator_model/meshes/front_right_wheel_link.STL,,wheel_fr-1,front_right_Coordinate,front Axis,front_right_wheel_joint,continuous,0.998679994403652,-0.61,0.0899999999999999,0,0,0,base_link,0,-1,0,,,,,,,,,,,, +middle_left_wheel_link,0,-0.0223230092959477,0,0,0,0,68.0202335873534,1.8451330504804,-5.93594276904364E-17,-3.57062680215511E-17,2.55906848679382,2.35917879413298E-16,1.8451330504804,0,0,0,0,0,0,package://rgator_model/meshes/middle_left_wheel_link.STL,0.250980392156863,0.250980392156863,0.250980392156863,1,0,0,0,0,0,0,package://rgator_model/meshes/middle_left_wheel_link.STL,,wheel_ml-1,middle_left_Coordinate,middle Axis,middle_left_wheel_joint,continuous,-0.331320005596349,0.61,0.0900000000000012,0,0,0,base_link,0,1,0,,,,,,,,,,,, +middle_right_wheel_link,0,0.0223230092959477,-4.44089209850063E-16,0,0,0,68.0202335873534,1.8451330504804,-6.79305383740351E-17,2.72115687052549E-17,2.55906848679382,1.24089728291413E-16,1.8451330504804,0,0,0,0,0,0,package://rgator_model/meshes/middle_right_wheel_link.STL,0.250980392156863,0.250980392156863,0.250980392156863,1,0,0,0,0,0,0,package://rgator_model/meshes/middle_right_wheel_link.STL,,wheel_mr-1,middle_right_Coordinate,middle Axis,middle_right_wheel_joint,continuous,-0.331320005596348,-0.61,0.0899999999999994,0,0,0,base_link,0,1,0,,,,,,,,,,,, +rear_left_wheel_link,-1.11022302462516E-16,-0.0223230092959477,-4.44089209850063E-16,0,0,0,68.0202335873534,1.8451330504804,1.11085477564446E-33,4.56370529158729E-34,2.55906848679382,1.90583886938469E-16,1.8451330504804,0,0,0,0,0,0,package://rgator_model/meshes/rear_left_wheel_link.STL,0.250980392156863,0.250980392156863,0.250980392156863,1,0,0,0,0,0,0,package://rgator_model/meshes/rear_left_wheel_link.STL,,wheel_rl-1,rear_left_Coordinate,rear Axis,rear_left_wheel_joint,continuous,-1.02132000559635,0.61,0.0899999999999999,0,0,0,base_link,0,1,0,,,,,,,,,,,, +rear_right_wheel_link,-1.11022302462516E-16,0.0223230092959477,0,0,0,0,68.0202335873534,1.8451330504804,-2.06161374086158E-17,-8.17398264338227E-17,2.55906848679382,2.5195914990781E-16,1.8451330504804,0,0,0,0,0,0,package://rgator_model/meshes/rear_right_wheel_link.STL,0.250980392156863,0.250980392156863,0.250980392156863,1,0,0,0,0,0,0,package://rgator_model/meshes/rear_right_wheel_link.STL,,wheel_rr-1,rear_right_Coordinate,rear Axis,rear_right_wheel_joint,continuous,-1.02132000559635,-0.61,0.0900000000000003,0,0,0,base_link,0,1,0,,,,,,,,,,,, diff --git a/r_gator_simulator/rgator_model/urdf/rgator_model.urdf b/r_gator_simulator/rgator_model/urdf/rgator_model.urdf new file mode 100755 index 0000000..4997505 --- /dev/null +++ b/r_gator_simulator/rgator_model/urdf/rgator_model.urdf @@ -0,0 +1,461 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/r_gator_simulator/rgator_model/urdf/rgator_model.urdf.xacro b/r_gator_simulator/rgator_model/urdf/rgator_model.urdf.xacro new file mode 100755 index 0000000..ed6162c --- /dev/null +++ b/r_gator_simulator/rgator_model/urdf/rgator_model.urdf.xacro @@ -0,0 +1,432 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/r_gator_teleop/CMakeLists.txt b/r_gator_teleop/CMakeLists.txt new file mode 100755 index 0000000..ffb7fb9 --- /dev/null +++ b/r_gator_teleop/CMakeLists.txt @@ -0,0 +1,208 @@ +cmake_minimum_required(VERSION 3.0.2) +project(r_gator_teleop) + +## 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 + geometry_msgs + joy + roscpp + rospy + sensor_msgs +) + +## 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 +# geometry_msgs# sensor_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 r_gator_teleop +# CATKIN_DEPENDS geometry_msgs joy roscpp rospy sensor_msgs +# 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/${PROJECT_NAME}/r_gator_teleop.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/r_gator_teleop.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_r_gator_teleop.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) diff --git a/r_gator_teleop/package.xml b/r_gator_teleop/package.xml new file mode 100755 index 0000000..505049a --- /dev/null +++ b/r_gator_teleop/package.xml @@ -0,0 +1,74 @@ + + + r_gator_teleop + 0.0.0 + The r_gator_teleop package + + + + + chris + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + joy + roscpp + rospy + sensor_msgs + geometry_msgs + joy + roscpp + rospy + sensor_msgs + geometry_msgs + joy + roscpp + rospy + sensor_msgs + + + + + + + + diff --git a/r_gator_teleop/src/r_gator_teleop.cpp b/r_gator_teleop/src/r_gator_teleop.cpp new file mode 100755 index 0000000..4a0172f --- /dev/null +++ b/r_gator_teleop/src/r_gator_teleop.cpp @@ -0,0 +1,53 @@ +#include +#include +#include + +class TeleopTurtle +{ +public: + TeleopTurtle(); + +private: + // 处ç†æ‰‹æŸ„å‘é€è¿‡æ¥çš„ä¿¡æ¯ + void callback(const sensor_msgs::Joy::ConstPtr &joy); + // 实例化ROSå¥æŸ„ + ros::NodeHandle nh; + // 定义订阅者对象，用æ¥è®¢é˜…手柄å‘é€çš„æ•°æ® + ros::Subscriber sub; + // 定义å‘布者对象，用æ¥å°†æ‰‹æŸ„æ•°æ®å‘布到乌龟控制è¯é¢˜ä¸Š + ros::Publisher pub; + // 用æ¥æŽ¥æ”¶launch文件中设置的å‚数，绑定手柄摇æ†ã€è½´çš„映射 + int axis_linear, axis_angular; +}; + +TeleopTurtle::TeleopTurtle() +{ + // 从å‚æ•°æœåŠ¡å™¨è¯»å–çš„å‚æ•° + nh.param("axis_linear", axis_linear, 1); + nh.param("axis_angular", axis_angular, 2); + + pub = nh.advertise("/cmd_vel", 1); + sub = nh.subscribe("joy", 10, &TeleopTurtle::callback, this); +} + +void TeleopTurtle::callback(const sensor_msgs::Joy::ConstPtr &joy) +{ + geometry_msgs::Twist vel; + // 将手柄摇æ†è½´æ‹¨åŠ¨æ—¶å€¼çš„输出赋值给r_gator的线速度和角速度 + vel.linear.x = joy->axes[axis_linear]; + vel.angular.z = joy->axes[axis_angular]; + ROS_INFO("current linear velocity:%.3lf ï¼› current angle velocity:%.3lf", vel.linear.x, vel.angular.z); + pub.publish(vel); +} + +int main(int argc, char **argv) +{ + // è®¾ç½®ç¼–ç  + setlocale(LC_ALL, ""); + // åˆå§‹åŒ–ROS节点 + ros::init(argc, argv, "r_gator_teleop_node"); + TeleopTurtle teleopTurtle; + ros::spin(); + return 0; +} + diff --git a/ros_drivers/actor_collision/ActorCollisionsPlugin.cc b/ros_drivers/actor_collision/ActorCollisionsPlugin.cc new file mode 100755 index 0000000..189d784 --- /dev/null +++ b/ros_drivers/actor_collision/ActorCollisionsPlugin.cc @@ -0,0 +1,105 @@ +/* + * Copyright (C) 2018 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#include + +#include +#include +#include +#include +#include "ActorCollisionsPlugin.hh" + +using namespace gazebo; +GZ_REGISTER_MODEL_PLUGIN(ActorCollisionsPlugin) + + +///////////////////////////////////////////////// +ActorCollisionsPlugin::ActorCollisionsPlugin() +{ +} + +///////////////////////////////////////////////// +void ActorCollisionsPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + // Get a pointer to the actor + auto actor = boost::dynamic_pointer_cast(_model); + + // Map of collision scaling factors + std::map scaling; + std::map offsets; + + // Read in the collision scaling factors, if present + if (_sdf->HasElement("scaling")) + { + auto elem = _sdf->GetElement("scaling"); + while (elem) + { + if (!elem->HasAttribute("collision")) + { + gzwarn << "Skipping element without collision attribute" << std::endl; + elem = elem->GetNextElement("scaling"); + continue; + } + auto name = elem->Get("collision"); + + if (elem->HasAttribute("scale")) + { + auto scale = elem->Get("scale"); + scaling[name] = scale; + } + + if (elem->HasAttribute("pose")) + { + auto pose = elem->Get("pose"); + offsets[name] = pose; + } + elem = elem->GetNextElement("scaling"); + } + } + + for (const auto &link : actor->GetLinks()) + { + // Init the links, which in turn enables collisions + link->Init(); + + if (scaling.empty()) + continue; + + // Process all the collisions in all the links + for (const auto &collision : link->GetCollisions()) + { + auto name = collision->GetName(); + + if (scaling.find(name) != scaling.end()) + { + auto boxShape = boost::dynamic_pointer_cast( + collision->GetShape()); + + // Make sure we have a box shape. + if (boxShape) + boxShape->SetSize(boxShape->Size() * scaling[name]); + } + + if (offsets.find(name) != offsets.end()) + { + collision->SetInitialRelativePose( + offsets[name] + collision->InitialRelativePose()); + } + } + } +} + diff --git a/ros_drivers/actor_collision/ActorCollisionsPlugin.hh b/ros_drivers/actor_collision/ActorCollisionsPlugin.hh new file mode 100755 index 0000000..b04d9cd --- /dev/null +++ b/ros_drivers/actor_collision/ActorCollisionsPlugin.hh @@ -0,0 +1,45 @@ +/* + * Copyright (C) 2018 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +#ifndef GAZEBO_EXAMPLES_PLUGINS_ACTORCOLLISIONSPLUGIN_HH_ +#define GAZEBO_EXAMPLES_PLUGINS_ACTORCOLLISIONSPLUGIN_HH_ + +#include + +namespace gazebo +{ + /// \brief This plugin enables collisions on an Actor, and + /// optionally applies a scaling factor and pose offset to each of the + /// Actor's box collisions. + /// Collisions only work on enabled objects. ODE has a auto-disable + /// feature that "disables" an object when it comes to rest. An actor will + /// pass through these objects. + /// + /// See actor_collisions.world for an example world file. + /// + class ActorCollisionsPlugin : public ModelPlugin + { + /// \brief Constructor + public: ActorCollisionsPlugin(); + + /// \brief Load the actor plugin. + /// \param[in] _model Pointer to the parent model. + /// \param[in] _sdf Pointer to the plugin's SDF elements. + public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + }; +} +#endif diff --git a/ros_drivers/actor_collision/CMakeLists.txt b/ros_drivers/actor_collision/CMakeLists.txt new file mode 100755 index 0000000..20b650c --- /dev/null +++ b/ros_drivers/actor_collision/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 2.8.3) +project(actor_collision) + +# Check for c++11 / c++0x support +include(CheckCXXCompilerFlag) +CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) +if(COMPILER_SUPPORTS_CXX11) + set(CMAKE_CXX_FLAGS "-std=c++11") +elseif(COMPILER_SUPPORTS_CXX0X) + set(CMAKE_CXX_FLAGS "-std=c++0x") +else() + message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") +endif() + +# Load catkin and all dependencies required for this package +find_package(catkin REQUIRED COMPONENTS + roscpp + gazebo_ros +) + +# Depend on system install of Gazebo +find_package(gazebo REQUIRED) + +link_directories(${GAZEBO_LIBRARY_DIRS}) +include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}) + +catkin_package( + DEPENDS + roscpp + gazebo_ros +) + +add_library(ActorCollisionsPlugin SHARED ActorCollisionsPlugin.cc) +target_link_libraries(ActorCollisionsPlugin ${GAZEBO_LIBRARIES}) diff --git a/ros_drivers/actor_collision/actor_collisions.world b/ros_drivers/actor_collision/actor_collisions.world new file mode 100755 index 0000000..5f0cdea --- /dev/null +++ b/ros_drivers/actor_collision/actor_collisions.world @@ -0,0 +1,2772 @@ + + + + + + + model://ground_plane + + + model://sun + + + + + + + + + + + + + + + + + + + + + + + + + + + walk.dae + 1.0 + + + walk.dae + 1.000000 + true + + + + + + + + false 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+ + + + + + + + diff --git a/ros_drivers/actor_collision/actor_collisions.world.erb b/ros_drivers/actor_collision/actor_collisions.world.erb new file mode 100755 index 0000000..2e86eb8 --- /dev/null +++ b/ros_drivers/actor_collision/actor_collisions.world.erb @@ -0,0 +1,454 @@ +<% + # Random seed + seed = rand(0..10000000) + srand(seed) + + # Number of models + n = 30 + + # Boundaries to spawn + x_min = -2.5 + x_max = 2.5 + y_min = -2.5 + y_max = 2.5 + z_min = 0.5 + z_max = 5 + + # Limit sizes + size_min = 0.01 + size_max = 0.5 + + # Limit density + $density_min = 0.1 + $density_max = 5.0 + + # Print inertia + # Parameters: + # _geom: box, cylinder or sphere + # _sizeX: X size + # _sizeY: Y size + # _sizeZ: Z size + def printInertia(_geom, _sizeX, _sizeY = 0, _sizeZ = 0) + + density = rand($density_min..$density_max) + radius = _sizeX * 0.5 + + if (_geom == 'box') + + mass = density * _sizeX * _sizeY * _sizeZ + + ixx = 1.0 / 12 * mass * (_sizeY*_sizeY + _sizeZ*_sizeZ) + iyy = 1.0 / 12 * mass * (_sizeZ*_sizeZ + _sizeX*_sizeX) + izz = 1.0 / 12 * mass * (_sizeX*_sizeX + _sizeY*_sizeY) + + elsif (_geom == 'sphere') + + mass = density * 4.0 * Math::PI / 3.0 * radius**3 + + ixx = mass * 0.4 * radius**2 + iyy = ixx + izz = ixx + + elsif (_geom == 'cylinder') + + mass = density * Math::PI * radius**2 * _sizeY + + izz = mass * 0.5 * radius**2 + ixx = (1.0/12.0) * mass * (3 * radius**2 + _sizeY**2) + iyy = ixx + + else + return + end + + "\n"\ + " " + mass.to_s() + "\n"\ + " \n"\ + " " + ixx.to_s() + "\n"\ + " " + iyy.to_s() + "\n"\ + " " + izz.to_s() + "\n"\ + " 0.0\n"\ + " 0.0\n"\ + " 0.0\n"\ + " \n"\ + " \n" + + end + + # Print geometry + # Parameters: + # _geom: box, cylinder or sphere + # _sizeX: X size + # _sizeY: Y size + # _sizeZ: Z size + def printGeom(_geom, _sizeX, _sizeY = 0, _sizeZ = 0) + + if (_geom == 'box') + "\n"\ + " \n"\ + " " + _sizeX.to_s() + "\n"\ + " " + _sizeY.to_s() + "\n"\ + " " + _sizeZ.to_s() + "\n"\ + " \n"\ + " \n" + elsif (_geom == 'sphere') + "\n"\ + " \n"\ + " " + (_sizeX * 0.5).to_s() + "\n"\ + " \n"\ + " \n" + elsif (_geom == 'cylinder') + "\n"\ + " \n"\ + " " + (_sizeX * 0.5).to_s() + "\n"\ + " \n"\ + " \n"\ + " " + _sizeY.to_s() + "\n"\ + " \n"\ + " \n" + end + + end + +%> + + + + + + model://ground_plane + + + model://sun + + + <% + # Scaling chosen by trial and error + legs = [8.0, 8.0, 1.0] + arms = [5.0, 5.0, 1.0] + feet = [4.0, 4.0, 1.5] + hands = [4.0, 4.0, 3.0] + neck = [5.0, 5.0, 3.0] + torso = [12.0, 20.0, 5.0] + zero = [0.01, 0.001, 0.001] + %> + + + + + + + + + + + + + + + + + + + + + + + + walk.dae + 1.0 + + + walk.dae + 1.000000 + true + + + + + <% + for m in (0..n) + geom = ['box', 'sphere', 'cylinder'].sample() + sizeX = rand(size_min..size_max) + sizeY = rand(size_min..size_max) + sizeZ = rand(size_min..size_max) + %> + + + false + + <%= rand(x_min..x_max) %> + <%= rand(y_min..y_max) %> + <%= rand(z_min..z_max) %> + <%= rand(0..Math::PI) %> + <%= rand(0..Math::PI) %> + <%= rand(0..Math::PI) %> + + + <%= printInertia(geom, sizeX, sizeY, sizeZ) %> + + + <%= printGeom(geom, sizeX, sizeY, sizeZ) %> + + + + <%= rand(0..1) %> + 5.0 + + + + <%= rand(0..10) %> + + + + + + + <%= printGeom(geom, sizeX, sizeY, sizeZ) %> + + + + <%= rand(0..1) %> + <%= rand(0..1) %> + <%= rand(0..1) %> + <%= 1 %> + + + <%= rand(0..1) %> + <%= rand(0..1) %> + <%= rand(0..1) %> + <%= 1 %> + + + <%= rand(0..1) %> + <%= rand(0..1) %> + <%= rand(0..1) %> + <%= 1 %> + + + + + + <% + end + %> + + + diff --git a/ros_drivers/actor_collision/package.xml b/ros_drivers/actor_collision/package.xml new file mode 100755 index 0000000..d7f8018 --- /dev/null +++ b/ros_drivers/actor_collision/package.xml @@ -0,0 +1,67 @@ + + + actor_collision + 0.0.0 + The actor_collision package + + + + + pricejiang + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + gazebo + gazebo_ros + gazebo + gazebo + roscpp + gazebo_ros + gazebo_plugins + + + + + + + + diff --git a/ros_drivers/hector_gazebo/README.md b/ros_drivers/hector_gazebo/README.md new file mode 100755 index 0000000..b0fc068 --- /dev/null +++ b/ros_drivers/hector_gazebo/README.md @@ -0,0 +1,4 @@ +hector_gazebo +============= + +hector_gazebo provides packages related to the simulation of robots using gazebo (gazebo plugins, world files etc.). diff --git a/ros_drivers/hector_gazebo/hector_gazebo/CHANGELOG.rst b/ros_drivers/hector_gazebo/hector_gazebo/CHANGELOG.rst new file mode 100755 index 0000000..f8d9b42 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo/CHANGELOG.rst @@ -0,0 +1,60 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package hector_gazebo +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.5.4 (2021-06-23) +------------------ + +0.5.3 (2021-02-03) +------------------ +* Updated CMake version and fixed CMP0048 for non-metapackages. +* Updated package format and maintainer information. +* Contributors: Stefan Fabian + +0.5.2 (2020-12-17) +------------------ + +0.5.1 (2018-06-29) +------------------ + +0.5.0 (2016-06-24) +------------------ + +0.4.1 (2016-06-24) +------------------ + +0.4.0 (2015-11-07) +------------------ + +0.3.8 (2016-06-24) +------------------ + +0.3.7 (2015-11-07) +------------------ + +0.3.6 (2015-03-21) +------------------ + +0.3.5 (2015-02-23) +------------------ + +0.3.4 (2014-09-01) +------------------ +* Removed package gazebo_rtt_plugin + This package is obsolete. Use the rtt_gazebo stack instead. +* Contributors: Johannes Meyer + +0.3.3 (2014-05-27) +------------------ + +0.3.2 (2014-03-30) +------------------ +* Made hector_gazebo and hector_sensors_gazebo true metapackages +* Contributors: Johannes Meyer + +0.3.1 (2013-09-23) +------------------ + +0.3.0 (2013-09-02) +------------------ +* Catkinization of stack hector_gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo/CMakeLists.txt b/ros_drivers/hector_gazebo/hector_gazebo/CMakeLists.txt new file mode 100755 index 0000000..6e048f7 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.5.0) +project(hector_gazebo) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/ros_drivers/hector_gazebo/hector_gazebo/package.xml b/ros_drivers/hector_gazebo/hector_gazebo/package.xml new file mode 100755 index 0000000..10742f3 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo/package.xml @@ -0,0 +1,28 @@ + + + hector_gazebo + 0.5.4 + hector_gazebo provides packages related to to simulation of robots using gazebo (gazebo plugins, world files etc.) + Stefan Fabian + + BSD + + http://ros.org/wiki/hector_gazebo + + + Stefan Kohlbrecher + Johannes Meyer + + + catkin + + + hector_gazebo_thermal_camera + hector_gazebo_worlds + hector_gazebo_plugins + + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/.gitignore b/ros_drivers/hector_gazebo/hector_gazebo_plugins/.gitignore new file mode 100755 index 0000000..8b95ceb --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/.gitignore @@ -0,0 +1 @@ +*.user \ No newline at end of file diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/CHANGELOG.rst b/ros_drivers/hector_gazebo/hector_gazebo_plugins/CHANGELOG.rst new file mode 100755 index 0000000..d350d17 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/CHANGELOG.rst @@ -0,0 +1,186 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package hector_gazebo_plugins +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.5.4 (2021-06-23) +------------------ +* Added missing generate_message_cpp dependancy +* Add service to gazebo gps sensor to set reference geopose +* Add parameter to enable fetching the spherical coordinates from the world. (`#83 `_) + * Use worlds spherical_coordinates for GPS/magnetic reference + This modifies GPS and magnetic plugins to use the values from the spherical_coordinates element of the world SDF as default values for the latitude, longitude, altitude and heading references. + The optional parameters can still overwrite this values. However it is important to notice, that the heading in the world SDF is specified counter-clockwise from east whereas the reference_heading + parameter is specified is specified clockwise from north. + * Update spherical coordinates calls. + * Add parameter to enable fetching the spherical coordinates from the world. + This extends `#47 `_ with the addition of a "useWorldSphericalCoordinates" parameter + that must be present and set to true to allow using the world's coordinates. + This should solve `#15 `_ while addressing the concerns in `#47 `_. + Co-authored-by: Jacob Seibert +* Contributors: Ferry Schoenmakers, Roland Arsenault, h-wata + +0.5.3 (2021-02-03) +------------------ +* Updated CMake version and fixed CMP0048 for non-metapackages. +* Merge branch 'kinetic-devel' into melodic-devel +* Adjust licenses to be consistent with cpp files and plugins used in gazebo_ros_pkgs +* Updated package format and maintainer information. +* Contributors: Stefan Fabian, Stefan Kohlbrecher + +0.5.2 (2020-12-17) +------------------ +* Add case for rotating in place in odometry (`#75 `_) + * Add case for rotating in place in odometry + Odometry calculations were not taking in account the case of the robot rotating in place. This + would cause a division by zero and make the plugin return invalid data. This commit handles this + case by not using the arc method if the distance traveled by the robot is close to zero. + * Fix negative Y-axis motion bug + Only the displacement along X and the combined displacement were used to + calculate the angle between the X-axis and the robot drive direction. + This resulted in a positive angle whatever if the displacement along Y + was positive or negative. This commit addresses the issue by using both + displacements along X and Y to calculate the angle. +* Allow publishing sensor_msgs/MagneticField (`#73 `_) + Add a new useMagneticFieldMsgs parameter to the magnetometer plugin, allowing the node to publish sensor_msgs/MagneticField messages instead of std_msgs/Vector3Stamped +* Add support of holonomic robot by adding missing Y component in odometry (`#71 `_) + * Add support of holonomic robot by adding missing Y component in odometry + The odometry was only computed taking in account linear velocity on the x-axis and angular + velocity around the z-axis. The code is modified to include linear velocity on the y-axis for + support of holonomic robots. Odometry arc and radius are calculated the same way as before but + using the combined linear velocity instead. The end position is then rotated by the angle between + the combined velocity vector and the x-axis + * Change variable name + * Rename combined velocity angle variable +* Merge pull request `#64 `_ from ms-iot/upstream_windows_fix + [Windows][melodic-devel] Follow catkin guide to update the install path +* fix install path. (`#1 `_) +* Merge pull request `#53 `_ from enwaytech/ml/cmp0054_fix + add CMP0045 cmake policy before gazebo include in CMakeLists.txt +* add CMP0045 cmake policy before gazebo include in CMakeLists.txt +* Contributors: Chris I-B, Johannes Meyer, Matthias Loebach, RobinB, Sean Yen, Stefan Fabian + +0.5.1 (2018-06-29) +------------------ +* Merge pull request `#44 `_ from esteve/gazebo8 + Use Gazebo 8 APIs to avoid deprecation warnings. +* Fix indent +* Depend on gazebo_dev instead +* Use sdf::Time to read time periods from SDF files. +* Only include math headers when building for Gazebo < 8 +* Use Gazebo 8 APIs to avoid deprecation warnings. +* Merge pull request `#36 `_ from vincentrou/get_fix_status + [gazebo_plugins] Ensure to get gps fix status as an int in urdf +* hector_gazebo_plugins: numeric conversion of NavSatFix status and service from SDF without std::stoi +* [gazebo_plugins] Ensure to get gps fix status as an int +* hector_gazebo_plugins/hector_gazebo_thermal_camera: removed catkin_package(DEPENDS gazebo) declaration which was a no-op anyway + See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/537. +* Contributors: Esteve Fernandez, Johannes Meyer, Vincent Rousseau + +0.5.0 (2016-06-24) +------------------ +* Updated gazebo dependencies to version 7 for kinetic release +* Contributors: Johannes Meyer + +0.4.1 (2016-06-24) +------------------ +* see 0.3.8 + +0.4.0 (2015-11-07) +------------------ +* Added proper dependencies for jade and gazebo5. Now compiles and works for gazebo5 +* Contributors: L0g1x + +0.3.8 (2016-06-24) +------------------ +* hector_gazebo_plugins: fixed angular rate output with non-zero rpyOffset parameter (fix #23) +* Fix compilation errors and warnings against Gazebo 7 +* Fix +* Compatible with gazebo7 +* [hector_gazebo_plugins] fix missing dependencies +* Update odometry with proper covariance data +* Updates to 2d odom +* Basics of 2d odom +* Add gitignore +* Add Cmake flags for C++11 +* Make force based p gains parameters +* Contributors: Furushchev, Johannes Meyer, Nate Koenig, Nicolae Rosia, Romain Reignier, Stefan Kohlbrecher + +0.3.7 (2015-11-07) +------------------ +* gazebo_ros_force_based_move: Disable odom tf publishing if set in sdf params +* gazebo_ros_force_based_move: Add plugin for applying forces based on cmd_vel input (allows simulation of tracked vehicles) +* hector_gazebo_plugins/hector_gazebo_thermal_camera: switch to cmake configuration for gazebo and added OGRE include directories required for CameraPlugin.hh +* Contributors: Johannes Meyer, kohlbrecher + +0.3.6 (2015-03-21) +------------------ +* allow negative offsets in SensorModel dynamic_reconfigure config +* fixed sporadic NaN values in gazebo_ros_imu's angular_velocity output (fix #20) +* reintroduced orientation bias due to accelerometer and yaw sensor drift + This orientation bias was removed in 74b21b7, but there is no need for this. + The IMU can have a mounting offset and a bias error. To remove the bias error, set the accelerationDrift and yawDrift parameters to 0. +* interpret parameters xyzOffset and rpyOffset as pure mounting offsets and not as induced by accelerometer bias (fix #18) + Obviously the SDF conversion assumes that all sensor plugins interpret the `` and `` parameters in the same way as an + additional sensor link which is connected with a static joint to the real parent frame. I was not aware that this is a requirement. + hector_gazebo_ros_imu interpreted the roll and pitch part of `` as an orientation offset caused by a (small) accelerometer bias. + This patch completely removes the bias error on the orientation output in the Imu message and the orientation quaternion in the bias message + is set to zero. +* Contributors: Johannes Meyer + +0.3.5 (2015-02-23) +------------------ +* fixed simulated IMU calibration +* fill position_covariance in sensor_msgs/NavSatFix message from position error model in gazebo_ros_gps (fix #17) +* added dynamic_reconfigure servers to gps, magneto and sonar plugins + The GPS plugin allows to configure the status and server flags in the output message, + additionally to the error characteristics. This allows to simulate GPS dropouts. +* added dynamic_reconfigure server for IMU sensor model parameters +* fixed invocation of sensor model in gazebo_ros_imu and gazebo_ros_sonar to also respect the scale error +* calculate angular rate from quaternion difference directly + This seems to be numerically more stable and removes the jitter in the angular rate signal. +* added initial bias +* added bias publisher to gazebo_ros_imu + ...to compare hector_pose_estimation estimates with ground truth. + Also renamed heading to yaw in gazebo_ros_imu and updated pseudo AHRS orientation calculation. +* added scale error to the sensor model and removed linearization in drift update + The scale error is assumed to be constant and its value is loaded from the `scaleError` plugin parameter. + The default scale error is 1.0 (no scale error). + The value returned by the model is `(real_value * scale_error) + offset + drift + noise`. +* fixed wrong calculation of reference earth magnetic field vector if declination!=0 +* Contributors: Johannes Meyer + +0.3.4 (2014-09-01) +------------------ +* replaced old copied license header in servo_plugin.cpp +* simplified attitude error calculation in gazebo_ros_imu (fixes #12) +* fixed calculation of vector-valued sensor errors and sensor error model resetting with non-zero initial drift +* linking against catkin_libraries +* Contributors: Johannes Meyer, Markus Achtelik + +0.3.3 (2014-05-27) +------------------ + +0.3.2 (2014-03-30) +------------------ +* diffdrive_plugin_multi_wheel: Fix wrong whell rotation calculation (Was only half speed of desired) +* diffdrive_plugin_multi_wheel: Optionally do not publish odometry via tf or as msg +* Fixed boost 1.53 issues + Replaced boost::shared_dynamic_cast with boost::dynamic_pointer_cast +* Add servo plugin (used for vision box currently) +* Add catkin_LIBRARIES to linking for multiwheel plugin +* Some fixes to make diffdrive_plugin_multi_wheel work properly +* Work in progress of a diffdrive plugin supporting multiple wheels per side +* used updated API to get rid of warnings +* added topicName parameter back to gazebo_ros_magnetic +* hector_gazebo: deleted deprecated export sections from package.xml files +* abort with a fatal error if ROS is not yet initialized + minor code cleanup +* Contributors: Christopher Hrabia, Johannes Meyer, Richard Williams, Stefan Kohlbrecher, richardw347 + +0.3.1 (2013-09-23) +------------------ +* fixed a bug in UpdateTimer class when updateRate and updatePeriod parameters are unset +* removed warnings due to deprecated sdf API calls + +0.3.0 (2013-09-02) +------------------ +* Catkinization of stack hector_gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/CMakeLists.txt b/ros_drivers/hector_gazebo/hector_gazebo_plugins/CMakeLists.txt new file mode 100755 index 0000000..17e5003 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/CMakeLists.txt @@ -0,0 +1,126 @@ +cmake_minimum_required(VERSION 3.5) +project(hector_gazebo_plugins VERSION 0.5.3) + +## 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 std_msgs std_srvs geographic_msgs geometry_msgs nav_msgs tf dynamic_reconfigure message_generation) +include_directories(include ${catkin_INCLUDE_DIRS}) + +## Find gazebo +if(POLICY CMP0054) + cmake_policy(SET CMP0054 NEW) +endif() +find_package(gazebo REQUIRED) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") +include_directories(${GAZEBO_INCLUDE_DIRS}) +link_directories(${GAZEBO_LIBRARY_DIRS}) + +## Find Boost +find_package(Boost REQUIRED COMPONENTS thread) +include_directories(${Boost_INCLUDE_DIRS}) + +####################################### +## Declare ROS messages and services ## +####################################### + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# ) + +## Generate services in the 'srv' folder +add_service_files(DIRECTORY srv + FILES + SetBias.srv + SetReferenceGeoPose.srv +) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES geographic_msgs geometry_msgs +) + +#add dynamic reconfigure api +generate_dynamic_reconfigure_options( + cfg/SensorModel.cfg + cfg/GNSS.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 you 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( + CATKIN_DEPENDS roscpp std_msgs geographic_msgs geometry_msgs nav_msgs tf message_runtime + INCLUDE_DIRS include + LIBRARIES +) + +########### +## Build ## +########### + +add_library(diffdrive_plugin_6w src/diffdrive_plugin_6w.cpp) +target_link_libraries(diffdrive_plugin_6w ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES}) + +add_library(diffdrive_plugin_multi_wheel src/diffdrive_plugin_multi_wheel.cpp) +target_link_libraries(diffdrive_plugin_multi_wheel ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES}) + +add_library(gazebo_ros_force_based_move src/gazebo_ros_force_based_move.cpp) +target_link_libraries(gazebo_ros_force_based_move ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES}) + +add_library(hector_gazebo_reset_plugin src/reset_plugin.cpp) +target_link_libraries(hector_gazebo_reset_plugin ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES}) + +add_library(hector_gazebo_ros_imu src/gazebo_ros_imu.cpp) +target_link_libraries(hector_gazebo_ros_imu ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES}) +add_dependencies(hector_gazebo_ros_imu ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg) + +add_library(hector_gazebo_ros_magnetic src/gazebo_ros_magnetic.cpp) +target_link_libraries(hector_gazebo_ros_magnetic ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES}) +add_dependencies(hector_gazebo_ros_magnetic ${PROJECT_NAME}_gencfg) + +add_library(hector_gazebo_ros_gps src/gazebo_ros_gps.cpp) +target_link_libraries(hector_gazebo_ros_gps ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES}) +add_dependencies(hector_gazebo_ros_gps ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg) + +add_library(hector_gazebo_ros_sonar src/gazebo_ros_sonar.cpp) +target_link_libraries(hector_gazebo_ros_sonar ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES}) +add_dependencies(hector_gazebo_ros_sonar ${PROJECT_NAME}_gencfg) + +add_library(hector_servo_plugin src/servo_plugin.cpp) +target_link_libraries(hector_servo_plugin ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +install(TARGETS + diffdrive_plugin_6w + diffdrive_plugin_multi_wheel + gazebo_ros_force_based_move + hector_gazebo_reset_plugin + hector_gazebo_ros_imu + hector_gazebo_ros_magnetic + hector_gazebo_ros_gps + hector_gazebo_ros_sonar + hector_servo_plugin + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/cfg/GNSS.cfg b/ros_drivers/hector_gazebo/hector_gazebo_plugins/cfg/GNSS.cfg new file mode 100755 index 0000000..bcac709 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/cfg/GNSS.cfg @@ -0,0 +1,17 @@ +#!/usr/bin/env python +PACKAGE = "hector_gazebo_plugins" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("STATUS_FIX", bool_t, 1, "unaugmented fix", True) +gen.add("STATUS_SBAS_FIX", bool_t, 1, "fix with satellite-based augmentation", False) +gen.add("STATUS_GBAS_FIX", bool_t, 1, "with ground-based augmentation", False) + +gen.add("SERVICE_GPS", bool_t, 1, "GPS service", True) +gen.add("SERVICE_GLONASS", bool_t, 1, "GLONASS service", True) +gen.add("SERVICE_COMPASS", bool_t, 1, "COMPASS service", True) +gen.add("SERVICE_GALILEO", bool_t, 1, "GALILEO service", True) + +exit(gen.generate(PACKAGE, "hector_gazebo_plugins", "GNSS")) diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/cfg/SensorModel.cfg b/ros_drivers/hector_gazebo/hector_gazebo_plugins/cfg/SensorModel.cfg new file mode 100755 index 0000000..1b5d891 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/cfg/SensorModel.cfg @@ -0,0 +1,14 @@ +#!/usr/bin/env python +PACKAGE = "hector_gazebo_plugins" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("gaussian_noise", double_t, 1, "Standard deviation of the additive white Gaussian noise", 0.0, 0.0, 10.0) +gen.add("offset", double_t, 1, "Zero-offset of the published sensor signal", 0.0, -10.0, 10.0) +gen.add("drift", double_t, 1, "Standard deviation of the sensor drift", 0.0, 0.0, 10.0) +gen.add("drift_frequency", double_t, 1, "Reciprocal of the time constant of the first-order drift model in Hz", 0.0, 0.0, 1.0) +gen.add("scale_error", double_t, 1, "Scale error", 1.0, 0.0, 2.0) + +exit(gen.generate(PACKAGE, "hector_gazebo_plugins", "SensorModel")) diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h new file mode 100755 index 0000000..22d560f --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_6w.h @@ -0,0 +1,123 @@ +//================================================================================================= +// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Simulation, Systems Optimization and Robotics +// group, TU Darmstadt nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= +/* + * Desc: ROS interface to a Position2d controller for a Differential drive. + * Author: Daniel Hewlett (adapted from Nathan Koenig) + */ +#ifndef DIFFDRIVE_PLUGIN_HH +#define DIFFDRIVE_PLUGIN_HH + +#include + +#include +#include + +// ROS +#include +#include +#include +#include +#include + +// Custom Callback Queue +#include +#include + +// Boost +#include +#include + +namespace gazebo +{ + +class DiffDrivePlugin6W : public ModelPlugin +{ + +public: + DiffDrivePlugin6W(); + virtual ~DiffDrivePlugin6W(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + void publish_odometry(); + void GetPositionCmd(); + + physics::LinkPtr link; + physics::WorldPtr world; + physics::JointPtr joints[6]; + + float wheelSep; + float wheelDiam; + float torque; + float wheelSpeed[2]; + + // Simulation time of the last update + common::Time prevUpdateTime; + + bool enableMotors; + float odomPose[3]; + float odomVel[3]; + + // ROS STUFF + ros::NodeHandle* rosnode_; + ros::Publisher pub_; + ros::Subscriber sub_; + tf::TransformBroadcaster *transform_broadcaster_; + nav_msgs::Odometry odom_; + std::string tf_prefix_; + + boost::mutex lock; + + std::string namespace_; + std::string topic_; + std::string link_name_; + + // Custom Callback Queue + ros::CallbackQueue queue_; + boost::thread callback_queue_thread_; + void QueueThread(); + + // DiffDrive stuff + void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg); + + float x_; + float rot_; + bool alive_; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} + +#endif + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_multi_wheel.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_multi_wheel.h new file mode 100755 index 0000000..9bc8a74 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/diffdrive_plugin_multi_wheel.h @@ -0,0 +1,172 @@ +/* + * Copyright (c) 2010, Daniel Hewlett, Antons Rebguns + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY Antons Rebguns ''AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL Antons Rebguns BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + **/ + +/* + * \file gazebo_ros_diff_drive.h + * + * \brief A differential drive plugin for gazebo. Based on the diffdrive plugin + * developed for the erratic robot (see copyright notice above). The original + * plugin can be found in the ROS package gazebo_erratic_plugins. + * + * \author Piyush Khandelwal (piyushk@gmail.com) + * + * $ Id: 06/21/2013 11:23:40 AM piyushk $ + */ + +/** + * A diff drive plugin supporting multiple wheels per vehicle side. Based on + * existing plugins as stated above this notice. + */ + +/* + Copyright (c) 2014, Stefan Kohlbrecher + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY Antons Rebguns ''AS IS'' AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL Antons Rebguns BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +*/ + +#ifndef DIFFDRIVE_PLUGIN_HH +#define DIFFDRIVE_PLUGIN_HH + +#include + +// Gazebo +#include +#include + +// ROS +#include +#include +#include +#include +#include +#include + +// Custom Callback Queue +#include +#include + +// Boost +#include +#include + +namespace gazebo { + + class Joint; + class Entity; + + class GazeboRosDiffDriveMultiWheel : public ModelPlugin { + + public: + GazeboRosDiffDriveMultiWheel(); + ~GazeboRosDiffDriveMultiWheel(); + void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); + + protected: + virtual void UpdateChild(); + virtual void FiniChild(); + + private: + void publishOdometry(double step_time); + void getWheelVelocities(); + + physics::WorldPtr world; + physics::ModelPtr parent; + event::ConnectionPtr update_connection_; + + std::vector joint_names_[2]; + + double wheel_separation_; + double wheel_diameter_; + double torque; + double wheel_speed_[2]; + + std::vector joints_[2]; + + // ROS STUFF + ros::NodeHandle* rosnode_; + ros::Publisher odometry_publisher_; + ros::Subscriber cmd_vel_subscriber_; + tf::TransformBroadcaster *transform_broadcaster_; + nav_msgs::Odometry odom_; + std::string tf_prefix_; + + boost::mutex lock; + + std::string robot_namespace_; + std::string command_topic_; + std::string odometry_topic_; + std::string odometry_frame_; + std::string robot_base_frame_; + + // Custom Callback Queue + ros::CallbackQueue queue_; + boost::thread callback_queue_thread_; + void QueueThread(); + + // DiffDrive stuff + void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg); + + double x_; + double rot_; + bool alive_; + + // Update Rate + double update_rate_; + double update_period_; + common::Time last_update_time_; + + bool publish_odometry_tf_; + bool publish_odometry_msg_; + + }; + +} + +#endif diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_force_based_move.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_force_based_move.h new file mode 100755 index 0000000..30fa8dd --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_force_based_move.h @@ -0,0 +1,119 @@ +/* + * Copyright 2015 Stefan Kohlbrecher, TU Darmstadt + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +/* + * Desc: Simple model controller that uses a twist message to exert + * forces on a robot, resulting in motion. Based on the + * planar_move plugin by Piyush Khandelwal. + * Author: Stefan Kohlbrecher + * Date: 06 August 2015 + */ + +#ifndef GAZEBO_ROS_FORCE_BASED_MOVE_HH +#define GAZEBO_ROS_FORCE_BASED_MOVE_HH + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gazebo { + + class GazeboRosForceBasedMove : public ModelPlugin { + + public: + GazeboRosForceBasedMove(); + ~GazeboRosForceBasedMove(); + void Load(physics::ModelPtr parent, sdf::ElementPtr sdf); + + protected: + virtual void UpdateChild(); + virtual void FiniChild(); + + private: + void publishOdometry(double step_time); + + tf::Transform getTransformForMotion(double linear_vel_x, double linear_vel_y, double angular_vel, double timeSeconds) const; + + physics::ModelPtr parent_; + event::ConnectionPtr update_connection_; + + /// \brief A pointer to the Link, where force is applied + physics::LinkPtr link_; + + /// \brief The Link this plugin is attached to, and will exert forces on. + private: std::string link_name_; + + boost::shared_ptr rosnode_; + ros::Publisher odometry_pub_; + ros::Subscriber vel_sub_; + boost::shared_ptr transform_broadcaster_; + nav_msgs::Odometry odom_; + std::string tf_prefix_; + + tf::Transform odom_transform_; + + boost::mutex lock; + + std::string robot_namespace_; + std::string command_topic_; + std::string odometry_topic_; + std::string odometry_frame_; + std::string robot_base_frame_; + double odometry_rate_; + bool publish_odometry_tf_; + + // Custom Callback Queue + ros::CallbackQueue queue_; + boost::thread callback_queue_thread_; + void QueueThread(); + + // command velocity callback + void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg); + + double x_; + double y_; + double rot_; + bool alive_; + common::Time last_odom_publish_time_; +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Pose3d last_odom_pose_; +#else + math::Pose last_odom_pose_; +#endif + + double torque_yaw_velocity_p_gain_; + double force_x_velocity_p_gain_; + double force_y_velocity_p_gain_; + + }; + +} + +#endif /* end of include guard: GAZEBO_ROS_PLANAR_MOVE_HH */ diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h new file mode 100755 index 0000000..ed2047f --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_gps.h @@ -0,0 +1,109 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace gazebo +{ + +class GazeboRosGps : public ModelPlugin +{ +public: + GazeboRosGps(); + virtual ~GazeboRosGps(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + + typedef hector_gazebo_plugins::GNSSConfig GNSSConfig; + void dynamicReconfigureCallback(GNSSConfig &config, uint32_t level); + +private: + + /// \brief Callback for the set_spherical_coordinates service + bool setGeoposeCb(hector_gazebo_plugins::SetReferenceGeoPose::Request& request, + hector_gazebo_plugins::SetReferenceGeoPose::Response&); + + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::Publisher fix_publisher_; + ros::Publisher velocity_publisher_; + + ros::ServiceServer set_geopose_srv_; + + sensor_msgs::NavSatFix fix_; + geometry_msgs::Vector3Stamped velocity_; + + std::string namespace_; + std::string link_name_; + std::string frame_id_; + std::string fix_topic_; + std::string velocity_topic_; + + double reference_latitude_; + double reference_longitude_; + double reference_heading_; + double reference_altitude_; + + double radius_north_; + double radius_east_; + + SensorModel3 position_error_model_; + SensorModel3 velocity_error_model_; + + UpdateTimer updateTimer; + event::ConnectionPtr updateConnection; + + boost::shared_ptr > dynamic_reconfigure_server_position_, dynamic_reconfigure_server_velocity_; + boost::shared_ptr > dynamic_reconfigure_server_status_; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h new file mode 100755 index 0000000..0800742 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_imu.h @@ -0,0 +1,153 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_IMU_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_IMU_H + +// #define USE_CBQ +#ifdef USE_CBQ +#include +#include +#endif + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +namespace gazebo +{ + class GazeboRosIMU : public ModelPlugin + { + public: + /// \brief Constructor + GazeboRosIMU(); + + /// \brief Destructor + virtual ~GazeboRosIMU(); + + protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + + private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + /// \brief pointer to ros node + ros::NodeHandle* node_handle_; + ros::Publisher pub_; + ros::Publisher bias_pub_; + + /// \brief ros message + sensor_msgs::Imu imuMsg; + sensor_msgs::Imu biasMsg; + + /// \brief store link name + std::string link_name_; + + /// \brief frame id + std::string frame_id_; + + /// \brief topic name + std::string topic_; + std::string bias_topic_; + + /// \brief allow specifying constant xyz and rpy offsets +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Pose3d offset_; +#else + math::Pose offset_; +#endif + + /// \brief Sensor models + SensorModel3 accelModel; + SensorModel3 rateModel; + SensorModel yawModel; + + /// \brief A mutex to lock access to fields that are used in message callbacks + boost::mutex lock; + + /// \brief save current body/physics state +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Quaterniond orientation; + ignition::math::Vector3d velocity; + ignition::math::Vector3d accel; + ignition::math::Vector3d rate; + ignition::math::Vector3d gravity; +#else + math::Quaternion orientation; + math::Vector3 velocity; + math::Vector3 accel; + math::Vector3 rate; + math::Vector3 gravity; +#endif + + /// \brief Gaussian noise generator + double GaussianKernel(double mu,double sigma); + + /// \brief for setting ROS name space + std::string namespace_; + + /// \brief call back when using service + bool ServiceCallback(std_srvs::Empty::Request &req, + std_srvs::Empty::Response &res); + ros::ServiceServer srv_; + std::string serviceName; + + /// \brief Bias service callbacks + bool SetAccelBiasCallback(hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res); + bool SetRateBiasCallback(hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res); + ros::ServiceServer accelBiasService; + ros::ServiceServer rateBiasService; + +#ifdef USE_CBQ + ros::CallbackQueue callback_queue_; + void CallbackQueueThread(); + boost::thread callback_queue_thread_; +#endif + + UpdateTimer updateTimer; + event::ConnectionPtr updateConnection; + + boost::shared_ptr > dynamic_reconfigure_server_accel_, dynamic_reconfigure_server_rate_, dynamic_reconfigure_server_yaw_; + }; +} + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_IMU_H diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h new file mode 100755 index 0000000..4d95936 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h @@ -0,0 +1,94 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H + +#include + +#include +#include +#include +#include +#include + +#include + +namespace gazebo +{ + +class GazeboRosMagnetic : public ModelPlugin +{ +public: + GazeboRosMagnetic(); + virtual ~GazeboRosMagnetic(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::Publisher publisher_; + + bool use_magnetic_field_msgs_; + +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Vector3d magnetic_field_world_; +#else + gazebo::math::Vector3 magnetic_field_world_; +#endif + + std::string namespace_; + std::string topic_; + std::string link_name_; + std::string frame_id_; + + double magnitude_; + double reference_heading_; + double declination_; + double inclination_; + + SensorModel3 sensor_model_; + + UpdateTimer updateTimer; + event::ConnectionPtr updateConnection; + + boost::shared_ptr > dynamic_reconfigure_server_; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h new file mode 100755 index 0000000..e35c833 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_sonar.h @@ -0,0 +1,82 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H + +#include + +#include +#include + +#include +#include +#include + +#include + +namespace gazebo +{ + +class GazeboRosSonar : public SensorPlugin +{ +public: + GazeboRosSonar(); + virtual ~GazeboRosSonar(); + +protected: + virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + sensors::RaySensorPtr sensor_; + + ros::NodeHandle* node_handle_; + ros::Publisher publisher_; + + sensor_msgs::Range range_; + + std::string namespace_; + std::string topic_; + std::string frame_id_; + + SensorModel sensor_model_; + + UpdateTimer updateTimer; + event::ConnectionPtr updateConnection; + + boost::shared_ptr > dynamic_reconfigure_server_; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_SONAR_H diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h new file mode 100755 index 0000000..269f2a2 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/reset_plugin.h @@ -0,0 +1,55 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H +#define HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H + +#include +#include + +namespace gazebo +{ + +class GazeboResetPlugin : public ModelPlugin +{ +public: + GazeboResetPlugin(); + virtual ~GazeboResetPlugin(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + +private: + ros::NodeHandle* node_handle_; + ros::Publisher publisher_; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_RESET_PLUGIN_H diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h new file mode 100755 index 0000000..a7d3a75 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h @@ -0,0 +1,268 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H +#define HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H + +#include +#if (GAZEBO_MAJOR_VERSION < 8) +#include +#endif + +#include +#include + +namespace gazebo { + +using hector_gazebo_plugins::SensorModelConfig; + +template +class SensorModel_ { +public: + SensorModel_(); + virtual ~SensorModel_(); + + virtual void Load(sdf::ElementPtr _sdf, const std::string& prefix = std::string()); + + virtual T operator()(const T& value) const { return value * scale_error + current_error_; } + virtual T operator()(const T& value, double dt) { return value * scale_error + update(dt); } + + virtual T update(double dt); + virtual void reset(); + virtual void reset(const T& value); + + virtual const T& getCurrentError() const { return current_error_; } + virtual T getCurrentBias() const { return current_drift_ + offset; } + virtual const T& getCurrentDrift() const { return current_drift_; } + virtual const T& getScaleError() const { return scale_error; } + + virtual void setCurrentDrift(const T& new_drift) { current_drift_ = new_drift; } + + virtual void dynamicReconfigureCallback(SensorModelConfig &config, uint32_t level); + +private: + virtual bool LoadImpl(sdf::ElementPtr _element, T& _value); + +public: + T offset; + T drift; + T drift_frequency; + T gaussian_noise; + T scale_error; + +private: + T current_drift_; + T current_error_; +}; + +template +SensorModel_::SensorModel_() + : offset() + , drift() + , drift_frequency() + , gaussian_noise() +{ + drift_frequency = 1.0/3600.0; // time constant 1h + scale_error = 1.0; + reset(); +} + +template +SensorModel_::~SensorModel_() +{ +} + +template +void SensorModel_::Load(sdf::ElementPtr _sdf, const std::string& prefix) +{ + std::string _offset, _drift, _drift_frequency, _gaussian_noise, _scale_error; + + if (prefix.empty()) { + _offset = "offset"; + _drift = "drift"; + _drift_frequency = "driftFrequency"; + _gaussian_noise = "gaussianNoise"; + _scale_error = "scaleError"; + } else { + _offset = prefix + "Offset"; + _drift = prefix + "Drift"; + _drift_frequency = prefix + "DriftFrequency"; + _gaussian_noise = prefix + "GaussianNoise"; + _scale_error = prefix + "ScaleError"; + } + + if (_sdf->HasElement(_offset)) LoadImpl(_sdf->GetElement(_offset), offset); + if (_sdf->HasElement(_drift)) LoadImpl(_sdf->GetElement(_drift), drift); + if (_sdf->HasElement(_drift_frequency)) LoadImpl(_sdf->GetElement(_drift_frequency), drift_frequency); + if (_sdf->HasElement(_gaussian_noise)) LoadImpl(_sdf->GetElement(_gaussian_noise), gaussian_noise); + if (_sdf->HasElement(_scale_error)) LoadImpl(_sdf->GetElement(_scale_error), scale_error); + + reset(); +} + +template +bool SensorModel_::LoadImpl(sdf::ElementPtr _element, T& _value) { + if (!_element->GetValue()) return false; + return _element->GetValue()->Get(_value); +} + +namespace { + template + static inline T SensorModelGaussianKernel(T mu, T sigma) + { + // using Box-Muller transform to generate two independent standard normally distributed normal variables + // see wikipedia + T U = (T)rand()/(T)RAND_MAX; // normalized uniform random variable + T V = (T)rand()/(T)RAND_MAX; // normalized uniform random variable + T X = sqrt(-2.0 * ::log(U)) * cos( 2.0*M_PI * V); + X = sigma * X + mu; + return X; + } + + template + static inline T SensorModelInternalUpdate(T& current_drift, T drift, T drift_frequency, T offset, T gaussian_noise, double dt) + { + // current_drift = current_drift - dt * (current_drift * drift_frequency + SensorModelGaussianKernel(T(), sqrt(2*drift_frequency)*drift)); + current_drift = exp(-dt * drift_frequency) * current_drift + dt * SensorModelGaussianKernel(T(), sqrt(2*drift_frequency)*drift); + return offset + current_drift + SensorModelGaussianKernel(T(), gaussian_noise); + } +} + +template +T SensorModel_::update(double dt) +{ + for(std::size_t i = 0; i < current_error_.size(); ++i) current_error_[i] = SensorModelInternalUpdate(current_drift_[i], drift[i], drift_frequency[i], offset[i], gaussian_noise[i], dt); + return current_error_; +} + +template <> +double SensorModel_::update(double dt) +{ + current_error_ = SensorModelInternalUpdate(current_drift_, drift, drift_frequency, offset, gaussian_noise, dt); + return current_error_; +} + +#if (GAZEBO_MAJOR_VERSION >= 8) +template <> +ignition::math::Vector3d SensorModel_::update(double dt) +{ + current_error_.X() = SensorModelInternalUpdate(current_drift_.X(), drift.X(), drift_frequency.X(), offset.X(), gaussian_noise.X(), dt); + current_error_.Y() = SensorModelInternalUpdate(current_drift_.Y(), drift.Y(), drift_frequency.Y(), offset.Y(), gaussian_noise.Y(), dt); + current_error_.Z() = SensorModelInternalUpdate(current_drift_.Z(), drift.Z(), drift_frequency.Z(), offset.Z(), gaussian_noise.Z(), dt); + return current_error_; +} +#else +template <> +math::Vector3 SensorModel_::update(double dt) +{ + current_error_.x = SensorModelInternalUpdate(current_drift_.x, drift.x, drift_frequency.x, offset.x, gaussian_noise.x, dt); + current_error_.y = SensorModelInternalUpdate(current_drift_.y, drift.y, drift_frequency.y, offset.y, gaussian_noise.y, dt); + current_error_.z = SensorModelInternalUpdate(current_drift_.z, drift.z, drift_frequency.z, offset.z, gaussian_noise.z, dt); + return current_error_; +} +#endif + +template +void SensorModel_::reset() +{ + for(std::size_t i = 0; i < current_drift_.size(); ++i) current_drift_[i] = SensorModelGaussianKernel(T::value_type(), drift[i]); + current_error_ = T(); +} + +template <> +void SensorModel_::reset() +{ + current_drift_ = SensorModelGaussianKernel(0.0, drift); + current_error_ = 0.0; +} + +#if (GAZEBO_MAJOR_VERSION >= 8) +template <> +void SensorModel_::reset() +{ + current_drift_.X() = SensorModelGaussianKernel(0.0, drift.X()); + current_drift_.Y() = SensorModelGaussianKernel(0.0, drift.Y()); + current_drift_.Z() = SensorModelGaussianKernel(0.0, drift.Z()); + current_error_ = ignition::math::Vector3d(); +} +#else +template <> +void SensorModel_::reset() +{ + current_drift_.x = SensorModelGaussianKernel(0.0, drift.x); + current_drift_.y = SensorModelGaussianKernel(0.0, drift.y); + current_drift_.z = SensorModelGaussianKernel(0.0, drift.z); + current_error_ = math::Vector3(); +} +#endif + +template +void SensorModel_::reset(const T& value) +{ + current_drift_ = value; + current_error_ = T(); +} + +namespace helpers { + template struct scalar_value { static double toDouble(const T &orig) { return orig; } }; + template struct scalar_value > { static double toDouble(const std::vector &orig) { return (double) std::accumulate(orig.begin(), orig.end()) / orig.size(); } }; +#if (GAZEBO_MAJOR_VERSION >= 8) + template <> struct scalar_value { static double toDouble(const ignition::math::Vector3d &orig) { return (orig.X() + orig.Y() + orig.Z()) / 3; } }; +#else + template <> struct scalar_value { static double toDouble(const math::Vector3 &orig) { return (orig.x + orig.y + orig.z) / 3; } }; +#endif +} + +template +void SensorModel_::dynamicReconfigureCallback(SensorModelConfig &config, uint32_t level) +{ + if (level == 1) { + gaussian_noise = config.gaussian_noise; + offset = config.offset; + drift = config.drift; + drift_frequency = config.drift_frequency; + scale_error = config.scale_error; + } else { + config.gaussian_noise = helpers::scalar_value::toDouble(gaussian_noise); + config.offset = helpers::scalar_value::toDouble(offset); + config.drift = helpers::scalar_value::toDouble(drift); + config.drift_frequency = helpers::scalar_value::toDouble(drift_frequency); + config.scale_error = helpers::scalar_value::toDouble(scale_error); + } +} + +typedef SensorModel_ SensorModel; +#if (GAZEBO_MAJOR_VERSION >= 8) +typedef SensorModel_ SensorModel3; +#else +typedef SensorModel_ SensorModel3; +#endif + +} + +#endif // HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/servo_plugin.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/servo_plugin.h new file mode 100755 index 0000000..3e2a5ec --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/servo_plugin.h @@ -0,0 +1,134 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef SERVO_PLUGIN_H +#define SERVO_PLUGIN_H + +#include +#include +#if (GAZEBO_MAJOR_VERSION < 8) +#include +#endif + +// ROS +#include +#include +#include +#include +#include + +// Boost +#include +#include + +namespace gazebo +{ + +class ServoPlugin : public ModelPlugin +{ + +public: + ServoPlugin(); + virtual ~ServoPlugin(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Init(); + virtual void Reset(); + virtual void Update(); + +private: + void CalculateVelocities(); + void publish_joint_states(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + // Simulation time of the last update + common::Time prevUpdateTime; + + bool enableMotors; + + struct Servo { + std::string name; +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Vector3d axis; +#else + math::Vector3 axis; +#endif + physics::JointPtr joint; + float velocity; + Servo() : velocity() {} + } servo[3]; + + unsigned int countOfServos; + unsigned int orderOfAxes[3]; + unsigned int rotationConv; + sensor_msgs::JointState joint_state; + + // parameters + std::string robotNamespace; + std::string topicName; + std::string jointStateName; + common::Time controlPeriod; + + float proportionalControllerGain; + float derivativeControllerGain; + double maximumVelocity; + float maximumTorque; + + // ROS STUFF + ros::NodeHandle* rosnode_; + ros::Publisher jointStatePub_; + ros::Subscriber sub_; + tf::TransformListener* transform_listener_; + + // Custom Callback Queue + ros::CallbackQueue queue_; +// boost::thread* callback_queue_thread_; +// void QueueThread(); + + // DiffDrive stuff + void cmdCallback(const geometry_msgs::QuaternionStamped::ConstPtr& cmd_msg); + + boost::mutex mutex; + geometry_msgs::QuaternionStamped::ConstPtr current_cmd; +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Quaterniond rotation_; +#else + math::Quaternion rotation_; +#endif + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} + +#endif diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/update_timer.h b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/update_timer.h new file mode 100755 index 0000000..fbb8cbf --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/update_timer.h @@ -0,0 +1,208 @@ +//================================================================================================= +// Copyright (c) 2013, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_UPDATE_TIMER_H +#define HECTOR_GAZEBO_PLUGINS_UPDATE_TIMER_H + +#include +#include +#include + +#include +#include + +namespace gazebo { + +class UpdateTimer { +public: + UpdateTimer() + : connection_count_(0) + { + } + + virtual ~UpdateTimer() + { + } + + virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf, const std::string& _prefix = "update") + { + this->world_ = _world; + + if (_sdf->HasElement(_prefix + "Rate")) { + double update_rate = 0.0; + _sdf->GetElement(_prefix + "Rate")->GetValue()->Get(update_rate); + update_period_ = update_rate > 0.0 ? 1.0/update_rate : 0.0; + } + + if (_sdf->HasElement(_prefix + "Period")) { +#if (GAZEBO_MAJOR_VERSION >= 9) + sdf::Time sdf_update_period; + _sdf->GetElement(_prefix + "Period")->GetValue()->Get(sdf_update_period); + update_period_.sec = sdf_update_period.sec; + update_period_.nsec = sdf_update_period.nsec; +#else + _sdf->GetElement(_prefix + "Period")->GetValue()->Get(update_period_); +#endif + } + + if (_sdf->HasElement(_prefix + "Offset")) { +#if (GAZEBO_MAJOR_VERSION >= 9) + sdf::Time sdf_update_offset; + _sdf->GetElement(_prefix + "Offset")->GetValue()->Get(sdf_update_offset); + update_offset_.sec = sdf_update_offset.sec; + update_offset_.nsec = sdf_update_offset.nsec; +#else + _sdf->GetElement(_prefix + "Offset")->GetValue()->Get(update_offset_); +#endif + } + } + + virtual event::ConnectionPtr Connect(const boost::function &_subscriber, bool connectToWorldUpdateBegin = true) + { + if (connectToWorldUpdateBegin && !update_connection_) { + update_connection_ = event::Events::ConnectWorldUpdateBegin( + boost::bind(&UpdateTimer::Update, this)); + } + connection_count_++; + return update_event_.Connect(_subscriber); + } + + virtual void Disconnect(event::ConnectionPtr const& _c = event::ConnectionPtr()) + { +#if (GAZEBO_MAJOR_VERSION >= 8) + if (_c) update_event_.~EventT(); +#else + if (_c) update_event_.Disconnect(_c); +#endif + + if (update_connection_ && (!_c || --connection_count_ == 0)) { +#if (GAZEBO_MAJOR_VERSION < 8) + event::Events::DisconnectWorldUpdateBegin(update_connection_); +#endif + update_connection_.reset(); + } + } + + common::Time const& getUpdatePeriod() const { + return update_period_; + } + + void setUpdatePeriod(common::Time const& period) { + update_period_ = period; + } + + double getUpdateRate() const { + double period = update_period_.Double(); + return (period > 0.0) ? (1.0 / period) : 0.0; + } + + void setUpdateRate(double rate) { + update_period_ = (rate > 0.0) ? (1.0 / rate) : 0.0; + } + + common::Time const& getLastUpdate() const { + return last_update_; + } + + common::Time getTimeSinceLastUpdate() const { + if (last_update_ == common::Time()) return common::Time(); +#if (GAZEBO_MAJOR_VERSION >= 8) + return world_->SimTime() - last_update_; +#else + return world_->GetSimTime() - last_update_; +#endif + } + + virtual bool checkUpdate() const + { + double period = update_period_.Double(); +#if (GAZEBO_MAJOR_VERSION >= 8) + double step = world_->Physics()->GetMaxStepSize(); +#else + double step = world_->GetPhysicsEngine()->GetMaxStepSize(); +#endif + if (period == 0) return true; +#if (GAZEBO_MAJOR_VERSION >= 8) + double fraction = fmod((world_->SimTime() - update_offset_).Double() + (step / 2.0), period); +#else + double fraction = fmod((world_->GetSimTime() - update_offset_).Double() + (step / 2.0), period); +#endif + return (fraction >= 0.0) && (fraction < step); + } + + virtual bool update() + { + if (!checkUpdate()) return false; +#if (GAZEBO_MAJOR_VERSION >= 8) + last_update_ = world_->SimTime(); +#else + last_update_ = world_->GetSimTime(); +#endif + return true; + } + + virtual bool update(double& dt) + { + dt = getTimeSinceLastUpdate().Double(); + return update(); + } + + virtual void Reset() + { + last_update_ = common::Time(); + } + +protected: + virtual bool Update() + { + if (!checkUpdate()) { + return false; + } + update_event_(); +#if (GAZEBO_MAJOR_VERSION >= 8) + last_update_ = world_->SimTime(); +#else + last_update_ = world_->GetSimTime(); +#endif + return true; + } + +private: + physics::WorldPtr world_; + common::Time update_period_; + common::Time update_offset_; + common::Time last_update_; + + event::EventT update_event_; + unsigned int connection_count_; + event::ConnectionPtr update_connection_; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_UPDATE_TIMER_H diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/package.xml b/ros_drivers/hector_gazebo/hector_gazebo_plugins/package.xml new file mode 100755 index 0000000..3fc82bf --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/package.xml @@ -0,0 +1,47 @@ + + + hector_gazebo_plugins + 0.5.4 + hector_gazebo_plugins provides gazebo plugins from Team Hector. + Currently it contains a 6wd differential drive plugin, an IMU sensor plugin, + an earth magnetic field sensor plugin, a GPS sensor plugin and a + sonar ranger plugin. + Stefan Fabian + + BSD + + http://ros.org/wiki/hector_gazebo_plugins + + + Stefan Kohlbrecher + Johannes Meyer + + + catkin + + + roscpp + gazebo_dev + geographic_msgs + std_msgs + std_srvs + geometry_msgs + nav_msgs + tf + dynamic_reconfigure + message_generation + + + roscpp + gazebo + gazebo_ros + geographic_msgs + std_msgs + std_srvs + geometry_msgs + nav_msgs + tf + dynamic_reconfigure + message_runtime + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_6w.cpp b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_6w.cpp new file mode 100755 index 0000000..37701d4 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_6w.cpp @@ -0,0 +1,387 @@ +//================================================================================================= +// Copyright (c) 2011, Stefan Kohlbrecher, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Simulation, Systems Optimization and Robotics +// group, TU Darmstadt nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +/** + * Based on diffdrive_plugin by Nathan Koenig, Andrew Howard and Daniel Hewlett + */ + +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +namespace gazebo { + +enum +{ + FRONT_LEFT, + FRONT_RIGHT, + MID_LEFT, + MID_RIGHT, + REAR_LEFT, + REAR_RIGHT, + NUM_WHEELS +}; + +// Constructor +DiffDrivePlugin6W::DiffDrivePlugin6W() +{ +} + +// Destructor +DiffDrivePlugin6W::~DiffDrivePlugin6W() +{ +#if (GAZEBO_MAJOR_VERSION >= 8) + updateConnection.reset(); +#else + event::Events::DisconnectWorldUpdateBegin(updateConnection); +#endif + delete transform_broadcaster_; + rosnode_->shutdown(); + callback_queue_thread_.join(); + delete rosnode_; +} + +// Load the controller +void DiffDrivePlugin6W::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // default parameters + namespace_.clear(); + topic_ = "cmd_vel"; + wheelSep = 0.34; + wheelDiam = 0.15; + torque = 10.0; + + // load parameters + if (_sdf->HasElement("robotNamespace")) + namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString(); + + if (_sdf->HasElement("topicName")) + topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString(); + + if (_sdf->HasElement("bodyName")) + { + link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString(); + link = _model->GetLink(link_name_); + } else { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + + // assert that the body by link_name_ exists + if (!link) + { + ROS_FATAL("DiffDrivePlugin6W plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + if (_sdf->HasElement("frontLeftJoint")) joints[FRONT_LEFT] = _model->GetJoint(_sdf->GetElement("frontLeftJoint")->GetValue()->GetAsString()); + if (_sdf->HasElement("frontRightJoint")) joints[FRONT_RIGHT] = _model->GetJoint(_sdf->GetElement("frontRightJoint")->GetValue()->GetAsString()); + if (_sdf->HasElement("midLeftJoint")) joints[MID_LEFT] = _model->GetJoint(_sdf->GetElement("midLeftJoint")->GetValue()->GetAsString()); + if (_sdf->HasElement("midRightJoint")) joints[MID_RIGHT] = _model->GetJoint(_sdf->GetElement("midRightJoint")->GetValue()->GetAsString()); + if (_sdf->HasElement("rearLeftJoint")) joints[REAR_LEFT] = _model->GetJoint(_sdf->GetElement("rearLeftJoint")->GetValue()->GetAsString()); + if (_sdf->HasElement("rearRightJoint")) joints[REAR_RIGHT] = _model->GetJoint(_sdf->GetElement("rearRightJoint")->GetValue()->GetAsString()); + + if (!joints[FRONT_LEFT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get front left joint"); + if (!joints[FRONT_RIGHT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get front right joint"); + if (!joints[MID_LEFT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get mid left joint"); + if (!joints[MID_RIGHT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get mid right joint"); + if (!joints[REAR_LEFT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get rear left joint"); + if (!joints[REAR_RIGHT]) ROS_FATAL("diffdrive_plugin_6w error: The controller couldn't get rear right joint"); + + if (_sdf->HasElement("wheelSeparation")) + _sdf->GetElement("wheelSeparation")->GetValue()->Get(wheelSep); + + if (_sdf->HasElement("wheelDiameter")) + _sdf->GetElement("wheelDiameter")->GetValue()->Get(wheelDiam); + + if (_sdf->HasElement("torque")) + _sdf->GetElement("torque")->GetValue()->Get(torque); + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + + rosnode_ = new ros::NodeHandle(namespace_); + + tf_prefix_ = tf::getPrefixParam(*rosnode_); + transform_broadcaster_ = new tf::TransformBroadcaster(); + + // ROS: Subscribe to the velocity command topic (usually "cmd_vel") + ros::SubscribeOptions so = + ros::SubscribeOptions::create(topic_, 1, + boost::bind(&DiffDrivePlugin6W::cmdVelCallback, this, _1), + ros::VoidPtr(), &queue_); + sub_ = rosnode_->subscribe(so); + pub_ = rosnode_->advertise("odom", 1); + + callback_queue_thread_ = boost::thread(boost::bind(&DiffDrivePlugin6W::QueueThread, this)); + + Reset(); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&DiffDrivePlugin6W::Update, this)); +} + +// Initialize the controller +void DiffDrivePlugin6W::Reset() +{ + enableMotors = true; + + for (size_t i = 0; i < 2; ++i){ + wheelSpeed[i] = 0; + } + +#if (GAZEBO_MAJOR_VERSION >= 8) + prevUpdateTime = world->SimTime(); +#else + prevUpdateTime = world->GetSimTime(); +#endif + + x_ = 0; + rot_ = 0; + alive_ = true; + + // Reset odometric pose + odomPose[0] = 0.0; + odomPose[1] = 0.0; + odomPose[2] = 0.0; + + odomVel[0] = 0.0; + odomVel[1] = 0.0; + odomVel[2] = 0.0; +} + +// Update the controller +void DiffDrivePlugin6W::Update() +{ + // TODO: Step should be in a parameter of this function + double d1, d2; + double dr, da; + common::Time stepTime; + + GetPositionCmd(); + + //stepTime = World::Instance()->GetPhysicsEngine()->GetStepTime(); +#if (GAZEBO_MAJOR_VERSION >= 8) + stepTime = world->SimTime() - prevUpdateTime; + prevUpdateTime = world->SimTime(); +#else + stepTime = world->GetSimTime() - prevUpdateTime; + prevUpdateTime = world->GetSimTime(); +#endif + + // Distance travelled by front wheels + d1 = stepTime.Double() * wheelDiam / 2 * joints[MID_LEFT]->GetVelocity(0); + d2 = stepTime.Double() * wheelDiam / 2 * joints[MID_RIGHT]->GetVelocity(0); + + dr = (d1 + d2) / 2; + da = (d1 - d2) / wheelSep; + + // Compute odometric pose + odomPose[0] += dr * cos(odomPose[2]); + odomPose[1] += dr * sin(odomPose[2]); + odomPose[2] += da; + + // Compute odometric instantaneous velocity + odomVel[0] = dr / stepTime.Double(); + odomVel[1] = 0.0; + odomVel[2] = da / stepTime.Double(); + + if (enableMotors) + { + joints[FRONT_LEFT]->SetVelocity(0, wheelSpeed[0] / (wheelDiam / 2.0)); + joints[MID_LEFT]->SetVelocity(0, wheelSpeed[0] / (wheelDiam / 2.0)); + joints[REAR_LEFT]->SetVelocity(0, wheelSpeed[0] / (wheelDiam / 2.0)); + + joints[FRONT_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0)); + joints[MID_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0)); + joints[REAR_RIGHT]->SetVelocity(0, wheelSpeed[1] / (wheelDiam / 2.0)); + +#if (GAZEBO_MAJOR_VERSION > 4) + joints[FRONT_LEFT]->SetEffortLimit(0, torque); + joints[MID_LEFT]->SetEffortLimit(0, torque); + joints[REAR_LEFT]->SetEffortLimit(0, torque); + + joints[FRONT_RIGHT]->SetEffortLimit(0, torque); + joints[MID_RIGHT]->SetEffortLimit(0, torque); + joints[REAR_RIGHT]->SetEffortLimit(0, torque); +#else + joints[FRONT_LEFT]->SetMaxForce(0, torque); + joints[MID_LEFT]->SetMaxForce(0, torque); + joints[REAR_LEFT]->SetMaxForce(0, torque); + + joints[FRONT_RIGHT]->SetMaxForce(0, torque); + joints[MID_RIGHT]->SetMaxForce(0, torque); + joints[REAR_RIGHT]->SetMaxForce(0, torque); +#endif + } + + //publish_odometry(); +} + +// NEW: Now uses the target velocities from the ROS message, not the Iface +void DiffDrivePlugin6W::GetPositionCmd() +{ + lock.lock(); + + double vr, va; + + vr = x_; //myIface->data->cmdVelocity.pos.x; + va = -rot_; //myIface->data->cmdVelocity.yaw; + + //std::cout << "X: [" << x_ << "] ROT: [" << rot_ << "]" << std::endl; + + // Changed motors to be always on, which is probably what we want anyway + enableMotors = true; //myIface->data->cmdEnableMotors > 0; + + //std::cout << enableMotors << std::endl; + + wheelSpeed[0] = vr + va * wheelSep / 2; + wheelSpeed[1] = vr - va * wheelSep / 2; + + lock.unlock(); +} + +// NEW: Store the velocities from the ROS message +void DiffDrivePlugin6W::cmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg) +{ + //std::cout << "BEGIN CALLBACK\n"; + + lock.lock(); + + x_ = cmd_msg->linear.x; + rot_ = cmd_msg->angular.z; + + lock.unlock(); + + //std::cout << "END CALLBACK\n"; +} + +// NEW: custom callback queue thread +void DiffDrivePlugin6W::QueueThread() +{ + static const double timeout = 0.01; + + while (alive_ && rosnode_->ok()) + { + // std::cout << "CALLING STUFF\n"; + queue_.callAvailable(ros::WallDuration(timeout)); + } +} + +// NEW: Update this to publish odometry topic +void DiffDrivePlugin6W::publish_odometry() +{ + // get current time +#if (GAZEBO_MAJOR_VERSION >= 8) + ros::Time current_time_((world->SimTime()).sec, (world->SimTime()).nsec); +#else + ros::Time current_time_((world->GetSimTime()).sec, (world->GetSimTime()).nsec); +#endif + + // getting data for base_footprint to odom transform +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Pose3d pose = link->WorldPose(); + ignition::math::Vector3d velocity = link->WorldLinearVel(); + ignition::math::Vector3d angular_velocity = link->WorldAngularVel(); + + tf::Quaternion qt(pose.Rot().X(), pose.Rot().Y(), pose.Rot().Z(), pose.Rot().W()); + tf::Vector3 vt(pose.Pos().X(), pose.Pos().Y(), pose.Pos().Z()); +#else + math::Pose pose = link->GetWorldPose(); + math::Vector3 velocity = link->GetWorldLinearVel(); + math::Vector3 angular_velocity = link->GetWorldAngularVel(); + + tf::Quaternion qt(pose.rot.x, pose.rot.y, pose.rot.z, pose.rot.w); + tf::Vector3 vt(pose.pos.x, pose.pos.y, pose.pos.z); +#endif + tf::Transform base_footprint_to_odom(qt, vt); + + transform_broadcaster_->sendTransform(tf::StampedTransform(base_footprint_to_odom, + current_time_, + "odom", + "base_footprint")); + + // publish odom topic +#if (GAZEBO_MAJOR_VERSION >= 8) + odom_.pose.pose.position.x = pose.Pos().X(); + odom_.pose.pose.position.y = pose.Pos().Y(); + + odom_.pose.pose.orientation.x = pose.Rot().X(); + odom_.pose.pose.orientation.y = pose.Rot().Y(); + odom_.pose.pose.orientation.z = pose.Rot().Z(); + odom_.pose.pose.orientation.w = pose.Rot().W(); + + odom_.twist.twist.linear.x = velocity.X(); + odom_.twist.twist.linear.y = velocity.Y(); + odom_.twist.twist.angular.z = angular_velocity.Z(); +#else + odom_.pose.pose.position.x = pose.pos.x; + odom_.pose.pose.position.y = pose.pos.y; + + odom_.pose.pose.orientation.x = pose.rot.x; + odom_.pose.pose.orientation.y = pose.rot.y; + odom_.pose.pose.orientation.z = pose.rot.z; + odom_.pose.pose.orientation.w = pose.rot.w; + + odom_.twist.twist.linear.x = velocity.x; + odom_.twist.twist.linear.y = velocity.y; + odom_.twist.twist.angular.z = angular_velocity.z; +#endif + + odom_.header.frame_id = tf::resolve(tf_prefix_, "odom"); + odom_.child_frame_id = "base_footprint"; + odom_.header.stamp = current_time_; + + pub_.publish(odom_); +} + +GZ_REGISTER_MODEL_PLUGIN(DiffDrivePlugin6W) + +} // namespace gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_multi_wheel.cpp b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_multi_wheel.cpp new file mode 100755 index 0000000..bb64374 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/diffdrive_plugin_multi_wheel.cpp @@ -0,0 +1,453 @@ +/* + Copyright (c) 2010, Daniel Hewlett, Antons Rebguns + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY Antons Rebguns ''AS IS'' AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL Antons Rebguns BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +*/ + +/* + * \file gazebo_ros_diff_drive.cpp + * + * \brief A differential drive plugin for gazebo. Based on the diffdrive plugin + * developed for the erratic robot (see copyright notice above). The original + * plugin can be found in the ROS package gazebo_erratic_plugins. + * + * \author Piyush Khandelwal (piyushk@gmail.com) + * + * $ Id: 06/21/2013 11:23:40 AM piyushk $ + */ + + +/** + * A diff drive plugin supporting multiple wheels per vehicle side. Based on + * existing plugins as stated above this notice. + */ + +/* + Copyright (c) 2014, Stefan Kohlbrecher + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY Antons Rebguns ''AS IS'' AND ANY + EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL Antons Rebguns BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +*/ + +#include +#include + +#include + +#if (GAZEBO_MAJOR_VERSION < 8) +#include +#endif +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +namespace gazebo { + + enum { + RIGHT, + LEFT, + }; + + GazeboRosDiffDriveMultiWheel::GazeboRosDiffDriveMultiWheel() {} + + // Destructor + GazeboRosDiffDriveMultiWheel::~GazeboRosDiffDriveMultiWheel() { + delete rosnode_; + delete transform_broadcaster_; + } + + // Load the controller + void GazeboRosDiffDriveMultiWheel::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) { + + this->parent = _parent; + this->world = _parent->GetWorld(); + + this->robot_namespace_ = ""; + if (!_sdf->HasElement("robotNamespace")) { + ROS_INFO("GazeboRosDiffDriveMultiWheel Plugin missing , defaults to \"%s\"", + this->robot_namespace_.c_str()); + } else { + this->robot_namespace_ = + _sdf->GetElement("robotNamespace")->Get() + "/"; + } + + //this->left_joint_names_ = "left_joint"; + if (!_sdf->HasElement("leftJoints")) { + gzthrow("Have to specify space separated left side joint names via tag!"); + } else { + std::string joint_string = _sdf->GetElement("leftJoints")->Get(); + boost::split( joint_names_[LEFT], joint_string, boost::is_any_of(" ") ); + } + + //this->right_joint_names_ = "right_joint"; + if (!_sdf->HasElement("rightJoints")) { + gzthrow("Have to specify space separated right side joint names via tag!"); + } else { + std::string joint_string = _sdf->GetElement("rightJoints")->Get(); + boost::split( joint_names_[RIGHT], joint_string, boost::is_any_of(" ") ); + } + + this->wheel_separation_ = 0.34; + if (!_sdf->HasElement("wheelSeparation")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to %f", + this->robot_namespace_.c_str(), this->wheel_separation_); + } else { + this->wheel_separation_ = + _sdf->GetElement("wheelSeparation")->Get(); + } + + this->wheel_diameter_ = 0.15; + if (!_sdf->HasElement("wheelDiameter")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to %f", + this->robot_namespace_.c_str(), this->wheel_diameter_); + } else { + this->wheel_diameter_ = _sdf->GetElement("wheelDiameter")->Get(); + } + + this->torque = 5.0; + if (!_sdf->HasElement("torque")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to %f", + this->robot_namespace_.c_str(), this->torque); + } else { + this->torque = _sdf->GetElement("torque")->Get(); + } + + this->command_topic_ = "cmd_vel"; + if (!_sdf->HasElement("commandTopic")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to \"%s\"", + this->robot_namespace_.c_str(), this->command_topic_.c_str()); + } else { + this->command_topic_ = _sdf->GetElement("commandTopic")->Get(); + } + + this->odometry_topic_ = "odom"; + if (!_sdf->HasElement("odometryTopic")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to \"%s\"", + this->robot_namespace_.c_str(), this->odometry_topic_.c_str()); + } else { + this->odometry_topic_ = _sdf->GetElement("odometryTopic")->Get(); + } + + this->odometry_frame_ = "odom"; + if (!_sdf->HasElement("odometryFrame")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to \"%s\"", + this->robot_namespace_.c_str(), this->odometry_frame_.c_str()); + } else { + this->odometry_frame_ = _sdf->GetElement("odometryFrame")->Get(); + } + + this->robot_base_frame_ = "base_footprint"; + if (!_sdf->HasElement("robotBaseFrame")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to \"%s\"", + this->robot_namespace_.c_str(), this->robot_base_frame_.c_str()); + } else { + this->robot_base_frame_ = _sdf->GetElement("robotBaseFrame")->Get(); + } + + this->update_rate_ = 100.0; + if (!_sdf->HasElement("updateRate")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to %f", + this->robot_namespace_.c_str(), this->update_rate_); + } else { + this->update_rate_ = _sdf->GetElement("updateRate")->Get(); + } + + + this->publish_odometry_tf_ = true; + if (!_sdf->HasElement("publishOdometryTf")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to %s", + this->robot_namespace_.c_str(), this->publish_odometry_tf_ ? "true" : "false"); + } else { + this->publish_odometry_tf_ = _sdf->GetElement("publishOdometryTf")->Get(); + } + + this->publish_odometry_msg_ = true; + if (!_sdf->HasElement("publishOdometryMsg")) { + ROS_WARN("GazeboRosDiffDriveMultiWheel Plugin (ns = %s) missing , defaults to %s", + this->robot_namespace_.c_str(), this->publish_odometry_msg_ ? "true" : "false"); + } else { + this->publish_odometry_msg_ = _sdf->GetElement("publishOdometryMsg")->Get(); + } + + + + // Initialize update rate stuff + if (this->update_rate_ > 0.0) { + this->update_period_ = 1.0 / this->update_rate_; + } else { + this->update_period_ = 0.0; + } +#if (GAZEBO_MAJOR_VERSION >= 8) + last_update_time_ = this->world->SimTime(); +#else + last_update_time_ = this->world->GetSimTime(); +#endif + + // Initialize velocity stuff + wheel_speed_[RIGHT] = 0; + wheel_speed_[LEFT] = 0; + + x_ = 0; + rot_ = 0; + alive_ = true; + + for (size_t side = 0; side < 2; ++side){ + for (size_t i = 0; i < joint_names_[side].size(); ++i){ + joints_[side].push_back(this->parent->GetJoint(joint_names_[side][i])); + if (!joints_[side][i]){ + char error[200]; + snprintf(error, 200, + "GazeboRosDiffDriveMultiWheel Plugin (ns = %s) couldn't get hinge joint named \"%s\"", + this->robot_namespace_.c_str(), joint_names_[side][i].c_str()); + gzthrow(error); + } +#if (GAZEBO_MAJOR_VERSION > 4) + joints_[side][i]->SetEffortLimit(0, torque); +#else + joints_[side][i]->SetMaxForce(0, torque); +#endif + } + } + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + + rosnode_ = new ros::NodeHandle(this->robot_namespace_); + + ROS_INFO("Starting GazeboRosDiffDriveMultiWheel Plugin (ns = %s)!", this->robot_namespace_.c_str()); + + tf_prefix_ = tf::getPrefixParam(*rosnode_); + transform_broadcaster_ = new tf::TransformBroadcaster(); + + // ROS: Subscribe to the velocity command topic (usually "cmd_vel") + ros::SubscribeOptions so = + ros::SubscribeOptions::create(command_topic_, 1, + boost::bind(&GazeboRosDiffDriveMultiWheel::cmdVelCallback, this, _1), + ros::VoidPtr(), &queue_); + + cmd_vel_subscriber_ = rosnode_->subscribe(so); + + odometry_publisher_ = rosnode_->advertise(odometry_topic_, 1); + + // start custom queue for diff drive + this->callback_queue_thread_ = + boost::thread(boost::bind(&GazeboRosDiffDriveMultiWheel::QueueThread, this)); + + // listen to the update event (broadcast every simulation iteration) + this->update_connection_ = + event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosDiffDriveMultiWheel::UpdateChild, this)); + + } + + // Update the controller + void GazeboRosDiffDriveMultiWheel::UpdateChild() { +#if (GAZEBO_MAJOR_VERSION >= 8) + common::Time current_time = this->world->SimTime(); +#else + common::Time current_time = this->world->GetSimTime(); +#endif + double seconds_since_last_update = + (current_time - last_update_time_).Double(); + if (seconds_since_last_update > update_period_) { + + if (this->publish_odometry_tf_ || this->publish_odometry_msg_){ + publishOdometry(seconds_since_last_update); + } + + // Update robot in case new velocities have been requested + getWheelVelocities(); + //joints[LEFT]->SetVelocity(0, wheel_speed_[LEFT] / wheel_diameter_); + //joints[RIGHT]->SetVelocity(0, wheel_speed_[RIGHT] / wheel_diameter_); + + for (size_t side = 0; side < 2; ++side){ + for (size_t i = 0; i < joints_[side].size(); ++i){ + joints_[side][i]->SetVelocity(0, wheel_speed_[side] / (0.5 * wheel_diameter_)); + } + } + + last_update_time_+= common::Time(update_period_); + + } + } + + // Finalize the controller + void GazeboRosDiffDriveMultiWheel::FiniChild() { + alive_ = false; + queue_.clear(); + queue_.disable(); + rosnode_->shutdown(); + callback_queue_thread_.join(); + } + + void GazeboRosDiffDriveMultiWheel::getWheelVelocities() { + boost::mutex::scoped_lock scoped_lock(lock); + + double vr = x_; + double va = rot_; + + wheel_speed_[LEFT] = vr - va * wheel_separation_ / 2.0; + wheel_speed_[RIGHT] = vr + va * wheel_separation_ / 2.0; + } + + void GazeboRosDiffDriveMultiWheel::cmdVelCallback( + const geometry_msgs::Twist::ConstPtr& cmd_msg) { + + boost::mutex::scoped_lock scoped_lock(lock); + x_ = cmd_msg->linear.x; + rot_ = cmd_msg->angular.z; + } + + void GazeboRosDiffDriveMultiWheel::QueueThread() { + static const double timeout = 0.01; + + while (alive_ && rosnode_->ok()) { + queue_.callAvailable(ros::WallDuration(timeout)); + } + } + + void GazeboRosDiffDriveMultiWheel::publishOdometry(double step_time) { + ros::Time current_time = ros::Time::now(); + std::string odom_frame = + tf::resolve(tf_prefix_, odometry_frame_); + std::string base_footprint_frame = + tf::resolve(tf_prefix_, robot_base_frame_); + + // getting data for base_footprint to odom transform +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Pose3d pose = this->parent->WorldPose(); + + tf::Quaternion qt(pose.Rot().X(), pose.Rot().Y(), pose.Rot().Z(), pose.Rot().W()); + tf::Vector3 vt(pose.Pos().X(), pose.Pos().Y(), pose.Pos().Z()); +#else + math::Pose pose = this->parent->GetWorldPose(); + + tf::Quaternion qt(pose.rot.x, pose.rot.y, pose.rot.z, pose.rot.w); + tf::Vector3 vt(pose.pos.x, pose.pos.y, pose.pos.z); +#endif + + tf::Transform base_footprint_to_odom(qt, vt); + + if (this->publish_odometry_tf_){ + transform_broadcaster_->sendTransform( + tf::StampedTransform(base_footprint_to_odom, current_time, + odom_frame, base_footprint_frame)); + } + + // publish odom topic +#if (GAZEBO_MAJOR_VERSION >= 8) + odom_.pose.pose.position.x = pose.Pos().X(); + odom_.pose.pose.position.y = pose.Pos().Y(); + + odom_.pose.pose.orientation.x = pose.Rot().X(); + odom_.pose.pose.orientation.y = pose.Rot().Y(); + odom_.pose.pose.orientation.z = pose.Rot().Z(); + odom_.pose.pose.orientation.w = pose.Rot().W(); +#else + odom_.pose.pose.position.x = pose.pos.x; + odom_.pose.pose.position.y = pose.pos.y; + + odom_.pose.pose.orientation.x = pose.rot.x; + odom_.pose.pose.orientation.y = pose.rot.y; + odom_.pose.pose.orientation.z = pose.rot.z; + odom_.pose.pose.orientation.w = pose.rot.w; +#endif + odom_.pose.covariance[0] = 0.00001; + odom_.pose.covariance[7] = 0.00001; + odom_.pose.covariance[14] = 1000000000000.0; + odom_.pose.covariance[21] = 1000000000000.0; + odom_.pose.covariance[28] = 1000000000000.0; + odom_.pose.covariance[35] = 0.001; + + // get velocity in /odom frame +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Vector3d linear; + linear = this->parent->WorldLinearVel(); + odom_.twist.twist.angular.z = this->parent->WorldAngularVel().Z(); +#else + math::Vector3 linear; + linear = this->parent->GetWorldLinearVel(); + odom_.twist.twist.angular.z = this->parent->GetWorldAngularVel().z; +#endif + + // convert velocity to child_frame_id (aka base_footprint) +#if (GAZEBO_MAJOR_VERSION >= 8) + float yaw = pose.Rot().Yaw(); + odom_.twist.twist.linear.x = cosf(yaw) * linear.X() + sinf(yaw) * linear.Y(); + odom_.twist.twist.linear.y = cosf(yaw) * linear.Y() - sinf(yaw) * linear.X(); +#else + float yaw = pose.rot.GetYaw(); + odom_.twist.twist.linear.x = cosf(yaw) * linear.x + sinf(yaw) * linear.y; + odom_.twist.twist.linear.y = cosf(yaw) * linear.y - sinf(yaw) * linear.x; +#endif + + odom_.header.stamp = current_time; + odom_.header.frame_id = odom_frame; + odom_.child_frame_id = base_footprint_frame; + + if (this->publish_odometry_msg_){ + odometry_publisher_.publish(odom_); + } + } + + GZ_REGISTER_MODEL_PLUGIN(GazeboRosDiffDriveMultiWheel) +} diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_force_based_move.cpp b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_force_based_move.cpp new file mode 100755 index 0000000..51deee7 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_force_based_move.cpp @@ -0,0 +1,402 @@ +/* + * Copyright 2015 Stefan Kohlbrecher, TU Darmstadt + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * +*/ + +/* + * Desc: Simple model controller that uses a twist message to exert + * forces on a robot, resulting in motion. Based on the + * planar_move plugin by Piyush Khandelwal. + * Author: Stefan Kohlbrecher + * Date: 06 August 2015 + */ + +#include + +namespace gazebo +{ + + GazeboRosForceBasedMove::GazeboRosForceBasedMove() {} + + GazeboRosForceBasedMove::~GazeboRosForceBasedMove() {} + + // Load the controller + void GazeboRosForceBasedMove::Load(physics::ModelPtr parent, + sdf::ElementPtr sdf) + { + + parent_ = parent; + + /* Parse parameters */ + + robot_namespace_ = ""; + if (!sdf->HasElement("robotNamespace")) + { + ROS_INFO("PlanarMovePlugin missing , " + "defaults to \"%s\"", robot_namespace_.c_str()); + } + else + { + robot_namespace_ = + sdf->GetElement("robotNamespace")->Get(); + } + + command_topic_ = "cmd_vel"; + if (!sdf->HasElement("commandTopic")) + { + ROS_WARN("PlanarMovePlugin (ns = %s) missing , " + "defaults to \"%s\"", + robot_namespace_.c_str(), command_topic_.c_str()); + } + else + { + command_topic_ = sdf->GetElement("commandTopic")->Get(); + } + + odometry_topic_ = "odom"; + if (!sdf->HasElement("odometryTopic")) + { + ROS_WARN("PlanarMovePlugin (ns = %s) missing , " + "defaults to \"%s\"", + robot_namespace_.c_str(), odometry_topic_.c_str()); + } + else + { + odometry_topic_ = sdf->GetElement("odometryTopic")->Get(); + } + + odometry_frame_ = "odom"; + if (!sdf->HasElement("odometryFrame")) + { + ROS_WARN("PlanarMovePlugin (ns = %s) missing , " + "defaults to \"%s\"", + robot_namespace_.c_str(), odometry_frame_.c_str()); + } + else + { + odometry_frame_ = sdf->GetElement("odometryFrame")->Get(); + } + + + torque_yaw_velocity_p_gain_ = 100.0; + force_x_velocity_p_gain_ = 10000.0; + force_y_velocity_p_gain_ = 10000.0; + + if (sdf->HasElement("yaw_velocity_p_gain")) + (sdf->GetElement("yaw_velocity_p_gain")->GetValue()->Get(torque_yaw_velocity_p_gain_)); + + if (sdf->HasElement("x_velocity_p_gain")) + (sdf->GetElement("x_velocity_p_gain")->GetValue()->Get(force_x_velocity_p_gain_)); + + if (sdf->HasElement("y_velocity_p_gain")) + (sdf->GetElement("y_velocity_p_gain")->GetValue()->Get(force_y_velocity_p_gain_)); + + ROS_INFO_STREAM("ForceBasedMove using gains: yaw: " << torque_yaw_velocity_p_gain_ << + " x: " << force_x_velocity_p_gain_ << + " y: " << force_y_velocity_p_gain_ << "\n"); + + robot_base_frame_ = "base_footprint"; + if (!sdf->HasElement("robotBaseFrame")) + { + ROS_WARN("PlanarMovePlugin (ns = %s) missing , " + "defaults to \"%s\"", + robot_namespace_.c_str(), robot_base_frame_.c_str()); + } + else + { + robot_base_frame_ = sdf->GetElement("robotBaseFrame")->Get(); + } + + ROS_INFO_STREAM("robotBaseFrame for force based move plugin: " << robot_base_frame_ << "\n"); + + this->link_ = parent->GetLink(robot_base_frame_); + + odometry_rate_ = 20.0; + if (!sdf->HasElement("odometryRate")) + { + ROS_WARN("PlanarMovePlugin (ns = %s) missing , " + "defaults to %f", + robot_namespace_.c_str(), odometry_rate_); + } + else + { + odometry_rate_ = sdf->GetElement("odometryRate")->Get(); + } + + this->publish_odometry_tf_ = true; + if (!sdf->HasElement("publishOdometryTf")) { + ROS_WARN("PlanarMovePlugin Plugin (ns = %s) missing , defaults to %s", + this->robot_namespace_.c_str(), this->publish_odometry_tf_ ? "true" : "false"); + } else { + this->publish_odometry_tf_ = sdf->GetElement("publishOdometryTf")->Get(); + } + +#if (GAZEBO_MAJOR_VERSION >= 8) + last_odom_publish_time_ = parent_->GetWorld()->SimTime(); + last_odom_pose_ = parent_->WorldPose(); +#else + last_odom_publish_time_ = parent_->GetWorld()->GetSimTime(); + last_odom_pose_ = parent_->GetWorldPose(); +#endif + x_ = 0; + y_ = 0; + rot_ = 0; + alive_ = true; + + odom_transform_.setIdentity(); + + // Ensure that ROS has been initialized and subscribe to cmd_vel + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("PlanarMovePlugin (ns = " << robot_namespace_ + << "). A ROS node for Gazebo has not been initialized, " + << "unable to load plugin. Load the Gazebo system plugin " + << "'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + rosnode_.reset(new ros::NodeHandle(robot_namespace_)); + + ROS_DEBUG("OCPlugin (%s) has started!", + robot_namespace_.c_str()); + + tf_prefix_ = tf::getPrefixParam(*rosnode_); + + if (publish_odometry_tf_) + transform_broadcaster_.reset(new tf::TransformBroadcaster()); + + // subscribe to the odometry topic + ros::SubscribeOptions so = + ros::SubscribeOptions::create(command_topic_, 1, + boost::bind(&GazeboRosForceBasedMove::cmdVelCallback, this, _1), + ros::VoidPtr(), &queue_); + + vel_sub_ = rosnode_->subscribe(so); + odometry_pub_ = rosnode_->advertise(odometry_topic_, 1); + + // start custom queue for diff drive + callback_queue_thread_ = + boost::thread(boost::bind(&GazeboRosForceBasedMove::QueueThread, this)); + + // listen to the update event (broadcast every simulation iteration) + update_connection_ = + event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboRosForceBasedMove::UpdateChild, this)); + + } + + // Update the controller + void GazeboRosForceBasedMove::UpdateChild() + { + boost::mutex::scoped_lock scoped_lock(lock); +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Pose3d pose = parent_->WorldPose(); + + ignition::math::Vector3d angular_vel = parent_->WorldAngularVel(); + + double error = angular_vel.Z() - rot_; + + link_->AddTorque(ignition::math::Vector3d(0.0, 0.0, -error * torque_yaw_velocity_p_gain_)); + + float yaw = pose.Rot().Yaw(); + + ignition::math::Vector3d linear_vel = parent_->RelativeLinearVel(); + + link_->AddRelativeForce(ignition::math::Vector3d((x_ - linear_vel.X())* force_x_velocity_p_gain_, + (y_ - linear_vel.Y())* force_y_velocity_p_gain_, + 0.0)); +#else + math::Pose pose = parent_->GetWorldPose(); + + math::Vector3 angular_vel = parent_->GetWorldAngularVel(); + + double error = angular_vel.z - rot_; + + link_->AddTorque(math::Vector3(0.0, 0.0, -error * torque_yaw_velocity_p_gain_)); + + float yaw = pose.rot.GetYaw(); + + math::Vector3 linear_vel = parent_->GetRelativeLinearVel(); + + link_->AddRelativeForce(math::Vector3((x_ - linear_vel.x)* force_x_velocity_p_gain_, + (y_ - linear_vel.y)* force_y_velocity_p_gain_, + 0.0)); +#endif + //parent_->PlaceOnNearestEntityBelow(); + //parent_->SetLinearVel(math::Vector3( + // x_ * cosf(yaw) - y_ * sinf(yaw), + // y_ * cosf(yaw) + x_ * sinf(yaw), + // 0)); + //parent_->SetAngularVel(math::Vector3(0, 0, rot_)); + + if (odometry_rate_ > 0.0) { +#if (GAZEBO_MAJOR_VERSION >= 8) + common::Time current_time = parent_->GetWorld()->SimTime(); +#else + common::Time current_time = parent_->GetWorld()->GetSimTime(); +#endif + double seconds_since_last_update = + (current_time - last_odom_publish_time_).Double(); + if (seconds_since_last_update > (1.0 / odometry_rate_)) { + publishOdometry(seconds_since_last_update); + last_odom_publish_time_ = current_time; + } + } + } + + // Finalize the controller + void GazeboRosForceBasedMove::FiniChild() { + alive_ = false; + queue_.clear(); + queue_.disable(); + rosnode_->shutdown(); + callback_queue_thread_.join(); + } + + void GazeboRosForceBasedMove::cmdVelCallback( + const geometry_msgs::Twist::ConstPtr& cmd_msg) + { + boost::mutex::scoped_lock scoped_lock(lock); + x_ = cmd_msg->linear.x; + y_ = cmd_msg->linear.y; + rot_ = cmd_msg->angular.z; + } + + void GazeboRosForceBasedMove::QueueThread() + { + static const double timeout = 0.01; + while (alive_ && rosnode_->ok()) + { + queue_.callAvailable(ros::WallDuration(timeout)); + } + } + + void GazeboRosForceBasedMove::publishOdometry(double step_time) + { + + ros::Time current_time = ros::Time::now(); + std::string odom_frame = tf::resolve(tf_prefix_, odometry_frame_); + std::string base_footprint_frame = + tf::resolve(tf_prefix_, robot_base_frame_); + +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Vector3d angular_vel = parent_->RelativeAngularVel(); + ignition::math::Vector3d linear_vel = parent_->RelativeLinearVel(); + + odom_transform_= odom_transform_ * this->getTransformForMotion(linear_vel.X(), linear_vel.Y(), angular_vel.Z(), step_time); + + tf::poseTFToMsg(odom_transform_, odom_.pose.pose); + odom_.twist.twist.angular.z = angular_vel.Z(); + odom_.twist.twist.linear.x = linear_vel.X(); + odom_.twist.twist.linear.y = linear_vel.Y(); +#else + math::Vector3 angular_vel = parent_->GetRelativeAngularVel(); + math::Vector3 linear_vel = parent_->GetRelativeLinearVel(); + + odom_transform_= odom_transform_ * this->getTransformForMotion(linear_vel.x, linear_vel.y, angular_vel.z, step_time); + + tf::poseTFToMsg(odom_transform_, odom_.pose.pose); + odom_.twist.twist.angular.z = angular_vel.z; + odom_.twist.twist.linear.x = linear_vel.x; + odom_.twist.twist.linear.y = linear_vel.y; +#endif + + odom_.header.stamp = current_time; + odom_.header.frame_id = odom_frame; + odom_.child_frame_id = base_footprint_frame; + + if (transform_broadcaster_.get()){ + transform_broadcaster_->sendTransform( + tf::StampedTransform(odom_transform_, current_time, odom_frame, + base_footprint_frame)); + } + + odom_.pose.covariance[0] = 0.001; + odom_.pose.covariance[7] = 0.001; + odom_.pose.covariance[14] = 1000000000000.0; + odom_.pose.covariance[21] = 1000000000000.0; + odom_.pose.covariance[28] = 1000000000000.0; + +#if (GAZEBO_MAJOR_VERSION >= 8) + if (std::abs(angular_vel.Z()) < 0.0001) { +#else + if (std::abs(angular_vel.z) < 0.0001) { +#endif + odom_.pose.covariance[35] = 0.01; + }else{ + odom_.pose.covariance[35] = 100.0; + } + + odom_.twist.covariance[0] = 0.001; + odom_.twist.covariance[7] = 0.001; + odom_.twist.covariance[14] = 0.001; + odom_.twist.covariance[21] = 1000000000000.0; + odom_.twist.covariance[28] = 1000000000000.0; + +#if (GAZEBO_MAJOR_VERSION >= 8) + if (std::abs(angular_vel.Z()) < 0.0001) { +#else + if (std::abs(angular_vel.z) < 0.0001) { +#endif + odom_.twist.covariance[35] = 0.01; + }else{ + odom_.twist.covariance[35] = 100.0; + } + + + + odometry_pub_.publish(odom_); + } + + + tf::Transform GazeboRosForceBasedMove::getTransformForMotion(double linear_vel_x, double linear_vel_y, double angular_vel, double timeSeconds) const + { + tf::Transform tmp; + tmp.setIdentity(); + + if (std::abs(angular_vel) < 0.0001) { + //Drive straight + tmp.setOrigin(tf::Vector3(static_cast(linear_vel_x*timeSeconds), static_cast(linear_vel_y*timeSeconds), 0.0)); + } else{ + const double distX = linear_vel_x * timeSeconds; + const double distY = linear_vel_y * timeSeconds; + + if (std::abs(distX) < 0.0001 && std::abs(distY) < 0.0001) { + //Rotate on spot + const double angleChange = angular_vel * timeSeconds; + tmp.setRotation(tf::createQuaternionFromYaw(angleChange)); + } else { + //Follow circular arc + const double distChange = std::sqrt(distX * distX + distY * distY); + const double angleDriveDirection = std::atan2(distY, distX); + const double angleChange = angular_vel * timeSeconds; + + const double arcRadius = distChange / angleChange; + + tf::Vector3 endPos = tf::Vector3(std::sin(angleChange) * arcRadius, + arcRadius - std::cos(angleChange) * arcRadius, + 0.0); + + tmp.setOrigin(endPos.rotate(tf::Vector3(0.0, 0.0, 1.0), angleDriveDirection)); + + tmp.setRotation(tf::createQuaternionFromYaw(angleChange)); + } + } + + return tmp; + } + + GZ_REGISTER_MODEL_PLUGIN(GazeboRosForceBasedMove) +} + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_gps.cpp b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_gps.cpp new file mode 100755 index 0000000..81f63c3 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_gps.cpp @@ -0,0 +1,309 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include +#include + +// WGS84 constants +static const double equatorial_radius = 6378137.0; +static const double flattening = 1.0/298.257223563; +static const double excentrity2 = 2*flattening - flattening*flattening; + +// default reference position +static const double DEFAULT_REFERENCE_LATITUDE = 49.9; +static const double DEFAULT_REFERENCE_LONGITUDE = 8.9; +static const double DEFAULT_REFERENCE_HEADING = 0.0; +static const double DEFAULT_REFERENCE_ALTITUDE = 0.0; +namespace gazebo { + +GazeboRosGps::GazeboRosGps() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosGps::~GazeboRosGps() +{ + updateTimer.Disconnect(updateConnection); + + dynamic_reconfigure_server_position_.reset(); + dynamic_reconfigure_server_velocity_.reset(); + dynamic_reconfigure_server_status_.reset(); + + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString(); + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + else { + link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString(); + link = _model->GetLink(link_name_); + } + + if (!link) + { + ROS_FATAL("GazeboRosGps plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + // default parameters + frame_id_ = "/world"; + fix_topic_ = "fix"; + velocity_topic_ = "fix_velocity"; + + reference_latitude_ = DEFAULT_REFERENCE_LATITUDE; + reference_longitude_ = DEFAULT_REFERENCE_LONGITUDE; + reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0; + reference_altitude_ = DEFAULT_REFERENCE_ALTITUDE; + + if (_sdf->HasElement("useWorldSphericalCoordinates")) + { + bool use_world_coords = false; + if (_sdf->GetElement("useWorldSphericalCoordinates")->GetValue()->Get(use_world_coords) && use_world_coords) + { + common::SphericalCoordinatesPtr spherical_coords = world->SphericalCoords(); + reference_latitude_ = spherical_coords->LatitudeReference().Degree(); + reference_longitude_ = spherical_coords->LongitudeReference().Degree(); + // SDF specifies heading counter-clockwise from east, but here it's measured clockwise from north + reference_heading_ = (M_PI / 2.0) - spherical_coords->HeadingOffset().Radian(); + reference_altitude_ = spherical_coords->GetElevationReference(); + } + } + + fix_.status.status = sensor_msgs::NavSatStatus::STATUS_FIX; + fix_.status.service = 0; + + if (_sdf->HasElement("frameId")) + frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString(); + + if (_sdf->HasElement("topicName")) + fix_topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString(); + + if (_sdf->HasElement("velocityTopicName")) + velocity_topic_ = _sdf->GetElement("velocityTopicName")->GetValue()->GetAsString(); + + if (_sdf->HasElement("referenceLatitude")) + _sdf->GetElement("referenceLatitude")->GetValue()->Get(reference_latitude_); + + if (_sdf->HasElement("referenceLongitude")) + _sdf->GetElement("referenceLongitude")->GetValue()->Get(reference_longitude_); + + if (_sdf->HasElement("referenceHeading")) + if (_sdf->GetElement("referenceHeading")->GetValue()->Get(reference_heading_)) + reference_heading_ *= M_PI/180.0; + + if (_sdf->HasElement("referenceAltitude")) + _sdf->GetElement("referenceAltitude")->GetValue()->Get(reference_altitude_); + + if (_sdf->HasElement("status")) { + int status = fix_.status.status; + if (_sdf->GetElement("status")->GetValue()->Get(status)) + fix_.status.status = static_cast(status); + } + + if (_sdf->HasElement("service")) { + unsigned int service = fix_.status.service; + if (_sdf->GetElement("service")->GetValue()->Get(service)) + fix_.status.service = static_cast(service); + } + + + fix_.header.frame_id = frame_id_; + velocity_.header.frame_id = frame_id_; + + position_error_model_.Load(_sdf); + velocity_error_model_.Load(_sdf, "velocity"); + + // calculate earth radii + double temp = 1.0 / (1.0 - excentrity2 * sin(reference_latitude_ * M_PI/180.0) * sin(reference_latitude_ * M_PI/180.0)); + double prime_vertical_radius = equatorial_radius * sqrt(temp); + radius_north_ = prime_vertical_radius * (1 - excentrity2) * temp; + radius_east_ = prime_vertical_radius * cos(reference_latitude_ * M_PI/180.0); + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + + node_handle_ = new ros::NodeHandle(namespace_); + fix_publisher_ = node_handle_->advertise(fix_topic_, 10); + velocity_publisher_ = node_handle_->advertise(velocity_topic_, 10); + + set_geopose_srv_ = node_handle_->advertiseService(fix_topic_ + "/set_reference_geopose", &GazeboRosGps::setGeoposeCb, this); + + // setup dynamic_reconfigure servers + dynamic_reconfigure_server_position_.reset(new dynamic_reconfigure::Server(ros::NodeHandle(*node_handle_, fix_topic_ + "/position"))); + dynamic_reconfigure_server_velocity_.reset(new dynamic_reconfigure::Server(ros::NodeHandle(*node_handle_, fix_topic_ + "/velocity"))); + dynamic_reconfigure_server_status_.reset(new dynamic_reconfigure::Server(ros::NodeHandle(*node_handle_, fix_topic_ + "/status"))); + dynamic_reconfigure_server_position_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &position_error_model_, _1, _2)); + dynamic_reconfigure_server_velocity_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &velocity_error_model_, _1, _2)); + dynamic_reconfigure_server_status_->setCallback(boost::bind(&GazeboRosGps::dynamicReconfigureCallback, this, _1, _2)); + + Reset(); + + // connect Update function + updateTimer.setUpdateRate(4.0); + updateTimer.Load(world, _sdf); + updateConnection = updateTimer.Connect(boost::bind(&GazeboRosGps::Update, this)); +} + +bool GazeboRosGps::setGeoposeCb(hector_gazebo_plugins::SetReferenceGeoPose::Request& request, + hector_gazebo_plugins::SetReferenceGeoPose::Response&) +{ + reference_latitude_ = request.geo_pose.position.latitude; + reference_longitude_ = request.geo_pose.position.longitude; + tf::Quaternion q(request.geo_pose.orientation.x, + request.geo_pose.orientation.y, + request.geo_pose.orientation.z, + request.geo_pose.orientation.w); + tf::Matrix3x3 m(q); + tfScalar yaw, pitch, roll; + m.getEulerYPR(yaw, pitch, roll); + reference_heading_ = (M_PI / 2.0) - yaw; + reference_altitude_ = request.geo_pose.position.altitude; + + Reset(); + + return true; +} + +void GazeboRosGps::Reset() +{ + updateTimer.Reset(); + position_error_model_.reset(); + velocity_error_model_.reset(); +} + +void GazeboRosGps::dynamicReconfigureCallback(GazeboRosGps::GNSSConfig &config, uint32_t level) +{ + using sensor_msgs::NavSatStatus; + if (level == 1) { + if (!config.STATUS_FIX) { + fix_.status.status = NavSatStatus::STATUS_NO_FIX; + } else { + fix_.status.status = (config.STATUS_SBAS_FIX ? NavSatStatus::STATUS_SBAS_FIX : 0) | + (config.STATUS_GBAS_FIX ? NavSatStatus::STATUS_GBAS_FIX : 0); + } + fix_.status.service = (config.SERVICE_GPS ? NavSatStatus::SERVICE_GPS : 0) | + (config.SERVICE_GLONASS ? NavSatStatus::SERVICE_GLONASS : 0) | + (config.SERVICE_COMPASS ? NavSatStatus::SERVICE_COMPASS : 0) | + (config.SERVICE_GALILEO ? NavSatStatus::SERVICE_GALILEO : 0); + } else { + config.STATUS_FIX = (fix_.status.status != NavSatStatus::STATUS_NO_FIX); + config.STATUS_SBAS_FIX = (fix_.status.status & NavSatStatus::STATUS_SBAS_FIX); + config.STATUS_GBAS_FIX = (fix_.status.status & NavSatStatus::STATUS_GBAS_FIX); + config.SERVICE_GPS = (fix_.status.service & NavSatStatus::SERVICE_GPS); + config.SERVICE_GLONASS = (fix_.status.service & NavSatStatus::SERVICE_GLONASS); + config.SERVICE_COMPASS = (fix_.status.service & NavSatStatus::SERVICE_COMPASS); + config.SERVICE_GALILEO = (fix_.status.service & NavSatStatus::SERVICE_GALILEO); + } +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosGps::Update() +{ +#if (GAZEBO_MAJOR_VERSION >= 8) + common::Time sim_time = world->SimTime(); + double dt = updateTimer.getTimeSinceLastUpdate().Double(); + + ignition::math::Pose3d pose = link->WorldPose(); + + ignition::math::Vector3d velocity = velocity_error_model_(link->WorldLinearVel(), dt); + ignition::math::Vector3d position = position_error_model_(pose.Pos(), dt); +#else + common::Time sim_time = world->GetSimTime(); + double dt = updateTimer.getTimeSinceLastUpdate().Double(); + + math::Pose pose = link->GetWorldPose(); + + gazebo::math::Vector3 velocity = velocity_error_model_(link->GetWorldLinearVel(), dt); + gazebo::math::Vector3 position = position_error_model_(pose.pos, dt); +#endif + + // An offset error in the velocity is integrated into the position error for the next timestep. + // Note: Usually GNSS receivers have almost no drift in the velocity signal. + position_error_model_.setCurrentDrift(position_error_model_.getCurrentDrift() + dt * velocity_error_model_.getCurrentDrift()); + + fix_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + velocity_.header.stamp = fix_.header.stamp; + +#if (GAZEBO_MAJOR_VERSION >= 8) + fix_.latitude = reference_latitude_ + ( cos(reference_heading_) * position.X() + sin(reference_heading_) * position.Y()) / radius_north_ * 180.0/M_PI; + fix_.longitude = reference_longitude_ - (-sin(reference_heading_) * position.X() + cos(reference_heading_) * position.Y()) / radius_east_ * 180.0/M_PI; + fix_.altitude = reference_altitude_ + position.Z(); + velocity_.vector.x = cos(reference_heading_) * velocity.X() + sin(reference_heading_) * velocity.Y(); + velocity_.vector.y = -sin(reference_heading_) * velocity.X() + cos(reference_heading_) * velocity.Y(); + velocity_.vector.z = velocity.Z(); + + fix_.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN; + fix_.position_covariance[0] = position_error_model_.drift.X()*position_error_model_.drift.X() + position_error_model_.gaussian_noise.X()*position_error_model_.gaussian_noise.X(); + fix_.position_covariance[4] = position_error_model_.drift.Y()*position_error_model_.drift.Y() + position_error_model_.gaussian_noise.Y()*position_error_model_.gaussian_noise.Y(); + fix_.position_covariance[8] = position_error_model_.drift.Z()*position_error_model_.drift.Z() + position_error_model_.gaussian_noise.Z()*position_error_model_.gaussian_noise.Z(); +#else + fix_.latitude = reference_latitude_ + ( cos(reference_heading_) * position.x + sin(reference_heading_) * position.y) / radius_north_ * 180.0/M_PI; + fix_.longitude = reference_longitude_ - (-sin(reference_heading_) * position.x + cos(reference_heading_) * position.y) / radius_east_ * 180.0/M_PI; + fix_.altitude = reference_altitude_ + position.z; + velocity_.vector.x = cos(reference_heading_) * velocity.x + sin(reference_heading_) * velocity.y; + velocity_.vector.y = -sin(reference_heading_) * velocity.x + cos(reference_heading_) * velocity.y; + velocity_.vector.z = velocity.z; + + fix_.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN; + fix_.position_covariance[0] = position_error_model_.drift.x*position_error_model_.drift.x + position_error_model_.gaussian_noise.x*position_error_model_.gaussian_noise.x; + fix_.position_covariance[4] = position_error_model_.drift.y*position_error_model_.drift.y + position_error_model_.gaussian_noise.y*position_error_model_.gaussian_noise.y; + fix_.position_covariance[8] = position_error_model_.drift.z*position_error_model_.drift.z + position_error_model_.gaussian_noise.z*position_error_model_.gaussian_noise.z; +#endif + + fix_publisher_.publish(fix_); + velocity_publisher_.publish(velocity_); +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosGps) + +} // namespace gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_imu.cpp b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_imu.cpp new file mode 100755 index 0000000..26e9d7d --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_imu.cpp @@ -0,0 +1,518 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include +#include + +#include + +namespace gazebo +{ + +// #define DEBUG_OUTPUT +#ifdef DEBUG_OUTPUT + #include + static ros::Publisher debugPublisher; +#endif // DEBUG_OUTPUT + +//////////////////////////////////////////////////////////////////////////////// +// Constructor +GazeboRosIMU::GazeboRosIMU() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosIMU::~GazeboRosIMU() +{ + updateTimer.Disconnect(updateConnection); + + dynamic_reconfigure_server_accel_.reset(); + dynamic_reconfigure_server_rate_.reset(); + dynamic_reconfigure_server_yaw_.reset(); + + node_handle_->shutdown(); +#ifdef USE_CBQ + callback_queue_thread_.join(); +#endif + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosIMU::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + // Get the world name. + world = _model->GetWorld(); + + // load parameters + if (_sdf->HasElement("robotNamespace")) + namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString(); + else + namespace_.clear(); + + if (_sdf->HasElement("bodyName")) + { + link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString(); + link = _model->GetLink(link_name_); + } + else + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + + // assert that the body by link_name_ exists + if (!link) + { + ROS_FATAL("GazeboRosIMU plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + // default parameters + frame_id_ = link_name_; + topic_ = "imu"; + + if (_sdf->HasElement("frameId")) + frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString(); + + if (_sdf->HasElement("topicName")) + topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString(); + + if (_sdf->HasElement("biasTopicName")) + bias_topic_ = _sdf->GetElement("biasTopicName")->GetValue()->GetAsString(); + else + bias_topic_ = (!topic_.empty() ? topic_ + "/bias" : ""); + + if (_sdf->HasElement("serviceName")) + serviceName = _sdf->GetElement("serviceName")->GetValue()->GetAsString(); + else + serviceName = topic_ + "/calibrate"; + + accelModel.Load(_sdf, "accel"); + rateModel.Load(_sdf, "rate"); + yawModel.Load(_sdf, "yaw"); + + // also use old configuration variables from gazebo_ros_imu + if (_sdf->HasElement("gaussianNoise")) { + double gaussianNoise; + if (_sdf->GetElement("gaussianNoise")->GetValue()->Get(gaussianNoise) && gaussianNoise != 0.0) { + accelModel.gaussian_noise = gaussianNoise; + rateModel.gaussian_noise = gaussianNoise; + } + } + + if (_sdf->HasElement("xyzOffset")) { +#if (GAZEBO_MAJOR_VERSION >= 8) + this->offset_.Pos() = _sdf->Get("xyzOffset"); +#else + this->offset_.pos = _sdf->Get("xyzOffset"); +#endif + } else { + ROS_INFO("imu plugin missing , defaults to 0s"); +#if (GAZEBO_MAJOR_VERSION >= 8) + this->offset_.Pos() = ignition::math::Vector3d(0, 0, 0); +#else + this->offset_.pos = math::Vector3(0, 0, 0); +#endif + } + + if (_sdf->HasElement("rpyOffset")) { +#if (GAZEBO_MAJOR_VERSION >= 8) + this->offset_.Rot() = _sdf->Get("rpyOffset"); +#else + this->offset_.rot = _sdf->Get("rpyOffset"); +#endif + } else { + ROS_INFO("imu plugin missing , defaults to 0s"); +#if (GAZEBO_MAJOR_VERSION >= 8) + this->offset_.Rot() = ignition::math::Quaterniond(0, 0, 0); +#else + this->offset_.rot = math::Vector3(0, 0, 0); +#endif + } + + // fill in constant covariance matrix +#if (GAZEBO_MAJOR_VERSION >= 8) + imuMsg.angular_velocity_covariance[0] = rateModel.gaussian_noise.X()*rateModel.gaussian_noise.X(); + imuMsg.angular_velocity_covariance[4] = rateModel.gaussian_noise.Y()*rateModel.gaussian_noise.Y(); + imuMsg.angular_velocity_covariance[8] = rateModel.gaussian_noise.Z()*rateModel.gaussian_noise.Z(); + imuMsg.linear_acceleration_covariance[0] = accelModel.gaussian_noise.X()*accelModel.gaussian_noise.X(); + imuMsg.linear_acceleration_covariance[4] = accelModel.gaussian_noise.Y()*accelModel.gaussian_noise.Y(); + imuMsg.linear_acceleration_covariance[8] = accelModel.gaussian_noise.Z()*accelModel.gaussian_noise.Z(); +#else + imuMsg.angular_velocity_covariance[0] = rateModel.gaussian_noise.x*rateModel.gaussian_noise.x; + imuMsg.angular_velocity_covariance[4] = rateModel.gaussian_noise.y*rateModel.gaussian_noise.y; + imuMsg.angular_velocity_covariance[8] = rateModel.gaussian_noise.z*rateModel.gaussian_noise.z; + imuMsg.linear_acceleration_covariance[0] = accelModel.gaussian_noise.x*accelModel.gaussian_noise.x; + imuMsg.linear_acceleration_covariance[4] = accelModel.gaussian_noise.y*accelModel.gaussian_noise.y; + imuMsg.linear_acceleration_covariance[8] = accelModel.gaussian_noise.z*accelModel.gaussian_noise.z; +#endif + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package."); + return; + } + + node_handle_ = new ros::NodeHandle(namespace_); + + // if topic name specified as empty, do not publish (then what is this plugin good for?) + if (!topic_.empty()) + pub_ = node_handle_->advertise(topic_, 10); + if (!bias_topic_.empty()) + bias_pub_ = node_handle_->advertise(bias_topic_, 10); + +#ifdef DEBUG_OUTPUT + debugPublisher = rosnode_->advertise(topic_ + "/pose", 10); +#endif // DEBUG_OUTPUT + + // advertise services for calibration and bias setting + if (!serviceName.empty()) + srv_ = node_handle_->advertiseService(serviceName, &GazeboRosIMU::ServiceCallback, this); + + accelBiasService = node_handle_->advertiseService(topic_ + "/set_accel_bias", &GazeboRosIMU::SetAccelBiasCallback, this); + rateBiasService = node_handle_->advertiseService(topic_ + "/set_rate_bias", &GazeboRosIMU::SetRateBiasCallback, this); + + // setup dynamic_reconfigure servers + if (!topic_.empty()) { + dynamic_reconfigure_server_accel_.reset(new dynamic_reconfigure::Server(ros::NodeHandle(*node_handle_, topic_ + "/accel"))); + dynamic_reconfigure_server_rate_.reset(new dynamic_reconfigure::Server(ros::NodeHandle(*node_handle_, topic_ + "/rate"))); + dynamic_reconfigure_server_yaw_.reset(new dynamic_reconfigure::Server(ros::NodeHandle(*node_handle_, topic_ + "/yaw"))); + dynamic_reconfigure_server_accel_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &accelModel, _1, _2)); + dynamic_reconfigure_server_rate_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &rateModel, _1, _2)); + dynamic_reconfigure_server_yaw_->setCallback(boost::bind(&SensorModel::dynamicReconfigureCallback, &yawModel, _1, _2)); + } + +#ifdef USE_CBQ + // start custom queue for imu + callback_queue_thread_ = boost::thread( boost::bind( &GazeboRosIMU::CallbackQueueThread,this ) ); +#endif + + Reset(); + + // connect Update function + updateTimer.Load(world, _sdf); + updateConnection = updateTimer.Connect(boost::bind(&GazeboRosIMU::Update, this)); +} + +void GazeboRosIMU::Reset() +{ + updateTimer.Reset(); + +#if (GAZEBO_MAJOR_VERSION >= 8) + orientation = ignition::math::Quaterniond(); +#else + orientation = math::Quaternion(); +#endif + velocity = 0.0; + accel = 0.0; + + accelModel.reset(); + rateModel.reset(); + yawModel.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// returns true always, imu is always calibrated in sim +bool GazeboRosIMU::ServiceCallback(std_srvs::Empty::Request &req, + std_srvs::Empty::Response &res) +{ + boost::mutex::scoped_lock scoped_lock(lock); +#if (GAZEBO_MAJOR_VERSION >= 8) + rateModel.reset(ignition::math::Vector3d(0.0, 0.0, 0.0)); +#else + rateModel.reset(math::Vector3(0.0, 0.0, 0.0)); +#endif + return true; +} + +bool GazeboRosIMU::SetAccelBiasCallback(hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res) +{ + boost::mutex::scoped_lock scoped_lock(lock); +#if (GAZEBO_MAJOR_VERSION >= 8) + accelModel.reset(ignition::math::Vector3d(req.bias.x, req.bias.y, req.bias.z)); +#else + accelModel.reset(math::Vector3(req.bias.x, req.bias.y, req.bias.z)); +#endif + return true; +} + +bool GazeboRosIMU::SetRateBiasCallback(hector_gazebo_plugins::SetBias::Request &req, hector_gazebo_plugins::SetBias::Response &res) +{ + boost::mutex::scoped_lock scoped_lock(lock); +#if (GAZEBO_MAJOR_VERSION >= 8) + rateModel.reset(ignition::math::Vector3d(req.bias.x, req.bias.y, req.bias.z)); +#else + rateModel.reset(math::Vector3(req.bias.x, req.bias.y, req.bias.z)); +#endif + return true; +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosIMU::Update() +{ + // Get Time Difference dt +#if (GAZEBO_MAJOR_VERSION >= 8) + common::Time cur_time = world->SimTime(); +#else + common::Time cur_time = world->GetSimTime(); +#endif + double dt = updateTimer.getTimeSinceLastUpdate().Double(); + boost::mutex::scoped_lock scoped_lock(lock); + + // Get Pose/Orientation +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Pose3d pose = link->WorldPose(); + // ignition::math::Vector3d pos = pose.pos + this->offset_.pos; + ignition::math::Quaterniond rot = this->offset_.Rot() * pose.Rot(); +#else + math::Pose pose = link->GetWorldPose(); + // math::Vector3 pos = pose.pos + this->offset_.pos; + math::Quaternion rot = this->offset_.rot * pose.rot; +#endif + rot.Normalize(); + + // get Gravity +#if (GAZEBO_MAJOR_VERSION >= 8) + gravity = world->Gravity(); + double gravity_length = gravity.Length(); + ROS_DEBUG_NAMED("gazebo_ros_imu", "gravity_world = [%g %g %g]", gravity.X(), gravity.Y(), gravity.Z()); +#else + gravity = world->GetPhysicsEngine()->GetGravity(); + double gravity_length = gravity.GetLength(); + ROS_DEBUG_NAMED("gazebo_ros_imu", "gravity_world = [%g %g %g]", gravity.x, gravity.y, gravity.z); +#endif + + // get Acceleration and Angular Rates + // the result of GetRelativeLinearAccel() seems to be unreliable (sum of forces added during the current simulation step)? + //accel = myBody->GetRelativeLinearAccel(); // get acceleration in body frame +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Vector3d temp = link->WorldLinearVel(); // get velocity in world frame +#else + math::Vector3 temp = link->GetWorldLinearVel(); // get velocity in world frame +#endif + if (dt > 0.0) accel = rot.RotateVectorReverse((temp - velocity) / dt - gravity); + velocity = temp; + + // calculate angular velocity from delta quaternion + // note: link->GetRelativeAngularVel() sometimes return nan? + // rate = link->GetRelativeAngularVel(); // get angular rate in body frame +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Quaterniond delta = this->orientation.Inverse() * rot; +#else + math::Quaternion delta = this->orientation.GetInverse() * rot; +#endif + this->orientation = rot; + if (dt > 0.0) { +#if (GAZEBO_MAJOR_VERSION >= 8) + rate = this->offset_.Rot().Inverse() + * (2.0 * acos(std::max(std::min(delta.W(), 1.0), -1.0)) * ignition::math::Vector3d(delta.X(), delta.Y(), delta.Z()).Normalize() / dt); +#else + rate = this->offset_.rot.GetInverse() + * (2.0 * acos(std::max(std::min(delta.w, 1.0), -1.0)) * math::Vector3(delta.x, delta.y, delta.z).Normalize() / dt); +#endif + } + + // update sensor models + accel = accelModel(accel, dt); + rate = rateModel(rate, dt); + yawModel.update(dt); +#if (GAZEBO_MAJOR_VERSION >= 8) + ROS_DEBUG_NAMED("gazebo_ros_imu", "Current bias errors: accel = [%g %g %g], rate = [%g %g %g], yaw = %g", + accelModel.getCurrentBias().X(), accelModel.getCurrentBias().Y(), accelModel.getCurrentBias().Z(), + rateModel.getCurrentBias().X(), rateModel.getCurrentBias().Y(), rateModel.getCurrentBias().Z(), + yawModel.getCurrentBias()); + ROS_DEBUG_NAMED("gazebo_ros_imu", "Scale errors: accel = [%g %g %g], rate = [%g %g %g], yaw = %g", + accelModel.getScaleError().X(), accelModel.getScaleError().Y(), accelModel.getScaleError().Z(), + rateModel.getScaleError().X(), rateModel.getScaleError().Y(), rateModel.getScaleError().Z(), + yawModel.getScaleError()); +#else + ROS_DEBUG_NAMED("gazebo_ros_imu", "Current bias errors: accel = [%g %g %g], rate = [%g %g %g], yaw = %g", + accelModel.getCurrentBias().x, accelModel.getCurrentBias().y, accelModel.getCurrentBias().z, + rateModel.getCurrentBias().x, rateModel.getCurrentBias().y, rateModel.getCurrentBias().z, + yawModel.getCurrentBias()); + ROS_DEBUG_NAMED("gazebo_ros_imu", "Scale errors: accel = [%g %g %g], rate = [%g %g %g], yaw = %g", + accelModel.getScaleError().x, accelModel.getScaleError().y, accelModel.getScaleError().z, + rateModel.getScaleError().x, rateModel.getScaleError().y, rateModel.getScaleError().z, + yawModel.getScaleError()); +#endif + + // apply accelerometer and yaw drift error to orientation (pseudo AHRS) +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Vector3d accelDrift = pose.Rot().RotateVector(accelModel.getCurrentBias()); + double yawError = yawModel.getCurrentBias(); + ignition::math::Quaterniond orientationError( + ignition::math::Quaterniond(cos(yawError/2), 0.0, 0.0, sin(yawError/2)) * // yaw error + ignition::math::Quaterniond(1.0, 0.5 * accelDrift.Y() / gravity_length, 0.5 * -accelDrift.X() / gravity_length, 0.0) // roll and pitch error + ); +#else + math::Vector3 accelDrift = pose.rot.RotateVector(accelModel.getCurrentBias()); + double yawError = yawModel.getCurrentBias(); + math::Quaternion orientationError( + math::Quaternion(cos(yawError/2), 0.0, 0.0, sin(yawError/2)) * // yaw error + math::Quaternion(1.0, 0.5 * accelDrift.y / gravity_length, 0.5 * -accelDrift.x / gravity_length, 0.0) // roll and pitch error + ); +#endif + orientationError.Normalize(); + rot = orientationError * rot; + + // copy data into pose message + imuMsg.header.frame_id = frame_id_; + imuMsg.header.stamp.sec = cur_time.sec; + imuMsg.header.stamp.nsec = cur_time.nsec; + + // orientation quaternion +#if (GAZEBO_MAJOR_VERSION >= 8) + imuMsg.orientation.x = rot.X(); + imuMsg.orientation.y = rot.Y(); + imuMsg.orientation.z = rot.Z(); + imuMsg.orientation.w = rot.W(); +#else + imuMsg.orientation.x = rot.x; + imuMsg.orientation.y = rot.y; + imuMsg.orientation.z = rot.z; + imuMsg.orientation.w = rot.w; +#endif + + // pass angular rates +#if (GAZEBO_MAJOR_VERSION >= 8) + imuMsg.angular_velocity.x = rate.X(); + imuMsg.angular_velocity.y = rate.Y(); + imuMsg.angular_velocity.z = rate.Z(); +#else + imuMsg.angular_velocity.x = rate.x; + imuMsg.angular_velocity.y = rate.y; + imuMsg.angular_velocity.z = rate.z; +#endif + + // pass accelerations +#if (GAZEBO_MAJOR_VERSION >= 8) + imuMsg.linear_acceleration.x = accel.X(); + imuMsg.linear_acceleration.y = accel.Y(); + imuMsg.linear_acceleration.z = accel.Z(); +#else + imuMsg.linear_acceleration.x = accel.x; + imuMsg.linear_acceleration.y = accel.y; + imuMsg.linear_acceleration.z = accel.z; +#endif + + // fill in covariance matrix + imuMsg.orientation_covariance[8] = yawModel.gaussian_noise*yawModel.gaussian_noise; + if (gravity_length > 0.0) { +#if (GAZEBO_MAJOR_VERSION >= 8) + imuMsg.orientation_covariance[0] = accelModel.gaussian_noise.X()*accelModel.gaussian_noise.X()/(gravity_length*gravity_length); + imuMsg.orientation_covariance[4] = accelModel.gaussian_noise.Y()*accelModel.gaussian_noise.Y()/(gravity_length*gravity_length); +#else + imuMsg.orientation_covariance[0] = accelModel.gaussian_noise.x*accelModel.gaussian_noise.x/(gravity_length*gravity_length); + imuMsg.orientation_covariance[4] = accelModel.gaussian_noise.y*accelModel.gaussian_noise.y/(gravity_length*gravity_length); +#endif + } else { + imuMsg.orientation_covariance[0] = -1; + imuMsg.orientation_covariance[4] = -1; + } + + // publish to ros + pub_.publish(imuMsg); + ROS_DEBUG_NAMED("gazebo_ros_imu", "Publishing IMU data at t = %f", cur_time.Double()); + + // publish bias + if (bias_pub_) { + biasMsg.header = imuMsg.header; +#if (GAZEBO_MAJOR_VERSION >= 8) + biasMsg.orientation.x = orientationError.X(); + biasMsg.orientation.y = orientationError.Y(); + biasMsg.orientation.z = orientationError.Z(); + biasMsg.orientation.w = orientationError.W(); + biasMsg.angular_velocity.x = rateModel.getCurrentBias().X(); + biasMsg.angular_velocity.y = rateModel.getCurrentBias().Y(); + biasMsg.angular_velocity.z = rateModel.getCurrentBias().Z(); + biasMsg.linear_acceleration.x = accelModel.getCurrentBias().X(); + biasMsg.linear_acceleration.y = accelModel.getCurrentBias().Y(); + biasMsg.linear_acceleration.z = accelModel.getCurrentBias().Z(); +#else + biasMsg.orientation.x = orientationError.x; + biasMsg.orientation.y = orientationError.y; + biasMsg.orientation.z = orientationError.z; + biasMsg.orientation.w = orientationError.w; + biasMsg.angular_velocity.x = rateModel.getCurrentBias().x; + biasMsg.angular_velocity.y = rateModel.getCurrentBias().y; + biasMsg.angular_velocity.z = rateModel.getCurrentBias().z; + biasMsg.linear_acceleration.x = accelModel.getCurrentBias().x; + biasMsg.linear_acceleration.y = accelModel.getCurrentBias().y; + biasMsg.linear_acceleration.z = accelModel.getCurrentBias().z; +#endif + bias_pub_.publish(biasMsg); + } + + // debug output +#ifdef DEBUG_OUTPUT + if (debugPublisher) { + geometry_msgs::PoseStamped debugPose; + debugPose.header = imuMsg.header; + debugPose.header.frame_id = "/map"; + debugPose.pose.orientation.w = imuMsg.orientation.w; + debugPose.pose.orientation.x = imuMsg.orientation.x; + debugPose.pose.orientation.y = imuMsg.orientation.y; + debugPose.pose.orientation.z = imuMsg.orientation.z; +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Pose3d pose = link->WorldPose(); + debugPose.pose.position.x = pose.Pos().X(); + debugPose.pose.position.y = pose.Pos().Y(); + debugPose.pose.position.z = pose.Pos().Z(); +#else + math::Pose pose = link->GetWorldPose(); + debugPose.pose.position.x = pose.pos.x; + debugPose.pose.position.y = pose.pos.y; + debugPose.pose.position.z = pose.pos.z; +#endif + debugPublisher.publish(debugPose); + } +#endif // DEBUG_OUTPUT +} + +#ifdef USE_CBQ +void GazeboRosIMU::CallbackQueueThread() +{ + static const double timeout = 0.01; + + while (rosnode_->ok()) + { + callback_queue_.callAvailable(ros::WallDuration(timeout)); + } +} +#endif + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosIMU) + +} // namespace gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_magnetic.cpp b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_magnetic.cpp new file mode 100755 index 0000000..652dd91 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_magnetic.cpp @@ -0,0 +1,239 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include +#include +#include + +static const double DEFAULT_MAGNITUDE = 1.0; +static const double DEFAULT_REFERENCE_HEADING = 0.0; +static const double DEFAULT_DECLINATION = 0.0; +static const double DEFAULT_INCLINATION = 60.0; + +namespace gazebo { + +GazeboRosMagnetic::GazeboRosMagnetic() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosMagnetic::~GazeboRosMagnetic() +{ + updateTimer.Disconnect(updateConnection); + + dynamic_reconfigure_server_.reset(); + + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosMagnetic::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (_sdf->HasElement("robotNamespace")) + namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString(); + else + namespace_.clear(); + + if (!_sdf->HasElement("topicName")) + topic_ = "magnetic"; + else + topic_ = _sdf->GetElement("topicName")->Get(); + + + if (_sdf->HasElement("bodyName")) + { + link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString(); + link = _model->GetLink(link_name_); + } + else + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + + if (!link) + { + ROS_FATAL("GazeboRosMagnetic plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + // default parameters + frame_id_ = link_name_; + magnitude_ = DEFAULT_MAGNITUDE; + reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0; + declination_ = DEFAULT_DECLINATION * M_PI/180.0; + inclination_ = DEFAULT_INCLINATION * M_PI/180.0; + + if (_sdf->HasElement("useWorldSphericalCoordinates")) + { + bool use_world_coords = false; + if (_sdf->GetElement("useWorldSphericalCoordinates")->GetValue()->Get(use_world_coords) && use_world_coords) + { + common::SphericalCoordinatesPtr spherical_coords = world->SphericalCoords(); + // SDF specifies heading counter-clockwise from east, but here it's measured clockwise from north + reference_heading_ = (M_PI / 2.0) - spherical_coords->HeadingOffset().Radian(); + } + } + + if (_sdf->HasElement("frameId")) + frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString(); + + if (_sdf->HasElement("magnitude")) + _sdf->GetElement("magnitude")->GetValue()->Get(magnitude_); + + if (_sdf->HasElement("referenceHeading")) + if (_sdf->GetElement("referenceHeading")->GetValue()->Get(reference_heading_)) + reference_heading_ *= M_PI/180.0; + + if (_sdf->HasElement("declination")) + if (_sdf->GetElement("declination")->GetValue()->Get(declination_)) + declination_ *= M_PI/180.0; + + if (_sdf->HasElement("inclination")) + if (_sdf->GetElement("inclination")->GetValue()->Get(inclination_)) + inclination_ *= M_PI/180.0; + + if (_sdf->HasElement("useMagneticFieldMsgs")) + _sdf->GetElement("useMagneticFieldMsgs")->GetValue()->Get(use_magnetic_field_msgs_); + else + use_magnetic_field_msgs_ = false; + + // Note: Gazebo uses NorthWestUp coordinate system, heading and declination are compass headings +#if (GAZEBO_MAJOR_VERSION >= 8) + magnetic_field_world_.X() = magnitude_ * cos(inclination_) * cos(reference_heading_ - declination_); + magnetic_field_world_.Y() = magnitude_ * cos(inclination_) * sin(reference_heading_ - declination_); + magnetic_field_world_.Z() = magnitude_ * -sin(inclination_); +#else + magnetic_field_world_.x = magnitude_ * cos(inclination_) * cos(reference_heading_ - declination_); + magnetic_field_world_.y = magnitude_ * cos(inclination_) * sin(reference_heading_ - declination_); + magnetic_field_world_.z = magnitude_ * -sin(inclination_); +#endif + + sensor_model_.Load(_sdf); + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle(namespace_); + if (use_magnetic_field_msgs_) + publisher_ = node_handle_->advertise(topic_, 1); + else + publisher_ = node_handle_->advertise(topic_, 1); + + // setup dynamic_reconfigure server + dynamic_reconfigure_server_.reset(new dynamic_reconfigure::Server(ros::NodeHandle(*node_handle_, topic_))); + dynamic_reconfigure_server_->setCallback(boost::bind(&SensorModel3::dynamicReconfigureCallback, &sensor_model_, _1, _2)); + + Reset(); + + // connect Update function + updateTimer.Load(world, _sdf); + updateConnection = updateTimer.Connect(boost::bind(&GazeboRosMagnetic::Update, this)); +} + +void GazeboRosMagnetic::Reset() +{ + updateTimer.Reset(); + sensor_model_.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosMagnetic::Update() +{ +#if (GAZEBO_MAJOR_VERSION >= 8) + common::Time sim_time = world->SimTime(); + double dt = updateTimer.getTimeSinceLastUpdate().Double(); + ignition::math::Pose3d pose = link->WorldPose(); + ignition::math::Vector3d field = sensor_model_(pose.Rot().RotateVectorReverse(magnetic_field_world_), dt); +#else + common::Time sim_time = world->GetSimTime(); + double dt = updateTimer.getTimeSinceLastUpdate().Double(); + + math::Pose pose = link->GetWorldPose(); + math::Vector3 field = sensor_model_(pose.rot.RotateVectorReverse(magnetic_field_world_), dt); +#endif + + if (use_magnetic_field_msgs_) + { + sensor_msgs::MagneticField magnetic_field; + + magnetic_field.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + magnetic_field.header.frame_id = frame_id_; +#if (GAZEBO_MAJOR_VERSION >= 8) + magnetic_field.magnetic_field.x = field.X(); + magnetic_field.magnetic_field.y = field.Y(); + magnetic_field.magnetic_field.z = field.Z(); +#else + magnetic_field.magnetic_field.x = field.x; + magnetic_field.magnetic_field.y = field.y; + magnetic_field.magnetic_field.z = field.z; +#endif + + // future work: implement support for the magnetic_field_covariance + // e.g. magnetic_field_new_.magnetic_field_covariance = [...] + // by leaving it alone it'll be all-zeros, indicating "unknown" which is fine + + publisher_.publish(magnetic_field); + } + else + { + geometry_msgs::Vector3Stamped magnetic_field; + + magnetic_field.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + magnetic_field.header.frame_id = frame_id_; +#if (GAZEBO_MAJOR_VERSION >= 8) + magnetic_field.vector.x = field.X(); + magnetic_field.vector.y = field.Y(); + magnetic_field.vector.z = field.Z(); +#else + magnetic_field.vector.x = field.x; + magnetic_field.vector.y = field.y; + magnetic_field.vector.z = field.z; +#endif + + publisher_.publish(magnetic_field); + } +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosMagnetic) + +} // namespace gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_sonar.cpp b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_sonar.cpp new file mode 100755 index 0000000..0b10194 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_sonar.cpp @@ -0,0 +1,193 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include +#include +#include + +#include + +#include + +namespace gazebo { + +GazeboRosSonar::GazeboRosSonar() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosSonar::~GazeboRosSonar() +{ + updateTimer.Disconnect(updateConnection); + sensor_->SetActive(false); + + dynamic_reconfigure_server_.reset(); + + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosSonar::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) +{ + // Get then name of the parent sensor +#if (GAZEBO_MAJOR_VERSION > 6) + sensor_ = std::dynamic_pointer_cast(_sensor); +#else + sensor_ = boost::dynamic_pointer_cast(_sensor); +#endif + if (!sensor_) + { + gzthrow("GazeboRosSonar requires a Ray Sensor as its parent"); + return; + } + + // Get the world name. +#if (GAZEBO_MAJOR_VERSION > 6) + std::string worldName = sensor_->WorldName(); +#else + std::string worldName = sensor_->GetWorldName(); +#endif + world = physics::get_world(worldName); + + // default parameters + namespace_.clear(); + topic_ = "sonar"; + frame_id_ = "/sonar_link"; + + // load parameters + if (_sdf->HasElement("robotNamespace")) + namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString(); + + if (_sdf->HasElement("frameId")) + frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString(); + + if (_sdf->HasElement("topicName")) + topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString(); + + sensor_model_.Load(_sdf); + + range_.header.frame_id = frame_id_; + range_.radiation_type = sensor_msgs::Range::ULTRASOUND; +#if (GAZEBO_MAJOR_VERSION > 6) + range_.field_of_view = std::min(fabs((sensor_->AngleMax() - sensor_->AngleMin()).Radian()), fabs((sensor_->VerticalAngleMax() - sensor_->VerticalAngleMin()).Radian())); + range_.max_range = sensor_->RangeMax(); + range_.min_range = sensor_->RangeMin(); +#else + range_.field_of_view = std::min(fabs((sensor_->GetAngleMax() - sensor_->GetAngleMin()).Radian()), fabs((sensor_->GetVerticalAngleMax() - sensor_->GetVerticalAngleMin()).Radian())); + range_.max_range = sensor_->GetRangeMax(); + range_.min_range = sensor_->GetRangeMin(); +#endif + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + + node_handle_ = new ros::NodeHandle(namespace_); + publisher_ = node_handle_->advertise(topic_, 1); + + // setup dynamic_reconfigure server + dynamic_reconfigure_server_.reset(new dynamic_reconfigure::Server(ros::NodeHandle(*node_handle_, topic_))); + dynamic_reconfigure_server_->setCallback(boost::bind(&SensorModel::dynamicReconfigureCallback, &sensor_model_, _1, _2)); + + Reset(); + + // connect Update function + updateTimer.setUpdateRate(10.0); + updateTimer.Load(world, _sdf); + updateConnection = updateTimer.Connect(boost::bind(&GazeboRosSonar::Update, this)); + + // activate RaySensor + sensor_->SetActive(true); +} + +void GazeboRosSonar::Reset() +{ + updateTimer.Reset(); + sensor_model_.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosSonar::Update() +{ +#if (GAZEBO_MAJOR_VERSION >= 8) + common::Time sim_time = world->SimTime(); +#else + common::Time sim_time = world->GetSimTime(); +#endif + double dt = updateTimer.getTimeSinceLastUpdate().Double(); + + // activate RaySensor if it is not yet active + if (!sensor_->IsActive()) sensor_->SetActive(true); + +#if (GAZEBO_MAJOR_VERSION >= 8) + range_.header.stamp.sec = (world->SimTime()).sec; + range_.header.stamp.nsec = (world->SimTime()).nsec; +#else + range_.header.stamp.sec = (world->GetSimTime()).sec; + range_.header.stamp.nsec = (world->GetSimTime()).nsec; +#endif + + // find ray with minimal range + range_.range = std::numeric_limits::max(); +#if (GAZEBO_MAJOR_VERSION > 6) + int num_ranges = sensor_->LaserShape()->GetSampleCount() * sensor_->LaserShape()->GetVerticalSampleCount(); +#else + int num_ranges = sensor_->GetLaserShape()->GetSampleCount() * sensor_->GetLaserShape()->GetVerticalSampleCount(); +#endif + for(int i = 0; i < num_ranges; ++i) { +#if (GAZEBO_MAJOR_VERSION > 6) + double ray = sensor_->LaserShape()->GetRange(i); +#else + double ray = sensor_->GetLaserShape()->GetRange(i); +#endif + if (ray < range_.range) range_.range = ray; + } + + // add Gaussian noise (and limit to min/max range) + if (range_.range < range_.max_range) { + range_.range = sensor_model_(range_.range, dt); + if (range_.range < range_.min_range) range_.range = range_.min_range; + if (range_.range > range_.max_range) range_.range = range_.max_range; + } + + publisher_.publish(range_); +} + +// Register this plugin with the simulator +GZ_REGISTER_SENSOR_PLUGIN(GazeboRosSonar) + +} // namespace gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/reset_plugin.cpp b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/reset_plugin.cpp new file mode 100755 index 0000000..3867f00 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/reset_plugin.cpp @@ -0,0 +1,76 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include + +#include + +namespace gazebo { + +GazeboResetPlugin::GazeboResetPlugin() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboResetPlugin::~GazeboResetPlugin() +{ + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboResetPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + + node_handle_ = new ros::NodeHandle; + publisher_ = node_handle_->advertise("/syscommand", 1); +} + +//////////////////////////////////////////////////////////////////////////////// +// Reset the controller +void GazeboResetPlugin::Reset() +{ + std_msgs::String command; + command.data = "reset"; + publisher_.publish(command); +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboResetPlugin) + +} // namespace gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/servo_plugin.cpp b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/servo_plugin.cpp new file mode 100755 index 0000000..b26f8be --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/src/servo_plugin.cpp @@ -0,0 +1,496 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include +#include +#include + +#include + +#if (GAZEBO_MAJOR_VERSION > 1) || (GAZEBO_MINOR_VERSION >= 2) + #define RADIAN Radian +#else + #define RADIAN GetAsRadian +#endif + +namespace gazebo { + +GZ_REGISTER_MODEL_PLUGIN(ServoPlugin) + +enum +{ + FIRST = 0, SECOND = 1, THIRD = 2 +}; + +enum +{ + xyz, zyx +}; + +// Constructor +ServoPlugin::ServoPlugin() +{ + rosnode_ = 0; + transform_listener_ = 0; +} + +// Destructor +ServoPlugin::~ServoPlugin() +{ +#if (GAZEBO_MAJOR_VERSION >= 8) + updateConnection.reset(); +#else + event::Events::DisconnectWorldUpdateBegin(updateConnection); +#endif + delete transform_listener_; + rosnode_->shutdown(); + delete rosnode_; +} + +// Load the controller +void ServoPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + // Get the world name. + world = _model->GetWorld(); + + // default parameters + topicName = "drive"; + jointStateName = "joint_states"; + robotNamespace.clear(); + controlPeriod = 0; + proportionalControllerGain = 8.0; + derivativeControllerGain = 0.0; + maximumVelocity = 0.0; + maximumTorque = 0.0; + + // load parameters + if (_sdf->HasElement("robotNamespace")) robotNamespace = _sdf->Get("robotNamespace"); + if (_sdf->HasElement("topicName")) topicName = _sdf->Get("topicName"); + if (_sdf->HasElement("jointStateName")) jointStateName = _sdf->Get("jointStateName"); + if (_sdf->HasElement("firstServoName")) servo[FIRST].name = _sdf->Get("firstServoName"); +#if (GAZEBO_MAJOR_VERSION >= 8) + if (_sdf->HasElement("firstServoAxis")) servo[FIRST].axis = _sdf->Get("firstServoAxis"); +#else + if (_sdf->HasElement("firstServoAxis")) servo[FIRST].axis = _sdf->Get("firstServoAxis"); +#endif + if (_sdf->HasElement("secondServoName")) servo[SECOND].name = _sdf->Get("secondServoName"); +#if (GAZEBO_MAJOR_VERSION >= 8) + if (_sdf->HasElement("secondServoAxis")) servo[SECOND].axis = _sdf->Get("secondServoAxis"); +#else + if (_sdf->HasElement("secondServoAxis")) servo[SECOND].axis = _sdf->Get("secondServoAxis"); +#endif + if (_sdf->HasElement("thirdServoName")) servo[THIRD].name = _sdf->Get("thirdServoName"); +#if (GAZEBO_MAJOR_VERSION >= 8) + if (_sdf->HasElement("thirdServoAxis")) servo[THIRD].axis = _sdf->Get("thirdServoAxis"); +#else + if (_sdf->HasElement("thirdServoAxis")) servo[THIRD].axis = _sdf->Get("thirdServoAxis"); +#endif + if (_sdf->HasElement("proportionalControllerGain")) proportionalControllerGain = _sdf->Get("proportionalControllerGain"); + if (_sdf->HasElement("derivativeControllerGain")) derivativeControllerGain = _sdf->Get("derivativeControllerGain"); + if (_sdf->HasElement("maxVelocity")) maximumVelocity = _sdf->Get("maxVelocity"); + if (_sdf->HasElement("torque")) maximumTorque = _sdf->Get("torque"); + + double controlRate = 0.0; + if (_sdf->HasElement("controlRate")) controlRate = _sdf->Get("controlRate"); + controlPeriod = controlRate > 0.0 ? 1.0/controlRate : 0.0; + + servo[FIRST].joint = _model->GetJoint(servo[FIRST].name); + servo[SECOND].joint = _model->GetJoint(servo[SECOND].name); + servo[THIRD].joint = _model->GetJoint(servo[THIRD].name); + + if (!servo[FIRST].joint) + gzthrow("The controller couldn't get first joint"); + + countOfServos = 1; + if (servo[SECOND].joint) { + countOfServos = 2; + if (servo[THIRD].joint) { + countOfServos = 3; + } + } + else { + if (servo[THIRD].joint) { + gzthrow("The controller couldn't get second joint, but third joint was loaded"); + } + } + + if (!ros::isInitialized()) { + int argc = 0; + char** argv = NULL; + ros::init(argc, argv, "gazebo", ros::init_options::NoSigintHandler | ros::init_options::AnonymousName); + } + + rosnode_ = new ros::NodeHandle(robotNamespace); + + transform_listener_ = new tf::TransformListener(); + transform_listener_->setExtrapolationLimit(ros::Duration(1.0)); + + if (!topicName.empty()) { + ros::SubscribeOptions so = ros::SubscribeOptions::create(topicName, 1, + boost::bind(&ServoPlugin::cmdCallback, this, _1), + ros::VoidPtr(), &queue_); + sub_ = rosnode_->subscribe(so); + } + + if (!jointStateName.empty()) { + jointStatePub_ = rosnode_->advertise(jointStateName, 10); + } + + joint_state.header.frame_id = transform_listener_->resolve(_model->GetLink()->GetName()); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&ServoPlugin::Update, this)); +} + +// Initialize the controller +void ServoPlugin::Init() +{ + Reset(); +} + +// Reset +void ServoPlugin::Reset() +{ + // Reset orientation + current_cmd.reset(); + + enableMotors = true; + + servo[FIRST].velocity = 0; + servo[SECOND].velocity = 0; + servo[THIRD].velocity = 0; + +#if (GAZEBO_MAJOR_VERSION >= 8) + prevUpdateTime = world->SimTime(); +#else + prevUpdateTime = world->GetSimTime(); +#endif +} + +// Update the controller +void ServoPlugin::Update() +{ + // handle callbacks + queue_.callAvailable(); + + common::Time stepTime; +#if (GAZEBO_MAJOR_VERSION >= 8) + stepTime = world->SimTime() - prevUpdateTime; +#else + stepTime = world->GetSimTime() - prevUpdateTime; +#endif + + if (controlPeriod == 0.0 || stepTime > controlPeriod) { + CalculateVelocities(); + publish_joint_states(); +#if (GAZEBO_MAJOR_VERSION >= 8) + prevUpdateTime = world->SimTime(); +#else + prevUpdateTime = world->GetSimTime(); +#endif + } + + if (enableMotors) + { + servo[FIRST].joint->SetVelocity(0, servo[FIRST].velocity); + if (countOfServos > 1) { + servo[SECOND].joint->SetVelocity(0, servo[SECOND].velocity); + if (countOfServos > 2) { + servo[THIRD].joint->SetVelocity(0, servo[THIRD].velocity); + } + } + +#if (GAZEBO_MAJOR_VERSION > 4) + servo[FIRST].joint->SetEffortLimit(0, maximumTorque); + if (countOfServos > 1) { + servo[SECOND].joint->SetEffortLimit(0, maximumTorque); + if (countOfServos > 2) { + servo[THIRD].joint->SetEffortLimit(0, maximumTorque); + } + } +#else + servo[FIRST].joint->SetMaxForce(0, maximumTorque); + if (countOfServos > 1) { + servo[SECOND].joint->SetMaxForce(0, maximumTorque); + if (countOfServos > 2) { + servo[THIRD].joint->SetMaxForce(0, maximumTorque); + } + } +#endif + } else { +#if (GAZEBO_MAJOR_VERSION > 4) + servo[FIRST].joint->SetEffortLimit(0, 0.0); + if (countOfServos > 1) { + servo[SECOND].joint->SetEffortLimit(0, 0.0); + if (countOfServos > 2) { + servo[THIRD].joint->SetEffortLimit(0, 0.0); + } + } +#else + servo[FIRST].joint->SetMaxForce(0, 0.0); + if (countOfServos > 1) { + servo[SECOND].joint->SetMaxForce(0, 0.0); + if (countOfServos > 2) { + servo[THIRD].joint->SetMaxForce(0, 0.0); + } + } +#endif + } +} + +void ServoPlugin::CalculateVelocities() +{ + tf::StampedTransform transform; + boost::mutex::scoped_lock lock(mutex); + + if(!current_cmd){ + geometry_msgs::QuaternionStamped *default_cmd = new geometry_msgs::QuaternionStamped; + default_cmd->header.frame_id = "base_stabilized"; + default_cmd->quaternion.w = 1; + current_cmd.reset(default_cmd); + } + + try{ + // ros::Time simTime(world->GetSimTime().sec, world->GetSimTime().nsec); + transform_listener_->lookupTransform("base_link", current_cmd->header.frame_id, ros::Time(0), transform); + } + catch (tf::TransformException ex){ + ROS_DEBUG("%s",ex.what()); + servo[FIRST].velocity = 0.0; + servo[SECOND].velocity = 0.0; + servo[THIRD].velocity = 0.0; + return; + } + + rotation_.Set(current_cmd->quaternion.w, current_cmd->quaternion.x, current_cmd->quaternion.y, current_cmd->quaternion.z); + +#if (GAZEBO_MAJOR_VERSION >= 8) + ignition::math::Quaterniond quat(transform.getRotation().getW(),transform.getRotation().getX(),transform.getRotation().getY(),transform.getRotation().getZ()); +#else + math::Quaternion quat(transform.getRotation().getW(),transform.getRotation().getX(),transform.getRotation().getY(),transform.getRotation().getZ()); +#endif + + rotation_ = quat * rotation_; + + double temp[5]; + double desAngle[3]; + double actualAngle[3] = {0.0, 0.0, 0.0}; + double actualVel[3] = {0.0, 0.0, 0.0}; + + //TODO use countOfServos for calculation + rotationConv = 99; + orderOfAxes[0] = 99; + orderOfAxes[1] = 99; + orderOfAxes[2] = 99; + + switch(countOfServos) { + case 2: +#if (GAZEBO_MAJOR_VERSION >= 8) + if ((servo[FIRST].axis.Z() == 1) && (servo[SECOND].axis.Y() == 1)) { +#else + if ((servo[FIRST].axis.z == 1) && (servo[SECOND].axis.y == 1)) { +#endif + rotationConv = zyx; + orderOfAxes[0] = 0; + orderOfAxes[1] = 1; + } + else { +#if (GAZEBO_MAJOR_VERSION >= 8) + if ((servo[FIRST].axis.X() == 1) && (servo[SECOND].axis.Y() == 1)) { +#else + if ((servo[FIRST].axis.x == 1) && (servo[SECOND].axis.y == 1)) { +#endif + rotationConv = xyz; + orderOfAxes[0] = 0; + orderOfAxes[1] = 1; + } + } + break; + + case 3: +#if (GAZEBO_MAJOR_VERSION >= 8) + if ((servo[FIRST].axis.Z() == 1) && (servo[SECOND].axis.Y() == 1) && (servo[THIRD].axis.X() == 1)) { +#else + if ((servo[FIRST].axis.z == 1) && (servo[SECOND].axis.y == 1) && (servo[THIRD].axis.x == 1)) { +#endif + rotationConv = zyx; + orderOfAxes[0] = 0; + orderOfAxes[1] = 1; + orderOfAxes[2] = 2; + } +#if (GAZEBO_MAJOR_VERSION >= 8) + else if ((servo[FIRST].axis.X() == 1) && (servo[SECOND].axis.Y() == 1) && (servo[THIRD].axis.Z() == 1)) { +#else + else if ((servo[FIRST].axis.x == 1) && (servo[SECOND].axis.y == 1) && (servo[THIRD].axis.z == 1)) { +#endif + rotationConv = xyz; + orderOfAxes[0] = 0; + orderOfAxes[1] = 1; + orderOfAxes[2] = 2; + } + break; + + case 1: +#if (GAZEBO_MAJOR_VERSION >= 8) + if (servo[FIRST].axis.Y() == 1) { +#else + if (servo[FIRST].axis.y == 1) { +#endif + rotationConv = xyz; + orderOfAxes[0] = 1; + } + break; + + default: + gzthrow("Something went wrong. The count of servos is greater than 3"); + break; + } + + switch(rotationConv) { + case zyx: +#if (GAZEBO_MAJOR_VERSION >= 8) + temp[0] = 2*(rotation_.X()*rotation_.Y() + rotation_.W()*rotation_.Z()); + temp[1] = rotation_.W()*rotation_.W() + rotation_.X()*rotation_.X() - rotation_.Y()*rotation_.Y() - rotation_.Z()*rotation_.Z(); + temp[2] = -2*(rotation_.X()*rotation_.Z() - rotation_.W()*rotation_.Y()); + temp[3] = 2*(rotation_.Y()*rotation_.Z() + rotation_.W()*rotation_.X()); + temp[4] = rotation_.W()*rotation_.W() - rotation_.X()*rotation_.X() - rotation_.Y()*rotation_.Y() + rotation_.Z()*rotation_.Z(); +#else + temp[0] = 2*(rotation_.x*rotation_.y + rotation_.w*rotation_.z); + temp[1] = rotation_.w*rotation_.w + rotation_.x*rotation_.x - rotation_.y*rotation_.y - rotation_.z*rotation_.z; + temp[2] = -2*(rotation_.x*rotation_.z - rotation_.w*rotation_.y); + temp[3] = 2*(rotation_.y*rotation_.z + rotation_.w*rotation_.x); + temp[4] = rotation_.w*rotation_.w - rotation_.x*rotation_.x - rotation_.y*rotation_.y + rotation_.z*rotation_.z; +#endif + break; + + case xyz: +#if (GAZEBO_MAJOR_VERSION >= 8) + temp[0] = -2*(rotation_.Y()*rotation_.Z() - rotation_.W()*rotation_.X()); + temp[1] = rotation_.W()*rotation_.W() - rotation_.X()*rotation_.X() - rotation_.Y()*rotation_.Y() + rotation_.Z()*rotation_.Z(); + temp[2] = 2*(rotation_.X()*rotation_.Z() + rotation_.W()*rotation_.Y()); + temp[3] = -2*(rotation_.X()*rotation_.Y() - rotation_.W()*rotation_.Z()); + temp[4] = rotation_.W()*rotation_.W() + rotation_.X()*rotation_.X() - rotation_.Y()*rotation_.Y() - rotation_.Z()*rotation_.Z(); +#else + temp[0] = -2*(rotation_.y*rotation_.z - rotation_.w*rotation_.x); + temp[1] = rotation_.w*rotation_.w - rotation_.x*rotation_.x - rotation_.y*rotation_.y + rotation_.z*rotation_.z; + temp[2] = 2*(rotation_.x*rotation_.z + rotation_.w*rotation_.y); + temp[3] = -2*(rotation_.x*rotation_.y - rotation_.w*rotation_.z); + temp[4] = rotation_.w*rotation_.w + rotation_.x*rotation_.x - rotation_.y*rotation_.y - rotation_.z*rotation_.z; +#endif + break; + + default: + gzthrow("joint order " << rotationConv << " not supported"); + break; + } + + desAngle[0] = atan2(temp[0], temp[1]); + desAngle[1] = asin(temp[2]); + desAngle[2] = atan2(temp[3], temp[4]); + +#if (GAZEBO_MAJOR_VERSION >= 8) + actualAngle[FIRST] = servo[FIRST].joint->Position(0); +#else + actualAngle[FIRST] = servo[FIRST].joint->GetAngle(0).RADIAN(); +#endif + actualVel[FIRST] = servo[FIRST].joint->GetVelocity(0); + ROS_DEBUG_NAMED("servo_plugin", "%s servo angle: %f - %f", servo[FIRST].name.c_str(), desAngle[orderOfAxes[FIRST]], actualAngle[FIRST]); + servo[FIRST].velocity = ( proportionalControllerGain*(desAngle[orderOfAxes[FIRST]] - actualAngle[FIRST]) - derivativeControllerGain*actualVel[FIRST]); + if (maximumVelocity > 0.0 && fabs(servo[FIRST].velocity) > maximumVelocity) servo[FIRST].velocity = (servo[FIRST].velocity > 0 ? maximumVelocity : -maximumVelocity); + + if (countOfServos > 1) { +#if (GAZEBO_MAJOR_VERSION >= 8) + actualAngle[SECOND] = servo[SECOND].joint->Position(0); +#else + actualAngle[SECOND] = servo[SECOND].joint->GetAngle(0).RADIAN(); +#endif + actualVel[SECOND] = servo[SECOND].joint->GetVelocity(0); + ROS_DEBUG_NAMED("servo_plugin", "%s servo angle: %f - %f", servo[SECOND].name.c_str(), desAngle[orderOfAxes[SECOND]], actualAngle[SECOND]); + servo[SECOND].velocity = ( proportionalControllerGain*(desAngle[orderOfAxes[SECOND]] - actualAngle[SECOND]) - derivativeControllerGain*actualVel[SECOND]); + if (maximumVelocity > 0.0 && fabs(servo[SECOND].velocity) > maximumVelocity) servo[SECOND].velocity = (servo[SECOND].velocity > 0 ? maximumVelocity : -maximumVelocity); + + if (countOfServos == 3) { +#if (GAZEBO_MAJOR_VERSION >= 8) + actualAngle[THIRD] = servo[THIRD].joint->Position(0); +#else + actualAngle[THIRD] = servo[THIRD].joint->GetAngle(0).RADIAN(); +#endif + actualVel[THIRD] = servo[THIRD].joint->GetVelocity(0); + ROS_DEBUG_NAMED("servo_plugin", "%s servo angle: %f - %f", servo[THIRD].name.c_str(), desAngle[orderOfAxes[THIRD]], actualAngle[THIRD]); + servo[THIRD].velocity = ( proportionalControllerGain*(desAngle[orderOfAxes[THIRD]] - actualAngle[THIRD]) - derivativeControllerGain*actualVel[THIRD]); + if (maximumVelocity > 0.0 && fabs(servo[THIRD].velocity) > maximumVelocity) servo[THIRD].velocity = (servo[THIRD].velocity > 0 ? maximumVelocity : -maximumVelocity); + } + } + + // Changed motors to be always on, which is probably what we want anyway + enableMotors = true; //myIface->data->cmdEnableMotors > 0; +} + +// NEW: Store the velocities from the ROS message +void ServoPlugin::cmdCallback(const geometry_msgs::QuaternionStamped::ConstPtr& cmd_msg) +{ + boost::mutex::scoped_lock lock(mutex); + current_cmd = cmd_msg; +} + +void ServoPlugin::publish_joint_states() +{ + if (!jointStatePub_) return; + +#if (GAZEBO_MAJOR_VERSION >= 8) + joint_state.header.stamp.sec = (world->SimTime()).sec; + joint_state.header.stamp.nsec = (world->SimTime()).nsec; +#else + joint_state.header.stamp.sec = (world->GetSimTime()).sec; + joint_state.header.stamp.nsec = (world->GetSimTime()).nsec; +#endif + + joint_state.name.resize(countOfServos); + joint_state.position.resize(countOfServos); + joint_state.velocity.resize(countOfServos); + joint_state.effort.resize(countOfServos); + + for (unsigned int i = 0; i < countOfServos; i++) { + joint_state.name[i] = servo[i].joint->GetName(); +#if (GAZEBO_MAJOR_VERSION >= 8) + joint_state.position[i] = servo[i].joint->Position(0); +#else + joint_state.position[i] = servo[i].joint->GetAngle(0).RADIAN(); +#endif + joint_state.velocity[i] = servo[i].joint->GetVelocity(0); + joint_state.effort[i] = servo[i].joint->GetForce(0u); + } + + jointStatePub_.publish(joint_state); +} + +} // namespace gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/srv/SetBias.srv b/ros_drivers/hector_gazebo/hector_gazebo_plugins/srv/SetBias.srv new file mode 100755 index 0000000..78cb852 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/srv/SetBias.srv @@ -0,0 +1,2 @@ +geometry_msgs/Vector3 bias +--- diff --git a/ros_drivers/hector_gazebo/hector_gazebo_plugins/srv/SetReferenceGeoPose.srv b/ros_drivers/hector_gazebo/hector_gazebo_plugins/srv/SetReferenceGeoPose.srv new file mode 100755 index 0000000..25cbe4a --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_plugins/srv/SetReferenceGeoPose.srv @@ -0,0 +1,2 @@ +geographic_msgs/GeoPose geo_pose +--- diff --git a/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/CHANGELOG.rst b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/CHANGELOG.rst new file mode 100755 index 0000000..fa61acb --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/CHANGELOG.rst @@ -0,0 +1,84 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package hector_gazebo_thermal_camera +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.5.4 (2021-06-23) +------------------ + +0.5.3 (2021-02-03) +------------------ +* Updated CMake version and fixed CMP0048 for non-metapackages. +* Updated package format and maintainer information. +* Contributors: Stefan Fabian + +0.5.2 (2020-12-17) +------------------ +* Merge pull request `#64 `_ from ms-iot/upstream_windows_fix + [Windows][melodic-devel] Follow catkin guide to update the install path +* fix install path. (`#1 `_) +* Merge pull request `#53 `_ from enwaytech/ml/cmp0054_fix + add CMP0045 cmake policy before gazebo include in CMakeLists.txt +* add CMP0045 cmake policy before gazebo include in CMakeLists.txt +* Contributors: Johannes Meyer, Matthias Loebach, Sean Yen + +0.5.1 (2018-06-29) +------------------ +* Merge pull request `#44 `_ from esteve/gazebo8 + Use Gazebo 8 APIs to avoid deprecation warnings. +* hector_gazebo_plugins/hector_gazebo_thermal_camera: removed catkin_package(DEPENDS gazebo) declaration which was a no-op anyway + See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/537. +* Contributors: Esteve Fernandez, Johannes Meyer + +0.5.0 (2016-06-24) +------------------ +* Updated gazebo dependencies to version 7 for kinetic release +* hector_gazebo_thermal_camera: get rid of unused dependencies nodelet, dynamic_reconfigure, driver_base and image_transport +* Contributors: Johannes Meyer + +0.4.1 (2016-06-24) +------------------ +* see 0.3.8 + +0.4.0 (2015-11-07) +------------------ +* Added proper dependencies for jade and gazebo5. Now compiles and works for gazebo5 +* Contributors: L0g1x + +0.3.8 (2016-06-24) +------------------ +* Compatible with gazebo7 +* Add Cmake flags for C++11 +* Contributors: Nate Koenig, Romain Reignier + +0.3.7 (2015-11-07) +------------------ +* hector_gazebo_plugins/hector_gazebo_thermal_camera: switch to cmake configuration for gazebo and added OGRE include directories required for CameraPlugin.hh +* Contributors: Johannes Meyer + +0.3.6 (2015-03-21) +------------------ + +0.3.5 (2015-02-23) +------------------ + +0.3.4 (2014-09-01) +------------------ + +0.3.3 (2014-05-27) +------------------ +* Fix bad bug with index access +* Contributors: Stefan Kohlbrecher + +0.3.2 (2014-03-30) +------------------ +* added missing dependency to roscpp +* hector_gazebo: deleted deprecated export sections from package.xml files +* Contributors: Johannes Meyer + +0.3.1 (2013-09-23) +------------------ +* fixed image_connect_count_ compile issues with the latest gazebo_plugins version 2.3.2 + +0.3.0 (2013-09-02) +------------------ +* Catkinization of stack hector_gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/CMakeLists.txt b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/CMakeLists.txt new file mode 100755 index 0000000..82721ed --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/CMakeLists.txt @@ -0,0 +1,76 @@ +cmake_minimum_required(VERSION 3.5) +project(hector_gazebo_thermal_camera VERSION 0.5.3) + +## 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 gazebo_plugins) +include_directories(include ${catkin_INCLUDE_DIRS}) + +## Find gazebo +if(POLICY CMP0054) + cmake_policy(SET CMP0054 NEW) +endif() +find_package(gazebo REQUIRED) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") +include_directories(${GAZEBO_INCLUDE_DIRS}) +link_directories(${GAZEBO_LIBRARY_DIRS}) + +## Find OGRE and OGRE-Paging (required for CameraPlugin.hh in Gazebo 5) +include (FindPkgConfig) +if (PKG_CONFIG_FOUND) + pkg_check_modules(OGRE OGRE) + pkg_check_modules(OGRE-Paging OGRE-Paging) +endif() +include_directories(${OGRE_INCLUDE_DIRS} ${OGRE-Paging_INCLUDE_DIRS}) +link_directories(${OGRE_LIBRARY_DIRS} ${OGRE-Paging_LIBRARY_DIRS}) + +## Find Boost +find_package(Boost REQUIRED COMPONENTS thread) +include_directories(${Boost_INCLUDE_DIRS}) + +################################### +## 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 you 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( + CATKIN_DEPENDS gazebo_plugins + INCLUDE_DIRS include + LIBRARIES +) + +########### +## Build ## +########### + +add_library(gazebo_ros_thermal_camera src/gazebo_ros_thermal_camera_plugin.cpp) +target_link_libraries(gazebo_ros_thermal_camera ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} CameraPlugin) + +add_library(gazebo_ros_thermal_depth_camera src/gazebo_ros_thermal_depth_camera_plugin.cpp) +target_link_libraries(gazebo_ros_thermal_depth_camera ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} DepthCameraPlugin) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +install(TARGETS + gazebo_ros_thermal_camera + gazebo_ros_thermal_depth_camera + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +) diff --git a/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/include/hector_gazebo_thermal_camera/gazebo_ros_thermal_camera.h b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/include/hector_gazebo_thermal_camera/gazebo_ros_thermal_camera.h new file mode 100755 index 0000000..c19a162 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/include/hector_gazebo_thermal_camera/gazebo_ros_thermal_camera.h @@ -0,0 +1,93 @@ +//================================================================================================= +// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Simulation, Systems Optimization and Robotics +// group, TU Darmstadt nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= +/** + * Copy of the DepthCameraSensor plugin with minor changes + */ + +/* + * Gazebo - Outdoor Multi-Robot Simulator + * Copyright (C) 2003 + * Nate Koenig & Andrew Howard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +#ifndef GAZEBO_ROS_THERMAL_CAMERA_HH +#define GAZEBO_ROS_THERMAL_CAMERA_HH + +// camera stuff +#include + +namespace gazebo +{ + template + class GazeboRosThermalCamera_ : public Base, GazeboRosCameraUtils + { + /// \brief Constructor + /// \param parent The parent entity, must be a Model or a Sensor + public: GazeboRosThermalCamera_(); + + /// \brief Destructor + public: ~GazeboRosThermalCamera_(); + + /// \brief Load the plugin + /// \param take in SDF root element + public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf); + public: void LoadImpl(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) {} + + /// \brief Update the controller + protected: virtual void OnNewFrame(const unsigned char *_image, + unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string &_format); + + /// \brief Update the controller + protected: virtual void OnNewImageFrame(const unsigned char *_image, + unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string &_format); + + /// \brief Put camera data to the ROS topic + protected: void PutCameraData(const unsigned char *_src); + protected: void PutCameraData(const unsigned char *_src, common::Time &last_update_time); + }; + +} +#endif + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/package.xml b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/package.xml new file mode 100755 index 0000000..ca84138 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/package.xml @@ -0,0 +1,27 @@ + + + hector_gazebo_thermal_camera + 0.5.4 + hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin. + Stefan Fabian + + BSD + + http://ros.org/wiki/hector_gazebo_thermal_camera + + + Stefan Kohlbrecher + + + catkin + + + roscpp + gazebo_plugins + + + roscpp + gazebo + gazebo_plugins + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera.cpp b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera.cpp new file mode 100755 index 0000000..8a7f9c3 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera.cpp @@ -0,0 +1,204 @@ +//================================================================================================= +// Copyright (c) 2012, Stefan Kohlbrecher, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Simulation, Systems Optimization and Robotics +// group, TU Darmstadt nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= +/** + * Copy of the CameraSensor/DepthCameraSensor plugin with minor changes + */ + +/* + * Gazebo - Outdoor Multi-Robot Simulator + * Copyright (C) 2003 + * Nate Koenig & Andrew Howard + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +#include + +#include +#include + +#include + +#include + +namespace gazebo +{ + +//////////////////////////////////////////////////////////////////////////////// +// Constructor +template +GazeboRosThermalCamera_::GazeboRosThermalCamera_() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +template +GazeboRosThermalCamera_::~GazeboRosThermalCamera_() +{ +} + +template +void GazeboRosThermalCamera_::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) +{ + Base::Load(_parent, _sdf); + // copying from CameraPlugin into GazeboRosCameraUtils + this->parentSensor_ = this->parentSensor; + this->width_ = this->width; + this->height_ = this->height; + this->depth_ = this->depth; + this->format_ = this->format; + + this->image_connect_count_ = boost::shared_ptr(new int); + *this->image_connect_count_ = 0; + this->image_connect_count_lock_ = boost::shared_ptr(new boost::mutex); + this->was_active_ = boost::shared_ptr(new bool); + *this->was_active_ = false; + + LoadImpl(_parent, _sdf); + GazeboRosCameraUtils::Load(_parent, _sdf); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +template +void GazeboRosThermalCamera_::OnNewFrame(const unsigned char *_image, + unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string &_format) +{ + if (!this->initialized_ || this->height_ <=0 || this->width_ <=0) + return; + +#if (GAZEBO_MAJOR_VERSION > 6) + this->sensor_update_time_ = this->parentSensor_->LastUpdateTime(); +#else + this->sensor_update_time_ = this->parentSensor_->GetLastUpdateTime(); +#endif + + if (!this->parentSensor->IsActive()) + { + if ((*this->image_connect_count_) > 0) + // do this first so there's chance for sensor to run 1 frame after activate + this->parentSensor->SetActive(true); + } + else + { + if ((*this->image_connect_count_) > 0) + { +#if (GAZEBO_MAJOR_VERSION >= 8) + common::Time cur_time = this->world_->SimTime(); +#else + common::Time cur_time = this->world_->GetSimTime(); +#endif + if (cur_time - this->last_update_time_ >= this->update_period_) + { + this->PutCameraData(_image); + this->PublishCameraInfo(); + this->last_update_time_ = cur_time; + } + } + } +} + +template +void GazeboRosThermalCamera_::OnNewImageFrame(const unsigned char *_image, + unsigned int _width, unsigned int _height, unsigned int _depth, + const std::string &_format) +{ + OnNewFrame(_image, _width, _height, _depth, _format); +} + +//////////////////////////////////////////////////////////////////////////////// +// Put camera_ data to the interface +template +void GazeboRosThermalCamera_::PutCameraData(const unsigned char *_src, common::Time &last_update_time) +{ + this->sensor_update_time_ = last_update_time; + this->PutCameraData(_src); +} + +template +void GazeboRosThermalCamera_::PutCameraData(const unsigned char *_src) +{ + if (!this->initialized_ || this->height_ <=0 || this->width_ <=0) + return; + + this->lock_.lock(); + + // copy data into image + this->image_msg_.header.frame_id = this->frame_name_; + this->image_msg_.header.stamp.sec = this->sensor_update_time_.sec; + this->image_msg_.header.stamp.nsec = this->sensor_update_time_.nsec; + + /// don't bother if there are no subscribers + if ((*this->image_connect_count_) > 0) + { + this->image_msg_.width = this->width_; + this->image_msg_.height = this->height_; + this->image_msg_.encoding = sensor_msgs::image_encodings::MONO8; + this->image_msg_.step = this->image_msg_.width; + + size_t size = this->width_ * this->height_; + + std::vector& data (this->image_msg_.data); + data.resize(size); + + size_t img_index = 0; + + for (size_t i = 0; i < size; ++i){ + if ((_src[img_index] >254) && (_src[img_index+1] < 1) && (_src[img_index+2] < 1)){ + //RGB [255,0,0] translates to white (white hot) + data[i]= 255; + }else{ + //Everything else is written to the MONO8 output image much darker + data[i]= (_src[img_index] + _src[img_index+1] + _src[img_index+2]) /8 ; + } + img_index += 3; + } + + // publish to ros + this->image_pub_.publish(this->image_msg_); + } + + this->lock_.unlock(); +} + +} diff --git a/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera_plugin.cpp b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera_plugin.cpp new file mode 100755 index 0000000..aa71c21 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_camera_plugin.cpp @@ -0,0 +1,49 @@ +//================================================================================================= +// Copyright (c) 2013, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include "gazebo_ros_thermal_camera.cpp" + +// gazebo stuff +#include + +namespace gazebo +{ + +template <> +void GazeboRosThermalCamera_::LoadImpl(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) +{ + this->camera_ = this->CameraPlugin::camera; +} + +template class GazeboRosThermalCamera_; +typedef GazeboRosThermalCamera_ GazeboRosThermalCamera; + +// Register this plugin with the simulator +GZ_REGISTER_SENSOR_PLUGIN(GazeboRosThermalCamera) + +} diff --git a/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_depth_camera_plugin.cpp b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_depth_camera_plugin.cpp new file mode 100755 index 0000000..5615f94 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_thermal_camera/src/gazebo_ros_thermal_depth_camera_plugin.cpp @@ -0,0 +1,49 @@ +//================================================================================================= +// Copyright (c) 2013, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include "gazebo_ros_thermal_camera.cpp" + +// gazebo stuff +#include + +namespace gazebo +{ + +template <> +void GazeboRosThermalCamera_::LoadImpl(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) +{ + this->camera_ = this->DepthCameraPlugin::depthCamera; +} + +template class GazeboRosThermalCamera_; +typedef GazeboRosThermalCamera_ GazeboRosThermalCamera; + +// Register this plugin with the simulator +GZ_REGISTER_SENSOR_PLUGIN(GazeboRosThermalCamera) + +} diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/CHANGELOG.rst b/ros_drivers/hector_gazebo/hector_gazebo_worlds/CHANGELOG.rst new file mode 100755 index 0000000..8feb8c3 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/CHANGELOG.rst @@ -0,0 +1,80 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package hector_gazebo_worlds +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.5.4 (2021-06-23) +------------------ + +0.5.3 (2021-02-03) +------------------ +* Updated CMake version and fixed CMP0048 for non-metapackages. +* Updated package format and maintainer information. +* Contributors: Stefan Fabian + +0.5.2 (2020-12-17) +------------------ + +0.5.1 (2018-06-29) +------------------ + +0.5.0 (2016-06-24) +------------------ + +0.4.1 (2016-06-24) +------------------ + +0.4.0 (2015-11-07) +------------------ + +0.3.8 (2016-06-24) +------------------ + +0.3.7 (2015-11-07) +------------------ + +0.3.6 (2015-03-21) +------------------ + +0.3.5 (2015-02-23) +------------------ +* Change drc qual 4 settings to be same as current Atlas default +* Add drc final qual step block world and launch file +* - Adjusted lighting +* - Update world +* -Add inner block with stations model +* -Add complete sick robot day 2014 outer ring with stations +* -Add two target panel examples to world +* -Update world file +* -Add complete sick robot day 2014 target stations +* -Add inner block to world +* -Add inner block for sick robot day 2014 +* -Add target model to sick robot day 2014 world +* -Add sick robot day target model +* Contributors: Stefan Kohlbrecher + +0.3.4 (2014-09-01) +------------------ +* updated world files to SDF 1.4 using gzsdf +* Change light for sick robot day 2014 world, add number panel example +* Add sick robot number panel stl file for collision geom +* Add collada files for sick robot day number panels +* Add sick robot day number panels +* Add sick robot day 2014 related files +* Add model for sick robot day 2014 ring +* added args roslaunch argument to pass additional command line arguments to gzserver +* Contributors: Johannes Meyer, Stefan Kohlbrecher + +0.3.3 (2014-05-27) +------------------ + +0.3.2 (2014-03-30) +------------------ +* added missing install rule +* Contributors: Johannes Meyer + +0.3.1 (2013-09-23) +------------------ + +0.3.0 (2013-09-02) +------------------ +* Catkinization of stack hector_gazebo diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/CMakeLists.txt b/ros_drivers/hector_gazebo/hector_gazebo_worlds/CMakeLists.txt new file mode 100755 index 0000000..52ac656 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.5) +project(hector_gazebo_worlds VERSION 0.5.3) + +## 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) + +################################### +## 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 you 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( + DEPENDS + CATKIN_DEPENDS + INCLUDE_DIRS + LIBRARIES +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +# Mark other files for installation (e.g. launch and bag files, etc.) +install(DIRECTORY + launch + maps + Media + worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/Media/materials/scripts/hector_materials.material b/ros_drivers/hector_gazebo/hector_gazebo_worlds/Media/materials/scripts/hector_materials.material new file mode 100755 index 0000000..eaf19a2 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/Media/materials/scripts/hector_materials.material @@ -0,0 +1,177 @@ +material Hector/Gouraud +{ + receive_shadows on + shading gouraud + + technique + { + pass Ambient + { + ambient 1.000000 1.000000 1.000000 1.000000 + diffuse 1.0 1.0 1.0 1.0 + specular 0.8 0.8 0.8 1 20 + shading gouraud + } + + pass PointLight + { + ambient 1.000000 1.000000 1.000000 1.000000 + diffuse 1.0 1.0 1.0 1.0 + specular 0.8 0.8 0.8 1 20 + shading gouraud + } + } +} + +material Hector/Black +{ + receive_shadows on + lighting on + + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.1 0.1 0.1 1.0 + specular 0.0 0.0 0.0 0.0 + } + } +} + +material Hector/Blue +{ + receive_shadows on + + technique + { + pass + { + ambient 0.0 0.0 0.2 1.0 + diffuse 0.0 0.0 0.8 1.0 + specular 0.0 0.0 0.2 1.0 + emissive 0.0 0.0 0.0 1.0 + shading gouraud + } + } +} + +material Hector/Green +{ + receive_shadows on + + technique + { + pass + { + ambient 0.0 0.2 0.0 1.0 + diffuse 0.0 0.8 0.0 1.0 + specular 0.0 0.2 0.0 1.0 + emissive 0.0 0.0 0.0 0.0 + lighting on + shading phong + } + } +} + +material Hector/Grey +{ + receive_shadows on + lighting on + + technique + { + pass + { + ambient 0.1 0.1 0.1 1.0 + diffuse 0.7 0.7 0.7 1.0 + specular 0.8 0.8 0.8 1 + } + } +} + +material Hector/Grey2 +{ + receive_shadows on + lighting on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.0 + diffuse 0.9 0.9 0.9 1.0 + specular 0.8 0.8 0.8 1 + lighting on + } + } +} + +material Hector/Red +{ + receive_shadows on + technique + { + pass + { + ambient 0.2 0.0 0.0 1.0 + diffuse 0.8 0.0 0.0 1.0 + specular 0.2 0.0 0.0 1.0 + emissive 0.0 0.0 0.0 1.0 + lighting on + shading phong + } + } +} + +material Hector/White +{ + receive_shadows on + lighting on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 1.0 1.0 1.0 1.0 + shading gouraud + } + } +} + +material Hector/Yellow +{ + receive_shadows on + + technique + { + pass + { + ambient 0.2 0.2 0.0 1.0 + diffuse 0.8 0.8 0.0 1.0 + specular 0.2 0.2 0.0 1.0 + emissive 0.0 0.0 0.0 1.0 + lighting on + } + } +} + +material Hector/BlueBrushedAluminum +{ + technique + { + pass + { + ambient 0.75 0.75 0.75 + cull_hardware none + cull_software none + texture_unit + { + texture blue_brushed_aluminum.jpg + } + } + } +} + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/Media/models/120m_landscape_smooth_tri.dae b/ros_drivers/hector_gazebo/hector_gazebo_worlds/Media/models/120m_landscape_smooth_tri.dae new file mode 100755 index 0000000..573c3a0 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/Media/models/120m_landscape_smooth_tri.dae @@ -0,0 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35 456 219 456 80 457 71 457 172 457 15 458 13 458 207 458 66 459 65 459 183 459 19 460 60 460 164 460 70 461 69 461 179 461 121 462 63 462 201 462 100 463 99 463 234 463 48 464 47 464 206 464 13 465 12 465 203 465 14 466 66 466 191 466 51 467 50 467 148 467 108 468 56 468 155 468 44 469 43 469 188 469 33 470 32 470 232 470 47 471 46 471 210 471

+ + + 1 + + + + + + 0.005747795 -0.001375705 -1.181248 + 0 0 1 0 + 0 1 0 0 + 1 0 0 0 + 9.755003 4.615741 1.499442 + + + + + + + + \ No newline at end of file diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/drc_final_qual_4_step_block.launch b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/drc_final_qual_4_step_block.launch new file mode 100755 index 0000000..a9607d7 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/drc_final_qual_4_step_block.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/rolling_landscape_120m.launch b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/rolling_landscape_120m.launch new file mode 100755 index 0000000..9fb04db --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/rolling_landscape_120m.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2012_20m.launch b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2012_20m.launch new file mode 100755 index 0000000..ae9d7f6 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2012_20m.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2014.launch b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2014.launch new file mode 100755 index 0000000..374be0a --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/sick_robot_day_2014.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/small_indoor_scenario.launch b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/small_indoor_scenario.launch new file mode 100755 index 0000000..c3fca46 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/small_indoor_scenario.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/start.launch b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/start.launch new file mode 100755 index 0000000..ac4c2d7 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/start.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/willow_garage.launch b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/willow_garage.launch new file mode 100755 index 0000000..469ce8b --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/launch/willow_garage.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.pgm b/ros_drivers/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.pgm new file mode 100755 index 0000000..2a8f8d4 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: GIMP PNM Filter Version 1.1 +768 768 +255 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\ No newline at end of file diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.yaml b/ros_drivers/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.yaml new file mode 100755 index 0000000..52e94b4 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/maps/small_indoor_scenario_edited_map_hector_mapping.yaml @@ -0,0 +1,7 @@ +image: small_indoor_scenario_edited_map_hector_mapping.pgm +resolution: 0.050000 +origin: [-19.224998, -19.224998, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/package.xml b/ros_drivers/hector_gazebo/hector_gazebo_worlds/package.xml new file mode 100755 index 0000000..5c8e252 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/package.xml @@ -0,0 +1,32 @@ + + + hector_gazebo_worlds + 0.5.4 + hector_gazebo_worlds provides gazebo scenarios used by Team Hector Darmstadt + Stefan Fabian + + BSD + + http://ros.org/wiki/hector_gazebo_worlds + + + Stefan Kohlbrecher + + + catkin + + + + + gazebo_ros + hector_gazebo_plugins + + + + + + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/drc_final_qual_4_step_block.world b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/drc_final_qual_4_step_block.world new file mode 100755 index 0000000..9bac467 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/drc_final_qual_4_step_block.world @@ -0,0 +1,147 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + 1 + + + + + 0 0 1 + 100 100 + + + + + + 100 + 50 + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + + 0 + 0 + + 0 + 0 + 1 + + + + + 0.3 0 0 0 0 0 + + + + file://drc_qual4_block.stl + 1 1 1 + + + + + + + file://drc_qual4_block.stl + 1 1 1 + + + false + + + true + + + 0 0 -9.81 + + 0.005 + 0.005 + + 1e8 + 20.0 + + + + + true + quick + 200 + 1.0 + + + 0.0 + 0.2 + 100.0 + 0.0 + + + 1000 + 0.001 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + 5369 943000000 + 5800 685587240 + 1423245799 456557065 + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + + + -0.572734 7.93393 1.30199 -1.4159e-17 0.199643 -1.57102 + orbit + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world new file mode 100755 index 0000000..a476ec9 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/rolling_landscape_120m.world @@ -0,0 +1,60 @@ + + + + + 0.5 0.5 0.5 1 + 0.5 0.5 0.5 1 + false + + + 0 0 -9.81 + + + quick + 10 + 1.3 + + + 0.0 + 0.2 + 10 + 0.001 + + + 0.001 + + + 0 20 20 0.1 0.1 0 + 1 1 1 1 + 1 1 1 1 + + 300 + + 0.1 0.1 -1 + false + + + + 0 0 0 0 0 0 + + + + file://120m_landscape_smooth_tri.dae + 1 1 1 + + + + + + + file://120m_landscape_smooth_tri.dae + 1 1 1 + + + false + + + true + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2012_20m.world b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2012_20m.world new file mode 100755 index 0000000..cb1d0ff --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2012_20m.world @@ -0,0 +1,108 @@ + + + + + 0.5 0.5 0.5 1 + 0.5 0.5 0.5 1 + false + + + 0 0 -9.81 + + + quick + 10 + 1.3 + + + 0.0 + 0.2 + 10 + 0.001 + + + 0.001 + + + 0 20 20 0.1 0.1 0 + 1 1 1 1 + 1 1 1 1 + + 300 + + 0.1 0.1 -1 + false + + + + + + + 0 0 1 + + + + + + 10.0 + 10.0 + 0 0 0 + 0 + 0 + + + + 0 + 1000000.0 + + + + 0 + 0.2 + 1e10 + 1 + 100.0 + 0.0001 + + + + + + + + 0 0 1 + + + + + + false + + + true + + + + 0 0 0 0 0 0 + + + + file://sick_robot_day_2012_20m.dae + 1 1 1 + + + + + + + file://sick_robot_day_2012_20m.dae + 1 1 1 + + + false + + + true + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2014.world b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2014.world new file mode 100755 index 0000000..09a13b9 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/sick_robot_day_2014.world @@ -0,0 +1,231 @@ + + + + + 0.5 0.5 0.5 1 + 0.5 0.5 0.5 1 + false + + + 0 0 -9.81 + + + quick + 10 + 1.3 + + + 0.0 + 0.2 + 10 + 0.001 + + + 0.001 + + + + 3 0 1 0.1 0.1 0 + 0.7 0.7 0.7 1 + 1 1 1 1 + + 30 + 0.9 + 0.0 + + 0.1 0.1 0 + false + + + 0 3 1 0.1 0.1 0 + 0.7 0.7 0.7 1 + 1 1 1 1 + + 30 + 0.9 + 0.0 + + 0.1 0.1 0 + false + + + -3 0 1 0.1 0.1 0 + 0.7 0.7 0.7 1 + 1 1 1 1 + + 30 + 0.9 + 0.0 + + 0.1 0.1 0 + false + + + 0 -3 1 0.1 0.1 0 + 0.7 0.7 0.7 1 + 1 1 1 1 + + 30 + 0.9 + 0.0 + + 0.1 0.1 0 + false + + + + + + + 0 0 1 + + + + + + 10.0 + 10.0 + 0 0 0 + 0 + 0 + + + + 0 + 1000000.0 + + + + 0 + 0.2 + 1e10 + 1 + 100.0 + 0.0001 + + + + + + + + 0 0 1 + + + + + + false + + + true + + + + 0 0 0 0 0 0 + + + + file://sick_robot_day_2014_with_stations.dae + + 1 1 1 + + + + + + + file://sick_robot_day_2014_with_stations.dae + 1 1 1 + + + false + + + true + + + + 0 0 0 0 0 0 + + + + file://sick_robot_day_2014_inner_block_with_stations.dae + 1 1 1 + + + + + + + file://sick_robot_day_2014_inner_block_with_stations.dae + 1 1 1 + + + false + + + true + + + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/small_indoor_scenario.world b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/small_indoor_scenario.world new file mode 100755 index 0000000..a8aa9d3 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/small_indoor_scenario.world @@ -0,0 +1,60 @@ + + + + + 0.5 0.5 0.5 1 + 0.5 0.5 0.5 1 + false + + + 0 0 -9.81 + + + quick + 10 + 1.3 + + + 0.0 + 0.2 + 10 + 0.001 + + + 0.001 + + + 0 20 20 0.1 0.1 0 + 1 1 1 1 + 1 1 1 1 + + 300 + + 0.1 0.1 -1 + false + + + + 0 0 0 0 0 0 + + + + file://small_indoor_scenario.dae + 1 1 1 + + + + + + + file://small_indoor_scenario.dae + 1 1 1 + + + false + + + true + + + diff --git a/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/willow_garage.world b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/willow_garage.world new file mode 100755 index 0000000..ae377a7 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_gazebo_worlds/worlds/willow_garage.world @@ -0,0 +1,44 @@ + + + + + 0.5 0.5 0.5 1 + 0.5 0.5 0.5 1 + false + + + 0 0 -9.8 + + + quick + 10 + 1.3 + + + 0.0 + 0.2 + 100.0 + 0.001 + + + 1000 + 0.001 + + + model://ground_plane + + + model://willowgarage + + + 0 0 30 0 0 0 + .5 .5 .5 1 + .1 .1 .1 1 + + 200 + + 0 0 -1 + false + + + diff --git a/ros_drivers/hector_gazebo/hector_sensors_gazebo/CHANGELOG.rst b/ros_drivers/hector_gazebo/hector_sensors_gazebo/CHANGELOG.rst new file mode 100755 index 0000000..d101ed4 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_sensors_gazebo/CHANGELOG.rst @@ -0,0 +1,56 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package hector_sensors_gazebo +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.5.4 (2021-06-23) +------------------ + +0.5.3 (2021-02-03) +------------------ +* Updated CMake version and fixed CMP0048 for non-metapackages. +* Updated package format and maintainer information. +* Contributors: Stefan Fabian + +0.5.2 (2020-12-17) +------------------ + +0.5.1 (2018-06-29) +------------------ + +0.5.0 (2016-06-24) +------------------ + +0.4.1 (2016-06-24) +------------------ + +0.4.0 (2015-11-07) +------------------ + +0.3.8 (2016-06-24) +------------------ + +0.3.7 (2015-11-07) +------------------ + +0.3.6 (2015-03-21) +------------------ + +0.3.5 (2015-02-23) +------------------ + +0.3.4 (2014-09-01) +------------------ + +0.3.3 (2014-05-27) +------------------ + +0.3.2 (2014-03-30) +------------------ +* removed metapackage tag from hector_sensors_gazebo to not break packages depending on it +* hector_gazebo: Made hector_gazebo and hector_sensors_gazebo true metapackages +* Moved package from hector_models to hector_gazebo +* Contributors: Johannes Meyer + +0.3.0 (2013-09-02) +------------------ +* catkinized stack hector_models diff --git a/ros_drivers/hector_gazebo/hector_sensors_gazebo/CMakeLists.txt b/ros_drivers/hector_gazebo/hector_sensors_gazebo/CMakeLists.txt new file mode 100755 index 0000000..f4587b8 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_sensors_gazebo/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 3.5.0) +project(hector_sensors_gazebo) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/ros_drivers/hector_gazebo/hector_sensors_gazebo/package.xml b/ros_drivers/hector_gazebo/hector_sensors_gazebo/package.xml new file mode 100755 index 0000000..4199f73 --- /dev/null +++ b/ros_drivers/hector_gazebo/hector_sensors_gazebo/package.xml @@ -0,0 +1,23 @@ + + + hector_sensors_gazebo + 0.5.4 + hector_sensors_gazebo depends on the necessary plugins for using the sensors from the hector_models repository. + Stefan Fabian + + BSD + + http://ros.org/wiki/hector_sensors_gazebo + + + Stefan Kohlbrecher + + + catkin + + + hector_sensors_description + gazebo_plugins + hector_gazebo_plugins + + diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/CHANGELOG.rst b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/CHANGELOG.rst new file mode 100755 index 0000000..2a10a09 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/CHANGELOG.rst @@ -0,0 +1,255 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package jsk_footstep_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +4.3.2 (2020-05-03) +------------------ + +4.3.1 (2017-11-08) +------------------ + +4.3.0 (2017-07-15) +------------------ + +4.2.0 (2017-06-28) +------------------ + +4.1.1 (2017-05-17) +------------------ + +4.1.0 (2016-10-27) +------------------ + +4.0.0 (2016-09-21) +------------------ +* [jsk_foostep_msgs] add documentation to Footstep.msg +* [jsk_foostep_msgs] add offset parameter to Footstep.msg +* Contributors: Yohei Kakiuchi + +3.0.0 (2016-06-18) +------------------ + +2.0.1 (2016-01-21) +------------------ +* [jsk_footstep_msgs] support multi legs in Footstep.msg keeping backwardcompatibility +* Contributors: Eisoku Kuroiwa + +2.0.0 (2015-06-19) +------------------ +* move from jsk_common to jsk_common_msgs +* [jsk_footstep_msgs] Add APPROVED and REJECTED constant to Footstep.msg +* [jsk_footstep_msgs] Add cost field to Footstep +* Contributors: Ryohei Ueda + +1.0.72 (2015-06-07) +------------------- + +1.0.71 (2015-05-17) +------------------- + +1.0.70 (2015-05-08) +------------------- +* [jsk_footstep_msgs] Add swing_height field to Footstep.msg +* Contributors: Ryohei Ueda + +1.0.69 (2015-05-05) +------------------- + +1.0.68 (2015-05-05) +------------------- + +1.0.67 (2015-05-03) +------------------- + +1.0.66 (2015-04-03) +------------------- + +1.0.65 (2015-04-02) +------------------- + +1.0.64 (2015-03-29) +------------------- + +1.0.63 (2015-02-19) +------------------- + +1.0.62 (2015-02-17) +------------------- + +1.0.61 (2015-02-11) +------------------- + +1.0.60 (2015-02-03) +------------------- + +1.0.59 (2015-02-03) +------------------- +* Remove rosbuild files +* Contributors: Ryohei Ueda + +1.0.58 (2015-01-07) +------------------- + +1.0.57 (2014-12-23) +------------------- + +1.0.56 (2014-12-17) +------------------- + +1.0.55 (2014-12-09) +------------------- + +1.0.54 (2014-11-15) +------------------- + +1.0.53 (2014-11-01) +------------------- + +1.0.52 (2014-10-23) +------------------- + +1.0.51 (2014-10-20) +------------------- + +1.0.50 (2014-10-20) +------------------- + +1.0.49 (2014-10-13) +------------------- +* Add optional parameters for visualization to jsk_footstep_msgs/Footstep +* Contributors: Ryohei Ueda + +1.0.48 (2014-10-12) +------------------- + +1.0.47 (2014-10-08) +------------------- + +1.0.46 (2014-10-03) +------------------- + +1.0.45 (2014-09-29) +------------------- + +1.0.44 (2014-09-26) +------------------- + +1.0.43 (2014-09-26) +------------------- + +1.0.42 (2014-09-25) +------------------- + +1.0.41 (2014-09-23) +------------------- + +1.0.40 (2014-09-19) +------------------- + +1.0.39 (2014-09-17) +------------------- + +1.0.38 (2014-09-13) +------------------- + +1.0.36 (2014-09-01) +------------------- + +1.0.35 (2014-08-16) +------------------- + +1.0.34 (2014-08-14) +------------------- + +1.0.33 (2014-07-28) +------------------- + +1.0.32 (2014-07-26) +------------------- + +1.0.31 (2014-07-23) +------------------- + +1.0.30 (2014-07-15) +------------------- +* add constant variables to ExecFootsteps to specify resume/overwrite the + plan to execute +* Contributors: Ryohei Ueda + +1.0.29 (2014-07-02) +------------------- + +1.0.28 (2014-06-24) +------------------- + +1.0.27 (2014-06-10) +------------------- + +1.0.26 (2014-05-30) +------------------- + +1.0.25 (2014-05-26) +------------------- + +1.0.24 (2014-05-24) +------------------- + +1.0.23 (2014-05-23) +------------------- + +1.0.22 (2014-05-22) +------------------- + +1.0.21 (2014-05-20) +------------------- + +1.0.20 (2014-05-09) +------------------- + +1.0.19 (2014-05-06) +------------------- + +1.0.18 (2014-05-04) +------------------- + +1.0.17 (2014-04-20) +------------------- + +1.0.16 (2014-04-19) +------------------- + +1.0.15 (2014-04-19) +------------------- + +1.0.14 (2014-04-19) +------------------- + +1.0.13 (2014-04-19) +------------------- + +1.0.12 (2014-04-18) +------------------- + +1.0.11 (2014-04-18) +------------------- + +1.0.10 (2014-04-17) +------------------- + +1.0.9 (2014-04-12) +------------------ + +1.0.8 (2014-04-11) +------------------ + +1.0.0 (2014-03-05) +------------------ +* set all package to 1.0.0 +* fix typo +* action message to execute footstep on real robot +* adding more dependency +* catkinize jsk_footstep_msgs +* adding jsk_footstep_planner, euslisp implementation +* adding an action for footstep planning +* adding jsk_footstep stack for footstep planning +* Contributors: Ryohei Ueda, Kei Okada diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/CMakeLists.txt b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/CMakeLists.txt new file mode 100755 index 0000000..038e6eb --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/CMakeLists.txt @@ -0,0 +1,38 @@ +# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html +cmake_minimum_required(VERSION 2.8.3) +project(jsk_footstep_msgs) + +# Load catkin and all dependencies required for this package +# TODO: remove all from COMPONENTS that are not catkin packages. +find_package(catkin REQUIRED COMPONENTS geometry_msgs actionlib_msgs message_generation) + +add_message_files( + DIRECTORY msg + FILES Footstep.msg FootstepArray.msg +) + +#add_service_files( +# FILES +#) + +add_action_files( + DIRECTORY action + FILES PlanFootsteps.action ExecFootsteps.action +) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES geometry_msgs actionlib_msgs +) + +# TODO: fill in what other packages will need to use this package +## 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( + DEPENDS + CATKIN_DEPENDS geometry_msgs actionlib_msgs message_runtime + INCLUDE_DIRS # TODO include + LIBRARIES # TODO +) + diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/action/ExecFootsteps.action b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/action/ExecFootsteps.action new file mode 100755 index 0000000..fe9c3e0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/action/ExecFootsteps.action @@ -0,0 +1,9 @@ +# goal +uint8 NEW_TARGET=0 +uint8 RESUME=1 +FootstepArray footstep +uint8 strategy +--- +# result +--- +# feedback diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/action/PlanFootsteps.action b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/action/PlanFootsteps.action new file mode 100755 index 0000000..e431567 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/action/PlanFootsteps.action @@ -0,0 +1,10 @@ +# goal +FootstepArray goal_footstep +FootstepArray initial_footstep +duration timeout +--- +# result +FootstepArray result +--- +# feedback +FootstepArray feedback \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/mainpage.dox b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/mainpage.dox new file mode 100755 index 0000000..fc14b19 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/mainpage.dox @@ -0,0 +1,14 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b jsk_footstep_msgs + + + +--> + + +*/ diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/msg/Footstep.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/msg/Footstep.msg new file mode 100755 index 0000000..4a03f0a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/msg/Footstep.msg @@ -0,0 +1,22 @@ +uint8 RIGHT=2 +uint8 LEFT=1 + +# Constants to visualize progress +uint8 REJECTED=3 +uint8 APPROVED=4 + +## limb_indicator values +uint8 LLEG=1 +uint8 RLEG=2 +uint8 LARM=5 +uint8 RARM=6 + +uint8 leg ## value should be one of limb_indicator values. +geometry_msgs/Pose pose ## 'pose' represents nominal pose. It may be an end-effector of limb. +duration duration +# optional parameters +uint32 footstep_group +geometry_msgs/Vector3 dimensions ## cube [length(x), width(y), height(z)] +geometry_msgs/Vector3 offset ## offset from pose to center of cube +float32 swing_height +float32 cost diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/msg/FootstepArray.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/msg/FootstepArray.msg new file mode 100755 index 0000000..7a943d9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/msg/FootstepArray.msg @@ -0,0 +1,2 @@ +Header header +Footstep[] footsteps \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/package.xml b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/package.xml new file mode 100755 index 0000000..885f165 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_footstep_msgs/package.xml @@ -0,0 +1,27 @@ + + jsk_footstep_msgs + 4.3.2 + jsk_footstep_msgs + Ryohei Ueda + + BSD + + http://ros.org/wiki/jsk_footstep_msgs + + + Ryohei Ueda + + catkin + message_generation + geometry_msgs + actionlib_msgs + geometry_msgs + actionlib_msgs + message_runtime + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/CHANGELOG.rst b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/CHANGELOG.rst new file mode 100755 index 0000000..90ea4ea --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/CHANGELOG.rst @@ -0,0 +1,246 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package jsk_gui_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +4.3.2 (2020-05-03) +------------------ + +4.3.1 (2017-11-08) +------------------ + +4.3.0 (2017-07-15) +------------------ +* [API BREAK] Add mesage property to YesNo.srv (`#18 `_) +* Contributors: Kentaro Wada + +4.2.0 (2017-06-28) +------------------ + +4.1.1 (2017-05-17) +------------------ + +4.1.0 (2016-10-27) +------------------ +* [jsk_gui_msgs/msg/SlackMessage.msg] Add msg for posting to slack (`#13 `_ ) +* Contributors: Kentaro Wada + +4.0.0 (2016-09-21) +------------------ + +3.0.0 (2016-06-18) +------------------ +* Add YesNo.srv +* Contributors: Kentaro Wada + +2.0.1 (2016-01-21) +------------------ + +2.0.0 (2015-06-19) +------------------ +* move from jsk_common to jsk_common_msgs + +1.0.72 (2015-06-07) +------------------- + +1.0.71 (2015-05-17) +------------------- + +1.0.70 (2015-05-08) +------------------- + +1.0.69 (2015-05-05) +------------------- + +1.0.68 (2015-05-05) +------------------- + +1.0.67 (2015-05-03) +------------------- + +1.0.66 (2015-04-03) +------------------- + +1.0.65 (2015-04-02) +------------------- + +1.0.64 (2015-03-29) +------------------- + +1.0.63 (2015-02-19) +------------------- + +1.0.62 (2015-02-17) +------------------- + +1.0.61 (2015-02-11) +------------------- + +1.0.60 (2015-02-03) +------------------- + +1.0.59 (2015-02-03) +------------------- +* Remove rosbuild files +* Contributors: Ryohei Ueda + +1.0.58 (2015-01-07) +------------------- + +1.0.57 (2014-12-23) +------------------- + +1.0.56 (2014-12-17) +------------------- + +1.0.55 (2014-12-09) +------------------- +* delete Imu and DeviceSensorAll msgs +* Contributors: Yuto Inagaki + +1.0.54 (2014-11-15) +------------------- + +1.0.53 (2014-11-01) +------------------- + +1.0.52 (2014-10-23) +------------------- + +1.0.51 (2014-10-20) +------------------- + +1.0.50 (2014-10-20) +------------------- + +1.0.49 (2014-10-13) +------------------- + +1.0.48 (2014-10-12) +------------------- + +1.0.47 (2014-10-08) +------------------- + +1.0.46 (2014-10-03) +------------------- + +1.0.45 (2014-09-29) +------------------- + +1.0.44 (2014-09-26) +------------------- + +1.0.43 (2014-09-26) +------------------- + +1.0.42 (2014-09-25) +------------------- + +1.0.41 (2014-09-23) +------------------- + +1.0.40 (2014-09-19) +------------------- + +1.0.39 (2014-09-17) +------------------- + +1.0.38 (2014-09-13) +------------------- + +1.0.36 (2014-09-01) +------------------- + +1.0.35 (2014-08-16) +------------------- + +1.0.34 (2014-08-14) +------------------- + +1.0.33 (2014-07-28) +------------------- + +1.0.32 (2014-07-26) +------------------- + +1.0.31 (2014-07-23) +------------------- + +1.0.30 (2014-07-15) +------------------- + +1.0.29 (2014-07-02) +------------------- + +1.0.28 (2014-06-24) +------------------- + +1.0.27 (2014-06-10) +------------------- + +1.0.26 (2014-05-30) +------------------- + +1.0.25 (2014-05-26) +------------------- + +1.0.24 (2014-05-24) +------------------- + +1.0.23 (2014-05-23) +------------------- + +1.0.22 (2014-05-22) +------------------- + +1.0.21 (2014-05-20) +------------------- + +1.0.20 (2014-05-09) +------------------- + +1.0.19 (2014-05-06) +------------------- + +1.0.18 (2014-05-04) +------------------- + +1.0.17 (2014-04-20) +------------------- + +1.0.16 (2014-04-19) +------------------- + +1.0.15 (2014-04-19) +------------------- + +1.0.14 (2014-04-19) +------------------- + +1.0.13 (2014-04-19) +------------------- + +1.0.12 (2014-04-18) +------------------- + +1.0.11 (2014-04-18) +------------------- + +1.0.10 (2014-04-17) +------------------- + +1.0.9 (2014-04-12) +------------------ + +1.0.8 (2014-04-11) +------------------ + +1.0.0 (2014-03-05) +------------------ +* set all package to 1.0.0 +* jsk_gui_msgs compatible with catkin +* commit forget +* added query srv for getting name of sound +* changed voice name form words to texts +* added tablet msg definition +* Contributors: Kei Okada, Shintaro Noda, kazuto, Xiangyu Chen diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/CMakeLists.txt b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/CMakeLists.txt new file mode 100755 index 0000000..900778e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/CMakeLists.txt @@ -0,0 +1,38 @@ +# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html +cmake_minimum_required(VERSION 2.8.3) +project(jsk_gui_msgs) + +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs sensor_msgs geometry_msgs) + +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +add_message_files(FILES +Action.msg +MagneticField.msg +Touch.msg +AndroidSensor.msg +Gravity.msg +MultiTouch.msg +TouchEvent.msg +DeviceSensor.msg +Tablet.msg +VoiceMessage.msg +SlackMessage.msg +) + +add_service_files(FILES +Query.srv +YesNo.srv +) + +generate_messages( + DEPENDENCIES std_msgs sensor_msgs geometry_msgs +) + +catkin_package( + CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs message_runtime + DEPENDS + INCLUDE_DIRS + LIBRARIES +) diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/mainpage.dox b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/mainpage.dox new file mode 100755 index 0000000..7c469aa --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/mainpage.dox @@ -0,0 +1,26 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b jsk_gui_msgs is ... + + + + +\section codeapi Code API + + + + +*/ diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Action.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Action.msg new file mode 100755 index 0000000..7b929d7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Action.msg @@ -0,0 +1,32 @@ +byte RARMID=0 +byte LARMID=1 + +# task: push, pick, open, slide, MoveNeck, MoveBase +string task_name + +# selection: button names +# string selection_name + +# arm: :rarm, :lsrm +int64 arm_id + +# state of touch: touch, pick, pinch, sweep +# for debugging +string state +# value of state +float64 state_value + +# direction: up, down, left, right +string direction +# value of direction, degree +float64 direction_value + +int64 touch_x +int64 touch_y + +# Example +# push: touches[0].x, touches[0].y, task_name, arm_id +# open: touches[0 1 2].x, touches[0 1 2].y, task_name, arm_id +# slide: touches[0 1 2].x, touches[0 1 2].y, task_name, arm_id +# move_neck: task_name, direction, direction_value +# move_base: task_name, direction, direction_value \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/AndroidSensor.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/AndroidSensor.msg new file mode 100755 index 0000000..ac444e4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/AndroidSensor.msg @@ -0,0 +1,9 @@ +# sonsor for Tablet +float64 accel_x +float64 accel_y +float64 accel_z +float64 orientation_x +float64 orientation_y +float64 orientation_z + + diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/DeviceSensor.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/DeviceSensor.msg new file mode 100755 index 0000000..d09c930 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/DeviceSensor.msg @@ -0,0 +1,8 @@ +float64 temperature +float64 relative_humidity +float64 light +float64 pressure +float64 proximity + + + diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Gravity.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Gravity.msg new file mode 100755 index 0000000..4a35767 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Gravity.msg @@ -0,0 +1 @@ +geometry_msgs/Vector3 gravity \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/MagneticField.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/MagneticField.msg new file mode 100755 index 0000000..377b641 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/MagneticField.msg @@ -0,0 +1 @@ +geometry_msgs/Vector3 magneticfield \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/MultiTouch.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/MultiTouch.msg new file mode 100755 index 0000000..03835d6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/MultiTouch.msg @@ -0,0 +1 @@ +Touch[] touches \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/SlackMessage.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/SlackMessage.msg new file mode 100755 index 0000000..c1c27cc --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/SlackMessage.msg @@ -0,0 +1,3 @@ +string channel # channel to post (ex. @user, #general) +string text # text to post +sensor_msgs/Image image # image to upload diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Tablet.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Tablet.msg new file mode 100755 index 0000000..162e8d7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Tablet.msg @@ -0,0 +1,7 @@ +Header header +# hardware_namel: iPad, Android, other mobile +string hardware_name +string hardware_id +Action action +DeviceSensor sensor +Touch[] touches \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Touch.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Touch.msg new file mode 100755 index 0000000..f5c4302 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/Touch.msg @@ -0,0 +1,8 @@ +# finger_id +int64 finger_id +# touch point(screen point) +float64 x +float64 y +# based image size (usually not needed) +int64 image_width +int64 image_height \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/TouchEvent.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/TouchEvent.msg new file mode 100755 index 0000000..9035198 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/TouchEvent.msg @@ -0,0 +1,9 @@ +byte DOWN=0 +byte UP=1 +byte MOVE=2 + +byte state +float32 x +float32 y +float32 w +float32 h \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/VoiceMessage.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/VoiceMessage.msg new file mode 100755 index 0000000..7c502a5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/msg/VoiceMessage.msg @@ -0,0 +1 @@ +string[] texts \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/package.xml b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/package.xml new file mode 100755 index 0000000..4b3461c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/package.xml @@ -0,0 +1,23 @@ + + + jsk_gui_msgs + chen + 4.3.2 + jsk_gui_msgs + KazutoMurase + Apache 2.0 + catkin + + std_msgs + sensor_msgs + geometry_msgs + message_generation + + std_msgs + sensor_msgs + geometry_msgs + message_runtime + + + + \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/srv/Query.srv b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/srv/Query.srv new file mode 100755 index 0000000..0a900ed --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/srv/Query.srv @@ -0,0 +1,3 @@ +int32 id +--- +string res \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/srv/YesNo.srv b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/srv/YesNo.srv new file mode 100755 index 0000000..fb0acc8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_gui_msgs/srv/YesNo.srv @@ -0,0 +1,3 @@ +string message +--- +bool yes diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/CHANGELOG.rst b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/CHANGELOG.rst new file mode 100755 index 0000000..f485c67 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/CHANGELOG.rst @@ -0,0 +1,247 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package jsk_hark_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +4.3.2 (2020-05-03) +------------------ + +4.3.1 (2017-11-08) +------------------ + +4.3.0 (2017-07-15) +------------------ + +4.2.0 (2017-06-28) +------------------ + +4.1.1 (2017-05-17) +------------------ + +4.1.0 (2016-10-27) +------------------ + +4.0.0 (2016-09-21) +------------------ + +3.0.0 (2016-06-18) +------------------ + +2.0.1 (2016-01-21) +------------------ + +2.0.0 (2015-06-19) +------------------ +* move from jsk_common to jsk_common_msgs + +1.0.72 (2015-06-07) +------------------- + +1.0.71 (2015-05-17) +------------------- + +1.0.70 (2015-05-08) +------------------- + +1.0.69 (2015-05-05) +------------------- + +1.0.68 (2015-05-05) +------------------- + +1.0.67 (2015-05-03) +------------------- + +1.0.66 (2015-04-03) +------------------- + +1.0.65 (2015-04-02) +------------------- + +1.0.64 (2015-03-29) +------------------- + +1.0.63 (2015-02-19) +------------------- + +1.0.62 (2015-02-17) +------------------- + +1.0.61 (2015-02-11) +------------------- + +1.0.60 (2015-02-03) +------------------- + +1.0.59 (2015-02-03) +------------------- +* Remove rosbuild files +* Contributors: Ryohei Ueda + +1.0.58 (2015-01-07) +------------------- + +1.0.57 (2014-12-23) +------------------- + +1.0.56 (2014-12-17) +------------------- + +1.0.55 (2014-12-09) +------------------- + +1.0.54 (2014-11-15) +------------------- + +1.0.53 (2014-11-01) +------------------- + +1.0.52 (2014-10-23) +------------------- + +1.0.51 (2014-10-20) +------------------- + +1.0.50 (2014-10-20) +------------------- + +1.0.49 (2014-10-13) +------------------- + +1.0.48 (2014-10-12) +------------------- + +1.0.47 (2014-10-08) +------------------- + +1.0.46 (2014-10-03) +------------------- + +1.0.45 (2014-09-29) +------------------- + +1.0.44 (2014-09-26) +------------------- + +1.0.43 (2014-09-26) +------------------- + +1.0.42 (2014-09-25) +------------------- + +1.0.41 (2014-09-23) +------------------- + +1.0.40 (2014-09-19) +------------------- + +1.0.39 (2014-09-17) +------------------- + +1.0.38 (2014-09-13) +------------------- + +1.0.36 (2014-09-01) +------------------- + +1.0.35 (2014-08-16) +------------------- + +1.0.34 (2014-08-14) +------------------- + +1.0.33 (2014-07-28) +------------------- + +1.0.32 (2014-07-26) +------------------- + +1.0.31 (2014-07-23) +------------------- + +1.0.30 (2014-07-15) +------------------- + +1.0.29 (2014-07-02) +------------------- + +1.0.28 (2014-06-24) +------------------- + +1.0.27 (2014-06-10) +------------------- + +1.0.26 (2014-05-30) +------------------- + +1.0.25 (2014-05-26) +------------------- + +1.0.24 (2014-05-24) +------------------- + +1.0.23 (2014-05-23) +------------------- + +1.0.22 (2014-05-22) +------------------- + +1.0.21 (2014-05-20) +------------------- + +1.0.20 (2014-05-09) +------------------- + +1.0.19 (2014-05-06) +------------------- + +1.0.18 (2014-05-04) +------------------- + +1.0.17 (2014-04-20) +------------------- + +1.0.16 (2014-04-19) +------------------- + +1.0.15 (2014-04-19) +------------------- + +1.0.14 (2014-04-19) +------------------- + +1.0.13 (2014-04-19) +------------------- + +1.0.12 (2014-04-18) +------------------- + +1.0.11 (2014-04-18) +------------------- + +1.0.10 (2014-04-17) +------------------- + +1.0.9 (2014-04-12) +------------------ + +1.0.8 (2014-04-11) +------------------ + +1.0.4 (2014-03-27) +------------------ +* fix typo CATKIN-DEPENDS -> CATKIN_DEPENDS + +1.0.0 (2014-03-05) +------------------ +* enable catkin_package for jsk_hark_msgs +* fix for using both catkin and rosbuild (jsk_hark_msgs) +* use ROS_Distributions instead of ROS_DISTRO for electric +* add message_generation and message_runtime +* use ENV to check if electric or fuerte +* modification for error output of jenkins@willow +* rosmake fails on groovy. fix it. +* update package.xml +* add package.xml for groovy +* add catkin.cmake, update CMakeLists.txt for groovy +* add jsk_hark_msgs +* Contributors: fujii, Kei Okada, youhei diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/CMakeLists.txt b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/CMakeLists.txt new file mode 100755 index 0000000..9726498 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/CMakeLists.txt @@ -0,0 +1,66 @@ +# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html +cmake_minimum_required(VERSION 2.8.3) +project(jsk_hark_msgs) +# Load catkin and all dependencies required for this package +# TODO: remove all from COMPONENTS that are not catkin packages. +find_package(catkin REQUIRED message_generation std_msgs) + +# CATKIN_MIGRATION: removed during catkin migration +# cmake_minimum_required(VERSION 2.4.6) + +# CATKIN_MIGRATION: removed during catkin migration +# include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + + +# CATKIN_MIGRATION: removed during catkin migration +# rosbuild_init() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +add_message_files( + DIRECTORY msg + FILES HarkPower.msg +) +#uncomment if you have defined services +#add_service_files( + # FILES + # TODO: List your msg files here +#) + +#common commands for building c++ executables and libraries +#add_library(${PROJECT_NAME} src/example.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +# +# CATKIN_MIGRATION: removed during catkin migration +# rosbuild_add_boost_directories() +#find_package(Boost REQUIRED COMPONENTS thread) +include_directories(${Boost_INCLUDE_DIRS}) +#target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES}) +#add_executable(example examples/example.cpp) +#target_link_libraries(example ${PROJECT_NAME}) +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES std_msgs +) +# TODO: fill in what other packages will need to use this package +## 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( + DEPENDS # TODO + CATKIN_DEPENDS std_msgs # TODO + INCLUDE_DIRS # TODO include + LIBRARIES # TODO +) diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/mainpage.dox b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/mainpage.dox new file mode 100755 index 0000000..86bbc9f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/mainpage.dox @@ -0,0 +1,14 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b jsk_hark_msgs + + + +--> + + +*/ diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/msg/HarkPower.msg b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/msg/HarkPower.msg new file mode 100755 index 0000000..df93412 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/msg/HarkPower.msg @@ -0,0 +1,5 @@ +Header header +int32 count +int32 directions +int32 data_bytes +float32[] powers diff --git a/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/package.xml b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/package.xml new file mode 100755 index 0000000..69305f3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_common_msgs/jsk_hark_msgs/package.xml @@ -0,0 +1,25 @@ + + jsk_hark_msgs + 4.3.2 + jsk_hark_msgs + Shohei Fujii + + BSD + + http://ros.org/wiki/jsk_hark_msgs + + + Shohei Fujii + + catkin + + std_msgs + message_generation + + std_msgs + message_runtime + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/CHANGELOG.rst b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/CHANGELOG.rst new file mode 100755 index 0000000..79f38f2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/CHANGELOG.rst @@ -0,0 +1,452 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package jsk_recognition_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.15 (2020-10-10) +------------------- + +1.2.14 (2020-10-09) +------------------- + +1.2.13 (2020-10-08) +------------------- + +1.2.12 (2020-10-03) +------------------- + +1.2.11 (2020-10-01) +------------------- +* Convert audio data to spectrogram (`#2478 `_) + + * divide program into audio_to_spectrum and spectrum_to_spectrogram + +* set chainer version less than 7.0.0 (`#2485 `_) + + * relax test conditions + +* fix generate_readme.py and update readme (`#2442 `_) +* Publish human skelton msgs in OpenPose node (`#2437 `_) + + * fix typo: skelton -> skeleton + * add human skelton msgs + +* Add sample, test and doc (`#2440 `_) + + * Wait at most ~timeout [sec] in plot_data_to_csv.test + * Merge branch 'master' into pointit + * Add test for save_mesh_server.py + * Add test for plot_data_to_csv.py + * Add sample for plot_data_to_csv.py + * Run mkdir if output directory does not exist + * Add test for people_pose_array_to_pose_array.py + * Add sample for people_pose_array_to_pose_array.py + * Add symbolic link to doc in jsk_recognition_msgs + * Add test for object_array_publisher.py + * Update sample for object_array_publisher.py not to depend on jsk_arc2017_common + +* Contributors: Kei Okada, Naoya Yamaguchi, Shingo Kitagawa, Yuki Furuta, Yuto Uchimi + +1.2.10 (2019-03-27) +------------------- + +1.2.9 (2019-02-23) +------------------ + +1.2.8 (2019-02-22) +------------------ + +1.2.7 (2019-02-14) +------------------ + +1.2.6 (2018-11-02) +------------------ +* Install sample and test into SHARE_DESTINATION (`#2345 `_) +* jsk_pcl_ros: support lazy mode for pointcloud_screenpoint nodelet (`#2277 `_)p + * add 'bool no_update' to TransformScreenpoint.srv + +* Contributors: Yuki Furuta, Yuto Uchimi + +1.2.5 (2018-04-09) +------------------ + +1.2.4 (2018-01-12) +------------------ + +1.2.3 (2017-11-23) +------------------ + +1.2.2 (2017-07-23) +------------------ + +1.2.1 (2017-07-15) +------------------ + +1.2.0 (2017-07-15) +------------------ +* [ADD NEW MESSAGE] Add Object.msg, ObjectArray.msg to represent object property (`#2148 `_) + * Message to represent object property (Object.msg/ObjectArray.msg) + +* Enhance PeoplePoseEstimation2D (`#2162 `_ + * scripts/people_pose_array_to_pose_array.py: Visualize people 3D pose on rviz in sample + +* Contributors: Kentaro Wada, Yuki Furuta + +1.1.3 (2017-07-07) +------------------ +* [jsk_perception] apply candidates node supports topic update (`#2143 `_) + * update Label msg API + * add Label and LabelArray msg +* Rewrite KinfuNodelet with some enhancements and new features (`#2129 `_) + * Save kinfu mesh model with bbox and ground frame id + * Create polygon mesh with bbox request in kinfu + * Create jsk_recognition_msgs/TrackingStatus.msg and use it in Kinfue +* [jsk_perception] PeoplePoseEstimation2D (`#2115 `_) + * [jsk_recogntion_msgs/PoseArray] Add score + * [jsk_perception/people_pose_estimation_2d] Modified type of PeoplePose.msg + * [jsk_recognition_msgs] Add people_pose msgs +* Contributors: Kei Okada, Kentaro Wada, Shingo Kitagawa, Iori Yanokura + +1.1.2 (2017-06-16) +------------------ +* [jsk_recognition_msgs] add segment messages. (`#2047 `_ ) +* Generate README by script (`#2064 `_ ) +* Contributors: Kentaro Wada, Masaki Murooka + +1.1.1 (2017-03-04) +------------------ + +1.1.0 (2017-02-09) +------------------ + +1.0.4 (2017-02-09) +------------------ + +1.0.3 (2017-02-08) +------------------ +* Compute box overlap and publish it (`#1993 `_ ) + * add Accuracy.msg +* Contributors: Kentaro Wada + +1.0.2 (2017-01-12) +------------------ + +1.0.1 (2016-12-13) +------------------ + +1.0.0 (2016-12-12) +------------------ + +0.3.29 (2016-10-30) +------------------- + +0.3.28 (2016-10-29) +------------------- +* [Major Release] Copy jsk_pcl_ros/srv and jsk_perception/srv files to jsk_recognition_msgs (`#1914 `_ ) +* Copy deprecated srv files to jsk_recognition_msgs + - jsk_pcl_ros/srv -> jsk_recognition_msgs/srv + - jsk_perception/srv -> jsk_recognition_msgs/srv + TODO + - 1. Migrate current code for srv files in jsk_recognition_msgs + - 2. Remove srv files in jsk_pcl_ros and jsk_perception +* Contributors: Kei Okada, Kentaro Wada + +0.3.27 (2016-10-29) +------------------- + +0.3.26 (2016-10-27) +------------------- +* Apply context to label probability (`#1901 `_) +* Contributors: Kentaro Wada + +0.3.25 (2016-09-16) +------------------- + +0.3.24 (2016-09-15) +------------------- + +0.3.23 (2016-09-14) +------------------- + +0.3.22 (2016-09-13) +------------------- + +0.3.21 (2016-04-15) +------------------- + +0.3.20 (2016-04-14) +------------------- + +0.3.19 (2016-03-22) +------------------- + +0.3.18 (2016-03-21) +------------------- + +0.3.17 (2016-03-20) +------------------- + +0.3.16 (2016-02-11) +------------------- + +0.3.15 (2016-02-09) +------------------- + +0.3.14 (2016-02-04) +------------------- +* [jsk_perception] BoundingBoxToRectArray and rect_array_to_image_marker.py +* [jsk_pcl_ros] Publish current tracking status (running or idle) + from particle_fitler_tracking. + And add some scripts to visualize them. +* [jsk_recognition_msgs] Add min/max fields to PlotDataArray +* [jsk_recognition_msgs] Update PlotData message to support more 2d plotting +* Contributors: Ryohei Ueda + +0.3.13 (2015-12-19) +------------------- + +0.3.12 (2015-12-19) +------------------- +* [jsk_pcl_ros_utils] Introduce new package called jsk_pcl_ros_utils + in order to speed-up compilation of jsk_pcl_ros +* Contributors: Ryohei Ueda + +0.3.11 (2015-12-18) +------------------- + +0.3.10 (2015-12-17) +------------------- + +0.3.9 (2015-12-14) +------------------ +* [jsk_perception] Add PolygonArrayColorHistogram +* Contributors: Ryohei Ueda + +0.3.8 (2015-12-08) +------------------ +* [jsk_pcl_ros] Add Failure flag to Torus message +* Remove types on docs for jsk_pcl_ros + See http://docs.ros.org/indigo/api/jsk_recognition_msgs/html/index-msg.html for message types +* Contributors: Kentaro Wada, Ryohei Ueda + +0.3.7 (2015-11-19) +------------------ +* Merge pull request `#1276 `_ from mmurooka/add-octomap-contact + [jsk_pcl_ros] Add octomap contact +* [jsk_recognition_msgs] Add VectorArray.msg +* add message for octomap_server_contact +* [jsk_recognition_msgs] Add new msg ClassificationResult +* [jsk_recognition_msgs] Sort msg files in CMakeLists.txt +* [jsk_recognition_msgs] Add WeightedPoseArray +* add new output msg for handle estimate +* Contributors: Kentaro Wada, Masaki Murooka, Ryohei Ueda, Yu Ohara + +0.3.6 (2015-09-11) +------------------ + +0.3.5 (2015-09-09) +------------------ + +0.3.4 (2015-09-07) +------------------ + +0.3.3 (2015-09-06) +------------------ + +0.3.2 (2015-09-05) +------------------ + +0.3.1 (2015-09-04) +------------------ + +0.3.0 (2015-09-04) +------------------ + +0.2.18 (2015-09-04) +------------------- +* [jsk_recognition_msgs] Add script to convert + jsk_recognition_msgs/PlotData into csv +* [jsk_pcl_ros] Add tool to visualize variance of raser scan +* Contributors: Ryohei Ueda + +0.2.17 (2015-08-21) +------------------- +* [jsk_recognition_msgs/PolygonArray] Add lebels and likelihood for + colorizing on rviz +* Contributors: Ryohei Ueda + +0.2.16 (2015-08-19) +------------------- + +0.2.15 (2015-08-18) +------------------- + +0.2.14 (2015-08-13) +------------------- +* [jsk_recognition_msgs] Add value field to BoundingBox to represent likelihood +* [jsk_recognition_msgs] HistogramWithRange message to represent rich histogram + data +* [jsk_pcl_ros] Add config topic to chain heightmap configuration +* [jsk_perception] Scripts for bof and its hist extractor +* Contributors: Kentaro Wada, Ryohei Ueda + +0.2.13 (2015-06-11) +------------------- +* [jsk_perception] Use ImageDifferenceValue.msg instead of Float32Stamped.msg +* [jsk_recognition_msgs] Add Float32Stamped.msg +* Contributors: Kentaro Wada + +0.2.12 (2015-05-04) +------------------- +* JSK Recognition Msg for handling Array of 2D Rects +* Contributors: iKrishneel + +0.2.11 (2015-04-13) +------------------- + +0.2.10 (2015-04-09) +------------------- + +0.2.9 (2015-03-29) +------------------ +* 0.2.8 +* Update Changelog +* Contributors: Ryohei Ueda + +0.2.8 (2015-03-29) +------------------ + +0.2.7 (2015-03-26) +------------------ + +0.2.6 (2015-03-25) +------------------ + +0.2.5 (2015-03-17) +------------------ + +0.2.4 (2015-03-08) +------------------ +* [jsk_recognition_msgs] Add resolution to SimpleOccupancyGrid +* Contributors: Ryohei Ueda + +0.2.3 (2015-02-02) +------------------ +* add CATKIN_DEPENDS +* [jsk_recognition_msgs] Add new message for occupancy grid for more + simple usage +* Contributors: Ryohei Ueda, Kei Okada + +0.2.2 (2015-01-30) +------------------ + +0.2.1 (2015-01-30) +------------------ + +0.2.0 (2015-01-29) +------------------ + +0.1.34 (2015-01-29) +------------------- +* [jsk_pcl_ros, jsk_perception] Use jsk_recognition_msgs +* Contributors: Ryohei Ueda + +0.1.33 (2015-01-24) +------------------- +* [jsk_recognition_msgs] Add jsk_recognition_msgs +* Contributors: Ryohei Ueda + +0.1.32 (2015-01-12) +------------------- + +0.1.31 (2015-01-08) +------------------- + +0.1.30 (2014-12-24 16:45) +------------------------- + +0.1.29 (2014-12-24 12:43) +------------------------- + +0.1.28 (2014-12-17) +------------------- + +0.1.27 (2014-12-09) +------------------- + +0.1.26 (2014-11-23) +------------------- + +0.1.25 (2014-11-21) +------------------- + +0.1.24 (2014-11-15) +------------------- + +0.1.23 (2014-10-09) +------------------- + +0.1.22 (2014-09-24) +------------------- + +0.1.21 (2014-09-20) +------------------- + +0.1.20 (2014-09-17) +------------------- + +0.1.19 (2014-09-15) +------------------- + +0.1.18 (2014-09-13) +------------------- + +0.1.17 (2014-09-07) +------------------- + +0.1.16 (2014-09-04) +------------------- + +0.1.15 (2014-08-26) +------------------- + +0.1.14 (2014-08-01) +------------------- + +0.1.13 (2014-07-29) +------------------- + +0.1.12 (2014-07-24) +------------------- + +0.1.11 (2014-07-08) +------------------- + +0.1.10 (2014-07-07) +------------------- + +0.1.9 (2014-07-01) +------------------ + +0.1.8 (2014-06-29) +------------------ + +0.1.7 (2014-05-31) +------------------ + +0.1.6 (2014-05-30) +------------------ + +0.1.5 (2014-05-29) +------------------ + +0.1.4 (2014-04-25) +------------------ + +0.1.3 (2014-04-12) +------------------ + +0.1.2 (2014-04-11) +------------------ + +0.1.1 (2014-04-10) +------------------ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/CMakeLists.txt b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/CMakeLists.txt new file mode 100755 index 0000000..0a706d8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/CMakeLists.txt @@ -0,0 +1,134 @@ +cmake_minimum_required(VERSION 2.8.3) +project(jsk_recognition_msgs) +find_package(catkin REQUIRED + std_msgs sensor_msgs geometry_msgs message_generation pcl_msgs jsk_footstep_msgs) +add_message_files( + FILES + Accuracy.msg + BoundingBoxArray.msg + BoundingBoxMovement.msg + BoundingBox.msg + BoundingBoxArrayWithCameraInfo.msg + Circle2DArray.msg + Circle2D.msg + ClassificationResult.msg + ClusterPointIndices.msg + ColorHistogramArray.msg + ColorHistogram.msg + DepthCalibrationParameter.msg + DepthErrorResult.msg + HeightmapConfig.msg + Histogram.msg + HistogramWithRangeBin.msg + HistogramWithRange.msg + HistogramWithRangeArray.msg + HumanSkeleton.msg + HumanSkeletonArray.msg + ICPResult.msg + ImageDifferenceValue.msg + Int32Stamped.msg + Label.msg + LabelArray.msg + LineArray.msg + Line.msg + ModelCoefficientsArray.msg + Object.msg + ObjectArray.msg + ParallelEdgeArray.msg + ParallelEdge.msg + PlotData.msg + PointsArray.msg + PolygonArray.msg + PosedCameraInfo.msg + RectArray.msg + Rect.msg + RotatedRect.msg + RotatedRectStamped.msg + SimpleHandle.msg + SimpleOccupancyGridArray.msg + SimpleOccupancyGrid.msg + SlicedPointCloud.msg + SnapItRequest.msg + SparseImage.msg + SparseOccupancyGridArray.msg + SparseOccupancyGridCell.msg + SparseOccupancyGridColumn.msg + SparseOccupancyGrid.msg + Spectrum.msg + TimeRange.msg + TorusArray.msg + Torus.msg + TrackerStatus.msg + TrackingStatus.msg + BoolStamped.msg + VectorArray.msg + WeightedPoseArray.msg + ContactSensor.msg + ContactSensorArray.msg + PlotDataArray.msg + Segment.msg + SegmentStamped.msg + SegmentArray.msg + PeoplePose.msg + PeoplePoseArray.msg + ) + +# TODO(wkentaro): Most of srv files are duplicated in jsk_pcl_ros, +# and jsk_perception, so those in the packages should be removed. +add_service_files(FILES + CallPolygon.srv + CallSnapIt.srv + CheckCircle.srv + CheckCollision.srv + EnvironmentLock.srv + EuclideanSegment.srv + ICPAlign.srv + ICPAlignWithBox.srv + NonMaximumSuppression.srv + PolygonOnEnvironment.srv + RobotPickupReleasePoint.srv + SaveMesh.srv + SetDepthCalibrationParameter.srv + SetLabels.srv + SetPointCloud2.srv + SetTemplate.srv + SnapFootstep.srv + SwitchTopic.srv + TowerPickUp.srv + TowerRobotMoveCommand.srv + TransformScreenpoint.srv + UpdateOffset.srv + WhiteBalancePoints.srv + WhiteBalance.srv + ) + +generate_messages( + DEPENDENCIES + std_msgs sensor_msgs geometry_msgs pcl_msgs jsk_footstep_msgs +) +catkin_package( + CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs pcl_msgs jsk_footstep_msgs +) + +# From https://github.com/jsk-ros-pkg/jsk_recognition/pull/2345 +# Install header files directly into ${CATKIN_PACKAGE_INCLUDE_DESTINATION}. +# If the package has setup.py and modules under src/${PROJECT_NAME}/, +# install python executables directly into ${CATKIN_PACKAGE_BIN_DESTINATION}. +# However, if it doesn't have setup.py, directories including python executables +# should be installed recursively into ${CATKIN_PACKAGE_SHARE_DESTINATION}. +# Also, other directories like 'launch' or 'sample' must be installed +# recursively into ${CATKIN_PACKAGE_SHARE_DESTINATION}. +# Be careful that 'launch' and 'launch/' are different: the former is directory +# and the latter is each content. +install(DIRECTORY sample scripts + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) + +if (CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + add_rostest(test/object_array_publisher.test) + add_rostest(test/people_pose_array_to_pose_array.test) + add_rostest(test/plot_data_to_csv.test) + add_rostest(test/save_mesh_server.test) +endif() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Accuracy.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Accuracy.msg new file mode 100755 index 0000000..be3861c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Accuracy.msg @@ -0,0 +1,2 @@ +Header header +float32 accuracy diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoolStamped.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoolStamped.msg new file mode 100755 index 0000000..b82ca67 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoolStamped.msg @@ -0,0 +1,2 @@ +Header header +bool data diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBox.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBox.msg new file mode 100755 index 0000000..2b6a24c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBox.msg @@ -0,0 +1,7 @@ +# BoundingBox represents a oriented bounding box. +Header header +geometry_msgs/Pose pose +geometry_msgs/Vector3 dimensions # size of bounding box (x, y, z) +# You can use this field to hold value such as likelihood +float32 value +uint32 label diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBoxArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBoxArray.msg new file mode 100755 index 0000000..2341978 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBoxArray.msg @@ -0,0 +1,4 @@ +# BoundingBoxArray is a list of BoundingBox. +# You can use jsk_rviz_plugins to visualize BoungingBoxArray on rviz. +Header header +BoundingBox[] boxes diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBoxArrayWithCameraInfo.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBoxArrayWithCameraInfo.msg new file mode 100755 index 0000000..3f0d2bf --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBoxArrayWithCameraInfo.msg @@ -0,0 +1,3 @@ +Header header +BoundingBoxArray boxes +sensor_msgs/CameraInfo camera_info diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBoxMovement.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBoxMovement.msg new file mode 100755 index 0000000..808ab90 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/BoundingBoxMovement.msg @@ -0,0 +1,4 @@ +Header header +BoundingBox box +geometry_msgs/Pose handle_pose +geometry_msgs/PoseStamped destination diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Circle2D.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Circle2D.msg new file mode 100755 index 0000000..e77c629 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Circle2D.msg @@ -0,0 +1,4 @@ +Header header +float64 radius +float64 x +float64 y diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Circle2DArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Circle2DArray.msg new file mode 100755 index 0000000..578b9e3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Circle2DArray.msg @@ -0,0 +1,2 @@ +Header header +Circle2D[] circles diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ClassificationResult.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ClassificationResult.msg new file mode 100755 index 0000000..9b18cbb --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ClassificationResult.msg @@ -0,0 +1,12 @@ +# information about frame and timestamp +Header header + +# prediction results +uint32[] labels # numerical labels +string[] label_names # non-numerical labels +float64[] label_proba # probabilities of labels +float64[] probabilities # probabilities about each classification for all target_names + +# information about classifier +string classifier # name of classifier +string[] target_names # set in which label_names should be diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ClusterPointIndices.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ClusterPointIndices.msg new file mode 100755 index 0000000..302d9cb --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ClusterPointIndices.msg @@ -0,0 +1,4 @@ +# ClusterPointIndices is used to represent segmentation result. +# Simply put, ClusterPointIndices is a list of PointIndices. +Header header +pcl_msgs/PointIndices[] cluster_indices diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ColorHistogram.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ColorHistogram.msg new file mode 100755 index 0000000..357e365 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ColorHistogram.msg @@ -0,0 +1,2 @@ +Header header +float32[] histogram diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ColorHistogramArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ColorHistogramArray.msg new file mode 100755 index 0000000..5b38fb8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ColorHistogramArray.msg @@ -0,0 +1,2 @@ +Header header +ColorHistogram[] histograms diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ContactSensor.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ContactSensor.msg new file mode 100755 index 0000000..685c8f2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ContactSensor.msg @@ -0,0 +1,7 @@ +# Header +Header header + +# Whether sensor detects contact or not +bool contact + +string link_name diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ContactSensorArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ContactSensorArray.msg new file mode 100755 index 0000000..b4e2515 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ContactSensorArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +jsk_recognition_msgs/ContactSensor[] datas \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/DepthCalibrationParameter.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/DepthCalibrationParameter.msg new file mode 100755 index 0000000..555cb5a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/DepthCalibrationParameter.msg @@ -0,0 +1,6 @@ +# each vector stands for C(u, v) +# C(u, v) = a_0 * u^2 + a_1 * u + a_2 * v^2 + a_3 * v + a_4 +float64[] coefficients2 +float64[] coefficients1 +float64[] coefficients0 +bool use_abs diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/DepthErrorResult.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/DepthErrorResult.msg new file mode 100755 index 0000000..bbd1f99 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/DepthErrorResult.msg @@ -0,0 +1,7 @@ +Header header +uint32 u +uint32 v +float32 center_u +float32 center_v +float32 true_depth +float32 observed_depth diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HeightmapConfig.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HeightmapConfig.msg new file mode 100755 index 0000000..40531e3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HeightmapConfig.msg @@ -0,0 +1,4 @@ +float32 min_x +float32 max_x +float32 min_y +float32 max_y diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Histogram.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Histogram.msg new file mode 100755 index 0000000..f9550c7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Histogram.msg @@ -0,0 +1,2 @@ +Header header +float64[] histogram diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HistogramWithRange.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HistogramWithRange.msg new file mode 100755 index 0000000..da0bbae --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HistogramWithRange.msg @@ -0,0 +1,3 @@ +Header header +HistogramWithRangeBin[] bins + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HistogramWithRangeArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HistogramWithRangeArray.msg new file mode 100755 index 0000000..a5cb060 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HistogramWithRangeArray.msg @@ -0,0 +1,4 @@ +Header header +HistogramWithRange[] histograms + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HistogramWithRangeBin.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HistogramWithRangeBin.msg new file mode 100755 index 0000000..e57272f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HistogramWithRangeBin.msg @@ -0,0 +1,3 @@ +float64 min_value +float64 max_value +uint32 count diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HumanSkeleton.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HumanSkeleton.msg new file mode 100755 index 0000000..bc3b595 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HumanSkeleton.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +string[] bone_names +jsk_recognition_msgs/Segment[] bones diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HumanSkeletonArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HumanSkeletonArray.msg new file mode 100755 index 0000000..63dd23b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/HumanSkeletonArray.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +std_msgs/Int32[] human_ids +jsk_recognition_msgs/HumanSkeleton[] skeletons diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ICPResult.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ICPResult.msg new file mode 100755 index 0000000..a13fcc7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ICPResult.msg @@ -0,0 +1,4 @@ +Header header +geometry_msgs/Pose pose +string name +float64 score \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ImageDifferenceValue.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ImageDifferenceValue.msg new file mode 100755 index 0000000..ac4d1c2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ImageDifferenceValue.msg @@ -0,0 +1,3 @@ +Header header + +float32 difference diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Int32Stamped.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Int32Stamped.msg new file mode 100755 index 0000000..5b2498f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Int32Stamped.msg @@ -0,0 +1,2 @@ +Header header +int32 data diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Label.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Label.msg new file mode 100755 index 0000000..e391b32 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Label.msg @@ -0,0 +1,2 @@ +int32 id +string name diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/LabelArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/LabelArray.msg new file mode 100755 index 0000000..167010c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/LabelArray.msg @@ -0,0 +1,2 @@ +Header header +Label[] labels diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Line.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Line.msg new file mode 100755 index 0000000..c0e9925 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Line.msg @@ -0,0 +1,6 @@ +float64 x1 +float64 y1 +float64 x2 +float64 y2 + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/LineArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/LineArray.msg new file mode 100755 index 0000000..09dd17e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/LineArray.msg @@ -0,0 +1,3 @@ +Header header +Line[] lines + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ModelCoefficientsArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ModelCoefficientsArray.msg new file mode 100755 index 0000000..49d26a8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ModelCoefficientsArray.msg @@ -0,0 +1,5 @@ +# ModelCoefficientsArray is used to represent coefficients of model +# for each segmented clusters. +# Simply put, ModelCoefficientsArray is a list of ModelCoefficients. +Header header +pcl_msgs/ModelCoefficients[] coefficients diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Object.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Object.msg new file mode 100755 index 0000000..613eb5a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Object.msg @@ -0,0 +1,13 @@ +# object instant info (ex. oreo_cookie) +int32 id # object id +string name # object name + +# object class info (ex. snack) +int32 class_id +string class_name + +string[] image_resources # image urls +string mesh_resource # mesh file url + +float32 weight # weight [kg] +geometry_msgs/Vector3 dimensions # bounding box [m] diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ObjectArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ObjectArray.msg new file mode 100755 index 0000000..29c30e5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ObjectArray.msg @@ -0,0 +1,2 @@ +Header header +jsk_recognition_msgs/Object[] objects diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ParallelEdge.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ParallelEdge.msg new file mode 100755 index 0000000..f4081ed --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ParallelEdge.msg @@ -0,0 +1,3 @@ +Header header +pcl_msgs/PointIndices[] cluster_indices +pcl_msgs/ModelCoefficients[] coefficients diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ParallelEdgeArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ParallelEdgeArray.msg new file mode 100755 index 0000000..b6a1631 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/ParallelEdgeArray.msg @@ -0,0 +1,2 @@ +Header header +ParallelEdge[] edge_groups diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PeoplePose.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PeoplePose.msg new file mode 100755 index 0000000..95d30f5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PeoplePose.msg @@ -0,0 +1,3 @@ +string[] limb_names +geometry_msgs/Pose[] poses +float32[] scores \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PeoplePoseArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PeoplePoseArray.msg new file mode 100755 index 0000000..2347f01 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PeoplePoseArray.msg @@ -0,0 +1,2 @@ +Header header +jsk_recognition_msgs/PeoplePose[] poses diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PlotData.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PlotData.msg new file mode 100755 index 0000000..3817322 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PlotData.msg @@ -0,0 +1,10 @@ +uint32 SCATTER=1 +uint32 LINE=2 + +Header header +float32[] xs +float32[] ys +uint32 type #SCATTER or LINE +string label +bool fit_line +bool fit_line_ransac diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PlotDataArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PlotDataArray.msg new file mode 100755 index 0000000..6da4a8f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PlotDataArray.msg @@ -0,0 +1,8 @@ +Header header +jsk_recognition_msgs/PlotData[] data +bool no_legend +float32 legend_font_size +float32 max_x +float32 min_x +float32 min_y +float32 max_y diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PointsArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PointsArray.msg new file mode 100755 index 0000000..324028e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PointsArray.msg @@ -0,0 +1,2 @@ +Header header +sensor_msgs/PointCloud2[] cloud_list diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PolygonArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PolygonArray.msg new file mode 100755 index 0000000..17b27e3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PolygonArray.msg @@ -0,0 +1,6 @@ +# PolygonArray is a list of PolygonStamped. +# You can use jsk_rviz_plugins to visualize PolygonArray on rviz. +Header header +geometry_msgs/PolygonStamped[] polygons +uint32[] labels +float32[] likelihood diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PosedCameraInfo.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PosedCameraInfo.msg new file mode 100755 index 0000000..f352b65 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/PosedCameraInfo.msg @@ -0,0 +1,3 @@ +Header header +sensor_msgs/CameraInfo camera_info +geometry_msgs/Pose offset diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Rect.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Rect.msg new file mode 100755 index 0000000..eccaa62 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Rect.msg @@ -0,0 +1,4 @@ +int32 x +int32 y +int32 width +int32 height diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/RectArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/RectArray.msg new file mode 100755 index 0000000..0843a95 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/RectArray.msg @@ -0,0 +1,2 @@ +Header header +Rect[] rects diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/RotatedRect.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/RotatedRect.msg new file mode 100755 index 0000000..bcca6be --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/RotatedRect.msg @@ -0,0 +1,5 @@ +float64 x +float64 y +float64 width +float64 height +float64 angle # degree diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/RotatedRectStamped.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/RotatedRectStamped.msg new file mode 100755 index 0000000..fa000de --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/RotatedRectStamped.msg @@ -0,0 +1,2 @@ +Header header +RotatedRect rect diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Segment.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Segment.msg new file mode 100755 index 0000000..6578bf0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Segment.msg @@ -0,0 +1,2 @@ +geometry_msgs/Point start_point +geometry_msgs/Point end_point diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SegmentArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SegmentArray.msg new file mode 100755 index 0000000..3afd7d4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SegmentArray.msg @@ -0,0 +1,2 @@ +Header header +Segment[] segments diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SegmentStamped.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SegmentStamped.msg new file mode 100755 index 0000000..4f8f437 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SegmentStamped.msg @@ -0,0 +1,2 @@ +Header header +Segment segment diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SimpleHandle.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SimpleHandle.msg new file mode 100755 index 0000000..67d3e75 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SimpleHandle.msg @@ -0,0 +1,3 @@ +Header header +geometry_msgs/Pose pose +float64 handle_width diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SimpleOccupancyGrid.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SimpleOccupancyGrid.msg new file mode 100755 index 0000000..8245e77 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SimpleOccupancyGrid.msg @@ -0,0 +1,6 @@ +Header header +# plane coefficients +float32[4] coefficients +# cells +float32 resolution +geometry_msgs/Point[] cells diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SimpleOccupancyGridArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SimpleOccupancyGridArray.msg new file mode 100755 index 0000000..568c2b5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SimpleOccupancyGridArray.msg @@ -0,0 +1,2 @@ +Header header +SimpleOccupancyGrid[] grids diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SlicedPointCloud.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SlicedPointCloud.msg new file mode 100755 index 0000000..4e5c107 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SlicedPointCloud.msg @@ -0,0 +1,3 @@ +sensor_msgs/PointCloud2 point_cloud +uint8 slice_index +uint8 sequence_id diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SnapItRequest.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SnapItRequest.msg new file mode 100755 index 0000000..50b53b4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SnapItRequest.msg @@ -0,0 +1,14 @@ +Header header +uint8 MODEL_PLANE=0 +uint8 MODEL_CYLINDER=1 +uint8 model_type + +geometry_msgs/PolygonStamped target_plane + +geometry_msgs/PointStamped center +geometry_msgs/Vector3Stamped direction +float64 radius +float64 height +# parameters, 0 means +float64 max_distance +float64 eps_angle diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseImage.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseImage.msg new file mode 100755 index 0000000..06b90a5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseImage.msg @@ -0,0 +1,9 @@ +Header header + +uint32 width +uint32 height + +# each uint8 or uint16 contains position of white pixel expressed like: "(x << 8 or 16) ^ y" +# if max(width, height) > 256(=2^8) use data32 array, else use data16 array. +uint16[] data16 +uint32[] data32 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGrid.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGrid.msg new file mode 100755 index 0000000..7dc72fa --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGrid.msg @@ -0,0 +1,5 @@ +Header header +geometry_msgs/Pose origin_pose +float32 resolution + +SparseOccupancyGridColumn[] columns diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGridArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGridArray.msg new file mode 100755 index 0000000..feccb27 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGridArray.msg @@ -0,0 +1,2 @@ +Header header +SparseOccupancyGrid[] grids diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGridCell.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGridCell.msg new file mode 100755 index 0000000..952e680 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGridCell.msg @@ -0,0 +1,2 @@ +int32 row_index +float32 value diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGridColumn.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGridColumn.msg new file mode 100755 index 0000000..64a6bb7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/SparseOccupancyGridColumn.msg @@ -0,0 +1,2 @@ +int32 column_index +SparseOccupancyGridCell[] cells diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Spectrum.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Spectrum.msg new file mode 100755 index 0000000..4026f24 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Spectrum.msg @@ -0,0 +1,5 @@ +# Spectrum is frequency spectrum generated by Fourier transfrom. + +Header header +float32[] amplitude # Amplitude of spectrum. Real number. +float32[] frequency # Frequency of spectrum. diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TimeRange.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TimeRange.msg new file mode 100755 index 0000000..e655ff8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TimeRange.msg @@ -0,0 +1,4 @@ +# Represents range of time. +std_msgs/Header header +time start +time end diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Torus.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Torus.msg new file mode 100755 index 0000000..ae46859 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/Torus.msg @@ -0,0 +1,5 @@ +Header header +bool failure +geometry_msgs/Pose pose +float64 large_radius +float64 small_radius diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TorusArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TorusArray.msg new file mode 100755 index 0000000..34f2c3d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TorusArray.msg @@ -0,0 +1,2 @@ +Header header +Torus[] toruses diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TrackerStatus.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TrackerStatus.msg new file mode 100755 index 0000000..6246557 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TrackerStatus.msg @@ -0,0 +1,5 @@ +Header header +# if true, it means the tracker is trying to track object, +# else, the tracker think scene is stable and no need to track +# to save computational resource. +bool is_tracking diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TrackingStatus.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TrackingStatus.msg new file mode 100755 index 0000000..9063156 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/TrackingStatus.msg @@ -0,0 +1,4 @@ +Header header + +# if true, it means the tracker abandon to track the object. +bool is_lost diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/VectorArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/VectorArray.msg new file mode 100755 index 0000000..cb95241 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/VectorArray.msg @@ -0,0 +1,3 @@ +Header header +int32 vector_dim +float64[] data diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/WeightedPoseArray.msg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/WeightedPoseArray.msg new file mode 100755 index 0000000..f20e719 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/msg/WeightedPoseArray.msg @@ -0,0 +1,3 @@ +Header header +float32[] weights +geometry_msgs/PoseArray poses diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/package.xml b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/package.xml new file mode 100755 index 0000000..1a1b042 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/package.xml @@ -0,0 +1,30 @@ + + + jsk_recognition_msgs + 1.2.15 + ROS messages for jsk_pcl_ros and jsk_perception. + + http://github.com/jsk-ros-pkg/jsk_recognition + http://github.com/jsk-ros-pkg/jsk_recognition/issues + https://jsk-docs.readthedocs.io/projects/jsk_recognition/en/latest/jsk_recognition_msgs + + + Ryohei Ueda + BSD + catkin + pcl_msgs + pcl_msgs + std_msgs + std_msgs + geometry_msgs + geometry_msgs + sensor_msgs + sensor_msgs + message_generation + message_generation + jsk_footstep_msgs + jsk_footstep_msgs + rostest + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/config/sample_object_array_publisher.rviz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/config/sample_object_array_publisher.rviz new file mode 100755 index 0000000..337b56b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/config/sample_object_array_publisher.rviz @@ -0,0 +1,123 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.536111 + Tree Height: 359 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" + - Class: jsk_rviz_plugin/TransformableMarkerOperatorAction + Name: TransformableMarkerOperatorAction + ServerName: /transformable_interactive_server +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/InteractiveMarkers + Enable Transparency: true + Enabled: true + Name: InteractiveMarkers + Show Axes: false + Show Descriptions: true + Show Visual Aids: false + Update Topic: /simple_marker/update + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 0.601374 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.750398 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.07358 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000400000000000001b300000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001a8000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000042005400720061006e00730066006f0072006d00610062006c0065004d00610072006b00650072004f00700065007200610074006f00720041006300740069006f006e01000001d6000001e80000007600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005860000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + TransformableMarkerOperatorAction: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/config/sample_people_pose_array_to_pose_array.rviz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/config/sample_people_pose_array_to_pose_array.rviz new file mode 100755 index 0000000..2c22f7a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/config/sample_people_pose_array_to_pose_array.rviz @@ -0,0 +1,118 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 853 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 2 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Arrow Length: 0.3 + Axes Length: 0.1 + Axes Radius: 0.01 + Class: jsk_rviz_plugin/PoseArray + Color: 255; 25; 0 + Enabled: true + Name: PoseArray + Shape: Axes + Topic: /people_pose_array_to_pose_array/output + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.27595 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 4.13382 + Y: 8.20634 + Z: 1.06153 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.459797 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.0386 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/info.json b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/info.json new file mode 100755 index 0000000..ce1a886 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/info.json @@ -0,0 +1,11 @@ +{ + "name": "tennis_ball_container", + "dimensions": [ + 0.077, + 0.218, + 0.077 + ], + "weight": 0.228, + "type": "cylinder", + "description": "Head to the court with these Wilson Championship Tennis Balls. They are designed for excellent performance on both indoor and clay courts. Constructed from Dura-weave felt, they are extremely durable and made to endure even the most rigorous games." +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/mesh.mtl b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/mesh.mtl new file mode 100755 index 0000000..7030d6d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/mesh.mtl @@ -0,0 +1,39 @@ +# +# Wavefront material file +# +newmtl material_0 +Ka 0.2 0.2 0.2 +Kd 0.8 0.8 0.8 +Ks 1 1 1 +d 1 +Ns 75 +illum 2 +map_Kd textures/0.jpg +### +newmtl material_1 +Ka 0.2 0.2 0.2 +Kd 0.8 0.8 0.8 +Ks 1 1 1 +d 1 +Ns 75 +illum 2 +map_Kd textures/1.jpg +### +newmtl material_2 +Ka 0.2 0.2 0.2 +Kd 0.8 0.8 0.8 +Ks 1 1 1 +d 1 +Ns 75 +illum 2 +map_Kd textures/2.jpg +### +newmtl material_3 +Ka 0.2 0.2 0.2 +Kd 0.8 0.8 0.8 +Ks 1 1 1 +d 1 +Ns 75 +illum 2 +map_Kd textures/occluded.jpg +### diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/mesh.obj b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/mesh.obj new file mode 100755 index 0000000..6f1c2b1 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/mesh.obj @@ -0,0 +1,52070 @@ +#### +# +# OBJ File Generated by Meshlab +# +#### +# Object mesh.obj +# +# Vertices: 18914 +# Faces: 12581 +# +#### +mtllib ./mesh.mtl + +vn -0.122252 -0.051099 1.151636 +v -0.071618 -0.013383 0.046295 0.749020 0.749020 0.749020 +vn -0.054771 -0.022893 0.515955 +v -0.071910 -0.013045 0.046279 0.749020 0.749020 0.749020 +vn -0.154286 -0.064489 1.453411 +v -0.071523 -0.013182 0.046314 0.749020 0.749020 0.749020 +vn 0.021340 0.004828 0.305756 +v -0.071618 -0.013383 0.046295 0.749020 0.749020 0.749020 +vn 0.104771 0.023705 1.501111 +v 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a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/0.jpg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/0.jpg new file mode 100755 index 0000000..cf62175 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/0.jpg differ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/1.jpg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/1.jpg new file mode 100755 index 0000000..6526464 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/1.jpg differ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/2.jpg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/2.jpg new file mode 100755 index 0000000..4b339ed Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/2.jpg differ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/occluded.jpg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/occluded.jpg new file mode 100755 index 0000000..1983fdc Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/textures/occluded.jpg differ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/top.jpg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/top.jpg new file mode 100755 index 0000000..f2223d6 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/objects/tennis_ball_container/top.jpg differ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/sample_object_array_publisher.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/sample_object_array_publisher.launch new file mode 100755 index 0000000..251f831 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/sample_object_array_publisher.launch @@ -0,0 +1,42 @@ + + + + + + + latch: false + objects: + - id: 35 + name: tennis_ball_container + class_id: 2 + class_name: cylinder + image_resources: + - package://jsk_recognition_msgs/sample/objects/tennis_ball_container/top.jpg + mesh_resource: package://jsk_recognition_msgs/sample/objects/tennis_ball_container/mesh/mesh.obj + weight: 0.217 + dimensions: + x: 0.077 + y: 0.218 + z: 0.077 + + + + + + + + + + display_interactive_manipulator_only_selected: true + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/sample_people_pose_array_to_pose_array.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/sample_people_pose_array_to_pose_array.launch new file mode 100755 index 0000000..696df10 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/sample_people_pose_array_to_pose_array.launch @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/sample_plot_data_to_csv.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/sample_plot_data_to_csv.launch new file mode 100755 index 0000000..95e1730 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/sample/sample_plot_data_to_csv.launch @@ -0,0 +1,17 @@ + + + + + + + + + filename: $(arg csv_path) + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/object_array_publisher.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/object_array_publisher.py new file mode 100755 index 0000000..97284fa --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/object_array_publisher.py @@ -0,0 +1,33 @@ +#!/usr/bin/env python + +import rospy +import genpy +from jsk_recognition_msgs.msg import Object +from jsk_recognition_msgs.msg import ObjectArray + + +class ObjectArrayPublisher(object): + + def __init__(self): + objects = rospy.get_param('~objects') + self.msg = ObjectArray() + for obj in objects: + obj_msg = Object() + genpy.message.fill_message_args(obj_msg, obj) + self.msg.objects.append(obj_msg) + + latch = rospy.get_param('~latch', False) + self._pub = rospy.Publisher('~output', ObjectArray, queue_size=1, + latch=True) + self._timer = rospy.Timer(rospy.Duration(1), self._timer_cb, + oneshot=latch) + + def _timer_cb(self, event): + self.msg.header.stamp = event.current_real + self._pub.publish(self.msg) + + +if __name__ == '__main__': + rospy.init_node('object_array_publisher') + app = ObjectArrayPublisher() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/people_pose_array_to_pose_array.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/people_pose_array_to_pose_array.py new file mode 100755 index 0000000..6914146 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/people_pose_array_to_pose_array.py @@ -0,0 +1,33 @@ +#!/usr/bin/env python + +from geometry_msgs.msg import PoseArray +from jsk_topic_tools import ConnectionBasedTransport +import rospy + +from jsk_recognition_msgs.msg import PeoplePoseArray + + +class PeoplePoseArrayToPoseArray(ConnectionBasedTransport): + + def __init__(self): + super(PeoplePoseArrayToPoseArray, self).__init__() + self.pub = self.advertise('~output', PoseArray, queue_size=1) + + def subscribe(self): + self.sub = rospy.Subscriber('~input', PeoplePoseArray, self._cb) + + def unsubscribe(self): + self.sub.unregister() + + def _cb(self, msg): + out_msg = PoseArray() + for person_pose in msg.poses: + out_msg.poses.extend(person_pose.poses) + out_msg.header = msg.header + self.pub.publish(out_msg) + + +if __name__ == '__main__': + rospy.init_node('people_pose_array_to_pose_array') + app = PeoplePoseArrayToPoseArray() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/plot_data_to_csv.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/plot_data_to_csv.py new file mode 100755 index 0000000..c211e29 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/plot_data_to_csv.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python + +import os +import os.path as osp + +import rospy +from jsk_recognition_msgs.msg import PlotData +import csv + +counter = 0 + + +def callback(msg): + global counter + + try: + file_i = osp.expanduser(filename % counter) + except TypeError: + file_i = osp.expanduser(filename) + rospy.loginfo("Output file %s will be overwritten." % file_i) + + rospy.loginfo("writing to %s" % file_i) + + dst_dir = osp.dirname(file_i) + if not osp.isdir(dst_dir): + os.makedirs(dst_dir) + + with open(file_i, "w") as f: + writer = csv.writer(f, delimiter=',') + writer.writerow(["x", "y"]) + for x, y in zip(msg.xs, msg.ys): + writer.writerow([x, y]) + rospy.loginfo("done") + counter = counter + 1 + + +if __name__ == "__main__": + rospy.init_node("plot_data_to_csv") + filename = rospy.get_param("~filename", "output_%04d.csv") + sub = rospy.Subscriber("~input", PlotData, callback, queue_size=1) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/save_mesh_server.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/save_mesh_server.py new file mode 100755 index 0000000..a23bd0b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/scripts/save_mesh_server.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python + +import rospy +from jsk_recognition_msgs.msg import BoundingBox +from jsk_recognition_msgs.srv import SaveMesh +from jsk_recognition_msgs.srv import SaveMeshRequest +from std_srvs.srv import Empty +from std_srvs.srv import EmptyResponse + + +class SaveMeshServer(object): + + def __init__(self): + self.ground_frame_id = rospy.get_param('~ground_frame_id', '') + self.sub_bbox = rospy.Subscriber('~input/bbox', BoundingBox, self._cb) + self.srv_client = rospy.ServiceProxy('~save_mesh', SaveMesh) + self.srv_server = rospy.Service('~request', Empty, self._request_cb) + self.bbox_msg = None + + def _cb(self, bbox_msg): + self.bbox_msg = bbox_msg + + def _request_cb(self, req): + if self.bbox_msg is None: + rospy.logerr('No bounding box is set, so ignoring the request.') + return EmptyResponse() + + req = SaveMeshRequest() + req.box = self.bbox_msg + req.ground_frame_id = self.ground_frame_id + self.srv_client.call(req) + return EmptyResponse() + + +if __name__ == '__main__': + rospy.init_node('save_mesh_server') + server = SaveMeshServer() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CallPolygon.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CallPolygon.srv new file mode 100755 index 0000000..151d891 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CallPolygon.srv @@ -0,0 +1,3 @@ +string filename +--- +geometry_msgs/PolygonStamped points diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CallSnapIt.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CallSnapIt.srv new file mode 100755 index 0000000..af2285b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CallSnapIt.srv @@ -0,0 +1,3 @@ +jsk_recognition_msgs/SnapItRequest request +--- +geometry_msgs/Pose transformation diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CheckCircle.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CheckCircle.srv new file mode 100755 index 0000000..126cb61 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CheckCircle.srv @@ -0,0 +1,5 @@ +geometry_msgs/Point point +--- +bool clicked +int32 index +string msg diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CheckCollision.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CheckCollision.srv new file mode 100755 index 0000000..6bacae5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/CheckCollision.srv @@ -0,0 +1,4 @@ +sensor_msgs/JointState joint +geometry_msgs/PoseStamped pose +--- +bool result diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/EnvironmentLock.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/EnvironmentLock.srv new file mode 100755 index 0000000..fa7f94a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/EnvironmentLock.srv @@ -0,0 +1,2 @@ +--- +uint32 environment_id diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/EuclideanSegment.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/EuclideanSegment.srv new file mode 100755 index 0000000..d31009c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/EuclideanSegment.srv @@ -0,0 +1,4 @@ +sensor_msgs/PointCloud2 input +float32 tolerance +--- +sensor_msgs/PointCloud2[] output diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/ICPAlign.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/ICPAlign.srv new file mode 100755 index 0000000..a696adb --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/ICPAlign.srv @@ -0,0 +1,4 @@ +sensor_msgs/PointCloud2 reference_cloud +sensor_msgs/PointCloud2 target_cloud +--- +jsk_recognition_msgs/ICPResult result diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/ICPAlignWithBox.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/ICPAlignWithBox.srv new file mode 100755 index 0000000..38857dc --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/ICPAlignWithBox.srv @@ -0,0 +1,4 @@ +sensor_msgs/PointCloud2 target_cloud +jsk_recognition_msgs/BoundingBox target_box +--- +jsk_recognition_msgs/ICPResult result diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/NonMaximumSuppression.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/NonMaximumSuppression.srv new file mode 100755 index 0000000..4c576e4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/NonMaximumSuppression.srv @@ -0,0 +1,5 @@ +jsk_recognition_msgs/Rect[] rect +float32 threshold +--- +jsk_recognition_msgs/Rect[] bbox +int64 bbox_count diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/PolygonOnEnvironment.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/PolygonOnEnvironment.srv new file mode 100755 index 0000000..66802b9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/PolygonOnEnvironment.srv @@ -0,0 +1,6 @@ +uint32 environment_id +uint32 plane_index +geometry_msgs/PolygonStamped polygon +--- +bool result +string reason diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/RobotPickupReleasePoint.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/RobotPickupReleasePoint.srv new file mode 100755 index 0000000..2bd31c7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/RobotPickupReleasePoint.srv @@ -0,0 +1,5 @@ +Header header +geometry_msgs/Point target_point +byte pick_or_release # 0 -> pick, 1 -> release +--- +bool success diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SaveMesh.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SaveMesh.srv new file mode 100755 index 0000000..441b309 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SaveMesh.srv @@ -0,0 +1,4 @@ +string ground_frame_id # to create solid model +jsk_recognition_msgs/BoundingBox box # to crop mesh +--- +bool success diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetDepthCalibrationParameter.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetDepthCalibrationParameter.srv new file mode 100755 index 0000000..f0368d3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetDepthCalibrationParameter.srv @@ -0,0 +1,2 @@ +jsk_recognition_msgs/DepthCalibrationParameter parameter +--- diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetLabels.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetLabels.srv new file mode 100755 index 0000000..c07ad7b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetLabels.srv @@ -0,0 +1,3 @@ +int64[] labels +--- +bool success diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetPointCloud2.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetPointCloud2.srv new file mode 100755 index 0000000..2ba5dba --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetPointCloud2.srv @@ -0,0 +1,4 @@ +sensor_msgs/PointCloud2 cloud +string name +--- +string output diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetTemplate.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetTemplate.srv new file mode 100755 index 0000000..4611f47 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SetTemplate.srv @@ -0,0 +1,8 @@ +string type +sensor_msgs/Image image +# dimensions of the texture in the real world (in meters) +float32 dimx +float32 dimy +geometry_msgs/Pose relativepose # used to set the coordinate system of the object relative to the texture +string savefilename # if not empty, will save the resulting pp file to here +--- diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SnapFootstep.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SnapFootstep.srv new file mode 100755 index 0000000..31119d2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SnapFootstep.srv @@ -0,0 +1,3 @@ +jsk_footstep_msgs/FootstepArray input +--- +jsk_footstep_msgs/FootstepArray output diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SwitchTopic.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SwitchTopic.srv new file mode 100755 index 0000000..1438a85 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/SwitchTopic.srv @@ -0,0 +1,4 @@ +# new topics +string camera_info +string points +--- diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/TowerPickUp.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/TowerPickUp.srv new file mode 100755 index 0000000..bb68d9a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/TowerPickUp.srv @@ -0,0 +1,2 @@ +int32 tower_index +--- diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/TowerRobotMoveCommand.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/TowerRobotMoveCommand.srv new file mode 100755 index 0000000..58b5fcf --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/TowerRobotMoveCommand.srv @@ -0,0 +1,23 @@ +# a service to move robot with tower index +byte ROBOT1=1 +byte ROBOT2=2 +byte ROBOT3=3 + +byte PLATE_SMALL=1 +byte PLATE_MIDDLE=2 +byte PLATE_LARGE=3 + +byte TOWER_LOWEST=1 +byte TOWER_MIDDLE=2 +byte TOWER_HIGHEST=3 +byte TOWER_LOWEST2=1 + +byte OPTION_NONE=0 +byte OPTION_MOVE_INITIAL=1 + +int32 robot_index +int32 plate_index +int32 from_tower +int32 to_tower +int32 option_command +--- diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/TransformScreenpoint.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/TransformScreenpoint.srv new file mode 100755 index 0000000..8c6dca5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/TransformScreenpoint.srv @@ -0,0 +1,9 @@ +# screen point +float32 x +float32 y +bool no_update +--- +# position in actual world +std_msgs/Header header +geometry_msgs/Point point +geometry_msgs/Vector3 vector diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/UpdateOffset.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/UpdateOffset.srv new file mode 100755 index 0000000..fbe5188 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/UpdateOffset.srv @@ -0,0 +1,5 @@ +# UpdatePose.srv +# This service is designed to specify localization +# transformation manually +geometry_msgs/TransformStamped transformation +--- diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/WhiteBalance.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/WhiteBalance.srv new file mode 100755 index 0000000..885d26a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/WhiteBalance.srv @@ -0,0 +1,4 @@ +float32[3] reference_color +sensor_msgs/Image input +--- +sensor_msgs/Image output diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/WhiteBalancePoints.srv b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/WhiteBalancePoints.srv new file mode 100755 index 0000000..4de0ca0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/srv/WhiteBalancePoints.srv @@ -0,0 +1,4 @@ +float32[3] reference_color +sensor_msgs/PointCloud2 input +--- +sensor_msgs/PointCloud2 output diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/object_array_publisher.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/object_array_publisher.test new file mode 100755 index 0000000..8f41c86 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/object_array_publisher.test @@ -0,0 +1,17 @@ + + + + + + + + topic: /object_array_publisher/output + hz: 1.0 + hzerror: 0.5 + test_duration: 5.0 + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/people_pose_array_to_pose_array.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/people_pose_array_to_pose_array.test new file mode 100755 index 0000000..5bf136e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/people_pose_array_to_pose_array.test @@ -0,0 +1,17 @@ + + + + + + + + topic: /people_pose_array_to_pose_array/output + hz: 10.0 + hzerror: 1.0 + test_duration: 5.0 + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/plot_data_to_csv.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/plot_data_to_csv.test new file mode 100755 index 0000000..19f8663 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/plot_data_to_csv.test @@ -0,0 +1,17 @@ + + + + + + + + + + csv_path: $(arg csv_path) + timeout: 5.0 + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/save_mesh_server.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/save_mesh_server.test new file mode 100755 index 0000000..1ee9c54 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/save_mesh_server.test @@ -0,0 +1,24 @@ + + + + + + + + + ground_frame_id: $(arg GROUND_FRAME_ID) + + + + + + + + + ground_frame_id: $(arg GROUND_FRAME_ID) + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/test_plot_data_to_csv.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/test_plot_data_to_csv.py new file mode 100755 index 0000000..14a1caf --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/test_plot_data_to_csv.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python + +import os.path as osp +import unittest + +import rospy +import rostest + + +class TestPlotDataToCsv(unittest.TestCase): + + def test_plot_data_to_csv(self): + csv_path = osp.expanduser(rospy.get_param('~csv_path')) + timeout = rospy.Duration(rospy.get_param('~timeout', 5.0)) + start = rospy.Time.now() + while rospy.Time.now() - start < timeout and not osp.exists(csv_path): + rospy.sleep(0.1) + self.assertTrue(osp.isfile(csv_path)) + + +if __name__ == '__main__': + rospy.init_node('test_plot_data_to_csv') + rostest.rosrun( + 'jsk_recognition_msgs', 'test_plot_data_to_csv', TestPlotDataToCsv) diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/test_save_mesh_server.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/test_save_mesh_server.py new file mode 100755 index 0000000..394e6fb --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_msgs/test/test_save_mesh_server.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python + +import unittest + +import rospy +import rostest +from std_srvs.srv import Empty + +from jsk_recognition_msgs.msg import BoundingBox +from jsk_recognition_msgs.srv import SaveMesh +from jsk_recognition_msgs.srv import SaveMeshResponse + + +class SampleBoundingBoxPublisher(object): + + def __init__(self): + self.pub = rospy.Publisher('~bbox_output', BoundingBox, queue_size=1) + rospy.sleep(0.1) + rospy.Timer(rospy.Duration(0.1), self._cb) + + def _cb(self, event): + self.box = BoundingBox() + self.box.header.stamp = event.current_real + self.box.header.frame_id = 'dummy_frame' + self.box.pose.position.x = 1.0 + self.box.pose.position.y = 2.0 + self.box.pose.position.z = 3.0 + self.box.pose.orientation.x = 4.0 + self.box.pose.orientation.y = 5.0 + self.box.pose.orientation.z = 6.0 + self.box.pose.orientation.w = 7.0 + self.box.dimensions.x = 8.0 + self.box.dimensions.y = 9.0 + self.box.dimensions.z = 10.0 + self.box.value = 11.0 + self.box.label = 12 + self.pub.publish(self.box) + + +class SampleSaveMeshRequestCaller(object): + + def __init__(self): + rospy.Timer(rospy.Duration(1.0), self._cb) + + def _cb(self, event): + rospy.wait_for_service('~request') + req_caller = rospy.ServiceProxy('~request', Empty) + self.res = req_caller() + + +class TestSaveMeshServer(unittest.TestCase): + + def test_save_mesh_server(self): + self.bbox_publisher = SampleBoundingBoxPublisher() + self.req_caller = SampleSaveMeshRequestCaller() + self.cb_tested = False + self.srv_server = rospy.Service('~save_mesh', SaveMesh, self._cb) + while self.cb_tested is False: + rospy.sleep(0.1) + self.assertTrue(self.cb_tested is True) + + def _cb(self, req): + # Check if ground_frame_id parameter and that of request are the same. + assert rospy.get_param('~ground_frame_id') == req.ground_frame_id + + # Check if published bbox and that of request are the same. + assert self.bbox_publisher.box == req.box + + self.cb_tested = True + return SaveMeshResponse(True) + + +if __name__ == '__main__': + rospy.init_node('test_save_mesh_server') + rostest.rosrun( + 'jsk_recognition_msgs', 'test_save_mesh_server', TestSaveMeshServer) diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/CHANGELOG.rst b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/CHANGELOG.rst new file mode 100755 index 0000000..0a5def5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/CHANGELOG.rst @@ -0,0 +1,673 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package jsk_recognition_utils +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.15 (2020-10-10) +------------------- + +1.2.14 (2020-10-09) +------------------- + +1.2.13 (2020-10-08) +------------------- + +1.2.12 (2020-10-03) +------------------- + +1.2.11 (2020-10-01) +------------------- +* Add ssd to bounding box sample (`#2513 `_) + + * rename launch and rvizconfig + * rename to sample_table_rects_to_bounding_box.launch + * update rviz config + * refactor launch files + * add ssd output arg + * enabe to put out the bounding box + * try to make ssd to bbox sample + +* Include cython3 when searching (`#2531 `_) +* [jsk_recognition_utils] add rect_array_to_cluster_point_indices.py (`#2511 `_) +* [jsk_recognition_utils] remove unnecessary dynamic_reconfigure in rect_array_to_polygon_array.py (`#2510 `_) + + * fix typo in rect_array_to_cluster_point_indices.py + * add test and sample for rect_array_to_cluster_point_indices + * add rect_array_to_cluster_point_indices.py + * remove unused dynamic_reconfigure in rect_array_to_polygon_array.py + +* Add FCN8sDepthPredictionConcatFirst model to fcn_depth_prediction.py (`#2481 `_) + + * Remove unused import in depth_prediction dataset + * Rewrite data augmentation to remove dependency on imgaug + * Read dataset directory from argument + * Add loss computation + * Add weight initialization from VGG16 + * Flatten images for network input + * Rewrite mvtk-dependent code + * Remove redundant visualization of DepthPredictionDataset + * Rosdep install imgaug + * Fix default root_dir of DepthPredictionDataset + * Move FCN8sDepthPrediction chainer models to jsk_recognition_utils + * Add DepthPredictionDataset + +* Fix for noetic / 20.04 (`#2507 `_) + + * jsk_recognition_utils/cv_utils.h fix for opencv4 + * upgrade package.xml to format=3, migrate to noetic with ROS_PYTHON_VERSION=2/3, use multiple ROS distro strategy http://wiki.ros.org/noetic/Migration + +* [jsk_perception] add program for training ssd with box annotation (`#2483 `_) +* set chainer version less than 7.0.0 (`#2485 `_) +* [jsk_recognition_utils] Fix ear clipping triangulation to support concave polygon (`#2447 `_) + + * Handle parallel line segments as well + * Check if line segment 'uw' completely lies inside the polygon for correcting isEar function + * Rename func: triangulate -> triangulateClockwiseVertices + * Add space in 'if' line for readable code + * Fix ear clipping to support concave polygon + +* Add train script and sample for SSD (`#2471 `_) +* fix generate_readme.py and update readme (`#2442 `_) +* Add sample, test and doc (`#2440 `_) + + * Add dependency on image_view in jsk_recognition_utils/package.xml + * Add test for image_16uc1_to_32fc1.py + * Add sample for image_16uc1_to_32fc1.py + * Add test for rect_array_to_polygon_array.py + * Add sample for rect_array_to_polygon_array.py + * Fix output polygon vertices in rect_array_to_polygon_array.py + * Add test for add_cluster_indices.py + * Add sample for add_cluster_indices.py + * Add test for static_virtual_camera.py + * Add test for pose_array_to_pose.py + * Add sample for pose_array_to_pose.py + * Add test for polygon_array_to_polygon + * Add sample for polygon_array_to_polygon + * Add test for polygon_array_publisher + * Fix rviz config for sample_polygon_array_publisher.launch + * add label to bounding_box_publisher.py + +* [jsk_recognition_utils] Add label to bounding_box_publisher.py (`#2430 `_) + +* Contributors: Naoaki Kanazawa, Kei Okada, Peter Mitrano, Shingo Kitagawa, Yuki Furuta, Yuto Uchimi, Taichi Higashide + +1.2.10 (2019-03-27) +------------------- +* Add qtbase5-dev as a package.xml dependency for jsk_recognition_utils. (`#2417 `_) + Needed since CMakeLists.txt tries to depend on it. + Signed-off-by: Chris Lalancette +* Contributors: Chris Lalancette + +1.2.9 (2019-02-23) +------------------ +* add QT_LIBRARIES Qt5::Widgets to fix 'cannot find -lQt5::Widgets' error on debian stretch (`#2398 `_ ) +* Contributors: Kei Okada + +1.2.8 (2019-02-22) +------------------ + +1.2.7 (2019-02-14) +------------------ +* [jsk_perception] Add deep_sort_tracker_node.py (`#2351 `_ ) + * [jsk_recognition_utils/deep_sort_net.py] Renamed network name DeepSortFeature -> DeepSortFeatureExtractor + * [jsk_perception/deep_sort/deep_sort_net.py] Moved to jsk_recognition_utils's chainermodels + +* [jsk_recognition_utils] Resolve dependency for chainer (`#2306 `_ ) +* Support passing Numpy_INCLUDE_DIRS externally (`#2389 `_ ) + +* [doc] [jsk_perception] [jsk_recognition_utils] Add guide to image recognition with deep learning (`#2365 `_) + + * Add doc for image annotation + * Add annotate_images_with_labelme to index + * Add dataset class for semantic segmentation + * Add install_learning_datasets script + * Download datasets during catkin build + * Add .gitignore in learning_datasets/ + * Add train_fcn script + * Set default learning_rate to valid value + * Enable plotting from remote host as well + * Add doc for training FCN + * Add doc for starting deep learning with image dataset + * Add how to create dataset, where to store it in documentation + * Dump param for fcn_object_segmentation.py + * Add InstanceSegmentationDataset + * Add train script for Mask-RCNN + * Fix model_name and outputs in train_fcn.md + * Add doc for training Mask-RCNN + +* Contributors: Esteve Fernandez, Yuto Uchimi, Iori Yanokura + +1.2.6 (2018-11-02) +------------------ +* Install 'sample' and 'test'into SHARE_DESTINATION (`#2345 `_) +* Use diagnostic nodelet for EuclideanClustering and other nodelets (`#2301 `_) + * jsk_pcl_ros: euclidean_clustering: use dianogistc nodelet + Use DiagnosticNodelet::updateDiagnostic preferrably +* Describe the hierachy of rosparams of ClusterPointIndicesDecomposer (`#2285 `_) + * Fix test of add_bounding_box_array The input topics are slow (~1Hz), so slop should be larger (it was 0.1 before). + +* Fix for AssertionError in fast_rcnn.py (`#2281 `_) + * Use roi_pooling_2d defined in chainer for fast_rcnn on CPU mode + +* Re-enable tests which use chainer inside them (`#2280 `_) + * Looser timeout for test of add_bounding_box_array +* Node to concatenate BoundingBoxArray (`#2264 `_) + * Doc for add_bounding_box_array.py + * Node to concatenate BoundingBoxArray + * Move section to the sample launch files +* Contributors: Yuki Furuta, Kei Okada, Kentaro Wada + +1.2.5 (2018-04-09) +------------------ +* Fix build of jsk_recognition_utils (on Kinetic) (`#2262 `_ ) + * Close https://github.com/jsk-ros-pkg/jsk_recognition/issues/2259 +* [jsk_perception/fast_rcnn.py] fast_rcnn node to follow chainer-v2 version (`#2249 `_) + * modify fast_rcnn model to follow chainer-v2 version +* Contributors: Yuki Furuta, Kentaro Wada, Shingo Kitagawa + +1.2.4 (2018-01-12) +------------------ +* Add image gallery to README (`#2225 `_) +* Contributors: Kentaro Wada + +1.2.3 (2017-11-23) +------------------ +* Regional feature based object recognition using ResNet (`#2172 `_) +* Convert bounding box to mask (`#2176 `_) + * Add RectArrayToPolygonArray +* Contributors: Kentaro Wada + +1.2.2 (2017-07-23) +------------------ + +1.2.1 (2017-07-15) +------------------ + +1.2.0 (2017-07-15) +------------------ +* jsk_pcl_ros: Add Primitive shape classifier nodelet (`#2141 `_) + * jsk_recognition_utils/include/jsk_recognition_utils/geo/polygon.h + * [jsk_recognition_utils][polygon][fromROSMsg] use identity matrix for default transformation + +* jsk_recognition_utils/setup.py: Find packages automatically in jsk_recognition_utils (`#2156 `_) +* [jsk_recognition_utils] install chainermodels dir in setup.py (`#2154 `_) + * [jsk_perception][jsk_recognition_utils] support chainer-v2 in alexnet and vgg16 (`#2153 `_) + * alexnet and vgg16 support chainer-v2 + +* Contributors: Kentaro Wada, Shingo Kitagawa, Yuki Furuta + +1.1.3 (2017-07-07) +------------------ +* [jsk_pcl_ros_utils] Add nodelet for computing & comparing color histogram (`#2101 `_ ) + * jsk_recognition_utils/include/jsk_recognition_utils/pcl/color_histogram.h: add color_histogram_classifier and visualizer +* Generate Kinfu texture model with attention (BoundingBox) and Groundframe to fix occluded surface (`#2135 `_ ) + * Create function to crop point cloud by bounding box `#2118 `_ ) +* install node_scripts in jsk_recognition_utils +* Contributors: Kentaro Wada, Shingo Kitagawa, Yuki Furuta + +1.1.2 (2017-06-16) +------------------ +* [jsk_percption][jsk_recogniton_utils] add imagenet_object_recognition +launch and its sample (`#2085 `_ ) + * add n_class in VGG16 + * format Alex -> AlexNet +* [jsk_perception] add AlexNet object recognition node #2083 (`#2083 `_ ) + * add alex_object_recognition node +* Remove README.md to generate doc of jsk_recognition_utils (`#2078 `_ ) + Modified: + - doc/jsk_recognition_utils/index.rst + Added: + - jsk_recognition_utils/sample/sample_static_virtual_camera.launch +* [jsk_pcl_ros_utils][polygon_magnifier] allow negative distance to magnify (`#2053 `_ ) + [jsk_pcl_ros_utils][polygon_magnifier] update docs + [jsk_recognition_utils] add polygon_array_publisher.py / sample_polygon_array_publisher.launch + [jsk_pcl_ros_utils] add sample / test for polygon_magnifier +* Generate README by script (`#2064 `_ ) +* [jsk_recognition_utils/geo/Polygon] add distance method. (`#2031 `_ ) +* [jsk_recognition_utils] add PolyLine to polyline.{h,cpp} and add code to segment.{h, cpp} (`#2026 `_ ) +* Contributors: Kentaro Wada, Masaki Murooka, Shingo Kitagawa, Yohei Kakiuchi, Yuki Furuta + +1.1.1 (2017-03-04) +------------------ + +1.1.0 (2017-02-09) +------------------ + +1.0.4 (2017-02-09) +------------------ +* [jsk_recognition_utils] src/geo/segment.cpp: fix argument name of Segment::midpoint. (`#2013 `_ ) +* Contributors: Masaki Murooka + +1.0.3 (2017-02-08) +------------------ +* [jsk_recognition_utils] add mipoint method to segment class. (`#2009 `_ ) + * src/edge_depth_refinement_nodelet.cpp + * src/geo/segment.cpp + include/jsk_recognition_utils/geo/segment.h +* Evaluate voxel segmentation by IU (`#1993 `_ ) + * Stop depending on jsk_interactive_marker + * node_scripts/evaluate_voxel_segmentation_by_gt_box.py + * Compute box overlap and publish it : intersect-over-union (overlap) = volume_tp / (volume_fn + volume_fp + volume_tp) + * test/evaluate_box_segmentation_by_gt_box.test + * test/evaluate_voxel_segmentation_by_gt_box.test + * sample/sample_evaluate_box_segmentation_by_gt_box.launch + * sample/sample_evaluate_voxel_segmentation_by_gt_box.launch + * scripts/evaluate_box_segmentation_by_gt_box.py + * scripts/evaluate_voxel_segmentation_by_gt_box.py + * Move evaluation scripts of box segmentation from jsk_recognition_utils to to jsk_pcl_ros_utils + +* Contributors: Kentaro Wada, Masaki Murooka + +1.0.2 (2017-01-12) +------------------ + +1.0.1 (2016-12-13) +------------------ + +1.0.0 (2016-12-12) +------------------ +* Fix fo kinetic (`#1943 `_) + * use std::isnan instead of isnan, knetic compiler requires this + +* Contributors: Kei Okada + +0.3.29 (2016-10-30) +------------------- + +0.3.28 (2016-10-29) +------------------- + +0.3.27 (2016-10-29) +------------------- + +0.3.26 (2016-10-27) +------------------- +* Stop using deprecated jsk_topic_tools/log_utils.h (`#1933 `_) +* [heightmap] change type of heightmap to image/32FC2 (`#1886 `_) +* Prettify the style of rosparam for bbox publisher (`#1885 `_) + This shows deprecation warning and does not break the current api. + (BTW, this code is quite new and I think no one use this other than me.) +* Contributors: Kentaro Wada, Yohei Kakiuchi + +0.3.25 (2016-09-16) +------------------- + +0.3.24 (2016-09-15) +------------------- + +0.3.23 (2016-09-14) +------------------- + +0.3.22 (2016-09-13) +------------------- +* Merge pull request #1826 from mmurooka/polyarr-to-poly2 + [jsk_recognition_utils/node_scripts] add polygon_array_to_polygon.py +* [jsk_recognition_utils/node_scripts] add polygon_array_to_polygon.py +* Skip rostest on hydro because of unreleased test tools +* Add test for bounding_box_array_publisher.py +* Add sample for bounding_box_array_publisher.py +* Node to publish bounding box array +* Skip rostest on hydro because of unreleased test tools +* Add test for bounding_box_array_publisher.py +* Add sample for bounding_box_array_publisher.py +* Node to publish bounding box array +* Merge pull request #1809 from wkentaro/feature/pose-array-to-pose + Convert PoseArray to PoseStamped with a specified index +* Convert PoseArray to PoseStamped with a specified index +* Rename test files in favor to {NODE_NAME}.test +* Add util to convert image 16uc1 to 32fc1 +* Merge pull request #1694 from wkentaro/get-numpy-include-dirs + [jsk_recognition_utils] Set Numpy include directories in cmake to fix error on OS X +* Set Numpy include directories in cmake to fix error on OS X +* Remove color_gategoryXX (use labelcolormap) +* Add label color utility function +* Remove nms.py that is moved to nms.pyx +* Recognize object with VGG16 net +* Rename vgg16 -> vgg16_fast_rcnn +* Cythonize Non-maximum Supression baseline +* Remove dependency on rbgirshick/fast-rcnn +* Support old scipy which does not have face() +* Add static virtual camera +* Copy jsk_perception/image_utils.h to jsk_recognition_utils/cv_utils.h +* Stop passing -z flag to ld with Clang (#1601) +* Contributors: Kei Okada, Kentaro Wada, Masaki Murooka + +0.3.21 (2016-04-15) +------------------- + +0.3.20 (2016-04-14) +------------------- +* [jsk_recognition_utils] Support Affine3d project function in Plane (`#1576 `_) +* [jsk_recognition_utils] Add multiple ClusterPointIndices to one (`#1581 `_) + * Add multiple ClusterPointIndices to one + Added: + - jsk_recognition_utils/node_scripts/add_cluster_indices.py + * Document for add_cluster_indices.py +* Visualize ClusterPointIndices for image (`#1579 `_) +* Contributors: Iori Kumagai, Kentaro Wada + +0.3.19 (2016-03-22) +------------------- + +0.3.18 (2016-03-21) +------------------- + +0.3.17 (2016-03-20) +------------------- +* [jsk_perception] Use timer callback to speed up tile_image with no_sync:=true +* [jsk_perception] Cache concatenated image to speed up +* Contributors: Ryohei Ueda + +0.3.16 (2016-02-11) +------------------- + +0.3.15 (2016-02-09) +------------------- + +0.3.14 (2016-02-04) +------------------- +* [jsk_recognition_utils] Tile different size images with centerization + Modified: + - jsk_recognition_utils/python/jsk_recognition_utils/visualize.py +* [jsk_perception] BoundingBoxToRectArray and rect_array_to_image_marker.py +* jsk_recognition_utils/CMakeLists.txt: include_directories should have include/ before catkin_INCLUDE_DIRS +* Merge remote-tracking branch 'origin/master' into auto-change-point-type +* [jsk_pcl_ros] Publish current tracking status (running or idle) + from particle_fitler_tracking. + And add some scripts to visualize them. +* [jsk_pcl_ros] Automatically detect point type in OctreeVoxelGrid + Modified: + - doc/jsk_pcl_ros/nodes/octree_voxel_grid.md + - jsk_pcl_ros/cfg/OctreeVoxelGrid.cfg + - jsk_pcl_ros/include/jsk_pcl_ros/octree_voxel_grid.h + - jsk_pcl_ros/src/octree_voxel_grid_nodelet.cpp + - jsk_recognition_utils/include/jsk_recognition_utils/pcl_ros_util.h + - jsk_recognition_utils/src/pcl_ros_util.cpp +* [jsk_recognition_utils] Add SeriesedBoolean::isAllTrueFilled method + to check all the buffer is filled by true +* [jsk_pcl_ros] Fix WallDurationTimer to publish correct average value +* [jsk_pcl_ros] Publish computation time in icp_registration and torus_finder + Modified: + - doc/jsk_pcl_ros/nodes/icp_registration.md + - doc/jsk_pcl_ros/nodes/torus_f_inder.md + - jsk_pcl_ros/include/jsk_pcl_ros/icp_registration.h + - jsk_pcl_ros/include/jsk_pcl_ros/torus_finder.h + - jsk_pcl_ros/src/icp_registration_nodelet.cpp + - jsk_pcl_ros/src/torus_finder_nodelet.cpp + - jsk_recognition_utils/include/jsk_recognition_utils/time_util.h +* [jsk_perception] Keep original resolution if all the input images has + same shape and add ~draw_input_topic parameter to draw topic name on + the tiled images + Modified: + - jsk_perception/node_scripts/tile_image.py + - jsk_recognition_utils/python/jsk_recognition_utils/visualize.py +* [jsk_perception] Fix tile_image.py for hydro. + 1. Disable approximate sync for hydro. it's not supported on hydro + 2. Use PIL.Image.frombytes instead of PIL.Image.fromstring +* Contributors: Kei Okada, Kentaro Wada, Ryohei Ueda + +0.3.13 (2015-12-19) +------------------- + +0.3.12 (2015-12-19) +------------------- + +0.3.11 (2015-12-18) +------------------- + +0.3.10 (2015-12-17) +------------------- +* [jsk_recognition_utils] Fix import error on server caused by matplotlib +* [jsk_pcl_ros] Check header.frame_id before resolving 3-D spacially + Modified: + jsk_pcl_ros/src/multi_plane_extraction_nodelet.cpp + jsk_perception/src/polygon_array_color_histogram.cpp + jsk_recognition_utils/include/jsk_recognition_utils/pcl_ros_util.h + jsk_recognition_utils/src/pcl_ros_util.cpp +* Contributors: Kentaro Wada, Ryohei Ueda + +0.3.9 (2015-12-14) +------------------ +* [jsk_perception] Compute polygon likelihood based on color histogram. +* [jsk_perception] Add PolygonArrayColorHistogram +* [jsk_recognition_utils] Better API to measure and publish computation time +* Contributors: Ryohei Ueda + +0.3.8 (2015-12-08) +------------------ +* Use ccache if installed to make it fast to generate object file +* [jsk_recognition_utils, jsk_pcl_ros] Measure time to compute + NormalEstimationOMP and RegionGriwongMultiplePlaneSegmentation. + Add utility class to measure time: jsk_recognition_utils::WallDurationTimer +* [jsk_recognition_utils] Split fore/background with depth +* Contributors: Kei Okada, Kentaro Wada, Ryohei Ueda + +0.3.7 (2015-11-19) +------------------ +* Use gcc -z defs to check undefined symbols in shared + objects (jsk_recognitoin_utils, jsk_pcl_ros, jsk_perception). + build_check.cpp cannot run on the environment using multiple processes + because of invoking libjsk_pcl_ros.so link. +* Merge pull request `#1319 `_ from wkentaro/146-various-rgb-colors + [jsk_recognition_utils] Add labelToRGB with 146 rgb colors +* Merge pull request `#1324 `_ from wkentaro/test-tf-listener-singleton + [jsk_recognition_utils] Test tf_listener_singleton.cpp +* [jsk_recognition_utils] Test rgb_colors.cpp +* [jsk_recognition_utils] Test labelToRGB +* [jsk_recognition_utils] 146 rgb colors +* [jsk_recognition_utils] Test tf_listener_singleton.cpp +* [jsk_recognition_utils] Add labelToRGB +* [jsk_recognition_utils] 146 rgb colors +* [jsk_recognition_utils] Util to decompose descriptors with label +* [jsk_recognition_utils] Test tf::Transformer::lookupTransformation +* [jsk_recognition_utils] Bag of Features as python module +* [jsk_recognition_utils] Handle canvas to get safely plot image +* [jsk_recognition_utils] Add bounding_rect_of_mask +* [jsk_recognition_utils] Add jsk_recognition_utils.get_tile_image() +* [jsk_recognition_utils] Fix laser model +* Contributors: Kei Okada, Kentaro Wada, Ryohei Ueda + +0.3.6 (2015-09-11) +------------------ + +0.3.5 (2015-09-09) +------------------ + +0.3.4 (2015-09-07) +------------------ +* Merge pull request `#1168 `_ from k-okada/add_yaml + jsk_recognition_utils: forget to add include to install +* jsk_recognition_utils: forget to add include to install +* [jsk_recognition_utils/README] Add link to doxygen documentation +* [jsk_recognition_utils/Line] Add documentation +* Contributors: Kei Okada, Ryohei Ueda + +0.3.3 (2015-09-06) +------------------ +* [jsk_recognition_utils] Depends on visualization_msgs +* [jsk_recognition_utils] Separate grid_plane.h from geo_util.h +* [jsk_recognition_utils] Separate cylinder.h from geo_util.h +* [jsk_recognition_utils] Separate cube.h from geo_util.h +* [jsk_recognition_utils] Separate convex_polygon.h from geo_util.h +* [jsk_recognition_utils] Separate polygon.h from geo_util.h +* [jsk_recognition_utils] Separate plane.h from geo_util.h +* [jsk_recognition_utils] Separate segment.h from geo_util.h +* [jsk_recognition_utils] Separate line.h from geo_util.h +* Contributors: Ryohei Ueda + +0.3.2 (2015-09-05) +------------------ +* add yaml-cpp to depends +* Merge pull request `#1151 `_ from garaemon/use-histograms + [jsk_perception] Use histograms to compute distance in TabletopColorDifferenceLikelihood +* [jsk_perception] Use histograms to compute distance in TabletopColorDifferenceLikelihood +* Contributors: Kei Okada, Ryohei Ueda + +0.3.1 (2015-09-04) +------------------ +* Add README.md to jsk_recognition_utils +* Contributors: Ryohei Ueda + +0.3.0 (2015-09-04) +------------------ +* [jsk_recognition_utils] Introduce new package jsk_recognition_utils + in order to use utility libraries defined in jsk_pcl_ros in jsk_perception +* Contributors: Ryohei Ueda + +0.2.18 (2015-09-04) +------------------- +* [jsk_recognition_utils] Introduce new package jsk_recognition_utils + in order to use utility libraries defined in jsk_pcl_ros in jsk_perception +* Contributors: Ryohei Ueda + +0.2.17 (2015-08-21) +------------------- + +0.2.16 (2015-08-19) +------------------- + +0.2.15 (2015-08-18) +------------------- + +0.2.14 (2015-08-13) +------------------- + +0.2.13 (2015-06-11) +------------------- + +0.2.12 (2015-05-04) +------------------- + +0.2.11 (2015-04-13) +------------------- + +0.2.10 (2015-04-09) +------------------- + +0.2.9 (2015-03-29) +------------------ + +0.2.7 (2015-03-26) +------------------ + +0.2.6 (2015-03-25) +------------------ + +0.2.5 (2015-03-17) +------------------ + +0.2.4 (2015-03-08) +------------------ + +0.2.3 (2015-02-02) +------------------ + +0.2.2 (2015-01-30 19:29) +------------------------ + +0.2.1 (2015-01-30 00:35) +------------------------ + +0.2.0 (2015-01-29 12:20) +------------------------ + +0.1.34 (2015-01-29 11:53) +------------------------- + +0.1.33 (2015-01-24) +------------------- + +0.1.32 (2015-01-12) +------------------- + +0.1.31 (2015-01-08) +------------------- + +0.1.30 (2014-12-24 16:45) +------------------------- + +0.1.29 (2014-12-24 12:43) +------------------------- + +0.1.28 (2014-12-17) +------------------- + +0.1.27 (2014-12-09) +------------------- + +0.1.26 (2014-11-23) +------------------- + +0.1.25 (2014-11-21) +------------------- + +0.1.24 (2014-11-15) +------------------- + +0.1.23 (2014-10-09) +------------------- + +0.1.22 (2014-09-24) +------------------- + +0.1.21 (2014-09-20) +------------------- + +0.1.20 (2014-09-17) +------------------- + +0.1.19 (2014-09-15) +------------------- + +0.1.18 (2014-09-13) +------------------- + +0.1.17 (2014-09-07) +------------------- + +0.1.16 (2014-09-04) +------------------- + +0.1.15 (2014-08-26) +------------------- + +0.1.14 (2014-08-01) +------------------- + +0.1.13 (2014-07-29) +------------------- + +0.1.12 (2014-07-24) +------------------- + +0.1.11 (2014-07-08) +------------------- + +0.1.10 (2014-07-07) +------------------- + +0.1.9 (2014-07-01) +------------------ + +0.1.8 (2014-06-29) +------------------ + +0.1.7 (2014-05-31) +------------------ + +0.1.6 (2014-05-30) +------------------ + +0.1.5 (2014-05-29) +------------------ + +0.1.4 (2014-04-25) +------------------ + +0.1.3 (2014-04-12) +------------------ + +0.1.2 (2014-04-11) +------------------ + +0.1.1 (2014-04-10) +------------------ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/CMakeLists.txt b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/CMakeLists.txt new file mode 100755 index 0000000..83b0d46 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/CMakeLists.txt @@ -0,0 +1,141 @@ +cmake_minimum_required(VERSION 2.8.3) +project(jsk_recognition_utils) + +# Use ccache if installed to make it fast to generate object files +find_program(CCACHE_FOUND ccache) +if(CCACHE_FOUND) + set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) + set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache) +endif(CCACHE_FOUND) + +## 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 + dynamic_reconfigure + jsk_recognition_msgs + pcl_ros + pcl_msgs + eigen_conversions + message_generation + rostest + tf_conversions + tf + tf2_ros + image_geometry + sensor_msgs + geometry_msgs + jsk_topic_tools + visualization_msgs +) + +catkin_python_setup() + +generate_dynamic_reconfigure_options( + cfg/PoseArrayToPose.cfg + cfg/PolygonArrayToPolygon.cfg +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES jsk_recognition_utils + CATKIN_DEPENDS jsk_recognition_msgs pcl_ros visualization_msgs message_runtime +) + +# Cythonize pyx files +set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake) +include(UseCython) +add_subdirectory(python/${PROJECT_NAME}) + +find_package(OpenCV REQUIRED core imgproc) +find_package(PCL REQUIRED) +find_package(PkgConfig) +pkg_check_modules(yaml_cpp yaml-cpp REQUIRED) +IF(${yaml_cpp_VERSION} VERSION_LESS "0.5.0") +## indigo yaml-cpp : 0.5.0 / hydro yaml-cpp : 0.3.0 + add_definitions("-DUSE_OLD_YAML") +ENDIF() +if(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU") + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z defs") +endif() +include_directories( + include ${catkin_INCLUDE_DIRS} +) +link_libraries(${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES} yaml-cpp) + +add_library(jsk_recognition_utils SHARED + src/grid_index.cpp + src/grid_map.cpp + src/grid_line.cpp + src/geo_util.cpp + src/random_util.cpp + src/pcl_ros_util.cpp + src/pcl_conversion_util.cpp + src/pcl_util.cpp + src/tf_listener_singleton.cpp + src/pcl/ear_clipping_patched.cpp + src/sensor_model_utils.cpp + src/cv_utils.cpp + src/rgb_colors.cpp + src/geo/line.cpp + src/geo/segment.cpp + src/geo/polyline.cpp + src/geo/plane.cpp + src/geo/polygon.cpp + src/geo/convex_polygon.cpp + src/geo/cube.cpp + src/geo/cylinder.cpp + src/geo/grid_plane.cpp + src/time_util.cpp + ) + +if (CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + if("$ENV{ROS_DISTRO}" STRGREATER "indigo") # kinetic and later uses qt5 + find_package(Qt5Widgets REQUIRED) + set(QT_LIBRARIES Qt5::Widgets) + endif() + add_rostest_gtest(test_tf_listener_singleton test/tf_listener_singleton.test src/tests/test_tf_listener_singleton.cpp) + target_link_libraries(test_tf_listener_singleton ${PROJECT_NAME} ${catkin_LIBRARIES}) + catkin_add_gtest(test_cv_utils src/tests/test_cv_utils.cpp) + target_link_libraries(test_cv_utils ${PROJECT_NAME} ${OpenCV_LIBRARIES}) + catkin_add_gtest(test_rgb_colors src/tests/test_rgb_colors.cpp) + target_link_libraries(test_rgb_colors ${PROJECT_NAME} ${OpenCV_LIBRARIES}) + if("$ENV{ROS_DISTRO}" STRGREATER "hydro") + # FIXME: jsk_tools/test_topic_published.py does not work on hydro travis/jenkins + # https://github.com/jsk-ros-pkg/jsk_common/pull/1293#issuecomment-164158260 + add_rostest(sample/sample_add_bounding_box_array.launch ARGS gui:=false) + add_rostest(sample/sample_bounding_box_array_publisher.launch ARGS gui:=false) + add_rostest(test/add_cluster_indices.test) + add_rostest(test/image_16uc1_to_32fc1.test) + add_rostest(test/polygon_array_publisher.test) + add_rostest(test/polygon_array_to_polygon.test) + add_rostest(test/pose_array_to_pose.test) + add_rostest(test/rect_array_to_polygon_array.test) + add_rostest(test/static_virtual_camera.test) + endif() +endif() + +# From https://github.com/jsk-ros-pkg/jsk_recognition/pull/2345 +# Install header files directly into ${CATKIN_PACKAGE_INCLUDE_DESTINATION}. +# If the package has setup.py and modules under src/${PROJECT_NAME}/, +# install python executables directly into ${CATKIN_PACKAGE_BIN_DESTINATION}. +# However, if it doesn't have setup.py, directories including python executables +# should be installed recursively into ${CATKIN_PACKAGE_SHARE_DESTINATION}. +# Also, other directories like 'launch' or 'sample' must be installed +# recursively into ${CATKIN_PACKAGE_SHARE_DESTINATION}. +# Be careful that 'launch' and 'launch/' are different: the former is directory +# and the latter is each content. +install(TARGETS jsk_recognition_utils + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +install(DIRECTORY node_scripts sample test + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cfg/PolygonArrayToPolygon.cfg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cfg/PolygonArrayToPolygon.cfg new file mode 100755 index 0000000..4dac1a9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cfg/PolygonArrayToPolygon.cfg @@ -0,0 +1,13 @@ +#!/usr/bin/env python + +PACKAGE = 'jsk_recognition_utils' +ID = 'PolygonArrayToPolygon' + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add('index', int_t, 0, + 'Index where the polygon is extracted from polygon array.', default=-1) + +exit(gen.generate(PACKAGE, PACKAGE, ID)) diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cfg/PoseArrayToPose.cfg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cfg/PoseArrayToPose.cfg new file mode 100755 index 0000000..5abe0ec --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cfg/PoseArrayToPose.cfg @@ -0,0 +1,13 @@ +#!/usr/bin/env python + +PACKAGE = 'jsk_recognition_utils' +ID = 'PoseArrayToPose' + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add('index', int_t, 0, + 'Index where the pose is extracted from pose array.', default=-1) + +exit(gen.generate(PACKAGE, PACKAGE, ID)) diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cmake/FindCython.cmake b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cmake/FindCython.cmake new file mode 100755 index 0000000..f44f1f7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cmake/FindCython.cmake @@ -0,0 +1,45 @@ +# Find the Cython compiler. +# +# This code sets the following variables: +# +# CYTHON_EXECUTABLE +# +# See also UseCython.cmake + +#============================================================================= +# Copyright 2011 Kitware, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +#============================================================================= + +# Use the Cython executable that lives next to the Python executable +# if it is a local installation. +find_package( PythonInterp ) +if( PYTHONINTERP_FOUND ) + get_filename_component( _python_path ${PYTHON_EXECUTABLE} PATH ) + find_program( CYTHON_EXECUTABLE + NAMES cython cython.bat cython3 + HINTS ${_python_path} + ) +else() + find_program( CYTHON_EXECUTABLE + NAMES cython cython.bat cython3 + ) +endif() + + +include( FindPackageHandleStandardArgs ) +FIND_PACKAGE_HANDLE_STANDARD_ARGS( Cython REQUIRED_VARS CYTHON_EXECUTABLE ) + +mark_as_advanced( CYTHON_EXECUTABLE ) + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cmake/UseCython.cmake b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cmake/UseCython.cmake new file mode 100755 index 0000000..f432c89 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/cmake/UseCython.cmake @@ -0,0 +1,287 @@ +# Define a function to create Cython modules. +# +# For more information on the Cython project, see http://cython.org/. +# "Cython is a language that makes writing C extensions for the Python language +# as easy as Python itself." +# +# This file defines a CMake function to build a Cython Python module. +# To use it, first include this file. +# +# include( UseCython ) +# +# Then call cython_add_module to create a module. +# +# cython_add_module( ... ) +# +# To create a standalone executable, the function +# +# cython_add_standalone_executable( [MAIN_MODULE src1] ... ) +# +# To avoid dependence on Python, set the PYTHON_LIBRARY cache variable to point +# to a static library. If a MAIN_MODULE source is specified, +# the "if __name__ == '__main__':" from that module is used as the C main() method +# for the executable. If MAIN_MODULE, the source with the same basename as +# is assumed to be the MAIN_MODULE. +# +# Where is the name of the resulting Python module and +# ... are source files to be compiled into the module, e.g. *.pyx, +# *.py, *.c, *.cxx, etc. A CMake target is created with name . This can +# be used for target_link_libraries(), etc. +# +# The sample paths set with the CMake include_directories() command will be used +# for include directories to search for *.pxd when running the Cython complire. +# +# Cache variables that effect the behavior include: +# +# CYTHON_ANNOTATE +# CYTHON_NO_DOCSTRINGS +# CYTHON_FLAGS +# +# Source file properties that effect the build process are +# +# CYTHON_IS_CXX +# +# If this is set of a *.pyx file with CMake set_source_files_properties() +# command, the file will be compiled as a C++ file. +# +# See also FindCython.cmake + +#============================================================================= +# Copyright 2011 Kitware, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +#============================================================================= + +# Configuration options. +set( CYTHON_ANNOTATE OFF + CACHE BOOL "Create an annotated .html file when compiling *.pyx." ) +set( CYTHON_NO_DOCSTRINGS OFF + CACHE BOOL "Strip docstrings from the compiled module." ) +set( CYTHON_FLAGS "" CACHE STRING + "Extra flags to the cython compiler." ) +mark_as_advanced( CYTHON_ANNOTATE CYTHON_NO_DOCSTRINGS CYTHON_FLAGS ) + +find_package( Cython REQUIRED ) +find_package( PythonLibs REQUIRED ) + +set( CYTHON_CXX_EXTENSION "cxx" ) +set( CYTHON_C_EXTENSION "c" ) + +# Create a *.c or *.cxx file from a *.pyx file. +# Input the generated file basename. The generate file will put into the variable +# placed in the "generated_file" argument. Finally all the *.py and *.pyx files. +function( compile_pyx _name generated_file ) + # Default to assuming all files are C. + set( cxx_arg "" ) + set( extension ${CYTHON_C_EXTENSION} ) + set( pyx_lang "C" ) + set( comment "Compiling Cython C source for ${_name}..." ) + + set( cython_include_directories "" ) + set( pxd_dependencies "" ) + set( c_header_dependencies "" ) + set( pyx_locations "" ) + + foreach( pyx_file ${ARGN} ) + get_filename_component( pyx_file_basename "${pyx_file}" NAME_WE ) + + # Determine if it is a C or C++ file. + get_source_file_property( property_is_cxx ${pyx_file} CYTHON_IS_CXX ) + if( ${property_is_cxx} ) + set( cxx_arg "--cplus" ) + set( extension ${CYTHON_CXX_EXTENSION} ) + set( pyx_lang "CXX" ) + set( comment "Compiling Cython CXX source for ${_name}..." ) + endif() + + # Get the include directories. + get_source_file_property( pyx_location ${pyx_file} LOCATION ) + get_filename_component( pyx_path ${pyx_location} PATH ) + get_directory_property( cmake_include_directories DIRECTORY ${pyx_path} INCLUDE_DIRECTORIES ) + list( APPEND cython_include_directories ${cmake_include_directories} ) + list( APPEND pyx_locations "${pyx_location}" ) + + # Determine dependencies. + # Add the pxd file will the same name as the given pyx file. + unset( corresponding_pxd_file CACHE ) + find_file( corresponding_pxd_file ${pyx_file_basename}.pxd + PATHS "${pyx_path}" ${cmake_include_directories} + NO_DEFAULT_PATH ) + if( corresponding_pxd_file ) + list( APPEND pxd_dependencies "${corresponding_pxd_file}" ) + endif() + + # pxd files to check for additional dependencies. + set( pxds_to_check "${pyx_file}" "${pxd_dependencies}" ) + set( pxds_checked "" ) + set( number_pxds_to_check 1 ) + while( ${number_pxds_to_check} GREATER 0 ) + foreach( pxd ${pxds_to_check} ) + list( APPEND pxds_checked "${pxd}" ) + list( REMOVE_ITEM pxds_to_check "${pxd}" ) + + # check for C header dependencies + file( STRINGS "${pxd}" extern_from_statements + REGEX "cdef[ ]+extern[ ]+from.*$" ) + foreach( statement ${extern_from_statements} ) + # Had trouble getting the quote in the regex + string( REGEX REPLACE "cdef[ ]+extern[ ]+from[ ]+[\"]([^\"]+)[\"].*" "\\1" header "${statement}" ) + unset( header_location CACHE ) + find_file( header_location ${header} PATHS ${cmake_include_directories} ) + if( header_location ) + list( FIND c_header_dependencies "${header_location}" header_idx ) + if( ${header_idx} LESS 0 ) + list( APPEND c_header_dependencies "${header_location}" ) + endif() + endif() + endforeach() + + # check for pxd dependencies + + # Look for cimport statements. + set( module_dependencies "" ) + file( STRINGS "${pxd}" cimport_statements REGEX cimport ) + foreach( statement ${cimport_statements} ) + if( ${statement} MATCHES from ) + string( REGEX REPLACE "from[ ]+([^ ]+).*" "\\1" module "${statement}" ) + else() + string( REGEX REPLACE "cimport[ ]+([^ ]+).*" "\\1" module "${statement}" ) + endif() + list( APPEND module_dependencies ${module} ) + endforeach() + list( REMOVE_DUPLICATES module_dependencies ) + # Add the module to the files to check, if appropriate. + foreach( module ${module_dependencies} ) + unset( pxd_location CACHE ) + find_file( pxd_location ${module}.pxd + PATHS "${pyx_path}" ${cmake_include_directories} NO_DEFAULT_PATH ) + if( pxd_location ) + list( FIND pxds_checked ${pxd_location} pxd_idx ) + if( ${pxd_idx} LESS 0 ) + list( FIND pxds_to_check ${pxd_location} pxd_idx ) + if( ${pxd_idx} LESS 0 ) + list( APPEND pxds_to_check ${pxd_location} ) + list( APPEND pxd_dependencies ${pxd_location} ) + endif() # if it is not already going to be checked + endif() # if it has not already been checked + endif() # if pxd file can be found + endforeach() # for each module dependency discovered + endforeach() # for each pxd file to check + list( LENGTH pxds_to_check number_pxds_to_check ) + endwhile() + endforeach() # pyx_file + + # Set additional flags. + if( CYTHON_ANNOTATE ) + set( annotate_arg "--annotate" ) + endif() + + if( CYTHON_NO_DOCSTRINGS ) + set( no_docstrings_arg "--no-docstrings" ) + endif() + + if( "${CMAKE_BUILD_TYPE}" STREQUAL "Debug" OR + "${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo" ) + set( cython_debug_arg "--gdb" ) + endif() + + # Include directory arguments. + list( REMOVE_DUPLICATES cython_include_directories ) + set( include_directory_arg "" ) + foreach( _include_dir ${cython_include_directories} ) + set( include_directory_arg ${include_directory_arg} "-I" "${_include_dir}" ) + endforeach() + + # Determining generated file name. + set( _generated_file "${CMAKE_CURRENT_BINARY_DIR}/${_name}.${extension}" ) + set_source_files_properties( ${_generated_file} PROPERTIES GENERATED TRUE ) + set( ${generated_file} ${_generated_file} PARENT_SCOPE ) + + list( REMOVE_DUPLICATES pxd_dependencies ) + list( REMOVE_DUPLICATES c_header_dependencies ) + + # Add the command to run the compiler. + add_custom_command( OUTPUT ${_generated_file} + COMMAND ${CYTHON_EXECUTABLE} + ARGS ${cxx_arg} ${include_directory_arg} + ${annotate_arg} ${no_docstrings_arg} ${cython_debug_arg} ${CYTHON_FLAGS} + --output-file ${_generated_file} ${pyx_locations} + DEPENDS ${pyx_locations} ${pxd_dependencies} + IMPLICIT_DEPENDS ${pyx_lang} ${c_header_dependencies} + COMMENT ${comment} + ) + + # Remove their visibility to the user. + set( corresponding_pxd_file "" CACHE INTERNAL "" ) + set( header_location "" CACHE INTERNAL "" ) + set( pxd_location "" CACHE INTERNAL "" ) +endfunction() + +# cython_add_module( src1 src2 ... srcN ) +# Build the Cython Python module. +function( cython_add_module _name ) + set( pyx_module_sources "" ) + set( other_module_sources "" ) + foreach( _file ${ARGN} ) + if( ${_file} MATCHES ".*\\.py[x]?$" ) + list( APPEND pyx_module_sources ${_file} ) + else() + list( APPEND other_module_sources ${_file} ) + endif() + endforeach() + compile_pyx( ${_name} generated_file ${pyx_module_sources} ) + include_directories( ${PYTHON_INCLUDE_DIRS} ) + python_add_module( ${_name} ${generated_file} ${other_module_sources} ) + if( APPLE ) + set_target_properties( ${_name} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup" ) + else() + target_link_libraries( ${_name} ${PYTHON_LIBRARIES} ) + endif() +endfunction() + +include( CMakeParseArguments ) +# cython_add_standalone_executable( _name [MAIN_MODULE src3.py] src1 src2 ... srcN ) +# Creates a standalone executable the given sources. +function( cython_add_standalone_executable _name ) + set( pyx_module_sources "" ) + set( other_module_sources "" ) + set( main_module "" ) + cmake_parse_arguments( cython_arguments "" "MAIN_MODULE" "" ${ARGN} ) + include_directories( ${PYTHON_INCLUDE_DIRS} ) + foreach( _file ${cython_arguments_UNPARSED_ARGUMENTS} ) + if( ${_file} MATCHES ".*\\.py[x]?$" ) + get_filename_component( _file_we ${_file} NAME_WE ) + if( "${_file_we}" STREQUAL "${_name}" ) + set( main_module "${_file}" ) + elseif( NOT "${_file}" STREQUAL "${cython_arguments_MAIN_MODULE}" ) + set( PYTHON_MODULE_${_file_we}_static_BUILD_SHARED OFF ) + compile_pyx( "${_file_we}_static" generated_file "${_file}" ) + list( APPEND pyx_module_sources "${generated_file}" ) + endif() + else() + list( APPEND other_module_sources ${_file} ) + endif() + endforeach() + + if( cython_arguments_MAIN_MODULE ) + set( main_module ${cython_arguments_MAIN_MODULE} ) + endif() + if( NOT main_module ) + message( FATAL_ERROR "main module not found." ) + endif() + get_filename_component( main_module_we "${main_module}" NAME_WE ) + set( CYTHON_FLAGS ${CYTHON_FLAGS} --embed ) + compile_pyx( "${main_module_we}_static" generated_file ${main_module} ) + add_executable( ${_name} ${generated_file} ${pyx_module_sources} ${other_module_sources} ) + target_link_libraries( ${_name} ${PYTHON_LIBRARIES} ${pyx_module_libs} ) +endfunction() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/color_utils.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/color_utils.h new file mode 100755 index 0000000..8a99ca7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/color_utils.h @@ -0,0 +1,68 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_COLOR_UTILS_H_ +#define JSK_RECOGNITION_UTILS_COLOR_UTILS_H_ + +#include + +namespace jsk_recognition_utils +{ + /** + * @brief + * Convert std_msgs::ColorRGBA to cv::Scalar in RGB order. + * It expects 0-1 values in std_msgs::ColorRGBA. + */ + inline cv::Scalar colorROSToCVRGB(const std_msgs::ColorRGBA& ros_color) + { + return cv::Scalar(ros_color.r * 255, + ros_color.g * 255, + ros_color.b * 255); + } + + /** + * @brief + * Convert std_msgs::ColorRGBA to cv::Scalar in BGR order. + * It expects 0-1 values in std_msgs::ColorRGBA. + */ + inline cv::Scalar colorROSToCVBGR(const std_msgs::ColorRGBA& ros_color) + { + return cv::Scalar(ros_color.b * 255, + ros_color.g * 255, + ros_color.r * 255); + } +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/cv_utils.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/cv_utils.h new file mode 100755 index 0000000..e7f4aac --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/cv_utils.h @@ -0,0 +1,132 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_CV_UTILS_H_ +#define JSK_RECOGNITION_UTILS_CV_UTILS_H_ + +#include +#if ( CV_MAJOR_VERSION >= 4) +#include +#endif +#include + +namespace jsk_recognition_utils +{ + /** + * @brief + * simple wrapper for cv::calcHist. + * + * cv::MatND is a class to represent histogram in OpenCV 2.x. + * computeHistogram create 1-dimension cv::MatND. + */ + cv::MatND computeHistogram(const cv::Mat& input_image, int bin_size, + float min_value, float max_value, + const cv::Mat& mask_image); + + /** + * @brief + * convert cv::MatND to jsk_recognition_msgs::HistogramimageWithRangeBin array + */ + std::vector + cvMatNDToHistogramWithRangeBinArray(const cv::MatND& cv_hist, float min_value, float max_value); + + /** + * @brief + * convert jsk_recognition_msgs::HistogramimageWithRangeBin array to cv::MatND + */ + cv::MatND + HistogramWithRangeBinArrayTocvMatND( + const std::vector& histogram); + + /** + * @brief + * return true if left.count is larger than right.count. + */ + bool compareHistogramWithRangeBin(const jsk_recognition_msgs::HistogramWithRangeBin& left, + const jsk_recognition_msgs::HistogramWithRangeBin& right); + + /** + * @brief + * sort std::vector. + * largest value will be at the first element. + */ + void sortHistogramWithRangeBinArray(std::vector& bins); + + /** + * @brief + * extract top-N histograms. bins should be sorted. + * top_n_rate should be 0-1. + */ + std::vector + topNHistogramWithRangeBins(const std::vector& bins, + double top_n_rate); + + /** + * @brief + * draw bin to cv::Mat + */ + void + drawHistogramWithRangeBin(cv::Mat& image, + const jsk_recognition_msgs::HistogramWithRangeBin& bin, + float min_width_value, + float max_width_value, + float max_height_value, + cv::Scalar color); + + /** + * @brief + * convert label image to rgb one. + */ + void labelToRGB(const cv::Mat src, cv::Mat& dst); + + + /** + * @brief + * compute bounding rectangle of mask image. + */ + cv::Rect boundingRectOfMaskImage(const cv::Mat& image); + + /** + * @brief + * Check encodings. + */ + bool isBGR(const std::string& encoding); + bool isRGB(const std::string& encoding); + bool isBGRA(const std::string& encoding); + bool isRGBA(const std::string& encoding); + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/convex_polygon.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/convex_polygon.h new file mode 100755 index 0000000..c43393f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/convex_polygon.h @@ -0,0 +1,132 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_CONVEX_POLYGON_H_ +#define JSK_RECOGNITION_UTILS_GEO_CONVEX_POLYGON_H_ + +#include "jsk_recognition_utils/geo/polygon.h" +#include +#include +#include +#include "jsk_recognition_utils/pcl_util.h" + + +namespace jsk_recognition_utils +{ + class ConvexPolygon: public Polygon + { + public: + typedef boost::shared_ptr Ptr; + typedef Eigen::Vector3f Vertex; + typedef std::vector > Vertices; + // vertices should be CW + ConvexPolygon(const Vertices& vertices); + ConvexPolygon(const Vertices& vertices, + const std::vector& coefficients); + //virtual Polygon flip(); + virtual void project(const Eigen::Vector3f& p, Eigen::Vector3f& output); + virtual void project(const Eigen::Vector3d& p, Eigen::Vector3d& output); + virtual void project(const Eigen::Vector3d& p, Eigen::Vector3f& output); + virtual void project(const Eigen::Vector3f& p, Eigen::Vector3d& output); + virtual void projectOnPlane(const Eigen::Vector3f& p, + Eigen::Vector3f& output); + virtual void projectOnPlane(const Eigen::Affine3f& p, + Eigen::Affine3f& output); + virtual bool isProjectableInside(const Eigen::Vector3f& p); + // p should be a point on the plane + virtual ConvexPolygon flipConvex(); + virtual Eigen::Vector3f getCentroid(); + virtual Ptr magnify(const double scale_factor); + virtual Ptr magnifyByDistance(const double distance); + + static ConvexPolygon fromROSMsg(const geometry_msgs::Polygon& polygon); + static ConvexPolygon::Ptr fromROSMsgPtr(const geometry_msgs::Polygon& polygon); + bool distanceSmallerThan( + const Eigen::Vector3f& p, double distance_threshold); + bool distanceSmallerThan( + const Eigen::Vector3f& p, double distance_threshold, + double& output_distance); + bool allEdgesLongerThan(double thr); + double distanceFromVertices(const Eigen::Vector3f& p); + geometry_msgs::Polygon toROSMsg(); + protected: + + private: + }; + + template + ConvexPolygon::Ptr convexFromCoefficientsAndInliers( + const typename pcl::PointCloud::Ptr cloud, + const pcl::PointIndices::Ptr inliers, + const pcl::ModelCoefficients::Ptr coefficients) { + typedef typename pcl::PointCloud POINTCLOUD; + typename POINTCLOUD::Ptr projected_cloud(new pcl::PointCloud); + // check inliers has enough points + if (inliers->indices.size() == 0) { + return ConvexPolygon::Ptr(); + } + // project inliers based on coefficients + pcl::ProjectInliers proj; + proj.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE); + proj.setInputCloud(cloud); + proj.setModelCoefficients(coefficients); + proj.setIndices(inliers); + proj.filter(*projected_cloud); + // compute convex with giant mutex + { + boost::mutex::scoped_lock lock(global_chull_mutex); + typename POINTCLOUD::Ptr convex_cloud(new pcl::PointCloud); + pcl::ConvexHull chull; + chull.setDimension(2); + chull.setInputCloud (projected_cloud); + chull.reconstruct (*convex_cloud); + if (convex_cloud->points.size() > 0) { + // convert pointcloud to vertices + Vertices vs; + for (size_t i = 0; i < convex_cloud->points.size(); i++) { + Eigen::Vector3f v(convex_cloud->points[i].getVector3fMap()); + vs.push_back(v); + } + return ConvexPolygon::Ptr(new ConvexPolygon(vs)); + } + else { + return ConvexPolygon::Ptr(); + } + } + } +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/cube.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/cube.h new file mode 100755 index 0000000..f64c86c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/cube.h @@ -0,0 +1,125 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_CUBE_H_ +#define JSK_RECOGNITION_UTILS_GEO_CUBE_H_ + +#include "jsk_recognition_utils/geo/polygon.h" +#include "jsk_recognition_utils/geo/convex_polygon.h" +#include + +namespace jsk_recognition_utils +{ + class Cube + { + public: + typedef boost::shared_ptr Ptr; + Cube(const Eigen::Vector3f& pos, const Eigen::Quaternionf& rot); + Cube(const Eigen::Vector3f& pos, const Eigen::Quaternionf& rot, + const std::vector& dimensions); + Cube(const Eigen::Vector3f& pos, const Eigen::Quaternionf& rot, + const Eigen::Vector3f& dimensions); + Cube(const Eigen::Vector3f& pos, // centroid + const Line& line_a, const Line& line_b, const Line& line_c); + Cube(const jsk_recognition_msgs::BoundingBox& box); + virtual ~Cube(); + std::vector edges(); + ConvexPolygon::Ptr intersectConvexPolygon(Plane& plane); + std::vector getDimensions() const { return dimensions_; }; + void setDimensions(const std::vector& new_dimensions) { + dimensions_[0] = new_dimensions[0]; + dimensions_[1] = new_dimensions[1]; + dimensions_[2] = new_dimensions[2]; + } + jsk_recognition_msgs::BoundingBox toROSMsg(); + + /** + * @brief + * returns vertices as an array of Eigen::Vectro3f. + * The order of the vertices is: + * [1, 1, 1], [-1, 1, 1], [-1, -1, 1], [1, -1, 1], + * [1, 1, -1], [-1, 1, -1], [-1, -1, -1], [1, -1, -1]. + */ + Vertices vertices(); + + /** + * @brief + * returns vertices transformed by pose_offset. + */ + Vertices transformVertices(const Eigen::Affine3f& pose_offset); + + /** + * @brief + * returns all the 6 faces as Polygon::Ptr. + * TODO: is it should be ConvexPolygon? + */ + std::vector faces(); + + /** + * @brief + * compute minimum distance from point p to cube surface. + * + * Distance computation depends on Polygon::nearestPoint and + * this methods just searches a face which resutnrs the smallest + * distance. + */ + virtual Eigen::Vector3f nearestPoint(const Eigen::Vector3f& p, + double& distance); + protected: + Eigen::Vector3f pos_; + Eigen::Quaternionf rot_; + std::vector dimensions_; + + /** + * @brief + * A helper method to build polygon from 4 vertices. + */ + virtual Polygon::Ptr buildFace(const Eigen::Vector3f v0, + const Eigen::Vector3f v1, + const Eigen::Vector3f v2, + const Eigen::Vector3f v3); + + /** + * @brief + * A helper method to build vertex from x-y-z relatiev coordinates. + */ + virtual Eigen::Vector3f buildVertex(double i, double j, double k); + + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/cylinder.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/cylinder.h new file mode 100755 index 0000000..d4eef19 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/cylinder.h @@ -0,0 +1,75 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_CYLINDER_H_ +#define JSK_RECOGNITION_UTILS_GEO_CYLINDER_H_ + +#include +#include +#include +#include +#include + +namespace jsk_recognition_utils +{ + class Cylinder // infinite + { + public: + typedef boost::shared_ptr Ptr; + Cylinder(Eigen::Vector3f point, Eigen::Vector3f direction, double radius); + + virtual void filterPointCloud(const pcl::PointCloud& cloud, + const double threshold, + pcl::PointIndices& output); + virtual void estimateCenterAndHeight(const pcl::PointCloud& cloud, + const pcl::PointIndices& indices, + Eigen::Vector3f& center, + double& height); + virtual void toMarker(visualization_msgs::Marker& marker, + const Eigen::Vector3f& center, + const Eigen::Vector3f& uz, + const double height); + virtual Eigen::Vector3f getDirection(); + virtual double getRadius() { return radius_; } + protected: + Eigen::Vector3f point_; + Eigen::Vector3f direction_; + double radius_; + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/grid_plane.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/grid_plane.h new file mode 100755 index 0000000..500876f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/grid_plane.h @@ -0,0 +1,171 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_GRID_PLANE_H_ +#define JSK_RECOGNITION_UTILS_GEO_GRID_PLANE_H_ + +#include +#include +#include +#include +#include +#include +#include + +#include "jsk_recognition_utils/geo/convex_polygon.h" +#include "jsk_recognition_utils/geo/cube.h" + +#include + +namespace jsk_recognition_utils +{ + /** + * @brief + * Grid based representation of planar region. + * + * Each cell represents a square region as belows: + * +--------+ + * | | + * | + | + * | | + * +--------+ + * + * The width and height of the cell is equivalent to resolution_, + * and the value of cells_ represents a center point. + * (i, j) means rectanglar region of (x, y) which satisfies followings: + * i * resolution - 0.5 * resolution <= x < i * resolution + 0.5 * resolution + * j * resolution - 0.5 * resolution <= y < j * resolution + 0.5 * resolution + * + * + */ + class GridPlane + { + public: + typedef boost::shared_ptr Ptr; + typedef boost::tuple IndexPair; + typedef std::set IndexPairSet; + GridPlane(ConvexPolygon::Ptr plane, const double resolution); + virtual ~GridPlane(); + virtual GridPlane::Ptr clone(); // shallow copy + virtual size_t fillCellsFromPointCloud( + pcl::PointCloud::Ptr& cloud, + double distance_threshold); + virtual size_t fillCellsFromPointCloud( + pcl::PointCloud::Ptr& cloud, + double distance_threshold, + std::set& non_plane_indices); + virtual size_t fillCellsFromPointCloud( + pcl::PointCloud::Ptr& cloud, + double distance_threshold, + double normal_threshold, + std::set& non_plane_indices); + virtual void fillCellsFromCube(Cube& cube); + virtual double getResolution() { return resolution_; } + virtual jsk_recognition_msgs::SimpleOccupancyGrid toROSMsg(); + /** + * @brief + * Construct GridPlane object from + * jsk_recognition_msgs::SimpleOccupancyGrid. + */ + static GridPlane fromROSMsg( + const jsk_recognition_msgs::SimpleOccupancyGrid& rosmsg, + const Eigen::Affine3f& offset); + virtual bool isOccupied(const IndexPair& pair); + + /** + * @brief + * p should be local coordinate + */ + virtual bool isOccupied(const Eigen::Vector3f& p); + + /** + * @brief + * p should be global coordinate + */ + virtual bool isOccupiedGlobal(const Eigen::Vector3f& p); + + /** + * @brief + * Project 3-D point to GridPlane::IndexPair. + * p should be represented in local coordinates. + */ + virtual IndexPair projectLocalPointAsIndexPair(const Eigen::Vector3f& p); + + /** + * @brief + * Unproject GridPlane::IndexPair to 3-D local point. + */ + virtual Eigen::Vector3f unprojectIndexPairAsLocalPoint(const IndexPair& pair); + + /** + * @brief + * Unproject GridPlane::IndexPair to 3-D global point. + */ + virtual Eigen::Vector3f unprojectIndexPairAsGlobalPoint(const IndexPair& pair); + + /** + * @brief + * Add IndexPair to this instance. + */ + virtual void addIndexPair(IndexPair pair); + + /** + * @brief + * Erode grid cells with specified number of pixels + */ + virtual GridPlane::Ptr erode(int num); + + /** + * @brief + * return ConvexPolygon pointer of this instance. + */ + virtual ConvexPolygon::Ptr getPolygon() { return convex_; } + + /** + * @brief + * Dilate grid cells with specified number of pixels + */ + virtual GridPlane::Ptr dilate(int num); + protected: + ConvexPolygon::Ptr convex_; + IndexPairSet cells_; + double resolution_; + private: + + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/line.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/line.h new file mode 100755 index 0000000..aa204fd --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/line.h @@ -0,0 +1,203 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_LINE_H_ +#define JSK_RECOGNITION_UTILS_GEO_LINE_H_ + +#include +#include +#include "jsk_recognition_utils/types.h" + +namespace jsk_recognition_utils +{ + /** + * @brief + * Class to represent 3-D straight line. + */ + class Line + { + public: + typedef boost::shared_ptr Ptr; + + /** + * @brief + * Construct a line from direction vector and a point on the line. + * + * @param direction direction of the line. non-normalized vector is allowed. + * @param origin point on the line. + */ + Line(const Eigen::Vector3f& direction, const Eigen::Vector3f& origin); + + /** + * @brief + * get normalized direction vector of the line and assign it to output. + */ + virtual void getDirection(Eigen::Vector3f& output) const; + + /** + * @brief + * get normalized direction vector of the line. + */ + virtual Eigen::Vector3f getDirection() const; + + /** + * @brief + * get origin of the line and assing it to output. + */ + virtual void getOrigin(Eigen::Vector3f& output) const; + + /** + * @brief + * get origin of the line. + */ + virtual Eigen::Vector3f getOrigin() const; + + /** + * @brief + * compute a distance to a point + */ + virtual double distanceToPoint(const Eigen::Vector3f& from) const; + + /** + * @brief + * compute a distance to a point and foot point will be assigned to foot. + */ + virtual double distanceToPoint(const Eigen::Vector3f& from, + Eigen::Vector3f& foot) const; + + /** + * @brief + * compute a distance to line. + */ + virtual double distance(const Line& other) const; + + /** + * @brief + * compute a point which gives perpendicular projection. + */ + virtual void foot(const Eigen::Vector3f& point, Eigen::Vector3f& output) const; + + /** + * @brief + * compute angle between a given line. + */ + virtual double angle(const Line& other) const; + + /** + * @brief + * return true if given line is parallel. + * angle_threshold is error tolerance. + */ + virtual bool isParallel(const Line& other, double angle_threshold = 0.1) const; + + /** + * @brief + * return true if given line is perpendicular. + * angle_threshold is error tolerance. + */ + virtual bool isPerpendicular(const Line& other, double angle_threshold = 0.1) const; + + /** + * @brief + * compute a middle line between given line. + */ + virtual Ptr midLine(const Line& other) const; + + /** + * @brief + * compute a line on a point, whose direction is same to the + * current line. + */ + virtual Ptr parallelLineOnAPoint(const Eigen::Vector3f& p) const; + + /** + * @brief + * Extract end points from the points on the lines. + */ + virtual PointPair findEndPoints(const Vertices& points) const; + + /** + * @ brief + * Let equation of line's scale factor a. + * + * x = a d + p + * where d is a normalized direction vector and p is a point on the vector. + */ + virtual double computeAlpha(const Point& p) const; + + /** + * @ brief + * Return true if given line is towards the same direction. + */ + virtual bool isSameDirection(const Line& other) const; + + /** + * @ brief + * flip direction of line. + */ + virtual Line::Ptr flip(); + + /** + * @brief + * compute a perpendicular line of two lines from origin_ + */ + virtual void parallelLineNormal(const Line& other, Eigen::Vector3f& output) const; + + /** + * @brief + * Instantiate Line from array of float. + */ + static Ptr fromCoefficients(const std::vector& coefficients); + + /** + * @brief + * Print Line information + */ + virtual void print(); + + /** + * @brief + * Compute a point on normal from alpha parameter. + */ + virtual void point(double alpha, Eigen::Vector3f& ouptut); + protected: + Eigen::Vector3f direction_; + Eigen::Vector3f origin_; + private: + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/plane.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/plane.h new file mode 100755 index 0000000..cb570a3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/plane.h @@ -0,0 +1,93 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_PLANE_H_ +#define JSK_RECOGNITION_UTILS_GEO_PLANE_H_ + +#include +#include +#include +#include +#include "jsk_recognition_utils/types.h" + +namespace jsk_recognition_utils +{ + class Plane + { + public: + typedef boost::shared_ptr Ptr; + Plane(const std::vector& coefficients); + Plane(const boost::array& coefficients); + Plane(Eigen::Vector3f normal, double d); + Plane(Eigen::Vector3f normal, Eigen::Vector3f p); + virtual ~Plane(); + virtual Plane flip(); + virtual Plane::Ptr faceToOrigin(); + virtual bool isSameDirection(const Plane& another); + virtual bool isSameDirection(const Eigen::Vector3f& another_normal); + virtual double signedDistanceToPoint(const Eigen::Vector4f p); + virtual double distanceToPoint(const Eigen::Vector4f p); + virtual double signedDistanceToPoint(const Eigen::Vector3f p); + virtual double distanceToPoint(const Eigen::Vector3f p); + virtual double distance(const Plane& another); + virtual double angle(const Plane& another); + virtual double angle(const Eigen::Vector3f& vector); + virtual void project(const Eigen::Vector3f& p, Eigen::Vector3f& output); + virtual void project(const Eigen::Vector3d& p, Eigen::Vector3d& output); + virtual void project(const Eigen::Vector3d& p, Eigen::Vector3f& output); + virtual void project(const Eigen::Vector3f& p, Eigen::Vector3d& output); + virtual void project(const Eigen::Affine3d& pose, Eigen::Affine3d& output); + virtual void project(const Eigen::Affine3f& pose, Eigen::Affine3f& output); + virtual Eigen::Vector3f getNormal(); + virtual Eigen::Vector3f getPointOnPlane(); + virtual Plane transform(const Eigen::Affine3d& transform); + virtual Plane transform(const Eigen::Affine3f& transform); + virtual void toCoefficients(std::vector& output); + virtual std::vector toCoefficients(); + virtual double getD(); + virtual Eigen::Affine3f coordinates(); + protected: + virtual void initializeCoordinates(); + Eigen::Vector3f normal_; + double d_; + Eigen::Affine3f plane_coordinates_; + private: + }; + +} + +#endif + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/polygon.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/polygon.h new file mode 100755 index 0000000..b17a8b1 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/polygon.h @@ -0,0 +1,243 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_POLYGON_H_ +#define JSK_RECOGNITION_UTILS_GEO_POLYGON_H_ + +#include +#include +#include +#include +#include +#include +#include + +#include "jsk_recognition_utils/geo/plane.h" +#include "jsk_recognition_utils/geo/segment.h" +#include "jsk_recognition_utils/sensor_model/camera_depth_sensor.h" +#include "jsk_recognition_utils/pcl_conversion_util.h" +#include "jsk_recognition_utils/random_util.h" + +namespace jsk_recognition_utils +{ + class Polygon: public Plane + { + public: + typedef boost::shared_ptr Ptr; + typedef boost::tuple PtrPair; + Polygon(const Vertices& vertices); + Polygon(const Vertices& vertices, + const std::vector& coefficients); + virtual ~Polygon(); + virtual std::vector decomposeToTriangles(); + virtual void clearTriangleDecompositionCache() { + cached_triangles_.clear(); + } + + virtual Eigen::Vector3f getNormalFromVertices(); + virtual bool isTriangle(); + Eigen::Vector3f randomSampleLocalPoint(boost::mt19937& random_generator); + virtual void getLocalMinMax(double& min_x, double& min_y, + double& max_x, double& max_y); + template + typename pcl::PointCloud::Ptr samplePoints(double grid_size) + { + typename pcl::PointCloud::Ptr + ret (new pcl::PointCloud); + double min_x, min_y, max_x, max_y; + getLocalMinMax(min_x, min_y, max_x, max_y); + // ROS_INFO("min_x: %f", min_x); + // ROS_INFO("min_y: %f", min_y); + // ROS_INFO("max_x: %f", max_x); + // ROS_INFO("max_y: %f", max_y); + // Decompose into triangle first for optimization + std::vector triangles = decomposeToTriangles(); + + for (double x = min_x; x < max_x; x += grid_size) { + for (double y = min_y; y < max_y; y += grid_size) { + Eigen::Vector3f candidate(x, y, 0); + Eigen::Vector3f candidate_global = coordinates() * candidate; + // check candidate is inside of the polygon or not + bool insidep = false; + for (size_t i = 0; i < triangles.size(); i++) { + if (triangles[i]->isInside(candidate_global)) { + insidep = true; + break; + } + } + if (insidep) { + PointT p; + p.x = candidate_global[0]; + p.y = candidate_global[1]; + p.z = candidate_global[2]; + p.normal_x = normal_[0]; + p.normal_y = normal_[1]; + p.normal_z = normal_[2]; + ret->points.push_back(p); + } + } + } + return ret; + } + + /** + * @brief + * get all the edges as point of Segment. + */ + std::vector edges() const; + + /** + * @brief + * Compute distance between point and this polygon. + */ + double distance(const Eigen::Vector3f& point); + + /** + * @brief + * Compute distance between point and this polygon. + * Nearest point on this polygon can be gotten. + */ + double distance(const Eigen::Vector3f& point, + Eigen::Vector3f& nearest_point); + + /** + * @brief + * Compute nearest point from p on this polygon. + * + * This method first project p onth the polygon and + * if the projected point is inside of polygon, + * the projected point is the nearest point. + * If not, distances between the point and edges are + * computed and search the nearest point. + * + * In case of searching edges, it is achieved in brute-force + * searching and if the number of edges is huge, it may take + * a lot of time to compute. + * + * This method cannot be used for const instance because + * triangle decomposition will change the cache in the instance. + * + * Distance between p and nearest point is stored in distance. + */ + virtual Eigen::Vector3f nearestPoint(const Eigen::Vector3f& p, + double& distance); + virtual size_t getNumVertices(); + virtual size_t getFarestPointIndex(const Eigen::Vector3f& O); + virtual Eigen::Vector3f directionAtPoint(size_t i); + virtual Eigen::Vector3f getVertex(size_t i); + virtual PointIndexPair getNeighborIndex(size_t index); + virtual Vertices getVertices() { return vertices_; }; + virtual double area(); + virtual bool isPossibleToRemoveTriangleAtIndex( + size_t index, + const Eigen::Vector3f& direction); + virtual PtrPair separatePolygon(size_t index); + /** + * @brief + * return true if p is inside of polygon. + * p should be in global coordinates. + */ + virtual bool isInside(const Eigen::Vector3f& p); + size_t previousIndex(size_t i); + size_t nextIndex(size_t i); + + static Polygon fromROSMsg(const geometry_msgs::Polygon& polygon); + static Polygon::Ptr fromROSMsgPtr(const geometry_msgs::Polygon& polygon); + static Polygon createPolygonWithSkip(const Vertices& vertices); + + /** + * @brief + * convert jsk_recognition_msgs::PolygonArray + * to std::vector. + * It requires offset transformation in the 2nd argument. + */ + static std::vector fromROSMsg(const jsk_recognition_msgs::PolygonArray& msg, + const Eigen::Affine3f& offset = Eigen::Affine3f::Identity()); + + /** + * @brief + * transform Polygon with given transform. + * cached triangles is cleared. + */ + virtual void transformBy(const Eigen::Affine3d& transform); + + /** + * @brief + * transform Polygon with given transform. + * cached triangles is cleared. + */ + virtual void transformBy(const Eigen::Affine3f& transform); + + /** + * @brief + * generate mask image of the polygon. + * if all the points are outside of field-of-view, + * returns false. + */ + virtual bool maskImage(const jsk_recognition_utils::CameraDepthSensor& model, + cv::Mat& image) const; + + /** + * @brief + * draw line of polygons on image. + */ + virtual void drawLineToImage(const jsk_recognition_utils::CameraDepthSensor& model, + cv::Mat& image, + const cv::Scalar& color, + const int line_width = 1) const; + virtual bool isConvex(); + virtual Eigen::Vector3f centroid(); + template void boundariesToPointCloud( + pcl::PointCloud& output) { + output.points.resize(vertices_.size()); + for (size_t i = 0; i < vertices_.size(); i++) { + Eigen::Vector3f v = vertices_[i]; + PointT p; + p.x = v[0]; p.y = v[1]; p.z = v[2]; + output.points[i] = p; + } + output.height = 1; + output.width = output.points.size(); + } + + protected: + Vertices vertices_; + std::vector cached_triangles_; + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/polyline.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/polyline.h new file mode 100755 index 0000000..49bfcf2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/polyline.h @@ -0,0 +1,122 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_POLYLINE_H_ +#define JSK_RECOGNITION_UTILS_GEO_POLYLINE_H_ + +#include +#include +#include "jsk_recognition_utils/types.h" +#include "jsk_recognition_utils/geo/segment.h" +#include "visualization_msgs/Marker.h" + +namespace jsk_recognition_utils +{ + /** + * @brief + * Class to represent 3-D polyline (not closed). + */ + class PolyLine : public Line + { + public: + typedef boost::shared_ptr Ptr; + /** + * @brief + * Construct a polyline from points. + * The polyline consists of lines which starts with p[i] and ends with p[i+1]. + * @param points + */ + PolyLine(const std::vector < Eigen::Vector3f > &points); + + /** + * @ brief + * get the line positioned at index + * + * @param index position of the line + */ + virtual Segment::Ptr at(int index) const; + + /** + * @brief + * compute a distance to a point + */ + virtual double distance(const Eigen::Vector3f& point, + Eigen::Vector3f& foot_point) const; + virtual double distance(const Eigen::Vector3f& point) const; + + /** + * @brief + * compute a distance to a point, get various information + */ + virtual double distanceWithInfo(const Eigen::Vector3f& from, + Eigen::Vector3f& foot_point, + double& distance_to_goal, + int& foot_index, + double& foot_alpha) const; + + /** + * @brief + * get normalized direction vector of the line. + * + * @param index position of the line which returns direction + */ + virtual void getDirection(int index, Eigen::Vector3f& output) const; + virtual Eigen::Vector3f getDirection(int index) const; + + /** + * @brief + * get total length of the polyline + */ + virtual double length() const; + + /** + * @ brief + * flip direction of the polyline. + */ + virtual PolyLine::Ptr flipPolyLine() const; + + /** + * @ brief + * make marker message to display the polyline + */ + void toMarker(visualization_msgs::Marker& marker) const; + + friend std::ostream& operator<<(std::ostream& os, const PolyLine& pl); + protected: + std::vector< Segment::Ptr > segments; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/segment.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/segment.h new file mode 100755 index 0000000..13ecf51 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo/segment.h @@ -0,0 +1,123 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_ +#define JSK_RECOGNITION_UTILS_GEO_SEGMENT_H_ + +#include +#include "jsk_recognition_utils/geo/line.h" +#include "visualization_msgs/Marker.h" + +namespace jsk_recognition_utils +{ + class Plane; + /** + * @brief + * Class to represent 3-D straight line which has finite length. + */ + class Segment: public Line + { + public: + typedef boost::shared_ptr Ptr; + + /** + * @brief + * Construct a line from a start point and a goal point. + * + * @param from + * @param to + */ + Segment(const Eigen::Vector3f& from, const Eigen::Vector3f to); + + /** + * @brief + * get end of the line and assing it to output. + */ + virtual void getEnd(Eigen::Vector3f& output) const; + virtual Eigen::Vector3f getEnd() const; + + virtual void foot(const Eigen::Vector3f& point, Eigen::Vector3f& output) const; + virtual double dividingRatio(const Eigen::Vector3f& point) const; + virtual double distance(const Eigen::Vector3f& point) const; + virtual double distance(const Eigen::Vector3f& point, Eigen::Vector3f& foot_point) const; + virtual bool intersect(Plane& plane, Eigen::Vector3f& point) const; + virtual void midpoint(Eigen::Vector3f& midpoint) const; + //virtual double distance(const Segment& other); + friend std::ostream& operator<<(std::ostream& os, const Segment& seg); + + /** + * @brief + * compute a distance to a point + * @param from + * @param foot_point + * @param distance_to_goal + */ + virtual double distanceWithInfo(const Eigen::Vector3f& from, + Eigen::Vector3f& foot_point, + double &distance_to_goal) const; + + /** + * @brief + * return flipped line (line of opposite direction) + */ + virtual Segment::Ptr flipSegment() const; + + /** + * @brief + * return length of the line + */ + virtual double length() const; + + /** + * @brief + * make marker message to display the finite line + */ + void toMarker(visualization_msgs::Marker& marker) const; + + /** + * @brief + * is crossing with another line + */ + virtual bool isCross (const Line &ln, double distance_threshold = 1e-5) const; + virtual bool isCross (const Segment &ln, double distance_threshold = 1e-5) const; + + protected: + Eigen::Vector3f to_; + double length_; + private: + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo_util.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo_util.h new file mode 100755 index 0000000..6aa73a4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/geo_util.h @@ -0,0 +1,154 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GEO_UTIL_H_ +#define JSK_RECOGNITION_UTILS_GEO_UTIL_H_ +//#define BOOST_PARAMETER_MAX_ARITY 7 + +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +//////////////////////////////////////////////////////// +// PCL headers +//////////////////////////////////////////////////////// +#include +#include +#include +#include +#include +#include +#include +#include + +#include "jsk_recognition_utils/pcl_util.h" +#include "jsk_recognition_utils/random_util.h" + +#include +#include "jsk_recognition_utils/sensor_model/camera_depth_sensor.h" +#include "jsk_recognition_utils/types.h" +#include "jsk_recognition_utils/geo/line.h" +#include "jsk_recognition_utils/geo/segment.h" +#include "jsk_recognition_utils/geo/polyline.h" +#include "jsk_recognition_utils/geo/plane.h" +#include "jsk_recognition_utils/geo/polygon.h" +#include "jsk_recognition_utils/geo/convex_polygon.h" +#include "jsk_recognition_utils/geo/cube.h" +#include "jsk_recognition_utils/geo/cylinder.h" +#include "jsk_recognition_utils/geo/grid_plane.h" + +// Utitlity macros +inline void ROS_INFO_EIGEN_VECTOR3(const std::string& prefix, + const Eigen::Vector3f& v) { + ROS_INFO("%s: [%f, %f, %f]", prefix.c_str(), v[0], v[1], v[2]); +} + +namespace jsk_recognition_utils +{ + //////////////////////////////////////////////////////// + // compute quaternion from 3 unit vector + // these vector should be normalized and diagonal + //////////////////////////////////////////////////////// + Eigen::Quaternionf rotFrom3Axis(const Eigen::Vector3f& ex, + const Eigen::Vector3f& ey, + const Eigen::Vector3f& ez); + /** + * @brief + * Compute PointCloud from Vertices + */ + template + typename pcl::PointCloud::Ptr verticesToPointCloud(const Vertices& v) + { + typename pcl::PointCloud::Ptr cloud (new pcl::PointCloud); + for (size_t i = 0; i < v.size(); i++) { + PointT p; + // Do not use pointFromVectorToXYZ in order not to depend on + // pcl_conversion_util + //pointFromVectorToXYZ(v[i], p); + p.x = v[i][0]; + p.y = v[i][1]; + p.z = v[i][2]; + cloud->points.push_back(p); + } + return cloud; + } + + /** + * @brief + * Compute Vertices from PointCloud + */ + template + Vertices pointCloudToVertices(const pcl::PointCloud& cloud) + { + Vertices vs; + for (size_t i = 0; i < cloud.points.size(); i++) { + Eigen::Vector3f p(cloud.points[i].getVector3fMap()); + vs.push_back(p); + } + return vs; + } + + // geoemtry classes + + std::vector convertToPlanes( + std::vector); + + template + jsk_recognition_msgs::BoundingBox boundingBoxFromPointCloud(const pcl::PointCloud& cloud) + { + Eigen::Vector4f minpt, maxpt; + pcl::getMinMax3D(cloud, minpt, maxpt); + jsk_recognition_msgs::BoundingBox bbox; + bbox.dimensions.x = std::abs(minpt[0] - maxpt[0]); + bbox.dimensions.y = std::abs(minpt[1] - maxpt[1]); + bbox.dimensions.z = std::abs(minpt[2] - maxpt[2]); + bbox.pose.position.x = (minpt[0] + maxpt[0]) / 2.0; + bbox.pose.position.y = (minpt[1] + maxpt[1]) / 2.0; + bbox.pose.position.z = (minpt[2] + maxpt[2]) / 2.0; + bbox.pose.orientation.w = 1.0; + return bbox; + } +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/grid_index.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/grid_index.h new file mode 100755 index 0000000..8df07ca --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/grid_index.h @@ -0,0 +1,61 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_GRID_INDEX_H_ +#define JSK_RECOGNITION_UTILS_GRID_INDEX_H_ + +#include + +namespace jsk_recognition_utils +{ + + class GridIndex + { + public: + typedef boost::shared_ptr Ptr; + + GridIndex(); + GridIndex(int _x, int _y); + virtual ~GridIndex(); + int x; + int y; + protected: + private: + + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/grid_line.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/grid_line.h new file mode 100755 index 0000000..19ca6d8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/grid_line.h @@ -0,0 +1,102 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#ifndef JSK_RECOGNITION_UTILS_GRID_LINE_H_ +#define JSK_RECOGNITION_UTILS_GRID_LINE_H_ +#include +#include +#include "jsk_recognition_utils/grid_index.h" + +#include +#include + +namespace jsk_recognition_utils +{ + class GridLine + { + public: + typedef boost::shared_ptr Ptr; + GridLine(const pcl::PointXYZRGB a, const pcl::PointXYZRGB b); + virtual ~GridLine(); + virtual bool penetrateGrid(const pcl::PointXYZRGB& A, + const pcl::PointXYZRGB& B, + const pcl::PointXYZRGB& C, + const pcl::PointXYZRGB& D); + virtual bool penetrateGrid(const Eigen::Vector3f A, + const Eigen::Vector3f B, + const Eigen::Vector3f C, + const Eigen::Vector3f D) + { + // std::cout << "checking " + // << "[" << from[0] << ", " << from[1] << ", " << from[2] << "]" + // << "--" + // << "[" << to[0] << ", " << to[1] << ", " << to[2] << "]" + // << std::endl; + // std::cout << " penetrates " + // << "[" << A[0] << ", " << A[1] << ", " << A[2] << "], " + // << "[" << B[0] << ", " << B[1] << ", " << B[2] << "], " + // << "[" << C[0] << ", " << C[1] << ", " << C[2] << "], " + // << "[" << D[0] << ", " << D[1] << ", " << D[2] << "]" << std::endl; + Eigen::Vector3f Across = (A - from).cross(d_); + Eigen::Vector3f Bcross = (B - from).cross(d_); + Eigen::Vector3f Ccross = (C - from).cross(d_); + Eigen::Vector3f Dcross = (D - from).cross(d_); + bool ab_direction = Across.dot(Bcross) < 0; + bool ac_direction = Across.dot(Ccross) < 0; + bool ad_direction = Across.dot(Dcross) < 0; + bool bc_direction = Bcross.dot(Ccross) < 0; + if (Across.norm() == 0 || + Bcross.norm() == 0 || + Ccross.norm() == 0 || + Dcross.norm() == 0) { + return true; + } + else if ((ab_direction == ac_direction) && + (ab_direction == ad_direction) + && (ab_direction == bc_direction)) { + return false; + } + else { + return true; + } + } + + const Eigen::Vector3f from; + const Eigen::Vector3f to; + protected: + const Eigen::Vector3f d_; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/grid_map.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/grid_map.h new file mode 100755 index 0000000..2f78ef8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/grid_map.h @@ -0,0 +1,132 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#ifndef JSK_RECOGNITION_UTILS_GRID_MAP_H_ +#define JSK_RECOGNITION_UTILS_GRID_MAP_H_ +#include + +#include "jsk_recognition_utils/grid_index.h" +#include "jsk_recognition_utils/grid_line.h" +#include +#include +#include +#include +#include +#include + +#include "jsk_recognition_utils/geo_util.h" +#include + +namespace jsk_recognition_utils +{ + + // infinity range, might be slow... + class GridMap + { + public: + typedef boost::shared_ptr Ptr; + typedef std::set RowIndices; + typedef std::map Columns; + typedef Columns::iterator ColumnIterator; + typedef std::set::iterator RowIterator; + GridMap(double resolution, const std::vector& coefficients); + virtual ~GridMap(); + virtual void registerPoint(const pcl::PointXYZRGB& point); + virtual std::vector registerLine(const pcl::PointXYZRGB& from, const pcl::PointXYZRGB& to); + virtual void removeIndex(const GridIndex::Ptr& index); + virtual void registerPointCloud(pcl::PointCloud::Ptr cloud); + virtual GridIndex::Ptr registerIndex(const GridIndex::Ptr& index); + virtual GridIndex::Ptr registerIndex(const int x, const int y); + virtual void pointToIndex(const pcl::PointXYZRGB& point, GridIndex::Ptr index); + virtual void pointToIndex(const Eigen::Vector3f& point, GridIndex::Ptr index); + virtual void indicesToPointCloud(const std::vector& indices, + pcl::PointCloud::Ptr cloud); + virtual bool getValue(const GridIndex::Ptr& index); + virtual bool getValue(const GridIndex& index); + virtual bool getValue(const int x, const int y); + virtual void gridToPoint(GridIndex::Ptr index, Eigen::Vector3f& pos); + virtual void gridToPoint(const GridIndex& index, Eigen::Vector3f& pos); + virtual void gridToPoint2(const GridIndex& index, Eigen::Vector3f& pos); + virtual void fillRegion(const Eigen::Vector3f& start, std::vector& output); + virtual void fillRegion(const GridIndex::Ptr start, std::vector& output); + // toMsg does not fill header, be carefull + virtual void originPose(Eigen::Affine3f& output); + virtual void originPose(Eigen::Affine3d& output); + virtual void toMsg(jsk_recognition_msgs::SparseOccupancyGrid& grid); + virtual Plane toPlane(); + virtual Plane::Ptr toPlanePtr(); + virtual void vote(); + virtual unsigned int getVoteNum(); + virtual void setGeneration(unsigned int generation); + virtual unsigned int getGeneration(); + virtual std::vector getCoefficients(); + virtual bool isBinsOccupied(const Eigen::Vector3f& p); + virtual int normalizedWidth(); + virtual int normalizedHeight(); + virtual boost::tuple minMaxX(); + virtual boost::tuple minMaxY(); + virtual int widthOffset(); + virtual int heightOffset(); + virtual int normalizedIndex(int width_offset, int height_offset, + int step, + int elem_size, + int original_x, int original_y); + virtual cv::Mat toImage(); + virtual bool check4Neighbor(int x, int y); + virtual ConvexPolygon::Ptr toConvexPolygon(); + virtual pcl::PointCloud::Ptr toPointCloud(); + virtual void decrease(int i); + virtual void add(GridMap& other); + protected: + virtual void decreaseOne(); + + double resolution_; + Eigen::Vector3f O_; + + // plane parameter + Eigen::Vector3f normal_; + double d_; + + Eigen::Vector3f ex_, ey_; + + std::vector lines_; + Columns data_; + unsigned int vote_; + unsigned int generation_; + private: + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl/color_histogram.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl/color_histogram.h new file mode 100755 index 0000000..956558b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl/color_histogram.h @@ -0,0 +1,253 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +/* + * color_histogram.h + * Author: Yuki Furuta + */ + +#ifndef JSK_RECOGNITION_UTILS_COLOR_HISTOGRAM_H__ +#define JSK_RECOGNITION_UTILS_COLOR_HISTOGRAM_H__ + +#include +#include +#include +#include +#include + +namespace jsk_recognition_utils { + enum HistogramPolicy { + HUE = 0, + HUE_AND_SATURATION + }; + + enum ComparePolicy { + CORRELATION = 0, + BHATTACHARYYA, + INTERSECTION, + CHISQUARE, + KL_DIVERGENCE + }; + + struct PointXYZHLS { + double x, y, z; + double h, l, s; + }; + + inline void + HSV2HLS(const pcl::PointXYZHSV& hsv, PointXYZHLS& hls) { + hls.x = hsv.x; hls.y = hsv.y; hls.z = hsv.z; + hls.h = hsv.h; + hls.l = (2.0 - hsv.s) * hsv.v; + hls.s = hsv.s * hsv.v; + hls.s /= (hls.l <= 1.0) ? hls.l : 2.0 - hls.l; + hls.l /= 2.0; + } + + inline int + getHistogramBin(const double& val, const int& step, + const double& min, const double& max) + { + int idx = std::floor((val - min) / (max - min) * step); + if (idx >= step) return step - 1; + else if (idx <= 0) return 0; + else return idx; + } + + inline void + normalizeHistogram(std::vector& histogram) + { + float sum = 0.0f; + for (size_t i = 0; i < histogram.size(); ++i) + sum += histogram[i]; + if (sum != 0.0) { + for (size_t i = 0; i < histogram.size(); ++i) + histogram[i] /= sum; + } + } + + inline void + computeColorHistogram1d(const pcl::PointCloud& cloud, + std::vector& histogram, + const int bin_size, + const double white_threshold=0.1, + const double black_threshold=0.1) + { + histogram.resize(bin_size + 2, 0.0f); // h + w + b + int white_index = bin_size; + int black_index = bin_size + 1; + + for (size_t i = 0; i < cloud.points.size(); ++i) { + PointXYZHLS p; + HSV2HLS(cloud.points[i], p); + if (p.l > 1.0 - white_threshold) + histogram[white_index] += 1.0f; + else if (p.l < black_threshold) + histogram[black_index] += 1.0f; + else { + int h_bin = getHistogramBin(p.h, bin_size, 0.0, 360.0); + histogram[h_bin] += 1.0f; + } + } + + normalizeHistogram(histogram); + } + + inline void + computeColorHistogram2d(const pcl::PointCloud& cloud, + std::vector& histogram, + const int bin_size_per_channel, + const double white_threshold=0.1, + const double black_threshold=0.1) + { + histogram.resize(bin_size_per_channel * bin_size_per_channel + 2, 0.0f); // h * s + w + b + int white_index = bin_size_per_channel * bin_size_per_channel; + int black_index = bin_size_per_channel * bin_size_per_channel + 1; + + // vote + for (size_t i = 0; i < cloud.points.size(); ++i) { + PointXYZHLS p; + HSV2HLS(cloud.points[i], p); + if (p.l < white_threshold) + histogram[white_index] += 1.0f; + else if (p.l > 1.0 - black_threshold) + histogram[black_index] += 1.0f; + else { + int h_bin = getHistogramBin(p.h, bin_size_per_channel, 0.0, 360.0); + int s_bin = getHistogramBin(p.s, bin_size_per_channel, 0.0, 1.0); + histogram[s_bin * bin_size_per_channel + h_bin] += 1.0f; + } + } + + normalizeHistogram(histogram); + } + + inline void + rotateHistogram1d(const std::vector& input, + std::vector& output, + const double degree) + { + size_t bin_size = input.size() - 2; + int offset = std::floor(degree / 360.0 * bin_size); + output.resize(input.size()); + for (size_t h = 0; h < bin_size; ++h) { + int hout = h + offset % bin_size; + output[hout] = input[h]; + } + + // copy white + black + int index = bin_size; + output[index] = input[index]; + output[index+1] = input[index+1]; + } + + inline void + rotateHistogram2d(const std::vector& input, + std::vector& output, + const double degree) + { + size_t bin_size = (size_t)(std::sqrt(input.size() - 2)); + int offset = std::floor(degree / 360.0 * bin_size); + output.resize(input.size()); + for (size_t s = 0; s < bin_size; ++s) { + for (size_t h = 0; h < bin_size; ++h) { + int hout = h + offset % bin_size; + output[s * bin_size + hout] = input[s * bin_size + h]; + } + } + + // copy white + black + int index = bin_size * bin_size; + output[index] = input[index]; + output[index+1] = input[index+1]; + } + + inline bool + compareHistogram(const std::vector& input, + const std::vector& reference, + const ComparePolicy policy, + double& distance) + { + if (input.size() != reference.size()) { + ROS_ERROR("Mismatch histogram bin size"); + return false; + } + + distance = 0.0; + size_t len = input.size(); + if (policy == CHISQUARE) { + for (size_t i = 0; i < len; ++i) { + double a = input[i] - reference[i], b = input[i]; + if (std::fabs(b) > DBL_EPSILON) distance += a * a / b; + } + } else if (policy == CORRELATION) { + double s1 = 0.0, s2 = 0.0, s11 = 0.0, s12 = 0.0, s22 = 0.0; + for (size_t i = 0; i < len; ++i) { + double a = input[i], b = reference[i]; + s11 += a*a; s12 += a*b; s22 += b*b; + s1 += a; s2 += b; + } + double num = s12 - s1*s2/len; + double denom2 = (s11 - s1 * s1 / len) * (s22 - s2 * s2 / len); + distance = std::fabs(denom2) > DBL_EPSILON ? num / std::sqrt(denom2) : 1.0; + } else if (policy == INTERSECTION) { + for (size_t i = 0; i < len; ++i) { + distance += std::min(input[i], reference[i]); + } + } else if (policy == BHATTACHARYYA) { + double s1 = 0.0, s2 = 0.0; + for (size_t i = 0; i < len; ++i) { + distance += std::sqrt(input[i] * reference[i]); + s1 += input[i]; s2 += reference[i]; + } + s1 *= s2; + s1 = std::fabs(s1) > DBL_EPSILON ? 1.0 / std::sqrt(s1) : 1.0; + distance = std::sqrt(std::max(1.0 - distance * s1, 0.0)); + } else if (policy == KL_DIVERGENCE) { + for (size_t i = 0; i < len; ++i) { + double p = input[i], q = reference[i]; + if (std::fabs(p) <= DBL_EPSILON) continue; + if (std::fabs(q) <= DBL_EPSILON) q = 1e-10; + distance += p * std::log(p / q); + } + } else { + ROS_ERROR("Invalid compare policy"); + return false; + } + + return true; + } +} // namespace + +#endif // JSK_RECOGNITION_UTILS_COLOR_HISTOGRAM_H__ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl/ear_clipping_patched.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl/ear_clipping_patched.h new file mode 100755 index 0000000..951102f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl/ear_clipping_patched.h @@ -0,0 +1,139 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_PCL_ROS_EAR_CLIPPING_PATCHED_H_ +#define JSK_PCL_ROS_EAR_CLIPPING_PATCHED_H_ + +#include +#include + +namespace pcl +{ + + /** \brief The ear clipping triangulation algorithm. + * The code is inspired by Flavien Brebion implementation, which is + * in n^3 and does not handle holes. + * \author Nicolas Burrus + * \ingroup surface + */ + class PCL_EXPORTS EarClippingPatched : public MeshProcessing + { + public: + typedef boost::shared_ptr Ptr; + typedef boost::shared_ptr ConstPtr; + + using MeshProcessing::input_mesh_; + using MeshProcessing::initCompute; + /** \brief Empty constructor */ + EarClippingPatched () : MeshProcessing (), points_ () + { + }; + + protected: + /** \brief a Pointer to the point cloud data. */ + pcl::PointCloud::Ptr points_; + + /** \brief This method should get called before starting the actual computation. */ + bool + initCompute (); + + /** \brief The actual surface reconstruction method. + * \param[out] output the output polygonal mesh + */ + void + performProcessing (pcl::PolygonMesh &output); + + /** \brief Triangulate one polygon. + * \param[in] vertices the set of vertices + * \param[out] output the resultant polygonal mesh + */ + void + triangulate (const Vertices& vertices, PolygonMesh& output); + + /** \brief Triangulate one polygon, assume the vertices are clockwise. + * \param[in] vertices the set of vertices + * \param[out] output the resultant polygonal mesh + */ + size_t + triangulateClockwiseVertices (std::vector& vertices, PolygonMesh& output); + + /** \brief Check if the triangle (u,v,w) is an ear. + * \param[in] u the first triangle vertex + * \param[in] v the second triangle vertex + * \param[in] w the third triangle vertex + * \param[in] vertices a set of input vertices + */ + bool + isEar (int u, int v, int w, const std::vector& vertices); + + /** \brief Check if p is inside the triangle (u,v,w). + * \param[in] u the first triangle vertex + * \param[in] v the second triangle vertex + * \param[in] w the third triangle vertex + * \param[in] p the point to check + */ + bool + isInsideTriangle (const Eigen::Vector3f& u, + const Eigen::Vector3f& v, + const Eigen::Vector3f& w, + const Eigen::Vector3f& p); + + /** \brief Compute the cross product between 2D vectors. + * \param[in] p1 the first 2D vector + * \param[in] p2 the first 2D vector + */ + float + crossProduct (const Eigen::Vector2f& p1, const Eigen::Vector2f& p2) const + { + return p1[0]*p2[1] - p1[1]*p2[0]; + } + + /** \brief Check if two line segments intersect by themselves. + * \param[in] p0 an end of the first line segment + * \param[in] p1 the other end of the first line segment + * \param[in] p2 an end of the second line segment + * \param[in] p3 the other end of the second line segment + */ + bool + intersect (const Eigen::Vector3f& p0, + const Eigen::Vector3f& p1, + const Eigen::Vector3f& p2, + const Eigen::Vector3f& p3); + }; + +} + + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_conversion_util.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_conversion_util.h new file mode 100755 index 0000000..af59854 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_conversion_util.h @@ -0,0 +1,247 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_PCL_CONVERSION_UTIL_H_ +#define JSK_RECOGNITION_UTILS_PCL_CONVERSION_UTIL_H_ +#include +#include +#include +#include +#include +#include +#include +#include +#if ROS_VERSION_MINIMUM(1, 10, 0) +// hydro and later +typedef pcl_msgs::PointIndices PCLIndicesMsg; +typedef pcl_msgs::ModelCoefficients PCLModelCoefficientMsg; +#else +// groovy +typedef pcl::PointIndices PCLIndicesMsg; +typedef pcl::ModelCoefficients PCLModelCoefficientMsg; +#endif + +#include + +namespace jsk_recognition_utils +{ + + /** @brief + * Convert pcl::RangeImage to cv::Mat. Distance is normalized + * to 0-1 and colorized. + * + * @param range_image instance of pcl::RangeImage + * @param mat instance of cv::Mat, converted cv::Mat is set into + * this argument. + */ + void rangeImageToCvMat(const pcl::RangeImage& range_image, + cv::Mat& mat); + + template + void pointFromXYZToVector(const FromT& msg, + ToT& p) + { + p[0] = msg.x; p[1] = msg.y; p[2] = msg.z; + } + + template + void pointFromVectorToXYZ(const FromT& p, + ToT& msg) + { + msg.x = p[0]; msg.y = p[1]; msg.z = p[2]; + } + + template + void pointFromXYZToXYZ(const FromT& from, + ToT& to) + { + to.x = from.x; to.y = from.y; to.z = from.z; + } + + template + void pointFromVectorToVector(const FromT& from, + ToT& to) + { + to[0] = from[0]; to[1] = from[1]; to[2] = from[2]; + } + + template + void convertMatrix4(const FromT& from, + ToT& to) + { + for (size_t i = 0; i < 4; i++) { + for (size_t j = 0; j < 4; j++) { + to(i, j) = from(i, j); + } + } + } + + void convertEigenAffine3(const Eigen::Affine3d& from, + Eigen::Affine3f& to); + void convertEigenAffine3(const Eigen::Affine3f& from, + Eigen::Affine3d& to); + + template + void markerMsgToPointCloud(const visualization_msgs::Marker& input_marker, + int sample_nums, + pcl::PointCloud& output_cloud) + { + std::vector cumulative_areas; + double total_area = 0; + + if (input_marker.points.size() != input_marker.colors.size()){ + ROS_ERROR("Color and Points nums is different in markerMsgToPointCloud"); + return; + } + + //Gether the triangle areas + for (int i = 0; i < (int)input_marker.points.size()/3; i++){ + geometry_msgs::Point p0_1; + p0_1.x = input_marker.points[i*3].x - input_marker.points[i*3+2].x; + p0_1.y = input_marker.points[i*3].y - input_marker.points[i*3+2].y; + p0_1.z = input_marker.points[i*3].z - input_marker.points[i*3+2].z; + geometry_msgs::Point p1_2; + p1_2.x = input_marker.points[i*3+1].x - input_marker.points[i*3+2].x; + p1_2.y = input_marker.points[i*3+1].y - input_marker.points[i*3+2].y; + p1_2.z = input_marker.points[i*3+1].z - input_marker.points[i*3+2].z; + geometry_msgs::Point outer_product; + outer_product.x = p0_1.y * p1_2.z - p0_1.z * p1_2.y; + outer_product.y = p0_1.z * p1_2.x - p0_1.x * p1_2.z; + outer_product.z = p0_1.x * p1_2.y - p0_1.y * p1_2.x; + double tmp_triangle_area = abs(sqrt( pow(outer_product.x*1000, 2) + pow(outer_product.y*1000, 2) + pow(outer_product.z*1000, 2)))/2; + total_area += tmp_triangle_area; + cumulative_areas.push_back(total_area); + } + + //Gether Random sampling points in propotion to area size + for(int i = 0; i < sample_nums; i++){ + double r = rand() * (1.0 / (RAND_MAX + 1.0)) * total_area; + std::vector::iterator low = std::lower_bound (cumulative_areas.begin (), cumulative_areas.end (), r); + int index = int(low - cumulative_areas.begin ()); + + //Get Target Triangle + PointT p; + std_msgs::ColorRGBA color; + geometry_msgs::Point p0 = input_marker.points[index*3]; + geometry_msgs::Point p1 = input_marker.points[index*3+1]; + geometry_msgs::Point p2 = input_marker.points[index*3+2]; + std_msgs::ColorRGBA c0= input_marker.colors[index*3]; + std_msgs::ColorRGBA c1 = input_marker.colors[index*3+1]; + std_msgs::ColorRGBA c2 = input_marker.colors[index*3+2]; + r = rand() * (1.0 / (RAND_MAX + 1.0)); + + geometry_msgs::Point point_on_p1_p2; + point_on_p1_p2.x = p1.x*r + p2.x*(1.0 - r); + point_on_p1_p2.y = p1.y*r + p2.y*(1.0 - r); + point_on_p1_p2.z = p1.z*r + p2.z*(1.0 - r); + + color.r = c1.r*r + c2.r*(1.0 - r); + color.g = c1.g*r + c2.g*(1.0 - r); + color.b = c1.b*r + c2.b*(1.0 - r); + + r = sqrt(rand() * (1.0 / (RAND_MAX + 1.0))); + geometry_msgs::Point target; + target.x = point_on_p1_p2.x*r + p0.x*(1.0 - r); + target.y = point_on_p1_p2.y*r + p0.y*(1.0 - r); + target.z = point_on_p1_p2.z*r + p0.z*(1.0 - r); + color.r = color.r*r + c0.r*(1.0 - r); + color.g = color.g*r + c0.g*(1.0 - r); + color.b = color.b*r + c0.b*(1.0 - r); + p.x = target.x; + p.y = target.y; + p.z = target.z; + p.r = color.r * 256; + p.g = color.g * 256; + p.b = color.b * 256; + + output_cloud.points.push_back(p); + } + output_cloud.width = sample_nums; + output_cloud.height = 1; + } + + inline bool isValidPoint(const pcl::PointXYZ& p) + { + return !std::isnan(p.x) && !std::isnan(p.y) && !std::isnan(p.z); + } + + template + inline bool isValidPoint(const PointT& p) + { + return !std::isnan(p.x) && !std::isnan(p.y) && !std::isnan(p.z); + } + +} +// extend pcl_conversions package's toPCL and fromPCL functions +namespace pcl_conversions +{ + std::vector + convertToPCLPointIndices(const std::vector& cluster_indices); + + std::vector + convertToPCLModelCoefficients( + const std::vector& coefficients); + + std::vector + convertToROSPointIndices( + const std::vector cluster_indices, + const std_msgs::Header& header); + + std::vector + convertToROSPointIndices( + const std::vector cluster_indices, + const std_msgs::Header& header); + + std::vector + convertToROSModelCoefficients( + const std::vector& coefficients, + const std_msgs::Header& header); + +} + +namespace tf +{ + // for eigen float + void poseMsgToEigen(const geometry_msgs::Pose& msg, Eigen::Affine3f& eigen); + void poseEigenToMsg(Eigen::Affine3f& eigen, geometry_msgs::Pose& msg); + void transformMsgToEigen(const geometry_msgs::Transform& msg, Eigen::Affine3f& eigen); + void transformEigenToMsg(Eigen::Affine3f& eigen, geometry_msgs::Transform& msg); + void transformTFToEigen(const tf::Transform& t, Eigen::Affine3f& eigen); + void transformEigenToTF(Eigen::Affine3f& eigen , tf::Transform& t); + void vectorTFToEigen(const tf::Vector3& t, Eigen::Vector3f& e); + void vectorEigenToTF(const Eigen::Vector3f& e, tf::Vector3& t); +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_ros_util.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_ros_util.h new file mode 100755 index 0000000..b6d7e7a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_ros_util.h @@ -0,0 +1,139 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +/** + * This file defines several utilities for pcl <--> ros bridging. + */ + +#ifndef JSK_RECOGNITION_UTILS_PCL_ROS_UTIL_H_ +#define JSK_RECOGNITION_UTILS_PCL_ROS_UTIL_H_ + +#include + +#include +#include + +#include +#include +#include +#include + +#include "jsk_recognition_utils/pcl_conversion_util.h" + +namespace jsk_recognition_utils +{ + /** + * @brief + * Convert pcl::PointIndices to pcl_msgs::PointIndices + * and publish it with overriding header. + */ + void publishPointIndices(ros::Publisher& pub, + const pcl::PointIndices& indices, + const std_msgs::Header& header); + + /** + * @brief + * Return true if a and b are the same frame_id + */ + bool isSameFrameId(const std::string& a, const std::string& b); + + /** + * @brief + * Return true if a and b have the same frame_id + */ + bool isSameFrameId(const std_msgs::Header& a, const std_msgs::Header& b); + + /** + * @brief + * Return true if a and b have the same frame_id + */ + template + bool isSameFrameId(const T1& a, const T2& b) + { + return isSameFrameId(a.header, b.header); + } + + /** + * @brief + * check if sensor_msgs/PointCloud2 message has the specified field. + */ + bool hasField(const std::string& field_name, const sensor_msgs::PointCloud2& msg); + + /** + * @brief + * Crop point cloud with jsk_recognition_msgs/BoundingBox. + */ + template + void + cropPointCloud(const typename pcl::PointCloud::Ptr& cloud, + const jsk_recognition_msgs::BoundingBox& bbox_msg, + std::vector* indices, + bool extract_removed_indices=false) + { + if (cloud->header.frame_id != bbox_msg.header.frame_id) + { + fprintf(stderr, "Frame id of input cloud and bounding box must be same. Cloud: %s, BoundingBox: %s.", + cloud->header.frame_id.c_str(), bbox_msg.header.frame_id.c_str()); + return; + } + pcl::CropBox crop_box(/*extract_removed_indices=*/extract_removed_indices); + + crop_box.setInputCloud(cloud); + + Eigen::Affine3f box_pose; + tf::poseMsgToEigen(bbox_msg.pose, box_pose); + crop_box.setTranslation(box_pose.translation()); + float roll, pitch, yaw; + pcl::getEulerAngles(box_pose, roll, pitch, yaw); + crop_box.setRotation(Eigen::Vector3f(roll, pitch, yaw)); + + Eigen::Vector4f max_point(bbox_msg.dimensions.x / 2, + bbox_msg.dimensions.y / 2, + bbox_msg.dimensions.z / 2, + 0); + Eigen::Vector4f min_point(-bbox_msg.dimensions.x / 2, + -bbox_msg.dimensions.y / 2, + -bbox_msg.dimensions.z / 2, + 0); + crop_box.setMax(max_point); + crop_box.setMin(min_point); + + crop_box.filter(*indices); + } + +} // namespace jsk_recognition_utils + +#endif // JSK_RECOGNITION_UTILS_PCL_ROS_UTIL_H_ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_util.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_util.h new file mode 100755 index 0000000..502fb43 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/pcl_util.h @@ -0,0 +1,227 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_PCL_UTIL_H_ +#define JSK_RECOGNITION_UTILS_PCL_UTIL_H_ +#include + +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include +#include + +namespace jsk_recognition_utils +{ + Eigen::Affine3f affineFromYAMLNode(const YAML::Node& pose); + + std::vector addIndices(const std::vector& a, + const std::vector& b); + pcl::PointIndices::Ptr addIndices(const pcl::PointIndices& a, + const pcl::PointIndices& b); + // substract indices like: a - b + std::vector subIndices(const std::vector& a, + const std::vector& b); + pcl::PointIndices::Ptr subIndices(const pcl::PointIndices& a, + const pcl::PointIndices& b); + + template + std::vector ::Ptr> + convertToPointCloudArray(const typename pcl::PointCloud::Ptr& cloud, + const std::vector& indices) + { + pcl::ExtractIndices extract; + extract.setInputCloud(cloud); + std::vector ::Ptr> cloud_array; + for (size_t i = 0; i < indices.size(); i++) { + typename pcl::PointCloud ::Ptr + segment (new pcl::PointCloud); + extract.setIndices(indices[i]); + extract.filter(*segment); + cloud_array.push_back(segment); + } + return cloud_array; + } + + + template + pcl::PointCloud::Ptr convertToXYZCloud(const pcl::PointCloud& cloud) + { + pcl::PointCloud::Ptr output(new pcl::PointCloud); + output->points.resize(cloud.points.size()); + for (size_t i = 0; i < cloud.points.size(); i++) { + pcl::PointXYZ p; + p.x = cloud.points[i].x; + p.y = cloud.points[i].y; + p.z = cloud.points[i].z; + output->points[i] = p; + } + return output; + } + + template + void appendVector(std::vector& a, const std::vector& b) + { + for (size_t i = 0; i < b.size(); i++) { + a.push_back(b[i]); + } + } + + // select color out of 20 colors + std_msgs::ColorRGBA colorCategory20(int i); + + class Counter + { + public: + typedef boost::accumulators::accumulator_set< + double, + boost::accumulators::stats > Accumulator; + virtual void add(double v); + virtual double mean(); + virtual double min(); + virtual double max(); + virtual int count(); + virtual double variance(); + protected: + Accumulator acc_; + }; + + //////////////////////////////////////////////////////// + // Graph utility function + //////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////// + // buildGroupFromGraphMap (recursive function) + // This function retrieves a directional graph, and build + // a set of the indices where can be arrived from a specified + // vertex. + // + // graph_map := A map representeing edges of the graph. + // The graph is bidirectional graph. + // the key means "from vertex" and the value + // means the "to indices" from the key vertex. + // from_index := The index to pay attension + // to_indices := The "to indices" from from_index + // output_set := result + //////////////////////////////////////////////////////// + typedef std::map > IntegerGraphMap; + + void buildGroupFromGraphMap(IntegerGraphMap graph_map, + const int from_index, + std::vector& to_indices, + std::set& output_set); + void _buildGroupFromGraphMap(IntegerGraphMap graph_map, + const int from_index, + std::vector& to_indices, + std::set& output_set); + + //////////////////////////////////////////////////////// + // buildAllGraphSetFromGraphMap + // get all the list of set represented in graph_map + //////////////////////////////////////////////////////// + void buildAllGroupsSetFromGraphMap(IntegerGraphMap graph_map, + std::vector >& output_sets); + + //////////////////////////////////////////////////////// + // addSet(A, B) + // add two set like A = A + B + //////////////////////////////////////////////////////// + template + void addSet(std::set& output, + const std::set& new_set) + { + typedef typename std::set Set; + typedef typename Set::iterator Iterator; + for (Iterator it = new_set.begin(); + it != new_set.end(); + ++it) { + output.insert(*it); + } + } + + //////////////////////////////////////////////////////// + // SeriesedBoolean + // store boolean value to limited buffer + // and return true if all the values are true. + //////////////////////////////////////////////////////// + class SeriesedBoolean + { + public: + typedef boost::shared_ptr Ptr; + SeriesedBoolean(const int buf_len); + virtual ~SeriesedBoolean(); + virtual void addValue(bool val); + virtual bool getValue(); + virtual bool isAllTrueFilled(); + virtual void clear(); + protected: + private: + boost::circular_buffer buf_; + const int buf_len_; + }; + + //////////////////////////////////////////////////////// + // TimeredDiagnosticUpdater + // useful wrapper of DiagnosticUpdater. + //////////////////////////////////////////////////////// + typedef jsk_topic_tools::TimeredDiagnosticUpdater TimeredDiagnosticUpdater; + + extern boost::mutex global_chull_mutex; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/random_util.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/random_util.h new file mode 100755 index 0000000..6aaed08 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/random_util.h @@ -0,0 +1,57 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RECOGNITION_UTILS_RANDOM_UTIL_H_ +#define JSK_RECOGNITION_UTILS_RANDOM_UTIL_H_ +#include + +namespace jsk_recognition_utils +{ + /** + * @brief + * Return a random value according to gaussian distribution. + * If variance is zero, it just returns mean. + */ + double randomGaussian(double mean, double var, boost::mt19937& gen); + + /** + * @brief + * Return a random value according to uniform distribution. + */ + double randomUniform(double min, double max, boost::mt19937& gen); +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/rgb_colors.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/rgb_colors.h new file mode 100755 index 0000000..f8878f8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/rgb_colors.h @@ -0,0 +1,207 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_RGB_COLORS_H_ +#define JSK_RECOGNITION_UTILS_RGB_COLORS_H_ + +#include "jsk_recognition_utils/rgb_colors.h" +#include + + +namespace jsk_recognition_utils +{ + + /** + * @brief + * 146 rgb colors + */ + enum Colors { + ALICEBLUE, + ANTIQUEWHITE, + AQUA, + AQUAMARINE, + AZURE, + BEIGE, + BISQUE, + BLACK, + BLANCHEDALMOND, + BLUE, + BLUEVIOLET, + BROWN, + BURLYWOOD, + CADETBLUE, + CHARTREUSE, + CHOCOLATE, + CORAL, + CORNFLOWERBLUE, + CORNSILK, + CRIMSON, + CYAN, + DARKBLUE, + DARKCYAN, + DARKGOLDENROD, + DARKGRAY, + DARKGREEN, + DARKGREY, + DARKKHAKI, + DARKMAGENTA, + DARKOLIVEGREEN, + DARKORANGE, + DARKORCHID, + DARKRED, + DARKSALMON, + DARKSEAGREEN, + DARKSLATEBLUE, + DARKSLATEGRAY, + DARKSLATEGREY, + DARKTURQUOISE, + DARKVIOLET, + DEEPPINK, + DEEPSKYBLUE, + DIMGRAY, + DIMGREY, + DODGERBLUE, + FIREBRICK, + FLORALWHITE, + FORESTGREEN, + FUCHSIA, + GAINSBORO, + GHOSTWHITE, + GOLD, + GOLDENROD, + GRAY, + GREEN, + GREENYELLOW, + GREY, + HONEYDEW, + HOTPINK, + INDIANRED, + INDIGO, + IVORY, + KHAKI, + LAVENDER, + LAVENDERBLUSH, + LAWNGREEN, + LEMONCHIFFON, + LIGHTBLUE, + LIGHTCORAL, + LIGHTCYAN, + LIGHTGOLDENRODYELLOW, + LIGHTGRAY, + LIGHTGREEN, + LIGHTGREY, + LIGHTPINK, + LIGHTSALMON, + LIGHTSEAGREEN, + LIGHTSKYBLUE, + LIGHTSLATEGRAY, + LIGHTSLATEGREY, + LIGHTSTEELBLUE, + LIGHTYELLOW, + LIME, + LIMEGREEN, + LINEN, + MAGENTA, + MAROON, + MEDIUMAQUAMARINE, + MEDIUMBLUE, + MEDIUMORCHID, + MEDIUMPURPLE, + MEDIUMSEAGREEN, + MEDIUMSLATEBLUE, + MEDIUMSPRINGGREEN, + MEDIUMTURQUOISE, + MEDIUMVIOLETRED, + MIDNIGHTBLUE, + MINTCREAM, + MISTYROSE, + MOCCASIN, + NAVAJOWHITE, + NAVY, + OLDLACE, + OLIVE, + OLIVEDRAB, + ORANGE, + ORANGERED, + ORCHID, + PALEGOLDENROD, + PALEGREEN, + PALEVIOLETRED, + PAPAYAWHIP, + PEACHPUFF, + PERU, + PINK, + PLUM, + POWDERBLUE, + PURPLE, + RED, + ROSYBROWN, + ROYALBLUE, + SADDLEBROWN, + SALMON, + SANDYBROWN, + SEAGREEN, + SEASHELL, + SIENNA, + SILVER, + SKYBLUE, + SLATEBLUE, + SLATEGRAY, + SLATEGREY, + SNOW, + SPRINGGREEN, + STEELBLUE, + TAN, + TEAL, + THISTLE, + TOMATO, + TURQUOISE, + VIOLET, + WHEAT, + WHITE, + WHITESMOKE, + YELLOW, + YELLOWGREEN, + }; + + /** + * @brief + * get rgb color with enum. + */ + cv::Vec3d getRGBColor(const int color); + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model/camera_depth_sensor.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model/camera_depth_sensor.h new file mode 100755 index 0000000..29d4076 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model/camera_depth_sensor.h @@ -0,0 +1,133 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_CAMERA_DEPTH_SENSOR_H_ +#define JSK_RECOGNITION_UTILS_CAMERA_DEPTH_SENSOR_H_ + +#include "jsk_recognition_utils/sensor_model/pointcloud_sensor_model.h" +#include +#include + +namespace jsk_recognition_utils +{ + class CameraDepthSensor: public PointCloudSensorModel + { + public: + typedef boost::shared_ptr Ptr; + CameraDepthSensor() {} + + virtual void setCameraInfo(const sensor_msgs::CameraInfo& info) + { + camera_info_ = info; + model_.fromCameraInfo(info); + } + + /** + * @brief + * get instance of image_geometry::PinholeCameraModel. + */ + virtual image_geometry::PinholeCameraModel getPinholeCameraModel() const + { + return model_; + } + + /** + * @brief + * return true if point p is inside of field-of-view. + */ + virtual bool isInside(const cv::Point& p) const + { + return (p.x >= 0 && p.x < camera_info_.width && + p.y >= 0 && p.y < camera_info_.height); + } + + /** + * @brief + * Return the expected number of points according to distance and area. + * it is calculated according to: + * f^2\frac{s}{r^2} + **/ + virtual double expectedPointCloudNum(double distance, double area) const + { + double f = model_.fx(); + return f*f / (distance*distance) * area; + } + + /** + * @brief + * return an image from internal camera parameter. + */ + virtual cv::Mat image(const int type) const + { + return cv::Mat::zeros(camera_info_.height, camera_info_.width, type); + } + + /** + * @brief + * width of camera in pixels. + */ + virtual int width() const + { + return camera_info_.width; + } + + /** + * @brief + * height of camera in pixels. + */ + virtual int height() const + { + return camera_info_.height; + } + + /** + * @brief + * force point to be inside of field of view. + */ + virtual cv::Point limit2DPoint(const cv::Point& p) const + { + return cv::Point(std::min(std::max(p.x, 0), width()), + std::min(std::max(p.y, 0), height())); + } + + protected: + image_geometry::PinholeCameraModel model_; + sensor_msgs::CameraInfo camera_info_; + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model/pointcloud_sensor_model.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model/pointcloud_sensor_model.h new file mode 100755 index 0000000..c821739 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model/pointcloud_sensor_model.h @@ -0,0 +1,62 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_POINTCLOUD_SENSOR_MODEL_H_ +#define JSK_RECOGNITION_UTILS_POINTCLOUD_SENSOR_MODEL_H_ + +namespace jsk_recognition_utils +{ + /** + * @brief + * Super class for sensor model. + * It provides pure virtual method for common interfaces. + */ + class PointCloudSensorModel + { + public: + typedef boost::shared_ptr Ptr; + + /** + * @brief + * Return the expected number of points according to distance and area. + */ + virtual double expectedPointCloudNum(double distance, double area) const = 0; + protected: + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model/spindle_laser_sensor.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model/spindle_laser_sensor.h new file mode 100755 index 0000000..3b6f970 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model/spindle_laser_sensor.h @@ -0,0 +1,85 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_SPINDLE_LASER_SENSOR_H_ +#define JSK_RECOGNITION_UTILS_SPINDLE_LASER_SENSOR_H_ + +#include "jsk_recognition_utils/sensor_model/pointcloud_sensor_model.h" + +namespace jsk_recognition_utils +{ + class SpindleLaserSensor: public PointCloudSensorModel + { + public: + typedef boost::shared_ptr Ptr; + + SpindleLaserSensor(const double min_angle, const double max_angle, + const double laser_freq, + const size_t point_sample): + min_angle_(min_angle), max_angle_(max_angle), + laser_freq_(laser_freq), + point_sample_(point_sample) { } + + virtual void setSpindleVelocity(const double velocity) + { + spindle_velocity_ = spindle_velocity; + } + + /** + * @brief + * Return the expected number of points according to distance and area. + * it is calculated according to: + * \frac{N}{2 \pi \Delta \phi}\frac{1}{r^2}s + * \Delta \phi = \frac{2 \pi}{\omega} + */ + virtual double expectedPointCloudNum(double distance, double area) const + { + assert(spindle_velocity_ != 0.0); + double dphi = 2.0 * M_PI / spindle_velocity_; + return point_sample_ * laser_freq_ / (2.0 * dphi) / (distance * distance) * area; + } + + protected: + + double spindle_velocity_; + double min_angle_; + double max_angle_; + size_t point_sample_; + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model_utils.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model_utils.h new file mode 100755 index 0000000..720e35a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/sensor_model_utils.h @@ -0,0 +1,69 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_SENSOR_MODEL_UTILS_H_ +#define JSK_RECOGNITION_UTILS_SENSOR_MODEL_UTILS_H_ + +#include +#include "jsk_recognition_utils/geo_util.h" + +namespace jsk_recognition_utils +{ + + /** + * @brief + * Project 3d point represented in Eigen::Vector3f to 2d point + * using model. + */ + inline cv::Point + project3DPointToPixel(const image_geometry::PinholeCameraModel& model, + const Eigen::Vector3f& p) + { + return model.project3dToPixel(cv::Point3d(p[0], p[1], p[2])); + } + + /** + * @brief + * Project array of 3d point represented in Eigen::Vector3f to 2d point + * using model. + */ + std::vector + project3DPointstoPixel(const image_geometry::PinholeCameraModel& model, + const Vertices& vertices); + +} + + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/tf_listener_singleton.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/tf_listener_singleton.h new file mode 100755 index 0000000..30248be --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/tf_listener_singleton.h @@ -0,0 +1,66 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RECOGNITION_UTILS_TF_LISTENER_SINGLETON_H_ +#define JSK_RECOGNITION_UTILS_TF_LISTENER_SINGLETON_H_ + +#include + +namespace jsk_recognition_utils +{ + class TfListenerSingleton + { + public: + static tf::TransformListener* getInstance(); + static void destroy(); + protected: + static tf::TransformListener* instance_; + static boost::mutex mutex_; + private: + TfListenerSingleton(TfListenerSingleton const&){}; + TfListenerSingleton& operator=(TfListenerSingleton const&){}; + }; + + // tf Utility + tf::StampedTransform lookupTransformWithDuration( + tf::TransformListener* listener, + const std::string& to_frame, + const std::string& from_frame, + const ros::Time& stamp, + ros::Duration duration); +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/time_util.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/time_util.h new file mode 100755 index 0000000..32980a9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/time_util.h @@ -0,0 +1,85 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include +#include + +namespace jsk_recognition_utils +{ + class WallDurationTimer; + + class ScopedWallDurationReporter + { + public: + typedef boost::shared_ptr Ptr; + ScopedWallDurationReporter(WallDurationTimer* parent); + ScopedWallDurationReporter(WallDurationTimer* parent, + ros::Publisher& pub_latest, + ros::Publisher& pub_average); + virtual ~ScopedWallDurationReporter(); + virtual void setIsPublish(bool); + virtual void setIsEnabled(bool); + protected: + WallDurationTimer* parent_; + ros::WallTime start_time_; + ros::Publisher pub_latest_, pub_average_; + bool is_publish_; + bool is_enabled_; + private: + + }; + + class WallDurationTimer + { + public: + typedef boost::shared_ptr Ptr; + WallDurationTimer(const int max_num); + virtual void report(ros::WallDuration& duration); + virtual ScopedWallDurationReporter reporter(); + virtual ScopedWallDurationReporter reporter( + ros::Publisher& pub_latest, + ros::Publisher& pub_average); + virtual void clearBuffer(); + virtual double meanSec(); + virtual double latestSec(); + virtual size_t sampleNum(); + protected: + const int max_num_; + boost::circular_buffer buffer_; + private: + }; + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/types.h b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/types.h new file mode 100755 index 0000000..10d5b54 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/include/jsk_recognition_utils/types.h @@ -0,0 +1,53 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RECOGNITION_UTILS_TYPES_H_ +#define JSK_RECOGNITION_UTILS_TYPES_H_ + +#include +#include +#include + +namespace jsk_recognition_utils +{ + typedef Eigen::Vector3f Point; + typedef Eigen::Vector3f Vertex; + typedef std::vector > Vertices; + typedef boost::tuple PointPair; + typedef boost::tuple PointIndexPair; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/add_bounding_box_array.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/add_bounding_box_array.py new file mode 100755 index 0000000..8a0f92f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/add_bounding_box_array.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python + +from jsk_recognition_msgs.msg import BoundingBoxArray +from jsk_topic_tools import ConnectionBasedTransport +import message_filters +import rospy + + +class AddBoundingBoxArray(ConnectionBasedTransport): + def __init__(self): + super(AddBoundingBoxArray, self).__init__() + self._pub = self.advertise('~output', BoundingBoxArray, queue_size=1) + + def subscribe(self): + topics = rospy.get_param('~topics') + self.subs = [] + for tp in topics: + sub = message_filters.Subscriber(tp, BoundingBoxArray) + self.subs.append(sub) + use_async = rospy.get_param('~approximate_sync', False) + queue_size = rospy.get_param('~queue_size', 100) + if use_async: + slop = rospy.get_param('~slop', 0.1) + sync = message_filters.ApproximateTimeSynchronizer( + self.subs, queue_size, slop) + else: + sync = message_filters.TimeSynchronizer(self.subs, queue_size) + sync.registerCallback(self._decompose) + + def unsubscribe(self): + for sub in self.subs: + sub.unregister() + + def _decompose(self, *bboxes_msgs): + out_msg = BoundingBoxArray() + out_msg.header = bboxes_msgs[0].header + for bboxes_msg in bboxes_msgs: + out_msg.boxes.extend(bboxes_msg.boxes) + self._pub.publish(out_msg) + + +if __name__ == '__main__': + rospy.init_node('add_bounding_box_array') + app = AddBoundingBoxArray() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/add_cluster_indices.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/add_cluster_indices.py new file mode 100755 index 0000000..7331328 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/add_cluster_indices.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +from jsk_recognition_msgs.msg import ClusterPointIndices +from jsk_topic_tools import ConnectionBasedTransport +import message_filters +import rospy + + +class AddClusterIndices(ConnectionBasedTransport): + def __init__(self): + super(AddClusterIndices, self).__init__() + self._pub = self.advertise('~output', ClusterPointIndices, + queue_size=1) + + def subscribe(self): + topics = rospy.get_param('~topics') + self.subs = [] + for tp in topics: + sub = message_filters.Subscriber(tp, ClusterPointIndices) + self.subs.append(sub) + use_async = rospy.get_param('~approximate_sync', False) + queue_size = rospy.get_param('~queue_size', 100) + if use_async: + slop = rospy.get_param('~slop', 0.1) + sync = message_filters.ApproximateTimeSynchronizer( + self.subs, queue_size, slop) + else: + sync = message_filters.TimeSynchronizer(self.subs, queue_size) + sync.registerCallback(self._decompose) + + def unsubscribe(self): + for sub in self.subs: + sub.unregister() + + def _decompose(self, *cpi_msgs): + out_msg = ClusterPointIndices() + out_msg.header = cpi_msgs[0].header + for cpi_msg in cpi_msgs: + out_msg.cluster_indices.extend(cpi_msg.cluster_indices) + self._pub.publish(out_msg) + + +if __name__ == '__main__': + rospy.init_node('add_cluster_indices') + app = AddClusterIndices() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/bounding_box_array_publisher.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/bounding_box_array_publisher.py new file mode 100755 index 0000000..83f75b1 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/bounding_box_array_publisher.py @@ -0,0 +1,81 @@ +#!/usr/bin/env python + +import sys + +from geometry_msgs.msg import Point +from geometry_msgs.msg import Quaternion +from geometry_msgs.msg import Vector3 +from jsk_recognition_msgs.msg import BoundingBox +from jsk_recognition_msgs.msg import BoundingBoxArray +import rospy +from tf.transformations import quaternion_from_euler + + +class BoundingBoxArrayPublisher(object): + + def __init__(self): + self.seq = 0 + + self.frame_id = rospy.get_param('~frame_id') + if (rospy.has_param('~positions') or + rospy.has_param('~rotations') or + rospy.has_param('~dimensions')): + # Deprecated bounding box pose/dimension specification + rospy.logwarn("DEPRECATION WARNING: Rosparam '~positions', " + "'~rotations' and '~dimensions' are being " + "deprecated. Please use '~boxes' instead.") + positions = rospy.get_param('~positions') + rotations = rospy.get_param('~rotations') + dimensions = rospy.get_param('~dimensions') + if len(rotations) != len(positions): + rospy.logfatal('Number of ~rotations is expected as {}, but {}' + .format(len(positions), len(rotations))) + sys.exit(1) + if len(dimensions) != len(positions): + rospy.logfatal('Number of ~dimensions is expected as {}, but {}' + .format(len(positions), len(dimensions))) + sys.exit(1) + self.boxes = [] + for pos, rot, dim in zip(positions, rotations, dimensions): + self.boxes.append({ + 'position': pos, + 'rotation': rot, + 'dimension': dim, + }) + else: + self.boxes = rospy.get_param('~boxes') + self.pub = rospy.Publisher('~output', BoundingBoxArray, queue_size=1) + + rate = rospy.get_param('~rate', 1) + self.timer = rospy.Timer(rospy.Duration(1. / rate), self.publish) + + def publish(self, event): + bbox_array_msg = BoundingBoxArray() + bbox_array_msg.header.seq = self.seq + bbox_array_msg.header.frame_id = self.frame_id + bbox_array_msg.header.stamp = event.current_real + for box in self.boxes: + pos = box['position'] + rot = box.get('rotation', [0, 0, 0]) + qua = quaternion_from_euler(*rot) + dim = box['dimension'] + label = box.get('label', 0) + + bbox_msg = BoundingBox() + bbox_msg.header.seq = self.seq + bbox_msg.header.frame_id = self.frame_id + bbox_msg.header.stamp = event.current_real + bbox_msg.pose.position = Point(*pos) + bbox_msg.pose.orientation = Quaternion(*qua) + bbox_msg.dimensions = Vector3(*dim) + bbox_msg.label = label + + bbox_array_msg.boxes.append(bbox_msg) + + self.pub.publish(bbox_array_msg) + + +if __name__ == '__main__': + rospy.init_node('bounding_box_array_publisher') + BoundingBoxArrayPublisher() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/image_16uc1_to_32fc1.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/image_16uc1_to_32fc1.py new file mode 100755 index 0000000..e34c5f4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/image_16uc1_to_32fc1.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import numpy as np + +import cv_bridge +from jsk_topic_tools import ConnectionBasedTransport +import rospy +from sensor_msgs.msg import Image + + +class Image16UC1To32FC1(ConnectionBasedTransport): + + def __init__(self): + super(self.__class__, self).__init__() + self.pub = self.advertise('~output', Image, queue_size=1) + + def subscribe(self): + self.sub = rospy.Subscriber('~input', Image, self.transport) + + def unsubscribe(self): + self.sub.unregister() + + def transport(self, msg): + if msg.height * msg.width == 0: + return + bridge = cv_bridge.CvBridge() + img_16uc1 = bridge.imgmsg_to_cv2(msg, desired_encoding='16UC1') + img_32fc1 = (img_16uc1.astype(np.float64) / (2**16)).astype(np.float32) + out_msg = bridge.cv2_to_imgmsg(img_32fc1, '32FC1') + out_msg.header = msg.header + self.pub.publish(out_msg) + + +if __name__ == '__main__': + rospy.init_node('image_16uc1_to_32fc1') + Image16UC1To32FC1() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/polygon_array_publisher.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/polygon_array_publisher.py new file mode 100755 index 0000000..776b425 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/polygon_array_publisher.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import rospy +from geometry_msgs.msg import PolygonStamped, Point32 +from jsk_recognition_msgs.msg import PolygonArray + + +class PolygonArrayPublisher(object): + def __init__(self): + publish_rate = rospy.get_param("~publish_rate", 1.0) + + frame_id = rospy.get_param("~frame_id") + param = rospy.get_param("~polygons") + self.msg = self.parse_params(param, frame_id) + + self.pub_polygons = rospy.Publisher("~output", PolygonArray, queue_size=1) + + self.timer = rospy.Timer(rospy.Duration(1. / publish_rate), self.publish) + + def parse_params(self, param, frame_id): + # validate params + assert isinstance(param, list), "polygons must be list" + + has_label = any("label" in p for p in param) + has_likelihood = any("likelihood" in p for p in param) + + for polygon in param: + assert "points" in polygon and isinstance(polygon["points"], list),\ + "each polygon must have at least 1 'points'" + for point in polygon["points"]: + assert len(point) == 3,\ + "element of 'points' must be list of 3 numbers" + if has_label: + assert "label" in polygon, "missing 'label'" + if has_likelihood: + assert "likelihood" in polygon, "missing 'likelihood'" + + # parse params + msg = PolygonArray() + msg.header.frame_id = frame_id + for polygon in param: + ps = PolygonStamped() + ps.header.frame_id = frame_id + ps.polygon.points = [Point32(*v) for v in polygon["points"]] + msg.polygons.append(ps) + if has_label: + msg.labels.append(polygon["label"]) + if has_likelihood: + msg.likelihood.append(polygon["likelihood"]) + + return msg + + def publish(self, event): + # update timestamp + self.msg.header.stamp = event.current_real + for p in self.msg.polygons: + p.header.stamp = event.current_real + + self.pub_polygons.publish(self.msg) + +if __name__ == '__main__': + rospy.init_node("polygon_array_publisher") + p = PolygonArrayPublisher() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/polygon_array_to_polygon.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/polygon_array_to_polygon.py new file mode 100755 index 0000000..728e337 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/polygon_array_to_polygon.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import dynamic_reconfigure.server +from geometry_msgs.msg import PolygonStamped +from jsk_recognition_msgs.msg import PolygonArray +from jsk_topic_tools import ConnectionBasedTransport +from jsk_topic_tools.log_utils import logerr_throttle +from jsk_recognition_utils.cfg import PolygonArrayToPolygonConfig +import rospy + + +class PolygonArrayToPolygon(ConnectionBasedTransport): + + def __init__(self): + super(self.__class__, self).__init__() + self.pub = self.advertise('~output', PolygonStamped, queue_size=1) + dynamic_reconfigure.server.Server(PolygonArrayToPolygonConfig, + self._config_callback) + + def subscribe(self): + self.sub = rospy.Subscriber('~input', PolygonArray, self._convert) + + def unsubscribe(self): + self.sub.unregister() + + def _config_callback(self, config, level): + self.index = config.index + return config + + def _convert(self, msg): + polygon_msg = PolygonStamped() + polygon_msg.header = msg.header + if self.index < 0: + return + elif self.index < len(msg.polygons): + polygon_msg = msg.polygons[self.index] + self.pub.publish(polygon_msg) + else: + logerr_throttle(10, + 'Invalid index {} is specified ' + 'for polygon array whose size is {}' + .format(self.index, len(msg.polygons))) + + +if __name__ == '__main__': + rospy.init_node('polygon_array_to_polygon') + PolygonArrayToPolygon() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/pose_array_to_pose.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/pose_array_to_pose.py new file mode 100755 index 0000000..ea2976d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/pose_array_to_pose.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +from __future__ import absolute_import +from __future__ import division +from __future__ import print_function + +import dynamic_reconfigure.server +from geometry_msgs.msg import PoseArray +from geometry_msgs.msg import PoseStamped +from jsk_topic_tools import ConnectionBasedTransport +from jsk_topic_tools.log_utils import logerr_throttle +from jsk_recognition_utils.cfg import PoseArrayToPoseConfig +import rospy + + +class PoseArrayToPose(ConnectionBasedTransport): + + def __init__(self): + super(self.__class__, self).__init__() + self.pub = self.advertise('~output', PoseStamped, queue_size=1) + dynamic_reconfigure.server.Server(PoseArrayToPoseConfig, + self._config_callback) + + def subscribe(self): + self.sub = rospy.Subscriber('~input', PoseArray, self._convert) + + def unsubscribe(self): + self.sub.unregister() + + def _config_callback(self, config, level): + self.index = config.index + return config + + def _convert(self, msg): + pose_msg = PoseStamped() + pose_msg.header = msg.header + if self.index < 0: + return + elif self.index < len(msg.poses): + pose_msg.pose = msg.poses[self.index] + self.pub.publish(pose_msg) + else: + logerr_throttle(10, + 'Invalid index {} is specified ' + 'for pose array whose size is {}' + .format(self.index, len(msg.poses))) + + +if __name__ == '__main__': + rospy.init_node('pose_array_to_pose') + PoseArrayToPose() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/rect_array_to_cluster_point_indices.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/rect_array_to_cluster_point_indices.py new file mode 100755 index 0000000..435fbe6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/rect_array_to_cluster_point_indices.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python + +import numpy as np + +import message_filters +import rospy + +from jsk_recognition_msgs.msg import ClusterPointIndices +from jsk_recognition_msgs.msg import RectArray +from jsk_topic_tools import ConnectionBasedTransport +from pcl_msgs.msg import PointIndices +from sensor_msgs.msg import CameraInfo + + +class RectArrayToClusterPointIndices(ConnectionBasedTransport): + + def __init__(self): + super(RectArrayToClusterPointIndices, self).__init__() + self.pub = self.advertise('~output', ClusterPointIndices, queue_size=1) + + def subscribe(self): + if rospy.get_param('~use_info', False): + sub_rects = message_filters.Subscriber('~input', RectArray) + sub_info = message_filters.Subscriber('~input/info', CameraInfo) + self.subs = [sub_rects, sub_info] + queue_size = rospy.get_param('~queue_size', 10) + if rospy.get_param('~approximate_sync', False): + slop = rospy.get_param('~slop', 0.1) + sync = message_filters.ApproximateTimeSynchronizer( + self.subs, queue_size=queue_size, slop=slop) + else: + sync = message_filters.TimeSynchronizer( + self.subs, queue_size=queue_size) + sync.registerCallback(self._convert_sync) + else: + self.img_height = rospy.get_param('~img_height') + self.img_width = rospy.get_param('~img_width') + sub_rects = rospy.Subscriber('~input', RectArray, self._convert) + self.subs = [sub_rects] + + def unsubscribe(self): + for sub in self.subs: + sub.unregister() + + def _convert_sync(self, rects_msg, info_msg): + H = info_msg.height + W = info_msg.width + self._convert(rects_msg, H, W) + + def _convert(self, rects_msg, img_height=None, img_width=None): + H = self.img_height if img_height is None else img_height + W = self.img_width if img_width is None else img_width + cpi_msg = ClusterPointIndices(header=rects_msg.header) + for rect in rects_msg.rects: + indices_msg = PointIndices(header=rects_msg.header) + ymin = max(0, int(np.floor(rect.y))) + xmin = max(0, int(np.floor(rect.x))) + ymax = min(H, int(np.ceil(rect.y + rect.height))) + xmax = min(W, int(np.ceil(rect.x + rect.width))) + indices = [range(W*y+xmin, W*y+xmax) for y in range(ymin, ymax)] + indices_msg.indices = np.array(indices, dtype=np.int32).flatten() + cpi_msg.cluster_indices.append(indices_msg) + self.pub.publish(cpi_msg) + + +if __name__ == '__main__': + rospy.init_node('rect_array_to_cluster_point_indices') + RectArrayToClusterPointIndices() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/rect_array_to_polygon_array.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/rect_array_to_polygon_array.py new file mode 100755 index 0000000..e5151d9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/rect_array_to_polygon_array.py @@ -0,0 +1,44 @@ +#!/usr/bin/env python + +from geometry_msgs.msg import Point32 +from geometry_msgs.msg import PolygonStamped +from jsk_recognition_msgs.msg import PolygonArray +from jsk_recognition_msgs.msg import RectArray +from jsk_topic_tools import ConnectionBasedTransport +import rospy + + +class RectArrayToPolygonArray(ConnectionBasedTransport): + + def __init__(self): + super(RectArrayToPolygonArray, self).__init__() + self.pub = self.advertise('~output', PolygonArray, queue_size=1) + + def subscribe(self): + self.sub = rospy.Subscriber('~input', RectArray, self._convert) + + def unsubscribe(self): + self.sub.unregister() + + def _convert(self, msg): + polys_msg = PolygonArray() + polys_msg.header = msg.header + for rect in msg.rects: + poly_msg = PolygonStamped() + poly_msg.header = msg.header + pt0 = Point32(x=rect.x, y=rect.y) + pt1 = Point32(x=rect.x, y=rect.y + rect.height) + pt2 = Point32(x=rect.x + rect.width, y=rect.y + rect.height) + pt3 = Point32(x=rect.x + rect.width, y=rect.y) + poly_msg.polygon.points.append(pt0) + poly_msg.polygon.points.append(pt1) + poly_msg.polygon.points.append(pt2) + poly_msg.polygon.points.append(pt3) + polys_msg.polygons.append(poly_msg) + self.pub.publish(polys_msg) + + +if __name__ == '__main__': + rospy.init_node('rect_array_to_polygon_array') + RectArrayToPolygonArray() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/static_virtual_camera.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/static_virtual_camera.py new file mode 100755 index 0000000..91528ac --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/node_scripts/static_virtual_camera.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python + +import cv2 +import numpy as np +try: + from scipy.misc import face + img = face()[:, :, ::-1] +except ImportError: + from scipy.misc import lena + img = cv2.cvtColor(lena().astype(np.uint8), cv2.COLOR_GRAY2BGR) + +import cv_bridge +import rospy +from sensor_msgs.msg import Image, CompressedImage +from sensor_msgs.msg import CameraInfo + + +def timer_cb(event): + imgmsg.header.stamp = rospy.Time.now() + info_msg.header.stamp = imgmsg.header.stamp + if pub_img.get_num_connections() > 0: + pub_img.publish(imgmsg) + if pub_img_compressed.get_num_connections() > 0: + pub_img_compressed.publish(compmsg) + pub_info.publish(info_msg) + + +if __name__ == '__main__': + rospy.init_node('static_virtual_camera') + + # get image_trasport before ConnectionBasedTransport subscribes ~input + transport_hint = rospy.get_param('~image_transport', 'raw') + rospy.loginfo("Using transport {}".format(transport_hint)) + + pub_img = rospy.Publisher('~image_color', Image, queue_size=1) + pub_img_compressed = rospy.Publisher('~image_color/compressed', CompressedImage, queue_size=1) + pub_info = rospy.Publisher('~camera_info', CameraInfo, queue_size=1) + + bridge = cv_bridge.CvBridge() + imgmsg = bridge.cv2_to_imgmsg(img, encoding='bgr8') + imgmsg.header.frame_id = 'static_virtual_camera' + compmsg = CompressedImage() + compmsg.header = imgmsg.header + compmsg.format = "jpeg" + compmsg.data = np.array(cv2.imencode('.jpg', cv2.cvtColor(img, cv2.COLOR_BGR2RGB))[1]).tostring() + + info_msg = CameraInfo() + info_msg.header.frame_id = imgmsg.header.frame_id + height, width = img.shape[:2] + info_msg.height = height + info_msg.width = width + + rospy.Timer(rospy.Duration(0.1), timer_cb) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/package.xml b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/package.xml new file mode 100755 index 0000000..9b40f97 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/package.xml @@ -0,0 +1,60 @@ + + + jsk_recognition_utils + 1.2.15 + C++ library about sensor model, geometrical modeling and perception. + Ryohei Ueda + + http://github.com/jsk-ros-pkg/jsk_recognition + http://github.com/jsk-ros-pkg/jsk_recognition/issues + https://jsk-docs.readthedocs.io/projects/jsk_recognition/en/latest/jsk_recognition_utils + + BSD + + python-setuptools + python3-setuptools + + catkin + cython + eigen_conversions + dynamic_reconfigure + geometry_msgs + image_geometry + jsk_recognition_msgs + jsk_topic_tools + pcl_msgs + pcl_ros + qtbase5-dev + sensor_msgs + std_msgs + tf2_ros + tf + tf_conversions + visualization_msgs + yaml-cpp + message_generation + eigen_conversions + geometry_msgs + image_geometry + image_view + jsk_recognition_msgs + jsk_topic_tools + pcl_msgs + pcl_ros + python-chainer-pip + python-chainercv-pip + python-skimage + python3-skimage + python-fcn-pip + sensor_msgs + std_msgs + tf2_ros + tf_conversions + tf + visualization_msgs + yaml-cpp + message_runtime + jsk_tools + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/CMakeLists.txt b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/CMakeLists.txt new file mode 100755 index 0000000..e6bc617 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/CMakeLists.txt @@ -0,0 +1,20 @@ +if(NOT DEFINED Numpy_INCLUDE_DIRS) + # Get Numpy include directories + execute_process( + COMMAND python$ENV{ROS_PYTHON_VERSION} -c "import sys, numpy; sys.stdout.write(numpy.get_include())" + OUTPUT_VARIABLE Numpy_INCLUDE_DIRS + RESULT_VARIABLE retcode) + if(NOT ${retcode} EQUAL 0) + message(FATAL_ERROR "Failed to get Numpy include dirs by numpy.get_include(). Exit code: ${retcode}") + endif() +endif() +# Compile nms.pyx +include_directories(${Numpy_INCLUDE_DIRS}) +cython_add_module(nms nms.pyx) +set_target_properties(nms PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}) +cython_add_module(color color.pyx) +set_target_properties(color PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}) +install(TARGETS nms color + ARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION} +) diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/__init__.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/__init__.py new file mode 100755 index 0000000..f46cc3d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/__init__.py @@ -0,0 +1,77 @@ +from __future__ import print_function + +import sys + +from jsk_recognition_utils import color +from jsk_recognition_utils import conversations +from jsk_recognition_utils import feature +from jsk_recognition_utils import mask +from jsk_recognition_utils import visualize +from jsk_recognition_utils import geometry + + +try: + import chainer # NOQA + _chainer_available = True +except ImportError: + _chainer_available = False + +try: + import chainercv # NOQA + _chainercv_available = True +except ImportError: + _chainercv_available = False + +try: + import fcn # NOQA + _fcn_available = True +except ImportError: + _fcn_available = False + +if _chainer_available and _chainercv_available and _fcn_available: + from jsk_recognition_utils import chainermodels # NOQA +else: + _depends = [] + if not _chainer_available: + _depends.append('chainer\\<7.0.0') + if not _chainercv_available: + _depends.append('chainercv') + if not _fcn_available: + _depends.append('fcn') + print(''' +Please install {0} +to import jsk_recognition_utils.chainermodels. + + sudo pip install {1} +'''.format(', '.join(_depends), ' '.join(_depends)), file=sys.stderr) + +if _chainer_available and _chainercv_available: + from jsk_recognition_utils import datasets # NOQA +else: + _depends = [] + if not _chainer_available: + _depends.append('chainer\\<7.0.0') + if not _chainercv_available: + _depends.append('chainercv') + print(''' +Please install {0} +to import jsk_recognition_utils.datasets. + + sudo pip install {1} +'''.format(', '.join(_depends), ' '.join(_depends)), file=sys.stderr) + + +bounding_box_msg_to_aabb = conversations.bounding_box_msg_to_aabb +rects_msg_to_ndarray = conversations.rects_msg_to_ndarray + +BagOfFeatures = feature.BagOfFeatures +decompose_descriptors_with_label = feature.decompose_descriptors_with_label + +bounding_rect_of_mask = mask.bounding_rect_of_mask +descent_closing = mask.descent_closing + +centerize = visualize.centerize +colorize_cluster_indices = visualize.colorize_cluster_indices +get_tile_image = visualize.get_tile_image + +get_overlap_of_aabb = geometry.get_overlap_of_aabb diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/__init__.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/__init__.py new file mode 100755 index 0000000..2ee1de5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/__init__.py @@ -0,0 +1,33 @@ +from jsk_recognition_utils.chainermodels import alexnet +from jsk_recognition_utils.chainermodels import alexnet_batch_normalization +from jsk_recognition_utils.chainermodels import deep_sort_net +from jsk_recognition_utils.chainermodels import fcn8s_depth_predicition +from jsk_recognition_utils.chainermodels import vgg16 +from jsk_recognition_utils.chainermodels import vgg16_batch_normalization +from jsk_recognition_utils.chainermodels import vgg16_fast_rcnn +from jsk_recognition_utils.chainermodels import vgg_cnn_m_1024 +from jsk_recognition_utils.chainermodels import resnet + +# AlexNet Object Recognition Network +AlexNet = alexnet.AlexNet +AlexNetBatchNormalization = alexnet_batch_normalization.AlexNetBatchNormalization # NOQA + +# VGG16 Object Recognition Network +VGG16 = vgg16.VGG16 +VGG16BatchNormalization = vgg16_batch_normalization.VGG16BatchNormalization + +# FastRCNN +VGG16FastRCNN = vgg16_fast_rcnn.VGG16FastRCNN +VGG_CNN_M_1024 = vgg_cnn_m_1024.VGG_CNN_M_1024 + +# ResNet +ResNet50 = resnet.ResNet50 +ResNet50Feature = resnet.ResNet50Feature +ResNet101 = resnet.ResNet101 +ResNet101Feature = resnet.ResNet101Feature +ResNet152 = resnet.ResNet152 +ResNet152Feature = resnet.ResNet152Feature + +# FCN Depth Prediction Network +FCN8sDepthPrediction = fcn8s_depth_predicition.FCN8sDepthPrediction +FCN8sDepthPredictionConcatFirst = fcn8s_depth_predicition.FCN8sDepthPredictionConcatFirst # NOQA diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/alexnet.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/alexnet.py new file mode 100755 index 0000000..48d7f8c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/alexnet.py @@ -0,0 +1,38 @@ +import chainer +import chainer.functions as F +import chainer.links as L + + +class AlexNet(chainer.Chain): + + def __init__(self, n_class=1000): + super(AlexNet, self).__init__( + conv1=L.Convolution2D(3, 96, 11, stride=4), + conv2=L.Convolution2D(96, 256, 5, pad=2), + conv3=L.Convolution2D(256, 384, 3, pad=1), + conv4=L.Convolution2D(384, 384, 3, pad=1), + conv5=L.Convolution2D(384, 256, 3, pad=1), + fc6=L.Linear(9216, 4096), + fc7=L.Linear(4096, 4096), + fc8=L.Linear(4096, n_class)) + + def __call__(self, x, t=None): + h = F.local_response_normalization(self.conv1(x)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = F.local_response_normalization(self.conv2(h)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = F.relu(self.conv3(h)) + h = F.relu(self.conv4(h)) + h = F.max_pooling_2d(F.relu(self.conv5(h)), 3, stride=2) + h = F.dropout(F.relu(self.fc6(h))) + h = F.dropout(F.relu(self.fc7(h))) + h = self.fc8(h) + + self.pred = F.softmax(h) + if t is None: + assert not chainer.config.train + return + + self.loss = F.softmax_cross_entropy(h, t) + self.accuracy = F.accuracy(h, t) + return self.loss diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/alexnet_batch_normalization.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/alexnet_batch_normalization.py new file mode 100755 index 0000000..7d78f4a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/alexnet_batch_normalization.py @@ -0,0 +1,39 @@ +import chainer +import chainer.functions as F +import chainer.links as L + + +class AlexNetBatchNormalization(chainer.Chain): + def __init__(self, n_class=1000): + super(AlexNetBatchNormalization, self).__init__( + conv1=L.Convolution2D(3, 96, 11, stride=4), + bn1=L.BatchNormalization(96), + conv2=L.Convolution2D(96, 256, 5, pad=2), + bn2=L.BatchNormalization(256), + conv3=L.Convolution2D(256, 384, 3, pad=1), + conv4=L.Convolution2D(384, 384, 3, pad=1), + conv5=L.Convolution2D(384, 256, 3, pad=1), + fc6=L.Linear(9216, 4096), + fc7=L.Linear(4096, 4096), + fc8=L.Linear(4096, n_class)) + + def __call__(self, x, t=None): + h = self.bn1(self.conv1(x)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = self.bn2(self.conv2(h)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = F.relu(self.conv3(h)) + h = F.relu(self.conv4(h)) + h = F.max_pooling_2d(F.relu(self.conv5(h)), 3, stride=2) + h = F.dropout(F.relu(self.fc6(h))) + h = F.dropout(F.relu(self.fc7(h))) + h = self.fc8(h) + + self.pred = F.softrmax(h) + if t is None: + assert not chainer.config.train + return + + self.loss = F.softmax_cross_entropy(h, t) + self.accuracy = F.accuracy(h, t) + return self.loss diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/deep_sort_net.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/deep_sort_net.py new file mode 100755 index 0000000..40361d8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/deep_sort_net.py @@ -0,0 +1,120 @@ +import chainer +import chainer.functions as F +import chainer.links as L +from chainer import initializers + + +class BlockA(chainer.Chain): + + def __init__(self, in_size, out_size, stride=1, activation=F.elu, + is_first=False, pad=1, projection_pad=0, flag=False): + super(BlockA, self).__init__() + initialW = initializers.HeNormal() + + self.in_size = in_size + self.out_size = out_size + self.is_first = is_first + self.activation = activation + self.flag = flag + with self.init_scope(): + if is_first is False: + self.bn0 = L.BatchNormalization(in_size) + if flag is False: + self.conv1 = L.Convolution2D( + in_size, out_size, 3, stride, pad, + initialW=initialW, nobias=True) + else: + self.conv1 = L.Convolution2D( + in_size, out_size, 3, stride, 0, + initialW=initialW, nobias=True) + self.bn1 = L.BatchNormalization(out_size) + self.conv2 = L.Convolution2D( + out_size, out_size, 3, 1, + pad, initialW=initialW, nobias=False) + if in_size != out_size: + if out_size != 2 * in_size: + raise ValueError('out_size should be two 2 * in_size ', + '{} != {}'.format(out_size, 2 * in_size)) + self.projection = L.Convolution2D( + in_size, out_size, + 1, stride, projection_pad, nobias=True) + + def __call__(self, x): + batchsize, channel, height, width = x.shape + if self.is_first: + h = x + else: + h = self.activation(self.bn0(x)) + if self.flag: + # for (top, bottom, left, right) padding + # (0, 1, 0, 1) + h = F.concat([F.concat([ + h, + self.xp.zeros((batchsize, channel, 1, width), 'f')], axis=2), + self.xp.zeros(( + batchsize, channel, height + 1, 1), 'f')], + axis=3) + h = self.activation(self.bn1(self.conv1(h))) + else: + h = self.activation(self.bn1(self.conv1(h))) + h = F.dropout(h, ratio=0.6) + h = self.conv2(h) + if self.in_size != self.out_size: + return self.projection(x) + h + else: + return x + h + + +class DeepSortFeatureExtractor(chainer.Chain): + + def __init__(self): + super(DeepSortFeatureExtractor, self).__init__() + + with self.init_scope(): + self.conv1_1 = L.Convolution2D( + 3, 32, 3, 1, 1, nobias=True) + self.bn1 = L.BatchNormalization(32) + self.conv1_2 = L.Convolution2D( + 32, 32, 3, 1, 1, nobias=True) + self.bn2 = L.BatchNormalization(32) + self.conv2_1 = BlockA(32, 32, stride=1, is_first=True) + self.conv2_3 = BlockA(32, 32, stride=1) + self.conv3_1 = BlockA( + 32, 64, stride=2, pad=1, projection_pad=0) + self.conv3_3 = BlockA(64, 64, stride=1) + self.conv4_1 = BlockA( + 64, 128, stride=2, pad=1, projection_pad=0, flag=True) + self.conv4_3 = BlockA(128, 128, stride=1) + self.fc1 = L.Linear(16384, 128, nobias=True) + self.fc1_bn = L.BatchNormalization(128) + + self.ball = L.BatchNormalization(128) + self.mean_vectors = chainer.Parameter(0, shape=[128, 1501]) + self.scale = chainer.Parameter(0, shape=[1501]) + + def __call__(self, x): + # x.shape == (batchsize, 3, 128, 64) + batchsize = x.shape[0] + h = F.elu(self.bn1(self.conv1_1(x))) + h = F.elu(self.bn2(self.conv1_2(h))) + h = F.max_pooling_2d(h, 3, 2, cover_all=False) + h = self.conv2_1(h) + h = self.conv2_3(h) + h = self.conv3_1(h) + h = self.conv3_3(h) + h = self.conv4_1(h) + h = self.conv4_3(h) + + h = h.reshape(batchsize, -1) + h = F.dropout(h, ratio=0.6) + h = F.elu(self.fc1_bn(self.fc1(h))) + + # Features in rows, normalize axis 1. + weights = self.mean_vectors + features = self.ball(h) + features = F.normalize(features, eps=1e-8) + scale = F.softplus(self.scale) + normalized_weight = F.normalize(weights, axis=0, eps=1e-8) + logits = F.tile(scale[None, ], (batchsize, 1)) * \ + F.matmul(features, normalized_weight) + return logits diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/fcn8s_depth_predicition.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/fcn8s_depth_predicition.py new file mode 100755 index 0000000..cc095d4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/fcn8s_depth_predicition.py @@ -0,0 +1,768 @@ +import chainer +from chainer import cuda +import chainer.functions as F +import chainer.links as L +import fcn +import numpy as np + + +class FCN8sDepthPrediction(chainer.Chain): + + # [0.2, 3] + min_depth = 0.2 + max_depth = 3. + + def __init__(self, n_class, masking=True, concat=True): + self.n_class = n_class + self.masking = masking + self.concat = concat + kwargs = { + 'initialW': chainer.initializers.Zero(), + 'initial_bias': chainer.initializers.Zero(), + } + super(self.__class__, self).__init__() + with self.init_scope(): + self.conv_rgb_1_1 = L.Convolution2D(3, 64, 3, 1, 100, **kwargs) + self.conv_rgb_1_2 = L.Convolution2D(64, 64, 3, 1, 1, **kwargs) + + self.conv_rgb_2_1 = L.Convolution2D(64, 128, 3, 1, 1, **kwargs) + self.conv_rgb_2_2 = L.Convolution2D(128, 128, 3, 1, 1, **kwargs) + + self.conv_rgb_3_1 = L.Convolution2D(128, 256, 3, 1, 1, **kwargs) + self.conv_rgb_3_2 = L.Convolution2D(256, 256, 3, 1, 1, **kwargs) + self.conv_rgb_3_3 = L.Convolution2D(256, 256, 3, 1, 1, **kwargs) + + self.conv_rgb_4_1 = L.Convolution2D(256, 512, 3, 1, 1, **kwargs) + self.conv_rgb_4_2 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_rgb_4_3 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + + self.conv_rgb_5_1 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_rgb_5_2 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_rgb_5_3 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + + self.rgb_fc6 = L.Convolution2D(512, 4096, 7, 1, 0, **kwargs) + self.rgb_fc7 = L.Convolution2D(4096, 4096, 1, 1, 0, **kwargs) + + self.mask_score_fr = L.Convolution2D( + 4096, n_class, 1, 1, 0, **kwargs) + + self.mask_upscore2 = L.Deconvolution2D( + n_class, n_class, 4, 2, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + self.mask_upscore8 = L.Deconvolution2D( + n_class, n_class, 16, 8, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + + self.mask_score_pool3 = L.Convolution2D( + 256, n_class, 1, 1, 0, **kwargs) + self.mask_score_pool4 = L.Convolution2D( + 512, n_class, 1, 1, 0, **kwargs) + + self.mask_upscore_pool4 = L.Deconvolution2D( + n_class, n_class, 4, 2, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + + self.conv_depth_1_1 = L.Convolution2D(3, 64, 3, 1, 100, **kwargs) + self.conv_depth_1_2 = L.Convolution2D(64, 64, 3, 1, 1, **kwargs) + + self.conv_depth_2_1 = L.Convolution2D(64, 128, 3, 1, 1, **kwargs) + self.conv_depth_2_2 = L.Convolution2D(128, 128, 3, 1, 1, **kwargs) + + self.conv_depth_3_1 = L.Convolution2D(128, 256, 3, 1, 1, **kwargs) + self.conv_depth_3_2 = L.Convolution2D(256, 256, 3, 1, 1, **kwargs) + self.conv_depth_3_3 = L.Convolution2D(256, 256, 3, 1, 1, **kwargs) + + self.conv_depth_4_1 = L.Convolution2D(256, 512, 3, 1, 1, **kwargs) + self.conv_depth_4_2 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_depth_4_3 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + + self.conv_depth_5_1 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_depth_5_2 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_depth_5_3 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + + if self.concat is True: + self.concat_fc6 = L.Convolution2D( + 1024, 4096, 7, 1, 0, **kwargs) + else: + self.depth_fc6 = L.Convolution2D(512, 4096, 7, 1, 0, **kwargs) + + self.concat_fc7 = L.Convolution2D(4096, 4096, 1, 1, 0, **kwargs) + + self.depth_score_fr = L.Convolution2D(4096, 1, 1, 1, 0, **kwargs) + + self.depth_upscore2 = L.Deconvolution2D( + 1, 1, 4, 2, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + self.depth_upscore8 = L.Deconvolution2D( + 1, 1, 16, 8, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + + self.depth_score_pool3 = L.Convolution2D( + 256, 1, 1, 1, 0, **kwargs) + self.depth_score_pool4 = L.Convolution2D( + 512, 1, 1, 1, 0, **kwargs) + + self.depth_upscore_pool4 = L.Deconvolution2D( + 1, 1, 4, 2, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + + def predict_mask(self, rgb, return_pool5=False): + # conv_rgb_1 + h = F.relu(self.conv_rgb_1_1(rgb)) + h = F.relu(self.conv_rgb_1_2(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + rgb_pool1 = h # 1/2 + + # conv_rgb_2 + h = F.relu(self.conv_rgb_2_1(rgb_pool1)) + h = F.relu(self.conv_rgb_2_2(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + rgb_pool2 = h # 1/4 + + # conv_rgb_3 + h = F.relu(self.conv_rgb_3_1(rgb_pool2)) + h = F.relu(self.conv_rgb_3_2(h)) + h = F.relu(self.conv_rgb_3_3(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + rgb_pool3 = h # 1/8 + + # conv_rgb_4 + h = F.relu(self.conv_rgb_4_1(rgb_pool3)) + h = F.relu(self.conv_rgb_4_2(h)) + h = F.relu(self.conv_rgb_4_3(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + rgb_pool4 = h # 1/16 + + # conv_rgb_5 + h = F.relu(self.conv_rgb_5_1(rgb_pool4)) + h = F.relu(self.conv_rgb_5_2(h)) + h = F.relu(self.conv_rgb_5_3(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + rgb_pool5 = h # 1/32 + + # rgb_fc6 + h = F.relu(self.rgb_fc6(rgb_pool5)) + h = F.dropout(h, ratio=.5) + rgb_fc6 = h # 1/32 + + # rgb_fc7 + h = F.relu(self.rgb_fc7(rgb_fc6)) + h = F.dropout(h, ratio=.5) + rgb_fc7 = h # 1/32 + + # mask_score_fr + h = self.mask_score_fr(rgb_fc7) + mask_score_fr = h # 1/32 + + # mask_score_pool3 + scale_rgb_pool3 = 0.0001 * rgb_pool3 + h = self.mask_score_pool3(scale_rgb_pool3) + mask_score_pool3 = h # 1/8 + + # mask_score_pool4 + scale_rgb_pool4 = 0.01 * rgb_pool4 + h = self.mask_score_pool4(scale_rgb_pool4) + mask_score_pool4 = h # 1/16 + + # mask upscore2 + h = self.mask_upscore2(mask_score_fr) + mask_upscore2 = h # 1/16 + + # mask_score_pool4c + h = mask_score_pool4[:, :, + 5:5 + mask_upscore2.data.shape[2], + 5:5 + mask_upscore2.data.shape[3]] + mask_score_pool4c = h # 1/16 + + # mask_fuse_pool4 + h = mask_upscore2 + mask_score_pool4c + mask_fuse_pool4 = h # 1/16 + + # mask_upscore_pool4 + h = self.mask_upscore_pool4(mask_fuse_pool4) + mask_upscore_pool4 = h # 1/8 + + # mask_score_pool3c + h = mask_score_pool3[:, :, + 9:9 + mask_upscore_pool4.data.shape[2], + 9:9 + mask_upscore_pool4.data.shape[3]] + mask_score_pool3c = h # 1/8 + + # mask_fuse_pool3 + h = mask_upscore_pool4 + mask_score_pool3c + mask_fuse_pool3 = h # 1/8 + + # mask_upscore8 + h = self.mask_upscore8(mask_fuse_pool3) + mask_upscore8 = h # 1/1 + + # mask_score + h = mask_upscore8[:, :, + 31:31 + rgb.shape[2], 31:31 + rgb.shape[3]] + mask_score = h # 1/1 + + if return_pool5: + return mask_score, rgb_pool5 + else: + return mask_score + + def predict_depth(self, rgb, mask_score, depth_viz, rgb_pool5): + # conv_depth_1 + h = F.relu(self.conv_depth_1_1(depth_viz)) + h = F.relu(self.conv_depth_1_2(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool1 = h # 1/2 + + # conv_depth_2 + h = F.relu(self.conv_depth_2_1(depth_pool1)) + h = F.relu(self.conv_depth_2_2(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool2 = h # 1/4 + + # conv_depth_3 + h = F.relu(self.conv_depth_3_1(depth_pool2)) + h = F.relu(self.conv_depth_3_2(h)) + h = F.relu(self.conv_depth_3_3(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool3 = h # 1/8 + + # conv_depth_4 + h = F.relu(self.conv_depth_4_1(depth_pool3)) + h = F.relu(self.conv_depth_4_2(h)) + h = F.relu(self.conv_depth_4_3(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool4 = h # 1/16 + + # conv_depth_5 + h = F.relu(self.conv_depth_5_1(depth_pool4)) + h = F.relu(self.conv_depth_5_2(h)) + h = F.relu(self.conv_depth_5_3(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool5 = h # 1/32 + + if self.masking is True: + # Apply negative_mask to depth_pool5 + # (N, C, H, W) -> (N, H, W) + mask_pred_tmp = F.argmax(self.mask_score, axis=1) + # (N, H, W) -> (N, 1, H, W), float required for resizing + mask_pred_tmp = mask_pred_tmp[:, None, :, :].data.astype( + self.xp.float32) # 1/1 + resized_mask_pred = F.resize_images( + mask_pred_tmp, + (depth_pool5.shape[2], depth_pool5.shape[3])) # 1/32 + depth_pool5_cp = depth_pool5 + masked_depth_pool5 = depth_pool5_cp * \ + (resized_mask_pred.data == 0.0).astype(self.xp.float32) + else: + masked_depth_pool5 = depth_pool5 + + if self.concat is True: + # concatenate rgb_pool5 and depth_pool5 + concat_pool5 = F.concat((rgb_pool5, masked_depth_pool5), axis=1) + + # concat_fc6 + h = F.relu(self.concat_fc6(concat_pool5)) + h = F.dropout(h, ratio=.5) + concat_fc6 = h # 1/32 + else: + # concat_fc6 + h = F.relu(self.depth_fc6(masked_depth_pool5)) + h = F.dropout(h, ratio=.5) + concat_fc6 = h # 1/32 + + # concat_fc7 + h = F.relu(self.concat_fc7(concat_fc6)) + h = F.dropout(h, ratio=.5) + concat_fc7 = h # 1/32 + + # depth_score_fr + h = self.depth_score_fr(concat_fc7) + depth_score_fr = h # 1/32 + + # depth_score_pool3 + scale_depth_pool3 = 0.0001 * depth_pool3 + h = self.depth_score_pool3(scale_depth_pool3) + depth_score_pool3 = h # 1/8 + + # depth_score_pool4 + scale_depth_pool4 = 0.01 * depth_pool4 + h = self.depth_score_pool4(scale_depth_pool4) + depth_score_pool4 = h # 1/16 + + # depth upscore2 + h = self.depth_upscore2(depth_score_fr) + depth_upscore2 = h # 1/16 + + # depth_score_pool4c + h = depth_score_pool4[:, :, + 5:5 + depth_upscore2.data.shape[2], + 5:5 + depth_upscore2.data.shape[3]] + depth_score_pool4c = h # 1/16 + + # depth_fuse_pool4 + h = depth_upscore2 + depth_score_pool4c + depth_fuse_pool4 = h # 1/16 + + # depth_upscore_pool4 + h = self.depth_upscore_pool4(depth_fuse_pool4) + depth_upscore_pool4 = h # 1/8 + + # depth_score_pool3c + h = depth_score_pool3[:, :, + 9:9 + depth_upscore_pool4.data.shape[2], + 9:9 + depth_upscore_pool4.data.shape[3]] + depth_score_pool3c = h # 1/8 + + # depth_fuse_pool3 + h = depth_upscore_pool4 + depth_score_pool3c + depth_fuse_pool3 = h # 1/8 + + # depth_upscore8 + h = self.depth_upscore8(depth_fuse_pool3) + depth_upscore8 = h # 1/1 + + # depth_score + h = depth_upscore8[:, :, + 31:31 + rgb.shape[2], + 31:31 + rgb.shape[3]] + depth_score = h # 1/1 + + return depth_score + + def compute_loss_mask(self, mask_score, true_mask): + # segmentation loss + seg_loss = F.softmax_cross_entropy( + mask_score, true_mask, normalize=True) + + return seg_loss + + def compute_loss_depth(self, depth_pred, true_mask, true_depth): + assert true_mask.dtype == self.xp.int32 + + # Whole region + keep_regardless_mask = ~self.xp.isnan(true_depth) + if self.xp.sum(keep_regardless_mask) == 0: + depth_loss_regardless_mask = 0 + else: + depth_loss_regardless_mask = F.sum(F.log(F.cosh( + depth_pred[keep_regardless_mask[self.xp.newaxis, :, :, :]] - + true_depth[keep_regardless_mask]))) + depth_loss_regardless_mask /= \ + true_depth.shape[1] * true_depth.shape[2] + + # Only masked region + keep_only_mask = self.xp.logical_and( + true_mask > 0, ~self.xp.isnan(true_depth)) + if self.xp.sum(keep_only_mask) == 0: + depth_loss_only_mask = 0 + else: + depth_loss_only_mask = F.sum(F.log(F.cosh( + depth_pred[keep_only_mask[self.xp.newaxis, :, :, :]] - + true_depth[keep_only_mask]))) + depth_loss_only_mask /= true_depth.shape[1] + true_depth.shape[2] + + # Regression loss + coef = [1, 1] + reg_loss = (coef[0] * depth_loss_regardless_mask + + coef[1] * depth_loss_only_mask) + + return reg_loss + + def compute_loss(self, mask_score, depth_pred, true_mask, true_depth): + seg_loss = self.compute_loss_mask(mask_score, true_mask) + reg_loss = self.compute_loss_depth(depth_pred, true_mask, true_depth) + + # Loss + coef = [1, 1] + loss = coef[0] * seg_loss + coef[1] * reg_loss + if self.xp.isnan(float(loss.data)): + raise ValueError('Loss is nan.') + + batch_size = len(mask_score) + assert batch_size == 1 + + # GPU -> CPU + # N, C, H, W -> C, H, W + true_mask = cuda.to_cpu(true_mask)[0] + mask_pred = cuda.to_cpu(F.argmax(self.score_label, axis=1).data)[0] + true_depth = cuda.to_cpu(true_depth)[0] + depth_pred = cuda.to_cpu(depth_pred.data)[0] + + # Evaluate Mask IU + mask_iu = fcn.utils.label_accuracy_score( + [true_mask], [mask_pred], n_class=2)[2] + + # Evaluate Depth Accuracy + depth_acc = {} + for thresh in [0.01, 0.02, 0.03, 0.04, 0.05, 0.07, 0.10, 0.15, 0.20, + 0.25, 0.30, 0.40, 0.50, 0.70, 1.00]: + t_lbl_fg = true_mask > 0 + p_lbl_fg = mask_pred > 0 + if np.sum(t_lbl_fg) == 0 and np.sum(p_lbl_fg) == 0: + acc = 1.0 + elif np.sum(t_lbl_fg) == 0: + acc = 0.0 + else: + # {TP and (|error| < thresh)} / (TP or FP or FN) + true_depth_cp = np.copy(true_depth) + true_depth_cp[np.isnan(true_depth_cp)] = np.inf + numer = np.sum( + np.logical_and( + np.logical_and(t_lbl_fg, p_lbl_fg), + np.abs(true_depth_cp - depth_pred) < thresh)) + denom = np.sum(np.logical_or(t_lbl_fg, p_lbl_fg)) + acc = 1. * numer / denom + depth_acc['%.2f' % thresh] = acc + + chainer.reporter.report({ + 'loss': loss, + 'seg_loss': seg_loss, + 'reg_loss': reg_loss, + 'miou': mask_iu, + 'depth_acc<0.01': depth_acc['0.01'], + 'depth_acc<0.02': depth_acc['0.02'], + 'depth_acc<0.03': depth_acc['0.03'], + 'depth_acc<0.04': depth_acc['0.04'], + 'depth_acc<0.05': depth_acc['0.05'], + 'depth_acc<0.07': depth_acc['0.07'], + 'depth_acc<0.10': depth_acc['0.10'], + 'depth_acc<0.15': depth_acc['0.15'], + 'depth_acc<0.20': depth_acc['0.20'], + 'depth_acc<0.25': depth_acc['0.25'], + 'depth_acc<0.30': depth_acc['0.30'], + 'depth_acc<0.40': depth_acc['0.40'], + 'depth_acc<0.50': depth_acc['0.50'], + 'depth_acc<0.70': depth_acc['0.70'], + 'depth_acc<1.00': depth_acc['1.00'], + }, self) + + return loss + + def __call__(self, rgb, depth_viz): + mask_score, rgb_pool5 = self.predict_mask(rgb, return_pool5=True) + self.mask_score = mask_score + + depth_score = self.predict_depth( + rgb, mask_score, depth_viz, rgb_pool5) + self.depth_score = depth_score + + assert not chainer.config.train + return + + def init_from_vgg16(self, vgg16): + for l in self.children(): + if l.name.startswith('conv'): + l1 = getattr(vgg16, + l.name.split('_')[0] + l.name.split('_')[2] + + '_' + l.name.split('_')[3]) + l2 = getattr(self, l.name) + assert l1.W.shape == l2.W.shape + assert l1.b.shape == l2.b.shape + l2.W.data[...] = l1.W.data[...] + l2.b.data[...] = l1.b.data[...] + elif l.name in ['rgb_fc6', 'rgb_fc7']: + l1 = getattr(vgg16, l.name.split('_')[1]) + l2 = getattr(self, l.name) + assert l1.W.size == l2.W.size + assert l1.b.size == l2.b.size + l2.W.data[...] = l1.W.data.reshape(l2.W.shape)[...] + l2.b.data[...] = l1.b.data.reshape(l2.b.shape)[...] + elif l.name == 'depth_fc6' and self.concat is False: + l1 = getattr(vgg16, 'fc6') + l2 = getattr(self, l.name) + assert l1.W.size == l2.W.size + assert l1.b.size == l2.b.size + l2.W.data[...] = l1.W.data.reshape(l2.W.shape)[...] + l2.b.data[...] = l1.b.data.reshape(l2.b.shape)[...] + elif l.name == 'concat_fc6' and self.concat is True: + l1 = getattr(vgg16, 'fc6') + l2 = getattr(self, l.name) + assert l1.W.size * 2 == l2.W.size + assert l1.b.size == l2.b.size + l2.W.data[:, :int(l2.W.shape[1] / 2), :, :] = \ + l1.W.data.reshape( + (l2.W.shape[0], int(l2.W.shape[1] / 2), + l2.W.shape[2], l2.W.shape[3]))[...] + l2.W.data[:, int(l2.W.shape[1] / 2):, :, :] = \ + l1.W.data.reshape( + (l2.W.shape[0], int(l2.W.shape[1] / 2), + l2.W.shape[2], l2.W.shape[3]))[...] + l2.b.data[...] = l1.b.data.reshape(l2.b.shape)[...] + elif l.name == 'concat_fc7': + l1 = getattr(vgg16, 'fc7') + l2 = getattr(self, l.name) + assert l1.W.size == l2.W.size + assert l1.b.size == l2.b.size + l2.W.data[...] = l1.W.data.reshape(l2.W.shape)[...] + l2.b.data[...] = l1.b.data.reshape(l2.b.shape)[...] + + +class FCN8sDepthPredictionConcatFirst(FCN8sDepthPrediction): + + # [0.4, 5.1] + min_depth = 0.4 + max_depth = 5.1 + + def __init__(self, n_class, masking=True): + self.n_class = n_class + self.masking = masking + kwargs = { + 'initialW': chainer.initializers.Zero(), + 'initial_bias': chainer.initializers.Zero(), + } + super(FCN8sDepthPrediction, self).__init__() # This is correct + with self.init_scope(): + self.conv_rgb_1_1 = L.Convolution2D(3, 64, 3, 1, 100, **kwargs) + self.conv_rgb_1_2 = L.Convolution2D(64, 64, 3, 1, 1, **kwargs) + + self.conv_rgb_2_1 = L.Convolution2D(64, 128, 3, 1, 1, **kwargs) + self.conv_rgb_2_2 = L.Convolution2D(128, 128, 3, 1, 1, **kwargs) + + self.conv_rgb_3_1 = L.Convolution2D(128, 256, 3, 1, 1, **kwargs) + self.conv_rgb_3_2 = L.Convolution2D(256, 256, 3, 1, 1, **kwargs) + self.conv_rgb_3_3 = L.Convolution2D(256, 256, 3, 1, 1, **kwargs) + + self.conv_rgb_4_1 = L.Convolution2D(256, 512, 3, 1, 1, **kwargs) + self.conv_rgb_4_2 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_rgb_4_3 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + + self.conv_rgb_5_1 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_rgb_5_2 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_rgb_5_3 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + + self.rgb_fc6 = L.Convolution2D(512, 4096, 7, 1, 0, **kwargs) + self.rgb_fc7 = L.Convolution2D(4096, 4096, 1, 1, 0, **kwargs) + + self.mask_score_fr = L.Convolution2D( + 4096, n_class, 1, 1, 0, **kwargs) + + self.mask_upscore2 = L.Deconvolution2D( + n_class, n_class, 4, 2, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + self.mask_upscore8 = L.Deconvolution2D( + n_class, n_class, 16, 8, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + + self.mask_score_pool3 = L.Convolution2D( + 256, n_class, 1, 1, 0, **kwargs) + self.mask_score_pool4 = L.Convolution2D( + 512, n_class, 1, 1, 0, **kwargs) + + self.mask_upscore_pool4 = L.Deconvolution2D( + n_class, n_class, 4, 2, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + + self.conv_depth_1_1 = L.Convolution2D(6, 64, 3, 1, 100, **kwargs) + self.conv_depth_1_2 = L.Convolution2D(64, 64, 3, 1, 1, **kwargs) + + self.conv_depth_2_1 = L.Convolution2D(64, 128, 3, 1, 1, **kwargs) + self.conv_depth_2_2 = L.Convolution2D(128, 128, 3, 1, 1, **kwargs) + + self.conv_depth_3_1 = L.Convolution2D(128, 256, 3, 1, 1, **kwargs) + self.conv_depth_3_2 = L.Convolution2D(256, 256, 3, 1, 1, **kwargs) + self.conv_depth_3_3 = L.Convolution2D(256, 256, 3, 1, 1, **kwargs) + + self.conv_depth_4_1 = L.Convolution2D(256, 512, 3, 1, 1, **kwargs) + self.conv_depth_4_2 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_depth_4_3 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + + self.conv_depth_5_1 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_depth_5_2 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + self.conv_depth_5_3 = L.Convolution2D(512, 512, 3, 1, 1, **kwargs) + + self.depth_fc6 = L.Convolution2D(512, 4096, 7, 1, 0, **kwargs) + self.depth_fc7 = L.Convolution2D(4096, 4096, 1, 1, 0, **kwargs) + + self.depth_score_fr = L.Convolution2D(4096, 1, 1, 1, 0, **kwargs) + + self.depth_upscore2 = L.Deconvolution2D( + 1, 1, 4, 2, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + self.depth_upscore8 = L.Deconvolution2D( + 1, 1, 16, 8, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + + self.depth_score_pool3 = L.Convolution2D( + 256, 1, 1, 1, 0, **kwargs) + self.depth_score_pool4 = L.Convolution2D( + 512, 1, 1, 1, 0, **kwargs) + + self.depth_upscore_pool4 = L.Deconvolution2D( + 1, 1, 4, 2, 0, nobias=True, + initialW=fcn.initializers.UpsamplingDeconvWeight()) + + def predict_depth(self, rgb, mask_score, depth_viz): + # concatenate rgb and depth_viz + concat_input = F.concat((rgb, depth_viz), axis=1) + + # conv_depth_1 + h = F.relu(self.conv_depth_1_1(concat_input)) + h = F.relu(self.conv_depth_1_2(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool1 = h # 1/2 + + # conv_depth_2 + h = F.relu(self.conv_depth_2_1(depth_pool1)) + h = F.relu(self.conv_depth_2_2(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool2 = h # 1/4 + + # conv_depth_3 + h = F.relu(self.conv_depth_3_1(depth_pool2)) + h = F.relu(self.conv_depth_3_2(h)) + h = F.relu(self.conv_depth_3_3(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool3 = h # 1/8 + + # conv_depth_4 + h = F.relu(self.conv_depth_4_1(depth_pool3)) + h = F.relu(self.conv_depth_4_2(h)) + h = F.relu(self.conv_depth_4_3(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool4 = h # 1/16 + + # conv_depth_5 + h = F.relu(self.conv_depth_5_1(depth_pool4)) + h = F.relu(self.conv_depth_5_2(h)) + h = F.relu(self.conv_depth_5_3(h)) + h = F.max_pooling_2d(h, 2, stride=2, pad=0) + depth_pool5 = h # 1/32 + + if self.masking is True: + # (N, C, H, W) -> (N, H, W) + mask_pred_tmp = F.argmax(self.score_label, axis=1) + # (N, H, W) -> (N, 1, H, W), float required for resizing + mask_pred_tmp = mask_pred_tmp[:, None, :, :].data.astype( + self.xp.float32) # 1/1 + resized_mask_pred = F.resize_images( + mask_pred_tmp, + (depth_pool5.shape[2], depth_pool5.shape[3])) # 1/32 + depth_pool5_cp = depth_pool5 + masked_depth_pool5 = depth_pool5_cp * \ + (resized_mask_pred.data == 0.0).astype(self.xp.float32) + else: + masked_depth_pool5 = depth_pool5 + + # depth_fc6 + h = F.relu(self.depth_fc6(masked_depth_pool5)) + h = F.dropout(h, ratio=.5) + depth_fc6 = h # 1/32 + + # depth_fc7 + h = F.relu(self.depth_fc7(depth_fc6)) + h = F.dropout(h, ratio=.5) + depth_fc7 = h # 1/32 + + # depth_score_fr + h = self.depth_score_fr(depth_fc7) + depth_score_fr = h # 1/32 + + # depth_score_pool3 + scale_depth_pool3 = 0.0001 * depth_pool3 + h = self.depth_score_pool3(scale_depth_pool3) + depth_score_pool3 = h # 1/8 + + # depth_score_pool4 + scale_depth_pool4 = 0.01 * depth_pool4 + h = self.depth_score_pool4(scale_depth_pool4) + depth_score_pool4 = h # 1/16 + + # depth upscore2 + h = self.depth_upscore2(depth_score_fr) + depth_upscore2 = h # 1/16 + + # depth_score_pool4c + h = depth_score_pool4[:, :, + 5:5 + depth_upscore2.data.shape[2], + 5:5 + depth_upscore2.data.shape[3]] + depth_score_pool4c = h # 1/16 + + # depth_fuse_pool4 + h = depth_upscore2 + depth_score_pool4c + depth_fuse_pool4 = h # 1/16 + + # depth_upscore_pool4 + h = self.depth_upscore_pool4(depth_fuse_pool4) + depth_upscore_pool4 = h # 1/8 + + # depth_score_pool3c + h = depth_score_pool3[:, :, + 9:9 + depth_upscore_pool4.data.shape[2], + 9:9 + depth_upscore_pool4.data.shape[3]] + depth_score_pool3c = h # 1/8 + + # depth_fuse_pool3 + h = depth_upscore_pool4 + depth_score_pool3c + depth_fuse_pool3 = h # 1/8 + + # depth_upscore8 + h = self.depth_upscore8(depth_fuse_pool3) + depth_upscore8 = h # 1/1 + + # depth_score + h = depth_upscore8[:, :, + 31:31 + rgb.shape[2], + 31:31 + rgb.shape[3]] + depth_score = h # 1/1 + + # (-inf, inf) -> (0, 1) -> (min_depth, max_depth) + h = F.sigmoid(depth_score) + h = h * (self.max_depth - self.min_depth) + self.min_depth + depth_pred = h + + return depth_pred + + def __call__(self, rgb, depth_viz, mask_gt=None, depth_gt=None): + score_label = self.predict_mask(rgb, return_pool5=False) + self.score_label = score_label + depth_pred = self.predict_depth(rgb, score_label, depth_viz) + self.depth_score = depth_pred + + if mask_gt is None or depth_gt is None: + assert not chainer.config.train + return + + loss = self.compute_loss( + score_label, depth_pred, mask_gt, depth_gt) + + return loss + + def init_from_vgg16(self, vgg16): + for l in self.children(): + if l.name == 'conv_depth_1_1': + l1 = getattr(vgg16, 'conv1_1') + l2 = getattr(self, l.name) + assert l1.W.size * 2 == l2.W.size + assert l1.b.size == l2.b.size + l2.W.data[:, :int(l2.W.shape[1] / 2), :, :] = \ + l1.W.data.reshape( + (l2.W.shape[0], int(l2.W.shape[1] / 2), + l2.W.shape[2], l2.W.shape[3]))[...] + l2.W.data[:, int(l2.W.shape[1] / 2):, :, :] = \ + l1.W.data.reshape( + (l2.W.shape[0], int(l2.W.shape[1] / 2), + l2.W.shape[2], l2.W.shape[3]))[...] + l2.b.data[...] = l1.b.data.reshape(l2.b.shape)[...] + elif l.name.startswith('conv'): + l1 = getattr(vgg16, + l.name.split('_')[0] + l.name.split('_')[2] + + '_' + l.name.split('_')[3]) + l2 = getattr(self, l.name) + assert l1.W.shape == l2.W.shape + assert l1.b.shape == l2.b.shape + l2.W.data[...] = l1.W.data[...] + l2.b.data[...] = l1.b.data[...] + elif l.name in ['rgb_fc6', 'rgb_fc7']: + l1 = getattr(vgg16, l.name.split('_')[1]) + l2 = getattr(self, l.name) + assert l1.W.size == l2.W.size + assert l1.b.size == l2.b.size + l2.W.data[...] = l1.W.data.reshape(l2.W.shape)[...] + l2.b.data[...] = l1.b.data.reshape(l2.b.shape)[...] + elif l.name in ['depth_fc6', 'depth_fc7']: + l1 = getattr(vgg16, l.name.split('_')[1]) + l2 = getattr(self, l.name) + assert l1.W.size == l2.W.size + assert l1.b.size == l2.b.size + l2.W.data[...] = l1.W.data.reshape(l2.W.shape)[...] + l2.b.data[...] = l1.b.data.reshape(l2.b.shape)[...] diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/__init__.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/__init__.py new file mode 100755 index 0000000..2db1ea5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/__init__.py @@ -0,0 +1,6 @@ +from .resnet50 import ResNet50 # NOQA +from .resnet50 import ResNet50Feature # NOQA +from .resnet101 import ResNet101 # NOQA +from .resnet101 import ResNet101Feature # NOQA +from .resnet152 import ResNet152 # NOQA +from .resnet152 import ResNet152Feature # NOQA diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/resnet101.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/resnet101.py new file mode 100755 index 0000000..dcd5746 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/resnet101.py @@ -0,0 +1,133 @@ +# Modified work: Copyright (c) 2017 Kentaro Wada. +# Original work: https://github.com/yasunorikudo/chainer-ResNet + +import chainer +import chainer.functions as F +import chainer.links as L + + +class BottleNeckA(chainer.Chain): + + def __init__(self, in_size, ch, out_size, stride=2): + initialW = chainer.initializers.HeNormal() + super(BottleNeckA, self).__init__( + conv1=L.Convolution2D( + in_size, ch, 1, stride, 0, nobias=True, initialW=initialW), + bn1=L.BatchNormalization(ch), + conv2=L.Convolution2D( + ch, ch, 3, 1, 1, nobias=True, initialW=initialW), + bn2=L.BatchNormalization(ch), + conv3=L.Convolution2D( + ch, out_size, 1, 1, 0, nobias=True, initialW=initialW), + bn3=L.BatchNormalization(out_size), + + conv4=L.Convolution2D( + in_size, out_size, 1, stride, 0, + nobias=True, initialW=initialW), + bn4=L.BatchNormalization(out_size), + ) + + def __call__(self, x): + h1 = F.relu(self.bn1(self.conv1(x))) + h1 = F.relu(self.bn2(self.conv2(h1))) + h1 = self.bn3(self.conv3(h1)) + h2 = self.bn4(self.conv4(x)) + + return F.relu(h1 + h2) + + +class BottleNeckB(chainer.Chain): + + def __init__(self, in_size, ch): + initialW = chainer.initializers.HeNormal() + super(BottleNeckB, self).__init__( + conv1=L.Convolution2D( + in_size, ch, 1, 1, 0, nobias=True, initialW=initialW), + bn1=L.BatchNormalization(ch), + conv2=L.Convolution2D( + ch, ch, 3, 1, 1, nobias=True, initialW=initialW), + bn2=L.BatchNormalization(ch), + conv3=L.Convolution2D( + ch, in_size, 1, 1, 0, nobias=True, initialW=initialW), + bn3=L.BatchNormalization(in_size), + ) + + def __call__(self, x): + h = F.relu(self.bn1(self.conv1(x))) + h = F.relu(self.bn2(self.conv2(h))) + h = self.bn3(self.conv3(h)) + + return F.relu(h + x) + + +class Block(chainer.Chain): + + def __init__(self, layer, in_size, ch, out_size, stride=2): + super(Block, self).__init__() + links = [('a', BottleNeckA(in_size, ch, out_size, stride))] + for i in range(layer - 1): + links += [('b{}'.format(i + 1), BottleNeckB(out_size, ch))] + + for l in links: + self.add_link(*l) + self.forward = links + + def __call__(self, x): + for name, _ in self.forward: + f = getattr(self, name) + x = f(x) + + return x + + +class ResNet101(chainer.Chain): + + insize = 224 + + def __init__(self): + initialW = chainer.initializers.HeNormal() + super(ResNet101, self).__init__( + conv1=L.Convolution2D( + 3, 64, 7, 2, 3, nobias=True, initialW=initialW), + bn1=L.BatchNormalization(64), + res2=Block(3, 64, 64, 256, 1), + res3=Block(4, 256, 128, 512), + res4=Block(23, 512, 256, 1024), + res5=Block(3, 1024, 512, 2048), + fc=L.Linear(2048, 1000), + ) + + def clear(self): + self.loss = None + self.accuracy = None + + def __call__(self, x, t=None): + self.clear() + h = self.bn1(self.conv1(x)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = self.res2(h) + h = self.res3(h) + h = self.res4(h) + h = self.res5(h) + h = F.average_pooling_2d(h, 7, stride=1) + h = self.fc(h) + + if t is None: + return h + + self.loss = F.softmax_cross_entropy(h, t) + self.accuracy = F.accuracy(h, t) + return self.loss + + +class ResNet101Feature(ResNet101): + + def __call__(self, x): + h = self.bn1(self.conv1(x)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = self.res2(h) + h = self.res3(h) + h = self.res4(h) + h = self.res5(h) + h = F.average_pooling_2d(h, 7, stride=1) + return h diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/resnet152.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/resnet152.py new file mode 100755 index 0000000..ebe158f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/resnet152.py @@ -0,0 +1,133 @@ +# Modified work: Copyright (c) 2017 Kentaro Wada. +# Original work: https://github.com/yasunorikudo/chainer-ResNet + +import chainer +import chainer.functions as F +import chainer.links as L + + +class BottleNeckA(chainer.Chain): + + def __init__(self, in_size, ch, out_size, stride=2): + initialW = chainer.initializers.HeNormal() + super(BottleNeckA, self).__init__( + conv1=L.Convolution2D( + in_size, ch, 1, stride, 0, nobias=True, initialW=initialW), + bn1=L.BatchNormalization(ch), + conv2=L.Convolution2D( + ch, ch, 3, 1, 1, nobias=True, initialW=initialW), + bn2=L.BatchNormalization(ch), + conv3=L.Convolution2D( + ch, out_size, 1, 1, 0, nobias=True, initialW=initialW), + bn3=L.BatchNormalization(out_size), + + conv4=L.Convolution2D( + in_size, out_size, 1, stride, 0, + nobias=True, initialW=initialW), + bn4=L.BatchNormalization(out_size), + ) + + def __call__(self, x): + h1 = F.relu(self.bn1(self.conv1(x))) + h1 = F.relu(self.bn2(self.conv2(h1))) + h1 = self.bn3(self.conv3(h1)) + h2 = self.bn4(self.conv4(x)) + + return F.relu(h1 + h2) + + +class BottleNeckB(chainer.Chain): + + def __init__(self, in_size, ch): + initialW = chainer.initializers.HeNormal() + super(BottleNeckB, self).__init__( + conv1=L.Convolution2D( + in_size, ch, 1, 1, 0, nobias=True, initialW=initialW), + bn1=L.BatchNormalization(ch), + conv2=L.Convolution2D( + ch, ch, 3, 1, 1, nobias=True, initialW=initialW), + bn2=L.BatchNormalization(ch), + conv3=L.Convolution2D( + ch, in_size, 1, 1, 0, nobias=True, initialW=initialW), + bn3=L.BatchNormalization(in_size), + ) + + def __call__(self, x): + h = F.relu(self.bn1(self.conv1(x))) + h = F.relu(self.bn2(self.conv2(h))) + h = self.bn3(self.conv3(h)) + + return F.relu(h + x) + + +class Block(chainer.Chain): + + def __init__(self, layer, in_size, ch, out_size, stride=2): + super(Block, self).__init__() + links = [('a', BottleNeckA(in_size, ch, out_size, stride))] + for i in range(layer - 1): + links += [('b{}'.format(i + 1), BottleNeckB(out_size, ch))] + + for l in links: + self.add_link(*l) + self.forward = links + + def __call__(self, x): + for name, _ in self.forward: + f = getattr(self, name) + x = f(x) + + return x + + +class ResNet152(chainer.Chain): + + insize = 224 + + def __init__(self): + initialW = chainer.initializers.HeNormal() + super(ResNet152, self).__init__( + conv1=L.Convolution2D( + 3, 64, 7, 2, 3, nobias=True, initialW=initialW), + bn1=L.BatchNormalization(64), + res2=Block(3, 64, 64, 256, 1), + res3=Block(8, 256, 128, 512), + res4=Block(36, 512, 256, 1024), + res5=Block(3, 1024, 512, 2048), + fc=L.Linear(2048, 1000), + ) + + def clear(self): + self.loss = None + self.accuracy = None + + def __call__(self, x, t=None): + self.clear() + h = self.bn1(self.conv1(x)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = self.res2(h) + h = self.res3(h) + h = self.res4(h) + h = self.res5(h) + h = F.average_pooling_2d(h, 7, stride=1) + h = self.fc(h) + + if t is None: + return h + + self.loss = F.softmax_cross_entropy(h, t) + self.accuracy = F.accuracy(h, t) + return self.loss + + +class ResNet152Feature(ResNet152): + + def __call__(self, x): + h = self.bn1(self.conv1(x)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = self.res2(h) + h = self.res3(h) + h = self.res4(h) + h = self.res5(h) + h = F.average_pooling_2d(h, 7, stride=1) + return h diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/resnet50.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/resnet50.py new file mode 100755 index 0000000..64567db --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/resnet/resnet50.py @@ -0,0 +1,130 @@ +# Modified work: Copyright (c) 2017 Kentaro Wada. +# Original work: https://github.com/yasunorikudo/chainer-ResNet + +import chainer +import chainer.functions as F +import chainer.links as L + + +class BottleNeckA(chainer.Chain): + def __init__(self, in_size, ch, out_size, stride=2): + initialW = chainer.initializers.HeNormal() + super(BottleNeckA, self).__init__( + conv1=L.Convolution2D( + in_size, ch, 1, stride, 0, nobias=True, initialW=initialW), + bn1=L.BatchNormalization(ch), + conv2=L.Convolution2D( + ch, ch, 3, 1, 1, nobias=True, initialW=initialW), + bn2=L.BatchNormalization(ch), + conv3=L.Convolution2D( + ch, out_size, 1, 1, 0, nobias=True, initialW=initialW), + bn3=L.BatchNormalization(out_size), + + conv4=L.Convolution2D( + in_size, out_size, 1, stride, 0, + nobias=True, initialW=initialW), + bn4=L.BatchNormalization(out_size), + ) + + def __call__(self, x): + h1 = F.relu(self.bn1(self.conv1(x))) + h1 = F.relu(self.bn2(self.conv2(h1))) + h1 = self.bn3(self.conv3(h1)) + h2 = self.bn4(self.conv4(x)) + + return F.relu(h1 + h2) + + +class BottleNeckB(chainer.Chain): + def __init__(self, in_size, ch): + initialW = chainer.initializers.HeNormal() + super(BottleNeckB, self).__init__( + conv1=L.Convolution2D( + in_size, ch, 1, 1, 0, nobias=True, initialW=initialW), + bn1=L.BatchNormalization(ch), + conv2=L.Convolution2D( + ch, ch, 3, 1, 1, nobias=True, initialW=initialW), + bn2=L.BatchNormalization(ch), + conv3=L.Convolution2D( + ch, in_size, 1, 1, 0, nobias=True, initialW=initialW), + bn3=L.BatchNormalization(in_size), + ) + + def __call__(self, x): + h = F.relu(self.bn1(self.conv1(x))) + h = F.relu(self.bn2(self.conv2(h))) + h = self.bn3(self.conv3(h)) + + return F.relu(h + x) + + +class Block(chainer.Chain): + def __init__(self, layer, in_size, ch, out_size, stride=2): + super(Block, self).__init__() + links = [('a', BottleNeckA(in_size, ch, out_size, stride))] + for i in range(layer - 1): + links += [('b{}'.format(i + 1), BottleNeckB(out_size, ch))] + + for l in links: + self.add_link(*l) + self.forward = links + + def __call__(self, x): + for name, _ in self.forward: + f = getattr(self, name) + x = f(x) + + return x + + +class ResNet50(chainer.Chain): + + insize = 224 + + def __init__(self): + initialW = chainer.initializers.HeNormal() + super(ResNet50, self).__init__( + conv1=L.Convolution2D( + 3, 64, 7, 2, 3, nobias=True, initialW=initialW), + bn1=L.BatchNormalization(64), + res2=Block(3, 64, 64, 256, 1), + res3=Block(4, 256, 128, 512), + res4=Block(6, 512, 256, 1024), + res5=Block(3, 1024, 512, 2048), + fc=L.Linear(2048, 1000), + ) + + def clear(self): + self.loss = None + self.accuracy = None + + def __call__(self, x, t=None): + self.clear() + h = self.bn1(self.conv1(x)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = self.res2(h) + h = self.res3(h) + h = self.res4(h) + h = self.res5(h) + h = F.average_pooling_2d(h, 7, stride=1) + h = self.fc(h) + + if t is None: + return h + + self.loss = F.softmax_cross_entropy(h, t) + self.accuracy = F.accuracy(h, t) + return self.loss + + +class ResNet50Feature(ResNet50): + + def __call__(self, x): + h = self.bn1(self.conv1(x)) + h = F.max_pooling_2d(F.relu(h), 3, stride=2) + h = self.res2(h) + h = self.res3(h) + h = self.res4(h) + h = self.res5(h) + h = F.average_pooling_2d(h, 7, stride=1) + return h diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/roi_pooling_2d.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/roi_pooling_2d.py new file mode 100755 index 0000000..f80fdc2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/roi_pooling_2d.py @@ -0,0 +1,334 @@ +# Modified work: +# ----------------------------------------------------------------------------- +# Copyright (c) 2015 Preferred Infrastructure, Inc. +# Copyright (c) 2015 Preferred Networks, Inc. +# ----------------------------------------------------------------------------- + +# Original work of _roi_pooling_slice, forward_cpu and backward_cpu: +# ----------------------------------------------------------------------------- +# Copyright 2014 Nervana Systems Inc. +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ----------------------------------------------------------------------------- + +# Original work of forward_gpu and backward_gpu: +# ----------------------------------------------------------------------------- +# Fast R-CNN +# Copyright (c) 2015 Microsoft +# Licensed under The MIT License [see fast-rcnn/LICENSE for details] +# Written by Ross Girshick +# ----------------------------------------------------------------------------- + +import numpy +import six + +from chainer import cuda +from chainer import function +from chainer.utils import type_check + + +def _roi_pooling_slice(size, stride, max_size, roi_offset): + start = int(numpy.floor(size * stride)) + end = int(numpy.ceil((size + 1) * stride)) + + start = min(max(start + roi_offset, 0), max_size) + end = min(max(end + roi_offset, 0), max_size) + + return slice(start, end), end - start + + +class ROIPooling2D(function.Function): + + """RoI pooling over a set of 2d planes.""" + + def __init__(self, outh, outw, spatial_scale): + self.outh, self.outw = outh, outw + self.spatial_scale = spatial_scale + + def check_type_forward(self, in_types): + type_check.expect(in_types.size() == 2) + + x_type, roi_type = in_types + type_check.expect( + x_type.dtype == numpy.float32, + x_type.ndim == 4, + roi_type.dtype == numpy.float32, + roi_type.ndim == 2, + roi_type.shape[1] == 5, + ) + + def forward_cpu(self, inputs): + bottom_data, bottom_rois = inputs + n_rois, channels, height, width = bottom_data.shape + top_data = numpy.empty((n_rois, channels, self.outh, self.outw), + dtype=numpy.float32) + self.argmax_data = numpy.empty_like(top_data).astype(numpy.int32) + + for i_roi in six.moves.range(n_rois): + idx, xmin, ymin, xmax, ymax = bottom_rois[i_roi] + xmin = int(round(xmin * self.spatial_scale)) + xmax = int(round(xmax * self.spatial_scale)) + ymin = int(round(ymin * self.spatial_scale)) + ymax = int(round(ymax * self.spatial_scale)) + roi_width = max(xmax - xmin + 1, 1) + roi_height = max(ymax - ymin + 1, 1) + strideh = 1. * roi_height / self.outh + stridew = 1. * roi_width / self.outw + + for outh in six.moves.range(self.outh): + sliceh, lenh = _roi_pooling_slice( + outh, strideh, height, ymin) + if sliceh.stop <= sliceh.start: + continue + for outw in six.moves.range(self.outw): + slicew, lenw = _roi_pooling_slice( + outw, stridew, width, xmin) + if slicew.stop <= slicew.start: + continue + roi_data = bottom_data[int(idx), :, sliceh, slicew]\ + .reshape(channels, -1) + top_data[i_roi, :, outh, outw] =\ + numpy.max(roi_data, axis=1) + + # get the max idx respect to feature_maps coordinates + max_idx_slice = numpy.unravel_index( + numpy.argmax(roi_data, axis=1), (lenh, lenw)) + max_idx_slice_h = max_idx_slice[0] + sliceh.start + max_idx_slice_w = max_idx_slice[1] + slicew.start + max_idx_slice = max_idx_slice_h * width + max_idx_slice_w + self.argmax_data[i_roi, :, outh, outw] = max_idx_slice + return top_data, + + def forward_gpu(self, inputs): + bottom_data, bottom_rois = inputs + channels, height, width = bottom_data.shape[1:] + n_rois = bottom_rois.shape[0] + top_data = cuda.cupy.empty((n_rois, channels, self.outh, + self.outw), dtype=numpy.float32) + self.argmax_data = cuda.cupy.empty_like(top_data).astype(numpy.int32) + cuda.cupy.ElementwiseKernel( + ''' + raw float32 bottom_data, float32 spatial_scale, int32 channels, + int32 height, int32 width, int32 pooled_height, int32 pooled_width, + raw float32 bottom_rois + ''', + 'float32 top_data, int32 argmax_data', + ''' + // pos in output filter + int pw = i % pooled_width; + int ph = (i / pooled_width) % pooled_height; + int c = (i / pooled_width / pooled_height) % channels; + int num = i / pooled_width / pooled_height / channels; + + int roi_batch_ind = bottom_rois[num * 5 + 0]; + int roi_start_w = round(bottom_rois[num * 5 + 1] * spatial_scale); + int roi_start_h = round(bottom_rois[num * 5 + 2] * spatial_scale); + int roi_end_w = round(bottom_rois[num * 5 + 3] * spatial_scale); + int roi_end_h = round(bottom_rois[num * 5 + 4] * spatial_scale); + + // Force malformed ROIs to be 1x1 + int roi_width = max(roi_end_w - roi_start_w + 1, 1); + int roi_height = max(roi_end_h - roi_start_h + 1, 1); + float bin_size_h = static_cast(roi_height) + / static_cast(pooled_height); + float bin_size_w = static_cast(roi_width) + / static_cast(pooled_width); + + int hstart = static_cast(floor(static_cast(ph) + * bin_size_h)); + int wstart = static_cast(floor(static_cast(pw) + * bin_size_w)); + int hend = static_cast(ceil(static_cast(ph + 1) + * bin_size_h)); + int wend = static_cast(ceil(static_cast(pw + 1) + * bin_size_w)); + + // Add roi offsets and clip to input boundaries + hstart = min(max(hstart + roi_start_h, 0), height); + hend = min(max(hend + roi_start_h, 0), height); + wstart = min(max(wstart + roi_start_w, 0), width); + wend = min(max(wend + roi_start_w, 0), width); + bool is_empty = (hend <= hstart) || (wend <= wstart); + + // Define an empty pooling region to be zero + float maxval = is_empty ? 0 : -1E+37; + // If nothing is pooled, argmax=-1 causes nothing to be backprop'd + int maxidx = -1; + int data_offset = (roi_batch_ind * channels + c) * height * width; + for (int h = hstart; h < hend; ++h) { + for (int w = wstart; w < wend; ++w) { + int bottom_index = h * width + w; + if (bottom_data[data_offset + bottom_index] > maxval) { + maxval = bottom_data[data_offset + bottom_index]; + maxidx = bottom_index; + } + } + } + top_data = maxval; + argmax_data = maxidx; + ''', 'roi_poolig_2d_fwd' + )(bottom_data, self.spatial_scale, channels, height, width, + self.outh, self.outw, bottom_rois, top_data, + self.argmax_data) + + return top_data, + + def backward_cpu(self, inputs, gy): + bottom_data, bottom_rois = inputs + n_rois, channels, height, width = bottom_data.shape + bottom_delta = numpy.zeros_like(bottom_data, dtype=numpy.float32) + + for i_roi in six.moves.range(n_rois): + idx, xmin, ymin, xmax, ymax = bottom_rois[i_roi] + idx = int(idx) + xmin = int(round(xmin * self.spatial_scale)) + xmax = int(round(xmax * self.spatial_scale)) + ymin = int(round(ymin * self.spatial_scale)) + ymax = int(round(ymax * self.spatial_scale)) + roi_width = max(xmax - xmin + 1, 1) + roi_height = max(ymax - ymin + 1, 1) + + strideh = float(roi_height) / float(self.outh) + stridew = float(roi_width) / float(self.outw) + + # iterate all the w, h (from feature map) that fall into this ROIs + for w in six.moves.range(xmin, xmax + 1): + for h in six.moves.range(ymin, ymax + 1): + phstart = int(numpy.floor(float(h - ymin) / strideh)) + phend = int(numpy.ceil(float(h - ymin + 1) / strideh)) + pwstart = int(numpy.floor(float(w - xmin) / stridew)) + pwend = int(numpy.ceil(float(w - xmin + 1) / stridew)) + + phstart = min(max(phstart, 0), self.outh) + phend = min(max(phend, 0), self.outh) + pwstart = min(max(pwstart, 0), self.outw) + pwend = min(max(pwend, 0), self.outw) + + for ph in six.moves.range(phstart, phend): + for pw in six.moves.range(pwstart, pwend): + max_idx_tmp = self.argmax_data[i_roi, :, ph, pw] + for c in six.moves.range(channels): + if max_idx_tmp[c] == (h * width + w): + bottom_delta[idx, c, h, w] += \ + gy[0][i_roi, c, ph, pw] + return bottom_delta, None + + def backward_gpu(self, inputs, gy): + bottom_data, bottom_rois = inputs + channels, height, width = bottom_data.shape[1:] + bottom_diff = cuda.cupy.zeros_like(bottom_data, dtype=numpy.float32) + cuda.cupy.ElementwiseKernel( + ''' + raw float32 top_diff, raw int32 argmax_data, int32 num_rois, + float32 spatial_scale, int32 channels, int32 height, int32 width, + int32 pooled_height, int32 pooled_width, raw float32 bottom_rois + ''', + 'float32 bottom_diff', + ''' + int w = i % width; + int h = (i / width) % height; + int c = (i / (width * height)) % channels; + int num = i / (width * height * channels); + + float gradient = 0; + // Accumulate gradient over all ROIs that pooled this element + for (int roi_n = 0; roi_n < num_rois; ++roi_n) { + // Skip if ROI's batch index doesn't match num + if (num != static_cast(bottom_rois[roi_n * 5])) { + continue; + } + + int roi_start_w = round(bottom_rois[roi_n * 5 + 1] + * spatial_scale); + int roi_start_h = round(bottom_rois[roi_n * 5 + 2] + * spatial_scale); + int roi_end_w = round(bottom_rois[roi_n * 5 + 3] + * spatial_scale); + int roi_end_h = round(bottom_rois[roi_n * 5 + 4] + * spatial_scale); + + // Skip if ROI doesn't include (h, w) + const bool in_roi = (w >= roi_start_w && w <= roi_end_w && + h >= roi_start_h && h <= roi_end_h); + if (!in_roi) { + continue; + } + + int offset = (roi_n * channels + c) * pooled_height + * pooled_width; + + // Compute feasible set of pooled units that could have pooled + // this bottom unit + + // Force malformed ROIs to be 1x1 + int roi_width = max(roi_end_w - roi_start_w + 1, 1); + int roi_height = max(roi_end_h - roi_start_h + 1, 1); + + float bin_size_h = static_cast(roi_height) + / static_cast(pooled_height); + float bin_size_w = static_cast(roi_width) + / static_cast(pooled_width); + + int phstart = floor(static_cast(h - roi_start_h) + / bin_size_h); + int phend = ceil(static_cast(h - roi_start_h + 1) + / bin_size_h); + int pwstart = floor(static_cast(w - roi_start_w) + / bin_size_w); + int pwend = ceil(static_cast(w - roi_start_w + 1) + / bin_size_w); + + phstart = min(max(phstart, 0), pooled_height); + phend = min(max(phend, 0), pooled_height); + pwstart = min(max(pwstart, 0), pooled_width); + pwend = min(max(pwend, 0), pooled_width); + + for (int ph = phstart; ph < phend; ++ph) { + for (int pw = pwstart; pw < pwend; ++pw) { + int index_ = ph * pooled_width + pw + offset; + if (argmax_data[index_] == (h * width + w)) { + gradient += top_diff[index_]; + } + } + } + } + bottom_diff = gradient; + ''', 'roi_pooling_2d_bwd' + )(gy[0], self.argmax_data, bottom_rois.shape[0], self.spatial_scale, + channels, height, width, self.outh, self.outw, + bottom_rois, bottom_diff) + + return bottom_diff, None + + +def roi_pooling_2d(x, rois, outh, outw, spatial_scale): + """Spatial Region of Interest (ROI) pooling function. + + This function acts similarly to :class:`~functions.MaxPooling2D`, but + it computes the maximum of input spatial patch for each channel + with the region of interest. + + Args: + x (~chainer.Variable): Input variable. + rois (~chainer.Variable): Input roi variable. + outh (int): Height of output image after pooled. + outw (int): Width of output image after pooled. + spatial_scale (float): Scale of the roi is resized. + + Returns: + ~chainer.Variable: Ouptut variable. + + See the original paper proposing ROIPooling: + `Fast R-CNN `_. + + """ + return ROIPooling2D(outh, outw, spatial_scale)(x, rois) diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg16.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg16.py new file mode 100755 index 0000000..b25df23 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg16.py @@ -0,0 +1,68 @@ +import chainer +import chainer.functions as F +import chainer.links as L + + +class VGG16(chainer.Chain): + + def __init__(self, n_class): + super(VGG16, self).__init__( + conv1_1=L.Convolution2D(3, 64, 3, stride=1, pad=1), + conv1_2=L.Convolution2D(64, 64, 3, stride=1, pad=1), + + conv2_1=L.Convolution2D(64, 128, 3, stride=1, pad=1), + conv2_2=L.Convolution2D(128, 128, 3, stride=1, pad=1), + + conv3_1=L.Convolution2D(128, 256, 3, stride=1, pad=1), + conv3_2=L.Convolution2D(256, 256, 3, stride=1, pad=1), + conv3_3=L.Convolution2D(256, 256, 3, stride=1, pad=1), + + conv4_1=L.Convolution2D(256, 512, 3, stride=1, pad=1), + conv4_2=L.Convolution2D(512, 512, 3, stride=1, pad=1), + conv4_3=L.Convolution2D(512, 512, 3, stride=1, pad=1), + + conv5_1=L.Convolution2D(512, 512, 3, stride=1, pad=1), + conv5_2=L.Convolution2D(512, 512, 3, stride=1, pad=1), + conv5_3=L.Convolution2D(512, 512, 3, stride=1, pad=1), + + fc6=L.Linear(25088, 4096), + fc7=L.Linear(4096, 4096), + fc8=L.Linear(4096, n_class) + ) + + def __call__(self, x, t=None): + h = F.relu(self.conv1_1(x)) + h = F.relu(self.conv1_2(h)) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.conv2_1(h)) + h = F.relu(self.conv2_2(h)) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.conv3_1(h)) + h = F.relu(self.conv3_2(h)) + h = F.relu(self.conv3_3(h)) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.conv4_1(h)) + h = F.relu(self.conv4_2(h)) + h = F.relu(self.conv4_3(h)) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.conv5_1(h)) + h = F.relu(self.conv5_2(h)) + h = F.relu(self.conv5_3(h)) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.dropout(F.relu(self.fc6(h)), ratio=0.5) + h = F.dropout(F.relu(self.fc7(h)), ratio=0.5) + h = self.fc8(h) + + self.pred = F.softmax(h) + if t is None: + assert not chainer.config.train + return + + self.loss = F.softmax_cross_entropy(h, t) + self.acc = F.accuracy(h, t) + return self.loss diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg16_batch_normalization.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg16_batch_normalization.py new file mode 100755 index 0000000..9f5244a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg16_batch_normalization.py @@ -0,0 +1,84 @@ +import chainer +import chainer.functions as F +import chainer.links as L + + +class VGG16BatchNormalization(chainer.Chain): + + def __init__(self, n_class=1000): + super(self.__class__, self).__init__( + conv1_1=L.Convolution2D(3, 64, 3, stride=1, pad=1), + bn1_1=L.BatchNormalization(64), + conv1_2=L.Convolution2D(64, 64, 3, stride=1, pad=1), + bn1_2=L.BatchNormalization(64), + + conv2_1=L.Convolution2D(64, 128, 3, stride=1, pad=1), + bn2_1=L.BatchNormalization(128), + conv2_2=L.Convolution2D(128, 128, 3, stride=1, pad=1), + bn2_2=L.BatchNormalization(128), + + conv3_1=L.Convolution2D(128, 256, 3, stride=1, pad=1), + bn3_1=L.BatchNormalization(256), + conv3_2=L.Convolution2D(256, 256, 3, stride=1, pad=1), + bn3_2=L.BatchNormalization(256), + conv3_3=L.Convolution2D(256, 256, 3, stride=1, pad=1), + bn3_3=L.BatchNormalization(256), + + conv4_1=L.Convolution2D(256, 512, 3, stride=1, pad=1), + bn4_1=L.BatchNormalization(512), + conv4_2=L.Convolution2D(512, 512, 3, stride=1, pad=1), + bn4_2=L.BatchNormalization(512), + conv4_3=L.Convolution2D(512, 512, 3, stride=1, pad=1), + bn4_3=L.BatchNormalization(512), + + conv5_1=L.Convolution2D(512, 512, 3, stride=1, pad=1), + bn5_1=L.BatchNormalization(512), + conv5_2=L.Convolution2D(512, 512, 3, stride=1, pad=1), + bn5_2=L.BatchNormalization(512), + conv5_3=L.Convolution2D(512, 512, 3, stride=1, pad=1), + bn5_3=L.BatchNormalization(512), + + fc6=L.Linear(25088, 4096), + fc7=L.Linear(4096, 4096), + fc8=L.Linear(4096, n_class) + ) + + def __call__(self, x, t=None): + h = F.relu(self.bn1_1(self.conv1_1(x))) + h = F.relu(self.bn1_2(self.conv1_2(h))) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.bn2_1(self.conv2_1(h))) + h = F.relu(self.bn2_2(self.conv2_2(h))) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.bn3_1(self.conv3_1(h))) + h = F.relu(self.bn3_2(self.conv3_2(h))) + h = F.relu(self.bn3_3(self.conv3_3(h))) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.bn4_1(self.conv4_1(h))) + h = F.relu(self.bn4_2(self.conv4_2(h))) + h = F.relu(self.bn4_3(self.conv4_3(h))) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.bn5_1(self.conv5_1(h))) + h = F.relu(self.bn5_2(self.conv5_2(h))) + h = F.relu(self.bn5_3(self.conv5_3(h))) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.dropout(F.relu(self.fc6(h)), ratio=0.5) + h = F.dropout(F.relu(self.fc7(h)), ratio=0.5) + h = self.fc8(h) + fc8 = h + + self.pred = F.softmax(h) + + if t is None: + assert not chainer.config.train + return + + self.loss = F.softmax_cross_entropy(fc8, t) + self.acc = F.accuracy(self.pred, t) + + return self.loss diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg16_fast_rcnn.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg16_fast_rcnn.py new file mode 100755 index 0000000..57402f3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg16_fast_rcnn.py @@ -0,0 +1,63 @@ +import chainer +import chainer.functions as F +import chainer.links as L + + +class VGG16FastRCNN(chainer.Chain): + + def __init__(self): + super(self.__class__, self).__init__( + conv1_1=L.Convolution2D(3, 64, 3, stride=1, pad=1), + conv1_2=L.Convolution2D(64, 64, 3, stride=1, pad=1), + + conv2_1=L.Convolution2D(64, 128, 3, stride=1, pad=1), + conv2_2=L.Convolution2D(128, 128, 3, stride=1, pad=1), + + conv3_1=L.Convolution2D(128, 256, 3, stride=1, pad=1), + conv3_2=L.Convolution2D(256, 256, 3, stride=1, pad=1), + conv3_3=L.Convolution2D(256, 256, 3, stride=1, pad=1), + + conv4_1=L.Convolution2D(256, 512, 3, stride=1, pad=1), + conv4_2=L.Convolution2D(512, 512, 3, stride=1, pad=1), + conv4_3=L.Convolution2D(512, 512, 3, stride=1, pad=1), + + conv5_1=L.Convolution2D(512, 512, 3, stride=1, pad=1), + conv5_2=L.Convolution2D(512, 512, 3, stride=1, pad=1), + conv5_3=L.Convolution2D(512, 512, 3, stride=1, pad=1), + + fc6=L.Linear(25088, 4096), + fc7=L.Linear(4096, 4096), + cls_score=L.Linear(4096, 21), + bbox_pred=L.Linear(4096, 84) + ) + + def __call__(self, x, rois): + h = F.relu(self.conv1_1(x)) + h = F.relu(self.conv1_2(h)) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.conv2_1(h)) + h = F.relu(self.conv2_2(h)) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.conv3_1(h)) + h = F.relu(self.conv3_2(h)) + h = F.relu(self.conv3_3(h)) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.conv4_1(h)) + h = F.relu(self.conv4_2(h)) + h = F.relu(self.conv4_3(h)) + h = F.max_pooling_2d(h, 2, stride=2) + + h = F.relu(self.conv5_1(h)) + h = F.relu(self.conv5_2(h)) + h = F.relu(self.conv5_3(h)) + h = F.roi_pooling_2d(h, rois, 7, 7, spatial_scale=0.0625) + + h = F.dropout(F.relu(self.fc6(h)), ratio=0.5) + h = F.dropout(F.relu(self.fc7(h)), ratio=0.5) + cls_score = F.softmax(self.cls_score(h)) + bbox_pred = self.bbox_pred(h) + + return cls_score, bbox_pred diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg_cnn_m_1024.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg_cnn_m_1024.py new file mode 100755 index 0000000..74b127e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/chainermodels/vgg_cnn_m_1024.py @@ -0,0 +1,71 @@ +import chainer +from chainer import cuda +import chainer.functions as F +import chainer.links as L +from chainer import Variable +from distutils.version import LooseVersion + + +class VGG_CNN_M_1024(chainer.Chain): + + def __init__(self, n_class=21, bg_label=-1): + super(VGG_CNN_M_1024, self).__init__( + conv1=L.Convolution2D(3, 96, ksize=7, stride=2), + conv2=L.Convolution2D(96, 256, ksize=5, stride=2, pad=1), + conv3=L.Convolution2D(256, 512, ksize=3, stride=1, pad=1), + conv4=L.Convolution2D(512, 512, ksize=3, stride=1, pad=1), + conv5=L.Convolution2D(512, 512, ksize=3, stride=1, pad=1), + fc6=L.Linear(18432, 4096), + fc7=L.Linear(4096, 1024), + cls_score=L.Linear(1024, n_class), + bbox_pred=L.Linear(1024, 4 * n_class) + ) + self.n_class = n_class + self.bg_label = bg_label + + def __call__(self, x, rois, t=None): + h = self.conv1(x) + h = F.relu(h) + h = F.local_response_normalization(h, n=5, k=2, alpha=5e-4, beta=.75) + h = F.max_pooling_2d(h, ksize=3, stride=2) + + h = self.conv2(h) + h = F.relu(h) + h = F.local_response_normalization(h, n=5, k=2, alpha=5e-4, beta=.75) + h = F.max_pooling_2d(h, ksize=3, stride=2) + + h = self.conv3(h) + h = F.relu(h) + + h = self.conv4(h) + h = F.relu(h) + + h = self.conv5(h) + h = F.relu(h) + + h = F.roi_pooling_2d(h, rois, 6, 6, spatial_scale=0.0625) + + h = self.fc6(h) + h = F.relu(h) + h = F.dropout(h, ratio=.5) + + h = self.fc7(h) + h = F.relu(h) + h = F.dropout(h, ratio=.5) + + h_cls_score = self.cls_score(h) + cls_score = F.softmax(h_cls_score) + bbox_pred = self.bbox_pred(h) + + if t is None: + assert not chainer.config.train + return cls_score, bbox_pred + + t_cls, t_bbox = t + self.cls_loss = F.softmax_cross_entropy(h_cls_score, t_cls) + self.bbox_loss = F.smooth_l1_loss(bbox_pred, t_bbox) + + xp = cuda.get_array_module(x.data) + lambda_ = (0.5 * (t_cls.data != self.bg_label)).astype(xp.float32) + L = self.cls_loss + F.sum(lambda_ * self.bbox_loss) + return L diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/color.pyx b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/color.pyx new file mode 100755 index 0000000..0e6b493 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/color.pyx @@ -0,0 +1,31 @@ +import numpy as np +cimport numpy as np + + +def bitget(int byteval, int idx): + return ((byteval & (1 << idx)) != 0) + + +def labelcolormap(int N=256): + """Color map (RGB) considering label numbers N. + + Args: + N (``int``): Number of labels. + """ + cdef np.ndarray[np.float32_t, ndim=2] cmap = np.zeros((N, 3), + dtype=np.float32) + cdef int i, j + cdef int id + cdef int r, g, b + for i in range(0, N): + id = i + r, g, b = 0, 0, 0 + for j in range(0, 8): + r = np.bitwise_or(r, (bitget(id, 0) << 7-j)) + g = np.bitwise_or(g, (bitget(id, 1) << 7-j)) + b = np.bitwise_or(b, (bitget(id, 2) << 7-j)) + id = (id >> 3) + cmap[i, 0] = r / 255. + cmap[i, 1] = g / 255. + cmap[i, 2] = b / 255. + return cmap diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/conversations.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/conversations.py new file mode 100755 index 0000000..e77a39b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/conversations.py @@ -0,0 +1,28 @@ +import numpy as np + + +def rects_msg_to_ndarray(rects_msg): + rects = np.zeros((len(rects_msg.rects), 4), dtype=np.float32) + for i, r in enumerate(rects_msg.rects): + xmin = r.x + ymin = r.y + xmax = r.x + r.width + ymax = r.y + r.height + rects[i] = [xmin, ymin, xmax, ymax] + return rects + + +def bounding_box_msg_to_aabb(bbox_msg): + center_x = bbox_msg.pose.position.x + center_y = bbox_msg.pose.position.y + center_z = bbox_msg.pose.position.z + dim_x = bbox_msg.dimensions.x + dim_y = bbox_msg.dimensions.y + dim_z = bbox_msg.dimensions.z + x1 = center_x - dim_x / 2. + x2 = center_x + dim_x / 2. + y1 = center_y - dim_y / 2. + y2 = center_y + dim_y / 2. + z1 = center_z - dim_z / 2. + z2 = center_z + dim_z / 2. + return x1, y1, z1, x2, y2, z2 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/__init__.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/__init__.py new file mode 100755 index 0000000..dfbd519 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/__init__.py @@ -0,0 +1,11 @@ +from jsk_recognition_utils.datasets import depth_prediction +from jsk_recognition_utils.datasets import detection +from jsk_recognition_utils.datasets import bbox_detection +from jsk_recognition_utils.datasets import segmentation + + +DepthPredictionDataset = depth_prediction.DepthPredictionDataset +DetectionDataset = detection.DetectionDataset +BboxDetectionDataset = bbox_detection.BboxDetectionDataset +InstanceSegmentationDataset = segmentation.InstanceSegmentationDataset +SemanticSegmentationDataset = segmentation.SemanticSegmentationDataset diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/bbox_detection.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/bbox_detection.py new file mode 100755 index 0000000..ef1285f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/bbox_detection.py @@ -0,0 +1,68 @@ +from __future__ import print_function + +import os +import os.path as osp + +from chainercv.chainer_experimental.datasets.sliceable import GetterDataset +import cv2 +import numpy as np + +import xml.etree.ElementTree as ET + +class BboxDetectionDataset(GetterDataset): + + def __init__(self, root_dir): + super(BboxDetectionDataset, self).__init__() + self.root_dir = root_dir + + class_names_path = osp.join(root_dir, 'class_names.txt') + with open(class_names_path, 'r') as f: + class_names = f.readlines() + self.class_names = [name.rstrip() for name in class_names] + self.fg_class_names = np.array(self.class_names[1:]) + + self._imgs = [] + self._annotations = [] + + imgs_dir = osp.join(root_dir, 'JPEGImages') + annotation_dir = osp.join(root_dir, 'Annotations') + + for img_ in sorted(os.listdir(imgs_dir)): + img_path = osp.join(imgs_dir, img_) + basename = img_.rstrip('.jpg') + annotation_path = osp.join(annotation_dir, basename + '.xml') + self._imgs.append(img_path) + self._annotations.append(annotation_path) + + self.add_getter(('img', 'bbox', 'label'), self._get_example) + + def __len__(self): + return len(self._imgs) + + def _get_example(self, i): + img_path = self._imgs[i] + annotation_path = self._annotations[i] + + img = cv2.imread(img_path) + assert img.dtype == np.uint8 + assert img.ndim == 3 + + label = [] + bbox = [] + + tree = ET.parse(annotation_path) + root = tree.getroot() + + for obj in root.findall("object"): + label.append(np.where(self.fg_class_names == obj.find("name").text)[0][0]) + bbox.append([obj.find("bndbox").find("ymin").text, + obj.find("bndbox").find("xmin").text, + obj.find("bndbox").find("ymax").text, + obj.find("bndbox").find("xmax").text]) + + label = np.array(label, dtype=np.int32) + bbox = np.array(bbox, dtype=np.float32) + + img = img[:, :, ::-1] + img = img.transpose((2, 0, 1)) + return img, bbox, label ## this is input diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/depth_prediction.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/depth_prediction.py new file mode 100755 index 0000000..eea1ed6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/depth_prediction.py @@ -0,0 +1,186 @@ +from __future__ import division + +import os +import os.path as osp + +import chainer +import cv2 +import numpy as np +import PIL.Image +import skimage.io + + +class DepthPredictionDataset(chainer.dataset.DatasetMixin): + + class_names = np.array([ + '_background_', + 'mirror', + ], dtype=np.str) + class_names.setflags(write=0) + + _files = set([ + 'depth.npz', + 'depth_gt.npz', + 'image.png', + 'label.png' + ]) + + mean_bgr = np.array([104.00698793, 116.66876762, 122.67891434]) + min_value = 0.5 + max_value = 5.0 + + def __init__(self, root_dir, split, aug=False): + self.root_dir = root_dir + assert split in ['train', 'test'] + self.split = split + self.aug = aug + + self._files_dirs = [] + self._scenes = [] + for date_dir in sorted(os.listdir(self.root_dir)): + date_dir = osp.join(self.root_dir, date_dir) + split_dir = osp.join(date_dir, split) + for files_dir in sorted(os.listdir(split_dir)): + files_dir = osp.join(split_dir, files_dir) + files = set(os.listdir(files_dir)) + assert self._files.issubset(files), ( + 'In {}: File set does not match.\n' + 'Expected: {}\nActual: {}' + .format(files_dir, self._files, files)) + self._files_dirs.append(files_dir) + + def __len__(self): + return len(self._files_dirs) + + def get_example(self, i): + return self._get_example(self._files_dirs[i], i) + + def _get_example(self, files_dir, idx): + image_file = osp.join(files_dir, 'image.png') + image = skimage.io.imread(image_file) + assert image.dtype == np.uint8 + assert image.ndim == 3 + + depth_file = osp.join(files_dir, 'depth.npz') + depth = np.load(depth_file)['arr_0'] + depth[depth == 0] = np.nan + if depth.dtype == np.uint16: + depth = depth.astype(np.float32) + depth /= 1000 + depth_keep = ~np.isnan(depth) + depth[depth_keep] = np.maximum(depth[depth_keep], self.min_value) + depth[depth_keep] = np.minimum(depth[depth_keep], self.max_value) + assert depth.dtype == np.float32 + assert depth.ndim == 2 + + label_file = osp.join(files_dir, 'label.png') + with open(label_file, 'r') as f: + label = np.asarray(PIL.Image.open(f)).astype(np.int32) + assert label.dtype == np.int32 + assert label.ndim == 2 + + depth_gt_file = osp.join(files_dir, 'depth_gt.npz') + depth_gt = np.load(depth_gt_file)['arr_0'] + depth_gt[depth_gt == 0] = np.nan + if depth_gt.dtype == np.uint16: + depth_gt = depth_gt.astype(np.float32) + depth /= 1000 + depth_gt_keep = ~np.isnan(depth_gt) + depth_gt[depth_gt_keep] = np.maximum( + depth_gt[depth_gt_keep], self.min_value) + depth_gt[depth_gt_keep] = np.minimum( + depth_gt[depth_gt_keep], self.max_value) + assert depth_gt.dtype == np.float32 + assert depth_gt.ndim == 2 + + # Data augmentation + if self.aug: + # 1. Color augmentation + np.random.seed() + proba_color = 0.3 + # 1-1. Add [-50, 50) to R, G, B channel each + if np.random.uniform() < proba_color: + image = image.astype(np.float64) + image[:, :, 0] += np.random.uniform() * 100 - 50 + image[:, :, 1] += np.random.uniform() * 100 - 50 + image[:, :, 2] += np.random.uniform() * 100 - 50 + image = np.clip(image, 0, 255) + image = image.astype(np.uint8) + # 1-2. Multiply [0.5, 2) for S, V channel each + if np.random.uniform() < proba_color: + image = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) + image = image.astype(np.float64) + image[:, :, 1] *= np.random.uniform() * 1.5 + 0.5 + image[:, :, 2] *= np.random.uniform() * 1.5 + 0.5 + image = np.clip(image, 0, 255) + image = image.astype(np.uint8) + image = cv2.cvtColor(image, cv2.COLOR_HSV2BGR) + # 1-3. Gaussian blur + if np.random.uniform() < proba_color: + image = cv2.GaussianBlur(image, (5, 5), np.random.uniform()) + # 1-4. Add gaussian noise + if np.random.uniform() < proba_color: + image = image.astype(np.float64) + h = image.shape[0] + w = image.shape[1] + image[:, :, 0] += np.random.normal( + 0, np.random.uniform() * 0.1 * 255, (h, w)) + image[:, :, 1] += np.random.normal( + 0, np.random.uniform() * 0.1 * 255, (h, w)) + image[:, :, 2] += np.random.normal( + 0, np.random.uniform() * 0.1 * 255, (h, w)) + image = np.clip(image, 0, 255) + image = image.astype(np.uint8) + + # 2. Depth noise + if np.random.uniform() < 0.3: + noise_rate = np.random.uniform() * 0.25 + 0.05 + depth[ + np.random.rand(depth.shape[0], depth.shape[1]) < noise_rate + ] = np.nan + + # 3. Geometric augmentation + if np.random.uniform() < 0.5: + image = np.fliplr(image) + depth = np.fliplr(depth) + label = np.fliplr(label) + depth_gt = np.fliplr(depth_gt) + if np.random.uniform() < 0.5: + image = np.flipud(image) + depth = np.flipud(depth) + label = np.flipud(label) + depth_gt = np.flipud(depth_gt) + if np.random.uniform() < 0.5: + angle = (np.random.uniform() * 180) - 90 + image = self.rotate_image(image, angle, cv2.INTER_LINEAR) + depth = self.rotate_depth_image(depth, angle, cv2.INTER_LINEAR) + label = self.rotate_image(label, angle, cv2.INTER_NEAREST) + depth_gt = self.rotate_depth_image( + depth_gt, angle, cv2.INTER_LINEAR) + + return image, depth, label, depth_gt, idx + + def rotate_image(self, in_img, angle, flags=cv2.INTER_LINEAR): + rot_mat = cv2.getRotationMatrix2D( + center=(in_img.shape[1] / 2, in_img.shape[0] / 2), + angle=angle, scale=1) + rot_img = cv2.warpAffine( + src=in_img, M=rot_mat, + dsize=(in_img.shape[1], in_img.shape[0]), flags=flags) + return rot_img + + def rotate_depth_image(self, in_img, angle, flags=cv2.INTER_LINEAR): + rot_mat = cv2.getRotationMatrix2D( + center=(in_img.shape[1] / 2, in_img.shape[0] / 2), + angle=angle, scale=1) + ones = np.ones(in_img.shape, dtype=np.int32) + rot_keep = cv2.warpAffine( + src=ones, M=rot_mat, + dsize=(in_img.shape[1], in_img.shape[0]), + flags=cv2.INTER_NEAREST) + rot_keep = rot_keep.astype(np.bool) + rot_img = cv2.warpAffine( + src=in_img, M=rot_mat, + dsize=(in_img.shape[1], in_img.shape[0]), flags=flags) + rot_img[rot_keep == False] = np.nan # NOQA + return rot_img diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/detection.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/detection.py new file mode 100755 index 0000000..04541f9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/detection.py @@ -0,0 +1,82 @@ +from __future__ import print_function + +import os +import os.path as osp + +from chainercv.chainer_experimental.datasets.sliceable import GetterDataset +import cv2 +import numpy as np + + +class DetectionDataset(GetterDataset): + + def __init__(self, root_dir): + super(DetectionDataset, self).__init__() + self.root_dir = root_dir + + class_names_path = osp.join(root_dir, 'class_names.txt') + with open(class_names_path, 'r') as f: + class_names = f.readlines() + self.class_names = [name.rstrip() for name in class_names] + self.fg_class_names = self.class_names[1:] + + self._imgs = [] + self._class_labels = [] + self._instance_labels = [] + imgs_dir = osp.join(root_dir, 'JPEGImages') + class_labels_dir = osp.join(root_dir, 'SegmentationClass') + instance_labels_dir = osp.join(root_dir, 'SegmentationObject') + for img_ in sorted(os.listdir(imgs_dir)): + img_path = osp.join(imgs_dir, img_) + basename = img_.rstrip('.jpg') + class_label_path = osp.join( + class_labels_dir, basename + '.npy') + instance_label_path = osp.join( + instance_labels_dir, basename + '.npy') + self._imgs.append(img_path) + self._class_labels.append(class_label_path) + self._instance_labels.append(instance_label_path) + self.add_getter(('img', 'bbox', 'label'), self._get_example) + + def __len__(self): + return len(self._imgs) + + def _get_example(self, i): + img_path = self._imgs[i] + class_label_path = self._class_labels[i] + instance_label_path = self._instance_labels[i] + + img = cv2.imread(img_path) + assert img.dtype == np.uint8 + assert img.ndim == 3 + + class_label = np.load(class_label_path) + assert class_label.dtype == np.int32 + assert class_label.ndim == 2 + + instance_label = np.load(instance_label_path) + assert instance_label.dtype == np.int32 + assert instance_label.ndim == 2 + + assert img.shape[:2] == class_label.shape == instance_label.shape + + # instance id 0 is '_background_' and should be ignored. + R = np.max(instance_label) + label = np.zeros((R, ), dtype=np.int32) + bbox = np.zeros((R, 4), dtype=np.float32) + for inst_lbl in range(R): + if inst_lbl == 0: + continue + inst_mask = instance_label == inst_lbl + cls_lbl = np.argmax(np.bincount(class_label[inst_mask])) + label[inst_lbl] = cls_lbl - 1 + yind, xind = np.where(inst_mask) + ymin = yind.min() + ymax = yind.max() + 1 + xmin = xind.min() + xmax = xind.max() + 1 + bbox[inst_lbl] = np.array( + [ymin, xmin, ymax, xmax], dtype=np.float32) + img = img[:, :, ::-1] + img = img.transpose((2, 0, 1)) + return img, bbox, label diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/segmentation.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/segmentation.py new file mode 100755 index 0000000..97a7020 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/datasets/segmentation.py @@ -0,0 +1,115 @@ +from __future__ import print_function + +import os +import os.path as osp + +import chainer +try: + import chainer_mask_rcnn as cmr +except ImportError: + print('chainer_mask_rcnn cannot be imported.') +import cv2 +import numpy as np + + +class SemanticSegmentationDataset(chainer.dataset.DatasetMixin): + + def __init__(self, root_dir): + self.root_dir = root_dir + + class_names_path = osp.join(root_dir, 'class_names.txt') + with open(class_names_path, 'r') as f: + class_names = f.readlines() + self.class_names = [name.rstrip() for name in class_names] + + self._images = [] + self._labels = [] + images_dir = osp.join(root_dir, 'JPEGImages') + labels_dir = osp.join(root_dir, 'SegmentationClass') + for image_ in sorted(os.listdir(images_dir)): + image_path = osp.join(images_dir, image_) + basename = image_.rstrip('.jpg') + label_path = osp.join(labels_dir, basename + '.npy') + self._images.append(image_path) + self._labels.append(label_path) + + def __len__(self): + return len(self._images) + + def get_example(self, i): + image_path = self._images[i] + label_path = self._labels[i] + + image = cv2.imread(image_path) + assert image.dtype == np.uint8 + assert image.ndim == 3 + + label = np.load(label_path) + assert label.dtype == np.int32 + assert label.ndim == 2 + + return image, label + + +class InstanceSegmentationDataset(chainer.dataset.DatasetMixin): + + def __init__(self, root_dir): + self.root_dir = root_dir + + class_names_path = osp.join(root_dir, 'class_names.txt') + with open(class_names_path, 'r') as f: + class_names = f.readlines() + # instance id 0 is '_background_' and should be ignored. + self.fg_class_names = [name.rstrip() for name in class_names][1:] + + self._images = [] + self._class_labels = [] + self._instance_labels = [] + images_dir = osp.join(root_dir, 'JPEGImages') + class_labels_dir = osp.join(root_dir, 'SegmentationClass') + instance_labels_dir = osp.join(root_dir, 'SegmentationObject') + for image_ in sorted(os.listdir(images_dir)): + image_path = osp.join(images_dir, image_) + basename = image_.rstrip('.jpg') + class_label_path = osp.join( + class_labels_dir, basename + '.npy') + instance_label_path = osp.join( + instance_labels_dir, basename + '.npy') + self._images.append(image_path) + self._class_labels.append(class_label_path) + self._instance_labels.append(instance_label_path) + + def __len__(self): + return len(self._images) + + def get_example(self, i): + image_path = self._images[i] + class_label_path = self._class_labels[i] + instance_label_path = self._instance_labels[i] + + image = cv2.imread(image_path) + assert image.dtype == np.uint8 + assert image.ndim == 3 + + class_label = np.load(class_label_path) + assert class_label.dtype == np.int32 + assert class_label.ndim == 2 + + instance_label = np.load(instance_label_path) + # instance id 0 is '_background_' and should be ignored. + instance_label[instance_label == 0] = -1 + assert instance_label.dtype == np.int32 + assert instance_label.ndim == 2 + + assert image.shape[:2] == class_label.shape == instance_label.shape + + labels, bboxes, masks = cmr.utils.label2instance_boxes( + label_instance=instance_label, label_class=class_label, + return_masks=True, + ) + masks = masks.astype(np.int32, copy=False) + labels = labels.astype(np.int32, copy=False) + labels -= 1 # background: 0 -> -1 + bboxes = bboxes.astype(np.float32, copy=False) + + return image, bboxes, labels, masks diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/depth.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/depth.py new file mode 100755 index 0000000..f7769b1 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/depth.py @@ -0,0 +1,22 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import numpy as np +from skimage.segmentation import slic +from skimage.feature import peak_local_max +from skimage.morphology import binary_closing + +from jsk_recognition_utils.mask import descent_closing + + +def split_fore_background(depth_img, footprint=None): + if footprint is None: + footprint = np.ones((3, 3)) + segments = slic(depth_img) + + local_maxi = peak_local_max( + depth_img, labels=segments, footprint=footprint, indices=False) + + fg_mask = descent_closing(local_maxi, init_selem=np.ones((3, 3)), n_times=6) + bg_mask = ~fg_mask + return fg_mask, bg_mask diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/feature.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/feature.py new file mode 100755 index 0000000..a76be71 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/feature.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import numpy as np +from sklearn.cluster import MiniBatchKMeans +from sklearn.neighbors import NearestNeighbors + + +class BagOfFeatures(object): + def __init__(self, hist_size=500): + self.nn = None + self.hist_size = hist_size + + def fit(self, X): + """Fit features and extract bag of features""" + k = self.hist_size + km = MiniBatchKMeans(n_clusters=k, init_size=3*k, max_iter=300) + km.fit(X) + nn = NearestNeighbors(n_neighbors=1) + nn.fit(km.cluster_centers_) + self.nn = nn + + def transform(self, X): + return np.vstack([self.make_hist(xi.reshape((-1, 128))) for xi in X]) + + def make_hist(self, descriptors): + """Make histogram for one image""" + nn = self.nn + if nn is None: + raise ValueError('must fit features before making histogram') + indices = nn.kneighbors(descriptors, return_distance=False) + histogram = np.zeros(self.hist_size) + for idx in np.unique(indices): + mask = indices == idx + histogram[idx] = mask.sum() # count the idx + indices = indices[mask == False] + return histogram + + +def decompose_descriptors_with_label(descriptors, positions, label_img, + skip_zero_label=False): + descriptors = descriptors.reshape((-1, 128)) + positions = positions.reshape((-1, 2)) + assert descriptors.shape[0] == positions.shape[0] + + decomposed = {} + positions = np.round(positions).astype(int) + labels = label_img[positions[:, 1], positions[:, 0]] + for label in np.unique(labels): + if skip_zero_label and (label == 0): + continue + decomposed[label] = descriptors[labels == label].reshape(-1) + + return decomposed diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/geometry.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/geometry.py new file mode 100755 index 0000000..cc4c142 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/geometry.py @@ -0,0 +1,28 @@ +def get_overlap_of_aabb(box1, box2, return_volumes=False): + x11, y11, z11, x12, y12, z12 = box1 + dim_x1 = x12 - x11 + dim_y1 = y12 - y11 + dim_z1 = z12 - z11 + + x21, y21, z21, x22, y22, z22 = box2 + dim_x2 = x22 - x21 + dim_y2 = y22 - y21 + dim_z2 = z22 - z21 + + if ((x11 <= x22 and x12 >= x21) and + (y11 <= y22 and y12 >= y21) and + (z11 <= z22 and z12 >= z21)): + # has intersect + dim_x3 = min(x12, x22) - max(x11, x21) + dim_y3 = min(y12, y22) - max(y11, y21) + dim_z3 = min(z12, z22) - max(z11, z21) + else: + dim_x3 = dim_y3 = dim_z3 = 0 + + intersect = dim_x3 * dim_y3 * dim_z3 + union = (dim_x1 * dim_y1 * dim_z1) + (dim_x2 * dim_y2 * dim_z2) - intersect + iu = 1. * intersect / union + if return_volumes: + return iu, intersect, union + else: + return iu diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/mask.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/mask.py new file mode 100755 index 0000000..86f11d5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/mask.py @@ -0,0 +1,19 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import numpy as np +from skimage.morphology import binary_closing + + +def bounding_rect_of_mask(img, mask): + where = np.argwhere(mask) + (y_start, x_start), (y_stop, x_stop) = where.min(0), where.max(0) + 1 + return img[y_start:y_stop, x_start:x_stop] + + +def descent_closing(mask, init_selem, n_times): + S = init_selem.shape + for i in xrange(n_times): + selem = np.ones((S[0] * (n_times - i), S[1] * (n_times - i))) + mask = binary_closing(mask, selem=selem) + return mask diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/nms.pyx b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/nms.pyx new file mode 100755 index 0000000..a6c9923 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/nms.pyx @@ -0,0 +1,76 @@ +# Original work: +# -------------------------------------------------------- +# Fast R-CNN +# Copyright (c) 2015 Microsoft +# Licensed under The MIT License [see LICENSE for details] +# Written by Ross Girshick +# https://github.com/rbgirshick/fast-rcnn +# -------------------------------------------------------- + +# Modified work: +# -------------------------------------------------------- +# Copyright (c) 2016 JSK Lab. +# -------------------------------------------------------- + +import numpy as np +cimport numpy as np + +cdef inline np.float32_t max(np.float32_t a, np.float32_t b): + return a if a >= b else b + +cdef inline np.float32_t min(np.float32_t a, np.float32_t b): + return a if a <= b else b + +def nms(np.ndarray[np.float32_t, ndim=2] dets, np.float thresh): + """Non-maximum supression (NMS) baseline.""" + cdef np.ndarray[np.float32_t, ndim=1] x1 = dets[:, 0] + cdef np.ndarray[np.float32_t, ndim=1] y1 = dets[:, 1] + cdef np.ndarray[np.float32_t, ndim=1] x2 = dets[:, 2] + cdef np.ndarray[np.float32_t, ndim=1] y2 = dets[:, 3] + cdef np.ndarray[np.float32_t, ndim=1] scores = dets[:, 4] + + cdef np.ndarray[np.float32_t, ndim=1] areas = (x2 - x1 + 1) * (y2 - y1 + 1) + cdef np.ndarray[np.int_t, ndim=1] order = scores.argsort()[::-1] + + cdef int ndets = dets.shape[0] + cdef np.ndarray[np.int_t, ndim=1] suppressed = \ + np.zeros((ndets), dtype=np.int) + + # nominal indices + cdef int _i, _j + # sorted indices + cdef int i, j + # temp variables for box i's (the box currently under consideration) + cdef np.float32_t ix1, iy1, ix2, iy2, iarea + # variables for computing overlap with box j (lower scoring box) + cdef np.float32_t xx1, yy1, xx2, yy2 + cdef np.float32_t w, h + cdef np.float32_t inter, ovr + + keep = [] + for _i in range(ndets): + i = order[_i] + if suppressed[i] == 1: + continue + keep.append(i) + ix1 = x1[i] + iy1 = y1[i] + ix2 = x2[i] + iy2 = y2[i] + iarea = areas[i] + for _j in range(_i + 1, ndets): + j = order[_j] + if suppressed[j] == 1: + continue + xx1 = max(ix1, x1[j]) + yy1 = max(iy1, y1[j]) + xx2 = min(ix2, x2[j]) + yy2 = min(iy2, y2[j]) + w = max(0.0, xx2 - xx1 + 1) + h = max(0.0, yy2 - yy1 + 1) + inter = w * h + ovr = inter / (iarea + areas[j] - inter) + if ovr >= thresh: + suppressed[j] = 1 + + return keep diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/visualize.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/visualize.py new file mode 100755 index 0000000..9a3df66 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/python/jsk_recognition_utils/visualize.py @@ -0,0 +1,114 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +from __future__ import division +import math + +import cv2 +import numpy as np +import PIL + + +def centerize(src, dst_shape, margin_color=None): + """Centerize image for specified image size + + @param src: image to centerize + @param dst_shape: image shape (height, width) or (height, width, channel) + """ + if src.shape[:2] == dst_shape[:2]: + return src + centerized = np.zeros(dst_shape, dtype=src.dtype) + if margin_color is not None: + centerized[:, :] = margin_color + pad_vertical, pad_horizontal = 0, 0 + h, w = src.shape[:2] + dst_h, dst_w = dst_shape[:2] + if h < dst_h: + pad_vertical = (dst_h - h) // 2 + if w < dst_w: + pad_horizontal = (dst_w - w) // 2 + centerized[pad_vertical:pad_vertical+h, + pad_horizontal:pad_horizontal+w] = src + return centerized + +def _tile_images(imgs, tile_shape, concatenated_image, margin_color=None): + """Concatenate images whose sizes are same. + + @param imgs: image list which should be concatenated + @param tile_shape: shape for which images should be concatenated + @param concatenated_image: returned image. if it is None, new image will be created. + """ + x_num, y_num = tile_shape + one_width = imgs[0].shape[1] + one_height = imgs[0].shape[0] + if concatenated_image is None: + concatenated_image = np.zeros((one_height * y_num, one_width * x_num, 3), + dtype=np.uint8) + if margin_color is not None: + concatenated_image[:, :] = margin_color + for y in range(y_num): + for x in range(x_num): + i = x + y * x_num + if i >= len(imgs): + pass + else: + concatenated_image[y*one_height:(y+1)*one_height,x*one_width:(x+1)*one_width,] = imgs[i] + return concatenated_image + + +def get_tile_image(imgs, tile_shape=None, result_img=None, margin_color=None): + """Concatenate images whose sizes are different. + + @param imgs: image list which should be concatenated + @param tile_shape: shape for which images should be concatenated + @param result_img: numpy array to put result image + """ + def get_tile_shape(img_num): + x_num = 0 + y_num = int(math.sqrt(img_num)) + while x_num * y_num < img_num: + x_num += 1 + return x_num, y_num + + if tile_shape is None: + tile_shape = get_tile_shape(len(imgs)) + + # get max tile size to which each image should be resized + max_height, max_width = np.inf, np.inf + for img in imgs: + max_height = min([max_height, img.shape[0]]) + max_width = min([max_width, img.shape[1]]) + + # resize and concatenate images + for i, img in enumerate(imgs): + h, w = img.shape[:2] + h_scale, w_scale = max_height / h, max_width / w + scale = min([h_scale, w_scale]) + h, w = int(scale * h), int(scale * w) + img = cv2.resize(img, (w, h)) + img = centerize(img, (max_height, max_width, 3), + margin_color=margin_color) + imgs[i] = img + return _tile_images(imgs, tile_shape, result_img, + margin_color=margin_color) + + +def colorize_cluster_indices(image, cluster_indices, alpha=0.3, image_alpha=1): + from skimage.color import rgb2gray + from skimage.color import gray2rgb + from skimage.util import img_as_float + from skimage.color.colorlabel import DEFAULT_COLORS + from skimage.color.colorlabel import color_dict + image = img_as_float(rgb2gray(image)) + image = gray2rgb(image) * image_alpha + (1 - image_alpha) + height, width = image.shape[:2] + + n_colors = len(DEFAULT_COLORS) + indices_to_color = np.zeros((height * width, 3)) + for i, indices in enumerate(cluster_indices): + color = color_dict[DEFAULT_COLORS[i % n_colors]] + indices_to_color[indices] = color + indices_to_color = indices_to_color.reshape((height, width, 3)) + result = indices_to_color * alpha + image * (1 - alpha) + result = (result * 255).astype(np.uint8) + return result diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_bounding_box_array_publisher.rviz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_bounding_box_array_publisher.rviz new file mode 100755 index 0000000..c1b1207 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_bounding_box_array_publisher.rviz @@ -0,0 +1,122 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /BoundingBoxArray1 + Splitter Ratio: 0.544444 + Tree Height: 566 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: jsk_rviz_plugin/BoundingBoxArray + Enabled: true + Name: BoundingBoxArray + Topic: /bounding_box_array_publisher/output + Unreliable: false + Value: true + alpha: 0.8 + color: 25; 255; 0 + coloring: Auto + line width: 0.005 + only edge: false + show coords: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.09505 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.436994 + Y: 0.0773152 + Z: 0.912857 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.390398 + Target Frame: + Value: Orbit (rviz) + Yaw: 6.03358 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 30 + Y: 30 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_polygon_array_publisher.rviz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_polygon_array_publisher.rviz new file mode 100755 index 0000000..44a724a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_polygon_array_publisher.rviz @@ -0,0 +1,122 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 833 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: true + Name: PolygonArray + Topic: /polygon_array_publisher/output + Unreliable: false + Value: true + coloring: Auto + enable lighting: true + normal length: 0.1 + only border: false + show normal: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 3.47865 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.940172 + Y: 0.0921254 + Z: 0.545866 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.425399 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.94041 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_polygon_array_to_polygon.rviz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_polygon_array_to_polygon.rviz new file mode 100755 index 0000000..d79e92d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_polygon_array_to_polygon.rviz @@ -0,0 +1,130 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 853 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: false + Name: PolygonArray + Topic: /polygon_array_publisher/output + Unreliable: false + Value: false + coloring: Auto + enable lighting: true + normal length: 0.1 + only border: true + show normal: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: /polygon_array_to_polygon/output + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.78501 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.02063 + Y: -0.0130421 + Z: 0.42772 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.600397 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.8854 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_pose_array_to_pose.rviz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_pose_array_to_pose.rviz new file mode 100755 index 0000000..5f88cf5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_pose_array_to_pose.rviz @@ -0,0 +1,135 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Arrow Length: 1 + Axes Length: 0.7 + Axes Radius: 0.05 + Class: jsk_rviz_plugin/PoseArray + Color: 255; 25; 0 + Enabled: false + Name: PoseArray + Shape: Axes + Topic: /pose_array_publisher/output + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 0.7 + Axes Radius: 0.05 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.3 + Head Radius: 0.1 + Name: Pose + Shaft Length: 0.7 + Shaft Radius: 0.04 + Shape: Axes + Topic: /pose_array_to_pose/output + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 3.9699 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.615398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.9004 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_rect_array_to_polygon_array.rviz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_rect_array_to_polygon_array.rviz new file mode 100755 index 0000000..a2f24e7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_rect_array_to_polygon_array.rviz @@ -0,0 +1,122 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 100 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: true + Name: PolygonArray + Topic: /rect_array_to_polygon_array/output + Unreliable: false + Value: true + coloring: Auto + enable lighting: true + normal length: 0.1 + only border: false + show normal: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 387.638 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 125.885 + Y: 88.8908 + Z: -102.33 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.930398 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.2454 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_ssd_to_bounding_box.rviz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_ssd_to_bounding_box.rviz new file mode 100755 index 0000000..46305a2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_ssd_to_bounding_box.rviz @@ -0,0 +1,198 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 1843 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /kinect_head/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: jsk_rviz_plugin/BoundingBoxArray + Enabled: true + Name: BoundingBoxArray + Topic: /segmentation_decomposer/boxes + Unreliable: false + Value: true + alpha: 0.800000012 + color: 25; 255; 0 + coloring: Auto + line width: 0.00999999978 + only edge: true + show coords: false + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: true + Name: PolygonArray + Topic: /multi_plane_estimate/output_refined_polygon + Unreliable: false + Value: true + coloring: Auto + enable lighting: true + normal length: 0.100000001 + only border: true + show normal: true + - Class: rviz/Image + Enabled: true + Image Topic: /edgetpu_object_detector/output/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: SSD output + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /image_cpi_decomposer/output + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: CPI decomposer output + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.55238807 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.576182783 + Y: 0.275493324 + Z: 0.967731237 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.495398104 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.86040568 + Saved: ~ +Window Geometry: + CPI decomposer output: + collapsed: false + Displays: + collapsed: false + Height: 2124 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a000007c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000007c2000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000423000007c2fc0200000006fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb000000140053005300440020006f007500740070007500740100000028000003e20000001600fffffffb0000002a0043005000490020006400650063006f006d0070006f0073006500720020006f007500740070007500740100000410000003da0000001600fffffffb0000000a00560069006500770073000000039600000454000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb0000000a0049006d00610067006501000007d40000001600000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e9e0000003efc0100000002fb0000000800540069006d0065010000000000000e9e0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000905000007c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + SSD output: + collapsed: false + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3742 + X: 98 + Y: 36 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_ssd_to_bounding_box_73b2_kitchen.rviz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_ssd_to_bounding_box_73b2_kitchen.rviz new file mode 100755 index 0000000..35a2fa5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/config/sample_ssd_to_bounding_box_73b2_kitchen.rviz @@ -0,0 +1,198 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 1843 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /kinect_head/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: jsk_rviz_plugin/BoundingBoxArray + Enabled: true + Name: BoundingBoxArray + Topic: /segmentation_decomposer/boxes + Unreliable: false + Value: true + alpha: 0.800000012 + color: 25; 255; 0 + coloring: Auto + line width: 0.00999999978 + only edge: true + show coords: false + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: true + Name: PolygonArray + Topic: /multi_plane_estimate/output_refined_polygon + Unreliable: false + Value: true + coloring: Auto + enable lighting: true + normal length: 0.100000001 + only border: true + show normal: true + - Class: rviz/Image + Enabled: true + Image Topic: /ssd_73b2_kitchen/output/image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: SSD output + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /image_cpi_decomposer/output + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: CPI decomposer output + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.55238807 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.576182783 + Y: 0.275493324 + Z: 0.967731237 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.495398104 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.86040568 + Saved: ~ +Window Geometry: + CPI decomposer output: + collapsed: false + Displays: + collapsed: false + Height: 2124 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a000007c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000007c2000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000423000007c2fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb000000140053005300440020006f007500740070007500740100000028000003f00000001600fffffffb0000002a0043005000490020006400650063006f006d0070006f0073006500720020006f00750074007000750074010000041e000003cc0000001600fffffffb0000000a00560069006500770073000000039600000454000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e9e0000003efc0100000002fb0000000800540069006d0065010000000000000e9e0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000905000007c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + SSD output: + collapsed: false + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3742 + X: 98 + Y: 36 diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/depth_camera_info.yaml b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/depth_camera_info.yaml new file mode 100755 index 0000000..e36a35f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/depth_camera_info.yaml @@ -0,0 +1,21 @@ +header: + seq: 768 + stamp: + secs: 1562220908 + nsecs: 671730272 + frame_id: camera_depth_optical_frame +height: 480 +width: 640 +distortion_model: plumb_bob +D: [0.0, 0.0, 0.0, 0.0, 0.0] +K: [570.3422241210938, 0.0, 314.5, 0.0, 570.3422241210938, 235.5, 0.0, 0.0, 1.0] +R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] +P: [570.3422241210938, 0.0, 314.5, 0.0, 0.0, 570.3422241210938, 235.5, 0.0, 0.0, 0.0, 1.0, 0.0] +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: False diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/depth_image_raw.npz b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/depth_image_raw.npz new file mode 100755 index 0000000..4960140 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/depth_image_raw.npz differ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/rgb_camera_info.yaml b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/rgb_camera_info.yaml new file mode 100755 index 0000000..888dfb2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/rgb_camera_info.yaml @@ -0,0 +1,21 @@ +header: + seq: 2558 + stamp: + secs: 1562220908 + nsecs: 680986635 + frame_id: camera_rgb_optical_frame +height: 480 +width: 640 +distortion_model: plumb_bob +D: [0.0, 0.0, 0.0, 0.0, 0.0] +K: [570.3422241210938, 0.0, 319.5, 0.0, 570.3422241210938, 239.5, 0.0, 0.0, 1.0] +R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] +P: [570.3422241210938, 0.0, 319.5, 0.0, 0.0, 570.3422241210938, 239.5, 0.0, 0.0, 0.0, 1.0, 0.0] +binning_x: 0 +binning_y: 0 +roi: + x_offset: 0 + y_offset: 0 + height: 0 + width: 0 + do_rectify: False diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/rgb_image_raw.jpg b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/rgb_image_raw.jpg new file mode 100755 index 0000000..5588002 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/images/real_world_checkerboard_grid_7x6_size_0.108/rgb_image_raw.jpg differ diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_add_bounding_box_array.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_add_bounding_box_array.launch new file mode 100755 index 0000000..fd84c16 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_add_bounding_box_array.launch @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + approximate_sync: true + slop: 0.9 # input topics are slow (~1Hz) + topics: + - bboxes_a/bounding_box_array_publisher/output + - bboxes_b/bounding_box_array_publisher/output + + + + + + + topic_0: /add_bounding_box_array/output + timeout_0: 30 + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_add_cluster_indices.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_add_cluster_indices.launch new file mode 100755 index 0000000..a0d802e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_add_cluster_indices.launch @@ -0,0 +1,31 @@ + + + + + + + + topics: + - /cluster_indices_publisher0/output + - /cluster_indices_publisher1/output + approximate_sync: true + slop: 1.0 + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_bounding_box_array_publisher.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_bounding_box_array_publisher.launch new file mode 100755 index 0000000..9890cd7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_bounding_box_array_publisher.launch @@ -0,0 +1,62 @@ + + + + + + + + + + + frame_id: shelf_base + boxes: + - position: [-0.22, 0.280, 0.361] + dimension: [0.37, 0.248, 0.218] + - position: [-0.22, 0, 0.361] + dimension: [0.37, 0.306, 0.218] + - position: [-0.22, -0.280, 0.361] + dimension: [0.37, 0.248, 0.218] + - position: [-0.22, 0.280, 0.116] + dimension: [0.37, 0.248, 0.192] + - position: [-0.22, 0, 0.116] + dimension: [0.37, 0.306, 0.192] + - position: [-0.22, -0.280, 0.116] + dimension: [0.37, 0.248, 0.192] + - position: [-0.22, 0.280, -0.116] + dimension: [0.37, 0.248, 0.192] + - position: [-0.22, 0, -0.116] + dimension: [0.37, 0.306, 0.192] + - position: [-0.22, -0.280, -0.116] + dimension: [0.37, 0.248, 0.192] + - position: [-0.22, 0.280, -0.361] + dimension: [0.37, 0.248, 0.218] + - position: [-0.22, 0, -0.361] + dimension: [0.37, 0.306, 0.218] + - position: [-0.22, -0.280, -0.361] + dimension: [0.37, 0.248, 0.218] + + + + + + + + + + + + topic_0: /bounding_box_array_publisher/output + timeout_0: 10 + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_image_16uc1_to_32fc1.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_image_16uc1_to_32fc1.launch new file mode 100755 index 0000000..016e021 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_image_16uc1_to_32fc1.launch @@ -0,0 +1,29 @@ + + + + + + image_file: $(find jsk_recognition_utils)/sample/images/real_world_checkerboard_grid_7x6_size_0.108/depth_image_raw.npz + camera_info_file: $(find jsk_recognition_utils)/sample/images/real_world_checkerboard_grid_7x6_size_0.108/depth_camera_info.yaml + frame_id: camera_depth_optical_frame + encoding: 16UC1 + rate: 30.0 + + + + + + + + + + + + do_dynamic_scaling: true + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_image_publisher.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_image_publisher.py new file mode 100755 index 0000000..c3112fe --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_image_publisher.py @@ -0,0 +1,60 @@ +#!/usr/bin/env python + +from __future__ import division + +import os.path as osp + +import cv2 +import cv_bridge +import genpy +import numpy as np +import rospy +from sensor_msgs.msg import CameraInfo +from sensor_msgs.msg import Image +import yaml + + +class SampleImagePublisher(object): + + def __init__(self): + self.pub_img = rospy.Publisher( + '~output/image_raw', Image, queue_size=1) + self.pub_info = rospy.Publisher( + '~output/camera_info', CameraInfo, queue_size=1) + + img_file = osp.expanduser(rospy.get_param('~image_file')) + info_file = osp.expanduser(rospy.get_param('~camera_info_file')) + encoding = rospy.get_param('~encoding', 'passthrough') + frame_id = rospy.get_param('~frame_id', 'camera_rgb_optical_frame') + rate = rospy.get_param('~rate', 1.0) + + # read image from file + if img_file.endswith('.jpg') or img_file.endswith('.png'): + img = cv2.imread(img_file, cv2.IMREAD_UNCHANGED) + elif img_file.endswith('.npz'): + img = np.load(img_file)['arr_0'] + else: + rospy.logerr('Unsupported file format: {}'.format(img_file)) + bridge = cv_bridge.CvBridge() + self.imgmsg = bridge.cv2_to_imgmsg(img, encoding) + self.imgmsg.header.frame_id = frame_id + + # read camera_info from file + with open(info_file, 'r') as f: + info = yaml.load(f) + self.infomsg = CameraInfo() + genpy.message.fill_message_args(self.infomsg, info) + + rospy.Timer(rospy.Duration(1 / rate), self._cb) + + def _cb(self, event): + self.imgmsg.header.stamp = event.current_real + self.infomsg.header.stamp = event.current_real + self.pub_img.publish(self.imgmsg) + self.pub_info.publish(self.infomsg) + + +if __name__ == '__main__': + rospy.init_node('sample_image_publisher') + app = SampleImagePublisher() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_polygon_array_publisher.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_polygon_array_publisher.launch new file mode 100755 index 0000000..4fddc10 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_polygon_array_publisher.launch @@ -0,0 +1,48 @@ + + + + + + + + frame_id: base_link + polygons: + - points: + - [1.0, -1.0, 0.0] + - [2.0, -1.0, 0.0] + - [2.0, 1.0, 0.0] + - [1.0, 1.0, 0.0] + label: 1 + likelihood: 0.8 + - points: + - [1.0, -1.0, 0.5] + - [2.0, -1.0, 0.5] + - [2.0, 1.0, 0.5] + - [1.0, 1.0, 0.5] + label: 2 + likelihood: 0.6 + - points: + - [1.0, -1.0, 1.0] + - [2.0, -1.0, 1.0] + - [2.0, 1.0, 1.0] + - [1.0, 1.0, 1.0] + label: 3 + likelihood: 0.4 + - points: + - [0.0, 1.0, 0.0] + - [0.8, 1.0, 0.0] + - [0.8, 1.0, 1.0] + - [0.0, 1.0, 1.0] + label: 4 + likelihood: 0.8 + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_polygon_array_to_polygon.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_polygon_array_to_polygon.launch new file mode 100755 index 0000000..8625eda --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_polygon_array_to_polygon.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + index: 1 + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_pose_array_to_pose.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_pose_array_to_pose.launch new file mode 100755 index 0000000..cfdc586 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_pose_array_to_pose.launch @@ -0,0 +1,27 @@ + + + + + + + + + index: 0 + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_rect_array_to_cluster_point_indices.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_rect_array_to_cluster_point_indices.launch new file mode 100755 index 0000000..ef38829 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_rect_array_to_cluster_point_indices.launch @@ -0,0 +1,47 @@ + + + + + publish_info: false + file_name: $(find jsk_recognition_utils)/sample/images/real_world_checkerboard_grid_7x6_size_0.108/rgb_image_raw.jpg + + + + + + + + + use_info: false + img_height: 480 + img_width: 640 + + + + + + + + approximate_sync: true + queue_size: 100 + slop: 10.0 + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_rect_array_to_polygon_array.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_rect_array_to_polygon_array.launch new file mode 100755 index 0000000..ecbee0b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_rect_array_to_polygon_array.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_ssd_coral.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_ssd_coral.launch new file mode 100755 index 0000000..4671f21 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_ssd_coral.launch @@ -0,0 +1,16 @@ + + + + + + + + + model_file: $(arg model_file) + label_file: $(arg label_file) + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_ssd_to_bounding_box.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_ssd_to_bounding_box.launch new file mode 100755 index 0000000..bd0c301 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_ssd_to_bounding_box.launch @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_ssd_to_bounding_box_73b2_kitchen.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_ssd_to_bounding_box_73b2_kitchen.launch new file mode 100755 index 0000000..9a80761 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_ssd_to_bounding_box_73b2_kitchen.launch @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gpu: $(arg gpu) + model: ssd512 + model_path: $(find jsk_perception)/trained_data/ssd512_73B2_kitchen_20191114.npz + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_static_virtual_camera.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_static_virtual_camera.launch new file mode 100755 index 0000000..3b5a050 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_static_virtual_camera.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_table_rects_to_bounding_box.launch b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_table_rects_to_bounding_box.launch new file mode 100755 index 0000000..7bd9680 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/sample/sample_table_rects_to_bounding_box.launch @@ -0,0 +1,238 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + max_curvature: 0.01 + estimate_normal: true + + + + + + + + + + + + use_async: true + max_queue_size: 1000 + use_sensor_frame: true + keep_organized: true + sensor_frame: $(arg camera_frame_id) + min_height: 0.03 + + + + + + + + approximate_sync: false + use_info: true + + + + + + + + + + + + + approximate_sync: true + queue_size: 1000 + align_boxes: false + align_boxes_with_plane: false + use_pca: true + + + + + + + + + + + + + + + + + + + + resolution: 0.1 + noise_filter: 8 + + + + + + + + + + align_boxes: false + use_pca: false + publish_clouds: false + publish_tf: false + + + + + + + point_type: xyzrgb + marker_color_alpha: 0.5 + + + + + + + point_type: xyzrgb + marker_color_alpha: 0.5 + + + + + + + + + max_particle_num: 1000 + use_change_detection: true + default_step_covariance_x: 0.0004 + default_step_covariance_y: 0.0004 + default_step_covariance_z: 0.0004 + + + + + + + + + + left: 10 + text_size: 24 + top: 350 + + + + + + left: 10 + text_size: 24 + top: 300 + + + + + text: 0 m/s + left: 80 + top: 650 + + + + + text: 0.3 m/s + left: 80 + top: 550 + + + + + text: 0 s + left: 80 + top: 500 + + + + + text: 0.1 s + left: 80 + top: 400 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/setup.py b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/setup.py new file mode 100755 index 0000000..fe1f9c9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/setup.py @@ -0,0 +1,14 @@ +#!/usr/bin/env python + +from setuptools import setup + +from setuptools import find_packages +from catkin_pkg.python_setup import generate_distutils_setup + + +d = generate_distutils_setup( + packages=find_packages('python'), + package_dir={'': 'python'}, +) + +setup(**d) diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/cv_utils.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/cv_utils.cpp new file mode 100755 index 0000000..8a27690 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/cv_utils.cpp @@ -0,0 +1,204 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/cv_utils.h" +#include "jsk_recognition_utils/rgb_colors.h" +#include + +namespace enc = sensor_msgs::image_encodings; + +namespace jsk_recognition_utils +{ + cv::MatND computeHistogram(const cv::Mat& input_image, int bin_size, + float min_value, float max_value, + const cv::Mat& mask_image) + { + int channels[] = {0}; + cv::MatND hist; + int hist_size[] = {bin_size}; + float range[] = {min_value, max_value}; + const float* ranges[] = {range}; + cv::calcHist(&input_image, 1, channels, mask_image, + hist, 1, hist_size, + ranges, true, false); + return hist; + } + + std::vector + cvMatNDToHistogramWithRangeBinArray(const cv::MatND& cv_hist, float min_value, float max_value) + { + std::vector bins(cv_hist.total()); + const float bin_width = (max_value - min_value) / cv_hist.total(); + for (size_t i = 0; i < cv_hist.total(); i++) { + const float left = i * bin_width + min_value; + const float right = (i + 1) * bin_width + min_value; + jsk_recognition_msgs::HistogramWithRangeBin bin; + bin.min_value = left; + bin.max_value = right; + bin.count = cv_hist.at(0, i); + bins[i] = bin; + } + return bins; + } + + cv::MatND + HistogramWithRangeBinArrayTocvMatND( + const std::vector& histogram) + { + cv::MatND ret(1, histogram.size(), CV_32F); + for (size_t i = 0; i < histogram.size(); i++) { + jsk_recognition_msgs::HistogramWithRangeBin bin = histogram[i]; + ret.at(0, i) = bin.count; + } + return ret; + } + + bool compareHistogramWithRangeBin(const jsk_recognition_msgs::HistogramWithRangeBin& left, + const jsk_recognition_msgs::HistogramWithRangeBin& right) + { + return left.count > right.count; + } + + void sortHistogramWithRangeBinArray(std::vector& bins) + { + std::sort(bins.begin(), bins.end(), compareHistogramWithRangeBin); + } + + std::vector + topNHistogramWithRangeBins(const std::vector& bins, + double top_n_rate) + { + int sum = 0; + for (size_t i = 0; i < bins.size(); i++) { + sum += bins[i].count; + } + const int target_sum = sum * top_n_rate; + std::vector top_n_bins; + top_n_bins.reserve(bins.size()); + + int current_sum = 0; + for (size_t i = 0; i < bins.size(); i++) { + jsk_recognition_msgs::HistogramWithRangeBin bin = bins[i]; + if (current_sum >= target_sum) { + return top_n_bins; + } + top_n_bins.push_back(bin); + current_sum += bins[i].count; + } + return top_n_bins; + } + + void + drawHistogramWithRangeBin(cv::Mat& image, + const jsk_recognition_msgs::HistogramWithRangeBin& bin, + float min_width_value, + float max_width_value, + float max_height_value, + cv::Scalar color) + { + if (max_height_value == 0.0) { + return; + } + const int height = image.rows; + const int width = image.cols; + const int left = (bin.min_value - min_width_value) / (max_width_value - min_width_value) * width; + const int right = (bin.max_value - min_width_value) / (max_width_value - min_width_value) * width; + const int top = bin.count / max_height_value * height; + if (bin.count == 0 || top == 0 || left == right || left < 0 || right >= width || top > height) { + return; + } + + cv::rectangle(image, cv::Point(left, height), cv::Point(right, height - top), + color, CV_FILLED); + } + + void labelToRGB(const cv::Mat src, cv::Mat& dst) + { + dst = cv::Mat::zeros(src.rows, src.cols, CV_8UC3); + for (size_t j = 0; j < src.rows; ++j) { + for (size_t i = 0; i < src.cols; ++i) { + int label = src.at(j, i); + if (label == 0) { // background label + dst.at(j, i) = cv::Vec3b(0, 0, 0); + } + else { + cv::Vec3d rgb = jsk_recognition_utils::getRGBColor(label); + dst.at(j, i) = cv::Vec3b(int(rgb[0] * 255), int(rgb[1] * 255), int(rgb[2] * 255)); + } + } + } + } + + cv::Rect boundingRectOfMaskImage(const cv::Mat& image) + { + int min_x = image.cols; + int min_y = image.rows; + int max_x = 0; + int max_y = 0; + for (int j = 0; j < image.rows; j++) { + for (int i = 0; i < image.cols; i++) { + if (image.at(j, i) != 0) { + min_x = std::min(min_x, i); + min_y = std::min(min_y, j); + max_x = std::max(max_x, i); + max_y = std::max(max_y, j); + } + } + } + return cv::Rect(min_x, min_y, std::max(max_x - min_x, 0), std::max(max_y - min_y, 0)); + } + + // Utility functions for inspecting an encoding string + bool isBGR(const std::string& encoding) + { + return encoding == enc::BGR8 || encoding == enc::BGR16; + } + + bool isRGB(const std::string& encoding) + { + return encoding == enc::RGB8 || encoding == enc::RGB16; + } + + bool isBGRA(const std::string& encoding) + { + return encoding == enc::BGRA8 || encoding == enc::BGRA16; + } + + bool isRGBA(const std::string& encoding) + { + return encoding == enc::RGBA8 || encoding == enc::RGBA16; + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/convex_polygon.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/convex_polygon.cpp new file mode 100755 index 0000000..3e0e023 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/convex_polygon.cpp @@ -0,0 +1,294 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#define BOOST_PARAMETER_MAX_ARITY 7 + +#include "jsk_recognition_utils/geo/convex_polygon.h" +#include "jsk_recognition_utils/geo_util.h" + +namespace jsk_recognition_utils +{ + ConvexPolygon::ConvexPolygon(const Vertices& vertices): + Polygon(vertices) + { + + } + + ConvexPolygon::ConvexPolygon(const Vertices& vertices, + const std::vector& coefficients): + Polygon(vertices, coefficients) + { + + } + + void ConvexPolygon::projectOnPlane( + const Eigen::Vector3f& p, Eigen::Vector3f& output) + { + Plane::project(p, output); + } + + void ConvexPolygon::projectOnPlane( + const Eigen::Affine3f& pose, Eigen::Affine3f& output) + { + Eigen::Vector3f p(pose.translation()); + Eigen::Vector3f output_p; + projectOnPlane(p, output_p); + // ROS_INFO("[ConvexPolygon::projectOnPlane] p: [%f, %f, %f]", + // p[0], p[1], p[2]); + // ROS_INFO("[ConvexPolygon::projectOnPlane] output_p: [%f, %f, %f]", + // output_p[0], output_p[1], output_p[2]); + Eigen::Quaternionf rot; + rot.setFromTwoVectors(pose.rotation() * Eigen::Vector3f::UnitZ(), + coordinates().rotation() * Eigen::Vector3f::UnitZ()); + Eigen::Quaternionf coords_rot(coordinates().rotation()); + Eigen::Quaternionf pose_rot(pose.rotation()); + // ROS_INFO("[ConvexPolygon::projectOnPlane] rot: [%f, %f, %f, %f]", + // rot.x(), rot.y(), rot.z(), rot.w()); + // ROS_INFO("[ConvexPolygon::projectOnPlane] coords_rot: [%f, %f, %f, %f]", + // coords_rot.x(), coords_rot.y(), coords_rot.z(), coords_rot.w()); + // ROS_INFO("[ConvexPolygon::projectOnPlane] pose_rot: [%f, %f, %f, %f]", + // pose_rot.x(), pose_rot.y(), pose_rot.z(), pose_rot.w()); + // ROS_INFO("[ConvexPolygon::projectOnPlane] normal: [%f, %f, %f]", normal_[0], normal_[1], normal_[2]); + // Eigen::Affine3f::Identity() * + // output.translation() = Eigen::Translation3f(output_p); + // output.rotation() = rot * pose.rotation(); + //output = Eigen::Translation3f(output_p) * rot * pose.rotation(); + output = Eigen::Affine3f(rot * pose.rotation()); + output.pretranslate(output_p); + // Eigen::Vector3f projected_point = output * Eigen::Vector3f(0, 0, 0); + // ROS_INFO("[ConvexPolygon::projectOnPlane] output: [%f, %f, %f]", + // projected_point[0], projected_point[1], projected_point[2]); + } + + ConvexPolygon ConvexPolygon::flipConvex() + { + Vertices new_vertices; + std::reverse_copy(vertices_.begin(), vertices_.end(), + std::back_inserter(new_vertices)); + std::vector reversed_coefficients(4); + reversed_coefficients[0] = - normal_[0]; + reversed_coefficients[1] = - normal_[1]; + reversed_coefficients[2] = - normal_[2]; + reversed_coefficients[3] = - d_; + + return ConvexPolygon(new_vertices, reversed_coefficients); + } + + void ConvexPolygon::project(const Eigen::Vector3f& p, Eigen::Vector3f& output) + { + Eigen::Vector3f point_on_plane; + Plane::project(p, point_on_plane); + // check point_ is inside or not + if (isInside(point_on_plane)) { + output = point_on_plane; + } + else { + // find the minimum foot point + double min_distance = DBL_MAX; + Eigen::Vector3f min_point; + for (size_t i = 0; i < vertices_.size() - 1; i++) { + Segment seg(vertices_[i], vertices_[i + 1]); + Eigen::Vector3f foot; + double distance = seg.distanceToPoint(p, foot); + if (distance < min_distance) { + min_distance = distance; + min_point = foot; + } + } + output = min_point; + } + } + + void ConvexPolygon::project(const Eigen::Vector3d& p, Eigen::Vector3d& output) + { + Eigen::Vector3f output_f; + Eigen::Vector3f p_f(p[0], p[1], p[2]); + project(p_f, output_f); + pointFromVectorToVector(output_f, output); + } + + void ConvexPolygon::project(const Eigen::Vector3d& p, Eigen::Vector3f& output) + { + Eigen::Vector3f p_f(p[0], p[1], p[2]); + project(p_f, output); + } + + void ConvexPolygon::project(const Eigen::Vector3f& p, Eigen::Vector3d& output) + { + Eigen::Vector3f output_f; + project(p, output_f); + pointFromVectorToVector(output_f, output); + } + + + Eigen::Vector3f ConvexPolygon::getCentroid() + { + Eigen::Vector3f ret(0, 0, 0); + for (size_t i = 0; i < vertices_.size(); i++) { + ret = ret + vertices_[i]; + } + return ret / vertices_.size(); + } + + ConvexPolygon ConvexPolygon::fromROSMsg(const geometry_msgs::Polygon& polygon) + { + Vertices vertices; + for (size_t i = 0; i < polygon.points.size(); i++) { + Eigen::Vector3f p; + pointFromXYZToVector( + polygon.points[i], p); + vertices.push_back(p); + } + return ConvexPolygon(vertices); + } + + ConvexPolygon::Ptr ConvexPolygon::fromROSMsgPtr(const geometry_msgs::Polygon& polygon) + { + Vertices vertices; + for (size_t i = 0; i < polygon.points.size(); i++) { + Eigen::Vector3f p; + pointFromXYZToVector( + polygon.points[i], p); + vertices.push_back(p); + } + return ConvexPolygon::Ptr(new ConvexPolygon(vertices)); + } + + bool ConvexPolygon::distanceSmallerThan(const Eigen::Vector3f& p, + double distance_threshold) + { + double dummy_distance; + return distanceSmallerThan(p, distance_threshold, dummy_distance); + } + + bool ConvexPolygon::distanceSmallerThan(const Eigen::Vector3f& p, + double distance_threshold, + double& output_distance) + { + // first check distance as Plane rather than Convex + double plane_distance = distanceToPoint(p); + if (plane_distance > distance_threshold) { + output_distance = plane_distance; + return false; + } + + Eigen::Vector3f foot_point; + project(p, foot_point); + double convex_distance = (p - foot_point).norm(); + output_distance = convex_distance; + return convex_distance < distance_threshold; + } + + bool ConvexPolygon::allEdgesLongerThan(double thr) + { + for (size_t i = 0; i < vertices_.size(); i++) { + Eigen::Vector3f p_k = vertices_[i]; + Eigen::Vector3f p_k_1; + if (i == vertices_.size() - 1) { + p_k_1 = vertices_[0]; + } + else { + p_k_1 = vertices_[i + 1]; + } + if ((p_k - p_k_1).norm() < thr) { + return false; + } + } + return true; + } + + double ConvexPolygon::distanceFromVertices(const Eigen::Vector3f& p) + { + double min_distance = DBL_MAX; + for (size_t i = 0; i < vertices_.size(); i++) { + Eigen::Vector3f v = vertices_[i]; + double d = (p - v).norm(); + if (d < min_distance) { + min_distance = d; + } + } + return min_distance; + } + + ConvexPolygon::Ptr ConvexPolygon::magnifyByDistance(const double distance) + { + // compute centroid + Eigen::Vector3f c = centroid(); + Vertices new_vertices(vertices_.size()); + for (size_t i = 0; i < vertices_.size(); i++) { + new_vertices[i] = (vertices_[i] - c).normalized() * distance + vertices_[i]; + // ROS_INFO("old v: [%f, %f, %f]", vertices_[i][0], vertices_[i][1], vertices_[i][2]); + // ROS_INFO("new v: [%f, %f, %f]", new_vertices[i][0], new_vertices[i][1], new_vertices[i][2]); + // ROS_INFO(""); + } + + ConvexPolygon::Ptr ret (new ConvexPolygon(new_vertices)); + return ret; + } + + ConvexPolygon::Ptr ConvexPolygon::magnify(const double scale_factor) + { + // compute centroid + Eigen::Vector3f c = centroid(); + Vertices new_vertices; + for (size_t i = 0; i < vertices_.size(); i++) { + new_vertices.push_back((vertices_[i] - c) * scale_factor + c); + } + ConvexPolygon::Ptr ret (new ConvexPolygon(new_vertices)); + return ret; + } + + geometry_msgs::Polygon ConvexPolygon::toROSMsg() + { + geometry_msgs::Polygon polygon; + for (size_t i = 0; i < vertices_.size(); i++) { + geometry_msgs::Point32 ros_point; + ros_point.x = vertices_[i][0]; + ros_point.y = vertices_[i][1]; + ros_point.z = vertices_[i][2]; + polygon.points.push_back(ros_point); + } + return polygon; + } + + + bool ConvexPolygon::isProjectableInside(const Eigen::Vector3f& p) + { + Eigen::Vector3f foot_point; + Plane::project(p, foot_point); + return isInside(foot_point); + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/cube.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/cube.cpp new file mode 100755 index 0000000..de1d6e4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/cube.cpp @@ -0,0 +1,310 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#define BOOST_PARAMETER_MAX_ARITY 7 + +#include "jsk_recognition_utils/geo/cube.h" +#include "jsk_recognition_utils/geo_util.h" + +namespace jsk_recognition_utils +{ + Cube::Cube(const Eigen::Vector3f& pos, const Eigen::Quaternionf& rot): + pos_(pos), rot_(rot) + { + dimensions_.resize(3); + } + + Cube::Cube(const Eigen::Vector3f& pos, const Eigen::Quaternionf& rot, + const std::vector& dimensions): + pos_(pos), rot_(rot), dimensions_(dimensions) + { + + } + Cube::Cube(const Eigen::Vector3f& pos, const Eigen::Quaternionf& rot, + const Eigen::Vector3f& dimensions): + pos_(pos), rot_(rot) + { + dimensions_.resize(3); + dimensions_[0] = dimensions[0]; + dimensions_[1] = dimensions[1]; + dimensions_[2] = dimensions[2]; + } + + Cube::Cube(const Eigen::Vector3f& pos, + const Line& line_a, const Line& line_b, const Line& line_c) + { + double distance_a_b = line_a.distance(line_b); + double distance_a_c = line_a.distance(line_c); + double distance_b_c = line_b.distance(line_c); + Line::Ptr axis; + dimensions_.resize(3); + Eigen::Vector3f ex, ey, ez; + if (distance_a_b >= distance_a_c && + distance_a_b >= distance_b_c) { + axis = line_a.midLine(line_b); + line_a.parallelLineNormal(line_c, ex); + line_c.parallelLineNormal(line_b, ey); + + } + else if (distance_a_c >= distance_a_b && + distance_a_c >= distance_b_c) { + axis = line_a.midLine(line_c); + line_a.parallelLineNormal(line_b, ex); + line_b.parallelLineNormal(line_c, ey); + } + else { + // else if (distance_b_c >= distance_a_b && + // distance_b_c >= distance_a_c) { + axis = line_b.midLine(line_c); + line_b.parallelLineNormal(line_a, ex); + line_a.parallelLineNormal(line_c, ey); + } + dimensions_[0] = ex.norm(); + dimensions_[1] = ey.norm(); + axis->getDirection(ez); + ez.normalize(); + ex.normalize(); + ey.normalize(); + if (ex.cross(ey).dot(ez) < 0) { + ez = - ez; + } + rot_ = rotFrom3Axis(ex, ey, ez); + axis->foot(pos, pos_); // project + } + + Cube::Cube(const jsk_recognition_msgs::BoundingBox& box) + { + dimensions_.resize(3); + dimensions_[0] = box.dimensions.x; + dimensions_[1] = box.dimensions.y; + dimensions_[2] = box.dimensions.z; + Eigen::Affine3f pose; + tf::poseMsgToEigen(box.pose, pose); + pos_ = Eigen::Vector3f(pose.translation()); + rot_ = Eigen::Quaternionf(pose.rotation()); // slow + } + + Cube::~Cube() + { + + } + + std::vector Cube::edges() + { + std::vector ret; + Eigen::Vector3f A = pos_ + + rot_ * ((+ dimensions_[0] * Eigen::Vector3f::UnitX()) + + (- dimensions_[1] * Eigen::Vector3f::UnitY()) + + (+ dimensions_[2] * Eigen::Vector3f::UnitZ())) / 2.0; + Eigen::Vector3f B = pos_ + + rot_ * ((+ dimensions_[0] * Eigen::Vector3f::UnitX()) + + (+ dimensions_[1] * Eigen::Vector3f::UnitY()) + + (+ dimensions_[2] * Eigen::Vector3f::UnitZ())) / 2.0; + Eigen::Vector3f C = pos_ + + rot_ * ((- dimensions_[0] * Eigen::Vector3f::UnitX()) + + (+ dimensions_[1] * Eigen::Vector3f::UnitY()) + + (+ dimensions_[2] * Eigen::Vector3f::UnitZ())) / 2.0; + Eigen::Vector3f D = pos_ + + rot_ * ((- dimensions_[0] * Eigen::Vector3f::UnitX()) + + (- dimensions_[1] * Eigen::Vector3f::UnitY()) + + (+ dimensions_[2] * Eigen::Vector3f::UnitZ())) / 2.0; + Eigen::Vector3f E = pos_ + + rot_ * ((+ dimensions_[0] * Eigen::Vector3f::UnitX()) + + (- dimensions_[1] * Eigen::Vector3f::UnitY()) + + (- dimensions_[2] * Eigen::Vector3f::UnitZ())) / 2.0; + Eigen::Vector3f F = pos_ + + rot_ * ((+ dimensions_[0] * Eigen::Vector3f::UnitX()) + + (+ dimensions_[1] * Eigen::Vector3f::UnitY()) + + (- dimensions_[2] * Eigen::Vector3f::UnitZ())) / 2.0; + Eigen::Vector3f G = pos_ + + rot_ * ((- dimensions_[0] * Eigen::Vector3f::UnitX()) + + (+ dimensions_[1] * Eigen::Vector3f::UnitY()) + + (- dimensions_[2] * Eigen::Vector3f::UnitZ())) / 2.0; + Eigen::Vector3f H = pos_ + + rot_ * ((- dimensions_[0] * Eigen::Vector3f::UnitX()) + + (- dimensions_[1] * Eigen::Vector3f::UnitY()) + + (- dimensions_[2] * Eigen::Vector3f::UnitZ())) / 2.0; + + ret.push_back(Segment::Ptr(new Segment(A, B))); + ret.push_back(Segment::Ptr(new Segment(B, C))); + ret.push_back(Segment::Ptr(new Segment(C, D))); + ret.push_back(Segment::Ptr(new Segment(D, A))); + ret.push_back(Segment::Ptr(new Segment(E, F))); + ret.push_back(Segment::Ptr(new Segment(F, G))); + ret.push_back(Segment::Ptr(new Segment(G, H))); + ret.push_back(Segment::Ptr(new Segment(H, E))); + ret.push_back(Segment::Ptr(new Segment(A, E))); + ret.push_back(Segment::Ptr(new Segment(B, F))); + ret.push_back(Segment::Ptr(new Segment(C, G))); + ret.push_back(Segment::Ptr(new Segment(D, H))); + return ret; + } + + ConvexPolygon::Ptr Cube::intersectConvexPolygon(Plane& plane) + { + std::vector candidate_edges = edges(); + Vertices intersects; + for (size_t i = 0; i < candidate_edges.size(); i++) { + Segment::Ptr edge = candidate_edges[i]; + Eigen::Vector3f p; + if (edge->intersect(plane, p)) { + intersects.push_back(p); + } + } + //ROS_INFO("%lu intersects", intersects.size()); + // Compute convex hull + pcl::ConvexHull chull; + pcl::PointCloud::Ptr chull_input + = verticesToPointCloud(intersects); + pcl::PointCloud::Ptr chull_cloud + (new pcl::PointCloud); + chull.setDimension(2); + chull.setInputCloud(chull_input); + { + boost::mutex::scoped_lock lock(global_chull_mutex); + chull.reconstruct(*chull_cloud); + } + + return ConvexPolygon::Ptr( + new ConvexPolygon(pointCloudToVertices(*chull_cloud))); + } + + jsk_recognition_msgs::BoundingBox Cube::toROSMsg() + { + jsk_recognition_msgs::BoundingBox ret; + ret.pose.position.x = pos_[0]; + ret.pose.position.y = pos_[1]; + ret.pose.position.z = pos_[2]; + ret.pose.orientation.x = rot_.x(); + ret.pose.orientation.y = rot_.y(); + ret.pose.orientation.z = rot_.z(); + ret.pose.orientation.w = rot_.w(); + ret.dimensions.x = dimensions_[0]; + ret.dimensions.y = dimensions_[1]; + ret.dimensions.z = dimensions_[2]; + return ret; + } + + Vertices Cube::vertices() + { + Vertices vs; + vs.push_back(buildVertex(0.5, 0.5, 0.5)); + vs.push_back(buildVertex(-0.5, 0.5, 0.5)); + vs.push_back(buildVertex(-0.5, -0.5, 0.5)); + vs.push_back(buildVertex(0.5, -0.5, 0.5)); + vs.push_back(buildVertex(0.5, 0.5, -0.5)); + vs.push_back(buildVertex(-0.5, 0.5, -0.5)); + vs.push_back(buildVertex(-0.5, -0.5, -0.5)); + vs.push_back(buildVertex(0.5, -0.5, -0.5)); + return vs; + } + + Vertices Cube::transformVertices(const Eigen::Affine3f& pose_offset) + { + Vertices vs = vertices(); + Vertices transformed_vertices; + for (size_t i = 0; i < vs.size(); i++) { + transformed_vertices.push_back(pose_offset * vs[i]); + } + return transformed_vertices; + } + + Polygon::Ptr Cube::buildFace(const Eigen::Vector3f v0, + const Eigen::Vector3f v1, + const Eigen::Vector3f v2, + const Eigen::Vector3f v3) + { + Vertices vs; + vs.push_back(v0); + vs.push_back(v1); + vs.push_back(v2); + vs.push_back(v3); + Polygon::Ptr(new Polygon(vs)); + } + + std::vector Cube::faces() + { + std::vector fs(6); + Vertices vs = vertices(); + Eigen::Vector3f A = vs[0]; + Eigen::Vector3f B = vs[1]; + Eigen::Vector3f C = vs[2]; + Eigen::Vector3f D = vs[3]; + Eigen::Vector3f E = vs[4]; + Eigen::Vector3f F = vs[5]; + Eigen::Vector3f G = vs[6]; + Eigen::Vector3f H = vs[7]; + Vertices vs0, vs1, vs2, vs3, vs4, vs5, vs6; + vs0.push_back(A); vs0.push_back(E); vs0.push_back(F); vs0.push_back(B); + vs1.push_back(B); vs1.push_back(F); vs1.push_back(G); vs1.push_back(C); + vs2.push_back(C); vs2.push_back(G); vs2.push_back(H); vs2.push_back(D); + vs3.push_back(D); vs3.push_back(H); vs3.push_back(E); vs3.push_back(A); + vs4.push_back(A); vs4.push_back(B); vs4.push_back(C); vs4.push_back(D); + vs5.push_back(E); vs5.push_back(H); vs5.push_back(G); vs5.push_back(F); + fs[0].reset(new Polygon(vs0)); + fs[1].reset(new Polygon(vs1)); + fs[2].reset(new Polygon(vs2)); + fs[3].reset(new Polygon(vs3)); + fs[4].reset(new Polygon(vs4)); + fs[5].reset(new Polygon(vs5)); + return fs; + } + + Eigen::Vector3f Cube::buildVertex(double i, double j, double k) + { + Eigen::Vector3f local = (Eigen::Vector3f::UnitX() * i * dimensions_[0] + + Eigen::Vector3f::UnitY() * j * dimensions_[1] + + Eigen::Vector3f::UnitZ() * k * dimensions_[2]); + return Eigen::Translation3f(pos_) * rot_ * local; + } + + Eigen::Vector3f Cube::nearestPoint(const Eigen::Vector3f& p, + double& distance) + { + std::vector current_faces = faces(); + double min_distance = DBL_MAX; + Eigen::Vector3f min_point; + for (size_t i = 0; i < current_faces.size(); i++) { + Polygon::Ptr f = current_faces[i]; + double d; + Eigen::Vector3f q = f->nearestPoint(p, d); + if (min_distance > d) { + min_distance = d; + min_point = q; + } + } + distance = min_distance; + return min_point; + } +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/cylinder.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/cylinder.cpp new file mode 100755 index 0000000..c17829c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/cylinder.cpp @@ -0,0 +1,114 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#define BOOST_PARAMETER_MAX_ARITY 7 + +#include "jsk_recognition_utils/geo/cylinder.h" +#include "jsk_recognition_utils/geo_util.h" + +namespace jsk_recognition_utils +{ + Cylinder::Cylinder(Eigen::Vector3f point, Eigen::Vector3f direction, double radius): + point_(point), direction_(direction), radius_(radius) + { + + } + + void Cylinder::filterPointCloud(const pcl::PointCloud& cloud, + const double threshold, + pcl::PointIndices& output) + { + Line line(direction_, point_); + output.indices.clear(); + for (size_t i = 0; i < cloud.points.size(); i++) { + Eigen::Vector3f p = cloud.points[i].getVector3fMap(); + double d = line.distanceToPoint(p); + if (d < radius_ + threshold && d > radius_ - threshold) { + output.indices.push_back(i); + } + } + } + + void Cylinder::estimateCenterAndHeight(const pcl::PointCloud& cloud, + const pcl::PointIndices& indices, + Eigen::Vector3f& center, + double& height) + { + Line line(direction_, point_); + Vertices points; + for (size_t i = 0; i < indices.indices.size(); i++) { + int point_index = indices.indices[i]; + points.push_back(cloud.points[point_index].getVector3fMap()); + } + PointPair min_max = line.findEndPoints(points); + Eigen::Vector3f min_point = min_max.get<0>(); + Eigen::Vector3f max_point = min_max.get<1>(); + Eigen::Vector3f min_point_projected, max_point_projected; + line.foot(min_point, min_point_projected); + line.foot(max_point, max_point_projected); + height = (min_point_projected - max_point_projected).norm(); + center = (min_point_projected + max_point_projected) / 2.0; + } + + void Cylinder::toMarker(visualization_msgs::Marker& marker, + const Eigen::Vector3f& center, + const Eigen::Vector3f& uz, + const double height) + { + marker.type = visualization_msgs::Marker::CYLINDER; + marker.pose.position.x = center[0]; + marker.pose.position.y = center[1]; + marker.pose.position.z = center[2]; + Eigen::Vector3f orig_z(0, 0, 1); + Eigen::Quaternionf q; + q.setFromTwoVectors(orig_z, uz); + marker.pose.orientation.x = q.x(); + marker.pose.orientation.y = q.y(); + marker.pose.orientation.z = q.z(); + marker.pose.orientation.w = q.w(); + marker.scale.x = radius_ * 2; + marker.scale.y = radius_ * 2; + marker.scale.z = height; + marker.color.a = 1.0; + marker.color.g = 1.0; + marker.color.b = 1.0; + } + + Eigen::Vector3f Cylinder::getDirection() + { + return direction_; + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/grid_plane.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/grid_plane.cpp new file mode 100755 index 0000000..c85850a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/grid_plane.cpp @@ -0,0 +1,387 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#define BOOST_PARAMETER_MAX_ARITY 7 +#include "jsk_recognition_utils/geo/grid_plane.h" +#include "jsk_recognition_utils/geo_util.h" +#include + +namespace jsk_recognition_utils +{ + GridPlane::GridPlane(ConvexPolygon::Ptr plane, const double resolution): + convex_(plane), resolution_(resolution) + { + + } + + GridPlane::~GridPlane() + { + + } + + GridPlane::IndexPair GridPlane::projectLocalPointAsIndexPair( + const Eigen::Vector3f& p) + { + double offset_x = p[0] + 0.5 * resolution_; + double offset_y = p[1] + 0.5 * resolution_; + // return boost::make_tuple(std::floor(offset_x / resolution_), + // std::floor(offset_y / resolution_)); + return boost::make_tuple(boost::math::round(p[0] / resolution_), + boost::math::round(p[1] / resolution_)); + } + + void GridPlane::addIndexPair(IndexPair pair) + { + cells_.insert(pair); + } + + GridPlane::Ptr GridPlane::dilate(int num) + { + GridPlane::Ptr ret (new GridPlane(convex_, resolution_)); + for (std::set::iterator it = cells_.begin(); + it != cells_.end(); + ++it) { + IndexPair the_index = *it; + for (int xi = - num; xi <= num; xi++) { + for (int yi = - num; yi <= num; yi++) { + if (abs(xi) + abs(yi) <= num) { + IndexPair new_pair = boost::make_tuple( + the_index.get<0>() + xi, + the_index.get<1>() + yi); + ret->cells_.insert(new_pair); + } + } + } + } + return ret; + } + + GridPlane::Ptr GridPlane::erode(int num) + { + GridPlane::Ptr ret (new GridPlane(convex_, resolution_)); + for (std::set::iterator it = cells_.begin(); + it != cells_.end(); + ++it) { + IndexPair the_index = *it; + bool should_removed = false; + for (int xi = - num; xi <= num; xi++) { + for (int yi = - num; yi <= num; yi++) { + if (abs(xi) + abs(yi) <= num) { + IndexPair check_pair = boost::make_tuple( + the_index.get<0>() + xi, + the_index.get<1>() + yi); + if (!isOccupied(check_pair)) { + should_removed = true; + } + } + } + } + if (!should_removed) { + ret->cells_.insert(the_index); + } + } + return ret; + } + + bool GridPlane::isOccupied(const IndexPair& pair) + { + bool result = cells_.find(pair) != cells_.end(); + // Verbosing for debug + // ROS_INFO("Checking index pair (%d, %d)", pair.get<0>(), pair.get<1>()); + // ROS_INFO("Result: %d", result); + // ROS_INFO("cells are:"); + // for (IndexPairSet::iterator it = cells_.begin(); + // it != cells_.end(); + // ++it) { + // ROS_INFO(" (%d, %d)", it->get<0>(), it->get<1>()); + // } + return result; + } + + bool GridPlane::isOccupied(const Eigen::Vector3f& p) + { + IndexPair pair = projectLocalPointAsIndexPair(p); + return isOccupied(pair); + } + + bool GridPlane::isOccupiedGlobal(const Eigen::Vector3f& p) + { + return isOccupied(convex_->coordinates().inverse() * p); + } + + GridPlane::Ptr GridPlane::clone() + { + GridPlane::Ptr ret (new GridPlane(convex_, resolution_)); + ret->cells_ = cells_; + return ret; + } + + Eigen::Vector3f GridPlane::unprojectIndexPairAsLocalPoint( + const IndexPair& pair) + { + return Eigen::Vector3f(pair.get<0>() * resolution_, + pair.get<1>() * resolution_, + 0); + } + + Eigen::Vector3f GridPlane::unprojectIndexPairAsGlobalPoint( + const IndexPair& pair) + { + Eigen::Vector3f local_point = unprojectIndexPairAsLocalPoint(pair); + return convex_->coordinates() * local_point; + } + + void GridPlane::fillCellsFromCube(Cube& cube) + { + ConvexPolygon::Ptr intersect_polygon = cube.intersectConvexPolygon(*convex_); + // 1. transform vertices into local coordinates + // 2. compute min-max + // 3. compute candidates + // 4. filter candidates + + // 1. transform vertices into local coordinates + Vertices local_vertices; + Vertices global_vertices = intersect_polygon->getVertices(); + Eigen::Affine3f inv_coords = convex_->coordinates().inverse(); + for (size_t i = 0; i < global_vertices.size(); i++) { + local_vertices.push_back(inv_coords * global_vertices[i]); + } + + // 2. compute min-max + double min_x = DBL_MAX; + double min_y = DBL_MAX; + double max_x = - DBL_MAX; + double max_y = - DBL_MAX; + for (size_t i = 0; i < local_vertices.size(); i++) { + min_x = ::fmin(min_x, local_vertices[i][0]); + min_y = ::fmin(min_y, local_vertices[i][1]); + max_x = ::fmax(max_x, local_vertices[i][0]); + max_y = ::fmax(max_y, local_vertices[i][1]); + } + // ROS_INFO("x: [%f~%f]", min_x, max_x); + // ROS_INFO("y: [%f~%f]", min_y, max_y); + // 3. compute candidates + std::vector triangles + = intersect_polygon->decomposeToTriangles(); + for (double x = min_x; x <= max_x; x += resolution_) { + for (double y = min_y; y <= max_y; y += resolution_) { + Eigen::Vector3f local_p(x, y, 0); + Eigen::Vector3f p = convex_->coordinates() * local_p; + // 4. filter candidates + bool insidep = false; + for (size_t i = 0; i < triangles.size(); i++) { + if (triangles[i]->isInside(p)) { + insidep = true; + break; + } + } + if (insidep) { + IndexPair pair = projectLocalPointAsIndexPair(local_p); + addIndexPair(pair); + } + } + } + } + + size_t GridPlane::fillCellsFromPointCloud( + pcl::PointCloud::Ptr& cloud, + double distance_threshold, + std::set& non_plane_indices) + { + return fillCellsFromPointCloud( + cloud, distance_threshold, M_PI / 2.0, non_plane_indices); + } + + size_t GridPlane::fillCellsFromPointCloud( + pcl::PointCloud::Ptr& cloud, + double distance_threshold, + double normal_threshold, + std::set& non_plane_indices) + { + Eigen::Affine3f local_coordinates = convex_->coordinates(); + Eigen::Affine3f inv_local_coordinates = local_coordinates.inverse(); + //std::vector triangles = convex_->decomposeToTriangles(); + + pcl::ExtractPolygonalPrismData prism_extract; + pcl::PointCloud::Ptr + hull_cloud (new pcl::PointCloud); + pcl::PointCloud::Ptr + hull_output (new pcl::PointCloud); + pcl::PointCloud::Ptr + rehull_cloud (new pcl::PointCloud); + convex_->boundariesToPointCloud(*hull_cloud); + // pcl::ConvexHull chull; + // chull.setDimension(2); + // chull.setInputCloud (hull_cloud); + // chull.reconstruct(*hull_output); + + // it's important to make it sure to close the loop of + // convex hull + hull_cloud->points.push_back(hull_cloud->points[0]); + + prism_extract.setInputCloud(cloud); + prism_extract.setHeightLimits(-distance_threshold, distance_threshold); + prism_extract.setInputPlanarHull(hull_cloud); + //prism_extract.setInputPlanarHull(hull_output); + // output_indices is set of indices which are on plane + pcl::PointIndices output_indices; + prism_extract.segment(output_indices); + std::set output_set(output_indices.indices.begin(), + output_indices.indices.end()); + Eigen::Vector3f n = convex_->getNormal(); + for (size_t i = 0; i < cloud->points.size(); i++) { + if (output_set.find(i) != output_set.end()) { + // check normal + pcl::PointNormal p = cloud->points[i]; + Eigen::Vector3f n_p = p.getNormalVector3fMap(); + if (std::abs(n.dot(n_p)) > cos(normal_threshold)) { + non_plane_indices.insert(i); + } + } + } + + + for (size_t i = 0; i < output_indices.indices.size(); i++) { + //for (size_t i = 0; i < cloud->points.size(); i++) { + int point_index = output_indices.indices[i]; + pcl::PointNormal p = cloud->points[point_index]; + Eigen::Vector3f ep = p.getVector3fMap(); + Eigen::Vector3f local_ep = inv_local_coordinates * ep; + IndexPair pair = projectLocalPointAsIndexPair(local_ep); + addIndexPair(pair); + } + return output_indices.indices.size(); + } + + size_t GridPlane::fillCellsFromPointCloud( + pcl::PointCloud::Ptr& cloud, + double distance_threshold) + { + std::set dummy; + return fillCellsFromPointCloud(cloud, distance_threshold, dummy); + } + + jsk_recognition_msgs::SimpleOccupancyGrid GridPlane::toROSMsg() + { + jsk_recognition_msgs::SimpleOccupancyGrid ros_msg; + std::vector coeff; + convex_->toCoefficients(coeff); + //ROS_INFO("coef: [%f, %f, %f, %f]", coeff[0], coeff[1], coeff[2], coeff[3]); + ros_msg.coefficients[0] = coeff[0]; + ros_msg.coefficients[1] = coeff[1]; + ros_msg.coefficients[2] = coeff[2]; + ros_msg.coefficients[3] = coeff[3]; + ros_msg.resolution = resolution_; + for (std::set::iterator it = cells_.begin(); + it != cells_.end(); + ++it) { + IndexPair pair = *it; + Eigen::Vector3f c = unprojectIndexPairAsLocalPoint(pair); + geometry_msgs::Point p; + pointFromVectorToXYZ( + c, p); + ros_msg.cells.push_back(p); + } + return ros_msg; + } + + GridPlane GridPlane::fromROSMsg( + const jsk_recognition_msgs::SimpleOccupancyGrid& rosmsg, + const Eigen::Affine3f& offset = Eigen::Affine3f::Identity()) + { + boost::mutex::scoped_lock lock(global_chull_mutex); + Plane plane = Plane(rosmsg.coefficients).transform(offset); + // ROS_INFO("[GridPlane::fromROSMsg] c: [%f, %f, %f, %f]", + // rosmsg.coefficients[0], + // rosmsg.coefficients[1], + // rosmsg.coefficients[2], + // rosmsg.coefficients[3]); + // ROS_INFO("[GridPlane::fromROSMsg] transformed c: [%f, %f, %f, %f]", + // plane.toCoefficients()[0], + // plane.toCoefficients()[1], + // plane.toCoefficients()[2], + // plane.toCoefficients()[3]); + Eigen::Affine3f plane_coords = plane.coordinates(); + Eigen::Vector3f plane_origin(plane_coords.translation()); + // ROS_INFO_EIGEN_VECTOR3("[GridPlane::fromROSMsg] plane_origin", + // plane_origin); + pcl::PointCloud::Ptr + vertices (new pcl::PointCloud); + for (size_t i = 0; i < rosmsg.cells.size(); i++) { + Eigen::Vector3f local_p(rosmsg.cells[i].x, rosmsg.cells[i].y, 0); + Eigen::Vector3f global_p = plane.coordinates() * local_p; + pcl::PointNormal p; + p.x = global_p[0]; + p.y = global_p[1]; + p.z = global_p[2]; + // ROS_INFO("[%f, %f, %f] => [%f, %f, %f]", + // local_p[0], local_p[1], local_p[2], + // global_p[0], global_p[1], global_p[2]); + vertices->points.push_back(p); + } + pcl::ConvexHull chull; + //chull.setDimension(2); + chull.setInputCloud (vertices); + pcl::PointCloud::Ptr + convex_vertices_cloud (new pcl::PointCloud); + chull.reconstruct (*convex_vertices_cloud); + + Vertices convex_vertices + = pointCloudToVertices(*convex_vertices_cloud); + ConvexPolygon::Ptr convex(new ConvexPolygon(convex_vertices)); + // Check orientation + if (!convex->isSameDirection(plane)) { + // ROS_INFO("[GridPlane::fromROSMsg] flip convex"); + //convex = boost::make_shared(convex->flipConvex()); + Vertices reversed_convex_vertices; + std::reverse_copy(convex_vertices.begin(), convex_vertices.end(), + std::back_inserter(reversed_convex_vertices)); + convex.reset(new ConvexPolygon(reversed_convex_vertices)); + } + Eigen::Vector3f convex_origin(convex->coordinates().translation()); + Eigen::Vector3f convex_normal = convex->getNormal(); + // ROS_INFO_EIGEN_VECTOR3("[GridPlane::fromROSMsg] convex_origin", + // convex_origin); + // ROS_INFO_EIGEN_VECTOR3("[GridPlane::fromROSMsg] convex_normal", + // convex_normal); + GridPlane ret(convex, rosmsg.resolution); + //ROS_INFO("resolution: %f", ret.resolution_); + ret.fillCellsFromPointCloud(vertices, 1000.0); + // ROS_INFO("cell size: %lu", ret.cells_.size()); + // ROS_INFO("original cell size: %lu", rosmsg.cells.size()); + return ret; + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/line.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/line.cpp new file mode 100755 index 0000000..4a9d128 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/line.cpp @@ -0,0 +1,205 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#define BOOST_PARAMETER_MAX_ARITY 7 +#include "jsk_recognition_utils/geo/line.h" +#include +#include + +namespace jsk_recognition_utils +{ + Line::Line(const Eigen::Vector3f& direction, const Eigen::Vector3f& origin) + : direction_ (direction.normalized()), origin_(origin) + { + + } + + void Line::getDirection(Eigen::Vector3f& output) const + { + output = direction_; + } + + Eigen::Vector3f Line::getDirection() const + { + return direction_; + } + + void Line::getOrigin(Eigen::Vector3f& output) const + { + output = origin_; + } + + Eigen::Vector3f Line::getOrigin() const + { + return origin_; + } + + void Line::foot(const Eigen::Vector3f& point, Eigen::Vector3f& output) const + { + const double alpha = computeAlpha(point); + output = alpha * direction_ + origin_; + } + + double Line::distanceToPoint( + const Eigen::Vector3f& from, Eigen::Vector3f& foot_point) const + { + foot(from, foot_point); + return (from - foot_point).norm(); + } + + double Line::distanceToPoint(const Eigen::Vector3f& from) const + { + Eigen::Vector3f foot_point; + return distanceToPoint(from, foot_point); + } + + double Line::angle(const Line& other) const + { + double dot = fabs(direction_.dot(other.direction_)); + if (dot > 1.0) { + return M_PI / 2.0; + } + else { + double theta = acos(dot); + if (theta > M_PI / 2.0) { + return M_PI / 2.0 - theta; + } + else { + return theta; + } + } + } + + bool Line::isParallel(const Line& other, double angle_threshold) const + { + return angle(other) < angle_threshold; + } + + bool Line::isPerpendicular(const Line& other, double angle_threshold) const + { + return (M_PI / 2.0 - angle(other)) < angle_threshold; + } + + bool Line::isSameDirection(const Line& other) const + { + return direction_.dot(other.direction_) > 0; + } + + Line::Ptr Line::flip() + { + Line::Ptr ret (new Line(-direction_, origin_)); + return ret; + } + + Line::Ptr Line::midLine(const Line& other) const + { + Eigen::Vector3f new_directin = (direction_ + other.direction_).normalized(); + Eigen::Vector3f new_origin; + other.foot(origin_, new_origin); + Line::Ptr ret (new Line(new_directin, (new_origin + origin_) / 2.0)); + return ret; + } + + void Line::parallelLineNormal(const Line& other, Eigen::Vector3f& output) + const + { + Eigen::Vector3f foot_point; + other.foot(origin_, foot_point); + output = origin_ - foot_point; + } + + Line::Ptr Line::fromCoefficients(const std::vector& coefficients) + { + Eigen::Vector3f p(coefficients[0], + coefficients[1], + coefficients[2]); + Eigen::Vector3f d(coefficients[3], + coefficients[4], + coefficients[5]); + Line::Ptr ret(new Line(d, p)); + return ret; + } + + double Line::distance(const Line& other) const + { + Eigen::Vector3f v12 = (other.origin_ - origin_); + Eigen::Vector3f n = direction_.cross(other.direction_); + return fabs(n.dot(v12)) / n.norm(); + } + + Line::Ptr Line::parallelLineOnAPoint(const Eigen::Vector3f& p) const + { + Line::Ptr ret (new Line(direction_, p)); + return ret; + } + + double Line::computeAlpha(const Point& p) const + { + return p.dot(direction_) - origin_.dot(direction_); + } + + PointPair Line::findEndPoints(const Vertices& points) const + { + double min_alpha = DBL_MAX; + double max_alpha = - DBL_MAX; + Point min_alpha_point, max_alpha_point; + for (size_t i = 0; i < points.size(); i++) { + Point p = points[i]; + double alpha = computeAlpha(p); + if (alpha > max_alpha) { + max_alpha_point = p; + max_alpha = alpha; + } + if (alpha < min_alpha) { + min_alpha_point = p; + min_alpha = alpha; + } + } + // ROS_INFO("min: %f", min_alpha); + // ROS_INFO("max: %f", max_alpha); + return boost::make_tuple(min_alpha_point, max_alpha_point); + } + + void Line::print() + { + ROS_INFO("d: [%f, %f, %f], p: [%f, %f, %f]", direction_[0], direction_[1], direction_[2], + origin_[0], origin_[1], origin_[2]); + } + + void Line::point(double alpha, Eigen::Vector3f& output) + { + output = alpha * direction_ + origin_; + } +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/plane.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/plane.cpp new file mode 100755 index 0000000..8660cfd --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/plane.cpp @@ -0,0 +1,287 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#define BOOST_PARAMETER_MAX_ARITY 7 + +#include "jsk_recognition_utils/geo/plane.h" +#include "jsk_recognition_utils/geo_util.h" +#include "jsk_recognition_utils/pcl_conversion_util.h" + +namespace jsk_recognition_utils +{ + Plane::Plane(const std::vector& coefficients) + { + normal_ = Eigen::Vector3f(coefficients[0], coefficients[1], coefficients[2]); + d_ = coefficients[3] / normal_.norm(); + normal_.normalize(); + initializeCoordinates(); + } + + Plane::Plane(const boost::array& coefficients) + { + normal_ = Eigen::Vector3f(coefficients[0], coefficients[1], coefficients[2]); + d_ = coefficients[3] / normal_.norm(); + normal_.normalize(); + initializeCoordinates(); + } + + Plane::Plane(Eigen::Vector3f normal, double d) : + normal_(normal.normalized()), d_(d / normal.norm()) + { + initializeCoordinates(); + } + + Plane::Plane(Eigen::Vector3f normal, Eigen::Vector3f p) : + normal_(normal.normalized()), d_(- normal.dot(p) / normal.norm()) + { + initializeCoordinates(); + } + + + Plane::~Plane() + { + + } + + Eigen::Vector3f Plane::getPointOnPlane() + { + Eigen::Vector3f x = normal_ / (normal_.norm() * normal_.norm()) * (- d_); + return x; + } + + Plane Plane::flip() + { + return Plane(- normal_, - d_); + } + + Plane::Ptr Plane::faceToOrigin() + { + Eigen::Vector3f p = getPointOnPlane(); + Eigen::Vector3f n = getNormal(); + + if (p.dot(n) < 0) { + return Plane::Ptr (new Plane(normal_, d_)); + } + else { + return Plane::Ptr (new Plane(- normal_, - d_)); + } + } + + bool Plane::isSameDirection(const Plane& another) + { + return isSameDirection(another.normal_); + } + + bool Plane::isSameDirection(const Eigen::Vector3f& another_normal) + { + return normal_.dot(another_normal) > 0; + } + + double Plane::signedDistanceToPoint(const Eigen::Vector3f p) + { + return (normal_.dot(p) + d_); + } + + double Plane::signedDistanceToPoint(const Eigen::Vector4f p) + { + return signedDistanceToPoint(Eigen::Vector3f(p[0], p[1], p[2])); + } + + double Plane::distanceToPoint(const Eigen::Vector4f p) + { + return fabs(signedDistanceToPoint(p)); + } + + double Plane::distanceToPoint(const Eigen::Vector3f p) + { + return fabs(signedDistanceToPoint(p)); + } + + double Plane::distance(const Plane& another) + { + return fabs(fabs(d_) - fabs(another.d_)); + } + + double Plane::angle(const Eigen::Vector3f& vector) + { + double dot = normal_.dot(vector); + if (dot > 1.0) { + dot = 1.0; + } + else if (dot < -1.0) { + dot = -1.0; + } + double theta = acos(dot); + if (theta > M_PI / 2.0) { + return M_PI - theta; + } + + return acos(dot); + } + + double Plane::angle(const Plane& another) + { + double dot = normal_.dot(another.normal_); + if (dot > 1.0) { + dot = 1.0; + } + else if (dot < -1.0) { + dot = -1.0; + } + double theta = acos(dot); + if (theta > M_PI / 2.0) { + return M_PI - theta; + } + + return acos(dot); + } + + void Plane::project(const Eigen::Vector3f& p, Eigen::Vector3f& output) + { + // double alpha = - p.dot(normal_); + // output = p + alpha * normal_; + double alpha = p.dot(normal_) + d_; + //double alpha = p.dot(normal_) - d_; + output = p - alpha * normal_; + } + + void Plane::project(const Eigen::Vector3d& p, Eigen::Vector3d& output) + { + Eigen::Vector3f output_f; + project(Eigen::Vector3f(p[0], p[1], p[2]), output_f); + pointFromVectorToVector(output_f, output); + } + + void Plane::project(const Eigen::Vector3d& p, Eigen::Vector3f& output) + { + project(Eigen::Vector3f(p[0], p[1], p[2]), output); + } + + void Plane::project(const Eigen::Vector3f& p, Eigen::Vector3d& output) + { + Eigen::Vector3f output_f; + project(p, output); + pointFromVectorToVector(output_f, output); + } + + void Plane::project(const Eigen::Affine3d& pose, Eigen::Affine3d& output) + { + Eigen::Affine3f pose_f, output_f; + convertEigenAffine3(pose, pose_f); + project(pose_f, output_f); + convertEigenAffine3(output_f, output); + } + + void Plane::project(const Eigen::Affine3f& pose, Eigen::Affine3f& output) + { + Eigen::Vector3f p(pose.translation()); + Eigen::Vector3f output_p; + project(p, output_p); + Eigen::Quaternionf rot; + rot.setFromTwoVectors(pose.rotation() * Eigen::Vector3f::UnitZ(), + coordinates().rotation() * Eigen::Vector3f::UnitZ()); + output = Eigen::Affine3f::Identity() * Eigen::Translation3f(output_p) * rot; + } + + Plane Plane::transform(const Eigen::Affine3f& transform) + { + Eigen::Affine3d transform_d; + convertEigenAffine3(transform, transform_d); + return this->transform(transform_d); + } + + Plane Plane::transform(const Eigen::Affine3d& transform) + { + Eigen::Vector4d n; + n[0] = normal_[0]; + n[1] = normal_[1]; + n[2] = normal_[2]; + n[3] = d_; + Eigen::Matrix4d m = transform.matrix(); + Eigen::Vector4d n_d = m.transpose() * n; + //Eigen::Vector4d n_dd = n_d.normalized(); + Eigen::Vector4d n_dd = n_d / sqrt(n_d[0] * n_d[0] + n_d[1] * n_d[1] + n_d[2] * n_d[2]); + return Plane(Eigen::Vector3f(n_dd[0], n_dd[1], n_dd[2]), n_dd[3]); + } + + std::vector Plane::toCoefficients() + { + std::vector ret; + toCoefficients(ret); + return ret; + } + + void Plane::toCoefficients(std::vector& output) + { + output.push_back(normal_[0]); + output.push_back(normal_[1]); + output.push_back(normal_[2]); + output.push_back(d_); + } + + Eigen::Vector3f Plane::getNormal() + { + return normal_; + } + + double Plane::getD() + { + return d_; + } + + void Plane::initializeCoordinates() + { + Eigen::Quaternionf rot; + rot.setFromTwoVectors(Eigen::Vector3f::UnitZ(), normal_); + double c = normal_[2]; + double z = 0.0; + // ax + by + cz + d = 0 + // z = - d / c (when x = y = 0) + if (c == 0.0) { // its not good + z = 0.0; + } + else { + z = - d_ / c; + } + plane_coordinates_ + = Eigen::Affine3f::Identity() * Eigen::Translation3f(0, 0, z) * rot; + } + + Eigen::Affine3f Plane::coordinates() + { + return plane_coordinates_; + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/polygon.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/polygon.cpp new file mode 100755 index 0000000..801a6ec --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/polygon.cpp @@ -0,0 +1,633 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#define BOOST_PARAMETER_MAX_ARITY 7 + +#include "jsk_recognition_utils/geo/polygon.h" +#include "jsk_recognition_utils/geo_util.h" +#include +#include "jsk_recognition_utils/pcl/ear_clipping_patched.h" +#include "jsk_recognition_utils/sensor_model_utils.h" + +namespace jsk_recognition_utils +{ + Polygon Polygon::createPolygonWithSkip(const Vertices& vertices) + { + const double thr = 0.01; + Polygon not_skipped_polygon(vertices); + Vertices skipped_vertices; + for (size_t i = 0; i < vertices.size(); i++) { + size_t next_i = not_skipped_polygon.nextIndex(i); + Eigen::Vector3f v0 = vertices[i]; + Eigen::Vector3f v1 = vertices[next_i]; + if ((v1 - v0).norm() > thr) { + skipped_vertices.push_back(vertices[i]); + } + } + return Polygon(skipped_vertices); + } + + Eigen::Vector3f Polygon::centroid() + { + Eigen::Vector3f c(0, 0, 0); + if (vertices_.size() == 0) { + return c; + } + else { + for (size_t i = 0; i < vertices_.size(); i++) { + c = c + vertices_[i]; + } + return c / vertices_.size(); + } + } + + std::vector convertToPlanes( + std::vector coefficients) + { + std::vector ret; + for (size_t i = 0; i < coefficients.size(); i++) { + ret.push_back(Plane::Ptr (new Plane(coefficients[i]->values))); + } + return ret; + } + + + Polygon::Polygon(const Vertices& vertices): + Plane((vertices[1] - vertices[0]).cross(vertices[2] - vertices[0]).normalized(), vertices[0]), + vertices_(vertices) + { + + } + + Polygon::Polygon(const Vertices& vertices, + const std::vector& coefficients): + Plane(coefficients), vertices_(vertices) + { + + } + + Polygon::~Polygon() + { + + } + + size_t Polygon::getFarestPointIndex(const Eigen::Vector3f& O) + { + double max_distance = - DBL_MAX; + size_t max_index = 0; + for (size_t i = 0; i < vertices_.size(); i++) { + Eigen::Vector3f v = vertices_[i]; + double d = (O - v).norm(); + if (max_distance < d) { + max_distance = d; + max_index = i; + } + } + return max_index; + } + + PointIndexPair Polygon::getNeighborIndex(size_t index) + { + return boost::make_tuple( + previousIndex(index), nextIndex(index)); + } + + double Polygon::area() + { + if (isTriangle()) { + return (vertices_[1] - vertices_[0]).cross(vertices_[2] - vertices_[0]).norm() / 2.0; + } + else { + std::vector triangles = decomposeToTriangles(); + double sum = 0; + for (size_t i = 0; i < triangles.size(); i++) { + sum += triangles[i]->area(); + } + return sum; + } + } + + Eigen::Vector3f Polygon::directionAtPoint(size_t i) + { + Eigen::Vector3f O = vertices_[i]; + Eigen::Vector3f A = vertices_[previousIndex(i)]; + Eigen::Vector3f B = vertices_[nextIndex(i)]; + Eigen::Vector3f OA = A - O; + Eigen::Vector3f OB = B - O; + Eigen::Vector3f n = (OA.normalized()).cross(OB.normalized()); + if (n.norm() == 0) { + // ROS_ERROR("normal is 0"); + // ROS_ERROR("O: [%f, %f, %f]", O[0], O[1], O[2]); + // ROS_ERROR("A: [%f, %f, %f]", A[0], A[1], A[2]); + // ROS_ERROR("B: [%f, %f, %f]", B[0], B[1], B[2]); + // ROS_ERROR("OA: [%f, %f, %f]", OA[0], OA[1], OA[2]); + // ROS_ERROR("OB: [%f, %f, %f]", OB[0], OB[1], OB[2]); + //exit(1); + } + return n.normalized(); + } + + bool Polygon::isTriangle() { + return vertices_.size() == 3; + } + + void Polygon::getLocalMinMax(double& min_x, double& min_y, + double& max_x, double& max_y) + { + min_x = DBL_MAX; + min_y = DBL_MAX; + max_x = - DBL_MAX; + max_y = - DBL_MAX; + + Eigen::Affine3f inv_coords = coordinates().inverse(); + for (size_t i = 0; i < vertices_.size(); i++) { + // Convert vertices into local coordinates + Eigen::Vector3f local_point = inv_coords * vertices_[i]; + min_x = ::fmin(local_point[0], min_x); + min_y = ::fmin(local_point[1], min_y); + max_x = ::fmax(local_point[0], max_x); + max_y = ::fmax(local_point[1], max_y); + } + } + + Eigen::Vector3f Polygon::randomSampleLocalPoint(boost::mt19937& random_generator) + { + // Compute min/max point + double min_x, min_y, max_x, max_y; + getLocalMinMax(min_x, min_y, max_x, max_y); + std::vector triangles = decomposeToTriangles(); + while (true) { + double x = randomUniform(min_x, max_x, random_generator); + double y = randomUniform(min_y, max_y, random_generator); + Eigen::Vector3f local_v = Eigen::Vector3f(x, y, 0); + Eigen::Vector3f v = coordinates() * local_v; + // ROS_INFO_THROTTLE(1.0, "x: %f -- %f", min_x, max_x); + // ROS_INFO_THROTTLE(1.0, "y: %f -- %f", min_y, max_y); + // ROS_INFO_THROTTLE(1.0, "sampled point: [%f, %f]", x, y); + // for (size_t i = 0; i < vertices_.size(); i++) { + // Eigen::Vector3f v = coordinates().inverse() * vertices_[i]; + // ROS_INFO("v: [%f, %f, %f]", v[0], v[1], v[2]); + // } + if (isInside(v)) { + return local_v; + } + else { + // ROS_INFO_THROTTLE(1.0, "outside"); + } + } + } + + std::vector Polygon::edges() const + { + std::vector ret; + ret.reserve(vertices_.size()); + for (size_t i = 0; i < vertices_.size() - 1; i++) { + // edge between i and i+1 + ret.push_back(Segment::Ptr(new Segment(vertices_[i], vertices_[i+1]))); + } + // edge between [-1] and [0] + ret.push_back(Segment::Ptr(new Segment(vertices_[vertices_.size() - 1], vertices_[0]))); + return ret; + } + + double Polygon::distance(const Eigen::Vector3f& point) + { + Eigen::Vector3f nearest_point; + return Polygon::distance(point, nearest_point); + } + + double Polygon::distance(const Eigen::Vector3f& point, + Eigen::Vector3f& nearest_point) + { + double distance; + nearest_point = Polygon::nearestPoint(point, distance); + return distance; + } + + Eigen::Vector3f Polygon::nearestPoint(const Eigen::Vector3f& p, + double& distance) + { + Eigen::Vector3f projected_p; + Plane::project(p, projected_p); + if (isInside(projected_p)) { + distance = (p - projected_p).norm(); + return projected_p; + } + else { + std::vector boundary_edges = edges(); + double min_distnace = DBL_MAX; + Eigen::Vector3f nearest_point; + // brute-force searching + for (size_t i = 0; i < boundary_edges.size(); i++) { + Segment::Ptr edge = boundary_edges[i]; + Eigen::Vector3f foot; + double d = edge->distance(p, foot); + if (min_distnace > d) { + nearest_point = foot; + min_distnace = d; + } + } + distance = min_distnace; + return nearest_point; + } + } + + size_t Polygon::getNumVertices() { + return vertices_.size(); + } + + Eigen::Vector3f Polygon::getVertex(size_t i) { + return vertices_[i]; + } + + Polygon::PtrPair Polygon::separatePolygon(size_t index) + { + PointIndexPair neighbor_index = getNeighborIndex(index); + Vertices triangle_vertices; + triangle_vertices.push_back(vertices_[index]); + triangle_vertices.push_back(vertices_[neighbor_index.get<1>()]); + triangle_vertices.push_back(vertices_[neighbor_index.get<0>()]); + Polygon::Ptr triangle(new Polygon(triangle_vertices)); + Vertices rest_vertices; + // do not add the points on the line + for (size_t i = neighbor_index.get<1>(); i != index;) { + // check the points on the line + if (i == neighbor_index.get<1>()) { + rest_vertices.push_back(vertices_[i]); + } + else { + if (directionAtPoint(i).norm() != 0.0) { + rest_vertices.push_back(vertices_[i]); + } + else { + ROS_ERROR("removed: %lu", i); + } + } + i = nextIndex(i); + } + Polygon::Ptr rest(new Polygon(rest_vertices)); + return boost::make_tuple( + triangle, rest); + } + + bool Polygon::isPossibleToRemoveTriangleAtIndex( + size_t index, + const Eigen::Vector3f& direction) + { + Polygon::PtrPair candidate = separatePolygon(index); + Polygon::Ptr triangle_candidate = candidate.get<0>(); + Polygon::Ptr rest_candidate = candidate.get<1>(); + // first check direction + Eigen::Vector3f the_direction = directionAtPoint(index); + //ROS_INFO("direction: [%f, %f, %f]", the_direction[0], the_direction[1], the_direction[2]); + if (the_direction.norm() == 0.0) { + ROS_ERROR("malformed polygon"); + exit(1); + } + if (direction.dot(the_direction) < 0) { +#ifdef DEBUG_GEO_UTIL + ROS_INFO("triangle is not same direction"); + ROS_INFO("direction: [%f, %f, %f]", direction[0], direction[1], direction[2]); + ROS_INFO("the_direction: [%f, %f, %f]", + the_direction[0], + the_direction[1], + the_direction[2]); + for (size_t i = 0; i < vertices_.size(); i++) { + Eigen::Vector3f v = directionAtPoint(i); + ROS_INFO("the_direction[%lu]: [%f, %f, %f]", + i, v[0], v[1], v[2]); + // other direction + } +#endif + return false; + } + else { + //return true; + // second, check the triangle includes the rest of points or not + for (size_t i = 0; i < rest_candidate->vertices_.size(); i++) { + if (i == 0 || i == rest_candidate->vertices_.size() - 1) { + continue; // do not check the first and the last point + } + else { + Eigen::Vector3f P = rest_candidate->getVertex(i); + Eigen::Vector3f A = triangle_candidate->getVertex(0); + Eigen::Vector3f B = triangle_candidate->getVertex(1); + Eigen::Vector3f C = triangle_candidate->getVertex(2); + Eigen::Vector3f CA = A - C; + Eigen::Vector3f BC = C - B; + Eigen::Vector3f AB = B - A; + Eigen::Vector3f AP = P - A; + Eigen::Vector3f BP = P - B; + Eigen::Vector3f CP = P - C; + Eigen::Vector3f Across = CA.normalized().cross(AP.normalized()).normalized(); + Eigen::Vector3f Bcross = AB.normalized().cross(BP.normalized()).normalized(); + Eigen::Vector3f Ccross = BC.normalized().cross(CP.normalized()).normalized(); +#ifdef DEBUG_GEO_UTIL + ROS_INFO("P: [%f, %f, %f]", P[0], P[1], P[2]); + ROS_INFO("A: [%f, %f, %f]", A[0], A[1], A[2]); + ROS_INFO("B: [%f, %f, %f]", B[0], B[1], B[2]); + ROS_INFO("C: [%f, %f, %f]", C[0], C[1], C[2]); + ROS_INFO("Across: [%f, %f, %f]", Across[0], Across[1], Across[2]); + ROS_INFO("Bcross: [%f, %f, %f]", Bcross[0], Bcross[1], Bcross[2]); + ROS_INFO("Ccross: [%f, %f, %f]", Ccross[0], Ccross[1], Ccross[2]); + ROS_INFO("Across-Bcross: %f", Across.dot(Bcross)); + ROS_INFO("Bcross-Ccross: %f", Bcross.dot(Ccross)); + ROS_INFO("Ccross-Across: %f", Ccross.dot(Across)); +#endif + if (((Across.dot(Bcross) > 0 && + Bcross.dot(Ccross) > 0 && + Ccross.dot(Across) > 0) || + (Across.dot(Bcross) < 0 && + Bcross.dot(Ccross) < 0 && + Ccross.dot(Across) < 0))) { + // ROS_ERROR("%lu -- %lu is inside", index, i); + return false; + } + // ConvexPolygon convex_triangle(triangle_candidate->vertices_); + // if (convex_triangle.isInside(v)) { + // //ROS_INFO("vertices is inside of the polygon"); + // return false; + // } + } + } + return true; + } + } + + void Polygon::transformBy(const Eigen::Affine3d& transform) + { + Eigen::Affine3f float_affine; + convertEigenAffine3(transform, float_affine); + transformBy(float_affine); + } + + void Polygon::transformBy(const Eigen::Affine3f& transform) + { + // 1. clear cached_triangles_ + // 2. transform vertices_ + // 3. update normal_ and d_ + // 3. update plane_coordinates_ + cached_triangles_.clear(); + for (size_t i = 0; i < vertices_.size(); i++) { + vertices_[i] = transform * vertices_[i]; + } + // compute normal and d + normal_ = (vertices_[1] - vertices_[0]).cross(vertices_[2] - vertices_[0]).normalized(); + d_ = - normal_.dot(vertices_[0]) / normal_.norm(); + initializeCoordinates(); + } + + bool Polygon::maskImage(const jsk_recognition_utils::CameraDepthSensor& model, + cv::Mat& image) const + { + std::vector projected_vertices + = project3DPointstoPixel(model.getPinholeCameraModel(), vertices_); + bool all_outside = true; + // check some of vertices is inside of FoV + for (size_t i = 0; i < projected_vertices.size(); i++) { + if (model.isInside(projected_vertices[i])) { + all_outside = false; + } + } + image = model.image(CV_8UC1); + // check all the v is positive + for (size_t i = 0; i < vertices_.size(); i++) { + if (vertices_[i][2] < 0) { + return false; + } + } + const cv::Point* element_points[1] = {&projected_vertices[0]}; + int number_of_points = (int)projected_vertices.size(); + // Is it should be cv::fillPoly? + cv::fillPoly(image, + element_points, + &number_of_points, + 1, + cv::Scalar(255)); + return !all_outside; + } + + void Polygon::drawLineToImage(const jsk_recognition_utils::CameraDepthSensor& model, + cv::Mat& image, + const cv::Scalar& color, + const int line_width) const + { + std::vector projected_vertices + = project3DPointstoPixel(model.getPinholeCameraModel(), vertices_); + + for (size_t i = 0; i < projected_vertices.size() - 1; i++) { + cv::Point from = projected_vertices[i]; + cv::Point to = projected_vertices[i+1]; + if (model.isInside(from) || model.isInside(to)) { + cv::line(image, from, to, color, line_width); + } + } + cv::Point from = projected_vertices[projected_vertices.size() - 1]; + cv::Point to = projected_vertices[0]; + if (model.isInside(from) || model.isInside(to)) { + cv::line(image, from, to, color, line_width); + } + } + + bool Polygon::isConvex() + { +#ifdef DEBUG_GEO_UTIL + for (size_t i = 0; i < getNumVertices(); i++) { + Eigen::Vector3f n = directionAtPoint(i); + ROS_INFO("n[%lu] [%f, %f, %f]", i, n[0], n[1], n[2]); + } +#endif + Eigen::Vector3f n0 = directionAtPoint(0); + for (size_t i = 1; i < getNumVertices(); i++) { + Eigen::Vector3f n = directionAtPoint(i); + if (n0.dot(n) < 0) { + return false; + } + } + return true; + } + + std::vector Polygon::decomposeToTriangles() + { + if (cached_triangles_.size() != 0) { + return cached_triangles_; + } + std::vector ret; + + // if this polygon is triangle, return immediately + if (isTriangle()) { + ret.push_back(Polygon::Ptr( new Polygon(*this))); + return ret; + } + + pcl::EarClippingPatched clip; + // convert + pcl::PolygonMesh::Ptr input_mesh (new pcl::PolygonMesh); + pcl::PCLPointCloud2 mesh_cloud; + pcl::PointCloud mesh_pcl_cloud; + boundariesToPointCloud(mesh_pcl_cloud); + std::vector mesh_vertices(1); + for (size_t i = 0; i < vertices_.size(); i++) { + mesh_vertices[0].vertices.push_back(i); + } + //mesh_vertices[0].vertices.push_back(0); // close + mesh_pcl_cloud.height = 1; + mesh_pcl_cloud.width = mesh_pcl_cloud.points.size(); + pcl::toPCLPointCloud2(mesh_pcl_cloud, mesh_cloud); + + input_mesh->polygons = mesh_vertices; + input_mesh->cloud = mesh_cloud; + clip.setInputMesh(input_mesh); + pcl::PolygonMesh output; + clip.process(output); + assert(output.polygons.size() != 0); + // convert to Polygon instances + for (size_t i = 0; i < output.polygons.size(); i++) { + pcl::Vertices output_polygon_vertices = output.polygons[i]; + Vertices vs(output_polygon_vertices.vertices.size()); + for (size_t j = 0; j < output_polygon_vertices.vertices.size(); j++) { + pcl::PointXYZ p + = mesh_pcl_cloud.points[output_polygon_vertices.vertices[j]]; + Eigen::Vector3f v; + pointFromXYZToVector(p, v); + vs[j] = v; + } + ret.push_back(Polygon::Ptr(new Polygon(vs, toCoefficients()))); + } + cached_triangles_ = ret; + return ret; + } + + Eigen::Vector3f Polygon::getNormalFromVertices() + { + if (vertices_.size() >= 3) { + return (vertices_[1] - vertices_[0]).cross(vertices_[2] - vertices_[0]).normalized(); + } + else { + ROS_ERROR("the number of vertices is not enough"); + return Eigen::Vector3f(0, 0, 0); + } + } + + size_t Polygon::previousIndex(size_t i) + { + if (i == 0) { + return vertices_.size() - 1; + } + else { + return i - 1; + } + } + + size_t Polygon::nextIndex(size_t i) + { + if (i == vertices_.size() - 1) { + return 0; + } + else { + return i + 1; + } + } + + Polygon Polygon::fromROSMsg(const geometry_msgs::Polygon& polygon) + { + Vertices vertices; + for (size_t i = 0; i < polygon.points.size(); i++) { + Eigen::Vector3f v; + pointFromXYZToVector( + polygon.points[i], v); + vertices.push_back(v); + } + return Polygon(vertices); + } + + Polygon::Ptr Polygon::fromROSMsgPtr(const geometry_msgs::Polygon& polygon) + { + Vertices vertices; + for (size_t i = 0; i < polygon.points.size(); i++) { + Eigen::Vector3f v; + pointFromXYZToVector( + polygon.points[i], v); + vertices.push_back(v); + } + return Polygon::Ptr(new Polygon(vertices)); + } + + std::vector Polygon::fromROSMsg(const jsk_recognition_msgs::PolygonArray& msg, + const Eigen::Affine3f& offset) + { + std::vector ret; + for (size_t i = 0; i < msg.polygons.size(); i++) { + Polygon::Ptr polygon = Polygon::fromROSMsgPtr(msg.polygons[i].polygon); + polygon->transformBy(offset); + ret.push_back(polygon); + } + return ret; + } + + bool Polygon::isInside(const Eigen::Vector3f& p) + { + if (isTriangle()) { + Eigen::Vector3f A = vertices_[0]; + Eigen::Vector3f B = vertices_[1]; + Eigen::Vector3f C = vertices_[2]; + // Eigen::Vector3f cross0 = (A - C).cross(p - A); + // Eigen::Vector3f cross1 = (B - A).cross(p - B); + // Eigen::Vector3f cross2 = (C - B).cross(p - C); + + Eigen::Vector3f cross0 = (B - A).cross(p - A); + Eigen::Vector3f cross1 = (C - B).cross(p - B); + Eigen::Vector3f cross2 = (A - C).cross(p - C); + if (cross0.dot(cross1) >= 0 && + cross1.dot(cross2) >= 0) { + return true; + } + else { + return false; + } + } + else { + std::vector triangles = decomposeToTriangles(); + for (size_t i = 0; i < triangles.size(); i++) { + if (triangles[i]->isInside(p)) { + return true; + } + } + return false; + } + } + + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/polyline.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/polyline.cpp new file mode 100755 index 0000000..e3fa192 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/polyline.cpp @@ -0,0 +1,181 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#define BOOST_PARAMETER_MAX_ARITY 7 +#include "jsk_recognition_utils/geo/polyline.h" +#include +#include + +namespace jsk_recognition_utils +{ + PolyLine::PolyLine(const std::vector < Eigen::Vector3f > &points) : Line(points[points.size()-1] - points[0], points[0]) + { + int n = points.size(); + segments.resize(n-1); + for (int i = 0; i < n-1; i++) { + Segment::Ptr ln(new Segment(points[i], points[i+1])); + segments[i] = ln; + } + } + + Segment::Ptr PolyLine::at(int index) const + { + return segments.at(index); + } + + double PolyLine::distanceWithInfo(const Eigen::Vector3f& from, + Eigen::Vector3f& foot_point, + double& distance_to_goal, + int& foot_index, + double& foot_alpha) const + { + double min_len = DBL_MAX; + Eigen::Vector3f point; + double from_start_to_foot = 0; + double distance_from_start = 0; + + for(int i = 0; i < segments.size(); i++) { + double to_goal; + double dist = segments[i]->distanceWithInfo(from, point, to_goal); + if (dist < min_len) { + min_len = dist; + foot_point = point; + foot_index = i; + foot_alpha = (segments[i]->length() - to_goal); + from_start_to_foot = distance_from_start + foot_alpha; + } + distance_from_start += segments[i]->length(); + } + distance_to_goal = distance_from_start - from_start_to_foot; + return min_len; + } + + double PolyLine::distance(const Eigen::Vector3f& from) const + { + double gl, alp; + int idx; + Eigen::Vector3f p; + distanceWithInfo(from, p, gl, idx, alp); + } + + double PolyLine::distance(const Eigen::Vector3f& from, + Eigen::Vector3f& foot_point) const + { + double gl, alp; + int idx; + distanceWithInfo(from, foot_point, gl, idx, alp); + } + + void PolyLine::getDirection(int index, Eigen::Vector3f& output) const + { + segments[index]->getDirection(output); + } + Eigen::Vector3f PolyLine::getDirection(int index) const + { + Eigen::Vector3f dir; + getDirection(index, dir); + return dir; + } + + double PolyLine::length() const + { + double distance_from_start = 0; + for(int i = 0; i < segments.size(); i++) { + distance_from_start += segments[i]->length(); + } + return distance_from_start; + } + + PolyLine::Ptr PolyLine::flipPolyLine() const + { + PolyLine::Ptr ret; + return ret; + } + + void PolyLine::toMarker(visualization_msgs::Marker& marker) const + { + marker.type = visualization_msgs::Marker::LINE_STRIP; + + marker.scale.x = 0.02; // line width + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 1.0; + + marker.pose.position.x = 0; + marker.pose.position.y = 0; + marker.pose.position.z = 0; + marker.pose.orientation.x = 0; + marker.pose.orientation.y = 0; + marker.pose.orientation.z = 0; + marker.pose.orientation.w = 1; + + marker.points.resize(0); + for(int i = 0; i < segments.size(); i++) { + Eigen::Vector3f p; + segments[i]->getOrigin(p); + geometry_msgs::Point pt; + pt.x = p[0]; + pt.y = p[1]; + pt.z = p[2]; + marker.points.push_back(pt); + } + { + Eigen::Vector3f p; + segments[segments.size() - 1]->getEnd(p); + geometry_msgs::Point pt; + pt.x = p[0]; + pt.y = p[1]; + pt.z = p[2]; + marker.points.push_back(pt); + } + } + + std::ostream& operator<<(std::ostream& os, const PolyLine& pl) + { + os << "[" << pl.origin_[0]; + os << ", " << pl.origin_[1]; + os << ", " << pl.origin_[2] << "]"; + + for (int i = 0; i < pl.segments.size(); i++) { + Eigen::Vector3f p; + pl.segments[i]->getEnd(p); + os << " -- [" << p[0]; + os << ", " << p[1]; + os << ", " << p[2] << "]"; + } + return os; + } +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/segment.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/segment.cpp new file mode 100755 index 0000000..f8559ac --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo/segment.cpp @@ -0,0 +1,225 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#define BOOST_PARAMETER_MAX_ARITY 7 + +#include "jsk_recognition_utils/geo/segment.h" +#include "jsk_recognition_utils/geo_util.h" +namespace jsk_recognition_utils +{ + Segment::Segment(const Eigen::Vector3f& from, const Eigen::Vector3f to): + Line(to - from, from), to_(to), length_((to - from).norm()) + { + } + + double Segment::dividingRatio(const Eigen::Vector3f& point) const + { + if (to_[0] != origin_[0]) { + return (point[0] - origin_[0]) / (to_[0] - origin_[0]); + } + else if (to_[1] != origin_[1]) { + return (point[1] - origin_[1]) / (to_[1] - origin_[1]); + } + else { + return (point[2] - origin_[2]) / (to_[2] - origin_[2]); + } + } + + void Segment::foot(const Eigen::Vector3f& from, Eigen::Vector3f& output) const + { + Eigen::Vector3f foot_point; + Line::foot(from, foot_point); + double r = dividingRatio(foot_point); + if (r < 0.0) { + output = origin_; + } + else if (r > 1.0) { + output = to_; + } + else { + output = foot_point; + } + } + + double Segment::distance(const Eigen::Vector3f& point) const + { + Eigen::Vector3f foot_point; + return distance(point, foot_point); + } + + double Segment::distance(const Eigen::Vector3f& point, + Eigen::Vector3f& foot_point) const + { + foot(point, foot_point); + return (foot_point - point).norm(); + } + + bool Segment::intersect(Plane& plane, Eigen::Vector3f& point) const + { + double x = - (plane.getNormal().dot(origin_) + plane.getD()) / (plane.getNormal().dot(direction_)); + point = direction_ * x + origin_; + double r = dividingRatio(point); + return 0 <= r && r <= 1.0; + } + + void Segment::midpoint(Eigen::Vector3f& midpoint) const + { + midpoint = (origin_ + to_) * 0.5; + } + + std::ostream& operator<<(std::ostream& os, const Segment& seg) + { + os << "[" << seg.origin_[0] << ", " << seg.origin_[1] << ", " << seg.origin_[2] << "] -- " + << "[" << seg.to_[0] << ", " << seg.to_[1] << ", " << seg.to_[2] << "]"; + } + + void Segment::getEnd(Eigen::Vector3f& output) const + { + output = to_; + } + + Eigen::Vector3f Segment::getEnd() const + { + return to_; + } + + double Segment::distanceWithInfo(const Eigen::Vector3f& from, + Eigen::Vector3f& foot_point, + double &distance_to_goal) const + { + const double alpha = computeAlpha(from); + + if (alpha >= 0 && alpha <= length_) { + // foot on the line + foot_point = alpha * direction_ + origin_; + distance_to_goal = length_ - alpha; + } else if (alpha < 0) { + // foot out of the line + foot_point = origin_; + distance_to_goal = length_; + } else { + foot_point = to_; + distance_to_goal = 0; + } + return (from - foot_point).norm(); + } + + Segment::Ptr Segment::flipSegment() const + { + Segment::Ptr ret (new Segment(to_, origin_)); + return ret; + } + + double Segment::length() const + { + return length_; + } + + void Segment::toMarker(visualization_msgs::Marker& marker) const + { + marker.type = visualization_msgs::Marker::ARROW;// + + geometry_msgs::Point st; + geometry_msgs::Point ed; + st.x = origin_[0]; + st.y = origin_[1]; + st.z = origin_[2]; + ed.x = to_[0]; + ed.y = to_[1]; + ed.z = to_[2]; + + marker.points.push_back(st); + marker.points.push_back(ed); + + marker.scale.x = 0.012; + marker.scale.y = 0.02; + marker.color.a = 1; + marker.color.r = 1; + marker.color.g = 1; + marker.color.b = 0; + } + + bool Segment::isCross (const Line &ln, double distance_threshold) const + { + Eigen::Vector3f ln_origin = ln.getOrigin(); + Eigen::Vector3f ln_direction = ln.getDirection(); + Eigen::Vector3f v12 = (ln_origin - origin_); + double n1n2 = ln_direction.dot(direction_); + if (fabs(n1n2) < 1e-20) { // parallel + return false; + } + double alp1 = (ln_direction.dot(v12) - (n1n2 * direction_.dot(v12))) / (1 - n1n2 * n1n2); + double alp2 = ((n1n2 * ln_direction.dot(v12)) - direction_.dot(v12)) / (1 - n1n2 * n1n2); + + if (// alp1 >= 0 && alp1 <= ln.length() && + alp2 >= 0 && alp2 <= length_) { + Eigen::Vector3f p1 = alp1 * ln_direction + ln_origin; + Eigen::Vector3f p2 = alp2 * direction_ + origin_; + if ((p1 - p2).norm() < distance_threshold) { + return true; + } else { + return false; + } + } + + return false; + } + + bool Segment::isCross (const Segment &ln, double distance_threshold) const + { + Eigen::Vector3f ln_origin = ln.getOrigin(); + Eigen::Vector3f ln_direction = ln.getDirection(); + Eigen::Vector3f v12 = (ln_origin - origin_); + double n1n2 = ln_direction.dot(direction_); + if (fabs(n1n2) < 1e-20) { // parallel + return false; + } + double alp1 = (ln_direction.dot(v12) - (n1n2 * direction_.dot(v12))) / (1 - n1n2 * n1n2); + double alp2 = ((n1n2 * ln_direction.dot(v12)) - direction_.dot(v12)) / (1 - n1n2 * n1n2); + + if (alp1 >= 0 && alp1 <= ln.length() && + alp2 >= 0 && alp2 <= length_) { + Eigen::Vector3f p1 = alp1 * ln_direction + ln_origin; + Eigen::Vector3f p2 = alp2 * direction_ + origin_; + if ((p1 - p2).norm() < distance_threshold) { + return true; + } else { + return false; + } + } + + return false; + } +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo_util.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo_util.cpp new file mode 100755 index 0000000..eebeb7b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/geo_util.cpp @@ -0,0 +1,66 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#define BOOST_PARAMETER_MAX_ARITY 7 +#include "jsk_recognition_utils/geo_util.h" +#include "jsk_recognition_utils/pcl_conversion_util.h" +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include "jsk_recognition_utils/sensor_model_utils.h" + +// #define DEBUG_GEO_UTIL +namespace jsk_recognition_utils +{ + Eigen::Quaternionf rotFrom3Axis(const Eigen::Vector3f& ex, + const Eigen::Vector3f& ey, + const Eigen::Vector3f& ez) + { + Eigen::Matrix3f rot; + rot.col(0) = ex.normalized(); + rot.col(1) = ey.normalized(); + rot.col(2) = ez.normalized(); + return Eigen::Quaternionf(rot); + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/grid_index.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/grid_index.cpp new file mode 100755 index 0000000..affbf96 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/grid_index.cpp @@ -0,0 +1,55 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/grid_index.h" + +namespace jsk_recognition_utils +{ + GridIndex::GridIndex(): x(0), y(0) + { + + } + + GridIndex::GridIndex(int _x, int _y): x(_x), y(_y) + { + + } + + GridIndex::~GridIndex() + { + + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/grid_line.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/grid_line.cpp new file mode 100755 index 0000000..89a5b9d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/grid_line.cpp @@ -0,0 +1,81 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/grid_line.h" + +namespace jsk_recognition_utils +{ + GridLine::GridLine(const pcl::PointXYZRGB a, const pcl::PointXYZRGB b) + : from(a.getVector3fMap()), to(b.getVector3fMap()), d_(from - to) + { + d_.normalized(); + } + + GridLine::~GridLine() + { + + } + + // bool GridLine::penetrateGrid(const Eigen::Vector3f A, + // const Eigen::Vector3f B, + // const Eigen::Vector3f C, + // const Eigen::Vector3f D) + // { + // Eigen::Vector3f Across = (A - from).cross(d_); + // Eigen::Vector3f Bcross = (B - from).cross(d_); + // Eigen::Vector3f Ccross = (C - from).cross(d_); + // Eigen::Vector3f Dcross = (D - from).cross(d_); + // bool ab_direction = Across.dot(Bcross) < 0; + // bool ac_direction = Across.dot(Ccross) < 0; + // bool ad_direction = Across.dot(Dcross) < 0; + // if ((ab_direction == ac_direction) && (ab_direction == ad_direction)) { + // return false; + // } + // else { + // return true; + // } + // } + + bool GridLine::penetrateGrid(const pcl::PointXYZRGB& A, + const pcl::PointXYZRGB& B, + const pcl::PointXYZRGB& C, + const pcl::PointXYZRGB& D) + { + return penetrateGrid(A.getVector3fMap(), + B.getVector3fMap(), + C.getVector3fMap(), + D.getVector3fMap()); + } +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/grid_map.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/grid_map.cpp new file mode 100755 index 0000000..dd8c20c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/grid_map.cpp @@ -0,0 +1,672 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#define BOOST_PARAMETER_MAX_ARITY 7 +#include "jsk_recognition_utils/grid_map.h" +#include +#include +#include "jsk_recognition_utils/geo_util.h" +#include +#include +#include "jsk_recognition_utils/pcl_conversion_util.h" +#include +#include +//#define DEBUG_GRID_MAP + +namespace jsk_recognition_utils +{ + GridMap::GridMap(double resolution, const std::vector& coefficients): + resolution_(resolution), vote_(0) + { + normal_[0] = -coefficients[0]; + normal_[1] = -coefficients[1]; + normal_[2] = -coefficients[2]; + d_ = -coefficients[3]; + if (normal_.norm() != 1.0) { + d_ = d_ / normal_.norm(); + normal_.normalize(); + } + O_ = - d_ * normal_; + // decide ex_ and ey_ + Eigen::Vector3f u(1, 0, 0); + if (normal_ == u) { + u[0] = 0; u[1] = 1; u[2] = 0; + } + ey_ = normal_.cross(u).normalized(); + ex_ = ey_.cross(normal_).normalized(); + } + + GridMap::~GridMap() + { + + } + + GridIndex::Ptr GridMap::registerIndex(const int x, const int y) + { + ColumnIterator it = data_.find(x); + if (it != data_.end()) { + (it->second).insert(y); + } + else { + RowIndices new_row; + new_row.insert(y); + data_[x] = new_row; + } + GridIndex::Ptr ret(new GridIndex(x, y)); + return ret; + } + + GridIndex::Ptr GridMap::registerIndex(const GridIndex::Ptr& index) + { + return registerIndex(index->x, index->y); + } + + void GridMap::registerPoint(const pcl::PointXYZRGB& point) + { + GridIndex::Ptr index (new GridIndex()); + pointToIndex(point, index); + // check duplication + registerIndex(index); + } + + std::vector GridMap::registerLine(const pcl::PointXYZRGB& from, + const pcl::PointXYZRGB& to) + { +#ifdef DEBUG_GRID_MAP + std::cout << "newline" << std::endl; +#endif + std::vector added_indices; + //GridLine::Ptr new_line (new GridLine(from, to)); + //lines_.push_back(new_line); + // count up all the grids which the line penetrates + + // 1. convert to y = ax + b style equation. + // 2. move x from the start index to the end index and count up the y range + // if it cannot be convert to y = ax + b style, it means the equation + // is represented as x = c style. + double from_x = from.getVector3fMap().dot(ex_) / resolution_; + double from_y = from.getVector3fMap().dot(ey_) / resolution_; + double to_x = to.getVector3fMap().dot(ex_) / resolution_; + double to_y = to.getVector3fMap().dot(ey_) / resolution_; +#ifdef DEBUG_GRID_MAP + std::cout << "registering (" << (int)from_x << ", " << (int)from_y << ")" << std::endl; + std::cout << "registering (" << (int)to_x << ", " << (int)to_y << ")" << std::endl; +#endif + added_indices.push_back(registerIndex(from_x, from_y)); + added_indices.push_back(registerIndex(to_x, to_y)); + if (from_x != to_x) { + double a = (to_y - from_y) / (to_x - from_x); + double b = - a * from_x + from_y; +#ifdef DEBUG_GRID_MAP + std::cout << "a: " << a << std::endl; +#endif + if (a == 0.0) { +#ifdef DEBUG_GRID_MAP + std::cout << "parallel to x" << std::endl; +#endif + int from_int_x = (int)from_x; + int to_int_x = (int)to_x; + int int_y = (int)from_y; + if (from_int_x > to_int_x) { + std::swap(from_int_x, to_int_x); + } + for (int ix = from_int_x; ix < to_int_x; ++ix) { + added_indices.push_back(registerIndex(ix, int_y)); +#ifdef DEBUG_GRID_MAP + std::cout << "registering (" << ix << ", " << int_y << ")" << std::endl; +#endif + } + } + else if (fabs(a) < 1.0) { +#ifdef DEBUG_GRID_MAP + std::cout << "based on x" << std::endl; +#endif + int from_int_x = (int)from_x; + int to_int_x = (int)to_x; + if (from_int_x > to_int_x) { + std::swap(from_int_x, to_int_x); + } + + for (int ix = from_int_x; ix < to_int_x; ++ix) { + double y = a * ix + b; + added_indices.push_back(registerIndex(ix, (int)y)); +#ifdef DEBUG_GRID_MAP + std::cout << "registering (" << ix << ", " << (int)y << ")" << std::endl; +#endif + } + } + else { +#ifdef DEBUG_GRID_MAP + std::cout << "based on y" << std::endl; +#endif + int from_int_y = (int)from_y; + int to_int_y = (int)to_y; + if (from_int_y > to_int_y) { + std::swap(from_int_y, to_int_y); + } + + for (int iy = from_int_y; iy < to_int_y; ++iy) { + double x = iy / a - b / a; + added_indices.push_back(registerIndex((int)x, iy)); +#ifdef DEBUG_GRID_MAP + std::cout << "registering (" << (int)x << ", " << iy << ")" << std::endl; +#endif + } + } + + } + else { +#ifdef DEBUG_GRID_MAP + std::cout << "parallel to y" << std::endl; +#endif + // the line is parallel to y + int from_int_y = (int)from_y; + int to_int_y = (int)to_y; + int int_x = (int)from_x; + if (from_int_y > to_int_y) { + std::swap(from_int_y, to_int_y); + } + for (int iy = from_int_y; iy < to_int_y; ++iy) { + added_indices.push_back(registerIndex(int_x, iy)); +#ifdef DEBUG_GRID_MAP + std::cout << "registering (" << int_x << ", " << (int)iy << ")" << std::endl; +#endif + } + } + return added_indices; + } + + void GridMap::registerPointCloud(pcl::PointCloud::Ptr cloud) + { + for (size_t i = 0; i < cloud->points.size(); i++) { + registerPoint(cloud->points[i]); + //ROS_INFO("registered point: [%f, %f, %f]", cloud->points[i].x, cloud->points[i].y, cloud->points[i].z); + } + } + + void GridMap::pointToIndex(const pcl::PointXYZRGB& point, GridIndex::Ptr index) + { + pointToIndex(point.getVector3fMap(), index); + } + + void GridMap::pointToIndex(const Eigen::Vector3f& p, GridIndex::Ptr index) + { + index->x = (p - O_).dot(ex_) / resolution_; + index->y = (p - O_).dot(ey_) / resolution_; + } + + void GridMap::gridToPoint(GridIndex::Ptr index, Eigen::Vector3f& pos) + { + gridToPoint(*index, pos); + } + + void GridMap::gridToPoint(const GridIndex& index, Eigen::Vector3f& pos) + { + //pos = resolution_ * (index.x * ex_ + index.y * ey_) + O_; + pos = resolution_ * ((index.x + 0.5) * ex_ + (index.y + 0.5) * ey_) + O_; + } + + void GridMap::gridToPoint2(const GridIndex& index, Eigen::Vector3f& pos) + { + //pos = resolution_ * ((index.x - 0.5) * ex_ + (index.y - 0.5) * ey_) + O_; + pos = resolution_ * ((index.x - 0.0) * ex_ + (index.y - 0.0) * ey_) + O_; + } + + + bool GridMap::getValue(const int x, const int y) + { + // check line + // for (size_t i = 0; i < lines_.size(); i++) { + // GridLine::Ptr line = lines_[i]; + // Eigen::Vector3f A, B, C, D; + // gridToPoint2(GridIndex(x, y), A); + // gridToPoint2(GridIndex(x + 1, y), B); + // gridToPoint2(GridIndex(x + 1, y + 1), C); + // gridToPoint2(GridIndex(x, y + 1), D); + // bool penetrate = line->penetrateGrid(A, B, C, D); + // if (penetrate) { + // // // printf("(%lf, %lf, %lf) - (%lf, %lf, %lf) penetrate (%d, %d)\n", + // // // line->from[0],line->from[1],line->from[2], + // // // line->to[0],line->to[1],line->to[2], + // // // x, y); + // // //std::cout << "penetrate" + // return true; + // } + // } + + ColumnIterator it = data_.find(x); + if (it == data_.end()) { + return false; + } + else { + RowIndices c = it->second; + if (c.find(y) == c.end()) { + return false; + } + else { + return true; + } + } + } + + bool GridMap::getValue(const GridIndex& index) + { + return getValue(index.x, index.y); + } + + bool GridMap::getValue(const GridIndex::Ptr& index) + { + return getValue(*index); + } + + void GridMap::fillRegion(const GridIndex::Ptr start, std::vector& output) + { +#ifdef DEBUG_GRID_MAP + std::cout << "filling " << start->x << ", " << start->y << std::endl; +#endif + output.push_back(start); + registerIndex(start); +#ifdef DEBUG_GRID_MAP + if (abs(start->x) > 100 || abs(start->y) > 100) { + //exit(1); + std::cout << "force to quit" << std::endl; + for (size_t i = 0; i < lines_.size(); i++) { + GridLine::Ptr line = lines_[i]; + Eigen::Vector3f from = line->from; + Eigen::Vector3f to = line->to; +#ifdef DEBUG_GRID_MAP + std::cout << "line[" << i << "]: " + << "[" << from[0] << ", " << from[1] << ", " << from[2] << "] -- " + << "[" << to[0] << ", " << to[1] << ", " << to[2] << std::endl; +#endif + } + return; // force to quit + } +#endif + GridIndex U(start->x, start->y + 1), + D(start->x, start->y - 1), + R(start->x + 1, start->y), + L(start->x - 1, start->y); + + if (!getValue(U)) { + fillRegion(boost::make_shared(U), output); + } + if (!getValue(L)) { + fillRegion(boost::make_shared(L), output); + } + if (!getValue(R)) { + fillRegion(boost::make_shared(R), output); + } + if (!getValue(D)) { + fillRegion(boost::make_shared(D), output); + } + + } + + void GridMap::fillRegion(const Eigen::Vector3f& start, std::vector& output) + { + GridIndex::Ptr start_index (new GridIndex); + pointToIndex(start, start_index); + fillRegion(start_index, output); + } + + void GridMap::indicesToPointCloud(const std::vector& indices, + pcl::PointCloud::Ptr cloud) + { + for (size_t i = 0; i < indices.size(); i++) { + GridIndex::Ptr index = indices[i]; + Eigen::Vector3f point; + pcl::PointXYZRGB new_point; + gridToPoint(index, point); + new_point.x = point[0]; + new_point.y = point[1]; + new_point.z = point[2]; + cloud->points.push_back(new_point); + } + } + + void GridMap::originPose(Eigen::Affine3f& output) + { + Eigen::Matrix3f rot_mat; + rot_mat.col(0) = Eigen::Vector3f(ex_[0], ex_[1], ex_[2]); + rot_mat.col(1) = Eigen::Vector3f(ey_[0], ey_[1], ey_[2]); + rot_mat.col(2) = Eigen::Vector3f(normal_[0], normal_[1], normal_[2]); + ROS_DEBUG("O: [%f, %f, %f]", O_[0], O_[1], O_[2]); + ROS_DEBUG("ex: [%f, %f, %f]", ex_[0], ex_[1], ex_[2]); + ROS_DEBUG("ey: [%f, %f, %f]", ey_[0], ey_[1], ey_[2]); + ROS_DEBUG("normal: [%f, %f, %f]", normal_[0], normal_[1], normal_[2]); + output = Eigen::Translation3f(O_) * Eigen::Quaternionf(rot_mat); + } + + void GridMap::originPose(Eigen::Affine3d& output) + { + Eigen::Affine3f float_affine; + originPose(float_affine); + convertEigenAffine3(float_affine, output); + } + + void GridMap::toMsg(jsk_recognition_msgs::SparseOccupancyGrid& grid) + { + grid.resolution = resolution_; + // compute origin POSE from O and normal_, d_ + Eigen::Affine3d plane_pose; + originPose(plane_pose); + tf::poseEigenToMsg(plane_pose, grid.origin_pose); + for (ColumnIterator it = data_.begin(); + it != data_.end(); + it++) { + int column_index = it->first; + RowIndices row_indices = it->second; + jsk_recognition_msgs::SparseOccupancyGridColumn ros_column; + ros_column.column_index = column_index; + for (RowIterator rit = row_indices.begin(); + rit != row_indices.end(); + rit++) { + jsk_recognition_msgs::SparseOccupancyGridCell cell; + cell.row_index = *rit; + cell.value = 1.0; + ros_column.cells.push_back(cell); + } + grid.columns.push_back(ros_column); + } + } + + Plane GridMap::toPlane() + { + return Plane(normal_, d_); + } + + Plane::Ptr GridMap::toPlanePtr() + { + Plane::Ptr ret (new Plane(normal_, d_)); + return ret; + } + + + std::vector GridMap::getCoefficients() + { + std::vector output; + output.push_back(normal_[0]); + output.push_back(normal_[1]); + output.push_back(normal_[2]); + output.push_back(d_); + return output; + } + + void GridMap::vote() + { + ++vote_; + } + + unsigned int GridMap::getVoteNum() + { + return vote_; + } + + void GridMap::setGeneration(unsigned int generation) { + generation_ = generation; + } + + unsigned int GridMap::getGeneration() + { + return generation_; + } + + void GridMap::removeIndex(const GridIndex::Ptr& index) + { + int x = index->x; + int y = index->y; + ColumnIterator it = data_.find(x); + if (it != data_.end()) { + RowIterator rit = (it->second).find(y); + if (rit != it->second.end()) { + it->second.erase(rit); + } + } + } + bool GridMap::isBinsOccupied(const Eigen::Vector3f& p) + { + GridIndex::Ptr ret (new GridIndex()); + pointToIndex(p, ret); + //ROS_INFO("checking (%d, %d)", ret->x, ret->y); + return getValue(ret); + } + + boost::tuple GridMap::minMaxX() + { + int min_x = INT_MAX; + int max_x = - INT_MAX; + for (ColumnIterator it = data_.begin(); + it != data_.end(); + ++it) { + int x = it->first; + if (min_x > x) { + min_x = x; + } + if (max_x < x) { + max_x = x; + } + } + return boost::make_tuple(min_x, max_x); + } + + boost::tuple GridMap::minMaxY() + { + int min_y = INT_MAX; + int max_y = - INT_MAX; + for (ColumnIterator it = data_.begin(); + it != data_.end(); + ++it) { + RowIndices row_indices = it->second; + for (RowIterator rit = row_indices.begin(); + rit != row_indices.end(); + rit++) { + int y = *rit; + if (min_y > y) { + min_y = y; + } + if (max_y < y) { + max_y = y; + } + } + } + return boost::make_tuple(min_y, max_y); + } + + int GridMap::normalizedWidth() + { + boost::tuple min_max_x = minMaxX(); + return min_max_x.get<1>() - min_max_x.get<0>(); + } + + int GridMap::normalizedHeight() + { + boost::tuple min_max_y = minMaxY(); + return min_max_y.get<1>() - min_max_y.get<0>(); + } + + int GridMap::widthOffset() + { + boost::tuple min_max_x = minMaxX(); + int min_x = min_max_x.get<0>(); + return - min_x; + } + + int GridMap::heightOffset() + { + boost::tuple min_max_y = minMaxY(); + int min_y = min_max_y.get<0>(); + return - min_y; + } + + int GridMap::normalizedIndex(int width_offset, int height_offset, + int step, + int elem_size, + int original_x, int original_y) + { + int x = original_x + width_offset; + int y = original_y + height_offset; + return y * step + x * elem_size; + } + + + cv::Mat GridMap::toImage() + { + // initialize with black + int width = normalizedWidth(); + int height = normalizedHeight(); + int width_offset = widthOffset(); + int height_offset = heightOffset(); + cv::Mat m = cv::Mat(width, height, CV_8UC1) * 0; + // for all index + for (ColumnIterator it = data_.begin(); + it != data_.end(); + ++it) { + for (RowIterator rit = it->second.begin(); + rit != it->second.end(); + ++rit) { + m.data[normalizedIndex(width_offset, height_offset, + m.step, m.elemSize(), + it->first, *rit)] = 255; + } + } + + return m; + } + + bool GridMap::check4Neighbor(int x, int y) { + if (getValue(x + 1, y) && + getValue(x + 1, y + 1) && + getValue(x - 1, y) && + getValue(x - 1, y - 1)) { + return true; + } + else { + return false; + } + } + + void GridMap::decreaseOne() + { + //Columns new_data; + GridMap::Ptr new_map (new GridMap(resolution_, getCoefficients())); + for (ColumnIterator it = data_.begin(); + it != data_.end(); + it++) { + RowIndices row_indices = it->second; + int x = it->first; + for (RowIterator rit = row_indices.begin(); + rit != row_indices.end(); + rit++) { + int y = *rit; + if (check4Neighbor(x, y)) { + new_map->registerIndex(x, y); + } + } + } + data_ = new_map->data_; + } + + void GridMap::decrease(int i) + { + for (int ii = 0; ii < i; ii++) { + decreaseOne(); + } + } + + void GridMap::add(GridMap& other) + { + for (ColumnIterator it = other.data_.begin(); + it != other.data_.end(); + it++) { + RowIndices row_indices = it->second; + int x = it->first; + for (RowIterator rit = row_indices.begin(); + rit != row_indices.end(); + rit++) { + int y = *rit; + Eigen::Vector3f pos; + GridIndex index(x, y); + other.gridToPoint(index, pos); + pcl::PointXYZRGB p; + pointFromVectorToXYZ(pos, p); + registerPoint(p); + } + } + } + + pcl::PointCloud::Ptr GridMap::toPointCloud() + { + pcl::PointCloud::Ptr cloud (new pcl::PointCloud); + for (ColumnIterator it = data_.begin(); + it != data_.end(); + it++) { + RowIndices row_indices = it->second; + int x = it->first; + for (RowIterator rit = row_indices.begin(); + rit != row_indices.end(); + rit++) { + int y = *rit; + Eigen::Vector3f pos; + GridIndex index(x, y); + gridToPoint(index, pos); + pcl::PointXYZ p; + pointFromVectorToXYZ(pos, p); + cloud->points.push_back(p); + } + } + return cloud; + } + + ConvexPolygon::Ptr GridMap::toConvexPolygon() + { + // 1. build pointcloud + // 2. compute convex hull + // 3. return it as ConvexPolygon + pcl::PointCloud::Ptr cloud = toPointCloud(); + pcl::ConvexHull chull; + chull.setInputCloud(cloud); + chull.setDimension(2); + pcl::PointCloud chull_output; + chull.reconstruct(chull_output); + // convex chull_output to Vertices + Vertices vs; + for (size_t i = 0; i < chull_output.points.size(); i++) { + Eigen::Vector3f v = chull_output.points[i].getVector3fMap(); + vs.push_back(v); + } + return ConvexPolygon::Ptr(new ConvexPolygon(vs)); + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl/ear_clipping_patched.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl/ear_clipping_patched.cpp new file mode 100755 index 0000000..0e26401 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl/ear_clipping_patched.cpp @@ -0,0 +1,231 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/pcl/ear_clipping_patched.h" +#include +#include +#include + +///////////////////////////////////////////////////////////////////////////////////////////// +bool +pcl::EarClippingPatched::initCompute () +{ + points_.reset (new pcl::PointCloud); + + if (!MeshProcessing::initCompute ()) + return (false); + fromPCLPointCloud2 (input_mesh_->cloud, *points_); + + return (true); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void +pcl::EarClippingPatched::performProcessing (PolygonMesh& output) +{ + output.polygons.clear (); + output.cloud = input_mesh_->cloud; + for (int i = 0; i < static_cast (input_mesh_->polygons.size ()); ++i) + triangulate (input_mesh_->polygons[i], output); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +void +pcl::EarClippingPatched::triangulate (const Vertices& vertices, PolygonMesh& output) +{ + const size_t n_vertices = vertices.vertices.size (); + + if (n_vertices < 3) + return; + else if (n_vertices == 3) + { + output.polygons.push_back( vertices ); + return; + } + + std::vector remaining_vertices = vertices.vertices; + size_t count = triangulateClockwiseVertices(remaining_vertices, output); + + // if the input vertices order is anti-clockwise, it always left a + // convex polygon and start infinite loops, which means will left more + // than 3 points. + if (remaining_vertices.size() < 3) return; + + output.polygons.erase(output.polygons.end(), output.polygons.end() + count); + remaining_vertices.resize(n_vertices); + for (size_t v = 0; v < n_vertices; v++) + remaining_vertices[v] = vertices.vertices[n_vertices - 1 - v]; + triangulateClockwiseVertices(remaining_vertices, output); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +size_t +pcl::EarClippingPatched::triangulateClockwiseVertices (std::vector& vertices, PolygonMesh& output) +{ + // triangles count + size_t count = 0; + + // Avoid closed loops. + if (vertices.front () == vertices.back ()) + vertices.erase (vertices.end () - 1); + + // null_iterations avoids infinite loops if the polygon is not simple. + for (int u = static_cast (vertices.size ()) - 1, null_iterations = 0; + vertices.size () > 2 && null_iterations < static_cast(vertices.size () * 2); + ++null_iterations, u = (u+1) % static_cast (vertices.size ())) + { + int v = (u + 1) % static_cast (vertices.size ()); + int w = (u + 2) % static_cast (vertices.size ()); + + if (vertices.size() == 3 || isEar (u, v, w, vertices)) + { + Vertices triangle; + triangle.vertices.resize (3); + triangle.vertices[0] = vertices[u]; + triangle.vertices[1] = vertices[v]; + triangle.vertices[2] = vertices[w]; + output.polygons.push_back (triangle); + vertices.erase (vertices.begin () + v); + null_iterations = 0; + count++; + } + } + return count; +} + +///////////////////////////////////////////////////////////////////////////////////////////// +bool +pcl::EarClippingPatched::isEar (int u, int v, int w, const std::vector& vertices) +{ + Eigen::Vector3f p_u, p_v, p_w; + p_u = points_->points[vertices[u]].getVector3fMap(); + p_v = points_->points[vertices[v]].getVector3fMap(); + p_w = points_->points[vertices[w]].getVector3fMap(); + + const float eps = 1e-15f; + Eigen::Vector3f p_vu, p_vw; + p_vu = p_u - p_v; + p_vw = p_w - p_v; + + // 1: Avoid flat triangles and concave vertex + Eigen::Vector3f cross = p_vu.cross(p_vw); + if ((cross[2] > 0) || (cross.norm() < eps)) + return (false); + + Eigen::Vector3f p; + // 2: Check if any other vertex is inside the triangle. + for (int k = 0; k < static_cast (vertices.size ()); k++) + { + if ((k == u) || (k == v) || (k == w)) + continue; + p = points_->points[vertices[k]].getVector3fMap(); + + if (isInsideTriangle (p_u, p_v, p_w, p)) + return (false); + } + + // 3: Check if the line segment uw lies completely inside the polygon. + // Here we suppose simple polygon (all edges do not intersect by themselves), + // so we only check if the middle point of line segment uw is inside the polygon. + Eigen::Vector3f p_i0, p_i1; + Eigen::Vector3f p_mid_uw = (p_u + p_w) / 2.0; + // HACK: avoid double-counting intersection at polygon vertices + Eigen::Vector3f p_inf = p_mid_uw + (p_v - p_mid_uw) * 1e15f + p_vu * 1e10f; + int intersect_count = 0; + for (int i = 0; i < static_cast(vertices.size()); i++) + { + p_i0 = points_->points[vertices[i]].getVector3fMap(); + p_i1 = points_->points[vertices[(i + 1) % static_cast(vertices.size())]].getVector3fMap(); + if (intersect(p_mid_uw, p_inf, p_i0, p_i1)) + intersect_count++; + } + if (intersect_count % 2 == 0) + return (false); + + return (true); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +bool +pcl::EarClippingPatched::isInsideTriangle (const Eigen::Vector3f& u, + const Eigen::Vector3f& v, + const Eigen::Vector3f& w, + const Eigen::Vector3f& p) +{ + // see http://www.blackpawn.com/texts/pointinpoly/default.html + // Barycentric Coordinates + Eigen::Vector3f v0 = w - u; + Eigen::Vector3f v1 = v - u; + Eigen::Vector3f v2 = p - u; + + // Compute dot products + float dot00 = v0.dot(v0); + float dot01 = v0.dot(v1); + float dot02 = v0.dot(v2); + float dot11 = v1.dot(v1); + float dot12 = v1.dot(v2); + + // Compute barycentric coordinates + float invDenom = 1 / (dot00 * dot11 - dot01 * dot01); + float a = (dot11 * dot02 - dot01 * dot12) * invDenom; + float b = (dot00 * dot12 - dot01 * dot02) * invDenom; + + // Check if point is in triangle + return (a >= 0) && (b >= 0) && (a + b < 1); +} + +///////////////////////////////////////////////////////////////////////////////////////////// +bool +pcl::EarClippingPatched::intersect (const Eigen::Vector3f& p0, + const Eigen::Vector3f& p1, + const Eigen::Vector3f& p2, + const Eigen::Vector3f& p3) +{ + // See http://mathworld.wolfram.com/Line-LineIntersection.html + Eigen::Vector3f a = p1 - p0; + Eigen::Vector3f b = p3 - p2; + Eigen::Vector3f c = p2 - p0; + + // Parallel line segments do not intersect each other. + if (a.cross(b).norm() == 0) + return (false); + + // Compute intersection of two lines. + float s = (c.cross(b)).dot(a.cross(b)) / ((a.cross(b)).norm() * (a.cross(b)).norm()); + float t = (c.cross(a)).dot(a.cross(b)) / ((a.cross(b)).norm() * (a.cross(b)).norm()); + + // Check if the intersection is inside the line segments. + return ((s >= 0 && s <= 1) && (t >= 0 && t <= 1)); +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl_conversion_util.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl_conversion_util.cpp new file mode 100755 index 0000000..58cb8e4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl_conversion_util.cpp @@ -0,0 +1,225 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/pcl_conversion_util.h" +#include + +namespace jsk_recognition_utils +{ + + void rangeImageToCvMat(const pcl::RangeImage& range_image, + cv::Mat& image) + { + float min_range, max_range; + range_image.getMinMaxRanges(min_range, max_range); + float min_max_range = max_range - min_range; + + image = cv::Mat(range_image.height, range_image.width, CV_8UC3); + unsigned char r,g,b; + for (int y=0; y < range_image.height; y++) { + for (int x=0; x(y,x)[0] = b; + image.at(y,x)[1] = g; + image.at(y,x)[2] = r; + } + } + return; + } + + void convertEigenAffine3(const Eigen::Affine3d& from, + Eigen::Affine3f& to) + { + Eigen::Matrix4d from_mat = from.matrix(); + Eigen::Matrix4f to_mat; + convertMatrix4(from_mat, to_mat); + to = Eigen::Affine3f(to_mat); + } + + void convertEigenAffine3(const Eigen::Affine3f& from, + Eigen::Affine3d& to) + { + Eigen::Matrix4f from_mat = from.matrix(); + Eigen::Matrix4d to_mat; + convertMatrix4(from_mat, to_mat); + to = Eigen::Affine3d(to_mat); + } +} + +namespace pcl_conversions +{ + std::vector + convertToPCLPointIndices( + const std::vector& cluster_indices) + { + std::vector ret; + for (size_t i = 0; i < cluster_indices.size(); i++) { + std::vector indices = cluster_indices[i].indices; + pcl::PointIndices::Ptr pcl_indices (new pcl::PointIndices); + pcl_indices->indices = indices; + ret.push_back(pcl_indices); + } + return ret; + } + + std::vector + convertToPCLModelCoefficients( + const std::vector& coefficients) + { + std::vector ret; + for (size_t i = 0; i < coefficients.size(); i++) { + pcl::ModelCoefficients::Ptr pcl_coefficients (new pcl::ModelCoefficients); + pcl_coefficients->values = coefficients[i].values; + ret.push_back(pcl_coefficients); + } + return ret; + } + + std::vector + convertToROSPointIndices( + const std::vector cluster_indices, + const std_msgs::Header& header) + { + std::vector ret; + for (size_t i = 0; i < cluster_indices.size(); i++) { + PCLIndicesMsg ros_msg; + ros_msg.header = header; + ros_msg.indices = cluster_indices[i]->indices; + ret.push_back(ros_msg); + } + return ret; + } + + std::vector + convertToROSPointIndices( + const std::vector cluster_indices, + const std_msgs::Header& header) + { + std::vector ret; + for (size_t i = 0; i < cluster_indices.size(); i++) { + PCLIndicesMsg ros_msg; + ros_msg.header = header; + ros_msg.indices = cluster_indices[i].indices; + ret.push_back(ros_msg); + } + return ret; + } + + std::vector + convertToROSModelCoefficients( + const std::vector& coefficients, + const std_msgs::Header& header) + { + std::vector ret; + for (size_t i = 0; i < coefficients.size(); i++) { + PCLModelCoefficientMsg ros_msg; + ros_msg.header = header; + ros_msg.values = coefficients[i]->values; + ret.push_back(ros_msg); + } + return ret; + } + +} + + +namespace tf +{ + void poseMsgToEigen(const geometry_msgs::Pose& msg, Eigen::Affine3f& eigen) + { + Eigen::Affine3d eigen_d; + poseMsgToEigen(msg, eigen_d); + jsk_recognition_utils::convertEigenAffine3(eigen_d, eigen); + } + + void poseEigenToMsg(Eigen::Affine3f& eigen, geometry_msgs::Pose& msg) + { + Eigen::Affine3d eigen_d; + jsk_recognition_utils::convertEigenAffine3(eigen, eigen_d); + poseEigenToMsg(eigen_d, msg); + } + + void transformMsgToEigen(const geometry_msgs::Transform& msg, Eigen::Affine3f& eigen) + { + Eigen::Affine3d eigen_d; + transformMsgToEigen(msg, eigen_d); + jsk_recognition_utils::convertEigenAffine3(eigen_d, eigen); + } + + void transformEigenToMsg(Eigen::Affine3f& eigen, geometry_msgs::Transform& msg) + { + Eigen::Affine3d eigen_d; + jsk_recognition_utils::convertEigenAffine3(eigen_d, eigen); + transformEigenToMsg(eigen_d, msg); + } + + void transformTFToEigen(const tf::Transform& t, Eigen::Affine3f& eigen) + { + Eigen::Affine3d eigen_d; + transformTFToEigen(t, eigen_d); + jsk_recognition_utils::convertEigenAffine3(eigen_d, eigen); + } + + void transformEigenToTF(Eigen::Affine3f& eigen , tf::Transform& t) + { + Eigen::Affine3d eigen_d; + jsk_recognition_utils::convertEigenAffine3(eigen, eigen_d); + transformEigenToTF(eigen_d, t); + } + + void vectorTFToEigen(const tf::Vector3& t, Eigen::Vector3f& e) + { + Eigen::Vector3d d; + tf::vectorTFToEigen(t, d); + e[0] = d[0]; + e[1] = d[1]; + e[2] = d[2]; + } + + void vectorEigenToTF(const Eigen::Vector3f& e, tf::Vector3& t) + { + Eigen::Vector3d d(e[0], e[1], e[2]); + tf::vectorEigenToTF(d, t); + } +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl_ros_util.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl_ros_util.cpp new file mode 100755 index 0000000..8d7e001 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl_ros_util.cpp @@ -0,0 +1,87 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/pcl_ros_util.h" +#include + +namespace jsk_recognition_utils +{ + void publishPointIndices( + ros::Publisher& pub, const pcl::PointIndices& indices, const std_msgs::Header& header) + { + pcl_msgs::PointIndices msg; + //pcl_conversions::moveFromPCL does not support const indices + msg.indices = indices.indices; + msg.header = header; + pub.publish(msg); + } + + bool isSameFrameId(const std::string& a, const std::string& b) + { + // we can ignore the first / + std::string aa; + if (a.length() > 0 && a[0] == '/') { + aa = a.substr(1, a.length() - 1); + } + else { + aa = a; + } + std::string bb; + if (b.length() > 0 && b[0] == '/') { + bb = b.substr(1, b.length() - 1); + } + else { + bb = b; + } + return aa == bb; + } + + bool isSameFrameId(const std_msgs::Header& a, const std_msgs::Header& b) + { + return isSameFrameId(a.frame_id, b.frame_id); + } + + bool hasField(const std::string& field_name, const sensor_msgs::PointCloud2& msg) + { + for (size_t i = 0; i < msg.fields.size(); i++) { + sensor_msgs::PointField field = msg.fields[i]; + if (field.name == field_name) { + return true; + } + } + return false; + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl_util.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl_util.cpp new file mode 100755 index 0000000..6234ad2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/pcl_util.cpp @@ -0,0 +1,245 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/pcl_util.h" +#include +#include + +namespace jsk_recognition_utils +{ + //static boost::mutex global_chull_mutex; + boost::mutex global_chull_mutex; + + Eigen::Affine3f affineFromYAMLNode(const YAML::Node& pose) + { + float x, y, z, rx, ry, rz, rw; +#ifdef USE_OLD_YAML + pose[0] >> x; pose[1] >> y; pose[2] >> z; + pose[3] >> rx; pose[4] >> ry; pose[5] >> rz; pose[6] >> rw; +#else + x = pose[0].as(); y = pose[1].as(); z = pose[2].as(); + rx= pose[3].as(); ry= pose[4].as(); rz= pose[5].as(); rw = pose[6].as(); +#endif + Eigen::Vector3f p(x, y, z); + Eigen::Quaternionf q(rw, rx, ry, rz); + Eigen::Affine3f trans = Eigen::Translation3f(p) * Eigen::AngleAxisf(q); + return trans; + } + + + std::vector addIndices(const std::vector& a, + const std::vector& b) + { + std::set all(b.begin(), b.end()); + for (size_t i = 0; i < a.size(); i++) { + all.insert(a[i]); + } + return std::vector(all.begin(), all.end()); + } + + pcl::PointIndices::Ptr addIndices(const pcl::PointIndices& a, + const pcl::PointIndices& b) + { + std::vector indices = addIndices(a.indices, b.indices); + pcl::PointIndices::Ptr ret(new pcl::PointIndices); + ret->indices = indices; + return ret; + } + + std::vector subIndices(const std::vector& a, + const std::vector& b) + { + std::set all(a.begin(), a.end()); + for (size_t i = 0; i < b.size(); i++) { + std::set::iterator it = all.find(b[i]); + if (it != all.end()) { + all.erase(it); + } + } + return std::vector(all.begin(), all.end()); + } + + pcl::PointIndices::Ptr subIndices(const pcl::PointIndices& a, + const pcl::PointIndices& b) + { + std::vector indices = subIndices(a.indices, b.indices); + pcl::PointIndices::Ptr ret(new pcl::PointIndices); + ret->indices = indices; + return ret; + } + + void Counter::add(double v) + { + acc_(v); + } + + double Counter::mean() + { + return boost::accumulators::mean(acc_); + } + + double Counter::min() + { + return boost::accumulators::min(acc_); + } + + double Counter::max() + { + return boost::accumulators::max(acc_); + } + + int Counter::count() + { + return boost::accumulators::count(acc_); + } + + double Counter::variance() + { + return boost::accumulators::variance(acc_); + } + + void buildGroupFromGraphMap(IntegerGraphMap graph_map, + const int from_index_arg, + std::vector& to_indices_arg, + std::set& output_set) + { + // convert graph_map into one-directional representation + IntegerGraphMap onedirectional_map(graph_map); + for (IntegerGraphMap::iterator it = onedirectional_map.begin(); + it != onedirectional_map.end(); + ++it) { + int from_index = it->first; + std::vector to_indices = it->second; + for (size_t i = 0; i < to_indices.size(); i++) { + int to_index = to_indices[i]; + if (onedirectional_map.find(to_index) == onedirectional_map.end()) { + // not yet initialized + onedirectional_map[to_index] = std::vector(); + } + if (std::find(onedirectional_map[to_index].begin(), + onedirectional_map[to_index].end(), + from_index) == onedirectional_map[to_index].end()) { + onedirectional_map[to_index].push_back(from_index); + } + } + } + _buildGroupFromGraphMap(onedirectional_map, + from_index_arg, + to_indices_arg, + output_set); + } + + void _buildGroupFromGraphMap(IntegerGraphMap graph_map, + const int from_index, + std::vector& to_indices, + std::set& output_set) + { + output_set.insert(from_index); + for (size_t i = 0; i < to_indices.size(); i++) { + int to_index = to_indices[i]; + if (output_set.find(to_index) == output_set.end()) { + output_set.insert(to_index); + //std::cout << "__connection__: " << from_index << " --> " << to_index << std::endl; + std::vector next_indices = graph_map[to_index]; + _buildGroupFromGraphMap(graph_map, + to_index, + next_indices, + output_set); + } + } + } + + void buildAllGroupsSetFromGraphMap(IntegerGraphMap graph_map, + std::vector >& output_sets) + { + std::set duplication_check_set; + for (IntegerGraphMap::iterator it = graph_map.begin(); + it != graph_map.end(); + ++it) { + int from_index = it->first; + if (duplication_check_set.find(from_index) + == duplication_check_set.end()) { + std::set new_graph_set; + buildGroupFromGraphMap(graph_map, from_index, it->second, + new_graph_set); + output_sets.push_back(new_graph_set); + // update duplication_check_set + addSet(duplication_check_set, new_graph_set); + } + } + } + + SeriesedBoolean::SeriesedBoolean(const int buf_len): + buf_(buf_len), buf_len_(buf_len) + { + } + + SeriesedBoolean::~SeriesedBoolean() + { + } + + void SeriesedBoolean::addValue(bool val) + { + buf_.push_front(val); + } + + bool SeriesedBoolean::isAllTrueFilled() + { + return (buf_.size() == buf_len_ && getValue()); + } + + bool SeriesedBoolean::getValue() + { + if (buf_.size() == 0) { + return false; + } + else { + for (boost::circular_buffer::iterator it = buf_.begin(); + it != buf_.end(); + ++it) { + if (!*it) { + return false; + } + } + return true; + } + } + + void SeriesedBoolean::clear() + { + buf_.clear(); + } +} + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/random_util.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/random_util.cpp new file mode 100755 index 0000000..54fcf2d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/random_util.cpp @@ -0,0 +1,66 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/random_util.h" +#include + +namespace jsk_recognition_utils +{ + double randomGaussian(double mean, double var, boost::mt19937& gen) + { + if (var == 0.0) { + return mean; + } + else { + boost::normal_distribution<> dst(mean, sqrt(var)); + boost::variate_generator< + boost::mt19937&, + boost::normal_distribution<> > rand(gen, dst); + return rand(); + } + } + + double randomUniform(double min, double max, boost::mt19937& gen) + { + // Ensure min < max + double amin = std::min(min, max); + double amax = std::max(min, max); + boost::uniform_real<> dst(amin, amax); + boost::variate_generator< + boost::mt19937&, + boost::uniform_real<> > rand(gen, dst); + return rand(); + } +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/rgb_colors.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/rgb_colors.cpp new file mode 100755 index 0000000..9403877 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/rgb_colors.cpp @@ -0,0 +1,197 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/rgb_colors.h" +#include + + +namespace jsk_recognition_utils +{ + + cv::Vec3d getRGBColor(const int color) + { + cv::Vec3d c; + switch (color % 146) { + case ALICEBLUE: c = cv::Vec3d(0.941, 0.973, 1); break; + case ANTIQUEWHITE: c = cv::Vec3d(0.98, 0.922, 0.843); break; + case AQUA: c = cv::Vec3d(0, 1, 1); break; + case AQUAMARINE: c = cv::Vec3d(0.498, 1, 0.831); break; + case AZURE: c = cv::Vec3d(0.941, 1, 1); break; + case BEIGE: c = cv::Vec3d(0.961, 0.961, 0.863); break; + case BISQUE: c = cv::Vec3d(1, 0.894, 0.769); break; + case BLACK: c = cv::Vec3d(0, 0, 0); break; + case BLANCHEDALMOND: c = cv::Vec3d(1, 0.922, 0.804); break; + case BLUE: c = cv::Vec3d(0, 0, 1); break; + case BLUEVIOLET: c = cv::Vec3d(0.541, 0.169, 0.886); break; + case BROWN: c = cv::Vec3d(0.647, 0.165, 0.165); break; + case BURLYWOOD: c = cv::Vec3d(0.871, 0.722, 0.529); break; + case CADETBLUE: c = cv::Vec3d(0.373, 0.62, 0.627); break; + case CHARTREUSE: c = cv::Vec3d(0.498, 1, 0); break; + case CHOCOLATE: c = cv::Vec3d(0.824, 0.412, 0.118); break; + case CORAL: c = cv::Vec3d(1, 0.498, 0.314); break; + case CORNFLOWERBLUE: c = cv::Vec3d(0.392, 0.584, 0.929); break; + case CORNSILK: c = cv::Vec3d(1, 0.973, 0.863); break; + case CRIMSON: c = cv::Vec3d(0.863, 0.0784, 0.235); break; + case CYAN: c = cv::Vec3d(0, 1, 1); break; + case DARKBLUE: c = cv::Vec3d(0, 0, 0.545); break; + case DARKCYAN: c = cv::Vec3d(0, 0.545, 0.545); break; + case DARKGOLDENROD: c = cv::Vec3d(0.722, 0.525, 0.0431); break; + case DARKGRAY: c = cv::Vec3d(0.663, 0.663, 0.663); break; + case DARKGREEN: c = cv::Vec3d(0, 0.392, 0); break; + case DARKGREY: c = cv::Vec3d(0.663, 0.663, 0.663); break; + case DARKKHAKI: c = cv::Vec3d(0.741, 0.718, 0.42); break; + case DARKMAGENTA: c = cv::Vec3d(0.545, 0, 0.545); break; + case DARKOLIVEGREEN: c = cv::Vec3d(0.333, 0.42, 0.184); break; + case DARKORANGE: c = cv::Vec3d(1, 0.549, 0); break; + case DARKORCHID: c = cv::Vec3d(0.6, 0.196, 0.8); break; + case DARKRED: c = cv::Vec3d(0.545, 0, 0); break; + case DARKSALMON: c = cv::Vec3d(0.914, 0.588, 0.478); break; + case DARKSEAGREEN: c = cv::Vec3d(0.561, 0.737, 0.561); break; + case DARKSLATEBLUE: c = cv::Vec3d(0.282, 0.239, 0.545); break; + case DARKSLATEGRAY: c = cv::Vec3d(0.184, 0.31, 0.31); break; + case DARKSLATEGREY: c = cv::Vec3d(0.184, 0.31, 0.31); break; + case DARKTURQUOISE: c = cv::Vec3d(0, 0.808, 0.82); break; + case DARKVIOLET: c = cv::Vec3d(0.58, 0, 0.827); break; + case DEEPPINK: c = cv::Vec3d(1, 0.0784, 0.576); break; + case DEEPSKYBLUE: c = cv::Vec3d(0, 0.749, 1); break; + case DIMGRAY: c = cv::Vec3d(0.412, 0.412, 0.412); break; + case DIMGREY: c = cv::Vec3d(0.412, 0.412, 0.412); break; + case DODGERBLUE: c = cv::Vec3d(0.118, 0.565, 1); break; + case FIREBRICK: c = cv::Vec3d(0.698, 0.133, 0.133); break; + case FLORALWHITE: c = cv::Vec3d(1, 0.98, 0.941); break; + case FORESTGREEN: c = cv::Vec3d(0.133, 0.545, 0.133); break; + case FUCHSIA: c = cv::Vec3d(1, 0, 1); break; + case GAINSBORO: c = cv::Vec3d(0.863, 0.863, 0.863); break; + case GHOSTWHITE: c = cv::Vec3d(0.973, 0.973, 1); break; + case GOLD: c = cv::Vec3d(1, 0.843, 0); break; + case GOLDENROD: c = cv::Vec3d(0.855, 0.647, 0.125); break; + case GRAY: c = cv::Vec3d(0.502, 0.502, 0.502); break; + case GREEN: c = cv::Vec3d(0, 0.502, 0); break; + case GREENYELLOW: c = cv::Vec3d(0.678, 1, 0.184); break; + case GREY: c = cv::Vec3d(0.502, 0.502, 0.502); break; + case HONEYDEW: c = cv::Vec3d(0.941, 1, 0.941); break; + case HOTPINK: c = cv::Vec3d(1, 0.412, 0.706); break; + case INDIANRED: c = cv::Vec3d(0.804, 0.361, 0.361); break; + case INDIGO: c = cv::Vec3d(0.294, 0, 0.51); break; + case IVORY: c = cv::Vec3d(1, 1, 0.941); break; + case KHAKI: c = cv::Vec3d(0.941, 0.902, 0.549); break; + case LAVENDER: c = cv::Vec3d(0.902, 0.902, 0.98); break; + case LAVENDERBLUSH: c = cv::Vec3d(1, 0.941, 0.961); break; + case LAWNGREEN: c = cv::Vec3d(0.486, 0.988, 0); break; + case LEMONCHIFFON: c = cv::Vec3d(1, 0.98, 0.804); break; + case LIGHTBLUE: c = cv::Vec3d(0.678, 0.847, 0.902); break; + case LIGHTCORAL: c = cv::Vec3d(0.941, 0.502, 0.502); break; + case LIGHTCYAN: c = cv::Vec3d(0.878, 1, 1); break; + case LIGHTGOLDENRODYELLOW: c = cv::Vec3d(0.98, 0.98, 0.824); break; + case LIGHTGRAY: c = cv::Vec3d(0.827, 0.827, 0.827); break; + case LIGHTGREEN: c = cv::Vec3d(0.565, 0.933, 0.565); break; + case LIGHTGREY: c = cv::Vec3d(0.827, 0.827, 0.827); break; + case LIGHTPINK: c = cv::Vec3d(1, 0.714, 0.757); break; + case LIGHTSALMON: c = cv::Vec3d(1, 0.627, 0.478); break; + case LIGHTSEAGREEN: c = cv::Vec3d(0.125, 0.698, 0.667); break; + case LIGHTSKYBLUE: c = cv::Vec3d(0.529, 0.808, 0.98); break; + case LIGHTSLATEGRAY: c = cv::Vec3d(0.467, 0.533, 0.6); break; + case LIGHTSLATEGREY: c = cv::Vec3d(0.467, 0.533, 0.6); break; + case LIGHTSTEELBLUE: c = cv::Vec3d(0.69, 0.769, 0.871); break; + case LIGHTYELLOW: c = cv::Vec3d(1, 1, 0.878); break; + case LIME: c = cv::Vec3d(0, 1, 0); break; + case LIMEGREEN: c = cv::Vec3d(0.196, 0.804, 0.196); break; + case LINEN: c = cv::Vec3d(0.98, 0.941, 0.902); break; + case MAGENTA: c = cv::Vec3d(1, 0, 1); break; + case MAROON: c = cv::Vec3d(0.502, 0, 0); break; + case MEDIUMAQUAMARINE: c = cv::Vec3d(0.4, 0.804, 0.667); break; + case MEDIUMBLUE: c = cv::Vec3d(0, 0, 0.804); break; + case MEDIUMORCHID: c = cv::Vec3d(0.729, 0.333, 0.827); break; + case MEDIUMPURPLE: c = cv::Vec3d(0.576, 0.439, 0.859); break; + case MEDIUMSEAGREEN: c = cv::Vec3d(0.235, 0.702, 0.443); break; + case MEDIUMSLATEBLUE: c = cv::Vec3d(0.482, 0.408, 0.933); break; + case MEDIUMSPRINGGREEN: c = cv::Vec3d(0, 0.98, 0.604); break; + case MEDIUMTURQUOISE: c = cv::Vec3d(0.282, 0.82, 0.8); break; + case MEDIUMVIOLETRED: c = cv::Vec3d(0.78, 0.0824, 0.522); break; + case MIDNIGHTBLUE: c = cv::Vec3d(0.098, 0.098, 0.439); break; + case MINTCREAM: c = cv::Vec3d(0.961, 1, 0.98); break; + case MISTYROSE: c = cv::Vec3d(1, 0.894, 0.882); break; + case MOCCASIN: c = cv::Vec3d(1, 0.894, 0.71); break; + case NAVAJOWHITE: c = cv::Vec3d(1, 0.871, 0.678); break; + case NAVY: c = cv::Vec3d(0, 0, 0.502); break; + case OLDLACE: c = cv::Vec3d(0.992, 0.961, 0.902); break; + case OLIVE: c = cv::Vec3d(0.502, 0.502, 0); break; + case OLIVEDRAB: c = cv::Vec3d(0.42, 0.557, 0.137); break; + case ORANGE: c = cv::Vec3d(1, 0.647, 0); break; + case ORANGERED: c = cv::Vec3d(1, 0.271, 0); break; + case ORCHID: c = cv::Vec3d(0.855, 0.439, 0.839); break; + case PALEGOLDENROD: c = cv::Vec3d(0.933, 0.91, 0.667); break; + case PALEGREEN: c = cv::Vec3d(0.596, 0.984, 0.596); break; + case PALEVIOLETRED: c = cv::Vec3d(0.686, 0.933, 0.933); break; + case PAPAYAWHIP: c = cv::Vec3d(1, 0.937, 0.835); break; + case PEACHPUFF: c = cv::Vec3d(1, 0.855, 0.725); break; + case PERU: c = cv::Vec3d(0.804, 0.522, 0.247); break; + case PINK: c = cv::Vec3d(1, 0.753, 0.796); break; + case PLUM: c = cv::Vec3d(0.867, 0.627, 0.867); break; + case POWDERBLUE: c = cv::Vec3d(0.69, 0.878, 0.902); break; + case PURPLE: c = cv::Vec3d(0.502, 0, 0.502); break; + case RED: c = cv::Vec3d(1, 0, 0); break; + case ROSYBROWN: c = cv::Vec3d(0.737, 0.561, 0.561); break; + case ROYALBLUE: c = cv::Vec3d(0.255, 0.412, 0.882); break; + case SADDLEBROWN: c = cv::Vec3d(0.545, 0.271, 0.0745); break; + case SALMON: c = cv::Vec3d(0.98, 0.502, 0.447); break; + case SANDYBROWN: c = cv::Vec3d(0.98, 0.643, 0.376); break; + case SEAGREEN: c = cv::Vec3d(0.18, 0.545, 0.341); break; + case SEASHELL: c = cv::Vec3d(1, 0.961, 0.933); break; + case SIENNA: c = cv::Vec3d(0.627, 0.322, 0.176); break; + case SILVER: c = cv::Vec3d(0.753, 0.753, 0.753); break; + case SKYBLUE: c = cv::Vec3d(0.529, 0.808, 0.922); break; + case SLATEBLUE: c = cv::Vec3d(0.416, 0.353, 0.804); break; + case SLATEGRAY: c = cv::Vec3d(0.439, 0.502, 0.565); break; + case SLATEGREY: c = cv::Vec3d(0.439, 0.502, 0.565); break; + case SNOW: c = cv::Vec3d(1, 0.98, 0.98); break; + case SPRINGGREEN: c = cv::Vec3d(0, 1, 0.498); break; + case STEELBLUE: c = cv::Vec3d(0.275, 0.51, 0.706); break; + case TAN: c = cv::Vec3d(0.824, 0.706, 0.549); break; + case TEAL: c = cv::Vec3d(0, 0.502, 0.502); break; + case THISTLE: c = cv::Vec3d(0.847, 0.749, 0.847); break; + case TOMATO: c = cv::Vec3d(1, 0.388, 0.278); break; + case TURQUOISE: c = cv::Vec3d(0.251, 0.878, 0.816); break; + case VIOLET: c = cv::Vec3d(0.933, 0.51, 0.933); break; + case WHEAT: c = cv::Vec3d(0.961, 0.871, 0.702); break; + case WHITE: c = cv::Vec3d(1, 1, 1); break; + case WHITESMOKE: c = cv::Vec3d(0.961, 0.961, 0.961); break; + case YELLOW: c = cv::Vec3d(1, 1, 0); break; + case YELLOWGREEN: c = cv::Vec3d(0.604, 0.804, 0.196); break; + } // switch + return c; + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/sensor_model_utils.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/sensor_model_utils.cpp new file mode 100755 index 0000000..7b85af4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/sensor_model_utils.cpp @@ -0,0 +1,52 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#define BOOST_PARAMETER_MAX_ARITY 7 +#include "jsk_recognition_utils/sensor_model_utils.h" + +namespace jsk_recognition_utils +{ + std::vector + project3DPointstoPixel(const image_geometry::PinholeCameraModel& model, + const Vertices& vertices) + { + std::vector ret; + for (size_t i = 0; i < vertices.size(); i++) { + cv::Point p = project3DPointToPixel(model, vertices[i]); + ret.push_back(p); + } + return ret; + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tests/test_cv_utils.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tests/test_cv_utils.cpp new file mode 100755 index 0000000..6ec5768 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tests/test_cv_utils.cpp @@ -0,0 +1,20 @@ +#include "jsk_recognition_utils/cv_utils.h" +#include +#include + + +TEST(CvUtils, testLabelToRGB){ + cv::Mat label_image = cv::Mat::zeros(1, 2, CV_32SC1); + label_image.at(0, 1) = 1; + cv::Mat rgb_image; + jsk_recognition_utils::labelToRGB(label_image, rgb_image); + // background label 0 -> [0, 0, 0] + EXPECT_EQ(0, cv::norm(rgb_image.at(0, 0))); + // label 1 -> not [0, 0, 0] + EXPECT_NE(0, cv::norm(rgb_image.at(0, 1))); +} + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tests/test_rgb_colors.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tests/test_rgb_colors.cpp new file mode 100755 index 0000000..e2145a2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tests/test_rgb_colors.cpp @@ -0,0 +1,23 @@ +#include "jsk_recognition_utils/rgb_colors.h" +#include +#include + + +TEST(RGBColors, testGetRGBColor){ + cv::Vec3d color; + // red + color = jsk_recognition_utils::getRGBColor(jsk_recognition_utils::RED); + EXPECT_EQ(1, color[0]); + EXPECT_EQ(0, color[1]); + EXPECT_EQ(0, color[2]); + // gray + color = jsk_recognition_utils::getRGBColor(jsk_recognition_utils::GRAY); + EXPECT_EQ(0.502, color[0]); + EXPECT_EQ(0.502, color[1]); + EXPECT_EQ(0.502, color[2]); +} + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tests/test_tf_listener_singleton.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tests/test_tf_listener_singleton.cpp new file mode 100755 index 0000000..4e00cf8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tests/test_tf_listener_singleton.cpp @@ -0,0 +1,38 @@ +#include "jsk_recognition_utils/tf_listener_singleton.h" +#include +#include + + +TEST(TfListenerSingleton, testLookupTransformWithDuration){ + boost::mutex mutex; + tf::TransformListener* tf_listener; + + mutex.lock(); + tf_listener = new tf::TransformListener(ros::Duration(30.0)); + mutex.unlock(); + + std::string from_frame("base"); + std::string to_frame("head"); + tf::StampedTransform transform; + transform = jsk_recognition_utils::lookupTransformWithDuration( + /*listener=*/tf_listener, + /*to_frame=*/to_frame, + /*from_frame=*/from_frame, + /*time=*/ros::Time(), + /*duration=*/ros::Duration(1.0)); + ASSERT_STREQ("base", transform.frame_id_.c_str()); + ASSERT_STREQ("head", transform.child_frame_id_.c_str()); + ASSERT_EQ(0, transform.getOrigin().getX()); + ASSERT_EQ(0, transform.getOrigin().getY()); + ASSERT_EQ(1, transform.getOrigin().getZ()); + ASSERT_EQ(0, transform.getRotation().getX()); + ASSERT_EQ(0, transform.getRotation().getY()); + ASSERT_EQ(0, transform.getRotation().getZ()); + ASSERT_EQ(1, transform.getRotation().getW()); +} + +int main(int argc, char **argv){ + ros::init(argc, argv, "simple_lookup_transform"); + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tf_listener_singleton.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tf_listener_singleton.cpp new file mode 100755 index 0000000..4516976 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/tf_listener_singleton.cpp @@ -0,0 +1,81 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include "jsk_recognition_utils/tf_listener_singleton.h" +#include + +namespace jsk_recognition_utils +{ + tf::TransformListener* TfListenerSingleton::getInstance() + { + boost::mutex::scoped_lock lock(mutex_); + if (!instance_) { + ROS_INFO("instantiating tf::TransformListener"); + instance_ = new tf::TransformListener(ros::Duration(30.0)); + } + return instance_; + } + + void TfListenerSingleton::destroy() + { + boost::mutex::scoped_lock lock(mutex_); + if (instance_) { + delete instance_; + } + } + + tf::StampedTransform lookupTransformWithDuration( + tf::TransformListener* listener, + const std::string& to_frame, + const std::string& from_frame, + const ros::Time& stamp, + ros::Duration duration) + { + if (listener->waitForTransform(from_frame, to_frame, stamp, duration)) { + tf::StampedTransform transform; + listener->lookupTransform( + from_frame, to_frame, stamp, transform); + return transform; + } + throw tf2::TransformException( + (boost::format("Failed to lookup transformation from %s to %s") + % from_frame.c_str() % to_frame.c_str()).str().c_str()); + + } + + tf::TransformListener* TfListenerSingleton::instance_; + boost::mutex TfListenerSingleton::mutex_; +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/time_util.cpp b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/time_util.cpp new file mode 100755 index 0000000..ab3d8d5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/src/time_util.cpp @@ -0,0 +1,131 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_recognition_utils/time_util.h" +#include + +namespace jsk_recognition_utils +{ + ScopedWallDurationReporter::ScopedWallDurationReporter(WallDurationTimer* parent): + parent_(parent), start_time_(ros::WallTime::now()), + is_publish_(false), is_enabled_(true) + { + + } + + ScopedWallDurationReporter::ScopedWallDurationReporter( + WallDurationTimer* parent, + ros::Publisher& pub_latest, + ros::Publisher& pub_average): + parent_(parent), start_time_(ros::WallTime::now()), + pub_latest_(pub_latest), pub_average_(pub_average), + is_publish_(true), is_enabled_(true) + { + + } + + ScopedWallDurationReporter::~ScopedWallDurationReporter() + { + ros::WallTime end_time = ros::WallTime::now(); + ros::WallDuration d = end_time - start_time_; + if (is_enabled_) { + parent_->report(d); + if (is_publish_) { + std_msgs::Float32 ros_latest; + ros_latest.data = parent_->latestSec(); + pub_latest_.publish(ros_latest); + std_msgs::Float32 ros_average; + ros_average.data = parent_->meanSec(); + pub_average_.publish(ros_average); + } + } + } + + void ScopedWallDurationReporter::setIsPublish(bool v) + { + is_publish_ = v; + } + + void ScopedWallDurationReporter::setIsEnabled(bool v) + { + is_enabled_ = v; + } + + WallDurationTimer::WallDurationTimer(const int max_num): + max_num_(max_num), buffer_(max_num) + { + } + + void WallDurationTimer::report(ros::WallDuration& duration) + { + buffer_.push_back(duration); + } + + ScopedWallDurationReporter WallDurationTimer::reporter() + { + return ScopedWallDurationReporter(this); + } + + ScopedWallDurationReporter WallDurationTimer::reporter( + ros::Publisher& pub_latest, + ros::Publisher& pub_average) + { + return ScopedWallDurationReporter(this, pub_latest, pub_average); + } + + double WallDurationTimer::latestSec() + { + return buffer_[buffer_.size() - 1].toSec(); + } + + void WallDurationTimer::clearBuffer() + { + buffer_.clear(); + } + + double WallDurationTimer::meanSec() + { + double secs = 0.0; + for (size_t i = 0; i < buffer_.size(); i++) { + secs += buffer_[i].toSec(); + } + return secs / buffer_.size(); + } + + size_t WallDurationTimer::sampleNum() + { + return buffer_.size(); + } +} diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/add_cluster_indices.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/add_cluster_indices.test new file mode 100755 index 0000000..65b3289 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/add_cluster_indices.test @@ -0,0 +1,13 @@ + + + + + + topic_0: /add_cluster_indices/output + timeout_0: 60 + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/image_16uc1_to_32fc1.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/image_16uc1_to_32fc1.test new file mode 100755 index 0000000..de74493 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/image_16uc1_to_32fc1.test @@ -0,0 +1,17 @@ + + + + + + + + + topic_0: /image_16uc1_to_32fc1/output + timeout_0: 30 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/polygon_array_publisher.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/polygon_array_publisher.test new file mode 100755 index 0000000..2f69528 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/polygon_array_publisher.test @@ -0,0 +1,17 @@ + + + + + + + + + topic_0: /polygon_array_publisher/output + timeout_0: 60 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/polygon_array_to_polygon.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/polygon_array_to_polygon.test new file mode 100755 index 0000000..101835d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/polygon_array_to_polygon.test @@ -0,0 +1,17 @@ + + + + + + + + + topic_0: /polygon_array_to_polygon/output + timeout_0: 60 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/pose_array_to_pose.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/pose_array_to_pose.test new file mode 100755 index 0000000..b90525e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/pose_array_to_pose.test @@ -0,0 +1,17 @@ + + + + + + + + + topic_0: /pose_array_to_pose/output + timeout_0: 60 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/rect_array_to_cluster_point_indices.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/rect_array_to_cluster_point_indices.test new file mode 100755 index 0000000..7d0fb64 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/rect_array_to_cluster_point_indices.test @@ -0,0 +1,19 @@ + + + + + + + + + topic_0: /rects_to_cpi/output + timeout_0: 60 + topic_1: /image_cluster_indices_decomposer/output + timeout_0: 60 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/rect_array_to_polygon_array.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/rect_array_to_polygon_array.test new file mode 100755 index 0000000..3b801cb --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/rect_array_to_polygon_array.test @@ -0,0 +1,17 @@ + + + + + + + + + topic_0: /rect_array_to_polygon_array/output + timeout_0: 60 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/static_virtual_camera.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/static_virtual_camera.test new file mode 100755 index 0000000..7e16d0c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/static_virtual_camera.test @@ -0,0 +1,19 @@ + + + + + + + + + topic_0: /static_virtual_camera/image_color + timeout_0: 60 + topic_1: /static_virtual_camera/camera_info + timeout_1: 60 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/tf_listener_singleton.test b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/tf_listener_singleton.test new file mode 100755 index 0000000..297bbbd --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_recoginition/jsk_recognition_utils/test/tf_listener_singleton.test @@ -0,0 +1,10 @@ + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/.gitignore b/ros_drivers/jsk_rviz/jsk_rviz_plugins/.gitignore new file mode 100755 index 0000000..a76bc14 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/.gitignore @@ -0,0 +1,2 @@ +build +lib diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/CHANGELOG.rst b/ros_drivers/jsk_rviz/jsk_rviz_plugins/CHANGELOG.rst new file mode 100755 index 0000000..ed6b8a0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/CHANGELOG.rst @@ -0,0 +1,726 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package jsk_rviz_plugins +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.1.7 (2020-10-17) +------------------ +* Fix programming issues where functions were not getting return values, and variables were not being declared for types (`#783 `_) +* Support custom color for OverlayMenu (`#775 `_) +* add human skeleton rviz visualization(`#740 `_) + + * jsk_recognition_msgs < 1.2.15 does not support human_skeleton_array_display.cpp + * meloidc needs to include OGRE/OgreSceneManager.h + * human_skeleton_array_display supports indigo build + * add sphere at all edge ends + * fix typo: skelton -> skeleton + * add human skelton rviz visualization + +* Add fg_color/bg_color to OverlayMenu.msg (`#776 `_) +* [jsk_rviz_plugins] Add StringDisplay as a new display plugin (`#728 `_) +* set property for ccache if cmake version < 3.4 (`#780 `_) +* [jsk_rviz_plugin/PieChart] add clock wise rotate option for pie chart (`#782 `_) +* Remove meaningless lock (`#750 `_) +* call processNormal when polygon points has more than 3 point (`#771 `_) +* add noetic test (`#774 `_) + + * fix typo CV_VERSION_MAJOR -> CV_MAJOR_VERSION + * run 2to3 -f except + * run 2to3 -f print + * support noetic, use c++14, convert to package format 3 + * Merge remote-tracking branch 'ruvu/fix/noetic' into add_noetic + +* Add Rviz scene publisher (`#773 `_) +* Improve Overlay Visibility (`#769 `_) +* Contributors: Kei Okada, Patrick Beeson, Ramon Wijnands, Ryohei Ueda, Shingo Kitagawa, Yuki Furuta, Yuto Uchimi, Iory Yanokura, Taichi Hagashide + +2.1.6 (2020-04-13) +------------------ +* [jsk_rviz_plugins] Add FontAwesome 5 (`#759 `_) + + * Display FontAwesome 5 icons from pictogram.py and pictogram_all.py + * Add FontAwesome 5 + * Add property to set position of overlay menu + +* Add option to specify width and height in VideoCapture plugin (`#748 `_) +* Add a script that convert String to OverlayText (`#753 `_) +* fix build failure of OgreSceneManager this block latest Melodic builds (`#766 `_) +* Add property to set position of overlay menu (`#758 `_) +* [jsk_rviz_plugins/OverlayImage] Add property to ignore alpha channel of the image (`#752 `_) +* [motor_states_temperature_decomposer.py] add queue_size (`#756 `_) +* support jsk_rviz_plugin to be loaded in indigo (`#739 `_) +* [jsk_rviz_plugins/OverlayImageDisplay] Use memcpy to copy image data (`#737 `_) + + * Use memcpy to copy image data from cv::Mat to QImagee instead of use QImage::setPixel() many times for optimization. + +* Transport hint for camera info (`#736 `_) + + * Add field to select transport hint of CameraInfo display + * Use ImageTransport to create subscriber to subscribe image topic in CameraInfoDisplay. + * Use ImageTransportHintsProperty to choose image transport hints when subscribing image topic to visualize sensor_msgs/CameraInfo. + * Use ImageTransportHintsProperty in OverlayImageDisplay class + * Add ImageTransportHintsProperty class + * ImageTransportHintsProperty is an rviz property class specialized for image_transport::TransportHints. + +* Add transport hint field to OverlayImage display (`#730 `_) + + * Add transport hint field to OverlayImage display + * Add an editable enum field to specify transport hint on OverlayImage display. + * raw, compressed and theora are listed as pre-defined transport hints. + +* Unsubscribe image topic when "use image" is unchecked in CameraInfo display (`#732 `_) +* Fix format specifier (`#731 `_) + + * Use %u instead of %lu to print Ogre::Texture::getWidth() and Ogre::Texture::getHeight() because they return uint32. + +* Do not subscribe image topic when rviz startups in OverlayImage display (`#733 `_) + * Do not subscribe image topic when rviz startups in OverlayImage display + * In order not to subscribe image topic when rviz startups with OverlayImage display disabled, always verify if the display is enabled before the display subscribes topic. + * Unsubscribe image topic when "use image" is unchecked in CameraInfo display + +* Support classification result visualization with approximate sync (`#725 `_) + + * classification_result_visualizer: add option to use approximate synchronizer + +* Contributors: Yuki Furuta, Iki Yo, Naoki Mizuno, Naoki Hiraoka, Ryohei Ueda, Shingo Kitagawa, Yuto Uchimi, Iory Yanokura + +2.1.5 (2019-02-18) +------------------ +* [jsk_rviz_plugins] Add "Align Bottom" option to OverlayText (`#723 `_ ) + + * Update config for easily understanding the effect of AlignBottom + * Update overlay_sample.launch + * Add rosparam to enable/disable reversing lines + * Add "Align Bottom" option to overlay_text plugin + +* Contributors: Yuto Uchimi + +2.1.4 (2018-11-01) +------------------ +* [jsk_rviz_plugins/target_visualize] Add visualizer\_ initilized flags (`#720 `_) +* replace boost::shared_ptr by std::shared_ptr (`#710 `_) + * enable C++11 + * replace boost pointers by std pointers + +* add error message to status (`#715 `_) +* Fix install destination (`#717 `_) + * Update comment about installation + * Add comment for install destination + * Fix path to headers for installation + * Install missing test/ as well + * Use source permission when installing executables + * Fix installation destination + +* [jsk_rviz_plugins/camera_info_display] Check fx and fy are not equal to zero. (`#1 `_) +* [jsk_rviz_plugins] Optimize camera info displaying (`#709 `_) + * Split and merge image matrix channels instead of slow pixel-by-pixel copying while renderind camera info. + +* [jsk_rviz_plugins] add segment_array_display (`#666 `_) + * Add doc and sample of segment_array + * add segment_array_display rviz plugin. + +* [jsk_rviz_plugins] use QScreen::grabWindow() instead of QPixmap::grabWindow (`#700 `_) + * [jsk_rviz_plugins] use QScreen::grabWindow() instead of QPixmap::grabWindow + +* add enable lighitng property in polygon_array_display (`#686 `_) +* add jsk_rviz_plugins library to catkin_package LIBRARIES, use instea… (`#696 `_) + * add jsk_rviz_plugins library to catkin_package LIBRARIES +* Add #include (`#695 `_) + +* jsk_rviz_plugins: warn on missing frame_id (`#698 `_) +* Suppress warnings of jsk_rviz_plugins for non-existent targets (`#693 `_) + Support `catkin_make` also. + Ref: https://github.com/jsk-ros-pkg/jsk_visualization/pull/692#issuecomment-390873758 + +* [jsk_rviz_plugins] fix std::isnan to make it compile under Ubuntu 16.04 / gcc 5 (`#687 `_) + * fix std::isnan to make it compile under Ubuntu 16.04 / gcc 5 + * revert whitespace changes (adding trailing whitespace again) + +* add enable lighitng property in polygon_array_display +* jsk_rviz_plugins: class_result_vis: add more types to vislalize (`#684 `_) +* jsk_rviz_plugins: add missing deps (`#683 `_) +* Add to package.xml to add link to README (`#681 `_) +* Contributors: Aleksandr Rozhdestvenskii, Christian Rauch, Daniel Neumann, Yuki Furuta, Jan Carius, Kei Okada, Kentaro Wada, Laurenz, Masaki Murooka, Tamaki Nishino, Yuto Uchimi, Iori Yanokura + +2.1.3 (2017-10-26) +------------------ +* [jsk_rviz_plugins] Rviz default font is changed from Arial to LiberationSans (See: https://github.com/ros-visualization/rviz/pull/1141) (`#676 `_) +* Add exclude regex in rosconsole_overlay (`#675 `_) +* Contributors: Iori Kumagai, Kentaro Wada + +2.1.2 (2017-07-07) +------------------ +* [jsk_rviz_plugins][classification_result_visualizer] minor bugfix (`#669 `_ ) +* [jsk_rviz_plugins] add marker publisher for classification result (`#667 `_) + * [jsk_rviz_plugins] add visualizer for classification result + +* Contributors: Yuki Furuta + +2.1.1 (2017-02-15) +------------------ +* remove depends to wxwidgets https://github.com/ros/rosdistro/pull/13886#issuecomment-279832181 +* Contributors: Kei Okada + +2.1.0 (2017-02-13) +------------------ +* migration to kinetic, which uses qt5 wehre as indig/jade uses qt4 (`#662 `_ ) +* Feature to transform markers in rviz (`#661 `_ ) + * Not to build transformable_marker_operator in jsk_rviz_plugins + * Move TransformableMarkerOperatorAction to jsk_interactive_marker + * Add feature to transform marker to rviz plugin + * Add server_name for TransformableMarkerOperatorAction +* Contributors: Kentaro Wada, Hiroto Mizohana + +2.0.1 (2016-12-15) +------------------ + +2.0.0 (2016-12-14) +------------------ +* Stop using deprecated jsk_topic_tools/log_utils.h + see + - https://github.com/jsk-ros-pkg/jsk_common/pull/1462 + - https://github.com/jsk-ros-pkg/jsk_common/issues/1461 +* [jsk_rviz_plugins/src/empty_service_call_interface.cpp] remove unused variables. +* Contributors: Kentaro Wada, MasakiMurooka + +1.0.34 (2016-09-29) +------------------- +* Fix for Ogre >= 1.9, which build fail on Jade on 14.10/15.04 +* [jsk_rviz_plugins] add offset to footstep_display.h +* [jsk_rviz_plugin] Add rviz button interface for yes/no service request +* Contributors: Kei Okada, Kentaro Wada, Yohei Kakiuchi + +1.0.33 (2016-09-13) +------------------- +* [doc/jsk_rviz_plugins/plugins/pie_chart.md, plotter_2d.md] add doc to how to change caption of overray text (Fix https://github.com/jsk-ros-pkg/jsk_visualization/issues/634) +* [jsk_rviz_plugins/CMakeLists.txt] Install samples dir that was missing for jsk_rviz_plugins (https://github.com/jsk-ros-pkg/jsk_visualization/issues/632) +* [jsk_rviz_plugins/samples/overlay_sample.py] Add queue_size arg for deprecated warning in overlay_sample.py (https://github.com/jsk-ros-pkg/jsk_visualization/issues/631) +* [jsk_rviz_plugins/src/overlay_text_display.cpp] Show available fonts using enum property (https://github.com/jsk-ros-pkg/jsk_visualization/issues/630) +* [jsk_rviz_plugins/src/overlay_picker_tool.cpp] handleDisplayClick was not going past first group as after processing a group with no overlay item, it was still returning true by default. It needed to return false to continue the + seach (https://github.com/jsk-ros-pkg/jsk_visualization/issues/627) +* New rviz plugin to visualize jsk_recognition_msgs::BoundingBox (https://github.com/jsk-ros-pkg/jsk_visualization/issues/616) + + * [jsk_rviz_plugins/src/bounding_box_array_display.cpp] Show valid boxes even if invalid box is included + +* Contributors: Jit Ray Chowdhury, Kei Okada, Kentaro Wada + +1.0.32 (2016-07-20) +------------------- +* Show colorized ros logging on rviz overlay text +* Fix style of code of rosconsole_overlay_text.py +* Convert RGB to BGR precisely in video capturing +* Support multi legs in footstep_display +* Use small sized icons for faster adding display properties + Fix https://github.com/jsk-ros-pkg/jsk_visualization/issues/603 +* Cleanup jsk_rviz_plugins package.xml +* Fix moc generation errors with boost >= 1.57 (for OS X currently) + Please refer to https://github.com/ros-visualization/rviz/pull/826 +* Keep aspect ratio with only specified width for OverlayImage +* Contributors: Kentaro Wada, Eisoku Kuroiwa + +1.0.31 (2016-05-19) +------------------- +* Stop passing -z flag to ld with Clang +* Contributors: Kentaro Wada + +1.0.30 (2016-03-25) +------------------- +* use jsk_rviz_plugins::StringStamped instead of roseus::StringStamped, to remove roseus depends +* add rviz_DEFAULT_PLUGIN_LIBRARIES: see https://github.com/ros-visualization/rviz/pull/979 +* Contributors: Kei Okada + +1.0.29 (2016-03-20) +------------------- +* remove dynamic_reconfigure.parameter_generator, which only used for rosbuild +* [jsk_rviz_plugins] Do not show unnecessary properties of CameraInfo +* [jsk_rviz_plugins] Delete property in OverlayDiagnosticDisplay +* [jsk_rviz_plugins/OverlayDiagnostics] Add new style +* [jsk_rviz_plugins/OverlayPicker] Align to grid in pressing shift key +* Contributors: Kei Okada, Ryohei Ueda + +1.0.28 (2016-02-03) +------------------- +* [jsk_rviz_plugins] Fix OverlayPicker for plugins gdouped by DisplayGroup. +* [jsk_rviz_plugins] Add keep aspect ratio option to OverlayImageDisplay. + And ass overlay image sample to overlay_sample.launch +* [jsk_rviz_plugins] Add new tool OverlayPicker to move overlay plugin + by mouse dragging +* [jsk_rviz_plugins] Add script to visualize static OverlayText +* [jsk_rviz_plugins] Support multiple Float32 in float32_to_overlay_text.py +* [jsk_rviz_plugins] Utility script to draw float32 as overlay text + Added: + - jsk_rviz_plugins/scripts/float32_to_overlay_text.py +* [jsk_rviz_plugins] Add utility python class to publish OverlayText + Modified: + - jsk_rviz_plugins/CMakeLists.txt + Added: + - jsk_rviz_plugins/cfg/OverlayTextInterface.cfg + - jsk_rviz_plugins/python/jsk_rviz_plugins/__init_\_.py + - jsk_rviz_plugins/python/jsk_rviz_plugins/overlay_text_interface.py + - jsk_rviz_plugins/setup.py +* [jsk_rviz_plugins] Add regular expression interface to specify + target node in rosconsole_overlay_text.py + Modified: + - jsk_rviz_plugins/scripts/rosconsole_overlay_text.py +* [jsk_rviz_plugins] Fix allocateShapes API of TorusArrayDisplay + Modified: + - jsk_rviz_plugins/src/torus_array_display.cpp + - jsk_rviz_plugins/src/torus_array_display.h +* [jsk_rviz_plugins] Add script to visualize /rosout on rviz + Added: + - jsk_rviz_plugins/scripts/rosconsole_overlay_text.py +* Merge remote-tracking branch 'refs/remotes/garaemon/clear-torus-arrow' into many-prs +* [jsk_rviz_plugins] Support css to change text color and so on in OverlayText display. +* [jsk_rviz_plugins] A script to take screenshot of rviz when a topic is + published: relay_screenshot.py + It depends on ScreenshotListener tool of jsk_rviz_plugins. + For example, `rosrun jsk_rviz_plugins relay_screenshot.py ~input:=/region_growing_multi_plane_segmentation/output/polygons` +* [jsk_rviz_plugins] Clear arrow of torus when it is disabled + Modified: + jsk_rviz_plugins/src/torus_array_display.cpp +* [jsk_rviz_plugins] Disable `show coords` in default in BoundingBoxDisplay + Modified: + jsk_rviz_plugins/src/bounding_box_array_display.cpp +* [jsk_rviz_plugins] Do not visualize failure=true toruses. + It requires https://github.com/jsk-ros-pkg/jsk_recognition/pull/1379 +* Contributors: Ryohei Ueda + +1.0.27 (2015-12-08) +------------------- +* [jsk_rviz_plugins/BoundingBoxArray] Fix coords orientation. + closes `#528 `_ +* Use ccache to make it faster to generate object file +* [jsk_rviz_plugins] Empty function implementation for undefined methods +* [jsk_rviz_plugins] Use set_target_properties to set linker flags only + for libjsk_rviz_plugins.so +* Use gcc -z defs to check undefined symbols in shared objects +* Contributors: Kentaro Wada, Ryohei Ueda + +1.0.26 (2015-12-03) +------------------- +* [jsk_rviz_plugins] Install icons +* [jsk_rviz_plugins] add landing_time_detector to display early landing/taking-off +* [jsk_rviz_plugins/motor_states_temparature_decomposer] Decrease cpu load + by queue_size=1. + Fix for joints which does not have limit attribute. +* [jsk_rviz_plugins] Add ~parent_link parameter for contact_state_publisher +* [jsk_rviz_plugins] Add dynamic_reconfigure API to ContactStateMarker +* [jsk_rviz_plugins] Check size of likelihood and labels of PolygonArray +* [jsk_rviz_plugins/contact_state_marker.py] Support origin attribute of + visual tag +* [jsk_rviz_plugins] update ambient sound visual paramter +* [jsk_rviz_plugins] contact_state_marker.py to visualize hrpsys_ros_bridge/ContactStatesStamped +* [jsk_rviz_plugins] Add script to publish marker of a robot link with + specified color +* Contributors: Eisoku Kuroiwa, Kentaro Wada, Ryohei Ueda, Yuto Inagaki + +1.0.25 (2015-10-10) +------------------- +* [jsk_rviz_plugins] Fix font size of PeoplePositionMeasurementArray +* [jsk_rviz_plugins] Add script for diagnostics sample +* [jsk_rviz_plugins] Compile PeoplePositionMeasurementArrayDisplay +* [jsk_rviz_plugins/VideoCapture] Check file permission to write correctly +* [jsk_rviz_plugins] Use readthedocs to document +* [jsk_rviz_plugins] Add index page for sphinx + readthedocs +* [jsk_rviz_plugins] Use jsk_recognition_utils instead of jsk_pcl_ros to + speed up compilation +* Contributors: Kentaro Wada, Ryohei Ueda + +1.0.24 (2015-09-08) +------------------- +* [jsk_rviz_plugins/PolygonArrayDisplay] Fix compilation error because of + the latest jsk_recongition_utils changes +* [jsk_rqt_plugins/TwistStamped] Fix duplicated delete +* [jsk_rviz_plugins] Allow width/height 0 image (fix segfault) +* [jsk_rviz_plugins/PolygonArray] Coloring by labels and likelihood fields + of jsk_recognition_msgs/PolygonArray +* [jsk_rviz_plugins/TwistStamped] Decide circle thickness according to + radius of circle +* [jsk_rviz_plugins/BoundingBoxArray] Normalize value color gradation +* [jsk_rviz_plugins/BoundingBoxArray] Update coloring method to support + coloring by values and labels. +* [jsk_rviz_plugins] Remove footstep texts from rviz when reset the plugin +* [jsk_rqt_plugins] Add sample launch for PolygonArray +* [jsk_rviz_plugins/PolygonArray] Use enum property to choose coloring method +* [jsk_rviz_plugins/TfTrajectory] Use status property to show error rather than + ROS_ERROR +* [jsk_rviz_plugins/RobotCommandInterface] Use smaller icon size +* [jsk_rviz_plugins] Use ~robot_command_buttons parameter to configure RobotCommandInterfaceAction +* [jsk_rviz_plugins/TFTrajectory] Initialize line width +* [jsk_rviz_plugins/TFTrajectory] Add movie link to README +* [jsk_rviz_plugins] A rviz plugin to visualize tf trajectory as path +* [jsk_rviz_plugins][OverlayImage] Automatically setup size with negative val +* Contributors: Kentaro Wada, Ryohei Ueda + +1.0.23 (2015-07-15) +------------------- +* [jsk_rviz_plugins/PoseArray] Clear pose array if checkbox is unchecked +* fix coords bug +* Contributors: Ryohei Ueda, Yu Ohara + +1.0.22 (2015-06-24) +------------------- +* [jsk_rviz_plugins/OverlayImage] Support alpha channel if image_encoding + is BGRA8 or RGBA8 +* Contributors: Ryohei Ueda + +1.0.21 (2015-06-11) +------------------- +* [jsk_rviz_plugins/PolygonArrayDisplay] Cleanup codes to be within 80 columns +* [jsk_rviz_plugins/BoundingBoxArray] Immediately apply change of attributes +* [jsk_rviz_plugins/BoundingBoxArray] Refactor codes by splitting processMessages into several functions +* [jsk_rviz_plugins/BoundingBoxArray] Use symmetrical radius for coordinates arrow +* [jsk_rviz_plugins/BoundingBoxArray] Fix coding style around if/else/for +* [jsk_rviz_plugins/BoundingBoxArray] Check if the size of box is nan +* [jsk_rviz_plugins/BoundingBoxArray] Fix indent to be within 80 columns +* Contributors: Ryohei Ueda + +1.0.20 (2015-05-04) +------------------- +* [jsk_rviz_plugins] add rotate speed to pictogram +* [jsk_rviz_plugins] add String PopupMode for Pictogram +* [jsk_rviz_plugins] Make arrow nodes invisible as default in PolygonArrayDisplay not to show normal if no needed +* [jsk_rviz_plugins] Check size of BoundingBox +* Contributors: Ryohei Ueda, Yuto Inagaki + +1.0.19 (2015-04-09) +------------------- +* [jsk_rviz_plugins] Fix initialization order in Plotter2DDisplay in order to avoid call std::vector::resize with uninitialized length +* [jsk_rviz_plugins] Obsolate SparseOccupancyGridArray, it's replaced by SimpleOccupancyGridArray +* [jsk_rviz_plugins] Use jsk_pcl_ros/geo_util to reconstruct 3d + information in SimpleOccupancyGridArrayDisplay +* [jsk_rviz_plugins] Add image of SimpleOccupancyGridArray +* [jsk_rviz_plugins] Support auto coloring in SimpleOccupancyGridArray +* [jsk_rviz_plugins] Support 4th parameter of plane coefficients in SimpleOccupancyGridArrayDisplay +* [jsk_rviz_plugins] Add SimpleOccupancyGridArrayDisplay +* [jsk_rviz_plugins] add tmp pose array display +* [jsk_rviz_plugins] Change plotter color from 30% +* add_mesh_model_in_transformable_marker +* [jsk_rviz_plugins] Do not update min/max value when re-enabling Plotter2D +* [jsk_rviz_plugins] Change color of plotter from 50 percent of max value +* [jsk_rviz_plugins] add showing coords option for bounding box array display +* [jsk_rviz_plugins] Add utility script to visualize difference between to tf frame on rviz +* [jsk_rviz_plugins] Check direction vector is non-nan in PolygonArrayDisplay +* [jsk_pcl_ros] Fix license: WillowGarage -> JSK Lab +* [jsk_pcl_ros] Fix install path and install headers +* [jsk_rviz_plugins] Do not show disabled properties of OverlayText, Plotter2D and PieChart +* [jsk_pcl_ros] Make overlay sample more faster +* [jsk_rviz_plugins] Change color from 60 percent of maximum value in PieChartDisplay and Plotter2DDisplay +* [jsk_rviz_plugins] Draw PieChart at the first time +* Remove rosbuild files +* [jsk_rviz_plugins] Update PieChartDisplay only if value changed +* [jsk_rviz_plugins] Do not change texture size and position in processMessage +* [jsk_rviz_plugins] Optimize PieChartDisplay, draw image in update() method instead of processMessage +* Contributors: Ryohei Ueda, Yu Ohara, Yuto Inagaki + +1.0.18 (2015-01-30) +------------------- +* add depends to cv_bridge instaed of opencv2 + +1.0.17 (2015-01-29) +------------------- +* [jsk_rviz_plugins] Add TwistStampedDisplay +* [jsk_rviz_plugins] Use jsk_recognition_msgs +* update README file for mainly panels +* [jsk_rviz_plugins] Add document of PolygonArray display +* add publishing pointcloud information as overlay text +* add record action panel +* remove unused QLineEdit variable +* add normal option for torus display +* [jsk_rviz_plugins] Refactor PolygonArrayDisplay class +* [jsk_rviz_plugins] Add "Show Normal" to PolygonArrayDisplay +* add object fit operator panel +* Make torus more smooth and add beatiful parameter +* add torus array display +* Contributors: Ryohei Ueda, JSK Lab member, Yuto Inagaki + +1.0.16 (2015-01-04) +------------------- +* [jsk_rviz_plugins] Fix namespace of TabletViewController +* [jsk_rviz_plugins] Fix namespace jsk_rviz_plugin -> jsk_rviz_plugins +* [jsk_rviz_plugins] Utility script to draw the number of samples during + capturing data +* [jsk_rviz_plugins] Remove invalid codes of ScreenshotListenerTool +* [jsk_rviz_plugins] VideoCaptureDisplay Display to capture rviz as movie +* [jsk_rviz_plugins] ScreenshotListenerTool: A simple tool to listen to + a service and save screenshot to specified file +* [jsk_rviz_plugins] Avoid Segmentation Fault when size 0 texture is + specified + +1.0.15 (2014-12-13) +------------------- +* Add new plugin and message to display array of pictograms +* Remove pictogram when the display is disabled +* Fix policy to move head using rviz: Do not consider movement of mouse, + just use the position of the mouse. Because we cannot ignore + network latency +* Fix several parameters suitable for surface +* Add panel for tablet demonstration +* Add view_controller_msgs +* Compute difference to mouse position +* Add TabletViewController to control robot from tablet using rviz +* Check texture is available or not when initializing CameraInfo +* Paster image on the bottom of the camera parameter pyramid +* Contributors: Ryohei Ueda + +1.0.14 (2014-12-09) +------------------- +* Add more action to pictogram +* Add documentation about pictogram +* Do not rewrite texture if no need +* Add sample to visualize all the pictograms +* Add FontAwesome fonts and several improvements about font drawing: + 1) decide size of font according to font metrics + 2) do not re-write pictogram texture if no need +* Support deletion of pictogram +* Add color field to Pictogram.msg +* Add sample script for pictogram +* Add display to visualize pictogram +* fixed parameter namespace mismatch. +* set the components to align left +* added button for start_impedance_for_drill +* added service to check marker existence. added copy to marker operation. +* fix quatation signiture for function name in robot_command_interface.cpp +* refact and delete some unneeded includes +* add empty_service_call_interface +* add robot_command_interface +* Change the size of menu according to the change of title and fix + position of the popup window if the window is larger than the rviz +* Use name for decomposed topic of motor_states_temperature_decomposer.py +* Change color of text according to the foreground color of PieChart +* Show value as string on Plotter2DDisplay +* Decompose joint_state's effort value and read the max value from robot_description +* Fix motor_state_decomposer.py +* Take title into account to decide the size of OverlayMenu +* compacting the panel with using tab +* move msg to jsk_rviz_plugins +* add depend on jsk_interactive_marker +* add transformable marker operator panel +* Coloring footstep by jsk_footstep_msgs::Footstep::footstep_group +* Show text on footstep to display left or right +* Separate 'OvertakeProperties' into 'Overtake Color Properties' and + 'Overtake Position Properties' +* Script to decompose MotorStates/temperature into std_msgs/Float32 +* Contributors: Ryohei Ueda, Masaki Murooka, Yuto Inagaki + +1.0.13 (2014-10-10) +------------------- +* Add "overtake properties" property to OverlayTextDisplay +* Call queueRender after opening/closing properties in Open/CloseAllTool +* Contributors: Ryohei Ueda + +1.0.12 (2014-09-23) +------------------- + +1.0.11 (2014-09-22) +------------------- +* Do not ues deprecated PLUGINLIB_DECLARE_CLASS +* Draw polygon as 'face' on PolygonArrayDisplay +* Use jsk_topic_tools::colorCategory20 to colorize automatically +* Add tool plugin to close/open all the displays on rviz +* Contributors: Ryohei Ueda + +1.0.10 (2014-09-13) +------------------- +* Fix color of people visualizer by initializing color to sky blue +* Fix texture color of camera info by filling color value of texture image +* Fix caching of overlay textures of OverlayMenuDisplay to support + changing menus +* add relay camera info node +* Add new plugin to visualize sensor_msgs/CameraInfo +* Ignore first message means CLOSE in OverlayMenuDisplay +* Contributors: Ryohei Ueda, Yusuke Furuta + +1.0.9 (2014-09-07) +------------------ + +1.0.8 (2014-09-04) +------------------ +* add enum menu to TargetVisualizer and PeoplePositionMeasurementDisplay + to select the style of the visualizer +* do not depends on people_msgs on groovy +* add SimpeCircleFacingVisualizer class +* separate a code to draw visualizer into facing_visualizer.cpp +* add rviz plugin for face_detector +* cleanup package.xml of jsk_rviz_plugins +* Contributors: Ryohei Ueda + +1.0.7 (2014-08-06) +------------------ +* show "stalled" if no diagnostic message received in OverlayDiagnosticDisplay +* add utility class for Overlay: OverlayObject and ScopedPixelBuffer in overlay_utils.cpp +* spcify max/min values for the properties of Plotter2D +* fix color error when changing the size of the window of Plotter2D +* add offset to compute the absolute position of the grid +* Remove non-used color property in OverlayDiagnosticsDisplay +* Remove OverlayDiagnostic correctly (not remaining overlay texture). +* under line of the caption should be longer than the length of the + caption in TargetVisualizer +* align the position of the text of TargetVisualizer to left +* add CancelAction and PublishTopic plugin to hydro of jsk_rviz_plugin +* add visualizer to visualize pose stamped with target mark +* Contributors: Ryohei Ueda + +1.0.6 (2014-07-14) +------------------ +* add new plugin to visualize diagnostic status on ovrelay layer +* hide movable text of DiagnosticDisplay at first +* support font size field in DiagnosticDisplay +* diagnostics namespace and frame_id fields of DiagnosticsDisplay is now + selectable according to the current ROS topics +* support axis color to colorize SparseOccupancyGridMap +* use rviz::PointCloud to render jsk_pcl_ros::SparseOccupancyGridArray to optimize +* hotfix to fix the position of overlay text +* does not update scale if the dimension is same to the previous data in OccupancyGridDisplay +* implement rviz plugin to visualize jsk_pcl_ros::SparseOccupancyGridArray +* add QuietInteractiveMarker +* Contributors: Ryohei Ueda + +1.0.5 (2014-06-29) +------------------ +* add overlay camera display +* close overlay menu firmly +* add new rviz plugin: OverlayImage + visualize sensor_msgs::Image as HUD on rviz 3D rendering window +* add new plugin: OverlayMenu +* Contributors: Ryohei Ueda + +1.0.4 (2014-05-31) +------------------ +* jsk_rviz_plugins: use depend tag add mk/rosbuild to build_depend +* update the initial parameter of FootstepDisplay +* add line width property to BoundingBoxArrayDisplay +* add new plugin: BoundingBoxArray for jsk_pcl_ros/BoundingBoxArray +* Contributors: Ryohei Ueda, Kei Okada + +1.0.3 (2014-05-22) +------------------ +* add normals param and change skip_rate to set Percentage + +1.0.2 (2014-05-21) +------------------ +* Fixes a moc generation error with boost >= 1.48 +* add color which will be deviced by curvature + +1.0.1 (2014-05-20) +------------------ +* add README and images, modify some fails +* Contributors: Yuto Inagaki + +1.0.0 (2014-05-17) +------------------ +* show border as default. add auto coloring option to show + clusters efficiently. +* decrease the number of the error messages from NormalDispaly +* Contributors: Ryohei Ueda + +0.0.3 (2014-05-15) +------------------ +* supress erro message of NormalDisplay +* depends to hark_msgs is no longer needed +* Contributors: Ryohei Ueda, Kei Okada + +0.0.2 (2014-05-15) +------------------ +* overlay sample for groovy +* make NormalDisplay work on catkin. + add normal_visual.cpp to jsk_rviz_plugins.so +* fix for using ambient_sound +* rename the name of plugin from PolygonArrayDisplay to PolygonArray +* add rviz_plugins icons +* change the color of the pie chart according to the absolute value +* smaller size for the font and add new line to the text of diagnostics display +* add a bool property to toggle auto scale for Plotter2DDisplay +* Merge remote-tracking branch 'refs/remotes/origin/master' into add-auto-color-changing-feature-to-plotters + Conflicts: + jsk_rviz_plugins/src/plotter_2d_display.cpp + jsk_rviz_plugins/src/plotter_2d_display.h +* add auto color change boolean property and max color to change + the color according to the value +* add sample for overlay rviz plugins +* support DELETE action to disable OvelrayText +* use qt to draw OverlayText +* does not call setSceneBlending twice +* add caption to 2d plotter +* add margin to plotter +* does not create QPainter without argument to supress the warning message of "painter not activate" +* initialize `orbit_theta_` and check overflow of the value +* add `update_interval_` to control the time to update the chart +* do not delete movable text in when the widget is disabled, delete it in deconstructor +* does not plot a chart if rviz is invoked with the plotter plugin disabled +* add DiagnosticsDisplay +* call hide in the destructor of overlay widgets +* add text to show caption and value. + in order to toggle caption, added new check box. + as caption, use the widget name. +* implement piechart on rviz using overlay technique +* add showborder property to 2d rviz plotter +* add plotter2d plugin +* use non-static and uniq string for overlay object +* implement OverlayText display plugin +* compile overlay text display +* add OverlayText.msg +* delete unneeded wrench files +* delete unneeded effort related files +* Merge pull request `#23 `_ from aginika/add-normal-diplay + Add normal diplay +* add color channel and style property +* update to display in rviz +* update norml_display +* add normal_displays and normal_visuals +* delete point_display.cpp and point_visual.cpp +* Add the line to make the code in hydro +* ignore lib directory under jsk_rviz_plugins +* add gitignore for jsk_rviz_plugins +* do not create .so file under src directory +* depends on rviz using tag, because rviz failed to detect plugins from jsk_rviz_plugins without depend tag +* remove duplicated include line from polygon_array_display.h + this duplication and quates in #include line happens compilation error about + moc file of qt4 +* `#7 `_: add wxwidgets dependency to jsk_rviz_plugins +* add dummy jsk-rviz-plugins.test +* use rosdep name for rviz and actionlib_msgs +* rendering backside face +* enabling alpha blending for PolygonArray +* fixing catkin cmake and dependency +* adding plugin to visualize PolygonArray +* add depends to jsk_footstep_msgs +* clear cache when toggle the check box of Footstep +* adding rviz plugin to visualize footstep +* paint point black if color is not available +* add select_point_cloud_publish_action for publish select points (no color) +* select action using combobox +* change msg type to actionlib_msgs +* add panel to cancel action +* add jsk_rviz_plugin::PublishTopic and remove Effort, wrenchStamped, PointStamped +* add rviz panel to send empty msg +* comment out SOURCE_FILES waiting for Issue `#246 `_ +* use EXTRA_CMAKE_FLAGS to check to use ROSBUILD +* add dependencies to jsk_hark_msgs +* fix: validateFloats should be class method +* fix strequal ROS_DISTRO env +* use ROS_Distributions instead of ROS_DISTRO for electric +* add ambient_sound for groovy +* write libjsk_rviz_plugins under {PROJECT_SOURCE_DIR}/lib for and add export rviz to packages.xml, for groovy/catkin compile +* add debug message +* remove LIBRARY_OUTPUT_PATH and use catkin_package +* fix version +* fix to install plugin_descriptoin.xml and libjsk_rviz_plugins.so +* add comments +* fix for electric +* change msg:hark_msgs/HarkPower -> jsk_hark_msgs/HarkPower +* support groovy/cmake compile +* fix typo jsk_rviz_plugin -> jsk_rviz_plugins +* add test +* add package.xml +* add grad property +* added display ambient sound power +* add robot_description property +* add effort/max_effort property +* fix set sample color value for any scale value +* support enable button for each joint `#3597460 `_ +* remove color property +* fix when max_effort is zero, `#3595106 `_ +* support scale for effort_plugin, `#3595106 `_ +* update jsk_rviz_plugins +* add jsk_rviz_plugins +* Contributors: Shohei Fujii, Youhei Kakiuchi, Kei Okada, Yuto Inagaki, Satoshi Iwaishi, Ryohei Ueda, Yusuke Furuta diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/CMakeLists.txt b/ros_drivers/jsk_rviz/jsk_rviz_plugins/CMakeLists.txt new file mode 100755 index 0000000..fbfbb88 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/CMakeLists.txt @@ -0,0 +1,240 @@ +# these plugins should be uploaded to upstream repository +# https://github.com/ros-visualization/rviz/pull/634 + +# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html +cmake_minimum_required(VERSION 2.8.3) +project(jsk_rviz_plugins) +if("$ENV{ROS_DISTRO}" STRGREATER "melodic") + add_compile_options(-std=c++14) +else() + add_compile_options(-std=c++11) +endif() +# Load catkin and all dependencies required for this package +# TODO: remove all from COMPONENTS that are not catkin packages. +find_package(catkin REQUIRED COMPONENTS rviz jsk_hark_msgs jsk_footstep_msgs jsk_recognition_utils + people_msgs + message_generation std_msgs diagnostic_msgs cv_bridge + jsk_topic_tools + image_geometry + view_controller_msgs + geometry_msgs + dynamic_reconfigure + jsk_recognition_msgs + jsk_gui_msgs) + +# Use ccache if installed to make it fast to generate object files +if (CMAKE_VERSION VERSION_LESS 3.4) + find_program(CCACHE_FOUND ccache) + if(CCACHE_FOUND) + set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) + set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache) + endif(CCACHE_FOUND) +endif() + +add_message_files(FILES + OverlayText.msg OverlayMenu.msg TransformableMarkerOperate.msg ObjectFitCommand.msg + Pictogram.msg PictogramArray.msg RecordCommand.msg StringStamped.msg) +add_service_files(FILES + RequestMarkerOperate.srv EusCommand.srv + Screenshot.srv + ) +catkin_python_setup() +generate_dynamic_reconfigure_options( + cfg/ClassificationResultVisualizer.cfg + cfg/ContactStateMarker.cfg + cfg/OverlayTextInterface.cfg) +generate_messages(DEPENDENCIES std_msgs geometry_msgs) + +catkin_package( + DEPENDS rviz + CATKIN_DEPENDS jsk_hark_msgs jsk_footstep_msgs + jsk_recognition_utils cv_bridge people_msgs image_geometry + INCLUDE_DIRS # TODO include + LIBRARIES ${PROJECT_NAME} +) + + +set(ROS_BUILD_TYPE Release) + +include_directories(src ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS}) + +# TODO: fill in what other packages will need to use this package +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need + +if(rviz_QT_VERSION VERSION_LESS "5") + find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED) + include(${QT_USE_FILE}) +else() + find_package(Qt5Widgets REQUIRED) +endif() +add_definitions(-DQT_NO_KEYWORDS -g) + +include_directories(${CMAKE_CURRENT_BINARY_DIR}) + +#set(SOURCE_FILES src/ambient_sound_display.cpp src/ambient_sound_visual.cpp) + +set(HEADER_FILES + src/ambient_sound_display_groovy.h + src/select_point_cloud_publish_action.h + src/footstep_display.h + src/publish_topic.h + src/cancel_action.h + src/record_action.h + src/polygon_array_display.h + src/normal_display.h + src/overlay_text_display.h + src/overlay_menu_display.h + src/overlay_image_display.h + src/overlay_camera_display.h + src/plotter_2d_display.h + src/pie_chart_display.h + src/diagnostics_display.h + src/quiet_interactive_marker_display.h + src/bounding_box_display.h + src/bounding_box_array_display.h + src/torus_array_display.h + src/overlay_diagnostic_display.h + src/target_visualizer_display.h + src/people_position_measurement_array_display.h + src/simple_occupancy_grid_array_display.h + src/camera_info_display.h + src/close_all_tool.h + src/open_all_tool.h + src/overlay_picker_tool.h + src/object_fit_operator.h + src/robot_command_interface.h + src/empty_service_call_interface.h + src/pictogram_display.h + src/pictogram_array_display.h + src/view_controller/tablet_view_controller.h + src/tablet_controller_panel.h + src/video_capture_display.h + src/rviz_scene_publisher.h + src/twist_stamped_display.h + src/pose_array_display.h + src/tf_trajectory_display.h + src/yes_no_button_interface.h + src/segment_array_display.h + src/image_transport_hints_property.h + src/string_display.h + src/human_skeleton_array_display.h +) + +if(rviz_QT_VERSION VERSION_LESS "5") + qt4_wrap_cpp(MOC_FILES ${HEADER_FILES}) +else() + qt5_wrap_cpp(MOC_FILES ${HEADER_FILES}) +endif() + +set(SOURCE_FILES + src/ambient_sound_display_groovy.cpp + src/ambient_sound_visual.cpp + src/footstep_display.cpp + src/publish_topic.cpp + src/cancel_action.cpp + src/record_action.cpp + src/select_point_cloud_publish_action.cpp + src/polygon_array_display.cpp + src/normal_display.cpp + src/normal_visual.cpp + src/overlay_text_display.cpp + src/overlay_menu_display.cpp + src/overlay_image_display.cpp + src/overlay_camera_display.cpp + src/plotter_2d_display.cpp + src/pie_chart_display.cpp + src/diagnostics_display.cpp + src/bounding_box_display.cpp + src/bounding_box_array_display.cpp + src/torus_array_display.cpp + src/quiet_interactive_marker_display.cpp + src/target_visualizer_display.cpp + src/overlay_diagnostic_display.cpp + src/simple_occupancy_grid_array_display.cpp + src/people_position_measurement_array_display.cpp + src/overlay_utils.cpp + src/facing_visualizer.cpp + src/camera_info_display.cpp + src/close_all_tool.cpp + src/open_all_tool.cpp + src/overlay_picker_tool.cpp + src/screenshot_listener_tool.cpp + src/object_fit_operator.cpp + src/robot_command_interface.cpp + src/empty_service_call_interface.cpp + src/pictogram_display.cpp + src/pictogram_array_display.cpp + src/view_controller/tablet_view_controller.cpp + src/tablet_controller_panel.cpp + src/video_capture_display.cpp + src/rviz_scene_publisher.cpp + src/twist_stamped_display.cpp + src/pose_array_display.cpp + src/tf_trajectory_display.cpp + src/yes_no_button_interface.cpp + src/segment_array_display.cpp + src/image_transport_hints_property.cpp + src/string_display.cpp + src/human_skeleton_array_display.cpp + ${MOC_FILES} +) +if(jsk_recognition_msgs_VERSION VERSION_LESS 1.2.15) + message(WARNING "jsk_recognition_msgs ${jsk_recognition_msgs_VERSION} < 1.2.15 does not support human_skeleton_array_display.cpp") + list(REMOVE_ITEM HEADER_FILES src/human_skeleton_array_display.h) + list(REMOVE_ITEM SOURCE_FILES src/human_skeleton_array_display.cpp) + list(REMOVE_ITEM SOURCE_FILES ${PROJECT_BINARY_DIR}/src/moc_human_skeleton_array_display.cxx) +endif() + +add_library(jsk_rviz_plugins ${SOURCE_FILES} ${UIC_FILES}) +if(rviz_QT_VERSION VERSION_LESS "5") + target_link_libraries(jsk_rviz_plugins ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES}) +else() + target_link_libraries(jsk_rviz_plugins Qt5::Widgets ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES}) +endif() +add_dependencies(jsk_rviz_plugins + jsk_footstep_msgs_generate_messages_cpp + jsk_gui_msgs_generate_messages_cpp + jsk_hark_msgs_generate_messages_cpp + jsk_recognition_msgs_generate_messages_cpp + people_msgs_generate_messages_cpp + view_controller_msgs_generate_messages_cpp + ${PROJECT_NAME}_generate_messages_cpp) + +if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU") + set_target_properties(jsk_rviz_plugins PROPERTIES LINK_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z defs") +endif() + +# From https://github.com/jsk-ros-pkg/jsk_recognition/pull/2345 +# Install header files directly into ${CATKIN_PACKAGE_INCLUDE_DESTINATION}. +# If the package has setup.py and modules under src/${PROJECT_NAME}/, +# install python executables directly into ${CATKIN_PACKAGE_BIN_DESTINATION}. +# However, if it doesn't have setup.py, directories including python executables +# should be installed recursively into ${CATKIN_PACKAGE_SHARE_DESTINATION}. +# Also, other directories like 'launch' or 'sample' must be installed +# recursively into ${CATKIN_PACKAGE_SHARE_DESTINATION}. +# Be careful that 'launch' and 'launch/' are different: the former is directory +# and the latter is each content. +install(TARGETS jsk_rviz_plugins + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install(DIRECTORY scripts/ + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + USE_SOURCE_PERMISSIONS +) + +install(FILES plugin_description.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY cfg config icons launch samples test + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) + +install(DIRECTORY src/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/ClassificationResultVisualizer.cfg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/ClassificationResultVisualizer.cfg new file mode 100755 index 0000000..329b3e3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/ClassificationResultVisualizer.cfg @@ -0,0 +1,22 @@ +#!/usr/bin/env python + +PACKAGE = 'jsk_rviz_plugins' + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator () + +gen.add("text_color_red", double_t, 0, "text color", 0.0, 0.0, 1.0) +gen.add("text_color_green", double_t, 0, "text color", 0.0, 0.0, 1.0) +gen.add("text_color_blue", double_t, 0, "text color", 1.0, 0.0, 1.0) +gen.add("text_color_alpha", double_t, 0, "text color", 1.0, 0.0, 1.0) + +gen.add("text_offset_x", double_t, 0, "offset position for text", 0.0, -0.5, 0.5) +gen.add("text_offset_y", double_t, 0, "offset position for text", 0.0, -0.5, 0.5) +gen.add("text_offset_z", double_t, 0, "offset position for text", 0.07, -0.5, 0.5) + +gen.add("text_size", double_t, 0, "text size", 0.05, 0.001, 0.5) +gen.add("marker_lifetime", double_t, 0, "lifetime of marker", 5.0, 0.1, 300.0) +gen.add("show_proba", bool_t, 0, "show probabilities", True) + +exit(gen.generate(PACKAGE, PACKAGE, "ClassificationResultVisualizer")) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/ContactStateMarker.cfg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/ContactStateMarker.cfg new file mode 100755 index 0000000..f633282 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/ContactStateMarker.cfg @@ -0,0 +1,23 @@ +#!/usr/bin/env python + +# set up parameters that we care about +PACKAGE = 'jsk_rviz_plugins' + +from dynamic_reconfigure.parameter_generator_catkin import *; + +from math import pi + +gen = ParameterGenerator () +gen.add("use_parent_link", bool_t, 0, "", False) +gen.add("marker_scale", double_t, 0, "", 1.02, 0.9, 1.1) +gen.add("on_red", double_t, 0, "", 1.0, 0, 1.0) +gen.add("on_green", double_t, 0, "", 0.0, 0, 1.0) +gen.add("on_blue", double_t, 0, "", 0.0, 0, 1.0) +gen.add("on_alpha", double_t, 0, "", 0.8, 0, 1.0) +gen.add("visualize_off", bool_t, 0, "", False) +gen.add("off_red", double_t, 0, "", 0.0, 0, 1.0) +gen.add("off_green", double_t, 0, "", 0.0, 0, 1.0) +gen.add("off_blue", double_t, 0, "", 1.0, 0, 1.0) +gen.add("off_alpha", double_t, 0, "", 0.8, 0, 1.0) + +exit (gen.generate (PACKAGE, "jsk_rviz_plugins", "ContactStateMarker")) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/OverlayTextInterface.cfg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/OverlayTextInterface.cfg new file mode 100755 index 0000000..ffc584e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/OverlayTextInterface.cfg @@ -0,0 +1,28 @@ +#!/usr/bin/env python + +# set up parameters that we care about +PACKAGE = 'jsk_rviz_plugins' + +from dynamic_reconfigure.parameter_generator_catkin import *; + +from math import pi + +gen = ParameterGenerator () +gen.add("width", double_t, 0, "", 1200, -1, 2024) +gen.add("height", double_t, 0, "", 800, -1, 2024) +gen.add("top", double_t, 0, "", 10, 0, 2024) +gen.add("left", double_t, 0, "", 10, 0, 2024) + +gen.add("text_size", double_t, 0, "", 12, 1, 32) + +gen.add("bg_red", double_t, 0, "", 0, 0, 1.0) +gen.add("bg_blue", double_t, 0, "", 0, 0, 1.0) +gen.add("bg_green", double_t, 0, "", 0, 0, 1.0) +gen.add("bg_alpha", double_t, 0, "", 0, 0, 1.0) + +gen.add("fg_red", double_t, 0, "", 25.0 / 255, 0, 1.0) +gen.add("fg_blue", double_t, 0, "", 1.0, 0, 1.0) +gen.add("fg_green", double_t, 0, "", 240/255.5, 0, 1.0) +gen.add("fg_alpha", double_t, 0, "", 1, 0, 1.0) + +exit (gen.generate (PACKAGE, "jsk_rviz_plugins", "OverlayTextInterface")) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/normal_sample.rviz b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/normal_sample.rviz new file mode 100755 index 0000000..a2d7208 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/normal_sample.rviz @@ -0,0 +1,139 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.484513 + Tree Height: 595 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + - /Current View1/Focal Point1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /pcl_nodelet/voxel_grid/output + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: jsk_rviz_plugin/NormalDisplay + Color: 255; 255; 255 + Enabled: true + Name: NormalDisplay + Style: DirectionColor + Topic: /pcl_nodelet/normal_concat/output + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /camera_depth_frame + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.82078 + Focal Point: + X: 1.28073 + Y: 0.186899 + Z: 0.183498 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.179797 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.59084 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 876 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1599 + X: -6 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/overlay_sample.rviz b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/overlay_sample.rviz new file mode 100755 index 0000000..4edddb5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/overlay_sample.rviz @@ -0,0 +1,254 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.4845130145549774 + Tree Height: 648 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + - /Current View1/Focal Point1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Align Bottom: false + Background Alpha: 0.800000011920929 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000011920929 + Foreground Color: 25; 255; 240 + Invert Shadow: false + Name: sample text + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Overtake Position Properties: true + Topic: /text_sample + Value: true + font: DejaVu Sans Mono + height: 400 + left: 0 + line width: 2 + text size: 12 + top: 400 + width: 350 + - Align Bottom: false + Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/String + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 85; 255; 127 + Name: sample string + Overtake Color Properties: true + Overtake Position Properties: true + Topic: /sample_string + Value: true + font: DejaVu Sans Mono + height: 80 + left: 350 + line width: 2 + text size: 12 + top: 20 + width: 250 + - Buffer length: 100 + Class: jsk_rviz_plugin/Plotter2D + Enabled: true + Name: sin plot + Show Value: true + Topic: /value_sample + Value: true + auto color change: false + auto scale: true + background color: 0; 0; 0 + backround alpha: 0 + border: true + foreground alpha: 0.699999988079071 + foreground color: 25; 255; 240 + height: 128 + left: 495 + linewidth: 2 + max color: 255; 0; 0 + max value: 1 + min value: -1 + show caption: true + text size: 12 + top: 111 + update interval: 0.03999999910593033 + width: 128 + - Class: jsk_rviz_plugin/PieChart + Enabled: true + Name: pie chart + Topic: /value_sample + Value: true + auto color change: false + background color: 0; 0; 0 + backround alpha: 0 + foreground alpha: 0.699999988079071 + foreground alpha 2: 0.4000000059604645 + foreground color: 25; 255; 240 + left: 700 + max color: 255; 0; 0 + max value: 1 + min value: -1 + show caption: true + size: 128 + text size: 14 + top: 80 + - Class: jsk_rviz_plugin/OverlayImage + Enabled: true + Name: rviz startup image + Topic: /image_publisher/image_raw + Value: true + alpha: 0.800000011920929 + height: 128 + keep aspect ratio: true + left: 620 + overwrite alpha value: false + top: 550 + transport hint: raw + width: 128 + - Align Bottom: true + Background Alpha: 0.800000011920929 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000011920929 + Foreground Color: 25; 255; 240 + Invert Shadow: false + Name: ros console output + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Overtake Position Properties: true + Topic: /rosconsole_overlay_text/output + Value: true + font: DejaVu Sans Mono + height: 380 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 300 + - Background Alpha: 0.5 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayMenu + Enabled: true + Foreground Alpha: 1 + Foreground Color: 25; 255; 240 + Name: menu + Overtake BG Color Properties: false + Overtake FG Color Properties: false + Topic: /test_menu + Value: true + keep centered: true + left: 128 + top: 128 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: camera_depth_frame + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + - Class: jsk_rviz_plugin/OverlayPicker + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.7108700275421143 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.6575250029563904 + Y: -0.5965409874916077 + Z: 0.3936150074005127 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5997970104217529 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.9258480072021484 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 945 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1457 + X: 134 + Y: 35 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/polygon_array_sample.rviz b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/polygon_array_sample.rviz new file mode 100755 index 0000000..4217d1c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/polygon_array_sample.rviz @@ -0,0 +1,121 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /PolygonArray1 + Splitter Ratio: 0.5 + Tree Height: 544 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: jsk_rviz_plugin/PolygonArray + Color: 25; 255; 0 + Enabled: true + Name: PolygonArray + Topic: /polygon_array_sample/output + Value: true + coloring: Auto + normal length: 0.1 + only border: false + show normal: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 12.2685 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.625535 + Y: 0.655988 + Z: -0.19709 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.870398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.395391 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 156 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/segment_array_sample.rviz b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/segment_array_sample.rviz new file mode 100755 index 0000000..4b87dd9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/cfg/segment_array_sample.rviz @@ -0,0 +1,120 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /SegmentArray1 + Splitter Ratio: 0.5 + Tree Height: 559 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: jsk_rviz_plugin/SegmentArray + Enabled: true + Name: SegmentArray + Topic: /polygon_array_sample/output + Unreliable: false + Value: true + alpha: 0.8 + color: 25; 255; 0 + coloring: Auto + line width: 0.005 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 4.64404 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.530398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.965398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 50 + Y: 50 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/bounding_box_sample.rviz b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/bounding_box_sample.rviz new file mode 100755 index 0000000..8e5739e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/bounding_box_sample.rviz @@ -0,0 +1,120 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /BoundingBoxArray1 + Splitter Ratio: 0.5 + Tree Height: 544 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: jsk_rviz_plugin/BoundingBoxArray + Enabled: true + Name: BoundingBoxArray + Topic: /bbox + Value: true + alpha: 0.8 + color: 25; 255; 0 + coloring: Auto + line width: 0.005 + only edge: false + show coords: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 8.86114 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.0115602 + Y: 0.0447983 + Z: -0.0267184 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.585398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.645398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 107 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/command_samples.yaml b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/command_samples.yaml new file mode 100755 index 0000000..98c8a1f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/command_samples.yaml @@ -0,0 +1,7 @@ +icon_include_package: jsk_rviz_plugins + +rviz_service_call: + buttons: + - {icon: reset-pose.jpg, service_name: "/target", text: "Reset Pose"} + - {icon: reset-manip-pose.jpg, service_name: "/target2", text: "Reset Manip"} + - {icon: init-pose.jpg, service_name: "/target3", text: "Init Pose"} \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/contact_state_marker_sample.rviz b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/contact_state_marker_sample.rviz new file mode 100755 index 0000000..7a2c1b2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/contact_state_marker_sample.rviz @@ -0,0 +1,570 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /MarkerArray1 + Splitter Ratio: 0.5 + Tree Height: 544 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + high_def_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + high_def_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_cam_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_forearm_cam_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_led_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_screw_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_motor_slider_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_tool_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_torso_lift_side_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + narrow_stereo_l_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_l_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_r_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_r_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + projector_wg6802418_child_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + projector_wg6802418_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_cam_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_forearm_cam_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_led_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_screw_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_motor_slider_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_tool_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_torso_lift_side_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_motor_screw_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_l_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_l_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_r_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_r_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /contact_state_marker/marker + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 4.03658 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.0698828 + Y: 0.539269 + Z: 0.687683 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.215399 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.62857 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 224 + Y: 24 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/default_robot_command.yaml b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/default_robot_command.yaml new file mode 100755 index 0000000..f0b7850 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/default_robot_command.yaml @@ -0,0 +1,56 @@ +robot_command_buttons: + - name: "Reset Pose" + icon: "package://jsk_rviz_plugins/icons/reset-pose.jpg" + type: euscommand + command: "(send *ri* :angle-vector (send *robot* :reset-pose) 5000))" + - name: "Reset Manip Pose" + icon: "package://jsk_rviz_plugins/icons/reset-manip-pose.jpg" + type: euscommand + command: "(send *ri* :angle-vector (send *robot* :reset-manip-pose) 5000)" + - name: "Init Pose" + icon: "package://jsk_rviz_plugins/icons/init-pose.jpg" + type: euscommand + command: "(send *ri* :angle-vector (send *robot* :init-pose) 5000)" + - name: "Hand reset pose" + icon: "package://jsk_rviz_plugins/icons/hand-reset-pose.jpg" + type: euscommand + command: "(progn (send *robot* :hand :arms :reset-pose) (send *ri* :hand-angle-vector (apply #'concatenate float-vector (send *robot* :hand :arms :angle-vector))))" + - name: "Hand hook pose" + icon: "package://jsk_rviz_plugins/icons/hand-hook-pose.jpg" + type: euscommand + command: "(progn (send *robot* :hand :arms :hook-pose) (send *ri* :hand-angle-vector (apply #'concatenate float-vector (send *robot* :hand :arms :angle-vector))))" + - name: "Hand grasp pose" + icon: "package://jsk_rviz_plugins/icons/hand-grasp-pose.jpg" + type: euscommand + command: "(progn (send *robot* :hand :arms :grasp-pose) (send *ri* :hand-angle-vector (apply #'concatenate float-vector (send *robot* :hand :arms :angle-vector))))" + - name: "Start ABC" + icon: "package://jsk_rviz_plugins/icons/start-abc.png" + type: euscommand + command: "(send *ri* :start-auto-balancer)" + - name: "Start ST" + icon: "package://jsk_rviz_plugins/icons/start-st.png" + type: euscommand + command: "(send *ri* :start-st)" + - name: "Start IMP" + icon: "package://jsk_rviz_plugins/icons/start-imp.png" + type: euscommand + command: "(send *ri* :start-impedance :arms :moment-gain #f(0 0 0) :k-p 1000 :d-p 400)" + - name: "Start IMP for Drill" + icon: "package://jsk_rviz_plugins/icons/start-imp-for-drill.png" + type: euscommand + command: "(send *ri* :start-impedance :rarm :force-gain #f(1 0 0) :moment-gain #f(0 0 0) :k-p 600 :d-p 60)" + - name: "Stop ABC" + icon: "package://jsk_rviz_plugins/icons/stop-abc.png" + type: euscommand + command: "(send *ri* :stop-auto-balancer)" + - name: "Stop ST" + icon: "package://jsk_rviz_plugins/icons/stop-st.png" + type: euscommand + command: "(send *ri* :stop-st)" + - name: "Stop IMP" + icon: "package://jsk_rviz_plugins/icons/stop-imp.png" + type: euscommand + command: "(send *ri* :stop-impedance :arms)" + - name: "sample" + type: emptysrv + srv: "/hoge" diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/link_marker_publisher_sample.rviz b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/link_marker_publisher_sample.rviz new file mode 100755 index 0000000..aa49e10 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/config/link_marker_publisher_sample.rviz @@ -0,0 +1,570 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Marker1 + Splitter Ratio: 0.5 + Tree Height: 544 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_bellow_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + br_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + double_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_l_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_r_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fr_caster_rotation_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_ir_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_mount_kinect_rgb_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_kinect_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_mount_prosilica_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + head_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_plate_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + head_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + high_def_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + high_def_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_cam_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_forearm_cam_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_l_finger_tip_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_led_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_motor_screw_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_motor_slider_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_gripper_tool_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + l_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_torso_lift_side_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + l_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + l_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser_tilt_link: + Alpha: 1 + Show Axes: false + Show Trail: false + laser_tilt_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + narrow_stereo_l_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_l_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_r_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + narrow_stereo_r_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + projector_wg6802418_child_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + projector_wg6802418_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_elbow_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_cam_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_forearm_cam_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_forearm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_forearm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_l_finger_tip_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_l_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_led_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_motor_accelerometer_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_motor_screw_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_motor_slider_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_gripper_palm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_r_finger_tip_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_gripper_tool_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + r_shoulder_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_shoulder_pan_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_torso_lift_side_plate_link: + Alpha: 1 + Show Axes: false + Show Trail: false + r_upper_arm_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_upper_arm_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_flex_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + r_wrist_roll_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_mount_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + torso_lift_motor_screw_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_l_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_l_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_r_stereo_camera_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + wide_stereo_r_stereo_camera_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /link_marker_publisher/marker + Name: Marker + Namespaces: + "": true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 5.65477 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.400627 + Y: 0.622885 + Z: 0.0789115 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.855398 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.16858 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 93 + Y: 30 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/AmbientSound.png b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/AmbientSound.png new file mode 100755 index 0000000..0779219 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/AmbientSound.png differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/BoundingBoxArray.png b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/BoundingBoxArray.png new file mode 100755 index 0000000..d74bd8f Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/BoundingBoxArray.png differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/CameraInfo.png b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/CameraInfo.png new file mode 100755 index 0000000..eca8bdb Binary files /dev/null and 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a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/HumanSkeletonArray.png b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/HumanSkeletonArray.png new file mode 100755 index 0000000..cf949c9 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/HumanSkeletonArray.png differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/NormalDisplay.png b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/NormalDisplay.png new file mode 100755 index 0000000..6df2ccf Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/NormalDisplay.png differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/OpenAll.png b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/OpenAll.png new file mode 100755 index 0000000..0c0492b Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/OpenAll.png differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/OverlayCamera.png 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--git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/Plotter2D.png b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/Plotter2D.png new file mode 100755 index 0000000..3fd34ed Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/Plotter2D.png differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/PolygonArray.png b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/PolygonArray.png new file mode 100755 index 0000000..f425cfc Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/PolygonArray.png differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/QuietInteractiveMarker.png b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/QuietInteractiveMarker.png new file mode 100755 index 0000000..8df9657 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/classes/QuietInteractiveMarker.png differ diff --git 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mode 100755 index 0000000..eae753d Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/icons/stop-st.png differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/boundingbox_sample.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/boundingbox_sample.launch new file mode 100755 index 0000000..301ebac --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/boundingbox_sample.launch @@ -0,0 +1,5 @@ + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/contact_state_marker_sample.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/contact_state_marker_sample.launch new file mode 100755 index 0000000..790f6c5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/contact_state_marker_sample.launch @@ -0,0 +1,19 @@ + + + + + links: [r_shoulder_pan_link, l_shoulder_pan_link, base_link, torso_lift_link] + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/face_detector_sample.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/face_detector_sample.launch new file mode 100755 index 0000000..153291c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/face_detector_sample.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/link_marker_publisher_sample.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/link_marker_publisher_sample.launch new file mode 100755 index 0000000..e27957d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/link_marker_publisher_sample.launch @@ -0,0 +1,15 @@ + + + + + link: r_shoulder_pan_link + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/normal_sample.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/normal_sample.launch new file mode 100755 index 0000000..9593cad --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/normal_sample.launch @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + radius_search: 0 + k_search: 10 + # 0, => ANN, 1 => FLANN, 2 => Organized + spatial_locator: 2 + + + + + + + + + + + \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/overlay_sample.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/overlay_sample.launch new file mode 100755 index 0000000..ba24e42 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/overlay_sample.launch @@ -0,0 +1,30 @@ + + + + + + + reverse_lines: false + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/polygon_array_sample.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/polygon_array_sample.launch new file mode 100755 index 0000000..2a257db --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/polygon_array_sample.launch @@ -0,0 +1,4 @@ + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/robot_command_interface_sample.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/robot_command_interface_sample.launch new file mode 100755 index 0000000..7751e9e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/robot_command_interface_sample.launch @@ -0,0 +1,6 @@ + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/segment_array_sample.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/segment_array_sample.launch new file mode 100755 index 0000000..9241b71 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/segment_array_sample.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/service_call_panel.launch b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/service_call_panel.launch new file mode 100755 index 0000000..2b3fc2a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/launch/service_call_panel.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/mainpage.dox b/ros_drivers/jsk_rviz/jsk_rviz_plugins/mainpage.dox new file mode 100755 index 0000000..a30481b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/mainpage.dox @@ -0,0 +1,14 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b jsk_rviz_plugins + + + +--> + + +*/ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/ObjectFitCommand.msg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/ObjectFitCommand.msg new file mode 100755 index 0000000..d71e9d6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/ObjectFitCommand.msg @@ -0,0 +1,8 @@ +uint8 FIT=0 +uint8 NEAR=1 +uint8 OTHER=2 +uint8 REVERSE_FIT=3 +uint8 REVERSE_NEAR=4 +uint8 REVERSE_OTHER=5 + +int8 command diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/OverlayMenu.msg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/OverlayMenu.msg new file mode 100755 index 0000000..5e0219b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/OverlayMenu.msg @@ -0,0 +1,8 @@ +int32 ACTION_SELECT=0 +int32 ACTION_CLOSE=1 +int32 action +uint32 current_index +string[] menus +string title +std_msgs/ColorRGBA bg_color +std_msgs/ColorRGBA fg_color diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/OverlayText.msg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/OverlayText.msg new file mode 100755 index 0000000..00ad2df --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/OverlayText.msg @@ -0,0 +1,17 @@ +uint8 ADD = 0 +uint8 DELETE = 1 + +uint8 action + +int32 width +int32 height +int32 left +int32 top +std_msgs/ColorRGBA bg_color + +int32 line_width +float32 text_size +string font +std_msgs/ColorRGBA fg_color + +string text diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/Pictogram.msg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/Pictogram.msg new file mode 100755 index 0000000..ce95cc5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/Pictogram.msg @@ -0,0 +1,20 @@ +Header header +geometry_msgs/Pose pose +uint8 ADD=0 +uint8 DELETE=1 +uint8 ROTATE_Z=2 +uint8 ROTATE_Y=3 +uint8 ROTATE_X=4 +uint8 JUMP=5 +uint8 JUMP_ONCE=6 +uint8 action + +uint8 PICTOGRAM_MODE=0 +uint8 STRING_MODE=1 + +uint8 mode +string character +float64 size +float64 ttl +float64 speed +std_msgs/ColorRGBA color diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/PictogramArray.msg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/PictogramArray.msg new file mode 100755 index 0000000..30c48f6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/PictogramArray.msg @@ -0,0 +1,2 @@ +Header header +Pictogram[] pictograms \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/RecordCommand.msg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/RecordCommand.msg new file mode 100755 index 0000000..f4f6555 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/RecordCommand.msg @@ -0,0 +1,6 @@ +uint8 RECORD=0 +uint8 RECORD_STOP=1 +uint8 PLAY=2 + +int8 command +string target \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/StringStamped.msg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/StringStamped.msg new file mode 100755 index 0000000..7e55869 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/StringStamped.msg @@ -0,0 +1,3 @@ +Header header +string data + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/TransformableMarkerOperate.msg b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/TransformableMarkerOperate.msg new file mode 100755 index 0000000..81354d5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/msg/TransformableMarkerOperate.msg @@ -0,0 +1,18 @@ +uint8 BOX=0 +uint8 CYLINDER=1 +uint8 TORUS=2 +uint8 MESH_RESOURCE=3 + +uint8 INSERT=0 +uint8 ERASE=1 +uint8 ERASEALL=2 +uint8 ERASEFOCUS=3 +uint8 COPY=4 + +int32 type +int32 action +string frame_id +string name +string description +string mesh_resource +bool mesh_use_embedded_materials \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/package.xml b/ros_drivers/jsk_rviz/jsk_rviz_plugins/package.xml new file mode 100755 index 0000000..198257c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/package.xml @@ -0,0 +1,64 @@ + + + jsk_rviz_plugins + 2.1.7 + The jsk_rviz_plugins package + Kei Okada + BSD + Kei Okada + Yohei Kakiuchi + Shohei Fujii + Ryohei Ueda + http://github.com/jsk-ros-pkg/jsk_visualization + http://github.com/jsk-ros-pkg/jsk_visualization/issues + https://jsk-visualization.readthedocs.io/en/latest/jsk_rviz_plugins/index.html + + catkin + + cv_bridge + diagnostic_msgs + dynamic_reconfigure + geometry_msgs + image_geometry + jsk_footstep_msgs + jsk_gui_msgs + jsk_hark_msgs + jsk_recognition_msgs + jsk_recognition_utils + jsk_topic_tools + message_generation + mk + people_msgs + rosbuild + rviz + std_msgs + urdfdom_py + view_controller_msgs + + python-scipy + python3-scipy + cv_bridge + diagnostic_msgs + dynamic_reconfigure + geometry_msgs + image_geometry + image_publisher + jsk_footstep_msgs + jsk_gui_msgs + jsk_hark_msgs + jsk_recognition_msgs + jsk_recognition_utils + jsk_topic_tools + message_generation + people_msgs + posedetection_msgs + rviz + std_msgs + urdfdom_py + view_controller_msgs + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/plugin_description.xml b/ros_drivers/jsk_rviz/jsk_rviz_plugins/plugin_description.xml new file mode 100755 index 0000000..603f71e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/plugin_description.xml @@ -0,0 +1,319 @@ + + + + + A view controller for tablet + + + + + + screenshot utility + + + + + Overlay picker by dragging + + + + + close all displays + + + + + open all displays + + + + + + + + + + + + + + capture rviz view as movie + + + + + Publisher rviz scene + + + + + visualize PictogramArray + + + + + + visualize pictogram + + + + + + + visualize sensor_msgs/CameraInfo + + + + + + visualize people_msgs/PositionMeasurementArray + + + + + + visualize geometry_msgs/PoseStamped as target mark + + + + + visualize jsk_recognition_msgs/SparseOccupancyGridArray + + + + + visualize jsk_recognition_msgs/SimpleOccupancyGridArray + + + + + quiet version of interactive marker + + + + + visualize jsk_recognition_msgs/BoundingBoxArray + + + + + visualize jsk_recognition_msgs/BoundingBox + + + + + visualize jsk_recognition_msgs/TorusArray + + + + + diagnostics display + + + + + 2D plotter on rviz + + + + + 2D pie chart on rviz + + + + + Displays text as overlay + + + + + Displays menu as overlay + + + + + Displays sensor_msgs::Image as overlay + + + + + Displays sensor_msgs::Image with superimposing objects as overlay + + + + + Displays std_msgs::String message + + + + + Displays from hark_msgs/HarkPower message + + + + + + Displays for jsk_footstep_sgs/FootstepArray message + + + + + + Displays for sensor_msgs::PointCloud2 message + + + + + + Displays for jsk_pcl_msgs/PolygonArray message + + + + + + + + + + visualize jsk_recognition_msgs/SegmentArray + + + + + + visualize jsk_recognition_msgs/HumanSkeletonArray + + + + + + tablet controller panel + + + + + + A panel widget to publish a topic. + + + + + + A panel widget to cancel action + + + + + + A panel widget to record action + + + + + + A panel widget to SelectPointCloudPublish action + + + + + + A panel widget to ObjectFitOperator action + + + + + + A panel widget to RobotCommandInterfaceAction action + + + + + A panel widget to EmptyServiceCallInterfaceAction action + + + + + + A panel widget for yes/no button + + + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/python/jsk_rviz_plugins/__init__.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/python/jsk_rviz_plugins/__init__.py new file mode 100755 index 0000000..e69de29 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/python/jsk_rviz_plugins/overlay_text_interface.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/python/jsk_rviz_plugins/overlay_text_interface.py new file mode 100755 index 0000000..e3b8e5a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/python/jsk_rviz_plugins/overlay_text_interface.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python + +from jsk_rviz_plugins.cfg import OverlayTextInterfaceConfig +from jsk_rviz_plugins.msg import OverlayText +from dynamic_reconfigure.server import Server +import rospy + +class OverlayTextInterface(): + def __init__(self, topic): + self.srv = Server(OverlayTextInterfaceConfig, self.callback) + self.pub = rospy.Publisher(topic, OverlayText) + def callback(self, config, level): + self.config = config + return config + def publish(self, text): + msg = OverlayText() + msg.text = text + msg.width = self.config.width + msg.height = self.config.height + msg.top = self.config.top + msg.left = self.config.left + msg.fg_color.a = self.config.fg_alpha + msg.fg_color.r = self.config.fg_red + msg.fg_color.g = self.config.fg_green + msg.fg_color.b = self.config.fg_blue + msg.bg_color.a = self.config.bg_alpha + msg.bg_color.r = self.config.bg_red + msg.bg_color.g = self.config.bg_green + msg.bg_color.b = self.config.bg_blue + msg.text_size = self.config.text_size + self.pub.publish(msg) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/resources/fonts/Entypo-Social.ttf b/ros_drivers/jsk_rviz/jsk_rviz_plugins/resources/fonts/Entypo-Social.ttf new file mode 100755 index 0000000..5a3da90 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/resources/fonts/Entypo-Social.ttf differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/resources/fonts/Entypo.ttf b/ros_drivers/jsk_rviz/jsk_rviz_plugins/resources/fonts/Entypo.ttf new file mode 100755 index 0000000..480bde7 Binary files /dev/null and b/ros_drivers/jsk_rviz/jsk_rviz_plugins/resources/fonts/Entypo.ttf differ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/bounding_box_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/bounding_box_sample.py new file mode 100755 index 0000000..6f60477 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/bounding_box_sample.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python + + +import rospy + +from jsk_recognition_msgs.msg import BoundingBoxArray, BoundingBox +from tf.transformations import * +rospy.init_node("bbox_sample") +pub = rospy.Publisher("bbox", BoundingBoxArray) +r = rospy.Rate(24) +counter = 0 +while not rospy.is_shutdown(): + box_a = BoundingBox() + box_b = BoundingBox() + box_a.label = 2 + box_b.label = 5 + box_arr = BoundingBoxArray() + now = rospy.Time.now() + box_a.header.stamp = now + box_b.header.stamp = now + box_arr.header.stamp = now + box_a.header.frame_id = "map" + box_b.header.frame_id = "map" + box_arr.header.frame_id = "map" + q = quaternion_about_axis((counter % 100) * math.pi * 2 / 100.0, [0, 0, 1]) + box_a.pose.orientation.x = q[0] + box_a.pose.orientation.y = q[1] + box_a.pose.orientation.z = q[2] + box_a.pose.orientation.w = q[3] + box_b.pose.orientation.w = 1 + box_b.pose.position.y = 2 + box_b.dimensions.x = (counter % 10 + 1) * 0.1 + box_b.dimensions.y = ((counter + 1) % 10 + 1) * 0.1 + box_b.dimensions.z = ((counter + 2) % 10 + 1) * 0.1 + box_a.dimensions.x = 1 + box_a.dimensions.y = 1 + box_a.dimensions.z = 1 + box_a.value = (counter % 100) / 100.0 + box_b.value = 1 - (counter % 100) / 100.0 + box_arr.boxes.append(box_a) + box_arr.boxes.append(box_b) + pub.publish(box_arr) + r.sleep() + counter = counter + 1 + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/contact_state_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/contact_state_sample.py new file mode 100755 index 0000000..7f7224f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/contact_state_sample.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python + +import rospy +from hrpsys_ros_bridge.msg import ContactState, ContactStateStamped, ContactStatesStamped +from random import random +if __name__ == "__main__": + rospy.init_node("contact_state_sample") + pub = rospy.Publisher("~output", ContactStatesStamped) + link_names = rospy.get_param("~links", ["r_shoulder_pan_link"]) + rate = rospy.Rate(1) + while not rospy.is_shutdown(): + states = ContactStatesStamped() + states.header.stamp = rospy.Time.now() + for link_name in link_names: + state = ContactStateStamped() + state.header.frame_id = link_name + state.header.stamp = rospy.Time.now() + if random() < 0.5: + state.state.state = ContactState.ON + else: + state.state.state = ContactState.OFF + states.states.append(state) + pub.publish(states) + rate.sleep() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/diagnostics_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/diagnostics_sample.py new file mode 100755 index 0000000..62f0598 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/diagnostics_sample.py @@ -0,0 +1,9 @@ +#/usr/bin/env pytnon + +import rospy +import diagnostics_msgs +import diagnostics_updater + +if __name__ == "__main__": + rospy.init("diagnostics_sample") + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/footstep_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/footstep_sample.py new file mode 100755 index 0000000..a066b05 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/footstep_sample.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python + +FRAME_ID = "/map" + +from jsk_footstep_msgs.msg import Footstep, FootstepArray + +import rospy + +def main(): + pub = rospy.Publisher("/footsteps", FootstepArray) + r = rospy.Rate(3) + ysize = 0 + zpos = 0 + while not rospy.is_shutdown(): + msg = FootstepArray() + now = rospy.Time.now() + msg.header.frame_id = FRAME_ID + msg.header.stamp = now + xpos = 0 + + for i in range(20): + footstep = Footstep() + if i % 2 == 0: + footstep.leg = Footstep.LEFT + footstep.pose.position.y = 0.21 + else: + footstep.leg = Footstep.RIGHT + footstep.pose.position.y = -0.21 + footstep.pose.orientation.w = 1.0 + footstep.pose.position.x = xpos + footstep.pose.position.z = zpos + footstep.dimensions.x = 0.25 + footstep.dimensions.y = 0.15 + footstep.dimensions.z = 0.01 + footstep.footstep_group = i / 5 + msg.footsteps.append(footstep) + xpos = xpos + 0.25 + zpos = zpos + 0.1 + ysize = ysize + 0.01 + if ysize > 0.15: + ysize = 0.0 + if zpos > 0.5: + zpos = 0.0 + pub.publish(msg) + r.sleep() + +if __name__ == "__main__": + rospy.init_node("footstep_sample") + main() + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/overlay_menu_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/overlay_menu_sample.py new file mode 100755 index 0000000..27bc476 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/overlay_menu_sample.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python + +import rospy +from jsk_rviz_plugins.msg import OverlayMenu + +rospy.init_node("test_menu") +p = rospy.Publisher("test_menu", OverlayMenu, queue_size=1) +r = rospy.Rate(5) +counter = 0 +while not rospy.is_shutdown(): + menu = OverlayMenu() + menu.title = "The Beatles" + menu.menus = ["John Lennon", "Paul McCartney", "George Harrison", + "Ringo Starr"] + menu.current_index = counter % len(menu.menus) + if counter % 100 == 0: + menu.action = OverlayMenu.ACTION_CLOSE + menu.fg_color.r = 1.0 + menu.fg_color.g = 1.0 + menu.fg_color.b = 1.0 + menu.fg_color.a = 1.0 + menu.bg_color.r = 0.0 + menu.bg_color.g = 0.0 + menu.bg_color.b = 0.0 + menu.bg_color.a = 1.0 + p.publish(menu) + counter = counter + 1 + r.sleep() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/overlay_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/overlay_sample.py new file mode 100755 index 0000000..341b40f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/overlay_sample.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python +try: + from jsk_rviz_plugins.msg import * +except: + import roslib;roslib.load_manifest("jsk_rviz_plugins") + from jsk_rviz_plugins.msg import * + +from std_msgs.msg import ColorRGBA, Float32 +import rospy +import math +rospy.init_node("overlay_sample") + +text_pub = rospy.Publisher("text_sample", OverlayText, queue_size=1) +value_pub = rospy.Publisher("value_sample", Float32, queue_size=1) +counter = 0 +rate = 100 +r = rospy.Rate(rate) +import random, math +while not rospy.is_shutdown(): + counter = counter + 1 + text = OverlayText() + theta = counter % 255 / 255.0 + text.width = 400 + text.height = 600 + #text.height = 600 + text.left = 10 + text.top = 10 + text.text_size = 12 + text.line_width = 2 + text.font = "DejaVu Sans Mono" + text.text = """This is OverlayText plugin. +The update rate is %d Hz. +You can write several text to show to the operators. +New line is supported and automatical wrapping text is also supported. +And you can choose font, this text is now rendered by '%s' + +You can specify background color and foreground color separatelly. + +Of course, the text is not needed to be fixed, see the counter: %d. + +You can change text color like this +by using css. + """ % (rate, text.font, counter) + text.fg_color = ColorRGBA(25 / 255.0, 1.0, 240.0 / 255.0, 1.0) + text.bg_color = ColorRGBA(0.0, 0.0, 0.0, 0.2) + text_pub.publish(text) + value_pub.publish(math.sin(counter * math.pi * 2 / 100)) + if int(counter % 500) == 0: + rospy.logdebug('This is ROS_DEBUG.') + elif int(counter % 500) == 100: + rospy.loginfo('This is ROS_INFO.') + elif int(counter % 500) == 200: + rospy.logwarn('This is ROS_WARN.') + elif int(counter % 500) == 300: + rospy.logerr('This is ROS_ERROR.') + elif int(counter % 500) == 400: + rospy.logfatal('This is ROS_FATAL.') + r.sleep() + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/pictogram.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/pictogram.py new file mode 100755 index 0000000..c01aede --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/pictogram.py @@ -0,0 +1,1723 @@ +#!/usr/bin/env python + +import rospy +from jsk_rviz_plugins.msg import Pictogram +from random import random +rospy.init_node("pictogram_sample") +p = rospy.Publisher("/pictogram", Pictogram) + +r = rospy.Rate(0.1) + +pictograms = ["phone", + "mobile", + "mouse", + "address", + "mail", + "paper-plane", + "pencil", + "feather", + "attach", + "inbox", + "reply", + "reply-all", + "forward", + "user", + "users", + "add-user", + "vcard", + "export", + "location", + "map", + "compass", + "direction", + "hair-cross", + "share", + "shareable", + "heart", + "heart-empty", + "star", + "star-empty", + "thumbs-up", + "thumbs-down", + "chat", + "comment", + "quote", + "home", + "popup", + "search", + "flashlight", + "print", + "bell", + "link", + "flag", + "cog", + "tools", + "trophy", + "tag", + "camera", + "megaphone", + "moon", + "palette", + "leaf", + "note", + "beamed-note", + "new", + "graduation-cap", + "book", + "newspaper", + "bag", + "airplane", + "lifebuoy", + "eye", + "clock", + "mic", + "calendar", + "flash", + "thunder-cloud", + "droplet", + "cd", + "briefcase", + "air", + "hourglass", + "gauge", + "language", + "network", + "key", + "battery", + "bucket", + "magnet", + "drive", + "cup", + "rocket", + "brush", + "suitcase", + "traffic-cone", + "globe", + "keyboard", + "browser", + "publish", + "progress-3", + "progress-2", + "progress-1", + "progress-0", + "light-down", + "light-up", + "adjust", + "code", + "monitor", + "infinity", + "light-bulb", + "credit-card", + "database", + "voicemail", + "clipboard", + "cart", + "box", + "ticket", + "rss", + "signal", + "thermometer", + "water", + "sweden", + "line-graph", + "pie-chart", + "bar-graph", + "area-graph", + "lock", + "lock-open", + "logout", + "login", + "check", + "cross", + "squared-minus", + "squared-plus", + "squared-cross", + "circled-minus", + "circled-plus", + "circled-cross", + "minus", + "plus", + "erase", + "block", + "info", + "circled-info", + "help", + "circled-help", + "warning", + "cycle", + "cw", + "ccw", + "shuffle", + "back", + "level-down", + "retweet", + "loop", + "back-in-time", + "level-up", + "switch", + "numbered-list", + "add-to-list", + "layout", + "list", + "text-doc", + "text-doc-inverted", + "doc", + "docs", + "landscape-doc", + "picture", + "video", + "music", + "folder", + "archive", + "trash", + "upload", + "download", + "save", + "install", + "cloud", + "upload-cloud", + "bookmark", + "bookmarks", + "open-book", + "play", + "paus", + "record", + "stop", + "ff", + "fb", + "to-start", + "to-end", + "resize-full", + "resize-small", + "volume", + "sound", + "mute", + "flow-cascade", + "flow-branch", + "flow-tree", + "flow-line", + "flow-parallel", + "left-bold", + "down-bold", + "up-bold", + "right-bold", + "left", + "down", + "up", + "right", + "circled-left", + "circled-down", + "circled-up", + "circled-right", + "triangle-left", + "triangle-down", + "triangle-up", + "triangle-right", + "chevron-left", + "chevron-down", + "chevron-up", + "chevron-right", + "chevron-small-left", + "chevron-small-down", + "chevron-small-up", + "chevron-small-right", + "chevron-thin-left", + "chevron-thin-down", + "chevron-thin-up", + "chevron-thin-right", + "left-thin", + "down-thin", + "up-thin", + "right-thin", + "arrow-combo", + "three-dots", + "two-dots", + "dot", + "cc", + "cc-by", + "cc-nc", + "cc-nc-eu", + "cc-nc-jp", + "cc-sa", + "cc-nd", + "cc-pd", + "cc-zero", + "cc-share", + "cc-remix", + "db-logo", + "db-shape", + "github", + "c-github", + "flickr", + "c-flickr", + "vimeo", + "c-vimeo", + "twitter", + "c-twitter", + "facebook", + "c-facebook", + "s-facebook", + "google+", + "c-google+", + "pinterest", + "c-pinterest", + "tumblr", + "c-tumblr", + "linkedin", + "c-linkedin", + "dribbble", + "c-dribbble", + "stumbleupon", + "c-stumbleupon", + "lastfm", + "c-lastfm", + "rdio", + "c-rdio", + "spotify", + "c-spotify", + "qq", + "instagram", + "dropbox", + "evernote", + "flattr", + "skype", + "c-skype", + "renren", + "sina-weibo", + "paypal", + "picasa", + "soundcloud", + "mixi", + "behance", + "google-circles", + "vk", + "smashing", +"fa-glass-martini", +"fa-music", +"fa-search", +"fa-heart", +"fa-star", +"fa-user", +"fa-film", +"fa-th-large", +"fa-th", +"fa-th-list", +"fa-check", +"fa-times", +"fa-search-plus", +"fa-search-minus", +"fa-power-off", +"fa-signal", +"fa-cog", +"fa-home", +"fa-clock", +"fa-road", +"fa-download", +"fa-inbox", +"fa-redo", +"fa-sync", +"fa-list-alt", +"fa-lock", +"fa-flag", +"fa-headphones", +"fa-volume-off", +"fa-volume-down", +"fa-volume-up", +"fa-qrcode", +"fa-barcode", +"fa-tag", +"fa-tags", +"fa-book", +"fa-bookmark", +"fa-print", +"fa-camera", +"fa-font", +"fa-bold", +"fa-italic", +"fa-text-height", +"fa-text-width", +"fa-align-left", +"fa-align-center", +"fa-align-right", +"fa-align-justify", +"fa-list", +"fa-outdent", +"fa-indent", +"fa-video", +"fa-image", +"fa-map-marker", +"fa-adjust", +"fa-tint", +"fa-edit", +"fa-step-backward", +"fa-fast-backward", +"fa-backward", +"fa-play", +"fa-pause", +"fa-stop", +"fa-forward", +"fa-fast-forward", +"fa-step-forward", +"fa-eject", +"fa-chevron-left", +"fa-chevron-right", +"fa-plus-circle", +"fa-minus-circle", +"fa-times-circle", +"fa-check-circle", +"fa-question-circle", +"fa-info-circle", +"fa-crosshairs", +"fa-ban", +"fa-arrow-left", +"fa-arrow-right", +"fa-arrow-up", +"fa-arrow-down", +"fa-share", +"fa-expand", +"fa-compress", +"fa-plus", +"fa-minus", +"fa-asterisk", +"fa-exclamation-circle", +"fa-gift", +"fa-leaf", +"fa-fire", +"fa-eye", +"fa-eye-slash", +"fa-exclamation-triangle", +"fa-plane", +"fa-calendar-alt", +"fa-random", +"fa-comment", +"fa-magnet", +"fa-chevron-up", +"fa-chevron-down", +"fa-retweet", +"fa-shopping-cart", +"fa-folder", +"fa-folder-open", +"fa-chart-bar", +"fa-twitter-square", +"fa-facebook-square", +"fa-camera-retro", +"fa-key", +"fa-cogs", +"fa-comments", +"fa-star-half", +"fa-linkedin", +"fa-thumbtack", +"fa-trophy", +"fa-github-square", +"fa-upload", +"fa-lemon", +"fa-phone", +"fa-phone-square", +"fa-twitter", +"fa-facebook", +"fa-github", +"fa-unlock", +"fa-credit-card", +"fa-rss", +"fa-hdd", +"fa-bullhorn", +"fa-certificate", +"fa-hand-point-right", +"fa-hand-point-left", +"fa-hand-point-up", +"fa-hand-point-down", +"fa-arrow-circle-left", +"fa-arrow-circle-right", +"fa-arrow-circle-up", +"fa-arrow-circle-down", +"fa-globe", +"fa-wrench", +"fa-tasks", +"fa-filter", +"fa-briefcase", +"fa-arrows-alt", +"fa-users", +"fa-link", +"fa-cloud", +"fa-flask", +"fa-cut", +"fa-copy", +"fa-paperclip", +"fa-save", +"fa-square", +"fa-bars", +"fa-list-ul", +"fa-list-ol", +"fa-strikethrough", +"fa-underline", +"fa-table", +"fa-magic", +"fa-truck", +"fa-pinterest", +"fa-pinterest-square", +"fa-google-plus-square", +"fa-google-plus-g", +"fa-money-bill", +"fa-caret-down", +"fa-caret-up", +"fa-caret-left", +"fa-caret-right", +"fa-columns", +"fa-sort", +"fa-sort-down", +"fa-sort-up", +"fa-envelope", +"fa-linkedin-in", +"fa-undo", +"fa-gavel", +"fa-bolt", +"fa-sitemap", +"fa-umbrella", +"fa-paste", +"fa-lightbulb", +"fa-user-md", +"fa-stethoscope", +"fa-suitcase", +"fa-bell", +"fa-coffee", +"fa-hospital", +"fa-ambulance", +"fa-medkit", +"fa-fighter-jet", +"fa-beer", +"fa-h-square", +"fa-plus-square", +"fa-angle-double-left", +"fa-angle-double-right", +"fa-angle-double-up", +"fa-angle-double-down", +"fa-angle-left", +"fa-angle-right", +"fa-angle-up", +"fa-angle-down", +"fa-desktop", +"fa-laptop", +"fa-tablet", +"fa-mobile", +"fa-quote-left", +"fa-quote-right", +"fa-spinner", +"fa-circle", +"fa-github-alt", +"fa-smile", +"fa-frown", +"fa-meh", +"fa-gamepad", +"fa-keyboard", +"fa-flag-checkered", +"fa-terminal", +"fa-code", +"fa-reply-all", +"fa-location-arrow", +"fa-crop", +"fa-code-branch", +"fa-unlink", +"fa-question", +"fa-info", +"fa-exclamation", +"fa-superscript", +"fa-subscript", +"fa-eraser", +"fa-puzzle-piece", +"fa-microphone", +"fa-microphone-slash", +"fa-calendar", +"fa-fire-extinguisher", +"fa-rocket", +"fa-maxcdn", +"fa-chevron-circle-left", +"fa-chevron-circle-right", +"fa-chevron-circle-up", +"fa-chevron-circle-down", +"fa-html5", +"fa-css3", +"fa-anchor", +"fa-unlock-alt", +"fa-bullseye", +"fa-ellipsis-h", +"fa-ellipsis-v", +"fa-rss-square", +"fa-play-circle", +"fa-minus-square", +"fa-check-square", +"fa-pen-square", +"fa-share-square", +"fa-compass", +"fa-caret-square-down", +"fa-caret-square-up", +"fa-caret-square-right", +"fa-euro-sign", +"fa-pound-sign", +"fa-dollar-sign", +"fa-rupee-sign", +"fa-yen-sign", +"fa-ruble-sign", +"fa-won-sign", +"fa-btc", +"fa-file", +"fa-file-alt", +"fa-sort-alpha-down", +"fa-sort-alpha-up", +"fa-sort-amount-down", +"fa-sort-amount-up", +"fa-sort-numeric-down", +"fa-sort-numeric-up", +"fa-thumbs-up", +"fa-thumbs-down", +"fa-youtube", +"fa-xing", +"fa-xing-square", +"fa-dropbox", +"fa-stack-overflow", +"fa-instagram", +"fa-flickr", +"fa-adn", +"fa-bitbucket", +"fa-tumblr", +"fa-tumblr-square", +"fa-apple", +"fa-windows", +"fa-android", +"fa-linux", +"fa-dribbble", +"fa-skype", +"fa-foursquare", +"fa-trello", +"fa-female", +"fa-male", +"fa-gratipay", +"fa-sun", +"fa-moon", +"fa-archive", +"fa-bug", +"fa-vk", +"fa-weibo", +"fa-renren", +"fa-pagelines", +"fa-stack-exchange", +"fa-caret-square-left", +"fa-dot-circle", +"fa-wheelchair", +"fa-vimeo-square", +"fa-lira-sign", +"fa-space-shuttle", +"fa-slack", +"fa-envelope-square", +"fa-wordpress", +"fa-openid", +"fa-university", +"fa-graduation-cap", +"fa-yahoo", +"fa-google", +"fa-reddit", +"fa-reddit-square", +"fa-stumbleupon-circle", +"fa-stumbleupon", +"fa-delicious", +"fa-digg", +"fa-pied-piper-pp", +"fa-pied-piper-alt", +"fa-drupal", +"fa-joomla", +"fa-language", +"fa-fax", +"fa-building", +"fa-child", +"fa-paw", +"fa-cube", +"fa-cubes", +"fa-behance", +"fa-behance-square", +"fa-steam", +"fa-steam-square", +"fa-recycle", +"fa-car", +"fa-taxi", +"fa-tree", +"fa-spotify", +"fa-deviantart", +"fa-soundcloud", +"fa-database", +"fa-file-pdf", +"fa-file-word", +"fa-file-excel", +"fa-file-powerpoint", +"fa-file-image", +"fa-file-archive", +"fa-file-audio", +"fa-file-video", +"fa-file-code", +"fa-vine", +"fa-codepen", +"fa-jsfiddle", +"fa-life-ring", +"fa-circle-notch", +"fa-rebel", +"fa-empire", +"fa-git-square", +"fa-git", +"fa-hacker-news", +"fa-tencent-weibo", +"fa-qq", +"fa-weixin", +"fa-paper-plane", +"fa-history", +"fa-heading", +"fa-paragraph", +"fa-sliders-h", +"fa-share-alt", +"fa-share-alt-square", +"fa-bomb", +"fa-futbol", +"fa-tty", +"fa-binoculars", +"fa-plug", +"fa-slideshare", +"fa-twitch", +"fa-yelp", +"fa-newspaper", +"fa-wifi", +"fa-calculator", +"fa-paypal", +"fa-google-wallet", +"fa-cc-visa", +"fa-cc-mastercard", +"fa-cc-discover", +"fa-cc-amex", +"fa-cc-paypal", +"fa-cc-stripe", +"fa-bell-slash", +"fa-trash", +"fa-copyright", +"fa-at", +"fa-eye-dropper", +"fa-paint-brush", +"fa-birthday-cake", +"fa-chart-area", +"fa-chart-pie", +"fa-chart-line", +"fa-lastfm", +"fa-lastfm-square", +"fa-toggle-off", +"fa-toggle-on", +"fa-bicycle", +"fa-bus", +"fa-ioxhost", +"fa-angellist", +"fa-closed-captioning", +"fa-shekel-sign", +"fa-buysellads", +"fa-connectdevelop", +"fa-dashcube", +"fa-forumbee", +"fa-leanpub", +"fa-sellsy", +"fa-shirtsinbulk", +"fa-simplybuilt", +"fa-skyatlas", +"fa-cart-plus", +"fa-cart-arrow-down", +"fa-ship", +"fa-user-secret", +"fa-motorcycle", +"fa-street-view", +"fa-heartbeat", +"fa-venus", +"fa-mars", +"fa-mercury", +"fa-transgender", +"fa-transgender-alt", +"fa-venus-double", +"fa-mars-double", +"fa-venus-mars", +"fa-mars-stroke", +"fa-mars-stroke-v", +"fa-mars-stroke-h", +"fa-neuter", +"fa-genderless", +"fa-pinterest-p", +"fa-whatsapp", +"fa-server", +"fa-user-plus", +"fa-user-times", +"fa-bed", +"fa-viacoin", +"fa-train", +"fa-subway", +"fa-medium", +"fa-y-combinator", +"fa-optin-monster", +"fa-opencart", +"fa-expeditedssl", +"fa-battery-full", +"fa-battery-three-quarters", +"fa-battery-half", +"fa-battery-quarter", +"fa-battery-empty", +"fa-mouse-pointer", +"fa-i-cursor", +"fa-object-group", +"fa-object-ungroup", +"fa-sticky-note", +"fa-cc-jcb", +"fa-cc-diners-club", +"fa-clone", +"fa-balance-scale", +"fa-hourglass-start", +"fa-hourglass-half", +"fa-hourglass-end", +"fa-hourglass", +"fa-hand-rock", +"fa-hand-paper", +"fa-hand-scissors", +"fa-hand-lizard", +"fa-hand-spock", +"fa-hand-pointer", +"fa-hand-peace", +"fa-trademark", +"fa-registered", +"fa-creative-commons", +"fa-gg", +"fa-gg-circle", +"fa-tripadvisor", +"fa-odnoklassniki", +"fa-odnoklassniki-square", +"fa-get-pocket", +"fa-wikipedia-w", +"fa-safari", +"fa-chrome", +"fa-firefox", +"fa-opera", +"fa-internet-explorer", +"fa-tv", +"fa-contao", +"fa-500px", +"fa-amazon", +"fa-calendar-plus", +"fa-calendar-minus", +"fa-calendar-times", +"fa-calendar-check", +"fa-industry", +"fa-map-pin", +"fa-map-signs", +"fa-map", +"fa-comment-alt", +"fa-houzz", +"fa-vimeo-v", +"fa-black-tie", +"fa-fonticons", +"fa-reddit-alien", +"fa-edge", +"fa-codiepie", +"fa-modx", +"fa-fort-awesome", +"fa-usb", +"fa-product-hunt", +"fa-mixcloud", +"fa-scribd", +"fa-pause-circle", +"fa-stop-circle", +"fa-shopping-bag", +"fa-shopping-basket", +"fa-hashtag", +"fa-bluetooth", +"fa-bluetooth-b", +"fa-percent", +"fa-gitlab", +"fa-wpbeginner", +"fa-wpforms", +"fa-envira", +"fa-universal-access", +"fa-blind", +"fa-audio-description", +"fa-phone-volume", +"fa-braille", +"fa-assistive-listening-systems", +"fa-american-sign-language-interpreting", +"fa-deaf", +"fa-glide", +"fa-glide-g", +"fa-sign-language", +"fa-low-vision", +"fa-viadeo", +"fa-viadeo-square", +"fa-snapchat", +"fa-snapchat-ghost", +"fa-snapchat-square", +"fa-pied-piper", +"fa-first-order", +"fa-yoast", +"fa-themeisle", +"fa-google-plus", +"fa-font-awesome", +"fa-handshake", +"fa-envelope-open", +"fa-linode", +"fa-address-book", +"fa-address-card", +"fa-user-circle", +"fa-id-badge", +"fa-id-card", +"fa-quora", +"fa-free-code-camp", +"fa-telegram", +"fa-thermometer-full", +"fa-thermometer-three-quarters", +"fa-thermometer-half", +"fa-thermometer-quarter", +"fa-thermometer-empty", +"fa-shower", +"fa-bath", +"fa-podcast", +"fa-window-maximize", +"fa-window-minimize", +"fa-window-restore", +"fa-bandcamp", +"fa-grav", +"fa-etsy", +"fa-imdb", +"fa-ravelry", +"fa-sellcast", +"fa-microchip", +"fa-snowflake", +"fa-superpowers", +"fa-wpexplorer", +"fa-meetup", +"fa-utensil-spoon", +"fa-utensils", +"fa-undo-alt", +"fa-trash-alt", +"fa-sync-alt", +"fa-stopwatch", +"fa-sign-out-alt", +"fa-sign-in-alt", +"fa-redo-alt", +"fa-poo", +"fa-images", +"fa-pencil-alt", +"fa-pen", +"fa-pen-alt", +"fa-long-arrow-alt-down", +"fa-long-arrow-alt-left", +"fa-long-arrow-alt-right", +"fa-long-arrow-alt-up", +"fa-expand-arrows-alt", +"fa-clipboard", +"fa-arrows-alt-h", +"fa-arrows-alt-v", +"fa-arrow-alt-circle-down", +"fa-arrow-alt-circle-left", +"fa-arrow-alt-circle-right", +"fa-arrow-alt-circle-up", +"fa-font-awesome-alt", +"fa-external-link-alt", +"fa-external-link-square-alt", +"fa-exchange-alt", +"fa-accessible-icon", +"fa-accusoft", +"fa-adversal", +"fa-affiliatetheme", +"fa-algolia", +"fa-amilia", +"fa-angrycreative", +"fa-app-store", +"fa-app-store-ios", +"fa-apper", +"fa-asymmetrik", +"fa-audible", +"fa-avianex", +"fa-aws", +"fa-bimobject", +"fa-bitcoin", +"fa-bity", +"fa-blackberry", +"fa-blogger", +"fa-blogger-b", +"fa-buromobelexperte", +"fa-centercode", +"fa-cloud-download-alt", +"fa-cloud-upload-alt", +"fa-cloudscale", +"fa-cloudsmith", +"fa-cloudversify", +"fa-cpanel", +"fa-css3-alt", +"fa-cuttlefish", +"fa-d-and-d", +"fa-deploydog", +"fa-deskpro", +"fa-digital-ocean", +"fa-discord", +"fa-discourse", +"fa-dochub", +"fa-docker", +"fa-draft2digital", +"fa-dribbble-square", +"fa-dyalog", +"fa-earlybirds", +"fa-erlang", +"fa-facebook-f", +"fa-facebook-messenger", +"fa-firstdraft", +"fa-fonticons-fi", +"fa-fort-awesome-alt", +"fa-freebsd", +"fa-gem", +"fa-gitkraken", +"fa-gofore", +"fa-goodreads", +"fa-goodreads-g", +"fa-google-drive", +"fa-google-play", +"fa-gripfire", +"fa-grunt", +"fa-gulp", +"fa-hacker-news-square", +"fa-hire-a-helper", +"fa-hotjar", +"fa-hubspot", +"fa-itunes", +"fa-itunes-note", +"fa-jenkins", +"fa-joget", +"fa-js", +"fa-js-square", +"fa-keycdn", +"fa-kickstarter", +"fa-kickstarter-k", +"fa-laravel", +"fa-level-down-alt", +"fa-level-up-alt", +"fa-line", +"fa-lock-open", +"fa-lyft", +"fa-magento", +"fa-map-marker-alt", +"fa-medapps", +"fa-medium-m", +"fa-medrt", +"fa-microphone-alt", +"fa-microsoft", +"fa-mix", +"fa-mizuni", +"fa-mobile-alt", +"fa-monero", +"fa-money-bill-alt", +"fa-napster", +"fa-node-js", +"fa-npm", +"fa-ns8", +"fa-nutritionix", +"fa-page4", +"fa-palfed", +"fa-patreon", +"fa-periscope", +"fa-phabricator", +"fa-phoenix-framework", +"fa-phone-slash", +"fa-playstation", +"fa-portrait", +"fa-pushed", +"fa-python", +"fa-red-river", +"fa-wpressr", +"fa-reply", +"fa-replyd", +"fa-resolving", +"fa-rocketchat", +"fa-rockrms", +"fa-schlix", +"fa-searchengin", +"fa-servicestack", +"fa-shield-alt", +"fa-sistrix", +"fa-slack-hash", +"fa-speakap", +"fa-staylinked", +"fa-steam-symbol", +"fa-sticker-mule", +"fa-studiovinari", +"fa-supple", +"fa-tablet-alt", +"fa-tachometer-alt", +"fa-telegram-plane", +"fa-ticket-alt", +"fa-uber", +"fa-uikit", +"fa-uniregistry", +"fa-untappd", +"fa-user-alt", +"fa-ussunnah", +"fa-vaadin", +"fa-viber", +"fa-vimeo", +"fa-vnv", +"fa-whatsapp-square", +"fa-whmcs", +"fa-window-close", +"fa-wordpress-simple", +"fa-xbox", +"fa-yandex", +"fa-yandex-international", +"fa-apple-pay", +"fa-cc-apple-pay", +"fa-fly", +"fa-node", +"fa-osi", +"fa-react", +"fa-autoprefixer", +"fa-less", +"fa-sass", +"fa-vuejs", +"fa-angular", +"fa-aviato", +"fa-compress-alt", +"fa-ember", +"fa-expand-alt", +"fa-font-awesome-flag", +"fa-gitter", +"fa-hooli", +"fa-strava", +"fa-stripe", +"fa-stripe-s", +"fa-typo3", +"fa-amazon-pay", +"fa-cc-amazon-pay", +"fa-ethereum", +"fa-korvue", +"fa-elementor", +"fa-youtube-square", +"fa-baseball-ball", +"fa-basketball-ball", +"fa-bowling-ball", +"fa-chess", +"fa-chess-bishop", +"fa-chess-board", +"fa-chess-king", +"fa-chess-knight", +"fa-chess-pawn", +"fa-chess-queen", +"fa-chess-rook", +"fa-dumbbell", +"fa-flipboard", +"fa-football-ball", +"fa-golf-ball", +"fa-hips", +"fa-hockey-puck", +"fa-php", +"fa-quidditch", +"fa-quinscape", +"fa-square-full", +"fa-table-tennis", +"fa-volleyball-ball", +"fa-allergies", +"fa-band-aid", +"fa-box", +"fa-boxes", +"fa-briefcase-medical", +"fa-burn", +"fa-capsules", +"fa-clipboard-check", +"fa-clipboard-list", +"fa-diagnoses", +"fa-dna", +"fa-dolly", +"fa-dolly-flatbed", +"fa-file-medical", +"fa-file-medical-alt", +"fa-first-aid", +"fa-hospital-alt", +"fa-hospital-symbol", +"fa-id-card-alt", +"fa-notes-medical", +"fa-pallet", +"fa-pills", +"fa-prescription-bottle", +"fa-prescription-bottle-alt", +"fa-procedures", +"fa-shipping-fast", +"fa-smoking", +"fa-syringe", +"fa-tablets", +"fa-thermometer", +"fa-vial", +"fa-vials", +"fa-warehouse", +"fa-weight", +"fa-x-ray", +"fa-box-open", +"fa-comment-dots", +"fa-comment-slash", +"fa-couch", +"fa-donate", +"fa-dove", +"fa-hand-holding", +"fa-hand-holding-heart", +"fa-hand-holding-usd", +"fa-hands", +"fa-hands-helping", +"fa-parachute-box", +"fa-people-carry", +"fa-piggy-bank", +"fa-readme", +"fa-ribbon", +"fa-route", +"fa-seedling", +"fa-sign", +"fa-smile-wink", +"fa-tape", +"fa-truck-loading", +"fa-truck-moving", +"fa-video-slash", +"fa-wine-glass", +"fa-java", +"fa-pied-piper-hat", +"fa-font-awesome-logo-full", +"fa-creative-commons-by", +"fa-creative-commons-nc", +"fa-creative-commons-nc-eu", +"fa-creative-commons-nc-jp", +"fa-creative-commons-nd", +"fa-creative-commons-pd", +"fa-creative-commons-pd-alt", +"fa-creative-commons-remix", +"fa-creative-commons-sa", +"fa-creative-commons-sampling", +"fa-creative-commons-sampling-plus", +"fa-creative-commons-share", +"fa-creative-commons-zero", +"fa-ebay", +"fa-keybase", +"fa-mastodon", +"fa-r-project", +"fa-researchgate", +"fa-teamspeak", +"fa-user-alt-slash", +"fa-user-astronaut", +"fa-user-check", +"fa-user-clock", +"fa-user-cog", +"fa-user-edit", +"fa-user-friends", +"fa-user-graduate", +"fa-user-lock", +"fa-user-minus", +"fa-user-ninja", +"fa-user-shield", +"fa-user-slash", +"fa-user-tag", +"fa-user-tie", +"fa-users-cog", +"fa-first-order-alt", +"fa-fulcrum", +"fa-galactic-republic", +"fa-galactic-senate", +"fa-jedi-order", +"fa-mandalorian", +"fa-old-republic", +"fa-phoenix-squadron", +"fa-sith", +"fa-trade-federation", +"fa-wolf-pack-battalion", +"fa-balance-scale-left", +"fa-balance-scale-right", +"fa-blender", +"fa-book-open", +"fa-broadcast-tower", +"fa-broom", +"fa-chalkboard", +"fa-chalkboard-teacher", +"fa-church", +"fa-coins", +"fa-compact-disc", +"fa-crow", +"fa-crown", +"fa-dice", +"fa-dice-five", +"fa-dice-four", +"fa-dice-one", +"fa-dice-six", +"fa-dice-three", +"fa-dice-two", +"fa-divide", +"fa-door-closed", +"fa-door-open", +"fa-equals", +"fa-feather", +"fa-frog", +"fa-gas-pump", +"fa-glasses", +"fa-greater-than", +"fa-greater-than-equal", +"fa-helicopter", +"fa-infinity", +"fa-kiwi-bird", +"fa-less-than", +"fa-less-than-equal", +"fa-memory", +"fa-microphone-alt-slash", +"fa-money-bill-wave", +"fa-money-bill-wave-alt", +"fa-money-check", +"fa-money-check-alt", +"fa-not-equal", +"fa-palette", +"fa-parking", +"fa-percentage", +"fa-project-diagram", +"fa-receipt", +"fa-robot", +"fa-ruler", +"fa-ruler-combined", +"fa-ruler-horizontal", +"fa-ruler-vertical", +"fa-school", +"fa-screwdriver", +"fa-shoe-prints", +"fa-skull", +"fa-smoking-ban", +"fa-store", +"fa-store-alt", +"fa-stream", +"fa-stroopwafel", +"fa-toolbox", +"fa-tshirt", +"fa-walking", +"fa-wallet", +"fa-angry", +"fa-archway", +"fa-atlas", +"fa-award", +"fa-backspace", +"fa-bezier-curve", +"fa-bong", +"fa-brush", +"fa-bus-alt", +"fa-cannabis", +"fa-check-double", +"fa-cocktail", +"fa-concierge-bell", +"fa-cookie", +"fa-cookie-bite", +"fa-crop-alt", +"fa-digital-tachograph", +"fa-dizzy", +"fa-drafting-compass", +"fa-drum", +"fa-drum-steelpan", +"fa-feather-alt", +"fa-file-contract", +"fa-file-download", +"fa-file-export", +"fa-file-import", +"fa-file-invoice", +"fa-file-invoice-dollar", +"fa-file-prescription", +"fa-file-signature", +"fa-file-upload", +"fa-fill", +"fa-fill-drip", +"fa-fingerprint", +"fa-fish", +"fa-flushed", +"fa-frown-open", +"fa-glass-martini-alt", +"fa-globe-africa", +"fa-globe-americas", +"fa-globe-asia", +"fa-grimace", +"fa-grin", +"fa-grin-alt", +"fa-grin-beam", +"fa-grin-beam-sweat", +"fa-grin-hearts", +"fa-grin-squint", +"fa-grin-squint-tears", +"fa-grin-stars", +"fa-grin-tears", +"fa-grin-tongue", +"fa-grin-tongue-squint", +"fa-grin-tongue-wink", +"fa-grin-wink", +"fa-grip-horizontal", +"fa-grip-vertical", +"fa-headphones-alt", +"fa-headset", +"fa-highlighter", +"fa-hornbill", +"fa-hot-tub", +"fa-hotel", +"fa-joint", +"fa-kiss", +"fa-kiss-beam", +"fa-kiss-wink-heart", +"fa-laugh", +"fa-laugh-beam", +"fa-laugh-squint", +"fa-laugh-wink", +"fa-luggage-cart", +"fa-mailchimp", +"fa-map-marked", +"fa-map-marked-alt", +"fa-marker", +"fa-medal", +"fa-megaport", +"fa-meh-blank", +"fa-meh-rolling-eyes", +"fa-monument", +"fa-mortar-pestle", +"fa-nimblr", +"fa-paint-roller", +"fa-passport", +"fa-pen-fancy", +"fa-pen-nib", +"fa-pencil-ruler", +"fa-plane-arrival", +"fa-plane-departure", +"fa-prescription", +"fa-rev", +"fa-sad-cry", +"fa-sad-tear", +"fa-shopware", +"fa-shuttle-van", +"fa-signature", +"fa-smile-beam", +"fa-solar-panel", +"fa-spa", +"fa-splotch", +"fa-spray-can", +"fa-squarespace", +"fa-stamp", +"fa-star-half-alt", +"fa-suitcase-rolling", +"fa-surprise", +"fa-swatchbook", +"fa-swimmer", +"fa-swimming-pool", +"fa-themeco", +"fa-tint-slash", +"fa-tired", +"fa-tooth", +"fa-umbrella-beach", +"fa-vector-square", +"fa-weebly", +"fa-weight-hanging", +"fa-wine-glass-alt", +"fa-wix", +"fa-air-freshener", +"fa-apple-alt", +"fa-atom", +"fa-bone", +"fa-book-reader", +"fa-brain", +"fa-car-alt", +"fa-car-battery", +"fa-car-crash", +"fa-car-side", +"fa-charging-station", +"fa-directions", +"fa-draw-polygon", +"fa-ello", +"fa-hackerrank", +"fa-kaggle", +"fa-laptop-code", +"fa-layer-group", +"fa-markdown", +"fa-microscope", +"fa-neos", +"fa-oil-can", +"fa-poop", +"fa-shapes", +"fa-star-of-life", +"fa-teeth", +"fa-teeth-open", +"fa-theater-masks", +"fa-traffic-light", +"fa-truck-monster", +"fa-truck-pickup", +"fa-zhihu", +"fa-ad", +"fa-alipay", +"fa-ankh", +"fa-bible", +"fa-business-time", +"fa-city", +"fa-comment-dollar", +"fa-comments-dollar", +"fa-cross", +"fa-dharmachakra", +"fa-envelope-open-text", +"fa-folder-minus", +"fa-folder-plus", +"fa-funnel-dollar", +"fa-gopuram", +"fa-hamsa", +"fa-bahai", +"fa-jedi", +"fa-journal-whills", +"fa-kaaba", +"fa-khanda", +"fa-landmark", +"fa-mail-bulk", +"fa-menorah", +"fa-mosque", +"fa-om", +"fa-pastafarianism", +"fa-peace", +"fa-place-of-worship", +"fa-poll", +"fa-poll-h", +"fa-pray", +"fa-praying-hands", +"fa-quran", +"fa-search-dollar", +"fa-search-location", +"fa-socks", +"fa-square-root-alt", +"fa-star-and-crescent", +"fa-star-of-david", +"fa-synagogue", +"fa-the-red-yeti", +"fa-torah", +"fa-torii-gate", +"fa-vihara", +"fa-volume-mute", +"fa-yin-yang", +"fa-acquisitions-incorporated", +"fa-blender-phone", +"fa-book-dead", +"fa-campground", +"fa-cat", +"fa-chair", +"fa-cloud-moon", +"fa-cloud-sun", +"fa-critical-role", +"fa-d-and-d-beyond", +"fa-dev", +"fa-dice-d20", +"fa-dice-d6", +"fa-dog", +"fa-dragon", +"fa-drumstick-bite", +"fa-dungeon", +"fa-fantasy-flight-games", +"fa-file-csv", +"fa-fist-raised", +"fa-ghost", +"fa-hammer", +"fa-hanukiah", +"fa-hat-wizard", +"fa-hiking", +"fa-hippo", +"fa-horse", +"fa-house-damage", +"fa-hryvnia", +"fa-mask", +"fa-mountain", +"fa-network-wired", +"fa-otter", +"fa-penny-arcade", +"fa-ring", +"fa-running", +"fa-scroll", +"fa-skull-crossbones", +"fa-slash", +"fa-spider", +"fa-toilet-paper", +"fa-tractor", +"fa-user-injured", +"fa-vr-cardboard", +"fa-wind", +"fa-wine-bottle", +"fa-wizards-of-the-coast", +"fa-think-peaks", +"fa-cloud-meatball", +"fa-cloud-moon-rain", +"fa-cloud-rain", +"fa-cloud-showers-heavy", +"fa-cloud-sun-rain", +"fa-democrat", +"fa-flag-usa", +"fa-meteor", +"fa-person-booth", +"fa-poo-storm", +"fa-rainbow", +"fa-reacteurope", +"fa-republican", +"fa-smog", +"fa-temperature-high", +"fa-temperature-low", +"fa-vote-yea", +"fa-water", +"fa-adobe", +"fa-artstation", +"fa-atlassian", +"fa-baby", +"fa-baby-carriage", +"fa-biohazard", +"fa-blog", +"fa-calendar-day", +"fa-calendar-week", +"fa-canadian-maple-leaf", +"fa-candy-cane", +"fa-carrot", +"fa-cash-register", +"fa-centos", +"fa-compress-arrows-alt", +"fa-confluence", +"fa-dhl", +"fa-diaspora", +"fa-dumpster", +"fa-dumpster-fire", +"fa-ethernet", +"fa-fedex", +"fa-fedora", +"fa-figma", +"fa-gifts", +"fa-glass-cheers", +"fa-glass-whiskey", +"fa-globe-europe", +"fa-grip-lines", +"fa-grip-lines-vertical", +"fa-guitar", +"fa-heart-broken", +"fa-holly-berry", +"fa-horse-head", +"fa-icicles", +"fa-igloo", +"fa-intercom", +"fa-invision", +"fa-jira", +"fa-mendeley", +"fa-mitten", +"fa-mug-hot", +"fa-radiation", +"fa-radiation-alt", +"fa-raspberry-pi", +"fa-redhat", +"fa-restroom", +"fa-satellite", +"fa-satellite-dish", +"fa-sd-card", +"fa-sim-card", +"fa-skating", +"fa-sketch", +"fa-skiing", +"fa-skiing-nordic", +"fa-sleigh", +"fa-sms", +"fa-snowboarding", +"fa-snowman", +"fa-snowplow", +"fa-sourcetree", +"fa-suse", +"fa-tenge", +"fa-toilet", +"fa-tools", +"fa-tram", +"fa-ubuntu", +"fa-ups", +"fa-usps", +"fa-yarn", +"fa-fire-alt", +"fa-bacon", +"fa-book-medical", +"fa-bread-slice", +"fa-cheese", +"fa-clinic-medical", +"fa-comment-medical", +"fa-crutch", +"fa-egg", +"fa-hamburger", +"fa-hand-middle-finger", +"fa-hard-hat", +"fa-hotdog", +"fa-ice-cream", +"fa-laptop-medical", +"fa-pager", +"fa-pepper-hot", +"fa-pizza-slice", +"fa-trash-restore", +"fa-trash-restore-alt", +"fa-user-nurse", +"fa-airbnb", +"fa-battle-net", +"fa-bootstrap", +"fa-buffer", +"fa-chromecast", +"fa-evernote", +"fa-itch-io", +"fa-salesforce", +"fa-speaker-deck", +"fa-symfony", +"fa-wave-square", +"fa-waze", +"fa-yammer", +"fa-git-alt", +"fa-stackpath", +"fa-biking", +"fa-border-all", +"fa-border-none", +"fa-border-style", +"fa-fan", +"fa-icons", +"fa-phone-alt", +"fa-phone-square-alt", +"fa-photo-video", +"fa-remove-format", +"fa-sort-alpha-down-alt", +"fa-sort-alpha-up-alt", +"fa-sort-amount-down-alt", +"fa-sort-amount-up-alt", +"fa-sort-numeric-down-alt", +"fa-sort-numeric-up-alt", +"fa-spell-check", +"fa-voicemail", +"fa-cotton-bureau", +"fa-buy-n-large", +"fa-hat-cowboy", +"fa-hat-cowboy-side", +"fa-mdb", +"fa-mouse", +"fa-orcid", +"fa-record-vinyl", +"fa-swift", +"fa-umbraco", +"fa-caravan", +"fa-firefox-browser", +"fa-ideal", +"fa-microblog", +"fa-pied-piper-square", +"fa-trailer", +"fa-unity"] + +counter = 0 +while not rospy.is_shutdown(): + msg = Pictogram() + msg.action = Pictogram.JUMP_ONCE + msg.header.frame_id = "/base_link" + msg.header.stamp = rospy.Time.now() + msg.pose.position.z = 1.6 + msg.pose.orientation.w = 0.7 + msg.pose.orientation.x = 0 + msg.pose.orientation.y = -0.7 + msg.pose.orientation.z = 0 + msg.mode = Pictogram.PICTOGRAM_MODE + msg.speed = 1.0 + # msg.ttl = 5.0 + msg.size = 1 + msg.color.r = 25 / 255.0 + msg.color.g = 255 / 255.0 + msg.color.b = 240 / 255.0 + msg.color.a = 1.0 + msg.character = pictograms[counter] + p.publish(msg) + r.sleep() + counter = counter + 1 + if len(pictograms) == counter: + counter = 0 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/pictogram_all.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/pictogram_all.py new file mode 100755 index 0000000..436c867 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/pictogram_all.py @@ -0,0 +1,1739 @@ +#!/usr/bin/env python + +# +# Please run rviz by rosrun rviz rviz -d `rospack find jsk_rviz_plugins`/config/pictogram.rviz +# + +import rospy +import math +from jsk_rviz_plugins.msg import Pictogram, PictogramArray +from random import random, choice +rospy.init_node("pictogram_all_sample") +p = rospy.Publisher("/pictogram_array", PictogramArray) + +r = rospy.Rate(1) +actions = [Pictogram.JUMP, Pictogram.JUMP_ONCE, Pictogram.ADD, + Pictogram.ROTATE_X, Pictogram.ROTATE_Y, Pictogram.ROTATE_Z] +pictograms = ["phone", + "mobile", + "mouse", + "address", + "mail", + "paper-plane", + "pencil", + "feather", + "attach", + "inbox", + "reply", + "reply-all", + "forward", + "user", + "users", + "add-user", + "vcard", + "export", + "location", + "map", + "compass", + "direction", + "hair-cross", + "share", + "shareable", + "heart", + "heart-empty", + "star", + "star-empty", + "thumbs-up", + "thumbs-down", + "chat", + "comment", + "quote", + "home", + "popup", + "search", + "flashlight", + "print", + "bell", + "link", + "flag", + "cog", + "tools", + "trophy", + "tag", + "camera", + "megaphone", + "moon", + "palette", + "leaf", + "note", + "beamed-note", + "new", + "graduation-cap", + "book", + "newspaper", + "bag", + "airplane", + "lifebuoy", + "eye", + "clock", + "mic", + "calendar", + "flash", + "thunder-cloud", + "droplet", + "cd", + "briefcase", + "air", + "hourglass", + "gauge", + "language", + "network", + "key", + "battery", + "bucket", + "magnet", + "drive", + "cup", + "rocket", + "brush", + "suitcase", + "traffic-cone", + "globe", + "keyboard", + "browser", + "publish", + "progress-3", + "progress-2", + "progress-1", + "progress-0", + "light-down", + "light-up", + "adjust", + "code", + "monitor", + "infinity", + "light-bulb", + "credit-card", + "database", + "voicemail", + "clipboard", + "cart", + "box", + "ticket", + "rss", + "signal", + "thermometer", + "water", + "sweden", + "line-graph", + "pie-chart", + "bar-graph", + "area-graph", + "lock", + "lock-open", + "logout", + "login", + "check", + "cross", + "squared-minus", + "squared-plus", + "squared-cross", + "circled-minus", + "circled-plus", + "circled-cross", + "minus", + "plus", + "erase", + "block", + "info", + "circled-info", + "help", + "circled-help", + "warning", + "cycle", + "cw", + "ccw", + "shuffle", + "back", + "level-down", + "retweet", + "loop", + "back-in-time", + "level-up", + "switch", + "numbered-list", + "add-to-list", + "layout", + "list", + "text-doc", + "text-doc-inverted", + "doc", + "docs", + "landscape-doc", + "picture", + "video", + "music", + "folder", + "archive", + "trash", + "upload", + "download", + "save", + "install", + "cloud", + "upload-cloud", + "bookmark", + "bookmarks", + "open-book", + "play", + "paus", + "record", + "stop", + "ff", + "fb", + "to-start", + "to-end", + "resize-full", + "resize-small", + "volume", + "sound", + "mute", + "flow-cascade", + "flow-branch", + "flow-tree", + "flow-line", + "flow-parallel", + "left-bold", + "down-bold", + "up-bold", + "right-bold", + "left", + "down", + "up", + "right", + "circled-left", + "circled-down", + "circled-up", + "circled-right", + "triangle-left", + "triangle-down", + "triangle-up", + "triangle-right", + "chevron-left", + "chevron-down", + "chevron-up", + "chevron-right", + "chevron-small-left", + "chevron-small-down", + "chevron-small-up", + "chevron-small-right", + "chevron-thin-left", + "chevron-thin-down", + "chevron-thin-up", + "chevron-thin-right", + "left-thin", + "down-thin", + "up-thin", + "right-thin", + "arrow-combo", + "three-dots", + "two-dots", + "dot", + "cc", + "cc-by", + "cc-nc", + "cc-nc-eu", + "cc-nc-jp", + "cc-sa", + "cc-nd", + "cc-pd", + "cc-zero", + "cc-share", + "cc-remix", + "db-logo", + "db-shape", + "github", + "c-github", + "flickr", + "c-flickr", + "vimeo", + "c-vimeo", + "twitter", + "c-twitter", + "facebook", + "c-facebook", + "s-facebook", + "google+", + "c-google+", + "pinterest", + "c-pinterest", + "tumblr", + "c-tumblr", + "linkedin", + "c-linkedin", + "dribbble", + "c-dribbble", + "stumbleupon", + "c-stumbleupon", + "lastfm", + "c-lastfm", + "rdio", + "c-rdio", + "spotify", + "c-spotify", + "qq", + "instagram", + "dropbox", + "evernote", + "flattr", + "skype", + "c-skype", + "renren", + "sina-weibo", + "paypal", + "picasa", + "soundcloud", + "mixi", + "behance", + "google-circles", + "vk", + "smashing", +"fa-glass-martini", +"fa-music", +"fa-search", +"fa-heart", +"fa-star", +"fa-user", +"fa-film", +"fa-th-large", +"fa-th", +"fa-th-list", +"fa-check", +"fa-times", +"fa-search-plus", +"fa-search-minus", +"fa-power-off", +"fa-signal", +"fa-cog", +"fa-home", +"fa-clock", +"fa-road", +"fa-download", +"fa-inbox", +"fa-redo", +"fa-sync", +"fa-list-alt", +"fa-lock", +"fa-flag", +"fa-headphones", +"fa-volume-off", +"fa-volume-down", +"fa-volume-up", +"fa-qrcode", +"fa-barcode", +"fa-tag", +"fa-tags", +"fa-book", +"fa-bookmark", +"fa-print", +"fa-camera", +"fa-font", +"fa-bold", +"fa-italic", +"fa-text-height", +"fa-text-width", +"fa-align-left", +"fa-align-center", +"fa-align-right", +"fa-align-justify", +"fa-list", +"fa-outdent", +"fa-indent", +"fa-video", +"fa-image", +"fa-map-marker", +"fa-adjust", +"fa-tint", +"fa-edit", +"fa-step-backward", +"fa-fast-backward", +"fa-backward", +"fa-play", +"fa-pause", +"fa-stop", +"fa-forward", +"fa-fast-forward", +"fa-step-forward", +"fa-eject", +"fa-chevron-left", +"fa-chevron-right", +"fa-plus-circle", +"fa-minus-circle", +"fa-times-circle", +"fa-check-circle", +"fa-question-circle", +"fa-info-circle", +"fa-crosshairs", +"fa-ban", +"fa-arrow-left", +"fa-arrow-right", +"fa-arrow-up", +"fa-arrow-down", +"fa-share", +"fa-expand", +"fa-compress", +"fa-plus", +"fa-minus", +"fa-asterisk", +"fa-exclamation-circle", +"fa-gift", +"fa-leaf", +"fa-fire", +"fa-eye", +"fa-eye-slash", +"fa-exclamation-triangle", +"fa-plane", +"fa-calendar-alt", +"fa-random", +"fa-comment", +"fa-magnet", +"fa-chevron-up", +"fa-chevron-down", +"fa-retweet", +"fa-shopping-cart", +"fa-folder", +"fa-folder-open", +"fa-chart-bar", +"fa-twitter-square", +"fa-facebook-square", +"fa-camera-retro", +"fa-key", +"fa-cogs", +"fa-comments", +"fa-star-half", +"fa-linkedin", +"fa-thumbtack", +"fa-trophy", +"fa-github-square", +"fa-upload", +"fa-lemon", +"fa-phone", +"fa-phone-square", +"fa-twitter", +"fa-facebook", +"fa-github", +"fa-unlock", +"fa-credit-card", +"fa-rss", +"fa-hdd", +"fa-bullhorn", +"fa-certificate", +"fa-hand-point-right", +"fa-hand-point-left", +"fa-hand-point-up", +"fa-hand-point-down", +"fa-arrow-circle-left", +"fa-arrow-circle-right", +"fa-arrow-circle-up", +"fa-arrow-circle-down", +"fa-globe", +"fa-wrench", +"fa-tasks", +"fa-filter", +"fa-briefcase", +"fa-arrows-alt", +"fa-users", +"fa-link", +"fa-cloud", +"fa-flask", +"fa-cut", +"fa-copy", +"fa-paperclip", +"fa-save", +"fa-square", +"fa-bars", +"fa-list-ul", +"fa-list-ol", +"fa-strikethrough", +"fa-underline", +"fa-table", +"fa-magic", +"fa-truck", +"fa-pinterest", +"fa-pinterest-square", +"fa-google-plus-square", +"fa-google-plus-g", +"fa-money-bill", +"fa-caret-down", +"fa-caret-up", +"fa-caret-left", +"fa-caret-right", +"fa-columns", +"fa-sort", +"fa-sort-down", +"fa-sort-up", +"fa-envelope", +"fa-linkedin-in", +"fa-undo", +"fa-gavel", +"fa-bolt", +"fa-sitemap", +"fa-umbrella", +"fa-paste", +"fa-lightbulb", +"fa-user-md", +"fa-stethoscope", +"fa-suitcase", +"fa-bell", +"fa-coffee", +"fa-hospital", +"fa-ambulance", +"fa-medkit", +"fa-fighter-jet", +"fa-beer", +"fa-h-square", +"fa-plus-square", +"fa-angle-double-left", +"fa-angle-double-right", +"fa-angle-double-up", +"fa-angle-double-down", +"fa-angle-left", +"fa-angle-right", +"fa-angle-up", +"fa-angle-down", +"fa-desktop", +"fa-laptop", +"fa-tablet", +"fa-mobile", +"fa-quote-left", +"fa-quote-right", +"fa-spinner", +"fa-circle", +"fa-github-alt", +"fa-smile", +"fa-frown", +"fa-meh", +"fa-gamepad", +"fa-keyboard", +"fa-flag-checkered", +"fa-terminal", +"fa-code", +"fa-reply-all", +"fa-location-arrow", +"fa-crop", +"fa-code-branch", +"fa-unlink", +"fa-question", +"fa-info", +"fa-exclamation", +"fa-superscript", +"fa-subscript", +"fa-eraser", +"fa-puzzle-piece", +"fa-microphone", +"fa-microphone-slash", +"fa-calendar", +"fa-fire-extinguisher", +"fa-rocket", +"fa-maxcdn", +"fa-chevron-circle-left", +"fa-chevron-circle-right", +"fa-chevron-circle-up", +"fa-chevron-circle-down", +"fa-html5", +"fa-css3", +"fa-anchor", +"fa-unlock-alt", +"fa-bullseye", +"fa-ellipsis-h", +"fa-ellipsis-v", +"fa-rss-square", +"fa-play-circle", +"fa-minus-square", +"fa-check-square", +"fa-pen-square", +"fa-share-square", +"fa-compass", +"fa-caret-square-down", +"fa-caret-square-up", +"fa-caret-square-right", +"fa-euro-sign", +"fa-pound-sign", +"fa-dollar-sign", +"fa-rupee-sign", +"fa-yen-sign", +"fa-ruble-sign", +"fa-won-sign", +"fa-btc", +"fa-file", +"fa-file-alt", +"fa-sort-alpha-down", +"fa-sort-alpha-up", +"fa-sort-amount-down", +"fa-sort-amount-up", +"fa-sort-numeric-down", +"fa-sort-numeric-up", +"fa-thumbs-up", +"fa-thumbs-down", +"fa-youtube", +"fa-xing", +"fa-xing-square", +"fa-dropbox", +"fa-stack-overflow", +"fa-instagram", +"fa-flickr", +"fa-adn", +"fa-bitbucket", +"fa-tumblr", +"fa-tumblr-square", +"fa-apple", +"fa-windows", +"fa-android", +"fa-linux", +"fa-dribbble", +"fa-skype", +"fa-foursquare", +"fa-trello", +"fa-female", +"fa-male", +"fa-gratipay", +"fa-sun", +"fa-moon", +"fa-archive", +"fa-bug", +"fa-vk", +"fa-weibo", +"fa-renren", +"fa-pagelines", +"fa-stack-exchange", +"fa-caret-square-left", +"fa-dot-circle", +"fa-wheelchair", +"fa-vimeo-square", +"fa-lira-sign", +"fa-space-shuttle", +"fa-slack", +"fa-envelope-square", +"fa-wordpress", +"fa-openid", +"fa-university", +"fa-graduation-cap", +"fa-yahoo", +"fa-google", +"fa-reddit", +"fa-reddit-square", +"fa-stumbleupon-circle", +"fa-stumbleupon", +"fa-delicious", +"fa-digg", +"fa-pied-piper-pp", +"fa-pied-piper-alt", +"fa-drupal", +"fa-joomla", +"fa-language", +"fa-fax", +"fa-building", +"fa-child", +"fa-paw", +"fa-cube", +"fa-cubes", +"fa-behance", +"fa-behance-square", +"fa-steam", +"fa-steam-square", +"fa-recycle", +"fa-car", +"fa-taxi", +"fa-tree", +"fa-spotify", +"fa-deviantart", +"fa-soundcloud", +"fa-database", +"fa-file-pdf", +"fa-file-word", +"fa-file-excel", +"fa-file-powerpoint", +"fa-file-image", +"fa-file-archive", +"fa-file-audio", +"fa-file-video", +"fa-file-code", +"fa-vine", +"fa-codepen", +"fa-jsfiddle", +"fa-life-ring", +"fa-circle-notch", +"fa-rebel", +"fa-empire", +"fa-git-square", +"fa-git", +"fa-hacker-news", +"fa-tencent-weibo", +"fa-qq", +"fa-weixin", +"fa-paper-plane", +"fa-history", +"fa-heading", +"fa-paragraph", +"fa-sliders-h", +"fa-share-alt", +"fa-share-alt-square", +"fa-bomb", +"fa-futbol", +"fa-tty", +"fa-binoculars", +"fa-plug", +"fa-slideshare", +"fa-twitch", +"fa-yelp", +"fa-newspaper", +"fa-wifi", +"fa-calculator", +"fa-paypal", +"fa-google-wallet", +"fa-cc-visa", +"fa-cc-mastercard", +"fa-cc-discover", +"fa-cc-amex", +"fa-cc-paypal", +"fa-cc-stripe", +"fa-bell-slash", +"fa-trash", +"fa-copyright", +"fa-at", +"fa-eye-dropper", +"fa-paint-brush", +"fa-birthday-cake", +"fa-chart-area", +"fa-chart-pie", +"fa-chart-line", +"fa-lastfm", +"fa-lastfm-square", +"fa-toggle-off", +"fa-toggle-on", +"fa-bicycle", +"fa-bus", +"fa-ioxhost", +"fa-angellist", +"fa-closed-captioning", +"fa-shekel-sign", +"fa-buysellads", +"fa-connectdevelop", +"fa-dashcube", +"fa-forumbee", +"fa-leanpub", +"fa-sellsy", +"fa-shirtsinbulk", +"fa-simplybuilt", +"fa-skyatlas", +"fa-cart-plus", +"fa-cart-arrow-down", +"fa-ship", +"fa-user-secret", +"fa-motorcycle", +"fa-street-view", +"fa-heartbeat", +"fa-venus", +"fa-mars", +"fa-mercury", +"fa-transgender", +"fa-transgender-alt", +"fa-venus-double", +"fa-mars-double", +"fa-venus-mars", +"fa-mars-stroke", +"fa-mars-stroke-v", +"fa-mars-stroke-h", +"fa-neuter", +"fa-genderless", +"fa-pinterest-p", +"fa-whatsapp", +"fa-server", +"fa-user-plus", +"fa-user-times", +"fa-bed", +"fa-viacoin", +"fa-train", +"fa-subway", +"fa-medium", +"fa-y-combinator", +"fa-optin-monster", +"fa-opencart", +"fa-expeditedssl", +"fa-battery-full", +"fa-battery-three-quarters", +"fa-battery-half", +"fa-battery-quarter", +"fa-battery-empty", +"fa-mouse-pointer", +"fa-i-cursor", +"fa-object-group", +"fa-object-ungroup", +"fa-sticky-note", +"fa-cc-jcb", +"fa-cc-diners-club", +"fa-clone", +"fa-balance-scale", +"fa-hourglass-start", +"fa-hourglass-half", +"fa-hourglass-end", +"fa-hourglass", +"fa-hand-rock", +"fa-hand-paper", +"fa-hand-scissors", +"fa-hand-lizard", +"fa-hand-spock", +"fa-hand-pointer", +"fa-hand-peace", +"fa-trademark", +"fa-registered", +"fa-creative-commons", +"fa-gg", +"fa-gg-circle", +"fa-tripadvisor", +"fa-odnoklassniki", +"fa-odnoklassniki-square", +"fa-get-pocket", +"fa-wikipedia-w", +"fa-safari", +"fa-chrome", +"fa-firefox", +"fa-opera", +"fa-internet-explorer", +"fa-tv", +"fa-contao", +"fa-500px", +"fa-amazon", +"fa-calendar-plus", +"fa-calendar-minus", +"fa-calendar-times", +"fa-calendar-check", +"fa-industry", +"fa-map-pin", +"fa-map-signs", +"fa-map", +"fa-comment-alt", +"fa-houzz", +"fa-vimeo-v", +"fa-black-tie", +"fa-fonticons", +"fa-reddit-alien", +"fa-edge", +"fa-codiepie", +"fa-modx", +"fa-fort-awesome", +"fa-usb", +"fa-product-hunt", +"fa-mixcloud", +"fa-scribd", +"fa-pause-circle", +"fa-stop-circle", +"fa-shopping-bag", +"fa-shopping-basket", +"fa-hashtag", +"fa-bluetooth", +"fa-bluetooth-b", +"fa-percent", +"fa-gitlab", +"fa-wpbeginner", +"fa-wpforms", +"fa-envira", +"fa-universal-access", +"fa-blind", +"fa-audio-description", +"fa-phone-volume", +"fa-braille", +"fa-assistive-listening-systems", +"fa-american-sign-language-interpreting", +"fa-deaf", +"fa-glide", +"fa-glide-g", +"fa-sign-language", +"fa-low-vision", +"fa-viadeo", +"fa-viadeo-square", +"fa-snapchat", +"fa-snapchat-ghost", +"fa-snapchat-square", +"fa-pied-piper", +"fa-first-order", +"fa-yoast", +"fa-themeisle", +"fa-google-plus", +"fa-font-awesome", +"fa-handshake", +"fa-envelope-open", +"fa-linode", +"fa-address-book", +"fa-address-card", +"fa-user-circle", +"fa-id-badge", +"fa-id-card", +"fa-quora", +"fa-free-code-camp", +"fa-telegram", +"fa-thermometer-full", +"fa-thermometer-three-quarters", +"fa-thermometer-half", +"fa-thermometer-quarter", +"fa-thermometer-empty", +"fa-shower", +"fa-bath", +"fa-podcast", +"fa-window-maximize", +"fa-window-minimize", +"fa-window-restore", +"fa-bandcamp", +"fa-grav", +"fa-etsy", +"fa-imdb", +"fa-ravelry", +"fa-sellcast", +"fa-microchip", +"fa-snowflake", +"fa-superpowers", +"fa-wpexplorer", +"fa-meetup", +"fa-utensil-spoon", +"fa-utensils", +"fa-undo-alt", +"fa-trash-alt", +"fa-sync-alt", +"fa-stopwatch", +"fa-sign-out-alt", +"fa-sign-in-alt", +"fa-redo-alt", +"fa-poo", +"fa-images", +"fa-pencil-alt", +"fa-pen", +"fa-pen-alt", +"fa-long-arrow-alt-down", +"fa-long-arrow-alt-left", +"fa-long-arrow-alt-right", +"fa-long-arrow-alt-up", +"fa-expand-arrows-alt", +"fa-clipboard", +"fa-arrows-alt-h", +"fa-arrows-alt-v", +"fa-arrow-alt-circle-down", +"fa-arrow-alt-circle-left", +"fa-arrow-alt-circle-right", +"fa-arrow-alt-circle-up", +"fa-font-awesome-alt", +"fa-external-link-alt", +"fa-external-link-square-alt", +"fa-exchange-alt", +"fa-accessible-icon", +"fa-accusoft", +"fa-adversal", +"fa-affiliatetheme", +"fa-algolia", +"fa-amilia", +"fa-angrycreative", +"fa-app-store", +"fa-app-store-ios", +"fa-apper", +"fa-asymmetrik", +"fa-audible", +"fa-avianex", +"fa-aws", +"fa-bimobject", +"fa-bitcoin", +"fa-bity", +"fa-blackberry", +"fa-blogger", +"fa-blogger-b", +"fa-buromobelexperte", +"fa-centercode", +"fa-cloud-download-alt", +"fa-cloud-upload-alt", +"fa-cloudscale", +"fa-cloudsmith", +"fa-cloudversify", +"fa-cpanel", +"fa-css3-alt", +"fa-cuttlefish", +"fa-d-and-d", +"fa-deploydog", +"fa-deskpro", +"fa-digital-ocean", +"fa-discord", +"fa-discourse", +"fa-dochub", +"fa-docker", +"fa-draft2digital", +"fa-dribbble-square", +"fa-dyalog", +"fa-earlybirds", +"fa-erlang", +"fa-facebook-f", +"fa-facebook-messenger", +"fa-firstdraft", +"fa-fonticons-fi", +"fa-fort-awesome-alt", +"fa-freebsd", +"fa-gem", +"fa-gitkraken", +"fa-gofore", +"fa-goodreads", +"fa-goodreads-g", +"fa-google-drive", +"fa-google-play", +"fa-gripfire", +"fa-grunt", +"fa-gulp", +"fa-hacker-news-square", +"fa-hire-a-helper", +"fa-hotjar", +"fa-hubspot", +"fa-itunes", +"fa-itunes-note", +"fa-jenkins", +"fa-joget", +"fa-js", +"fa-js-square", +"fa-keycdn", +"fa-kickstarter", +"fa-kickstarter-k", +"fa-laravel", +"fa-level-down-alt", +"fa-level-up-alt", +"fa-line", +"fa-lock-open", +"fa-lyft", +"fa-magento", +"fa-map-marker-alt", +"fa-medapps", +"fa-medium-m", +"fa-medrt", +"fa-microphone-alt", +"fa-microsoft", +"fa-mix", +"fa-mizuni", +"fa-mobile-alt", +"fa-monero", +"fa-money-bill-alt", +"fa-napster", +"fa-node-js", +"fa-npm", +"fa-ns8", +"fa-nutritionix", +"fa-page4", +"fa-palfed", +"fa-patreon", +"fa-periscope", +"fa-phabricator", +"fa-phoenix-framework", +"fa-phone-slash", +"fa-playstation", +"fa-portrait", +"fa-pushed", +"fa-python", +"fa-red-river", +"fa-wpressr", +"fa-reply", +"fa-replyd", +"fa-resolving", +"fa-rocketchat", +"fa-rockrms", +"fa-schlix", +"fa-searchengin", +"fa-servicestack", +"fa-shield-alt", +"fa-sistrix", +"fa-slack-hash", +"fa-speakap", +"fa-staylinked", +"fa-steam-symbol", +"fa-sticker-mule", +"fa-studiovinari", +"fa-supple", +"fa-tablet-alt", +"fa-tachometer-alt", +"fa-telegram-plane", +"fa-ticket-alt", +"fa-uber", +"fa-uikit", +"fa-uniregistry", +"fa-untappd", +"fa-user-alt", +"fa-ussunnah", +"fa-vaadin", +"fa-viber", +"fa-vimeo", +"fa-vnv", +"fa-whatsapp-square", +"fa-whmcs", +"fa-window-close", +"fa-wordpress-simple", +"fa-xbox", +"fa-yandex", +"fa-yandex-international", +"fa-apple-pay", +"fa-cc-apple-pay", +"fa-fly", +"fa-node", +"fa-osi", +"fa-react", +"fa-autoprefixer", +"fa-less", +"fa-sass", +"fa-vuejs", +"fa-angular", +"fa-aviato", +"fa-compress-alt", +"fa-ember", +"fa-expand-alt", +"fa-font-awesome-flag", +"fa-gitter", +"fa-hooli", +"fa-strava", +"fa-stripe", +"fa-stripe-s", +"fa-typo3", +"fa-amazon-pay", +"fa-cc-amazon-pay", +"fa-ethereum", +"fa-korvue", +"fa-elementor", +"fa-youtube-square", +"fa-baseball-ball", +"fa-basketball-ball", +"fa-bowling-ball", +"fa-chess", +"fa-chess-bishop", +"fa-chess-board", +"fa-chess-king", +"fa-chess-knight", +"fa-chess-pawn", +"fa-chess-queen", +"fa-chess-rook", +"fa-dumbbell", +"fa-flipboard", +"fa-football-ball", +"fa-golf-ball", +"fa-hips", +"fa-hockey-puck", +"fa-php", +"fa-quidditch", +"fa-quinscape", +"fa-square-full", +"fa-table-tennis", +"fa-volleyball-ball", +"fa-allergies", +"fa-band-aid", +"fa-box", +"fa-boxes", +"fa-briefcase-medical", +"fa-burn", +"fa-capsules", +"fa-clipboard-check", +"fa-clipboard-list", +"fa-diagnoses", +"fa-dna", +"fa-dolly", +"fa-dolly-flatbed", +"fa-file-medical", +"fa-file-medical-alt", +"fa-first-aid", +"fa-hospital-alt", +"fa-hospital-symbol", +"fa-id-card-alt", +"fa-notes-medical", +"fa-pallet", +"fa-pills", +"fa-prescription-bottle", +"fa-prescription-bottle-alt", +"fa-procedures", +"fa-shipping-fast", +"fa-smoking", +"fa-syringe", +"fa-tablets", +"fa-thermometer", +"fa-vial", +"fa-vials", +"fa-warehouse", +"fa-weight", +"fa-x-ray", +"fa-box-open", +"fa-comment-dots", +"fa-comment-slash", +"fa-couch", +"fa-donate", +"fa-dove", +"fa-hand-holding", +"fa-hand-holding-heart", +"fa-hand-holding-usd", +"fa-hands", +"fa-hands-helping", +"fa-parachute-box", +"fa-people-carry", +"fa-piggy-bank", +"fa-readme", +"fa-ribbon", +"fa-route", +"fa-seedling", +"fa-sign", +"fa-smile-wink", +"fa-tape", +"fa-truck-loading", +"fa-truck-moving", +"fa-video-slash", +"fa-wine-glass", +"fa-java", +"fa-pied-piper-hat", +"fa-font-awesome-logo-full", +"fa-creative-commons-by", +"fa-creative-commons-nc", +"fa-creative-commons-nc-eu", +"fa-creative-commons-nc-jp", +"fa-creative-commons-nd", +"fa-creative-commons-pd", +"fa-creative-commons-pd-alt", +"fa-creative-commons-remix", +"fa-creative-commons-sa", +"fa-creative-commons-sampling", +"fa-creative-commons-sampling-plus", +"fa-creative-commons-share", +"fa-creative-commons-zero", +"fa-ebay", +"fa-keybase", +"fa-mastodon", +"fa-r-project", +"fa-researchgate", +"fa-teamspeak", +"fa-user-alt-slash", +"fa-user-astronaut", +"fa-user-check", +"fa-user-clock", +"fa-user-cog", +"fa-user-edit", +"fa-user-friends", +"fa-user-graduate", +"fa-user-lock", +"fa-user-minus", +"fa-user-ninja", +"fa-user-shield", +"fa-user-slash", +"fa-user-tag", +"fa-user-tie", +"fa-users-cog", +"fa-first-order-alt", +"fa-fulcrum", +"fa-galactic-republic", +"fa-galactic-senate", +"fa-jedi-order", +"fa-mandalorian", +"fa-old-republic", +"fa-phoenix-squadron", +"fa-sith", +"fa-trade-federation", +"fa-wolf-pack-battalion", +"fa-balance-scale-left", +"fa-balance-scale-right", +"fa-blender", +"fa-book-open", +"fa-broadcast-tower", +"fa-broom", +"fa-chalkboard", +"fa-chalkboard-teacher", +"fa-church", +"fa-coins", +"fa-compact-disc", +"fa-crow", +"fa-crown", +"fa-dice", +"fa-dice-five", +"fa-dice-four", +"fa-dice-one", +"fa-dice-six", +"fa-dice-three", +"fa-dice-two", +"fa-divide", +"fa-door-closed", +"fa-door-open", +"fa-equals", +"fa-feather", +"fa-frog", +"fa-gas-pump", +"fa-glasses", +"fa-greater-than", +"fa-greater-than-equal", +"fa-helicopter", +"fa-infinity", +"fa-kiwi-bird", +"fa-less-than", +"fa-less-than-equal", +"fa-memory", +"fa-microphone-alt-slash", +"fa-money-bill-wave", +"fa-money-bill-wave-alt", +"fa-money-check", +"fa-money-check-alt", +"fa-not-equal", +"fa-palette", +"fa-parking", +"fa-percentage", +"fa-project-diagram", +"fa-receipt", +"fa-robot", +"fa-ruler", +"fa-ruler-combined", +"fa-ruler-horizontal", +"fa-ruler-vertical", +"fa-school", +"fa-screwdriver", +"fa-shoe-prints", +"fa-skull", +"fa-smoking-ban", +"fa-store", +"fa-store-alt", +"fa-stream", +"fa-stroopwafel", +"fa-toolbox", +"fa-tshirt", +"fa-walking", +"fa-wallet", +"fa-angry", +"fa-archway", +"fa-atlas", +"fa-award", +"fa-backspace", +"fa-bezier-curve", +"fa-bong", +"fa-brush", +"fa-bus-alt", +"fa-cannabis", +"fa-check-double", +"fa-cocktail", +"fa-concierge-bell", +"fa-cookie", +"fa-cookie-bite", +"fa-crop-alt", +"fa-digital-tachograph", +"fa-dizzy", +"fa-drafting-compass", +"fa-drum", +"fa-drum-steelpan", +"fa-feather-alt", +"fa-file-contract", +"fa-file-download", +"fa-file-export", +"fa-file-import", +"fa-file-invoice", +"fa-file-invoice-dollar", +"fa-file-prescription", +"fa-file-signature", +"fa-file-upload", +"fa-fill", +"fa-fill-drip", +"fa-fingerprint", +"fa-fish", +"fa-flushed", +"fa-frown-open", +"fa-glass-martini-alt", +"fa-globe-africa", +"fa-globe-americas", +"fa-globe-asia", +"fa-grimace", +"fa-grin", +"fa-grin-alt", +"fa-grin-beam", +"fa-grin-beam-sweat", +"fa-grin-hearts", +"fa-grin-squint", +"fa-grin-squint-tears", +"fa-grin-stars", +"fa-grin-tears", +"fa-grin-tongue", +"fa-grin-tongue-squint", +"fa-grin-tongue-wink", +"fa-grin-wink", +"fa-grip-horizontal", +"fa-grip-vertical", +"fa-headphones-alt", +"fa-headset", +"fa-highlighter", +"fa-hornbill", +"fa-hot-tub", +"fa-hotel", +"fa-joint", +"fa-kiss", +"fa-kiss-beam", +"fa-kiss-wink-heart", +"fa-laugh", +"fa-laugh-beam", +"fa-laugh-squint", +"fa-laugh-wink", +"fa-luggage-cart", +"fa-mailchimp", +"fa-map-marked", +"fa-map-marked-alt", +"fa-marker", +"fa-medal", +"fa-megaport", +"fa-meh-blank", +"fa-meh-rolling-eyes", +"fa-monument", +"fa-mortar-pestle", +"fa-nimblr", +"fa-paint-roller", +"fa-passport", +"fa-pen-fancy", +"fa-pen-nib", +"fa-pencil-ruler", +"fa-plane-arrival", +"fa-plane-departure", +"fa-prescription", +"fa-rev", +"fa-sad-cry", +"fa-sad-tear", +"fa-shopware", +"fa-shuttle-van", +"fa-signature", +"fa-smile-beam", +"fa-solar-panel", +"fa-spa", +"fa-splotch", +"fa-spray-can", +"fa-squarespace", +"fa-stamp", +"fa-star-half-alt", +"fa-suitcase-rolling", +"fa-surprise", +"fa-swatchbook", +"fa-swimmer", +"fa-swimming-pool", +"fa-themeco", +"fa-tint-slash", +"fa-tired", +"fa-tooth", +"fa-umbrella-beach", +"fa-vector-square", +"fa-weebly", +"fa-weight-hanging", +"fa-wine-glass-alt", +"fa-wix", +"fa-air-freshener", +"fa-apple-alt", +"fa-atom", +"fa-bone", +"fa-book-reader", +"fa-brain", +"fa-car-alt", +"fa-car-battery", +"fa-car-crash", +"fa-car-side", +"fa-charging-station", +"fa-directions", +"fa-draw-polygon", +"fa-ello", +"fa-hackerrank", +"fa-kaggle", +"fa-laptop-code", +"fa-layer-group", +"fa-markdown", +"fa-microscope", +"fa-neos", +"fa-oil-can", +"fa-poop", +"fa-shapes", +"fa-star-of-life", +"fa-teeth", +"fa-teeth-open", +"fa-theater-masks", +"fa-traffic-light", +"fa-truck-monster", +"fa-truck-pickup", +"fa-zhihu", +"fa-ad", +"fa-alipay", +"fa-ankh", +"fa-bible", +"fa-business-time", +"fa-city", +"fa-comment-dollar", +"fa-comments-dollar", +"fa-cross", +"fa-dharmachakra", +"fa-envelope-open-text", +"fa-folder-minus", +"fa-folder-plus", +"fa-funnel-dollar", +"fa-gopuram", +"fa-hamsa", +"fa-bahai", +"fa-jedi", +"fa-journal-whills", +"fa-kaaba", +"fa-khanda", +"fa-landmark", +"fa-mail-bulk", +"fa-menorah", +"fa-mosque", +"fa-om", +"fa-pastafarianism", +"fa-peace", +"fa-place-of-worship", +"fa-poll", +"fa-poll-h", +"fa-pray", +"fa-praying-hands", +"fa-quran", +"fa-search-dollar", +"fa-search-location", +"fa-socks", +"fa-square-root-alt", +"fa-star-and-crescent", +"fa-star-of-david", +"fa-synagogue", +"fa-the-red-yeti", +"fa-torah", +"fa-torii-gate", +"fa-vihara", +"fa-volume-mute", +"fa-yin-yang", +"fa-acquisitions-incorporated", +"fa-blender-phone", +"fa-book-dead", +"fa-campground", +"fa-cat", +"fa-chair", +"fa-cloud-moon", +"fa-cloud-sun", +"fa-critical-role", +"fa-d-and-d-beyond", +"fa-dev", +"fa-dice-d20", +"fa-dice-d6", +"fa-dog", +"fa-dragon", +"fa-drumstick-bite", +"fa-dungeon", +"fa-fantasy-flight-games", +"fa-file-csv", +"fa-fist-raised", +"fa-ghost", +"fa-hammer", +"fa-hanukiah", +"fa-hat-wizard", +"fa-hiking", +"fa-hippo", +"fa-horse", +"fa-house-damage", +"fa-hryvnia", +"fa-mask", +"fa-mountain", +"fa-network-wired", +"fa-otter", +"fa-penny-arcade", +"fa-ring", +"fa-running", +"fa-scroll", +"fa-skull-crossbones", +"fa-slash", +"fa-spider", +"fa-toilet-paper", +"fa-tractor", +"fa-user-injured", +"fa-vr-cardboard", +"fa-wind", +"fa-wine-bottle", +"fa-wizards-of-the-coast", +"fa-think-peaks", +"fa-cloud-meatball", +"fa-cloud-moon-rain", +"fa-cloud-rain", +"fa-cloud-showers-heavy", +"fa-cloud-sun-rain", +"fa-democrat", +"fa-flag-usa", +"fa-meteor", +"fa-person-booth", +"fa-poo-storm", +"fa-rainbow", +"fa-reacteurope", +"fa-republican", +"fa-smog", +"fa-temperature-high", +"fa-temperature-low", +"fa-vote-yea", +"fa-water", +"fa-adobe", +"fa-artstation", +"fa-atlassian", +"fa-baby", +"fa-baby-carriage", +"fa-biohazard", +"fa-blog", +"fa-calendar-day", +"fa-calendar-week", +"fa-canadian-maple-leaf", +"fa-candy-cane", +"fa-carrot", +"fa-cash-register", +"fa-centos", +"fa-compress-arrows-alt", +"fa-confluence", +"fa-dhl", +"fa-diaspora", +"fa-dumpster", +"fa-dumpster-fire", +"fa-ethernet", +"fa-fedex", +"fa-fedora", +"fa-figma", +"fa-gifts", +"fa-glass-cheers", +"fa-glass-whiskey", +"fa-globe-europe", +"fa-grip-lines", +"fa-grip-lines-vertical", +"fa-guitar", +"fa-heart-broken", +"fa-holly-berry", +"fa-horse-head", +"fa-icicles", +"fa-igloo", +"fa-intercom", +"fa-invision", +"fa-jira", +"fa-mendeley", +"fa-mitten", +"fa-mug-hot", +"fa-radiation", +"fa-radiation-alt", +"fa-raspberry-pi", +"fa-redhat", +"fa-restroom", +"fa-satellite", +"fa-satellite-dish", +"fa-sd-card", +"fa-sim-card", +"fa-skating", +"fa-sketch", +"fa-skiing", +"fa-skiing-nordic", +"fa-sleigh", +"fa-sms", +"fa-snowboarding", +"fa-snowman", +"fa-snowplow", +"fa-sourcetree", +"fa-suse", +"fa-tenge", +"fa-toilet", +"fa-tools", +"fa-tram", +"fa-ubuntu", +"fa-ups", +"fa-usps", +"fa-yarn", +"fa-fire-alt", +"fa-bacon", +"fa-book-medical", +"fa-bread-slice", +"fa-cheese", +"fa-clinic-medical", +"fa-comment-medical", +"fa-crutch", +"fa-egg", +"fa-hamburger", +"fa-hand-middle-finger", +"fa-hard-hat", +"fa-hotdog", +"fa-ice-cream", +"fa-laptop-medical", +"fa-pager", +"fa-pepper-hot", +"fa-pizza-slice", +"fa-trash-restore", +"fa-trash-restore-alt", +"fa-user-nurse", +"fa-airbnb", +"fa-battle-net", +"fa-bootstrap", +"fa-buffer", +"fa-chromecast", +"fa-evernote", +"fa-itch-io", +"fa-salesforce", +"fa-speaker-deck", +"fa-symfony", +"fa-wave-square", +"fa-waze", +"fa-yammer", +"fa-git-alt", +"fa-stackpath", +"fa-biking", +"fa-border-all", +"fa-border-none", +"fa-border-style", +"fa-fan", +"fa-icons", +"fa-phone-alt", +"fa-phone-square-alt", +"fa-photo-video", +"fa-remove-format", +"fa-sort-alpha-down-alt", +"fa-sort-alpha-up-alt", +"fa-sort-amount-down-alt", +"fa-sort-amount-up-alt", +"fa-sort-numeric-down-alt", +"fa-sort-numeric-up-alt", +"fa-spell-check", +"fa-voicemail", +"fa-cotton-bureau", +"fa-buy-n-large", +"fa-hat-cowboy", +"fa-hat-cowboy-side", +"fa-mdb", +"fa-mouse", +"fa-orcid", +"fa-record-vinyl", +"fa-swift", +"fa-umbraco", +"fa-caravan", +"fa-firefox-browser", +"fa-ideal", +"fa-microblog", +"fa-pied-piper-square", +"fa-trailer", +"fa-unity"] + +counter = 0 +while not rospy.is_shutdown(): + initial_x = -int(math.sqrt(len(pictograms)))/2 + arr = PictogramArray() + arr.header.frame_id = "/base_link" + arr.header.stamp = rospy.Time.now() + prev_xyz = [initial_x, -10, 0] + for character in pictograms: + msg = Pictogram() + msg.header.frame_id = "/base_link" + msg.action = choice(actions) + msg.header.stamp = rospy.Time.now() + msg.pose.position.x = prev_xyz[0] + 1 + msg.pose.position.y = prev_xyz[1] + msg.pose.position.z = 0 + msg.pose.orientation.w = 0.7 + msg.pose.orientation.x = 0 + msg.pose.orientation.y = -0.7 + msg.pose.orientation.z = 0 + msg.size = 1 + msg.color.r = 25 / 255.0 + msg.color.g = 255 / 255.0 + msg.color.b = 240 / 255.0 + msg.color.a = 1.0 + msg.character = character + arr.pictograms.append(msg) + prev_xyz = [msg.pose.position.x, msg.pose.position.y, msg.pose.position.z] + if prev_xyz[0] > -initial_x: + prev_xyz[0] = initial_x + prev_xyz[1] = prev_xyz[1] + 1 + p.publish(arr) + r.sleep() + counter = counter + 1 + if len(pictograms) == counter: + counter = 0 diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/polygon_array_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/polygon_array_sample.py new file mode 100755 index 0000000..8059b4b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/polygon_array_sample.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python + +import rospy +from jsk_recognition_msgs.msg import PolygonArray +from geometry_msgs.msg import Polygon, PolygonStamped, Point32 +from std_msgs.msg import Header +from math import sin, cos, pi +import numpy as np +def SquarePolygon(header): + p = PolygonStamped() + p.header = header + p.polygon.points = [Point32(x=1.0, y=1.0), + Point32(x=-1.0, y=1.0), + Point32(x=-1.0, y=-1.0), + Point32(x=1.0, y=-1.0)] + return p + +def RectanglePolygon(header): + p = PolygonStamped() + p.header = header + p.polygon.points = [Point32(x=-1.0, y=1.0, z=1.0), + Point32(x=-2.0, y=1.0, z=1.0), + Point32(x=-2.0, y=-1.0, z=1.0), + Point32(x=-1.0, y=-1.0, z=1.0)] + return p +def CirclePolygon(header): + p = PolygonStamped() + p.header = header + for i in range(100): + theta = i / 100.0 * 2.0 * pi + x = 1.0 * cos(theta) + 3.0 + y = 1.0 * sin(theta) + p.polygon.points.append(Point32(x=x, y=y)) + return p + + # star +def StarPolygon(header): + p = PolygonStamped() + p.header = header + p.polygon.points = [Point32(x= .0000, y= 1.0000 + 3.0), + Point32(x= .2245, y= .3090 + 3.0), + Point32(x= .9511, y= .3090 + 3.0), + Point32(x= .3633, y= -.1180 + 3.0), + Point32(x= .5878, y= -.8090 + 3.0), + Point32(x= .0000, y= -.3820 + 3.0), + Point32(x= -.5878, y= -.8090 + 3.0), + Point32(x= -.3633, y= -.1180 + 3.0), + Point32(x= -.9511, y= .3090 + 3.0), + Point32(x= -.2245, y= .3090 + 3.0)] + return p + +if __name__ == "__main__": + rospy.init_node("polygon_array_sample") + pub = rospy.Publisher("~output", PolygonArray) + r = rospy.Rate(10) + while not rospy.is_shutdown(): + msg = PolygonArray() + header = Header() + header.frame_id = "world" + header.stamp = rospy.Time.now() + msg.header = header + msg.polygons = [SquarePolygon(header), + RectanglePolygon(header), + CirclePolygon(header), + StarPolygon(header)] + msg.labels = [0, 1, 2, 3] + msg.likelihood = [np.random.ranf(), np.random.ranf(), np.random.ranf(), np.random.ranf()] + pub.publish(msg) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/segment_array_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/segment_array_sample.py new file mode 100755 index 0000000..d6835e0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/segment_array_sample.py @@ -0,0 +1,42 @@ +#!/usr/bin/env python + +import numpy as np +from scipy.spatial import ConvexHull + +import rospy +from jsk_recognition_msgs.msg import Segment +from jsk_recognition_msgs.msg import SegmentArray +from geometry_msgs.msg import Point + + +def main(): + rospy.init_node('segment_array_sample') + + pub = rospy.Publisher('~output', SegmentArray, queue_size=1) + r = rospy.Rate(rospy.get_param('~rate', 1.0)) + + segment_array = SegmentArray() + segment_array.header.frame_id = rospy.get_param('~frame_id', 'map') + + N = 30 + while not rospy.is_shutdown(): + points = np.random.rand(N, 3) + hull = ConvexHull(points) + segment_array.header.stamp = rospy.Time.now() + segment_array.segments = [] + for i in hull.simplices: + a, b, c = points[i] + segment_array.segments.extend( + [Segment(start_point=Point(a[0], a[1], a[2]), + end_point=Point(b[0], b[1], b[2])), + Segment(start_point=Point(b[0], b[1], b[2]), + end_point=Point(c[0], c[1], c[2])), + Segment(start_point=Point(a[0], a[1], a[2]), + end_point=Point(c[0], c[1], c[2])), + ]) + pub.publish(segment_array) + r.sleep() + + +if __name__ == '__main__': + main() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/sparse_occupancy_grid_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/sparse_occupancy_grid_sample.py new file mode 100755 index 0000000..415ea05 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/sparse_occupancy_grid_sample.py @@ -0,0 +1,34 @@ +#!/usr/bin/env python + +import rospy +from jsk_recognition_msgs.msg import * +from geometry_msgs.msg import Point +rospy.init_node("test_occupancy_grid") + +p = rospy.Publisher("/occupancy_grid", SimpleOccupancyGridArray) + +r = rospy.Rate(1) + +def cells(x_offset): + ret = [] + for i in range(0, 20): + for j in range(0, 20): + ret.append(Point(x = 0.05 * i + x_offset, y = 0.05 * j, z = 0)) + return ret + + +while not rospy.is_shutdown(): + now = rospy.Time.now() + occupancy_grid_array = SimpleOccupancyGridArray() + for i in range(10): + occupancy_grid = SimpleOccupancyGrid() + occupancy_grid.header.frame_id = "map" + occupancy_grid.header.stamp = now + occupancy_grid.coefficients = [0, 0, 1, i * 0.2] + occupancy_grid.resolution = 0.05 #5cm resolution + occupancy_grid.cells = cells(i / 2.0) + occupancy_grid_array.grids.append(occupancy_grid) + occupancy_grid_array.header.stamp = now + occupancy_grid_array.header.frame_id = "map" + p.publish(occupancy_grid_array) + r.sleep() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/torus_array_sample.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/torus_array_sample.py new file mode 100755 index 0000000..397f579 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/samples/torus_array_sample.py @@ -0,0 +1,42 @@ +#!/usr/bin/env python + +import rospy +from jsk_recognition_msgs.msg import TorusArray, Torus +from geometry_msgs.msg import Pose +import math + +rospy.init_node("test_torus") +p = rospy.Publisher("test_torus", TorusArray) +r = rospy.Rate(5) +counter = 0 +while not rospy.is_shutdown(): + torus_array = TorusArray() + torus1 = Torus() + torus1.header.frame_id = "base_link" + torus1.large_radius = 4 + torus1.small_radius = 1 + p1 = Pose() + p1.position.x = 2 + p1.position.z = 4 + p1.orientation.x = math.sqrt(0.5) + p1.orientation.y = math.sqrt(0.5) + torus1.pose = p1 + + torus2 = Torus() + torus2.header.frame_id = "base_link" + torus2.large_radius = 5 + torus2.small_radius = 1 + p2 = Pose() + p2.position.x = 3 + p2.position.y = -4 + p2.orientation.z = math.sqrt(0.5) + p2.orientation.y = math.sqrt(0.5) + torus2.pose = p2 + + torus_array.header.frame_id = "base_link" + + torus_array.toruses.append(torus1) + torus_array.toruses.append(torus2) + + p.publish(torus_array) + r.sleep() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/capture_rviz_text.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/capture_rviz_text.py new file mode 100755 index 0000000..e01cb00 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/capture_rviz_text.py @@ -0,0 +1,34 @@ +#!/usr/bin/env python + +import rospy +from jsk_rviz_plugins.msg import OverlayText +from std_msgs.msg import Int32 + + +def callback(msg): + global pub + count = msg.data + text = OverlayText() + color = (52, 152, 219) + text.fg_color.r = color[0] / 255.0 + text.fg_color.g = color[1] / 255.0 + text.fg_color.b = color[2] / 255.0 + text.fg_color.a = 1.0 + text.bg_color.a = 0.0 + text.text = "Samples: %d" % (count) + text.width = 500 + text.height = 100 + text.left = 10 + text.top = 10 + text.text_size = 30 + pub.publish(text) + +def main(): + global pub + pub = rospy.Publisher("capture_text", OverlayText) + sub = rospy.Subscriber("capture_count", Int32, callback) + rospy.spin() + +if __name__ == "__main__": + rospy.init_node("capture_rviz_text") + main() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/classification_result_visualizer.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/classification_result_visualizer.py new file mode 100755 index 0000000..df39e7a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/classification_result_visualizer.py @@ -0,0 +1,158 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# Author: Yuki Furuta + +from dynamic_reconfigure.server import Server +import rospy +from geometry_msgs.msg import PoseArray +from jsk_topic_tools import ConnectionBasedTransport +from jsk_recognition_msgs.msg import BoundingBox, BoundingBoxArray +from jsk_recognition_msgs.msg import ClassificationResult +from jsk_recognition_msgs.msg import PeoplePoseArray +from jsk_rviz_plugins.cfg import ClassificationResultVisualizerConfig +from posedetection_msgs.msg import ObjectDetection +import message_filters as MF +from std_msgs.msg import ColorRGBA +from visualization_msgs.msg import Marker, MarkerArray + + +def is_valid_pose(pose): + return pose.position.x == 0.0 and\ + pose.position.y == 0.0 and\ + pose.position.z == 0.0 + + +class ClassificationResultVisualizer(ConnectionBasedTransport): + def __init__(self): + super(ClassificationResultVisualizer, self).__init__() + self.srv = Server(ClassificationResultVisualizerConfig, + self.config_callback) + self.pub_marker = self.advertise("~output", MarkerArray, queue_size=10) + + def subscribe(self): + approximate_sync = rospy.get_param("~approximate_sync", False) + queue_size = rospy.get_param("~queue_size", 100) + slop = rospy.get_param("~slop", 0.1) + + sub_cls = MF.Subscriber( + "~input/classes", ClassificationResult, queue_size=1) + sub_box = MF.Subscriber( + "~input/boxes", BoundingBoxArray, queue_size=1) + sub_pose = MF.Subscriber( + "~input/poses", PoseArray, queue_size=1) + sub_people = MF.Subscriber( + "~input/people", PeoplePoseArray, queue_size=1) + sub_od = MF.Subscriber( + "~input/ObjectDetection", ObjectDetection, queue_size=1) + + if approximate_sync: + sync_box = MF.ApproximateTimeSynchronizer( + [sub_box, sub_cls], queue_size=queue_size, slop=slop) + sync_pose = MF.ApproximateTimeSynchronizer( + [sub_pose, sub_cls], queue_size=queue_size, slop=slop) + sync_people = MF.ApproximateTimeSynchronizer( + [sub_people, sub_cls], queue_size=queue_size, slop=slop) + sync_od = MF.ApproximateTimeSynchronizer( + [sub_od, sub_cls], queue_size=queue_size, slop=slop) + else: + sync_box = MF.TimeSynchronizer( + [sub_box, sub_cls], queue_size=queue_size) + sync_pose = MF.TimeSynchronizer( + [sub_pose, sub_cls], queue_size=queue_size) + sync_people = MF.TimeSynchronizer( + [sub_people, sub_cls], queue_size=queue_size) + sync_od = MF.TimeSynchronizer( + [sub_od, sub_cls], queue_size=queue_size) + + sync_box.registerCallback(self.box_msg_callback) + sync_pose.registerCallback(self.pose_msg_callback) + sync_people.registerCallback(self.people_msg_callback) + sync_od.registerCallback(self.od_msg_callback) + + self.subscribers = [sub_cls, sub_box, sub_pose, sub_people, sub_od] + + def unsubscribe(self): + for sub in self.subscribers: + sub.unregister() + + def config_callback(self, config, level): + self.text_color = {'r': config.text_color_red, + 'g': config.text_color_green, + 'b': config.text_color_blue, + 'a': config.text_color_alpha} + self.text_offset = [config.text_offset_x, + config.text_offset_y, + config.text_offset_z] + self.text_size = config.text_size + self.marker_lifetime = config.marker_lifetime + self.show_proba = config.show_proba + return config + + def pose_msg_callback(self, pose, classes): + bboxes = BoundingBoxArray(header=pose.header) + for p in pose.poses: + b = BoundingBox(header=pose.header) + b.pose = p + bboxes.boxes.append(b) + self.box_msg_callback(bboxes, classes) + + def people_msg_callback(self, people, classes): + bboxes = BoundingBoxArray(header=people.header) + for p in people.poses: + b = BoundingBox() + for i, n in enumerate(p.limb_names): + if n in ["Neck", "Nose", "REye", "LEye", "REar", "LEar"]: + b.header = people.header + b.pose = p.poses[i] + break + if not b.header.frame_id: + b.header = people.header + b.pose = b.poses[0] + self.box_msg_callback(bboxes, classes) + + def od_msg_callback(self, od, classes): + bboxes = BoundingBoxArray(header=od.header) + for obj in od.objects: + b = BoundingBox() + b.pose = obj.pose + self.box_msg_callback(bboxes, classes) + + def box_msg_callback(self, bboxes, classes): + msg = MarkerArray() + show_proba = self.show_proba and len(classes.label_names) == len(classes.label_proba) + if show_proba: + cls_iter = zip(classes.label_names, classes.label_proba) + else: + cls_iter = classes.label_names + for i, data in enumerate(zip(bboxes.boxes, cls_iter)): + bbox, cls = data + if show_proba: + text = "%s (%.3f)" % cls + else: + text = cls + + if is_valid_pose(bbox.pose): + continue + + m = Marker(type=Marker.TEXT_VIEW_FACING, + action=Marker.MODIFY, + header=bbox.header, + id=i, + pose=bbox.pose, + color=ColorRGBA(**self.text_color), + text=text, + ns=classes.classifier, + lifetime=rospy.Duration(self.marker_lifetime)) + m.scale.z = self.text_size + m.pose.position.x += self.text_offset[0] + m.pose.position.y += self.text_offset[1] + m.pose.position.z += self.text_offset[2] + msg.markers.append(m) + + self.pub_marker.publish(msg) + + +if __name__ == '__main__': + rospy.init_node("classification_result_visualizer") + viz = ClassificationResultVisualizer() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/contact_state_marker.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/contact_state_marker.py new file mode 100755 index 0000000..30db99b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/contact_state_marker.py @@ -0,0 +1,101 @@ +#!/usr/bin/env python + +""" +Colorize link according to hrpsys_ros_bridge/ContactState using +visualization_msgs/Marker +""" + +import rospy +from hrpsys_ros_bridge.msg import ContactState, ContactStateStamped, ContactStatesStamped +from visualization_msgs.msg import Marker, MarkerArray +from xml.dom.minidom import parse, parseString +from geometry_msgs.msg import Pose +from tf.transformations import quaternion_from_euler +from jsk_rviz_plugins.cfg import ContactStateMarkerConfig +from dynamic_reconfigure.server import Server +from urdf_parser_py.urdf import URDF + +g_config = None +def config_callback(config, level): + global g_config + g_config = config + return config + +def find_mesh(link_name): + "find mesh file from specified link_name" + global g_config + for link in g_links: + if link_name == link.getAttribute('name'): + visual = link.getElementsByTagName('visual').item(0) + visual_mesh = visual.getElementsByTagName('mesh').item(0) + if len(visual.getElementsByTagName("origin")) > 0: + origin = visual.getElementsByTagName("origin").item(0) + pose = Pose() + if origin.getAttribute("xyz"): + pose.position.x, pose.position.y, pose.position.z = [float(v) for v in origin.getAttribute("xyz").split()] + if origin.getAttribute("rpy"): + r, p, y = [float(v) for v in origin.getAttribute("rpy").split()] + q = quaternion_from_euler(r, p, y) + pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w = q + return (visual_mesh.getAttribute('filename'), pose) + else: + pose = Pose() + pose.orientation.w = 1 + return (visual_mesh.getAttribute('filename'), pose) + raise Exception("Cannot find link: {0}".format(link_name)) + +def callback(msgs): + "msgs = ContactStatesStamped" + global g_config + if g_config.use_parent_link: + urdf_robot = URDF.from_parameter_server() + marker_array = MarkerArray() + for msg, i in zip(msgs.states, range(len(msgs.states))): + marker = Marker() + link_name = msg.header.frame_id + if g_config.use_parent_link: + # lookup parent link + chain = urdf_robot.get_chain(urdf_robot.get_root(), link_name) + link_name = chain[-3] + mesh_file, offset = find_mesh(link_name) + marker.header.frame_id = link_name + marker.header.stamp = rospy.Time.now() + marker.type = Marker.MESH_RESOURCE + if msg.state.state == ContactState.ON: + marker.color.a = g_config.on_alpha + marker.color.r = g_config.on_red + marker.color.g = g_config.on_green + marker.color.b = g_config.on_blue + elif msg.state.state == ContactState.OFF: + marker.color.a = g_config.off_alpha + marker.color.r = g_config.off_red + marker.color.g = g_config.off_green + marker.color.b = g_config.off_blue + marker.scale.x = g_config.marker_scale + marker.scale.y = g_config.marker_scale + marker.scale.z = g_config.marker_scale + marker.pose = offset + marker.mesh_resource = mesh_file + marker.frame_locked = True + marker.id = i + if msg.state.state == ContactState.OFF: + if not g_config.visualize_off: + marker.action = Marker.DELETE + marker_array.markers.append(marker) + pub.publish(marker_array) + +if __name__ == "__main__": + rospy.init_node("contact_state_marker") + rgb = rospy.get_param("~rgb", [1, 0, 0]) + alpha = rospy.get_param("~alpha", 0.5) + scale = rospy.get_param("~scale", 1.02) + robot_description = rospy.get_param("/robot_description") + + # Parse robot_description using minidom directly + # because urdf_parser_py cannot read PR2 urdf + doc = parseString(robot_description) + g_links = doc.getElementsByTagName('link') + srv = Server(ContactStateMarkerConfig, config_callback) + pub = rospy.Publisher('~marker', MarkerArray) + sub = rospy.Subscriber("~input", ContactStatesStamped, callback) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/float32_to_overlay_text.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/float32_to_overlay_text.py new file mode 100755 index 0000000..f3f3d47 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/float32_to_overlay_text.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python + +import rospy + +from std_msgs.msg import Float32 +from threading import Lock +#from jsk_rviz_plugins.msg import OverlayText +from jsk_rviz_plugins.overlay_text_interface import OverlayTextInterface + +g_lock = Lock() +g_msg = None + +def callback(msg): + global g_msg, g_lock + with g_lock: + g_msg = msg + +def config_callback(config, level): + global g_format + g_format = config.format + return config + +def publish_text(event): + global g_lock, g_msg, g_format + with g_lock: + if not g_msg: + return + text_interface.publish(g_format.format(g_msg.data)) + +def publish_text_multi(event): + global g_lock, multi_topic_msgs, g_format + with g_lock: + if all([msg for topic, msg in multi_topic_msgs.items()]): + text_interface.publish(g_format.format(sum([msg.data for topic, msg in multi_topic_msgs.items()]))) + +multi_topic_msgs = dict() + +class MultiTopicCallback(): + def __init__(self, topic): + self.topic = topic + global multi_topic_msgs + multi_topic_msgs[self.topic] = None + def callback(self, msg): + global multi_topic_msgs + with g_lock: + multi_topic_msgs[self.topic] = msg + +if __name__ == "__main__": + rospy.init_node("float32_to_overlay_text") + text_interface = OverlayTextInterface("~text") + multi_topics = rospy.get_param("~multi_topics", []) + g_format = rospy.get_param("~format", "value: {0}") + if multi_topics: + subs = [] + for topic in multi_topics: + callback = MultiTopicCallback(topic) + subs.append(rospy.Subscriber(topic, Float32, callback.callback)) + rospy.Timer(rospy.Duration(0.1), publish_text_multi) + else: + sub = rospy.Subscriber("~input", Float32, callback) + rospy.Timer(rospy.Duration(0.1), publish_text) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/landing_time_detector.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/landing_time_detector.py new file mode 100755 index 0000000..2230c26 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/landing_time_detector.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python + +""" +Display the difference between reference and actual swing/support time according to hrpsys_ros_bridge/ContactState using +jsk_rviz_plugins/PictogramArray +""" + +import rospy +from jsk_rviz_plugins.msg import Pictogram, PictogramArray +from geometry_msgs.msg import Quaternion +from hrpsys_ros_bridge.msg import ContactState, ContactStateStamped, ContactStatesStamped +from std_msgs.msg import ColorRGBA +import message_filters + +def callback(ref, act): + "msgs = ContactStatesStamped" + if len(ref_contact_states_queue) > buffer_size - 1: + arr = PictogramArray() + arr.header.frame_id = "/odom" + arr.header.stamp = rospy.Time.now() + for i, (ref_st, act_st) in enumerate(zip(ref.states, act.states)): + picto = Pictogram() + if ref_st.state.state == act_st.state.state: + continue + else: + if [ref_st.state.state, act_st.state.state] == [ContactState.OFF, ContactState.ON]: + if [x.states[i].state.state for x in ref_contact_states_queue] == [ContactState.OFF] * buffer_size and [x.states[i].state.state for x in act_contact_states_queue] == [ContactState.OFF] * buffer_size: + picto.character = "fa-long-arrow-down" + picto.size = 1 + picto.pose.orientation = Quaternion(0, -1, 0, 1) + picto.action = Pictogram.ADD + picto.color = ColorRGBA(1.0, 0.0, 0.0, 0.8) + rospy.loginfo("%s early landing %s [s]", ref_st.header.frame_id, str(ref_st.state.remaining_time)) + elif [x.states[i].state.state for x in ref_contact_states_queue] == [ContactState.ON] * buffer_size and [x.states[i].state.state for x in act_contact_states_queue] == [ContactState.ON] * buffer_size: + picto.character = "up-bold" + picto.size = 1 + picto.pose.orientation = Quaternion(0, -1, 0, 1) + picto.action = Pictogram.ADD + picto.color = ColorRGBA(0.0, 1.0, 0.0, 0.8) + rospy.loginfo("%s late taking off", ref_st.header.frame_id) + print("oso hanare") + else: + continue + elif [ref_st.state.state, act_st.state.state] == [ContactState.ON, ContactState.OFF]: + if [x.states[i].state.state for x in ref_contact_states_queue] == [ContactState.OFF] * buffer_size and [x.states[i].state.state for x in act_contact_states_queue] == [ContactState.OFF] * buffer_size: + picto.character = "fa-long-arrow-down" + picto.size = 1 + picto.pose.orientation = Quaternion(0, -1, 0, 1) + picto.action = Pictogram.ADD + picto.color = ColorRGBA(0.0, 1.0, 0.0, 0.8) + rospy.loginfo("%s late landing", ref_st.header.frame_id) + elif [x.states[i].state.state for x in ref_contact_states_queue] == [ContactState.ON] * buffer_size and [x.states[i].state.state for x in act_contact_states_queue] == [ContactState.ON] * buffer_size: + picto.character = "up-bold" + picto.size = 1 + picto.pose.orientation = Quaternion(0, -1, 0, 1) + picto.action = Pictogram.ADD + picto.color = ColorRGBA(1.0, 0.0, 0.0, 0.8) + rospy.loginfo("%s early taking off %s [s]", ref_st.header.frame_id, str(ref_st.state.remaining_time)) + else: + continue + picto.header.frame_id = ref_st.header.frame_id + picto.header.stamp = ref_st.header.stamp + arr.pictograms.append(picto) + if len(arr.pictograms) > 0: + pub.publish(arr) + ref_contact_states_queue.pop(0) + act_contact_states_queue.pop(0) + ref_contact_states_queue.append(ref) + act_contact_states_queue.append(act) + +if __name__ == "__main__": + rospy.init_node("landing_time_detector") + + pub = rospy.Publisher("~pictogram_array", PictogramArray) + ref_contact_states_sub = message_filters.Subscriber('~input_ref', ContactStatesStamped) + act_contact_states_sub = message_filters.Subscriber('~input_act', ContactStatesStamped) + + buffer_size = 5 + ref_contact_states_queue = [] + act_contact_states_queue = [] + + ts = message_filters.TimeSynchronizer([ref_contact_states_sub, act_contact_states_sub], 10) + ts.registerCallback(callback) + + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/link_marker_publisher.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/link_marker_publisher.py new file mode 100755 index 0000000..df3f3f9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/link_marker_publisher.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python + +""" +Publish a visualization_marker for specified link +""" + +import rospy +from visualization_msgs.msg import Marker +from xml.dom.minidom import parse, parseString + +if __name__ == "__main__": + rospy.init_node("link_marker_publisher") + link_name = rospy.get_param("~link") + rgb = rospy.get_param("~rgb", [1, 0, 0]) + alpha = rospy.get_param("~alpha", 1.0) + scale = rospy.get_param("~scale", 1.02) + robot_description = rospy.get_param("/robot_description") + # Parse robot_description using minidom directly + # because urdf_parser_py cannot read PR2 urdf + doc = parseString(robot_description) + links = doc.getElementsByTagName('link') + mesh_file = None + for link in links: + if link_name == link.getAttribute('name'): + visual_mesh = link.getElementsByTagName('visual').item(0).getElementsByTagName('mesh').item(0) + mesh_file = visual_mesh.getAttribute('filename') + break + if not mesh_file: + raise Exception("Cannot find link: {0}".format(link_name)) + pub = rospy.Publisher('~marker', Marker) + rate = rospy.Rate(1) + while not rospy.is_shutdown(): + marker = Marker() + marker.header.frame_id = link_name + marker.header.stamp = rospy.Time.now() + marker.type = Marker.MESH_RESOURCE + marker.color.a = alpha + marker.color.r = rgb[0] + marker.color.g = rgb[1] + marker.color.b = rgb[2] + marker.scale.x = scale + marker.scale.y = scale + marker.scale.z = scale + marker.mesh_resource = mesh_file + marker.frame_locked = True + pub.publish(marker) + rate.sleep() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/motor_states_temperature_decomposer.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/motor_states_temperature_decomposer.py new file mode 100755 index 0000000..fc2590c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/motor_states_temperature_decomposer.py @@ -0,0 +1,82 @@ +#!/usr/bin/env python + +from hrpsys_ros_bridge.msg import MotorStates +from jsk_rviz_plugins.msg import OverlayText +from sensor_msgs.msg import JointState +#from sensor_msgs.msg import JointState as MotorStates +from std_msgs.msg import Float32 +import rospy +from urdf_parser_py.urdf import URDF + + +g_publishers = [] +g_effort_publishers = {} +g_text_publisher = None +safe_color = (52, 152, 219) # ~50 +warning_color = (230, 126, 34) # 50~ +fatal_color = (231, 76, 60) # 70~ +def allocatePublishers(num): + global g_publishers + if num > len(g_publishers): + for i in range(len(g_publishers), num): + pub = rospy.Publisher('temperature_%02d' % (i), Float32, queue_size=1) + g_publishers.append(pub) +def allocateEffortPublishers(names): + global g_effort_publishers + for name in names: + if not g_effort_publishers.has_key(name): + g_effort_publishers[name] = rospy.Publisher('effort_%s' % (name), Float32, queue_size=1) + +def motorStatesCallback(msg): + global g_publishers, g_text_publisher + #values = msg.position + values = msg.temperature + names = msg.name + allocatePublishers(len(values)) + max_temparature = 0 + max_temparature_name = "" + for name, val, pub in zip(names, values, g_publishers): + pub.publish(Float32(val)) + if max_temparature < val: + max_temparature = val + max_temparature_name = name + if max_temparature: + if max_temparature > 70: + color = fatal_color + elif max_temparature > 50: + color = warning_color + else: + color = safe_color + text = OverlayText() + text.fg_color.r = color[0] / 255.0 + text.fg_color.g = color[1] / 255.0 + text.fg_color.b = color[2] / 255.0 + text.fg_color.a = 1.0 + text.bg_color.a = 0.0 + text.text = "%dC -- (%s)" % (int(max_temparature), max_temparature_name) + g_text_publisher.publish(text) + +def jointStatesCallback(msg): + global g_effort_publishers, robot_model + values = msg.effort + names = msg.name + allocateEffortPublishers(names) + for val, name in zip(values, names): + # lookup effort limit + candidate_joints = [j for j in robot_model.joints if j.name == name] + if candidate_joints: + if candidate_joints[0].limit: + limit = candidate_joints[0].limit.effort + else: + limit = 0 + if limit != 0: + g_effort_publishers[name].publish(Float32(abs(val/limit))) + +if __name__ == "__main__": + rospy.init_node("motor_state_temperature_decomposer") + robot_model = URDF.from_xml_string(rospy.get_param("/robot_description")) + g_text_publisher = rospy.Publisher("max_temparature_text", OverlayText, queue_size=1) + s = rospy.Subscriber("/motor_states", MotorStates, motorStatesCallback, queue_size=1) + s_joint_states = rospy.Subscriber("/joint_states", JointState, jointStatesCallback, queue_size=1) + #s = rospy.Subscriber("joint_states", MotorStates, motorStatesCallback) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/overlay_menu_bridge.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/overlay_menu_bridge.py new file mode 100755 index 0000000..e2dca59 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/overlay_menu_bridge.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# Author: Yuki Furuta + + +import rospy +from jsk_rviz_plugins.msg import OverlayMenu + + +class OverlayMenuBridge(object): + def __init__(self): + super(OverlayMenuBridge, self).__init__() + + if OverlayMenu._md5sum == 'fed3c7e9788f7ee37908107a2597b619': + rospy.logwarn('This script is not necessary since md5sum of OverlayMenu is the same as old one.') + + self.queue_size = rospy.get_param('~queue_size', 10) + self.remap_suffix = rospy.get_param('~remap_suffix', 'kinetic') + self.publishers = {} + self.subscribers = {} + + poll_rate = rospy.get_param('~poll_rate', 1.0) + self.poll_timer = rospy.Timer(rospy.Duration(1.0 / poll_rate), self.timerCallback) + + def remap(self, topic): + return topic + '/' + self.remap_suffix + + def messageCallback(self, msg, topic): + try: + self.publishers[self.remap(topic)].publish(msg) + except Exception as exc: + rospy.logerr('Error on publishing to {}: {}'.format(topic, exc)) + + def timerCallback(self, event): + topics = [i[0] for i in rospy.get_published_topics() if i[1] == OverlayMenu._type] + subscribed_topics = self.subscribers.keys() + managed_topics = subscribed_topics + self.publishers.keys() + for topic in topics: + if topic not in managed_topics: + self.publishers[self.remap(topic)] = rospy.Publisher( + self.remap(topic), OverlayMenu, queue_size=self.queue_size) + self.subscribers[topic] = rospy.Subscriber( + topic, rospy.AnyMsg, self.messageCallback, topic, + queue_size=self.queue_size) + + rospy.loginfo('Remapped {} -> {}'.format(topic, self.remap(topic))) + + for topic in subscribed_topics: + if topic not in topics: + sub = self.subscribers.pop(topic) + sub.unregister() + pub = self.publishers.pop(self.remap(topic)) + pub.unregister() + + rospy.loginfo('Stopped Remap {} -> {}'.format(topic, self.remap(topic))) + + +if __name__ == '__main__': + rospy.init_node('overlay_menu_bridge') + b = OverlayMenuBridge() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/pointcloud_information.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/pointcloud_information.py new file mode 100755 index 0000000..e5aee93 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/pointcloud_information.py @@ -0,0 +1,42 @@ +#!/usr/bin/env python +try: + from jsk_rviz_plugins.msg import * +except: + import roslib;roslib.load_manifest("jsk_rviz_plugins") + from jsk_rviz_plugins.msg import * + +from sensor_msgs.msg import PointCloud2 +from std_msgs.msg import ColorRGBA, Float32 +import rospy + +text_pub = rospy.Publisher("output_text", OverlayText) + +def cloud_cb(cloud): + point_num = cloud.width * cloud.height + + point_type = "" + for field in cloud.fields: + point_type +=field.name + frame_id = cloud.header.frame_id + + text = OverlayText() + text.width = 500 + text.height = 80 + text.left = 10 + text.top = 10 + text.text_size = 12 + text.line_width = 2 + text.font = "DejaVu Sans Mono" + text.text = """Point Cloud Num : %d +PointType : %s +PointFrame : %s +""" % (point_num, point_type, frame_id) + text.fg_color = ColorRGBA(25 / 255.0, 1.0, 240.0 / 255.0, 1.0) + text.bg_color = ColorRGBA(0.0, 0.0, 0.0, 0.2) + text_pub.publish(text) + + +if __name__ == "__main__": + rospy.init_node("pointcloud_information_text") + rospy.Subscriber("input", PointCloud2, cloud_cb) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/pr2_visualization.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/pr2_visualization.py new file mode 100755 index 0000000..697dd46 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/pr2_visualization.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python + +import rospy + +rospy.init_node("pr2_rviz_visualization") + + +from std_msgs.msg import Float32 +from pr2_msgs.msg import BatteryServer + +battery_status = {} +battery_pub0 = rospy.Publisher("/visualization/battery/value0", Float32) +battery_pub1 = rospy.Publisher("/visualization/battery/value1", Float32) +battery_pub2 = rospy.Publisher("/visualization/battery/value2", Float32) +battery_pub3 = rospy.Publisher("/visualization/battery/value3", Float32) +battery_pubs = [battery_pub0, + battery_pub1, + battery_pub2, + battery_pub3] + +def batteryCB(msg): + battery_pubs[msg.id].publish(Float32(msg.averageCharge)) + +s = rospy.Subscriber("/battery/server", BatteryServer, batteryCB) + +rospy.spin() + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/relay_camera_info.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/relay_camera_info.py new file mode 100755 index 0000000..67e8404 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/relay_camera_info.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python +import rospy +from sensor_msgs.msg import CameraInfo + +class RelayCameraInfo(): + def __init__(self): + rospy.init_node('relay_camera_info') + self.frame_id = rospy.get_param('~frame_id') + self.pub = rospy.Publisher("output", CameraInfo) + rospy.Subscriber("input", CameraInfo, self.callback) + rospy.spin() + + def callback(self, info): + info.header.frame_id = self.frame_id + self.pub.publish(info) + +if __name__ == '__main__': + RelayCameraInfo() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/relay_screenshot.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/relay_screenshot.py new file mode 100755 index 0000000..4907df7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/relay_screenshot.py @@ -0,0 +1,31 @@ +#!/usr/bin/env python +""" +Call snapshot service of rviz (provided by ScreenshotListener tool) +when a topic is published. + +This script is useful to automatically record result of ros processing. + +NOTE: + rviz should be in fron of other windows because +""" + +import rospy +from jsk_rviz_plugins.srv import Screenshot + +def callback(msg): + global counter + rospy.loginfo('received a message, save a screenshot to {0}'.format(file_format.format(counter))) + try: + screenshot_srv(file_format.format(counter)) + counter = counter + 1 + except rospy.ServiceException as e: + rospy.logerr('Failed to call screenshot service call. Have you add ScreenshotListener to rviz and file_format is correct? file_format is "{0}"'.format(file_format)) + + +if __name__ == '__main__': + counter = 0 + rospy.init_node('relay_screenshot') + screenshot_srv = rospy.ServiceProxy('/rviz/screenshot', Screenshot) + file_format = rospy.get_param('~file_format', 'rviz_screenshot_{0:0>5}.png') + sub = rospy.Subscriber('~input', rospy.msg.AnyMsg, callback) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/rosconsole_overlay_text.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/rosconsole_overlay_text.py new file mode 100755 index 0000000..7b2556f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/rosconsole_overlay_text.py @@ -0,0 +1,73 @@ +#!/usr/bin/env python + +import re + +from jsk_rviz_plugins.msg import OverlayText +from rosgraph_msgs.msg import Log +import rospy + + +def colored_message(msg): + cmsg = msg.msg + cmsg = re.sub(r'\x1b\[31m', '', cmsg) + cmsg = re.sub(r'\x1b\[32m', '', cmsg) + cmsg = re.sub(r'\x1b\[33m', '', cmsg) + cmsg = re.sub(r'\x1b\[34m', '', cmsg) + cmsg = re.sub(r'\x1b\[35m', '', cmsg) + cmsg = re.sub(r'\x1b\[36m', '', cmsg) + cmsg = re.sub(r'\x1b\[0m', '', cmsg) + if msg.level == Log.DEBUG: + return '%s' % cmsg + elif msg.level == Log.INFO: + return '%s' % cmsg + elif msg.level == Log.WARN: + return '%s' % cmsg + elif msg.level == Log.ERROR: + return '%s' % cmsg + elif msg.level == Log.FATAL: + return '%s' % cmsg + + +def callback(msg): + for exclude_regex in exclude_regexes: + if re.match(exclude_regex, msg.msg): + return + + global lines + if msg.name not in ignore_nodes: + if msg.name in nodes or len(nodes) == 0: + if len(nodes_regexp) == 0 or nodes_regexp_compiled.match(msg.name): + if reverse_lines: + lines = [colored_message(msg)] + lines + if len(lines) > line_buffer_length: + lines = lines[0:line_buffer_length] + else: + lines = lines + [colored_message(msg)] + if len(lines) > line_buffer_length: + lines = lines[-line_buffer_length:] + text = OverlayText() + text.left = 20 + text.top = 20 + text.width = 1200 + text.height = 1200 + text.fg_color.a = 1.0 + text.fg_color.r = 0.3 + text.text_size = 12 + text.text = "\n".join(lines) + pub.publish(text) + + +if __name__ == "__main__": + rospy.init_node("rosconsole_overlay_text") + nodes = rospy.get_param("~nodes", []) + nodes_regexp = rospy.get_param("~nodes_regexp", "") + if nodes_regexp: + nodes_regexp_compiled = re.compile(nodes_regexp) + ignore_nodes = rospy.get_param("~ignore_nodes", []) + exclude_regexes = rospy.get_param("~exclude_regexes", []) + line_buffer_length = rospy.get_param("~line_buffer_length", 100) + reverse_lines = rospy.get_param("~reverse_lines", True) + lines = [] + sub = rospy.Subscriber("/rosout", Log, callback) + pub = rospy.Publisher("~output", OverlayText, queue_size=1) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/rviz_mouse_point_to_tablet.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/rviz_mouse_point_to_tablet.py new file mode 100755 index 0000000..2db7a09 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/rviz_mouse_point_to_tablet.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python + +import rospy +import numpy +from math import pi +from view_controller_msgs.msg import CameraPlacement +from geometry_msgs.msg import PointStamped +from jsk_gui_msgs.msg import Tablet +from threading import Lock + +lock = Lock() +latest_mouse_point = None + +def pointCallback(msg): + global latest_mouse_point + with lock: + latest_mouse_point = msg + +def timerCallback(event): + global latest_mouse_point + # print (latest_mouse_point and latest_mouse_point.point, + # prev_mouse_point and prev_mouse_point.point) + with lock: + if not latest_mouse_point: + return + next_x = latest_mouse_point.point.x * 640 + next_y = latest_mouse_point.point.y * 480 + msg = Tablet() + msg.header.stamp = rospy.Time.now() + msg.action.task_name = "MoveCameraCenter" + # chop + msg.action.touch_x = next_x + msg.action.touch_y = next_y + rospy.loginfo("neck actino to (%f, %f)" % (msg.action.touch_x, msg.action.touch_y)) + pub.publish(msg) + latest_mouse_point = None + + +if __name__ == "__main__": + rospy.init_node("rviz_mouse_point_to_tablet") + pub = rospy.Publisher("/Tablet/Command", Tablet) + sub = rospy.Subscriber("/rviz/current_mouse_point", + PointStamped, pointCallback) + rospy.Timer(rospy.Duration(0.3), timerCallback) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/static_overlay_text.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/static_overlay_text.py new file mode 100755 index 0000000..ef2fbac --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/static_overlay_text.py @@ -0,0 +1,16 @@ +#!/usr/bin/env python + +# it depends on jsk_rviz_plugins + +import rospy +from jsk_rviz_plugins.msg import OverlayText +from jsk_rviz_plugins.overlay_text_interface import OverlayTextInterface +def publish_text(event): + text_interface.publish(str(text)) + +if __name__ == "__main__": + rospy.init_node("static_overlay_text") + text = rospy.get_param("~text") + text_interface = OverlayTextInterface("~output") + rospy.Timer(rospy.Duration(0.1), publish_text) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/string_to_overlay_text.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/string_to_overlay_text.py new file mode 100755 index 0000000..7a91799 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/string_to_overlay_text.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python + +import rospy + +from std_msgs.msg import String, Float32 +from threading import Lock +#from jsk_rviz_plugins.msg import OverlayText +from jsk_rviz_plugins.overlay_text_interface import OverlayTextInterface + +g_lock = Lock() +g_msg = None + +def callback(msg): + global g_msg, g_lock + with g_lock: + g_msg = msg + +def config_callback(config, level): + global g_format + g_format = config.format + return config + +def publish_text(event): + global g_lock, g_msg, g_format + with g_lock: + if not g_msg: + return + text_interface.publish(g_format.format(g_msg.data)) + +def publish_text_multi(event): + global g_lock, multi_topic_msgs, g_format + with g_lock: + if all([msg for topic, msg in multi_topic_msgs.items()]): + text_interface.publish(g_format.format(sum([msg.data for topic, msg in multi_topic_msgs.items()]))) + +multi_topic_msgs = dict() + +class MultiTopicCallback(): + def __init__(self, topic): + self.topic = topic + global multi_topic_msgs + multi_topic_msgs[self.topic] = None + def callback(self, msg): + global multi_topic_msgs + with g_lock: + multi_topic_msgs[self.topic] = msg + +if __name__ == "__main__": + rospy.init_node("string_to_overlay_text") + text_interface = OverlayTextInterface("~output") + multi_topics = rospy.get_param("~multi_topics", []) + g_format = rospy.get_param("~format", "{0}") + if multi_topics: + subs = [] + for topic in multi_topics: + callback = MultiTopicCallback(topic) + subs.append(rospy.Subscriber(topic, String, callback.callback)) + rospy.Timer(rospy.Duration(0.1), publish_text_multi) + else: + sub = rospy.Subscriber("~input", String, callback) + rospy.Timer(rospy.Duration(0.1), publish_text) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/tf_diff_text.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/tf_diff_text.py new file mode 100755 index 0000000..43d930a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/tf_diff_text.py @@ -0,0 +1,42 @@ +#!/usr/bin/env python + +import rospy +import tf +from tf.transformations import * +import numpy as np +from jsk_rviz_plugins.msg import OverlayText +from std_msgs.msg import ColorRGBA +rospy.init_node("tf_diff") + +src1 = rospy.get_param("~src1") +src2 = rospy.get_param("~src2") +listener = tf.TransformListener() +r = rospy.Rate(1) +pub = rospy.Publisher("diff_text", OverlayText) +while not rospy.is_shutdown(): + try: + (pos, rot) = listener.lookupTransform(src1, src2, rospy.Time(0)) + pos_diff = np.linalg.norm(pos) + # quaternion to rpy + rpy = euler_from_quaternion(rot) + rot_diff = np.linalg.norm(rpy) + print (pos_diff, rot_diff) + msg = OverlayText() + msg.width = 1000 + msg.height = 200 + msg.left = 10 + msg.top = 10 + msg.text_size = 20 + msg.line_width = 2 + msg.font = "DejaVu Sans Mono" + msg.text = """%s <-> %s +pos: %f +rot: %f + """ % (src1, src2, pos_diff, rot_diff) + msg.fg_color = ColorRGBA(25 / 255.0, 1.0, 240.0 / 255.0, 1.0) + msg.bg_color = ColorRGBA(0.0, 0.0, 0.0, 0.0) + pub.publish(msg) + except: + rospy.logerr("ignore error") + finally: + r.sleep() diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/twist_stamped_add_header.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/twist_stamped_add_header.py new file mode 100755 index 0000000..5ca2c63 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/scripts/twist_stamped_add_header.py @@ -0,0 +1,23 @@ +#!/usr/bin/env python + +import rospy +import sys +from geometry_msgs.msg import Twist, TwistStamped + +rospy.init_node("twist_stamped_add_header") +pub = rospy.Publisher("cmd_vel_stamped", TwistStamped) + +def callback(msg): + global pub + output = TwistStamped() + output.header.stamp = rospy.Time.now() + output.header.frame_id = sys.argv[1] + output.twist = msg + pub.publish(output) + +if len(sys.argv) != 3: + print("Usage: twist_stamped_add_header frame_id topic") + +sub = rospy.Subscriber(sys.argv[2], Twist, callback) +rospy.spin() + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/setup.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/setup.py new file mode 100755 index 0000000..e789f22 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/setup.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +d = generate_distutils_setup( + packages=['jsk_rviz_plugins'], + package_dir={'': 'python'}, +) + +setup(**d) diff --git 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b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display.cpp @@ -0,0 +1,399 @@ +#include +#include + +#include + +#include +#include +#include +#include + +#include "ambient_sound_visual.h" + +#include "ambient_sound_display.h" + +namespace jsk_rviz_plugins +{ + + // BEGIN_TUTORIAL + // The constructor must have no arguments, so we can't give the + // constructor the parameters it needs to fully initialize. + AmbientSoundDisplay::AmbientSoundDisplay()/*{{{*/ + : Display() + , scene_node_( NULL ) + , messages_received_( 0 ) + , color_( .8, .2, .8 ) // Default color is bright purple. + , alpha_( 1.0 ) // Default alpha is completely opaque. + , width_(0.1) + , scale_(0.1) + { + }/*}}}*/ + + // After the parent rviz::Display::initialize() does its own setup, it + // calls the subclass's onInitialize() function. This is where we + // instantiate all the workings of the class. + void AmbientSoundDisplay::onInitialize()/*{{{*/ + { + // Make an Ogre::SceneNode to contain all our visuals. + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + + // Set the default history length and resize the ``visuals_`` array. + setHistoryLength( 1 ); + + // A tf::MessageFilter listens to ROS messages and calls our + // callback with them when they can be matched up with valid tf + // transform data. + tf_filter_ = + new tf::MessageFilter( *vis_manager_->getTFClient(), + "", 100, update_nh_ ); + tf_filter_->connectInput( sub_ ); + tf_filter_->registerCallback( boost::bind( &AmbientSoundDisplay::incomingMessage, + this, _1 )); + + // FrameManager has some built-in functions to set the status of a + // Display based on callbacks from a tf::MessageFilter. These work + // fine for this simple display. + vis_manager_->getFrameManager() + ->registerFilterForTransformStatusCheck( tf_filter_, this ); + }/*}}}*/ + + AmbientSoundDisplay::~AmbientSoundDisplay()/*{{{*/ + { + unsubscribe(); + clear(); + for( size_t i = 0; i < visuals_.size(); i++ ) + { + delete visuals_[ i ]; + } + + delete tf_filter_; + }/*}}}*/ + + // Clear the visuals by deleting their objects. + void AmbientSoundDisplay::clear()/*{{{*/ + { + for( size_t i = 0; i < visuals_.size(); i++ ) + { + delete visuals_[ i ]; + visuals_[ i ] = NULL; + } + tf_filter_->clear(); + messages_received_ = 0; + setStatus( rviz::status_levels::Warn, "Topic", "No messages received" ); + }/*}}}*/ + + void AmbientSoundDisplay::setTopic( const std::string& topic )/*{{{*/ + { + unsubscribe(); + clear(); + topic_ = topic; + subscribe(); + + // Broadcast the fact that the variable has changed. + propertyChanged( topic_property_ ); + + // Make sure rviz renders the next time it gets a chance. + causeRender(); + }/*}}}*/ + + void AmbientSoundDisplay::setColor( const rviz::Color& color )/*{{{*/ + { + color_ = color; + + propertyChanged( color_property_ ); + updateColorAndAlpha(); + causeRender(); + }/*}}}*/ + + void AmbientSoundDisplay::setAlpha( float alpha )/*{{{*/ + { + alpha_ = alpha; + + propertyChanged( alpha_property_ ); + updateColorAndAlpha(); + causeRender(); + }/*}}}*/ + + void AmbientSoundDisplay::setWidth( float width )/*{{{*/ + { + width_ = width; + + propertyChanged( width_property_ ); + updateColorAndAlpha(); + causeRender(); + }/*}}}*/ + + void AmbientSoundDisplay::setScale( float scale )/*{{{*/ + { + scale_ = scale; + + propertyChanged( scale_property_ ); + updateColorAndAlpha(); + causeRender(); + } + /*}}}*/ + + void AmbientSoundDisplay::setBias( float bias )/*{{{*/ + { + bias_ = bias; + + propertyChanged( bias_property_ ); + updateColorAndAlpha(); + causeRender(); + }/*}}}*/ + + void AmbientSoundDisplay::setGrad( float grad )/*{{{*/ + { + grad_ = grad; + + propertyChanged( grad_property_ ); + updateColorAndAlpha(); + causeRender(); + }/*}}}*/ + + // Set the current color and alpha values for each visual. + void AmbientSoundDisplay::updateColorAndAlpha()/*{{{*/ + { + for( size_t i = 0; i < visuals_.size(); i++ ) + { + if( visuals_[ i ] ) + { + visuals_[ i ]->setColor( color_.r_, color_.g_, color_.b_, alpha_ ); + } + } + }/*}}}*/ + + // Set the number of past visuals to show. + void AmbientSoundDisplay::setHistoryLength( int length )/*{{{*/ + { + // Don't let people enter invalid values. + if( length < 1 ) + { + length = 1; + } + // If the length is not changing, we don't need to do anything. + if( history_length_ == length ) + { + return; + } + + // Set the actual variable. + history_length_ = length; + propertyChanged( history_length_property_ ); + + // Create a new array of visual pointers, all NULL. + std::vector new_visuals( history_length_, (AmbientSoundVisual*)0 ); + + // Copy the contents from the old array to the new. + // (Number to copy is the minimum of the 2 vector lengths). + size_t copy_len = + (new_visuals.size() > visuals_.size()) ? + visuals_.size() : new_visuals.size(); + for( size_t i = 0; i < copy_len; i++ ) + { + int new_index = (messages_received_ - i) % new_visuals.size(); + int old_index = (messages_received_ - i) % visuals_.size(); + new_visuals[ new_index ] = visuals_[ old_index ]; + visuals_[ old_index ] = NULL; + } + + // Delete any remaining old visuals + for( size_t i = 0; i < visuals_.size(); i++ ) { + delete visuals_[ i ]; + } + + // We don't need to create any new visuals here, they are created as + // needed when messages are received. + + // Put the new vector into the member variable version and let the + // old one go out of scope. + visuals_.swap( new_visuals ); + }/*}}}*/ + + void AmbientSoundDisplay::subscribe()/*{{{*/ + { + // If we are not actually enabled, don't do it. + if ( !isEnabled() ) + { + return; + } + + // Try to subscribe to the current topic name (in ``topic_``). Make + // sure to catch exceptions and set the status to a descriptive + // error message. + try + { + sub_.subscribe( update_nh_, topic_, 10 ); + setStatus( rviz::status_levels::Ok, "Topic", "OK" ); + } + catch( ros::Exception& e ) + { + setStatus( rviz::status_levels::Error, "Topic", + std::string( "Error subscribing: " ) + e.what() ); + } + }/*}}}*/ + + void AmbientSoundDisplay::unsubscribe()/*{{{*/ + { + sub_.unsubscribe(); + }/*}}}*/ + + void AmbientSoundDisplay::onEnable()/*{{{*/ + { + subscribe(); + }/*}}}*/ + + void AmbientSoundDisplay::onDisable()/*{{{*/ + { + unsubscribe(); + clear(); + }/*}}}*/ + + // When the "Fixed Frame" changes, we need to update our + // tf::MessageFilter and erase existing visuals. + void AmbientSoundDisplay::fixedFrameChanged()/*{{{*/ + { + tf_filter_->setTargetFrame( fixed_frame_ ); + clear(); + }/*}}}*/ + + // This is our callback to handle an incoming message. + void AmbientSoundDisplay::incomingMessage( const jsk_hark_msgs::HarkPower::ConstPtr& msg )/*{{{*/ + { + ++messages_received_; + + // Each display can have multiple status lines. This one is called + // "Topic" and says how many messages have been received in this case. + std::stringstream ss; + ss << messages_received_ << " messages received"; + setStatus( rviz::status_levels::Ok, "Topic", ss.str() ); + + // Here we call the rviz::FrameManager to get the transform from the + // fixed frame to the frame in the header of this Imu message. If + // it fails, we can't do anything else so we return. + Ogre::Quaternion orientation; + Ogre::Vector3 position; + if( !vis_manager_->getFrameManager()->getTransform( msg->header.frame_id, + msg->header.stamp, + position, orientation )) + { + ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'", + msg->header.frame_id.c_str(), fixed_frame_.c_str() ); + return; + } + + // We are keeping a circular buffer of visual pointers. This gets + // the next one, or creates and stores it if it was missing. + AmbientSoundVisual* visual = visuals_[ messages_received_ % history_length_ ]; + if( visual == NULL ) + { + visual = new AmbientSoundVisual( vis_manager_->getSceneManager(), scene_node_ ); + visuals_[ messages_received_ % history_length_ ] = visual; + } + + // Now set or update the contents of the chosen visual. + visual->setFramePosition( position ); + visual->setFrameOrientation( orientation ); + visual->setColor( color_.r_, color_.g_, color_.b_, alpha_ ); + visual->setWidth( width_ ); + visual->setScale( scale_ ); + visual->setBias ( bias_ ); + visual->setGrad ( grad_ ); + visual->setMessage( msg ); + }/*}}}*/ + + // Override rviz::Display's reset() function to add a call to clear(). + void AmbientSoundDisplay::reset()/*{{{*/ + { + Display::reset(); + clear(); + }/*}}}*/ + + // Override createProperties() to build and configure a Property + // object for each user-editable property. ``property_manager_``, + // ``property_prefix_``, and ``parent_category_`` are all initialized before + // this is called. + void AmbientSoundDisplay::createProperties()/*{{{*/ + { + topic_property_ = + property_manager_->createProperty( "Topic", + property_prefix_, + boost::bind( &AmbientSoundDisplay::getTopic, this ), + boost::bind( &AmbientSoundDisplay::setTopic, this, _1 ), + parent_category_, + this ); + setPropertyHelpText( topic_property_, "jsk_hark_msgs::HarkPower topic to subscribe to." ); + rviz::ROSTopicStringPropertyPtr topic_prop = topic_property_.lock(); + topic_prop->setMessageType( ros::message_traits::datatype() ); + + color_property_ = + property_manager_->createProperty( "Color", + property_prefix_, + boost::bind( &AmbientSoundDisplay::getColor, this ), + boost::bind( &AmbientSoundDisplay::setColor, this, _1 ), + parent_category_, + this ); + setPropertyHelpText( color_property_, "Color to draw the acceleration arrows." ); + + alpha_property_ = + property_manager_->createProperty( "Alpha", + property_prefix_, + boost::bind( &AmbientSoundDisplay::getAlpha, this ), + boost::bind( &AmbientSoundDisplay::setAlpha, this, _1 ), + parent_category_, + this ); + setPropertyHelpText( alpha_property_, "0 is fully transparent, 1.0 is fully opaque." ); + + history_length_property_ = + property_manager_->createProperty( "History Length", + property_prefix_, + boost::bind( &AmbientSoundDisplay::getHistoryLength, this ), + boost::bind( &AmbientSoundDisplay::setHistoryLength, this, _1 ), + parent_category_, + this ); + setPropertyHelpText( history_length_property_, "Number of prior measurements to display." ); + + width_property_ = + property_manager_->createProperty( "Width", + property_prefix_, + boost::bind( &AmbientSoundDisplay::getWidth, this ), + boost::bind( &AmbientSoundDisplay::setWidth, this, _1 ), + parent_category_, + this ); + setPropertyHelpText( width_property_, "Width of line" ); + + scale_property_ = + property_manager_->createProperty( "Scale", + property_prefix_, + boost::bind( &AmbientSoundDisplay::getScale, this ), + boost::bind( &AmbientSoundDisplay::setScale, this, _1 ), + parent_category_, + this ); + setPropertyHelpText( scale_property_, "Scale of line" ); + + grad_property_ = + property_manager_->createProperty( "Grad", + property_prefix_, + boost::bind( &AmbientSoundDisplay::getGrad, this ), + boost::bind( &AmbientSoundDisplay::setGrad, this, _1 ), + parent_category_, + this ); + setPropertyHelpText( grad_property_, "Graduation" ); + + bias_property_ = + property_manager_->createProperty( "Bias", + property_prefix_, + boost::bind( &AmbientSoundDisplay::getBias, this ), + boost::bind( &AmbientSoundDisplay::setBias, this, _1 ), + parent_category_, + this ); + setPropertyHelpText( bias_property_, "Bias to subtract" ); + }/*}}}*/ + +} // end namespace jsk_rviz_plugin + +// Tell pluginlib about this class. It is important to do this in +// global scope, outside our package's namespace. +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::AmbientSoundDisplay, rviz::Display ) + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display.h new file mode 100755 index 0000000..9c52ca4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display.h @@ -0,0 +1,119 @@ +#ifndef __AMBIENT_SOUND_DISPLAY__ +#define __AMBIENT_SOUND_DISPLAY__ + +#include +#include +#include +#include + +namespace Ogre +{ +class SceneNode; +} + +// All the source in this plugin is in its own namespace. This is not +// required but is good practice. +namespace jsk_rviz_plugins +{ + +class AmbientSoundVisual; + +class AmbientSoundDisplay: public rviz::Display +{ +public: + // Constructor. pluginlib::ClassLoader creates instances by calling + // the default constructor, so make sure you have one. + AmbientSoundDisplay(); + virtual ~AmbientSoundDisplay(); + + // Overrides of public virtual functions from the Display class. + virtual void onInitialize(); + virtual void fixedFrameChanged(); + virtual void reset(); + virtual void createProperties(); + + // Setter and getter functions for user-editable properties. + void setTopic(const std::string& topic); + const std::string& getTopic() { return topic_; } + + void setColor( const rviz::Color& color ); + const rviz::Color& getColor() { return color_; } + + void setAlpha( float alpha ); + float getAlpha() { return alpha_; } + + void setHistoryLength( int history_length ); + int getHistoryLength() const { return history_length_; } + + void setWidth( float width ); + float getWidth() const { return width_; } + + void setScale( float scale ); + float getScale() const { return scale_; } + + void setBias( float bias ); + float getBias() const { return bias_; } + + void setGrad( float grad ); + float getGrad() const { return grad_; } + + // Overrides of protected virtual functions from Display. As much + // as possible, when Displays are not enabled, they should not be + // subscribed to incoming data and should not show anything in the + // 3D view. These functions are where these connections are made + // and broken. +protected: + virtual void onEnable(); + virtual void onDisable(); + + // Function to handle an incoming ROS message. +private: + void incomingMessage( const jsk_hark_msgs::HarkPower::ConstPtr& msg ); + + // Internal helpers which do the work of subscribing and + // unsubscribing from the ROS topic. + void subscribe(); + void unsubscribe(); + + // A helper to clear this display back to the initial state. + void clear(); + + // Helper function to apply color and alpha to all visuals. + void updateColorAndAlpha(); + + // Storage for the list of visuals. This display supports an + // adjustable history length, so we need one visual per history + // item. + std::vector visuals_; + + // A node in the Ogre scene tree to be the parent of all our visuals. + Ogre::SceneNode* scene_node_; + + // Data input: Subscriber and tf message filter. + message_filters::Subscriber sub_; + tf::MessageFilter* tf_filter_; + int messages_received_; + + // User-editable property variables. + rviz::Color color_; + std::string topic_; + float alpha_; + int history_length_; + float width_,scale_,bias_,grad_; + + // Property objects for user-editable properties. + rviz::ColorPropertyWPtr color_property_; + rviz::ROSTopicStringPropertyWPtr topic_property_; + rviz::FloatPropertyWPtr alpha_property_; + rviz::IntPropertyWPtr history_length_property_; + rviz::FloatPropertyWPtr width_property_; + rviz::FloatPropertyWPtr scale_property_; + rviz::FloatPropertyWPtr bias_property_; + rviz::FloatPropertyWPtr grad_property_; +}; +// END_TUTORIAL + +} // end namespace jsk_rviz_plugins + +#endif // __AMBIENT_SOUND_DISPLAY__ +// %EndTag(FULL_SOURCE)% diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display_groovy.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display_groovy.cpp new file mode 100755 index 0000000..9191f66 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display_groovy.cpp @@ -0,0 +1,280 @@ +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include "ambient_sound_visual.h" +#include "ambient_sound_display_groovy.h" + +namespace jsk_rviz_plugins +{ + + AmbientSoundDisplay::AmbientSoundDisplay()/*{{{*/ + { + color_property_ = new rviz::ColorProperty("Color",QColor( 204, 51, 204), + "Color to draw the acceleration arrows." , + this, SLOT(updateColorAndAlpha())); + alpha_property_ = new rviz::FloatProperty( "Alpha", 1.0, + "0 is fully transparent, 1.0 is fully opaque.", + this, SLOT( updateColorAndAlpha() )); + history_length_property_ = new rviz::IntProperty("History Length", 1, + "Number of prior measurements to display." , + this, SLOT(updateHistoryLength())); + width_property_ = new rviz::FloatProperty("Width", 0.1, + "Width of line", + this, SLOT(updateAppearance())); + scale_property_ = new rviz::FloatProperty("Scale", 1.0, + "Scale of line", + this, SLOT(updateAppearance())); + bias_property_ = new rviz::FloatProperty("Bias", 10, + "Bias", + this, SLOT(updateAppearance())); + grad_property_ = new rviz::FloatProperty("Gradient", 0.1, + "Gradient", + this, SLOT(updateAppearance())); + history_length_property_->setMin( 1 ); + history_length_property_->setMax( 1 ); + }/*}}}*/ + + // After the parent rviz::Display::initialize() does its own setup, it + // calls the subclass's onInitialize() function. This is where we + // instantiate all the workings of the class. + void AmbientSoundDisplay::onInitialize()/*{{{*/ + { + MFDClass::onInitialize(); + // Make an Ogre::SceneNode to contain all our visuals. + //scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + + // Set the default history length and resize the ``visuals_`` array. + //setHistoryLength( 1 ); + updateHistoryLength(); + + // A tf::MessageFilter listens to ROS messages and calls our + // callback with them when they can be matched up with valid tf + // transform data. +// tf_filter_ = +// new tf::MessageFilter( *context_->getTFClient(), +// "", 100, update_nh_ ); +// tf_filter_->connectInput( sub_ ); +// tf_filter_->registerCallback( boost::bind( &AmbientSoundDisplay::incomingMessage, +// this, _1 )); + + // FrameManager has some built-in functions to set the status of a + // Display based on callbacks from a tf::MessageFilter. These work + // fine for this simple display. +// vis_manager_->getFrameManager() +// ->registerFilterForTransformStatusCheck( tf_filter_, this ); + }/*}}}*/ + + AmbientSoundDisplay::~AmbientSoundDisplay()/*{{{*/ + { +// for( size_t i = 0; i < visuals_.size(); i++ ) +// { +// delete visuals_[ i ]; +// } +// +// delete tf_filter_; + }/*}}}*/ + + // Clear the visuals by deleting their objects. + void AmbientSoundDisplay::reset() + { + MFDClass::reset(); + visuals_.clear(); + } + +/*{{{*/ +// void AmbientSoundDisplay::clear() +// { +// for( size_t i = 0; i < visuals_.size(); i++ ) +// { +// delete visuals_[ i ]; +// visuals_[ i ] = NULL; +// } +// tf_filter_->clear(); +// messages_received_ = 0; +// setStatus( rviz::status_levels::Warn, "Topic", "No messages received" ); +// }/*}}}*/ + + // Set the current color and alpha values for each visual. + void AmbientSoundDisplay::updateColorAndAlpha()/*{{{*/ + { + float alpha = alpha_property_->getFloat(); + Ogre::ColourValue color = color_property_->getOgreColor(); + + for( size_t i = 0; i < visuals_.size(); i++ ) + { + if( visuals_[ i ] ) + { + visuals_[ i ]->setColor( color.r, color.g, color.b, alpha ); + } + } + }/*}}}*/ + + // Set the appearance of the line + void AmbientSoundDisplay::updateAppearance(){/*{{{*/ + float width = width_property_->getFloat(); + float scale = scale_property_->getFloat(); + float bias = bias_property_->getFloat(); + float grad = grad_property_->getFloat(); + + for( size_t i = 0; i < visuals_.size(); i++ ) + { + if( visuals_[ i ] ) + { + visuals_[ i ]->setWidth( width ); + visuals_[ i ]->setScale( scale ); + visuals_[ i ]->setBias ( bias ); + visuals_[ i ]->setGrad ( grad ); + } + } + }/*}}}*/ + + // Set the number of past visuals to show. + void AmbientSoundDisplay::updateHistoryLength(){/*{{{*/ + visuals_.rset_capacity(history_length_property_->getInt()); + }/*}}}*/ + + bool AmbientSoundDisplay::validateFloats( const jsk_hark_msgs::HarkPower& msg ) + { + std::vector::const_iterator it = msg.powers.begin(); + for (; it < msg.powers.end(); ++it) { + if(!rviz::validateFloats(*it)){ + return false; + }; + } + return true; + } + + //void AmbientSoundDisplay::setHistoryLength( int length )[>{{{<] + //{ + //// Don't let people enter invalid values. + //if( length < 1 ) + //{ + //length = 1; + //} + //// If the length is not changing, we don't need to do anything. + //if( history_length_ == length ) + //{ + //return; + //} + + //// Set the actual variable. + //history_length_ = length; + //propertyChanged( history_length_property_ ); + + //// Create a new array of visual pointers, all NULL. + //std::vector new_visuals( history_length_, (AmbientSoundVisual*)0 ); + + //// Copy the contents from the old array to the new. + //// (Number to copy is the minimum of the 2 vector lengths). + //size_t copy_len = + //(new_visuals.size() > visuals_.size()) ? + //visuals_.size() : new_visuals.size(); + //for( size_t i = 0; i < copy_len; i++ ) + //{ + //int new_index = (messages_received_ - i) % new_visuals.size(); + //int old_index = (messages_received_ - i) % visuals_.size(); + //new_visuals[ new_index ] = visuals_[ old_index ]; + //visuals_[ old_index ] = NULL; + //} + + //// Delete any remaining old visuals + //for( size_t i = 0; i < visuals_.size(); i++ ) { + //delete visuals_[ i ]; + //} + + //// We don't need to create any new visuals here, they are created as + //// needed when messages are received. + + //// Put the new vector into the member variable version and let the + //// old one go out of scope. + //visuals_.swap( new_visuals ); + //}[>}}}<] + + // When the "Fixed Frame" changes, we need to update our + // tf::MessageFilter and erase existing visuals. + //void AmbientSoundDisplay::fixedFrameChanged()[>{{{<] + //{ + //tf_filter_->setTargetFrame( fixed_frame_ ); + //clear(); + //}[>}}}<] + + // This is our callback to handle an incoming message. + void AmbientSoundDisplay::processMessage( const jsk_hark_msgs::HarkPower::ConstPtr& msg )/*{{{*/ + { + if( !validateFloats( *msg )) + { + setStatus( rviz::StatusProperty::Error, "Topic", "Message contained invalid floating point values (nans or infs)" ); + return; + } + + // Here we call the rviz::FrameManager to get the transform from the + // fixed frame to the frame in the header of this Imu message. If + // it fails, we can't do anything else so we return. + Ogre::Quaternion orientation; + Ogre::Vector3 position; + if( !context_->getFrameManager()->getTransform( msg->header.frame_id, + msg->header.stamp, + position, orientation )) + { + ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'", + msg->header.frame_id.c_str(), qPrintable( fixed_frame_ )); + return; + } + + // We are keeping a circular buffer of visual pointers. This gets + // the next one, or creates and stores it if it was missing. +#if ROS_VERSION_MINIMUM(1,12,0) + std::shared_ptr visual; +#else + boost::shared_ptr visual; +#endif + //AmbientSoundVisual* visual_ptr; + if( visuals_.full()) + { + visual = visuals_.front(); + //visual.reset(visuals_.front()); + //visual_ptr = visuals_.front(); + //visual.reset(visual_ptr); + } else { + visual.reset(new AmbientSoundVisual(context_->getSceneManager(), scene_node_)); + } + + // Now set or update the contents of the chosen visual. + visual->setMessage( msg ); + visual->setFramePosition( position ); + visual->setFrameOrientation( orientation ); + + float alpha = alpha_property_->getFloat(); + Ogre::ColourValue color = color_property_->getOgreColor(); + float width = width_property_->getFloat(); + float scale = scale_property_->getFloat(); + float bias = bias_property_->getFloat(); + float grad = grad_property_->getFloat(); + + visual->setColor( color.r, color.g, color.b, alpha ); + visual->setWidth( width ); + visual->setScale( scale ); + visual->setBias ( bias ); + visual->setGrad ( grad ); + + visuals_.push_back(visual); + }/*}}}*/ + +} // end namespace jsk_rviz_plugin + +// Tell pluginlib about this class. It is important to do this in +// global scope, outside our package's namespace. +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::AmbientSoundDisplay, rviz::Display ) + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display_groovy.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display_groovy.h new file mode 100755 index 0000000..21735d3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_display_groovy.h @@ -0,0 +1,152 @@ +#ifndef __AMBIENT_SOUND_DISPLAY__ +#define __AMBIENT_SOUND_DISPLAY__ + +#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 +#include +#include +#include +#include +#include +#include +#endif + +#include + +namespace Ogre +{ +class SceneNode; +} + +namespace rviz +{ + class ColorProperty; + class FloatProperty; + class IntProperty; + class ROSTopicStringProperty; +} + +// All the source in this plugin is in its own namespace. This is not +// required but is good practice. +namespace jsk_rviz_plugins +{ + +class AmbientSoundVisual; + +//class AmbientSoundDisplay: public rviz::Display +class AmbientSoundDisplay: public rviz::MessageFilterDisplay +{ +Q_OBJECT +public: + // Constructor. pluginlib::ClassLoader creates instances by calling + // the default constructor, so make sure you have one. + AmbientSoundDisplay(); + virtual ~AmbientSoundDisplay(); + + // Overrides of public virtual functions from the Display class. + virtual void onInitialize(); + //virtual void fixedFrameChanged(); + virtual void reset(); + //virtual void createProperties(); + + // Setter and getter functions for user-editable properties. +/* + void setTopic(const std::string& topic); + const std::string& getTopic() { return topic_; } + + void setColor( const rviz::Color& color ); + const rviz::Color& getColor() { return color_; } + + void setAlpha( float alpha ); + float getAlpha() { return alpha_; } + + void setHistoryLength( int history_length ); + int getHistoryLength() const { return history_length_; } + + void setWidth( float width ); + float getWidth() const { return width_; } + + void setScale( float scale ); + float getScale() const { return scale_; } + + void setBias( float bias ); + float getBias() const { return bias_; } + + void setGrad( float grad ); + float getGrad() const { return grad_; } +*/ + + // Overrides of protected virtual functions from Display. As much + // as possible, when Displays are not enabled, they should not be + // subscribed to incoming data and should not show anything in the + // 3D view. These functions are where these connections are made + // and broken. +/* + protected: + virtual void onEnable(); + virtual void onDisable(); +*/ + +private Q_SLOTS: + void updateColorAndAlpha(); + void updateAppearance(); + void updateHistoryLength(); + bool validateFloats( const jsk_hark_msgs::HarkPower& ); + + // Function to handle an incoming ROS message. +private: + //void incomingMessage( const jsk_hark_msgs::HarkPower::ConstPtr& msg ); + void processMessage( const jsk_hark_msgs::HarkPower::ConstPtr& msg ); + + // Internal helpers which do the work of subscribing and + // unsubscribing from the ROS topic. +// void subscribe(); +// void unsubscribe(); + + // A helper to clear this display back to the initial state. + //void clear(); + + // Helper function to apply color and alpha to all visuals. + + // Storage for the list of visuals. This display supports an + // adjustable history length, so we need one visual per history + // item. + //boost::circular_buffer visuals_; +#if ROS_VERSION_MINIMUM(1,12,0) + boost::circular_buffer > visuals_; +#else + boost::circular_buffer > visuals_; +#endif + + // A node in the Ogre scene tree to be the parent of all our visuals. + //Ogre::SceneNode* scene_node_; + + // Data input: Subscriber and tf message filter. + //message_filters::Subscriber sub_; + //tf::MessageFilter* tf_filter_; + //int messages_received_; + + // User-editable property variables. +/* + rviz::Color color_; + std::string topic_; + float alpha_; + int history_length_; + float width_,scale_,bias_,grad_; +*/ + + // Property objects for user-editable properties. + rviz::ColorProperty *color_property_; + rviz::ROSTopicStringProperty *topic_property_; + rviz::FloatProperty *alpha_property_; + rviz::IntProperty *history_length_property_; + rviz::FloatProperty *width_property_; + rviz::FloatProperty *scale_property_; + rviz::FloatProperty *bias_property_; + rviz::FloatProperty *grad_property_; +}; +// END_TUTORIAL + +} // end namespace jsk_rviz_plugins + +#endif // __AMBIENT_SOUND_DISPLAY__ +// %EndTag(FULL_SOURCE)% diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_visual.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_visual.cpp new file mode 100755 index 0000000..09da727 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_visual.cpp @@ -0,0 +1,127 @@ +#include +#include +#include + +#include +#include + +#include "ambient_sound_visual.h" + +namespace jsk_rviz_plugins +{ + + // BEGIN_TUTORIAL + AmbientSoundVisual::AmbientSoundVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node ): /*{{{*/ + width_ (0.1), + scale_ (1.0), + bias_ (28), + grad_ (0.4) + { + scene_manager_ = scene_manager; + + // Ogre::SceneNode s form a tree, with each node storing the + // transform (position and orientation) of itself relative to its + // parent. Ogre does the math of combining those transforms when it + // is time to render. + // + // Here we create a node to store the pose of the Imu's header frame + // relative to the RViz fixed frame. + frame_node_ = parent_node->createChildSceneNode(); + + // We create the arrow object within the frame node so that we can + // set its position and direction relative to its header frame. + ambient_sound_power_line_ = new rviz::BillboardLine( scene_manager_, frame_node_ ); + //axes_ = new rviz::Axes( scene_manager_ , frame_node_); + }/*}}}*/ + + AmbientSoundVisual::~AmbientSoundVisual()/*{{{*/ + { + // Delete the arrow to make it disappear. + delete ambient_sound_power_line_; + //delete axes_; + + // Destroy the frame node since we don't need it anymore. + scene_manager_->destroySceneNode( frame_node_ ); + }/*}}}*/ + + void AmbientSoundVisual::setMessage( const jsk_hark_msgs::HarkPower::ConstPtr& msg )/*{{{*/ + { + int directions = msg->directions; + std::vector powers = msg->powers; + + //float powers[] = {/*{{{*/ + //25,25,28,30,34,32,29,25,25,25, + //25,25,25,25,25,25,25,25,25,25, + //25,25,25,25,25,25,25,25,25,25, + //25,25,25,25,25,25,25,25,25,25, + //25,25,25,25,25,25,25,25,25,25, + //25,25,25,25,25,25,25,25,25,25, + //25,25,25,25,25,25,25,25,25,25, + //25,25, + //};/*}}}*/ + + if ( powers[0] == 0.0 ){ return;} + //float min_elem = *std::min_element(powers.begin(),powers.end()); + //axes_->setOrientation(orientation_); + //axes_->setPosition(position_); + ambient_sound_power_line_->clear(); + ambient_sound_power_line_->setLineWidth(width_); + for (int i = 0; i <= directions ; i++) { + float biased_power = (powers[(i%directions)] - bias_) * grad_; + if (biased_power <= 0.0) { biased_power = 0.001; } + Ogre::Vector3 point = Ogre::Vector3((biased_power*scale_)*cos(i*(2*M_PI/directions)- M_PI), (biased_power*scale_)*sin(i*(2*M_PI/directions) - M_PI), 0); + ambient_sound_power_line_->addPoint(orientation_ * point + position_); + //std::cout << biased_power << " "; + } + //std::cout << std::endl; + + //Ogre::ColourValue color; + //ambient_sound_power_line_->setColor(color.r, color.g, color.b, color.a); + }/*}}}*/ + + // Position and orientation are passed through to the SceneNode. + void AmbientSoundVisual::setFramePosition( const Ogre::Vector3& position )/*{{{*/ + { + //ROS_INFO_STREAM("pos: " << position); + //frame_node_->setPosition( position ); //<- unnecessary + position_ = position; + } + + void AmbientSoundVisual::setFrameOrientation( const Ogre::Quaternion& orientation ) + { + //ROS_INFO_STREAM("orientation: " << orientation); + //frame_node_->setOrientation( orientation ); //<- unnecessary + orientation_ = orientation; + } + /*}}}*/ + + // Color is passed through to the Arrow object. + /*{{{*/ + void AmbientSoundVisual::setColor( float r, float g, float b, float a ) + { + ambient_sound_power_line_->setColor( r, g, b, a ); + } + + // added by sifi + void AmbientSoundVisual::setWidth( float w ) + { + width_ = w; + } + void AmbientSoundVisual::setScale( float s ) + { + scale_ = s; + } + void AmbientSoundVisual::setBias( float b ) + { + bias_ = b; + } + void AmbientSoundVisual::setGrad( float g ) + { + grad_ = g; + } + /*}}}*/ + + // END_TUTORIAL + +} // end namespace jsk_rviz_plugins + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_visual.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_visual.h new file mode 100755 index 0000000..662a0ac --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/ambient_sound_visual.h @@ -0,0 +1,86 @@ +#ifndef __AMBIENT_SOUND_VISUAL__ +#define __AMBIENT_SOUND_VISUAL__ + +#include +#include +#include + +namespace Ogre +{ +class SceneManager; +class SceneNode; +//class Vector3; +//class Quaternion; +} + +namespace rviz +{ +class BillboardLine; +//class Axes; +} + +namespace jsk_rviz_plugins +{ + +// BEGIN_TUTORIAL +// Declare the visual class for this display. +// +// Each instance of AmbientSoundVisual represents the visualization of a single +// sensor_msgs::Imu message. Currently it just shows an arrow with +// the direction and magnitude of the acceleration vector, but could +// easily be expanded to include more of the message data. +class AmbientSoundVisual +{ +public: + // Constructor. Creates the visual stuff and puts it into the + // scene, but in an unconfigured state. + AmbientSoundVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node ); + + // Destructor. Removes the visual stuff from the scene. + virtual ~AmbientSoundVisual(); + + // Configure the visual to show the data in the message. + void setMessage( const jsk_hark_msgs::HarkPower::ConstPtr& msg ); + + // Set the pose of the coordinate frame the message refers to. + // These could be done inside setMessage(), but that would require + // calls to FrameManager and error handling inside setMessage(), + // which doesn't seem as clean. This way AmbientSoundVisual is only + // responsible for visualization. + void setFramePosition( const Ogre::Vector3& position ); + void setFrameOrientation( const Ogre::Quaternion& orientation ); + + // Set the color and alpha of the visual, which are user-editable + // parameters and therefore don't come from the Imu message. + void setColor( float r, float g, float b, float a ); + + void setWidth( float w ); + void setScale( float s ); + void setBias( float b ); + void setGrad( float g ); + +private: + // The object implementing the actual arrow shape + rviz::BillboardLine* ambient_sound_power_line_; + //rviz::Axes* axes_; + + // A SceneNode whose pose is set to match the coordinate frame of + // the Imu message header. + Ogre::SceneNode* frame_node_; + + // The SceneManager, kept here only so the destructor can ask it to + // destroy the ``frame_node_``. + Ogre::SceneManager* scene_manager_; + + Ogre::Vector3 position_; + Ogre::Quaternion orientation_; + + //std::map position_; + //std::map orientation_; + float width_,scale_,bias_,grad_; +}; +// END_TUTORIAL + +} // end namespace jsk_rviz_plugins + +#endif // __AMBIENT_SOUND_VISUAL__ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_array_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_array_display.cpp new file mode 100755 index 0000000..7b5e233 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_array_display.cpp @@ -0,0 +1,210 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Ryohei Ueda and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "bounding_box_display_common.h" +#include "bounding_box_array_display.h" +#include + +namespace jsk_rviz_plugins +{ + + BoundingBoxArrayDisplay::BoundingBoxArrayDisplay() + { + coloring_property_ = new rviz::EnumProperty( + "coloring", "Auto", + "coloring method", + this, SLOT(updateColoring())); + coloring_property_->addOption("Flat color", 1); + coloring_property_->addOption("Label", 2); + coloring_property_->addOption("Value", 3); + + color_property_ = new rviz::ColorProperty( + "color", QColor(25, 255, 0), + "color to draw the bounding boxes", + this, SLOT(updateColor())); + alpha_property_ = new rviz::FloatProperty( + "alpha", 0.8, + "alpha value to draw the bounding boxes", + this, SLOT(updateAlpha())); + only_edge_property_ = new rviz::BoolProperty( + "only edge", false, + "show only the edges of the boxes", + this, SLOT(updateOnlyEdge())); + line_width_property_ = new rviz::FloatProperty( + "line width", 0.005, + "line width of the edges", + this, SLOT(updateLineWidth())); + show_coords_property_ = new rviz::BoolProperty( + "show coords", false, + "show coordinate of bounding box", + this, SLOT(updateShowCoords())); + } + + BoundingBoxArrayDisplay::~BoundingBoxArrayDisplay() + { + delete color_property_; + delete alpha_property_; + delete only_edge_property_; + delete coloring_property_; + delete show_coords_property_; + } + + void BoundingBoxArrayDisplay::onInitialize() + { + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + + updateColor(); + updateAlpha(); + updateOnlyEdge(); + updateColoring(); + updateLineWidth(); + updateShowCoords(); + } + + void BoundingBoxArrayDisplay::updateLineWidth() + { + line_width_ = line_width_property_->getFloat(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxArrayDisplay::updateColor() + { + color_ = color_property_->getColor(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxArrayDisplay::updateAlpha() + { + alpha_ = alpha_property_->getFloat(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxArrayDisplay::updateOnlyEdge() + { + only_edge_ = only_edge_property_->getBool(); + if (only_edge_) { + line_width_property_->show(); + } + else { + line_width_property_->hide();; + } + // Imediately apply attribute + if (latest_msg_) { + if (only_edge_) { + showEdges(latest_msg_); + } + else { + showBoxes(latest_msg_); + } + } + } + + void BoundingBoxArrayDisplay::updateColoring() + { + if (coloring_property_->getOptionInt() == 0) { + coloring_method_ = "auto"; + color_property_->hide(); + } + else if (coloring_property_->getOptionInt() == 1) { + coloring_method_ = "flat"; + color_property_->show(); + } + else if (coloring_property_->getOptionInt() == 2) { + coloring_method_ = "label"; + color_property_->hide(); + } + else if (coloring_property_->getOptionInt() == 3) { + coloring_method_ = "value"; + color_property_->hide(); + } + + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxArrayDisplay::updateShowCoords() + { + show_coords_ = show_coords_property_->getBool(); + // Immediately apply show_coords attribute + if (!show_coords_) { + hideCoords(); + } + else if (show_coords_ && latest_msg_) { + showCoords(latest_msg_); + } + } + + void BoundingBoxArrayDisplay::reset() + { + MFDClass::reset(); + shapes_.clear(); + edges_.clear(); + coords_nodes_.clear(); + coords_objects_.clear(); + latest_msg_.reset(); + } + + void BoundingBoxArrayDisplay::processMessage( + const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg) + { + // Store latest message + latest_msg_ = msg; + + if (!only_edge_) { + showBoxes(msg); + } + else { + showEdges(msg); + } + + if (show_coords_) { + showCoords(msg); + } + else { + hideCoords(); + } + } + +} // namespace jsk_rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::BoundingBoxArrayDisplay, rviz::Display) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_array_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_array_display.h new file mode 100755 index 0000000..17924fa --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_array_display.h @@ -0,0 +1,91 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_BOUDNING_BOX_ARRAY_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_BOUDNING_BOX_ARRAY_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include "bounding_box_display_common.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + + class BoundingBoxArrayDisplay: public BoundingBoxDisplayCommon + { + Q_OBJECT + public: + BoundingBoxArrayDisplay(); + virtual ~BoundingBoxArrayDisplay(); + protected: + void onInitialize(); + virtual void reset(); + + bool only_edge_; + bool show_coords_; + // Properties + rviz::EnumProperty* coloring_property_; + rviz::ColorProperty* color_property_; + rviz::FloatProperty* alpha_property_; + rviz::BoolProperty* only_edge_property_; + rviz::FloatProperty* line_width_property_; + rviz::BoolProperty* show_coords_property_; + + jsk_recognition_msgs::BoundingBoxArray::ConstPtr latest_msg_; + protected Q_SLOTS: + void updateColor(); + void updateAlpha(); + void updateOnlyEdge(); + void updateColoring(); + void updateLineWidth(); + void updateShowCoords(); + private: + void processMessage( + const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg); + }; + +} // namespace jsk_rviz_plugins + +#endif // JSK_RVIZ_PLUGINS_BOUDNING_BOX_ARRAY_DISPLAY_H_ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_display.cpp new file mode 100755 index 0000000..1e2cc04 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_display.cpp @@ -0,0 +1,207 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Ryohei Ueda and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "bounding_box_display_common.h" +#include "bounding_box_display.h" +#include + +namespace jsk_rviz_plugins +{ + + BoundingBoxDisplay::BoundingBoxDisplay() + { + coloring_property_ = new rviz::EnumProperty( + "coloring", "Flat color", + "coloring method", + this, SLOT(updateColoring())); + coloring_property_->addOption("Flat color", 0); + coloring_property_->addOption("Label", 1); + coloring_property_->addOption("Value", 2); + + color_property_ = new rviz::ColorProperty( + "color", QColor(25, 255, 0), + "color to draw the bounding boxes", + this, SLOT(updateColor())); + alpha_property_ = new rviz::FloatProperty( + "alpha", 0.8, + "alpha value to draw the bounding boxes", + this, SLOT(updateAlpha())); + only_edge_property_ = new rviz::BoolProperty( + "only edge", false, + "show only the edges of the boxes", + this, SLOT(updateOnlyEdge())); + line_width_property_ = new rviz::FloatProperty( + "line width", 0.005, + "line width of the edges", + this, SLOT(updateLineWidth())); + show_coords_property_ = new rviz::BoolProperty( + "show coords", false, + "show coordinate of bounding box", + this, SLOT(updateShowCoords())); + } + + BoundingBoxDisplay::~BoundingBoxDisplay() + { + delete color_property_; + delete alpha_property_; + delete only_edge_property_; + delete coloring_property_; + delete show_coords_property_; + } + + void BoundingBoxDisplay::onInitialize() + { + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + + updateColor(); + updateAlpha(); + updateOnlyEdge(); + updateColoring(); + updateLineWidth(); + updateShowCoords(); + } + + void BoundingBoxDisplay::updateLineWidth() + { + line_width_ = line_width_property_->getFloat(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxDisplay::updateColor() + { + color_ = color_property_->getColor(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxDisplay::updateAlpha() + { + alpha_ = alpha_property_->getFloat(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxDisplay::updateOnlyEdge() + { + only_edge_ = only_edge_property_->getBool(); + if (only_edge_) { + line_width_property_->show(); + } + else { + line_width_property_->hide();; + } + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxDisplay::updateColoring() + { + if (coloring_property_->getOptionInt() == 0) { + coloring_method_ = "flat"; + color_property_->show(); + } + else if (coloring_property_->getOptionInt() == 1) { + coloring_method_ = "label"; + color_property_->hide(); + } + else if (coloring_property_->getOptionInt() == 2) { + coloring_method_ = "value"; + color_property_->hide(); + } + + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxDisplay::updateShowCoords() + { + show_coords_ = show_coords_property_->getBool(); + // Immediately apply show_coords attribute + if (!show_coords_) { + hideCoords(); + } + else if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void BoundingBoxDisplay::reset() + { + MFDClass::reset(); + shapes_.clear(); + edges_.clear(); + coords_nodes_.clear(); + coords_objects_.clear(); + latest_msg_.reset(); + } + + void BoundingBoxDisplay::processMessage( + const jsk_recognition_msgs::BoundingBox::ConstPtr& msg) + { + // Store latest message + latest_msg_ = msg; + + // Convert bbox to bbox_array to show it + jsk_recognition_msgs::BoundingBoxArrayPtr bbox_array_msg(new jsk_recognition_msgs::BoundingBoxArray); + bbox_array_msg->header = msg->header; + std::vector boxes; + boxes.push_back(*msg); + bbox_array_msg->boxes = boxes; + + if (!only_edge_) { + showBoxes(bbox_array_msg); + } + else { + showEdges(bbox_array_msg); + } + + if (show_coords_) { + showCoords(bbox_array_msg); + } + else { + hideCoords(); + } + } + +} // namespace jsk_rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::BoundingBoxDisplay, rviz::Display) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_display.h new file mode 100755 index 0000000..c5d0058 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_display.h @@ -0,0 +1,91 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include "bounding_box_display_common.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + + class BoundingBoxDisplay: public BoundingBoxDisplayCommon + { + Q_OBJECT + public: + BoundingBoxDisplay(); + virtual ~BoundingBoxDisplay(); + protected: + void onInitialize(); + virtual void reset(); + + bool only_edge_; + bool show_coords_; + // Properties + rviz::EnumProperty* coloring_property_; + rviz::ColorProperty* color_property_; + rviz::FloatProperty* alpha_property_; + rviz::BoolProperty* only_edge_property_; + rviz::FloatProperty* line_width_property_; + rviz::BoolProperty* show_coords_property_; + + jsk_recognition_msgs::BoundingBox::ConstPtr latest_msg_; + protected Q_SLOTS: + void updateColor(); + void updateAlpha(); + void updateOnlyEdge(); + void updateColoring(); + void updateLineWidth(); + void updateShowCoords(); + private: + void processMessage( + const jsk_recognition_msgs::BoundingBox::ConstPtr& msg); + }; + +} // namespace jsk_rviz_plugins + +#endif // JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_H_ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_display_common.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_display_common.h new file mode 100755 index 0000000..a4335ba --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/bounding_box_display_common.h @@ -0,0 +1,419 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2016, JSK Lab. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_COMMON_H_ +#define JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_COMMON_H_ + +#ifndef Q_MOC_RUN +#include "bounding_box_display_common.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + + template + class BoundingBoxDisplayCommon: public rviz::MessageFilterDisplay + { +public: + BoundingBoxDisplayCommon() {}; + ~BoundingBoxDisplayCommon() {}; +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr ShapePtr; + typedef std::shared_ptr BillboardLinePtr; + typedef std::shared_ptr ArrowPtr; +#else + typedef boost::shared_ptr ShapePtr; + typedef boost::shared_ptr BillboardLinePtr; + typedef boost::shared_ptr ArrowPtr; +#endif + +protected: + QColor color_; + std::string coloring_method_; + double alpha_; + double line_width_; + + std::vector > coords_objects_; + std::vector coords_nodes_; + std::vector edges_; + std::vector shapes_; + + QColor getColor( + size_t index, + const jsk_recognition_msgs::BoundingBox& box, + double min_value, + double max_value) + { + if (coloring_method_ == "auto") { + std_msgs::ColorRGBA ros_color = jsk_topic_tools::colorCategory20(index); + return QColor(ros_color.r * 255.0, + ros_color.g * 255.0, + ros_color.b * 255.0, + ros_color.a * 255.0); + } + else if (coloring_method_ == "flat") { + return color_; + } + else if (coloring_method_ == "label") { + std_msgs::ColorRGBA ros_color = jsk_topic_tools::colorCategory20(box.label); + return QColor(ros_color.r * 255.0, + ros_color.g * 255.0, + ros_color.b * 255.0, + ros_color.a * 255.0); + } + else if (coloring_method_ == "value") { + if (min_value != max_value) { + std_msgs::ColorRGBA ros_color = jsk_topic_tools::heatColor((box.value - min_value) / (max_value - min_value)); + return QColor(ros_color.r * 255.0, + ros_color.g * 255.0, + ros_color.b * 255.0, + ros_color.a * 255.0); + } + } + return QColor(255.0, 255.0, 255.0, 255.0); + } + + bool isValidBoundingBox( + const jsk_recognition_msgs::BoundingBox box_msg) + { + // Check size + if (box_msg.dimensions.x < 1.0e-9 || + box_msg.dimensions.y < 1.0e-9 || + box_msg.dimensions.z < 1.0e-9 || + std::isnan(box_msg.dimensions.x) || + std::isnan(box_msg.dimensions.y) || + std::isnan(box_msg.dimensions.z)) { + return false; + } + return true; + } + + void allocateShapes(int num) + { + if (num > shapes_.size()) { + for (size_t i = shapes_.size(); i < num; i++) { + ShapePtr shape (new rviz::Shape( + rviz::Shape::Cube, this->context_->getSceneManager(), + this->scene_node_)); + shapes_.push_back(shape); + } + } + else if (num < shapes_.size()) + { + shapes_.resize(num); + } + } + + void allocateBillboardLines(int num) + { + if (num > edges_.size()) { + for (size_t i = edges_.size(); i < num; i++) { + BillboardLinePtr line(new rviz::BillboardLine( + this->context_->getSceneManager(), this->scene_node_)); + edges_.push_back(line); + } + } + else if (num < edges_.size()) + { + edges_.resize(num); // ok?? + } + } + + void allocateCoords(int num) + { + if (num > coords_objects_.size()) { + for (size_t i = coords_objects_.size(); i < num; i++) { + Ogre::SceneNode* scene_node = this->scene_node_->createChildSceneNode(); + std::vector coord; + for (int i = 0; i < 3; i++) { + ArrowPtr arrow (new rviz::Arrow(this->scene_manager_, scene_node)); + coord.push_back(arrow); + } + coords_nodes_.push_back(scene_node); + coords_objects_.push_back(coord); + } + } + else if (num < coords_objects_.size()) { + for (size_t i = num; i < coords_objects_.size(); i++) { + // coords_nodes_[i]; + // coords_objects_[i][0]->setVisible(false); + // coords_objects_[i][1]->setVisible(false); + // coords_objects_[i][2]->setVisible(false); + coords_nodes_[i]->setVisible(false); + } + coords_objects_.resize(num); + coords_nodes_.resize(num); + } + } + + void showBoxes( + const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg) + { + edges_.clear(); + allocateShapes(msg->boxes.size()); + float min_value = DBL_MAX; + float max_value = -DBL_MAX; + for (size_t i = 0; i < msg->boxes.size(); i++) { + min_value = std::min(min_value, msg->boxes[i].value); + max_value = std::max(max_value, msg->boxes[i].value); + } + for (size_t i = 0; i < msg->boxes.size(); i++) { + jsk_recognition_msgs::BoundingBox box = msg->boxes[i]; + if (!isValidBoundingBox(box)) { + ROS_WARN_THROTTLE(10, "Invalid size of bounding box is included and skipped: [%f, %f, %f]", + box.dimensions.x, box.dimensions.y, box.dimensions.z); + continue; + } + + ShapePtr shape = shapes_[i]; + Ogre::Vector3 position; + Ogre::Quaternion orientation; + if(!this->context_->getFrameManager()->transform( + box.header, box.pose, position, orientation)) { + std::ostringstream oss; + oss << "Error transforming pose"; + oss << " from frame '" << box.header.frame_id << "'"; + oss << " to frame '" << qPrintable(this->fixed_frame_) << "'"; + ROS_ERROR_STREAM(oss.str()); + this->setStatus(rviz::StatusProperty::Error, "Transform", QString::fromStdString(oss.str())); + return; + } + + // Ogre::Vector3 p(box.pose.position.x, + // box.pose.position.y, + // box.pose.position.z); + // Ogre::Quaternion q(box.pose.orientation.w, + // box.pose.orientation.x, + // box.pose.orientation.y, + // box.pose.orientation.z); + shape->setPosition(position); + shape->setOrientation(orientation); + Ogre::Vector3 dimensions; + dimensions[0] = box.dimensions.x; + dimensions[1] = box.dimensions.y; + dimensions[2] = box.dimensions.z; + shape->setScale(dimensions); + QColor color = getColor(i, box, min_value, max_value); + shape->setColor(color.red() / 255.0, + color.green() / 255.0, + color.blue() / 255.0, + alpha_); + } + } + + void showEdges( + const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg) + { + shapes_.clear(); + allocateBillboardLines(msg->boxes.size()); + float min_value = DBL_MAX; + float max_value = -DBL_MAX; + for (size_t i = 0; i < msg->boxes.size(); i++) { + min_value = std::min(min_value, msg->boxes[i].value); + max_value = std::max(max_value, msg->boxes[i].value); + } + + for (size_t i = 0; i < msg->boxes.size(); i++) { + jsk_recognition_msgs::BoundingBox box = msg->boxes[i]; + if (!isValidBoundingBox(box)) { + ROS_WARN_THROTTLE(10, "Invalid size of bounding box is included and skipped: [%f, %f, %f]", + box.dimensions.x, box.dimensions.y, box.dimensions.z); + continue; + } + + geometry_msgs::Vector3 dimensions = box.dimensions; + + BillboardLinePtr edge = edges_[i]; + edge->clear(); + Ogre::Vector3 position; + Ogre::Quaternion quaternion; + if(!this->context_->getFrameManager()->transform(box.header, box.pose, + position, + quaternion)) { + std::ostringstream oss; + oss << "Error transforming pose"; + oss << " from frame '" << box.header.frame_id << "'"; + oss << " to frame '" << qPrintable(this->fixed_frame_) << "'"; + ROS_ERROR_STREAM(oss.str()); + this->setStatus(rviz::StatusProperty::Error, "Transform", QString::fromStdString(oss.str())); + return; + } + edge->setPosition(position); + edge->setOrientation(quaternion); + + edge->setMaxPointsPerLine(2); + edge->setNumLines(12); + edge->setLineWidth(line_width_); + QColor color = getColor(i, box, min_value, max_value); + edge->setColor(color.red() / 255.0, + color.green() / 255.0, + color.blue() / 255.0, + alpha_); + + Ogre::Vector3 A, B, C, D, E, F, G, H; + A[0] = dimensions.x / 2.0; + A[1] = dimensions.y / 2.0; + A[2] = dimensions.z / 2.0; + B[0] = - dimensions.x / 2.0; + B[1] = dimensions.y / 2.0; + B[2] = dimensions.z / 2.0; + C[0] = - dimensions.x / 2.0; + C[1] = - dimensions.y / 2.0; + C[2] = dimensions.z / 2.0; + D[0] = dimensions.x / 2.0; + D[1] = - dimensions.y / 2.0; + D[2] = dimensions.z / 2.0; + + E[0] = dimensions.x / 2.0; + E[1] = dimensions.y / 2.0; + E[2] = - dimensions.z / 2.0; + F[0] = - dimensions.x / 2.0; + F[1] = dimensions.y / 2.0; + F[2] = - dimensions.z / 2.0; + G[0] = - dimensions.x / 2.0; + G[1] = - dimensions.y / 2.0; + G[2] = - dimensions.z / 2.0; + H[0] = dimensions.x / 2.0; + H[1] = - dimensions.y / 2.0; + H[2] = - dimensions.z / 2.0; + + edge->addPoint(A); edge->addPoint(B); edge->newLine(); + edge->addPoint(B); edge->addPoint(C); edge->newLine(); + edge->addPoint(C); edge->addPoint(D); edge->newLine(); + edge->addPoint(D); edge->addPoint(A); edge->newLine(); + edge->addPoint(E); edge->addPoint(F); edge->newLine(); + edge->addPoint(F); edge->addPoint(G); edge->newLine(); + edge->addPoint(G); edge->addPoint(H); edge->newLine(); + edge->addPoint(H); edge->addPoint(E); edge->newLine(); + edge->addPoint(A); edge->addPoint(E); edge->newLine(); + edge->addPoint(B); edge->addPoint(F); edge->newLine(); + edge->addPoint(C); edge->addPoint(G); edge->newLine(); + edge->addPoint(D); edge->addPoint(H); + } + } + + void showCoords( + const jsk_recognition_msgs::BoundingBoxArray::ConstPtr& msg) + { + allocateCoords(msg->boxes.size()); + for (size_t i = 0; i < msg->boxes.size(); i++) { + jsk_recognition_msgs::BoundingBox box = msg->boxes[i]; + std::vector coord = coords_objects_[i]; + + Ogre::SceneNode* scene_node = coords_nodes_[i]; + scene_node->setVisible(true); + Ogre::Vector3 position; + Ogre::Quaternion orientation; + if(!this->context_->getFrameManager()->getTransform( + box.header, position, orientation)) { + ROS_DEBUG("Error transforming from frame '%s' to frame '%s'", + box.header.frame_id.c_str(), qPrintable(this->fixed_frame_)); + return; + } + scene_node->setPosition(position); + scene_node->setOrientation(orientation); // scene node is at frame pose + + float color[3][3] = {{1, 0, 0}, + {0, 1, 0}, + {0, 0, 1}}; + for (int j = 0; j < 3; j++) { + // check radius diraction + Ogre::Vector3 scale; + if (color[j][0] == 1) { + scale = Ogre::Vector3( + box.dimensions.x, + std::min(box.dimensions.y, box.dimensions.z), + std::min(box.dimensions.y, box.dimensions.z)); + } + if (color[j][1] == 1) { + scale = Ogre::Vector3( + box.dimensions.y, + std::min(box.dimensions.x, box.dimensions.z), + std::min(box.dimensions.x, box.dimensions.z)); + } + if (color[j][2] == 1) { + scale = Ogre::Vector3( + box.dimensions.z, + std::min(box.dimensions.x, box.dimensions.y), + std::min(box.dimensions.x, box.dimensions.y)); + } + + Ogre::Vector3 direction(color[j][0], color[j][1], color[j][2]); + Ogre::Vector3 pos(box.pose.position.x, + box.pose.position.y, + box.pose.position.z); + Ogre::Quaternion qua(box.pose.orientation.w, + box.pose.orientation.x, + box.pose.orientation.y, + box.pose.orientation.z); + direction = qua * direction; + Ogre::ColourValue rgba; + rgba.a = 1; + rgba.r = color[j][0]; + rgba.g = color[j][1]; + rgba.b = color[j][2]; + + ArrowPtr arrow = coords_objects_[i][j]; + arrow->setPosition(pos); + arrow->setDirection(direction); + arrow->setScale(scale); + arrow->setColor(rgba); + } + } + } + + void hideCoords() + { + for (size_t i = 0; i < coords_nodes_.size(); i++) { + coords_nodes_[i]->setVisible(false); + } + } + + }; // class BoundingBoxDisplayCommon + +} // namespace jsk_rviz_plugins + +#endif // JSK_RVIZ_PLUGINS_BOUDNING_BOX_DISPLAY_COMMON_H_ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/camera_info_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/camera_info_display.cpp new file mode 100755 index 0000000..eb9de00 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/camera_info_display.cpp @@ -0,0 +1,623 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include +#include "camera_info_display.h" +#include +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + TrianglePolygon::TrianglePolygon( + Ogre::SceneManager* manager, + Ogre::SceneNode* node, + const cv::Point3d& O, + const cv::Point3d& A, + const cv::Point3d& B, + const std::string& name, + const Ogre::ColourValue& color, + bool use_color, + bool upper_triangle) + { + // uniq string is requred for name + + manual_ = manager->createManualObject(); + manual_->clear(); + manual_->begin(name, + Ogre::RenderOperation::OT_TRIANGLE_STRIP); + manual_->position(O.x, O.y, O.z); + if (upper_triangle) { + manual_->textureCoord(0, 0); + } + else { + manual_->textureCoord(1, 0); + } + if (use_color) { + manual_->colour(color); + } + manual_->position(A.x, A.y, A.z); + if (upper_triangle) { + manual_->textureCoord(1, 0); + } + else { + manual_->textureCoord(1, 1); + } + if (use_color) { + manual_->colour(color); + } + manual_->position(B.x, B.y, B.z); + if (upper_triangle) { + manual_->textureCoord(0, 1); + } + else { + manual_->textureCoord(0, 1); + } + if (use_color) { + manual_->colour(color); + } + manual_->end(); + node->attachObject(manual_); + } + + TrianglePolygon::~TrianglePolygon() + { + manual_->detachFromParent(); + //manager_->destroyManualObject(manual_); // this crashes rviz + } + + CameraInfoDisplay::CameraInfoDisplay(): image_updated_(true) + { + //////////////////////////////////////////////////////// + // initialize properties + //////////////////////////////////////////////////////// + far_clip_distance_property_ = new rviz::FloatProperty( + "far clip", + 1.0, + "far clip distance from the origin of camera info", + this, SLOT(updateFarClipDistance())); + show_edges_property_ = new rviz::BoolProperty( + "show edges", + true, + "show edges of the region of the camera info", + this, SLOT(updateShowEdges())); + show_polygons_property_ = new rviz::BoolProperty( + "show polygons", + true, + "show polygons of the region of the camera info", + this, SLOT(updateShowPolygons())); + not_show_side_polygons_property_ = new rviz::BoolProperty( + "not show side polygons", + true, + "do not show polygons of the region of the camera info", + this, SLOT(updateNotShowSidePolygons())); + use_image_property_ = new rviz::BoolProperty( + "use image", + false, + "use image as texture", + this, SLOT(updateUseImage())); + image_topic_property_ = new rviz::RosTopicProperty( + "Image Topic", "", + ros::message_traits::datatype(), + "sensor_msgs::Image topic to subscribe to.", + this, SLOT( updateImageTopic() )); + image_topic_property_->hide(); + image_transport_hints_property_ = new ImageTransportHintsProperty( + "transport hints", + "transport hint for image subscription", + this, SLOT( updateImageTopic() )); + image_transport_hints_property_->hide(); + + color_property_ = new rviz::ColorProperty( + "color", + QColor(85, 255, 255), + "color of CameraInfo", + this, SLOT(updateColor())); + edge_color_property_ = new rviz::ColorProperty( + "edge color", + QColor(125, 125, 125), + "edge color of CameraInfo", + this, SLOT(updateEdgeColor())); + alpha_property_ = new rviz::FloatProperty( + "alpha", + 0.5, + "alpha blending value", + this, SLOT(updateAlpha())); + } + + CameraInfoDisplay::~CameraInfoDisplay() + { + if (edges_) { + edges_->clear(); + } + polygons_.clear(); + delete far_clip_distance_property_; + delete color_property_; + delete alpha_property_; + delete show_polygons_property_; + delete edge_color_property_; + } + + void CameraInfoDisplay::reset() + { + MFDClass::reset(); + if (edges_) { + edges_->clear(); + } + polygons_.clear(); + camera_info_ = sensor_msgs::CameraInfo::ConstPtr(); // reset to NULL + } + + void CameraInfoDisplay::onInitialize() + { + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + updateColor(); + updateAlpha(); + updateFarClipDistance(); + updateShowPolygons(); + updateNotShowSidePolygons(); + updateShowEdges(); + updateImageTopic(); + updateUseImage(); + updateEdgeColor(); + } + + void CameraInfoDisplay::processMessage( + const sensor_msgs::CameraInfo::ConstPtr& msg) + { + if (!isSameCameraInfo(msg)) { + createCameraInfoShapes(msg); + } + // move scene_node according to tf + Ogre::Vector3 position; + Ogre::Quaternion quaternion; + if(!context_->getFrameManager()->getTransform(msg->header.frame_id, + msg->header.stamp, + position, + quaternion)) { + ROS_ERROR( "Error transforming pose '%s' from frame '%s' to frame '%s'", + qPrintable( getName() ), msg->header.frame_id.c_str(), + qPrintable( fixed_frame_ )); + } + scene_node_->setPosition(position); + scene_node_->setOrientation(quaternion); + camera_info_ = msg; // store for caching + } + + void CameraInfoDisplay::update(float wall_dt, float ros_dt) + { + boost::mutex::scoped_lock lock(mutex_); + if (image_updated_) { + ROS_DEBUG("image updated"); + if (!bottom_texture_.isNull()) { + drawImageTexture(); + image_updated_ = false; + } + } + } + + bool CameraInfoDisplay::isSameCameraInfo( + const sensor_msgs::CameraInfo::ConstPtr& msg) + { + if (camera_info_) { + bool meta_same_p = + msg->header.frame_id == camera_info_->header.frame_id && + msg->height == camera_info_->height && + msg->width == camera_info_->width && + msg->distortion_model == camera_info_->distortion_model; + if (meta_same_p) { + for (size_t i = 0; i < msg->P.size(); i++) { + if (msg->P[i] != camera_info_->P[i]) { + return false; + } + } + return true; + } + else { + return false; + } + } + else { + return false; + } + } + + void CameraInfoDisplay::addPointToEdge( + const cv::Point3d& point) + { + Ogre::Vector3 p; + p[0] = point.x; + p[1] = point.y; + p[2] = point.z; + edges_->addPoint(p); + } + + void CameraInfoDisplay::addPolygon( + const cv::Point3d& O, const cv::Point3d& A, const cv::Point3d& B, std::string name, bool use_color, bool upper_triangle) + { + Ogre::ColourValue color = rviz::qtToOgre(color_); + color.a = alpha_; + TrianglePolygon::Ptr triangle (new TrianglePolygon( + scene_manager_, + scene_node_, + O, A, B, name, + color, + use_color, + upper_triangle)); + polygons_.push_back(triangle); + } + + void CameraInfoDisplay::createTextureForBottom(int width, int height) + { + if (bottom_texture_.isNull() + || bottom_texture_->getWidth() != width + || bottom_texture_->getHeight() != height) { + static uint32_t count = 0; + rviz::UniformStringStream ss; + ss << "CameraInfoDisplayPolygonBottom" << count++; + material_bottom_ + = Ogre::MaterialManager::getSingleton().create( + ss.str(), + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + bottom_texture_ = Ogre::TextureManager::getSingleton().createManual( + material_bottom_->getName() + "Texture", // name + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, + Ogre::TEX_TYPE_2D, width, height, 0, Ogre::PF_A8R8G8B8, Ogre::TU_DEFAULT); + material_bottom_->getTechnique(0)->getPass(0)->setColourWriteEnabled(true); + Ogre::ColourValue color = rviz::qtToOgre(color_); + color.a = alpha_; + material_bottom_->getTechnique(0)->getPass(0)->setAmbient(color); + material_bottom_->setReceiveShadows(false); + material_bottom_->getTechnique(0)->setLightingEnabled(true); + material_bottom_->getTechnique(0)->getPass(0)->setCullingMode(Ogre::CULL_NONE); + material_bottom_->getTechnique(0)->getPass(0)->setLightingEnabled(false); + material_bottom_->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); + material_bottom_->getTechnique(0)->getPass(0)->setDepthCheckEnabled(true); + + material_bottom_->getTechnique(0)->getPass(0)->setVertexColourTracking(Ogre::TVC_DIFFUSE); + material_bottom_->getTechnique(0)->getPass(0)->createTextureUnitState(bottom_texture_->getName()); + material_bottom_->getTechnique(0)->getPass(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); + } + } + + void CameraInfoDisplay::prepareMaterial() + { + if (texture_.isNull()) { + // material + static uint32_t count = 0; + rviz::UniformStringStream ss; + ss << "CameraInfoDisplayPolygon" << count++; + material_ + = Ogre::MaterialManager::getSingleton().create( + ss.str(), + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + texture_ = Ogre::TextureManager::getSingleton().createManual( + material_->getName() + "Texture", // name + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, + Ogre::TEX_TYPE_2D, 1, 1, 0, Ogre::PF_A8R8G8B8, Ogre::TU_DEFAULT); + material_->getTechnique(0)->getPass(0)->setColourWriteEnabled(true); + Ogre::ColourValue color = rviz::qtToOgre(color_); + color.a = alpha_; + material_->getTechnique(0)->getPass(0)->setAmbient(color); + material_->setReceiveShadows(false); + material_->getTechnique(0)->setLightingEnabled(true); + material_->getTechnique(0)->getPass(0)->setCullingMode(Ogre::CULL_NONE); + material_->getTechnique(0)->getPass(0)->setLightingEnabled(false); + material_->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); + material_->getTechnique(0)->getPass(0)->setDepthCheckEnabled(true); + + material_->getTechnique(0)->getPass(0)->setVertexColourTracking(Ogre::TVC_DIFFUSE); + material_->getTechnique(0)->getPass(0)->createTextureUnitState(texture_->getName()); + material_->getTechnique(0)->getPass(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); + createTextureForBottom(640, 480); + } + } + + void CameraInfoDisplay::subscribeImage(std::string topic) + { + + image_sub_.shutdown(); + if (topic.empty()) { + ROS_WARN("topic name is empty"); + } + ros::NodeHandle nh; + image_transport::ImageTransport it(nh); + image_sub_ = it.subscribe(topic, 1, &CameraInfoDisplay::imageCallback, this, + image_transport_hints_property_->getTransportHints()); + } + + void CameraInfoDisplay::drawImageTexture() + { + bottom_texture_->getBuffer()->lock( Ogre::HardwareBuffer::HBL_NORMAL ); + const Ogre::PixelBox& pixelBox + = bottom_texture_->getBuffer()->getCurrentLock(); + Ogre::uint8* pDest = static_cast (pixelBox.data); + + // Don't copy pixel-by-pixel image matrices. + // Just split matrix into channels, add needed alpha channel and merge back directly into buffer. + if (use_image_ && !image_.empty() && + bottom_texture_->getHeight() == image_.rows && + bottom_texture_->getWidth() == image_.cols) { + ROS_DEBUG("bottom_texture_->getHeight(): %u", bottom_texture_->getHeight()); + ROS_DEBUG("bottom_texture_->getWidth(): %u", bottom_texture_->getWidth()); + ROS_DEBUG("image_.rows: %d", image_.rows); + ROS_DEBUG("image_.cols: %d", image_.cols); + + std::vector splitted; + cv::split(image_, splitted); + // Swap channels RGB -> BGR for cv::merge. + std::swap(splitted[0], splitted[2]); + cv::Mat alpha(image_.rows, image_.cols, CV_8U, cv::Scalar(alpha_ * 255.0)); + splitted.push_back(alpha); + cv::Mat boxMat(image_.rows, image_.cols, CV_8UC4, pDest); + cv::merge(splitted, boxMat); + } else { + memset(pDest, 0, bottom_texture_->getWidth() * bottom_texture_->getHeight()); + QImage Hud(pDest, bottom_texture_->getWidth(), bottom_texture_->getHeight(), QImage::Format_ARGB32); + for (size_t j = 0; j < bottom_texture_->getHeight(); j++) { + for (size_t i = 0; i < bottom_texture_->getWidth(); i++) { + Hud.setPixel(i, j, color_.rgba()); + } + } + } + bottom_texture_->getBuffer()->unlock(); + } + + // convert sensor_msgs::Image into cv::Mat + void CameraInfoDisplay::imageCallback( + const sensor_msgs::Image::ConstPtr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + cv_bridge::CvImagePtr cv_ptr; + try + { + cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8); + image_ = cv_ptr->image; + // check the size of bottom texture + if (bottom_texture_.isNull() + || bottom_texture_->getWidth() != image_.cols + || bottom_texture_->getHeight() != image_.rows) { + createTextureForBottom(image_.cols, image_.rows); + if (camera_info_) { + createCameraInfoShapes(camera_info_); + } + } + image_updated_ = true; + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + } + } + + void CameraInfoDisplay::createCameraInfoShapes( + const sensor_msgs::CameraInfo::ConstPtr& msg) + { + polygons_.clear(); + if (edges_) { + edges_->clear(); + } + image_geometry::PinholeCameraModel model; + bool model_success_p = model.fromCameraInfo(msg); + if (!model_success_p) { + setStatus(rviz::StatusProperty::Error, "Camera Info", "Failed to create camera model from msg"); + ROS_ERROR("failed to create camera model"); + return; + } + // fx and fy should not be equal 0. + if (model.fx() == 0.0 || model.fy() == 0.0) { + setStatus(rviz::StatusProperty::Error, "Camera Info", "Invalid intrinsic matrix"); + ROS_ERROR_STREAM("camera model have invalid intrinsic matrix " << model.intrinsicMatrix()); + return; + } + setStatus(rviz::StatusProperty::Ok, "Camera Info", "OK"); + + //////////////////////////////////////////////////////// + // initialize BillboardLine + //////////////////////////////////////////////////////// + if (!edges_) { + edges_.reset(new rviz::BillboardLine(context_->getSceneManager(), + scene_node_)); + edges_->setLineWidth(0.01); + } + + cv::Point2d a(0, 0), b(msg->width, 0), + c(msg->width, msg->height), d(0, msg->height); + // all the z = 1.0 + cv::Point3d A = model.projectPixelTo3dRay(a); + cv::Point3d B = model.projectPixelTo3dRay(b); + cv::Point3d C = model.projectPixelTo3dRay(c); + cv::Point3d D = model.projectPixelTo3dRay(d); + + cv::Point3d scaled_A = A * far_clip_distance_; + cv::Point3d scaled_B = B * far_clip_distance_; + cv::Point3d scaled_C = C * far_clip_distance_; + cv::Point3d scaled_D = D * far_clip_distance_; + + cv::Point3d O(0, 0, 0); + + //////////////////////////////////////////////////////// + // build polygons + //////////////////////////////////////////////////////// + if (show_polygons_) { + //////////////////////////////////////////////////////// + // setup color for polygons + //////////////////////////////////////////////////////// + Ogre::ColourValue color = rviz::qtToOgre(color_); + color.a = alpha_; + prepareMaterial(); + if (!not_show_side_polygons_) { + material_->getTechnique(0)->getPass(0)->setAmbient(color); + { + texture_->getBuffer()->lock( Ogre::HardwareBuffer::HBL_NORMAL ); + const Ogre::PixelBox& pixelBox + = texture_->getBuffer()->getCurrentLock(); + Ogre::uint8* pDest = static_cast (pixelBox.data); + memset(pDest, 0, 1); + QImage Hud(pDest, 1, 1, QImage::Format_ARGB32 ); + Hud.setPixel(0, 0, color_.rgba()); + texture_->getBuffer()->unlock(); + } + addPolygon(O, scaled_B, scaled_A, material_->getName(), true, true); + addPolygon(O, scaled_C, scaled_B, material_->getName(), true, true); + addPolygon(O, scaled_D, scaled_C, material_->getName(), true, true); + addPolygon(O, scaled_A, scaled_D, material_->getName(), true, true); + } + // bottom + drawImageTexture(); + + addPolygon(scaled_A, scaled_B, scaled_D, material_bottom_->getName(), false, true); + addPolygon(scaled_B, scaled_C, scaled_D, material_bottom_->getName(), false, false); + } + //////////////////////////////////////////////////////// + // build edges + //////////////////////////////////////////////////////// + if (show_edges_) { + edges_->clear(); + edges_->setMaxPointsPerLine(2); + edges_->setNumLines(8); + edges_->setColor(edge_color_.red() / 255.0, + edge_color_.green() / 255.0, + edge_color_.blue() / 255.0, + alpha_); + addPointToEdge(O); addPointToEdge(scaled_A); edges_->newLine(); + addPointToEdge(O); addPointToEdge(scaled_B); edges_->newLine(); + addPointToEdge(O); addPointToEdge(scaled_C); edges_->newLine(); + addPointToEdge(O); addPointToEdge(scaled_D); edges_->newLine(); + addPointToEdge(scaled_A); addPointToEdge(scaled_B); edges_->newLine(); + addPointToEdge(scaled_B); addPointToEdge(scaled_C); edges_->newLine(); + addPointToEdge(scaled_C); addPointToEdge(scaled_D); edges_->newLine(); + addPointToEdge(scaled_D); addPointToEdge(scaled_A); + } + } + + //////////////////////////////////////////////////////// + // Properties updating functions + //////////////////////////////////////////////////////// + void CameraInfoDisplay::updateColor() + { + color_ = color_property_->getColor(); + if (camera_info_) { + createCameraInfoShapes(camera_info_); + } + } + + void CameraInfoDisplay::updateEdgeColor() + { + edge_color_ = edge_color_property_->getColor(); + if (camera_info_) { + createCameraInfoShapes(camera_info_); + } + } + + void CameraInfoDisplay::updateAlpha() + { + alpha_ = alpha_property_->getFloat(); + if (camera_info_) { + createCameraInfoShapes(camera_info_); + } + } + + void CameraInfoDisplay::updateFarClipDistance() + { + far_clip_distance_ = far_clip_distance_property_->getFloat(); + if (camera_info_) { + createCameraInfoShapes(camera_info_); + } + } + + void CameraInfoDisplay::updateShowPolygons() + { + show_polygons_ = show_polygons_property_->getBool(); + if (show_polygons_) { + not_show_side_polygons_property_->show(); + } + else { + not_show_side_polygons_property_->hide(); + } + if (camera_info_) { + createCameraInfoShapes(camera_info_); + } + } + + void CameraInfoDisplay::updateShowEdges() + { + show_edges_ = show_edges_property_->getBool(); + if (camera_info_) { + createCameraInfoShapes(camera_info_); + } + } + + void CameraInfoDisplay::updateImageTopic() + { + if (use_image_) { + std::string topic = image_topic_property_->getStdString(); + subscribeImage(topic); + } else { + image_sub_.shutdown(); + // Set image_updated_ true in order to clear the bottom texture in update() method. + image_updated_ = true; + } + } + + void CameraInfoDisplay::updateUseImage() + { + use_image_ = use_image_property_->getBool(); + if (use_image_) { + image_topic_property_->show(); + image_transport_hints_property_->show(); + } + else { + image_topic_property_->hide(); + image_transport_hints_property_->hide(); + } + updateImageTopic(); + } + void CameraInfoDisplay::updateNotShowSidePolygons() + { + not_show_side_polygons_ = not_show_side_polygons_property_->getBool(); + if (camera_info_) { + createCameraInfoShapes(camera_info_); + } + } +} + + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::CameraInfoDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/camera_info_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/camera_info_display.h new file mode 100755 index 0000000..ecb49d8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/camera_info_display.h @@ -0,0 +1,183 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGINS_CAMERA_INFO_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_CAMERA_INFO_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "image_transport_hints_property.h" +#endif + +namespace jsk_rviz_plugins +{ + class TrianglePolygon + { + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + TrianglePolygon(Ogre::SceneManager* manager, + Ogre::SceneNode* node, + const cv::Point3d& O, + const cv::Point3d& A, + const cv::Point3d& B, + const std::string& name, + const Ogre::ColourValue& color, + bool use_color, + bool upper_triangle); + virtual ~TrianglePolygon(); + protected: + Ogre::ManualObject* manual_; + Ogre::SceneManager* manager_; + private: + + }; + + class CameraInfoDisplay: + public rviz::MessageFilterDisplay + { + Q_OBJECT + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr ShapePtr; + typedef std::shared_ptr BillboardLinePtr; +#else + typedef boost::shared_ptr ShapePtr; + typedef boost::shared_ptr BillboardLinePtr; +#endif + CameraInfoDisplay(); + virtual ~CameraInfoDisplay(); + + protected: + //////////////////////////////////////////////////////// + // methods required by super virtual class + //////////////////////////////////////////////////////// + virtual void onInitialize(); + virtual void reset(); + virtual void processMessage(const sensor_msgs::CameraInfo::ConstPtr& msg); + //////////////////////////////////////////////////////// + // methods + /////////////////////////////////////////////////////// + virtual void update(float wall_dt, float ros_dt); + virtual bool isSameCameraInfo( + const sensor_msgs::CameraInfo::ConstPtr& camera_info); + virtual void createCameraInfoShapes( + const sensor_msgs::CameraInfo::ConstPtr& camera_info); + virtual void addPointToEdge( + const cv::Point3d& point); + virtual void addPolygon( + const cv::Point3d& O, const cv::Point3d& A, const cv::Point3d& B, std::string name, + bool use_color, bool upper_triangle); + virtual void prepareMaterial(); + virtual void createTextureForBottom(int width, int height); + virtual void imageCallback(const sensor_msgs::Image::ConstPtr& msg); + virtual void drawImageTexture(); + virtual void subscribeImage(std::string topic); + ///////////////////////////////////////////////////////// + // variables + //////////////////////////////////////////////////////// + std::vector polygons_; + BillboardLinePtr edges_; + sensor_msgs::CameraInfo::ConstPtr camera_info_; + Ogre::MaterialPtr material_; + Ogre::TexturePtr texture_; + Ogre::MaterialPtr material_bottom_; + Ogre::TexturePtr bottom_texture_; + image_transport::Subscriber image_sub_; + boost::mutex mutex_; + //////////////////////////////////////////////////////// + // variables updated by rviz properties + //////////////////////////////////////////////////////// + double alpha_; + double far_clip_distance_; + QColor color_; + QColor edge_color_; + bool show_polygons_; + bool show_edges_; + bool use_image_; + bool image_updated_; + bool not_show_side_polygons_; + cv::Mat image_; + //////////////////////////////////////////////////////// + // properties + //////////////////////////////////////////////////////// + ImageTransportHintsProperty* image_transport_hints_property_; + rviz::FloatProperty* far_clip_distance_property_; + rviz::FloatProperty* alpha_property_; + rviz::ColorProperty* color_property_; + rviz::ColorProperty* edge_color_property_; + rviz::BoolProperty* show_polygons_property_; + rviz::BoolProperty* not_show_side_polygons_property_; + rviz::BoolProperty* use_image_property_; + rviz::RosTopicProperty* image_topic_property_; + rviz::BoolProperty* show_edges_property_; + + protected Q_SLOTS: + void updateFarClipDistance(); + void updateAlpha(); + void updateColor(); + void updateShowEdges(); + void updateShowPolygons(); + void updateNotShowSidePolygons(); + void updateImageTopic(); + void updateUseImage(); + void updateEdgeColor(); + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/cancel_action.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/cancel_action.cpp new file mode 100755 index 0000000..45ff4a0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/cancel_action.cpp @@ -0,0 +1,168 @@ +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "cancel_action.h" + +namespace jsk_rviz_plugins +{ + + CancelAction::CancelAction( QWidget* parent ) + : rviz::Panel( parent ) + { + layout = new QVBoxLayout; + + //Text Box and Add Button to add new topic + QHBoxLayout* topic_layout = new QHBoxLayout; + + add_topic_box_ = new QComboBox; + initComboBox(); + topic_layout->addWidget( add_topic_box_ ); + + QPushButton* add_topic_button_ = new QPushButton("Add Action"); + topic_layout->addWidget( add_topic_button_ ); + + layout->addLayout( topic_layout ); + //End of Text Box and Add Button + + m_sigmap = new QSignalMapper(this); + + connect(m_sigmap, SIGNAL(mapped(int)),this, SLOT(OnClickDeleteButton(int))); + + //Button to send cancel topic + QPushButton* send_topic_button_ = new QPushButton("Cancel Action"); + layout->addWidget( send_topic_button_ ); + + setLayout( layout ); + + connect( send_topic_button_, SIGNAL( clicked() ), this, SLOT( sendTopic ())); + connect( add_topic_button_, SIGNAL( clicked() ), this, SLOT( addTopic() )); + } + + void CancelAction::initComboBox(){ + add_topic_box_->addItem(""); + ros::master::V_TopicInfo topics; + ros::master::getTopics (topics); + ros::master::V_TopicInfo::iterator it = topics.begin(); + while( it != topics.end()){ + if(it->datatype == "actionlib_msgs/GoalID"){ + std::string action_name = it->name; + std::string delete_string = "/cancel"; + std::string::size_type index = action_name.find_last_of(delete_string); + if(index != std::string::npos){ + action_name.erase(index - delete_string.length() + 1); + add_topic_box_->addItem(action_name.c_str()); + } + } + it ++; + } + } + + + void CancelAction::OnClickDeleteButton(int id){ + std::vector::iterator it = topic_list_layouts_.begin(); + while( it != topic_list_layouts_.end()){ + if(it->id == id){ + it->topic_name_->hide(); + delete it->topic_name_; + + it->remove_button_->hide(); + delete it->remove_button_; + + delete it->layout_; + it->publisher_.shutdown(); + it = topic_list_layouts_.erase( it ); + Q_EMIT configChanged(); + }else{ + ++it; + } + } + } + + void CancelAction::addTopic() + { + output_topic_ = add_topic_box_->currentText(); + if( output_topic_ != "" ){ + add_topic_box_->setCurrentIndex( 0 ); + addTopicList(output_topic_.toStdString()); + } + Q_EMIT configChanged(); + } + + void CancelAction::addTopicList(std::string topic_name){ + topicListLayout tll; + + if(!topic_list_layouts_.empty()){ + topicListLayout lastTll = topic_list_layouts_.back(); + tll.id = lastTll.id + 1; + }else{ + tll.id = 0; + } + + tll.layout_ = new QHBoxLayout; + + tll.topic_name_ = new QLabel( topic_name.c_str() ); + tll.layout_->addWidget( tll.topic_name_ ); + + tll.remove_button_ = new QPushButton("Delete"); + tll.layout_->addWidget( tll.remove_button_ ); + + layout->addLayout(tll.layout_); + + tll.publisher_ = nh_.advertise( topic_name + "/cancel", 1 ); + + topic_list_layouts_.push_back(tll); + + connect(tll.remove_button_, SIGNAL(clicked()), m_sigmap, SLOT(map())); + m_sigmap->setMapping(tll.remove_button_, tll.id); + + } + + void CancelAction::sendTopic(){ + std::vector::iterator it = topic_list_layouts_.begin(); + while( it != topic_list_layouts_.end()){ + actionlib_msgs::GoalID msg; + it->publisher_.publish(msg); + it++; + } + } + + void CancelAction::save( rviz::Config config ) const + { + rviz::Panel::save( config ); + + rviz::Config topic_list_config = config.mapMakeChild( "topics" ); + + std::vector::const_iterator it = topic_list_layouts_.begin(); + while( it != topic_list_layouts_.end()){ + topic_list_config.listAppendNew().setValue( it->topic_name_->text() ); + it ++; + } + config.mapSetValue( "Topic", output_topic_ ); + } + + // Load all configuration data for this panel from the given Config object. + void CancelAction::load( const rviz::Config& config ) + { + rviz::Panel::load( config ); + rviz::Config topic_list_config = config.mapGetChild( "topics" ); + int num_topics = topic_list_config.listLength(); + + for( int i = 0; i < num_topics; i++ ) { + addTopicList(topic_list_config.listChildAt( i ).getValue().toString().toStdString()); + } + } + +} + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::CancelAction, rviz::Panel ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/cancel_action.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/cancel_action.h new file mode 100755 index 0000000..136598c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/cancel_action.h @@ -0,0 +1,83 @@ +#ifndef CANCEL_ACTION_H +#define CANCEL_ACTION_H + +#ifndef Q_MOC_RUN +#include + +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +# include +#else +# include +#endif +#endif + +class QLineEdit; +class QLabel; +class QPushButton; +//class QSignalMapper; + +namespace jsk_rviz_plugins +{ + class CancelAction: public rviz::Panel + { + // This class uses Qt slots and is a subclass of QObject, so it needs + // the Q_OBJECT macro. +Q_OBJECT + public: + CancelAction( QWidget* parent = 0 ); + + + virtual void load( const rviz::Config& config ); + virtual void save( rviz::Config config ) const; + + public Q_SLOTS: + + void setTopic( const QString& topic ) {}; + + protected Q_SLOTS: + + void updateTopic() {}; + + void sendTopic(); + void addTopic(); + void initComboBox(); + + void addTopicList(std::string topic_name); + + void OnClickDeleteButton(int id); + + protected: + QString output_topic_; + + QPushButton* add_topic_button_; + + QComboBox* add_topic_box_; + + QPushButton* send_topic_button_; + + QSignalMapper *m_sigmap; + + QVBoxLayout* layout; + + struct topicListLayout{ + int id; + QHBoxLayout* layout_; + QPushButton* remove_button_; + QLabel* topic_name_; + ros::Publisher publisher_; + }; + + std::vector topic_list_layouts_; + + // The ROS publisher for the command velocity. + ros::Publisher velocity_publisher_; + + // The ROS node handle. + ros::NodeHandle nh_; + + }; + +} + +#endif // TELEOP_PANEL_H diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/close_all_tool.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/close_all_tool.cpp new file mode 100755 index 0000000..fa23b77 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/close_all_tool.cpp @@ -0,0 +1,90 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include +#include +#include +#include +#include +#include "close_all_tool.h" + + +namespace jsk_rviz_plugins +{ + CloseAllTool::CloseAllTool() + : rviz::Tool() + { + + } + + CloseAllTool::~CloseAllTool() + { + } + + void CloseAllTool::onInitialize() + { + + } + + void CloseAllTool::closeProperty( + rviz::Property* property) + { + property->collapse(); + if (property->numChildren() > 0) { + for (size_t i = 0; i < property->numChildren(); i++) { + closeProperty(property->childAt(i)); + } + context_->queueRender(); + } + } + + void CloseAllTool::activate() + { + rviz::DisplayGroup* display_group = context_->getRootDisplayGroup(); + closeProperty(display_group); + rviz::ToolManager* tool_manager = context_->getToolManager(); + tool_manager->setCurrentTool(tool_manager->getTool(0)); + } + + void CloseAllTool::deactivate() + { + + } + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::CloseAllTool, rviz::Tool ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/close_all_tool.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/close_all_tool.h new file mode 100755 index 0000000..3fc9a82 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/close_all_tool.h @@ -0,0 +1,61 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGIN_CLOSE_ALL_TOOL_H_ +#define JSK_RVIZ_PLUGIN_CLOSE_ALL_TOOL_H_ + +#include +#include +#include + +namespace jsk_rviz_plugins +{ + class CloseAllTool: public rviz::Tool + { + public: + CloseAllTool(); + virtual ~CloseAllTool(); + virtual void onInitialize(); + virtual void activate(); + virtual void deactivate(); + protected: + virtual void closeProperty(rviz::Property* property); + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/diagnostics_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/diagnostics_display.cpp new file mode 100755 index 0000000..a0b2362 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/diagnostics_display.cpp @@ -0,0 +1,359 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "diagnostics_display.h" +#include +#include + +namespace jsk_rviz_plugins +{ + + DiagnosticsDisplay::DiagnosticsDisplay() + : rviz::Display(), msg_(0) + { + ros_topic_property_ + = new rviz::RosTopicProperty( + "Topic", "/diagnostics_agg", + ros::message_traits::datatype(), + "diagnostic_msgs::DiagnosticArray topic to subscribe to.", + this, SLOT( updateRosTopic() )); + frame_id_property_ = new rviz::TfFrameProperty( + "frame_id", rviz::TfFrameProperty::FIXED_FRAME_STRING, + "the parent frame_id to visualize diagnostics", + this, 0, true); + diagnostics_namespace_property_ = new rviz::EditableEnumProperty( + "diagnostics namespace", "/", + "diagnostics namespace to visualize diagnostics", + this, SLOT(updateDiagnosticsNamespace())); + radius_property_ = new rviz::FloatProperty( + "radius", 1.0, + "radius of diagnostics circle", + this, SLOT(updateRadius())); + line_width_property_ = new rviz::FloatProperty( + "line width", 0.03, + "line width", + this, SLOT(updateLineWidth())); + axis_property_ = new rviz::EnumProperty( + "axis", "x", + "axis", + this, SLOT(updateAxis())); + axis_property_->addOption("x", 0); + axis_property_->addOption("y", 1); + axis_property_->addOption("z", 2); + font_size_property_ = new rviz::FloatProperty( + "font size", 0.05, + "font size", + this, SLOT(updateFontSize())); + } + + DiagnosticsDisplay::~DiagnosticsDisplay() + { + delete ros_topic_property_; + delete frame_id_property_; + delete diagnostics_namespace_property_; + delete radius_property_; + delete line_width_property_; + delete axis_property_; + delete line_; + delete msg_; + delete font_size_property_; + } + + void DiagnosticsDisplay::update(float wall_dt, float ros_dt) + { + if (line_update_required_) { + updateLine(); + } + + if (!isEnabled()) { + return; + } + + msg_->setCharacterHeight(font_size_); + + const float round_trip = 10.0; + Ogre::Quaternion orientation; + Ogre::Vector3 position; + std::string frame_id = frame_id_property_->getFrame().toStdString(); + if( !context_->getFrameManager()->getTransform( frame_id, + ros::Time(0.0), + position, orientation )) + { + ROS_WARN( "Error transforming from frame '%s' to frame '%s'", + frame_id.c_str(), qPrintable( fixed_frame_ )); + return; + } + scene_node_->setPosition(position); + scene_node_->setOrientation(orientation); + Ogre::Vector3 orbit_position; + orbit_theta_ = ros_dt / round_trip * M_PI * 2.0 + orbit_theta_; + while (orbit_theta_ > M_PI * 2) { + orbit_theta_ -= M_PI*2; + } + if (axis_ == 0) { // x + orbit_position.x = radius_ * cos(orbit_theta_); + orbit_position.y = radius_ * sin(orbit_theta_); + orbit_position.z = 0; + } + else if (axis_ == 1) { // y + orbit_position.y = radius_ * cos(orbit_theta_); + orbit_position.z = radius_ * sin(orbit_theta_); + orbit_position.x = 0; + } + else if (axis_ == 2) { // z + orbit_position.z = radius_ * cos(orbit_theta_); + orbit_position.x = radius_ * sin(orbit_theta_); + orbit_position.y = 0; + } + + orbit_node_->setPosition(orbit_position); + if (!isEnabled()) { + return; + } + context_->queueRender(); + } + + void DiagnosticsDisplay::onInitialize() + { + static int counter = 0; + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + orbit_node_ = scene_node_->createChildSceneNode(); // ?? + line_ = new rviz::BillboardLine(context_->getSceneManager(), scene_node_); + msg_ = new rviz::MovableText("not initialized", "Liberation Sans", 0.05); + msg_->setTextAlignment(rviz::MovableText::H_CENTER, + rviz::MovableText::V_ABOVE); + frame_id_property_->setFrameManager(context_->getFrameManager()); + orbit_node_->attachObject(msg_); + msg_->setVisible(false); + orbit_theta_ = M_PI * 2.0 / 6 * counter++; + updateLineWidth(); + updateAxis(); + updateDiagnosticsNamespace(); + updateRadius(); + updateRosTopic(); + updateFontSize(); + } + + void DiagnosticsDisplay::processMessage + (const diagnostic_msgs::DiagnosticArray::ConstPtr& msg) + { + if (!isEnabled()) { + return; + } + + // update namespaces_ if needed + std::set new_namespaces; + for (size_t i = 0; i < msg->status.size(); i++) { + new_namespaces.insert(msg->status[i].name); + } + + std::set difference_namespaces; + std::set_difference(namespaces_.begin(), namespaces_.end(), + new_namespaces.begin(), new_namespaces.end(), + std::inserter(difference_namespaces, + difference_namespaces.end())); + if (difference_namespaces.size() != 0) { + namespaces_ = new_namespaces; + fillNamespaceList(); + } + else { + difference_namespaces.clear(); + std::set_difference(new_namespaces.begin(), new_namespaces.end(), + namespaces_.begin(), namespaces_.end(), + std::inserter(difference_namespaces, + difference_namespaces.end())); + if (difference_namespaces.size() != 0) { + namespaces_ = new_namespaces; + fillNamespaceList(); + } + } + + if (diagnostics_namespace_.length() == 0) { + return; + } + + const float alpha = 0.8; + const Ogre::ColourValue OK(0.3568627450980392, 0.7529411764705882, 0.8705882352941177, alpha); + const Ogre::ColourValue WARN(0.9411764705882353, 0.6784313725490196, 0.3058823529411765, alpha); + const Ogre::ColourValue ERROR(0.8509803921568627, 0.3254901960784314, 0.30980392156862746, 0.5); + const Ogre::ColourValue UNKNOWN(0.2, 0.2, 0.2, 0.5); + Ogre::ColourValue color; + std::string message; + bool foundp = false; + for (size_t i = 0; i < msg->status.size(); i++) { + diagnostic_msgs::DiagnosticStatus status = msg->status[i]; + if (status.name == diagnostics_namespace_) { + if (status.level == diagnostic_msgs::DiagnosticStatus::OK) { + color = OK; + message = status.message; + } + else if (status.level == diagnostic_msgs::DiagnosticStatus::WARN) { + color = WARN; + message = status.message; + } + else if (status.level == diagnostic_msgs::DiagnosticStatus::ERROR) { + color = ERROR; + message = status.message; + } + else { + // unknwon + color = UNKNOWN; + message = "unknown"; + } + foundp = true; + break; + } + } + + if (!foundp) { + color = UNKNOWN; + message = "stall"; + } + + line_->setColor(color.r, color.g, color.b, color.a); + Ogre::ColourValue font_color(color); + font_color.a = 1.0; + msg_->setColor(font_color); + msg_->setCaption(diagnostics_namespace_ + "\n" + message); + context_->queueRender(); + } + + void DiagnosticsDisplay::updateLine() + { + line_->clear(); + line_->setLineWidth(line_width_); + line_->setNumLines(1); + line_->setMaxPointsPerLine(1024); + for (size_t i = 0; i < 128 + 1; i++) { + Ogre::Vector3 step_position; + const double theta = M_PI * 2.0 / 128 * i; + if (axis_ == 0) { + step_position.x = radius_ * cos(theta); + step_position.y = radius_ * sin(theta); + step_position.z = 0.0; + } + else if (axis_ == 1) { + step_position.y = radius_ * cos(theta); + step_position.z = radius_ * sin(theta); + step_position.x = 0; + } + else if (axis_ == 2) { + step_position.z = radius_ * cos(theta); + step_position.x = radius_ * sin(theta); + step_position.y = 0; + } + line_->addPoint(step_position); + } + line_update_required_ = false; + } + + void DiagnosticsDisplay::onEnable() + { + line_update_required_ = true; + msg_->setVisible(true); + } + + void DiagnosticsDisplay::onDisable() + { + unsubscribe(); + line_->clear(); + msg_->setVisible(false); + } + + void DiagnosticsDisplay::unsubscribe() + { + sub_.shutdown(); + } + + void DiagnosticsDisplay::subscribe() + { + ros::NodeHandle n; + sub_ = n.subscribe(ros_topic_property_->getTopicStd(), + 1, + &DiagnosticsDisplay::processMessage, + this); + } + + void DiagnosticsDisplay::updateRosTopic() + { + unsubscribe(); + subscribe(); + } + + void DiagnosticsDisplay::updateDiagnosticsNamespace() + { + diagnostics_namespace_ = diagnostics_namespace_property_->getStdString(); + } + + void DiagnosticsDisplay::updateRadius() + { + radius_ = radius_property_->getFloat(); + line_update_required_ = true; + } + + void DiagnosticsDisplay::updateLineWidth() + { + line_width_ = line_width_property_->getFloat(); + line_update_required_ = true; + } + + + void DiagnosticsDisplay::updateAxis() + { + axis_ = axis_property_->getOptionInt(); + line_update_required_ = true; + } + + void DiagnosticsDisplay::fillNamespaceList() + { + //QApplication::setOverrideCursor(QCursor(Qt::WaitCursor)); + diagnostics_namespace_property_->clearOptions(); + for (std::set::iterator it = namespaces_.begin(); + it != namespaces_.end(); + it++) { + diagnostics_namespace_property_->addOptionStd(*it); + } + diagnostics_namespace_property_->sortOptions(); + } + + void DiagnosticsDisplay::updateFontSize() + { + font_size_ = font_size_property_->getFloat(); + } + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::DiagnosticsDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/diagnostics_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/diagnostics_display.h new file mode 100755 index 0000000..d8a7e02 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/diagnostics_display.h @@ -0,0 +1,111 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGIN_DIAGNOSTICS_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_DIAGNOSTICS_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + class DiagnosticsDisplay : public rviz::Display + { + Q_OBJECT + public: + DiagnosticsDisplay(); + virtual ~DiagnosticsDisplay(); + protected: + virtual void onEnable(); + virtual void onDisable(); + virtual void onInitialize(); + virtual void subscribe(); + virtual void unsubscribe(); + virtual void updateLine(); + virtual void update(float wall_dt, float ros_dt); + virtual void processMessage + (const diagnostic_msgs::DiagnosticArray::ConstPtr& msg); + + rviz::RosTopicProperty* ros_topic_property_; + rviz::EditableEnumProperty* diagnostics_namespace_property_; + rviz::TfFrameProperty* frame_id_property_; + rviz::FloatProperty* radius_property_; + rviz::FloatProperty* line_width_property_; + rviz::FloatProperty* font_size_property_; + rviz::EnumProperty* axis_property_; + ros::Subscriber sub_; + + double radius_; + double line_width_; + std::string frame_id_; + std::string diagnostics_namespace_; + rviz::MovableText* msg_; + rviz::BillboardLine* line_; + Ogre::SceneNode* orbit_node_; + std::set namespaces_; + int axis_; + double orbit_theta_; + double font_size_; + bool line_update_required_; + protected Q_SLOTS: + virtual void updateRosTopic(); + virtual void updateDiagnosticsNamespace(); + virtual void updateRadius(); + virtual void updateLineWidth(); + virtual void updateAxis(); + virtual void updateFontSize(); + virtual void fillNamespaceList(); + private: + + }; + +} + + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/empty_service_call_interface.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/empty_service_call_interface.cpp new file mode 100755 index 0000000..7668009 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/empty_service_call_interface.cpp @@ -0,0 +1,84 @@ +#include "rviz/config.h" +#include "empty_service_call_interface.h" +#include +#include +#include +#include + +using namespace rviz; +namespace jsk_rviz_plugins +{ + EmptyServiceCallInterfaceAction::EmptyServiceCallInterfaceAction( QWidget* parent ) + : rviz::Panel( parent ) + { + parseROSParameters(); + + QHBoxLayout* h_layout = new QHBoxLayout; + h_layout->setAlignment(Qt::AlignLeft); + layout = new QVBoxLayout(); + signal_mapper = new QSignalMapper(this); + + for(size_t i = 0; i < service_call_button_infos_.size();i++){ + ServiceCallButtonInfo target_button = service_call_button_infos_[i]; + QToolButton* tbutton = new QToolButton(this); + tbutton->setText(target_button.text.c_str()); + tbutton->setToolButtonStyle(Qt::ToolButtonTextUnderIcon); + tbutton->setIconSize(QSize(100, 100)); + tbutton->setIcon(QIcon(QPixmap(QString(target_button.icon_file_path.c_str())))); + connect(tbutton, SIGNAL(clicked()), signal_mapper, SLOT(map())); + signal_mapper->setMapping(tbutton, i); + h_layout->addWidget(tbutton); + }; + connect(signal_mapper, SIGNAL(mapped(int)), + this, SLOT(callRequestEmptyCommand(int))); + layout->addLayout(h_layout); + setLayout( layout ); + } + + void EmptyServiceCallInterfaceAction::parseROSParameters(){ + ros::NodeHandle nh("~"); + + //icon file package file_name + std::string icon_package_name; + nh.param("icon_include_package", icon_package_name, std::string("jsk_rviz_plugins")); + ROS_INFO("Find Icons In %s package.", icon_package_name.c_str()); + + std::string icon_path_prefix; + if(!icon_package_name.empty()) + icon_path_prefix = ros::package::getPath(icon_package_name) + std::string("/icons/"); + + XmlRpc::XmlRpcValue buttons_list; + nh.getParam("rviz_service_call/buttons", buttons_list); + for (int32_t i = 0; i < buttons_list.size(); ++i) + { + ServiceCallButtonInfo new_button; + new_button.icon_file_path = icon_path_prefix + static_cast(buttons_list[i]["icon"]); + new_button.service_name = static_cast(buttons_list[i]["service_name"]); + new_button.text = static_cast(buttons_list[i]["text"]); + service_call_button_infos_.push_back(new_button); + } + }; + + void EmptyServiceCallInterfaceAction::callRequestEmptyCommand(const int button_id){ + ros::ServiceClient client = nh_.serviceClient(service_call_button_infos_[button_id].service_name, true); + std_srvs::Empty srv; + if(client.call(srv)) + ROS_INFO("Call Success"); + else{ + ROS_ERROR("Service call FAIL"); + }; + } + + void EmptyServiceCallInterfaceAction::save( rviz::Config config ) const + { + rviz::Panel::save( config ); + } + + void EmptyServiceCallInterfaceAction::load( const rviz::Config& config ) + { + rviz::Panel::load( config ); + } +} + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::EmptyServiceCallInterfaceAction, rviz::Panel ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/empty_service_call_interface.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/empty_service_call_interface.h new file mode 100755 index 0000000..1efcb94 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/empty_service_call_interface.h @@ -0,0 +1,45 @@ +#ifndef EMPTY_SERCICE_CALL_INTERFACE_H +#define EMPTY_SERCICE_CALL_INTERFACE_H + +#ifndef Q_MOC_RUN +#include +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +# include +#else +# include +#endif +#endif + +namespace jsk_rviz_plugins +{ + struct ServiceCallButtonInfo + { + std::string icon_file_path; + std::string service_name; + std::string text; + }; + + class EmptyServiceCallInterfaceAction: public rviz::Panel + { + Q_OBJECT + public: + EmptyServiceCallInterfaceAction( QWidget* parent = 0 ); + + virtual void load( const rviz::Config& config ); + virtual void save( rviz::Config config ) const; + + protected Q_SLOTS: + void callRequestEmptyCommand(int button_id); + void parseROSParameters(); + protected: + ros::NodeHandle nh_; + std::vector service_call_button_infos_; + QVBoxLayout* layout; + QHBoxLayout* h_layout; + QSignalMapper* signal_mapper; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/facing_visualizer.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/facing_visualizer.cpp new file mode 100755 index 0000000..60f2154 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/facing_visualizer.cpp @@ -0,0 +1,704 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "facing_visualizer.h" +#include +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + + const double minimum_font_size = 0.2; + const float arrow_animation_duration = 1.0; + + SquareObject::SquareObject(Ogre::SceneManager* manager, + double outer_radius, + double inner_radius, + std::string name): + manager_(manager), outer_radius_(outer_radius), + inner_radius_(inner_radius), name_(name), polygon_type_(CIRCLE) + { + manual_ = manager->createManualObject(); + rebuildPolygon(); + } + + SquareObject::~SquareObject() + { + manual_->detachFromParent(); + manager_->destroyManualObject(manual_); + } + + Ogre::ManualObject* SquareObject::getManualObject() + { + return manual_; + } + + void SquareObject::setOuterRadius(double outer_radius) + { + outer_radius_ = outer_radius; + } + + void SquareObject::setInnerRadius(double inner_radius) + { + inner_radius_ = inner_radius; + } + + void SquareObject::rebuildPolygon() + { + manual_->clear(); + manual_->begin(name_, + Ogre::RenderOperation::OT_TRIANGLE_STRIP); + if (polygon_type_ == CIRCLE) { + const size_t resolution = 100; + const double radius_ratio = inner_radius_ / outer_radius_; + const double inner_offset = - outer_radius_ * 0.0; + int counter = 0; + for (size_t i = 0; i < resolution; i++) { + double theta = 2.0 * M_PI / resolution * i; + double next_theta = 2.0 * M_PI / resolution * (i + 1); + + manual_->position(inner_radius_ * cos(theta) + inner_offset, + inner_radius_ * sin(theta) + inner_offset, + 0.0f); + manual_->textureCoord((1 + radius_ratio * cos(theta)) / 2.0, + (1.0 - radius_ratio * sin(theta)) / 2.0); + manual_->index(counter++); + manual_->position(outer_radius_ * cos(theta), + outer_radius_ * sin(theta), + 0.0f); + manual_->textureCoord((1 + cos(theta)) / 2.0, + (1.0 -sin(theta)) / 2.0); + manual_->index(counter++); + manual_->position(inner_radius_ * cos(next_theta) + inner_offset, + inner_radius_ * sin(next_theta) + inner_offset, + 0.0f); + manual_->textureCoord((1 + radius_ratio * cos(next_theta)) / 2.0, + (1.0 - radius_ratio * sin(next_theta)) / 2.0); + manual_->index(counter++); + manual_->position(outer_radius_ * cos(next_theta), + outer_radius_ * sin(next_theta), + 0.0f); + manual_->textureCoord((1 + cos(next_theta)) / 2.0, + (1.0 -sin(next_theta)) / 2.0); + manual_->index(counter++); + + } + } + else if (polygon_type_ == SQUARE) { + manual_->position(outer_radius_, outer_radius_, + 0.0f); // 1 + manual_->textureCoord(0, 0); // 4 + manual_->index(0); + + manual_->position(-outer_radius_, outer_radius_, + 0.0f); // 2 + manual_->textureCoord(0, 1); // 3 + manual_->index(1); + + manual_->position(-outer_radius_, -outer_radius_, + 0.0f); // 3 + manual_->textureCoord(1, 1); // 2 + manual_->index(2); + + manual_->position(outer_radius_, -outer_radius_, + 0.0f); // 4 + manual_->textureCoord(1, 0); // 1 + manual_->index(3); + + manual_->position(outer_radius_, outer_radius_, + 0.0f); // 1 + manual_->textureCoord(0, 0); // 4 + manual_->index(4); + } + // for (size_t i = 0; i < resolution; i++) { + // } + // manual_->index(0); + manual_->end(); + } + + void SquareObject::setPolygonType(PolygonType type) + { + polygon_type_ = type; + } + + TextureObject::TextureObject(const int width, const int height, + const std::string name): + width_(width), height_(height), name_(name) + { + texture_ = Ogre::TextureManager::getSingleton().createManual( + name, + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, + Ogre::TEX_TYPE_2D, + width, height, + 0, + Ogre::PF_A8R8G8B8, + Ogre::TU_DEFAULT + ); + material_ = Ogre::MaterialManager::getSingleton().create( + getMaterialName(), // name + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + + material_->getTechnique(0)->getPass(0)->createTextureUnitState( + texture_->getName()); + material_->setReceiveShadows(false); + material_->getTechnique(0)->setLightingEnabled(true); + material_->getTechnique(0)->getPass(0)->setCullingMode(Ogre::CULL_NONE); + material_->getTechnique(0)->getPass(0)->setLightingEnabled(false); + material_->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false); + material_->getTechnique(0)->getPass(0)->setDepthCheckEnabled(true); + + material_->getTechnique(0)->getPass(0)->setVertexColourTracking(Ogre::TVC_DIFFUSE); + material_->getTechnique(0)->getPass(0)->createTextureUnitState(texture_->getName()); + material_->getTechnique(0)->getPass(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); + + material_->getTechnique(0)->getPass(0) + ->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); + // material_->getTechnique(0)->getPass(0) + // ->setSceneBlending(Ogre::SBT_MODULATE); + + } + + TextureObject::~TextureObject() + { + material_->unload(); + Ogre::MaterialManager::getSingleton().remove(material_->getName()); + } + + ScopedPixelBuffer TextureObject::getBuffer() + { + return ScopedPixelBuffer(texture_->getBuffer()); + } + + std::string TextureObject::getMaterialName() + { + return name_ + "Material"; + } + + FacingObject::FacingObject(Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + double size): + scene_manager_(manager), size_(size), enable_(true), text_("") + { + node_ = parent->createChildSceneNode(); + } + + FacingObject::~FacingObject() + { + node_->detachAllObjects(); + scene_manager_->destroySceneNode(node_); + } + + void FacingObject::setPosition(Ogre::Vector3& pos) + { + node_->setPosition(pos); + } + + void FacingObject::setOrientation(rviz::DisplayContext* context) + { + rviz::ViewManager* manager = context->getViewManager(); + rviz::RenderPanel* panel = manager->getRenderPanel(); + Ogre::Camera* camera = panel->getCamera(); + Ogre::Quaternion q = camera->getDerivedOrientation(); + setOrientation(q); + } + + void FacingObject::setOrientation(Ogre::Quaternion& rot) + { + node_->setOrientation(rot); + } + + void FacingObject::setSize(double size) + { + size_ = size; + } + + void FacingObject::setEnable(bool enable) + { + enable_ = enable; + node_->setVisible(enable_); + } + + void FacingObject::setText(std::string text) + { + text_ = text; + //updateTextUnderLine(); + updateText(); + } + + void FacingObject::setAlpha(double alpha) + { + color_.a = alpha; + updateColor(); + } + + void FacingObject::setColor(QColor color) + { + color_.r = color.red() / 255.0; + color_.g = color.green() / 255.0; + color_.b = color.blue() / 255.0; + updateColor(); + } + + void FacingObject::setColor(Ogre::ColourValue color) + { + color_ = color; + updateColor(); + } + + SimpleCircleFacingVisualizer::SimpleCircleFacingVisualizer( + Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + rviz::DisplayContext* context, + double size, + std::string text): + FacingObject(manager, parent, size) + { + line_ = new rviz::BillboardLine( + context->getSceneManager(), + node_); + text_under_line_ = new rviz::BillboardLine( + context->getSceneManager(), + node_); + target_text_node_ = node_->createChildSceneNode(); + msg_ = new rviz::MovableText("not initialized", "Liberation Sans", 0.05); + msg_->setVisible(false); + msg_->setTextAlignment(rviz::MovableText::H_LEFT, + rviz::MovableText::V_ABOVE); + target_text_node_->attachObject(msg_); + createArrows(context); + updateLine(); + updateTextUnderLine(); + updateText(); + setEnable(false); + } + + SimpleCircleFacingVisualizer::~SimpleCircleFacingVisualizer() + { + delete line_; + delete text_under_line_; + delete msg_; + scene_manager_->destroyManualObject(upper_arrow_); + scene_manager_->destroyManualObject(lower_arrow_); + scene_manager_->destroyManualObject(left_arrow_); + scene_manager_->destroyManualObject(right_arrow_); + upper_material_->unload(); + lower_material_->unload(); + left_material_->unload(); + right_material_->unload(); + Ogre::MaterialManager::getSingleton().remove(upper_material_->getName()); + Ogre::MaterialManager::getSingleton().remove(lower_material_->getName()); + Ogre::MaterialManager::getSingleton().remove(left_material_->getName()); + Ogre::MaterialManager::getSingleton().remove(right_material_->getName()); + } + + void SimpleCircleFacingVisualizer::update(float wall_dt, float ros_dt) + { + double t_ = ros::WallTime::now().toSec(); + double t_rate + = fmod(t_, arrow_animation_duration) / arrow_animation_duration; + upper_arrow_node_->setPosition(0, (1.3 - 0.3 * t_rate) * size_, 0); + lower_arrow_node_->setPosition(0, (-1.3 + 0.3 * t_rate) * size_, 0); + left_arrow_node_->setPosition((1.3 - 0.3 * t_rate) * size_, 0, 0); + right_arrow_node_->setPosition((-1.3 + 0.3 * t_rate) * size_, 0, 0); + } + + void SimpleCircleFacingVisualizer::reset() + { + line_->clear(); + text_under_line_->clear(); + msg_->setVisible(false); + } + + void SimpleCircleFacingVisualizer::updateArrowsObjects(Ogre::ColourValue color) + { + const double size_factor = 0.15; + upper_arrow_node_->setPosition(Ogre::Vector3(0, size_ * 1.0, 0.0)); + upper_arrow_->clear(); + upper_arrow_->estimateVertexCount(3); + upper_arrow_->begin(upper_material_name_, + Ogre::RenderOperation::OT_TRIANGLE_LIST); + + upper_arrow_->colour(color); + upper_arrow_->position(Ogre::Vector3(0, size_ * size_factor, 0)); + upper_arrow_->colour(color); + upper_arrow_->position(Ogre::Vector3(size_ * size_factor, + size_ * size_factor * 2, + 0)); + upper_arrow_->colour(color); + upper_arrow_->position(Ogre::Vector3(-size_ * size_factor, + size_ * size_factor * 2, + 0)); + upper_arrow_->end(); + + lower_arrow_node_->setPosition(Ogre::Vector3(0, -size_ * 1.0, 0.0)); + lower_arrow_->clear(); + lower_arrow_->estimateVertexCount(3); + lower_arrow_->begin(lower_material_name_, + Ogre::RenderOperation::OT_TRIANGLE_LIST); + + lower_arrow_->colour(color); + lower_arrow_->position(Ogre::Vector3(0, + -size_ * size_factor, + 0)); + lower_arrow_->colour(color); + lower_arrow_->position(Ogre::Vector3(size_ * size_factor, + -size_ * size_factor * 2, + 0)); + lower_arrow_->colour(color); + lower_arrow_->position(Ogre::Vector3(-size_ * size_factor, + -size_ * size_factor * 2, + 0)); + lower_arrow_->end(); + left_arrow_node_->setPosition(Ogre::Vector3(size_ * 1.0, 0.0, 0.0)); + left_arrow_->clear(); + left_arrow_->estimateVertexCount(3); + left_arrow_->begin(left_material_name_, + Ogre::RenderOperation::OT_TRIANGLE_LIST); + + left_arrow_->colour(color); + left_arrow_->position(Ogre::Vector3(size_ * size_factor, + 0.0, + 0)); + left_arrow_->colour(color); + left_arrow_->position(Ogre::Vector3(size_ * size_factor * 2, + size_ * size_factor, + 0)); + left_arrow_->colour(color); + left_arrow_->position(Ogre::Vector3(size_ * size_factor * 2, + - size_ * size_factor, + 0)); + left_arrow_->end(); + + right_arrow_node_->setPosition(Ogre::Vector3(-size_ * 1.0, 0.0, 0.0)); + right_arrow_->clear(); + right_arrow_->estimateVertexCount(3); + right_arrow_->begin(right_material_name_, + Ogre::RenderOperation::OT_TRIANGLE_LIST); + + right_arrow_->colour(color); + right_arrow_->position(Ogre::Vector3(-size_ * size_factor, + 0.0, + 0)); + right_arrow_->colour(color); + right_arrow_->position(Ogre::Vector3(-size_ * size_factor * 2, + size_ * size_factor, + 0)); + right_arrow_->colour(color); + right_arrow_->position(Ogre::Vector3(-size_ * size_factor * 2, + - size_ * size_factor, + 0)); + right_arrow_->end(); + + + upper_material_->getTechnique(0)->setLightingEnabled(false); + upper_material_->getTechnique(0)->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA ); + upper_material_->getTechnique(0)->setDepthWriteEnabled( false ); + lower_material_->getTechnique(0)->setLightingEnabled(false); + lower_material_->getTechnique(0)->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA ); + lower_material_->getTechnique(0)->setDepthWriteEnabled( false ); + left_material_->getTechnique(0)->setLightingEnabled(false); + left_material_->getTechnique(0)->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA ); + left_material_->getTechnique(0)->setDepthWriteEnabled( false ); + right_material_->getTechnique(0)->setLightingEnabled(false); + right_material_->getTechnique(0)->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA ); + right_material_->getTechnique(0)->setDepthWriteEnabled( false ); + } + + // allocate material and node for arrrows + void SimpleCircleFacingVisualizer::createArrows( + rviz::DisplayContext* context) + { + static uint32_t count = 0; + rviz::UniformStringStream ss; + ss << "TargetVisualizerDisplayTriangle" << count++; + ss << "Material"; + ss << "0"; + upper_material_name_ = std::string(ss.str()); + ss << "1"; + lower_material_name_ = std::string(ss.str()); + ss << "2"; + left_material_name_ = std::string(ss.str()); + ss << "3"; + right_material_name_ = std::string(ss.str()); + upper_material_ = Ogre::MaterialManager::getSingleton().create( + upper_material_name_, + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + lower_material_ = Ogre::MaterialManager::getSingleton().create( + lower_material_name_, + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + left_material_ = Ogre::MaterialManager::getSingleton().create( + left_material_name_, + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + right_material_ = Ogre::MaterialManager::getSingleton().create( + right_material_name_, + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + + upper_material_->setReceiveShadows(false); + upper_material_->getTechnique(0)->setLightingEnabled(true); + upper_material_->setCullingMode(Ogre::CULL_NONE); + lower_material_->setReceiveShadows(false); + lower_material_->getTechnique(0)->setLightingEnabled(true); + lower_material_->setCullingMode(Ogre::CULL_NONE); + left_material_->setReceiveShadows(false); + left_material_->getTechnique(0)->setLightingEnabled(true); + left_material_->setCullingMode(Ogre::CULL_NONE); + right_material_->setReceiveShadows(false); + right_material_->getTechnique(0)->setLightingEnabled(true); + right_material_->setCullingMode(Ogre::CULL_NONE); + + upper_arrow_ = context->getSceneManager()->createManualObject( + upper_material_name_); + upper_arrow_node_ = node_->createChildSceneNode(); + upper_arrow_node_->attachObject(upper_arrow_); + lower_arrow_ = context->getSceneManager()->createManualObject( + lower_material_name_); + lower_arrow_node_ = node_->createChildSceneNode(); + lower_arrow_node_->attachObject(lower_arrow_); + left_arrow_ = context->getSceneManager()->createManualObject( + left_material_name_); + left_arrow_node_ = node_->createChildSceneNode(); + left_arrow_node_->attachObject(left_arrow_); + right_arrow_ = context->getSceneManager()->createManualObject( + right_material_name_); + right_arrow_node_ = node_->createChildSceneNode(); + right_arrow_node_->attachObject(right_arrow_); + updateArrowsObjects(color_); + } + + void SimpleCircleFacingVisualizer::updateLine() + { + const int resolution = 100; + line_->clear(); + line_->setColor(color_.r, color_.g, color_.b, color_.a); + line_->setLineWidth(0.1 * size_); + line_->setNumLines(1); + line_->setMaxPointsPerLine(1024); + for (size_t i = 0; i < resolution + 1; i++) { + double x = size_ * cos(i * 2 * M_PI / resolution); + double y = size_ * sin(i * 2 * M_PI / resolution); + double z = 0; + Ogre::Vector3 p; + p[0] = x; + p[1] = y; + p[2] = z; + line_->addPoint(p); + } + } + + // need msg to be initialized beforehand + void SimpleCircleFacingVisualizer::updateTextUnderLine() + { + Ogre::Vector3 text_position(size_ * cos(45.0 / 180.0 * M_PI) + + size_ / 2.0, + size_ * sin(45.0 / 180.0 * M_PI) + + size_ / 2.0, + 0); + target_text_node_->setPosition(text_position); + Ogre::Vector3 msg_size = msg_->GetAABB().getSize(); + text_under_line_->clear(); + text_under_line_->setColor(color_.r, color_.g, color_.b, color_.a); + + text_under_line_->setLineWidth(0.01); + text_under_line_->setNumLines(1); + text_under_line_->setMaxPointsPerLine(1024); + Ogre::Vector3 A(size_ * cos(45.0 / 180.0 * M_PI), + size_ * sin(45.0 / 180.0 * M_PI), + 0); + Ogre::Vector3 B(text_position + Ogre::Vector3(- size_ / 4.0, 0, 0)); + Ogre::Vector3 C(text_position + Ogre::Vector3(msg_size[0], 0, 0)); + text_under_line_->addPoint(A); + text_under_line_->addPoint(B); + text_under_line_->addPoint(C); + } + + void SimpleCircleFacingVisualizer::setSize(double size) + { + FacingObject::setSize(size); + updateLine(); + updateText(); + updateTextUnderLine(); + } + + void SimpleCircleFacingVisualizer::setEnable(bool enable) + { + FacingObject::setEnable(enable); + msg_->setVisible(enable); + line_->getSceneNode()->setVisible(enable); + text_under_line_->getSceneNode()->setVisible(enable); + } + + void SimpleCircleFacingVisualizer::updateText() + { + msg_->setCaption(text_); + msg_->setCharacterHeight(std::max(0.15 * size_, minimum_font_size)); + } + + void SimpleCircleFacingVisualizer::setText(std::string text) + { + text_ = text; + updateTextUnderLine(); + updateText(); + } + + void SimpleCircleFacingVisualizer::updateColor() + { + msg_->setColor(color_); + line_->setColor(color_.r, color_.g, color_.b, color_.a); + text_under_line_->setColor(color_.r, color_.g, color_.b, color_.a); + updateArrowsObjects(color_); + } + + FacingTexturedObject::FacingTexturedObject(Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + double size): + FacingObject(manager, parent, size) + { + rviz::UniformStringStream ss; + static int count = 0; + ss << "FacingVisualizer" << count++; + texture_object_.reset(new TextureObject(128, 128, ss.str())); + square_object_.reset(new SquareObject(manager, size, 0, + texture_object_->getMaterialName())); + node_->attachObject(square_object_->getManualObject()); + } + + + void FacingTexturedObject::setSize(double size) + { + FacingObject::setSize(size); + square_object_->setOuterRadius(size_); + square_object_->rebuildPolygon(); + } + + GISCircleVisualizer::GISCircleVisualizer(Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + double size, + std::string text): + FacingTexturedObject(manager, parent, size), text_(text) + { + + } + + void GISCircleVisualizer::update(float wall_dt, float ros_dt) + { + ros::WallTime now = ros::WallTime::now(); + std::string text = text_ + " "; + { + ScopedPixelBuffer buffer = texture_object_->getBuffer(); + QColor transparent(0, 0, 0, 0); + QColor foreground = rviz::ogreToQt(color_); + QColor white(255, 255, 255, color_.a * 255); + QImage Hud = buffer.getQImage(128, 128, transparent); + double line_width = 5; + double inner_line_width = 10; + double l = 128; + //double cx = l / 2 - line_width / 4.0; + double cx = l / 2; + //double cy = l / 2 - line_width / 4.0; + double cy = l / 2; + double r = 48; + double inner_r = 40; + double mouse_r = 30; + double mouse_cy_offset = 5; + + QPainter painter( &Hud ); + painter.setRenderHint(QPainter::Antialiasing, true); + painter.setPen(QPen(foreground, line_width, Qt::SolidLine)); + painter.setBrush(white); + painter.drawEllipse(line_width / 2.0, line_width / 2.0, + l - line_width, l - line_width); + double offset_rate = fmod(now.toSec(), 10) / 10.0; + double theta_offset = offset_rate * M_PI * 2.0; + for (size_t ci = 0; ci < text.length(); ci++) { + double theta = M_PI * 2.0 / text.length() * ci + theta_offset; + painter.save(); + QFont font("DejaVu Sans Mono"); + font.setPointSize(8); + font.setBold(false); + painter.setFont(font); + painter.translate(cx + r * cos(theta), + cy + r * sin(theta)); + painter.rotate(theta / M_PI * 180 + 90); + painter.drawText(0, 0, text.substr(ci, 1).c_str()); + painter.restore(); + } + painter.setPen(QPen(foreground, inner_line_width, Qt::SolidLine)); + painter.setBrush(transparent); + painter.drawEllipse(cx - inner_r, cy - inner_r, + inner_r * 2, inner_r * 2); + double mouse_c_x = cx; + double mouse_c_y = cy - mouse_cy_offset; + double start_angle = -25 * M_PI / 180; + double end_angle = -125 * M_PI / 180; + painter.setPen(QPen(foreground, line_width, Qt::SolidLine)); + painter.drawChord(mouse_c_x - mouse_r, mouse_c_y - mouse_r, + 2.0 * mouse_r, 2.0 * mouse_r, + start_angle * 180 / M_PI * 16, + end_angle * 180 / M_PI * 16); + painter.end(); + } + } + + void GISCircleVisualizer::setAnonymous(bool anonymous) + { + anonymous_ = anonymous; + if (!anonymous_) { + square_object_->setInnerRadius(size_ * 0.6); + } + else { + square_object_->setInnerRadius(0.0); + + } + square_object_->rebuildPolygon(); + } + + void GISCircleVisualizer::setSize(double size) + { + FacingObject::setSize(size); + square_object_->setOuterRadius(size_); + if (!anonymous_) { + square_object_->setInnerRadius(size_ * 0.6); + } + else { + square_object_->setInnerRadius(0.0); + } + square_object_->rebuildPolygon(); + } + + +} diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/facing_visualizer.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/facing_visualizer.h new file mode 100755 index 0000000..0064af6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/facing_visualizer.h @@ -0,0 +1,246 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGIN_FACING_VISUALIZER_H_ +#define JSK_RVIZ_PLUGIN_FACING_VISUALIZER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "overlay_utils.h" + +namespace jsk_rviz_plugins +{ + + // outer radius + // inner radius + class SquareObject + { + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + SquareObject(Ogre::SceneManager* manager, + double outer_radius, + double inner_radius, + std::string name); + enum PolygonType + { + CIRCLE, SQUARE + }; + + virtual ~SquareObject(); + virtual Ogre::ManualObject* getManualObject(); + virtual void setOuterRadius(double outer_radius); + virtual void setInnerRadius(double inner_radius); + virtual void rebuildPolygon(); + virtual void setPolygonType(PolygonType type); + protected: + Ogre::ManualObject* manual_; + Ogre::SceneManager* manager_; + double outer_radius_; + double inner_radius_; + std::string name_; + PolygonType polygon_type_; + private: + }; + + class TextureObject // utility class for texture + { + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + TextureObject(const int width, const int height, const std::string name); + virtual ~TextureObject(); + virtual int getWidth() { return width_; }; + virtual int getHeight() { return height_; }; + virtual ScopedPixelBuffer getBuffer(); + virtual std::string getMaterialName(); + protected: + Ogre::TexturePtr texture_; + Ogre::MaterialPtr material_; + const int width_; + const int height_; + const std::string name_; + private: + + }; + + class FacingObject + { + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + FacingObject(Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + double size); + virtual ~FacingObject(); + virtual void setPosition(Ogre::Vector3& pos); + virtual void setOrientation(rviz::DisplayContext* context); + virtual void setOrientation(Ogre::Quaternion& rot); // non facing API + virtual void update(float wall_dt, float ros_dt) = 0; + virtual void setSize(double size); + virtual void setEnable(bool enable); + virtual void setColor(QColor color); + virtual void setColor(Ogre::ColourValue color); + virtual void setText(std::string text); + virtual void setAlpha(double alpha); + protected: + virtual void updateColor() = 0; + virtual void updateText() = 0; + Ogre::SceneManager* scene_manager_; + Ogre::SceneNode* node_; + Ogre::ColourValue color_; + double size_; + bool enable_; + std::string text_; + private: + + }; + + class SimpleCircleFacingVisualizer: public FacingObject + { + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + SimpleCircleFacingVisualizer(Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + rviz::DisplayContext* context, + double size, + std::string text = ""); + virtual ~SimpleCircleFacingVisualizer(); + virtual void update(float wall_dt, float ros_dt); + virtual void reset(); + + virtual void setSize(double size); + virtual void setEnable(bool enable); + virtual void setText(std::string text); + protected: + virtual void updateArrowsObjects(Ogre::ColourValue color); + virtual void createArrows(rviz::DisplayContext* context); + virtual void updateLine(); + virtual void updateTextUnderLine(); + virtual void updateText(); + virtual void updateColor(); + rviz::BillboardLine* line_; + rviz::BillboardLine* text_under_line_; + Ogre::ManualObject* upper_arrow_; + Ogre::ManualObject* lower_arrow_; + Ogre::ManualObject* left_arrow_; + Ogre::ManualObject* right_arrow_; + Ogre::SceneNode* upper_arrow_node_; + Ogre::SceneNode* lower_arrow_node_; + Ogre::SceneNode* left_arrow_node_; + Ogre::SceneNode* right_arrow_node_; + Ogre::MaterialPtr upper_material_; + Ogre::MaterialPtr lower_material_; + Ogre::MaterialPtr left_material_; + Ogre::MaterialPtr right_material_; + std::string upper_material_name_; + std::string left_material_name_; + std::string lower_material_name_; + std::string right_material_name_; + rviz::MovableText* msg_; + Ogre::SceneNode* target_text_node_; + private: + + }; + + class FacingTexturedObject: public FacingObject + { + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + FacingTexturedObject(Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + double size); + virtual void setSize(double size); + protected: + SquareObject::Ptr square_object_; + TextureObject::Ptr texture_object_; + + private: + + }; + + class GISCircleVisualizer: public FacingTexturedObject + { + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + GISCircleVisualizer(Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + double size, + std::string text = ""); + virtual void setText(std::string text) { text_ = text; } + virtual void update(float wall_dt, float ros_dt); + virtual void setAnonymous(bool anonymous); + protected: + virtual void updateColor() {} + virtual void updateText() {} + virtual void setSize(double size); + bool anonymous_; + std::string text_; + private: + }; + +} + +#endif diff --git 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0x00, 0x02, 0x00, 0x9d, 0x04, 0x60, 0x00, 0x02, + 0x04, 0x64, 0x06, 0x19, 0x00, 0x02, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, + 0x00, 0x00, 0x00, 0x00 +}; +unsigned int font_awesome_4_2_0_fonts_fontawesome_webfont_ttf_len = 355888; diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/footstep_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/footstep_display.cpp new file mode 100755 index 0000000..d2763ab --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/footstep_display.cpp @@ -0,0 +1,372 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "footstep_display.h" +#include +#include + +namespace jsk_rviz_plugins +{ + FootstepDisplay::FootstepDisplay() + { + alpha_property_ = new rviz::FloatProperty( "Alpha", 0.5, + "0 is fully transparent, 1.0 is fully opaque.", + this, SLOT( updateAlpha() )); + show_name_property_ = new rviz::BoolProperty( + "Show Name", true, + "Show name of each footstep", + this, SLOT(updateShowName())); + use_group_coloring_property_ = new rviz::BoolProperty( + "Use Group Coloring", false, + "Use footstep_group field to colorize footsteps", + this, SLOT(updateUseGroupColoring())); + width_property_ = new rviz::FloatProperty( + "Width", 0.15, + "width of the footstep, it's not used if the dimensions is specified in Footstep message.", + this, SLOT( updateWidth() )); + height_property_ = new rviz::FloatProperty( + "height", 0.01, + "height of the footstep, it's not used if the dimensions is specified in Footstep message.", + this, SLOT( updateHeight() )); + + depth_property_ = new rviz::FloatProperty( + "depth", 0.3, + "depth of the footstep, it's not used if the dimensions is specified in Footstep message.", + this, SLOT( updateDepth() )); + } + + FootstepDisplay::~FootstepDisplay() + { + delete alpha_property_; + delete width_property_; + delete height_property_; + delete depth_property_; + delete show_name_property_; + delete use_group_coloring_property_; + delete line_; + // remove all the nodes + for (size_t i = 0; i < text_nodes_.size(); i++) { + Ogre::SceneNode* node = text_nodes_[i]; + node->removeAndDestroyAllChildren(); + node->detachAllObjects(); + scene_manager_->destroySceneNode(node); + } + } + + void FootstepDisplay::updateWidth() + { + width_ = width_property_->getFloat(); + } + + void FootstepDisplay::updateHeight() + { + height_ = height_property_->getFloat(); + } + + void FootstepDisplay::updateDepth() + { + depth_ = depth_property_->getFloat(); + } + + void FootstepDisplay::updateAlpha() + { + alpha_ = alpha_property_->getFloat(); + } + + void FootstepDisplay::updateShowName() + { + show_name_ = show_name_property_->getBool(); + } + + void FootstepDisplay::updateUseGroupColoring() + { + use_group_coloring_ = use_group_coloring_property_->getBool(); + } + + + void FootstepDisplay::reset() + { + MFDClass::reset(); + shapes_.clear(); + line_->clear(); + allocateTexts(0); + } + + bool FootstepDisplay::validateFloats( const jsk_footstep_msgs::FootstepArray& msg ) + { + for (std::vector::const_iterator it = msg.footsteps.begin(); + it != msg.footsteps.end(); + ++it) { + if (!rviz::validateFloats((*it).pose.position.x) + || !rviz::validateFloats((*it).pose.position.y) + || !rviz::validateFloats((*it).pose.position.z) + || !rviz::validateFloats((*it).pose.orientation.x) + || !rviz::validateFloats((*it).pose.orientation.y) + || !rviz::validateFloats((*it).pose.orientation.z) + || !rviz::validateFloats((*it).pose.orientation.w) + ) { + return false; + } + } + return true; + } + + void FootstepDisplay::onInitialize() + { + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + line_ = new rviz::BillboardLine(context_->getSceneManager(), scene_node_); + updateShowName(); + updateWidth(); + updateHeight(); + updateDepth(); + updateAlpha(); + updateUseGroupColoring(); + } + + void FootstepDisplay::allocateCubes(size_t num) { + if (num > shapes_.size()) { + // need to allocate + for (size_t i = shapes_.size(); i < num; i++) { + ShapePtr shape; + shape.reset(new rviz::Shape(rviz::Shape::Cube, context_->getSceneManager(), + scene_node_)); + shapes_.push_back(shape); + } + } + else if (num < shapes_.size()) { + // need to remove + shapes_.resize(num); + } + } + + void FootstepDisplay::allocateTexts(size_t num) { + if (num > texts_.size()) { + // need to allocate + for (size_t i = texts_.size(); i < num; i++) { + // create nodes + Ogre::SceneNode* node = scene_node_->createChildSceneNode(); + rviz::MovableText* text + = new rviz::MovableText("not initialized", "Liberation Sans", 0.05); + text->setVisible(false); + text->setTextAlignment(rviz::MovableText::H_CENTER, + rviz::MovableText::V_ABOVE); + node->attachObject(text); + texts_.push_back(text); + text_nodes_.push_back(node); + } + } + else if (num < texts_.size()) { + for (int i = texts_.size() - 1; i >= (int)num; i--) { + Ogre::SceneNode* node = text_nodes_[i]; + node->detachAllObjects(); + node->removeAndDestroyAllChildren(); + scene_manager_->destroySceneNode(node); + } + text_nodes_.resize(num); + texts_.resize(num); + + } + } + + double FootstepDisplay::minNotZero(double a, double b) { + if (a == 0.0) { + return b; + } + else if (b == 0.0) { + return a; + } + else { + return std::min(a, b); + } + } + + void FootstepDisplay::update(float wall_dt, float ros_dt) + { + for (size_t i = 0; i < shapes_.size(); i++) { + ShapePtr shape = shapes_[i]; + texts_[i]->setVisible(show_name_); // TODO + jsk_footstep_msgs::Footstep footstep = latest_footstep_->footsteps[i]; + // color + if (use_group_coloring_) { + std_msgs::ColorRGBA color + = jsk_topic_tools::colorCategory20(footstep.footstep_group); + shape->setColor(color.r, color.g, color.b, alpha_); + } + else { + if (footstep.leg == jsk_footstep_msgs::Footstep::LLEG) { + shape->setColor(0, 1, 0, alpha_); + } + else if (footstep.leg == jsk_footstep_msgs::Footstep::RLEG) { + shape->setColor(1, 0, 0, alpha_); + } + else if (footstep.leg == jsk_footstep_msgs::Footstep::LARM) { + shape->setColor(0, 1, 1, alpha_); + } + else if (footstep.leg == jsk_footstep_msgs::Footstep::RARM) { + shape->setColor(1, 0, 1, alpha_); + } + else { + shape->setColor(1, 1, 1, alpha_); + } + } + + } + } + + double FootstepDisplay::estimateTextSize( + const jsk_footstep_msgs::Footstep& footstep) + { + if (footstep.dimensions.x == 0 && + footstep.dimensions.y == 0 && + footstep.dimensions.z == 0) { + return std::max(minNotZero(minNotZero(footstep.dimensions.x, + footstep.dimensions.y), + footstep.dimensions.z), + 0.1); + } + else { + return std::max(minNotZero(minNotZero(depth_property_->getFloat(), + width_property_->getFloat()), + height_property_->getFloat()), + 0.1); + + } + } + + + void FootstepDisplay::processMessage(const jsk_footstep_msgs::FootstepArray::ConstPtr& msg) + { + if (!validateFloats(*msg)) { + setStatus(rviz::StatusProperty::Error, "Topic", "message contained invalid floating point values (nans or infs)"); + return; + } + latest_footstep_ = msg; + Ogre::Quaternion orientation; + Ogre::Vector3 position; + if(!context_->getFrameManager()->getTransform( msg->header.frame_id, + msg->header.stamp, + position, orientation)) { + std::ostringstream oss; + oss << "Error transforming pose"; + oss << " from frame '" << msg->header.frame_id << "'"; + oss << " to frame '" << qPrintable(fixed_frame_) << "'"; + ROS_ERROR_STREAM(oss.str()); + setStatus(rviz::StatusProperty::Error, "Transform", QString::fromStdString(oss.str())); + return; + } + + // check thhe length of the shapes_ + allocateCubes(msg->footsteps.size()); + allocateTexts(msg->footsteps.size()); + line_->clear(); + line_->setLineWidth(0.01); + line_->setNumLines(1); + line_->setMaxPointsPerLine(1024); + + for (size_t i = 0; i < msg->footsteps.size(); i++) + { + ShapePtr shape = shapes_[i]; + rviz::MovableText* text = texts_[i]; + Ogre::SceneNode* node = text_nodes_[i]; + jsk_footstep_msgs::Footstep footstep = msg->footsteps[i]; + Ogre::Vector3 step_position; + Ogre::Vector3 shape_position; + Ogre::Quaternion step_quaternion; + if( !context_->getFrameManager()->transform( msg->header, footstep.pose, + step_position, + step_quaternion )) + { + std::ostringstream oss; + oss << "Error transforming pose"; + oss << " from frame '" << msg->header.frame_id << "'"; + oss << " to frame '" << qPrintable(fixed_frame_) << "'"; + ROS_ERROR_STREAM(oss.str()); + setStatus(rviz::StatusProperty::Error, "Transform", QString::fromStdString(oss.str())); + return; + } + // add offset + Ogre::Vector3 step_offset (footstep.offset.x, footstep.offset.y, footstep.offset.z); + shape_position = step_position + (step_quaternion * step_offset); + + shape->setPosition(shape_position); + shape->setOrientation(step_quaternion); + // size of shape + Ogre::Vector3 scale; + if (footstep.dimensions.x == 0 && + footstep.dimensions.y == 0 && + footstep.dimensions.z == 0) { + scale[0] = depth_; + scale[1] = width_; + scale[2] = height_; + } + else { + scale[0] = footstep.dimensions.x; + scale[1] = footstep.dimensions.y; + scale[2] = footstep.dimensions.z; + } + shape->setScale(scale); + // update the size of text + if (footstep.leg == jsk_footstep_msgs::Footstep::LLEG) { + text->setCaption("LLEG"); + } + else if (footstep.leg == jsk_footstep_msgs::Footstep::RLEG) { + text->setCaption("RLEG"); + } + else if (footstep.leg == jsk_footstep_msgs::Footstep::LARM) { + text->setCaption("LARM"); + } + else if (footstep.leg == jsk_footstep_msgs::Footstep::RARM) { + text->setCaption("RARM"); + } + else { + text->setCaption("unknown"); + } + text->setCharacterHeight(estimateTextSize(footstep)); + node->setPosition(shape_position); + node->setOrientation(step_quaternion); + text->setVisible(show_name_); // TODO + line_->addPoint(step_position); + + } + //updateFootstepSize(); + updateAlpha(); + context_->queueRender(); + } + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::FootstepDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/footstep_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/footstep_display.h new file mode 100755 index 0000000..ee4d643 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/footstep_display.h @@ -0,0 +1,103 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef FOOTSTEP_DISPLAY_H +#define FOOTSTEP_DISPLAY_H + +#include +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + class FootstepDisplay : public rviz::MessageFilterDisplay + { + Q_OBJECT + public: + FootstepDisplay(); + virtual ~FootstepDisplay(); + protected: + virtual void onInitialize(); + virtual void reset(); + virtual void update(float wall_dt, float ros_dt); + private: + virtual void allocateCubes(size_t num); + virtual void allocateTexts(size_t num); + virtual double estimateTextSize( + const jsk_footstep_msgs::Footstep& footstep); + virtual double minNotZero(double a, double b); + virtual void processMessage(const jsk_footstep_msgs::FootstepArray::ConstPtr& msg); + virtual bool validateFloats(const jsk_footstep_msgs::FootstepArray& msg); + + rviz::FloatProperty* alpha_property_; + rviz::FloatProperty* width_property_; + rviz::FloatProperty* height_property_; + rviz::FloatProperty* depth_property_; + rviz::BoolProperty* show_name_property_; + rviz::BoolProperty* use_group_coloring_property_; + jsk_footstep_msgs::FootstepArray::ConstPtr latest_footstep_; +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr ShapePtr; +#else + typedef boost::shared_ptr ShapePtr; +#endif + std::vector shapes_; + std::vector texts_; + std::vector text_nodes_; + rviz::BillboardLine* line_; + double width_, height_, depth_; + double alpha_; + bool show_name_; + bool use_group_coloring_; + //Ogre::SceneNode* scene_node_; + private Q_SLOTS: + void updateAlpha(); + void updateWidth(); + void updateHeight(); + void updateDepth(); + void updateShowName(); + void updateUseGroupColoring(); + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/human_skeleton_array_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/human_skeleton_array_display.cpp new file mode 100755 index 0000000..57cd318 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/human_skeleton_array_display.cpp @@ -0,0 +1,253 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "human_skeleton_array_display.h" +#include +namespace jsk_rviz_plugins +{ + HumanSkeletonArrayDisplay::HumanSkeletonArrayDisplay() + { + coloring_property_ = new rviz::EnumProperty( + "coloring", "Auto", + "coloring method", + this, SLOT(updateColoring())); + coloring_property_->addOption("Auto", 0); + coloring_property_->addOption("Flat color", 1); + + color_property_ = new rviz::ColorProperty( + "color", QColor(25, 255, 0), + "color to draw the edges", + this, SLOT(updateColor())); + alpha_property_ = new rviz::FloatProperty( + "alpha", 1.0, + "alpha value to draw the edges", + this, SLOT(updateAlpha())); + line_width_property_ = new rviz::FloatProperty( + "line width", 0.005, + "line width of the edges", + this, SLOT(updateLineWidth())); + } + + HumanSkeletonArrayDisplay::~HumanSkeletonArrayDisplay() + { + delete color_property_; + delete alpha_property_; + delete coloring_property_; + } + + QColor HumanSkeletonArrayDisplay::getColor(size_t index) + { + if (coloring_method_ == "auto") { + std_msgs::ColorRGBA ros_color = jsk_topic_tools::colorCategory20(index); + return QColor(ros_color.r * 255.0, + ros_color.g * 255.0, + ros_color.b * 255.0, + ros_color.a * 255.0); + } + else if (coloring_method_ == "flat") { + return color_; + } + } + + void HumanSkeletonArrayDisplay::onInitialize() + { + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + + updateColor(); + updateAlpha(); + updateColoring(); + updateLineWidth(); + } + + void HumanSkeletonArrayDisplay::updateLineWidth() + { + line_width_ = line_width_property_->getFloat(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void HumanSkeletonArrayDisplay::updateColor() + { + color_ = color_property_->getColor(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void HumanSkeletonArrayDisplay::updateAlpha() + { + alpha_ = alpha_property_->getFloat(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void HumanSkeletonArrayDisplay::updateColoring() + { + if (coloring_property_->getOptionInt() == 0) { + coloring_method_ = "auto"; + color_property_->hide(); + } + else if (coloring_property_->getOptionInt() == 1) { + coloring_method_ = "flat"; + color_property_->show(); + } + + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void HumanSkeletonArrayDisplay::reset() + { + MFDClass::reset(); + edges_.clear(); + latest_msg_.reset(); + } + + void HumanSkeletonArrayDisplay::allocateSpheres(int num) { + if (num > shapes_.size()) { + for (size_t i = shapes_.size(); i < num; i++) { + ShapePtr shape; + shape.reset(new rviz::Shape(rviz::Shape::Sphere, context_->getSceneManager(), + scene_node_)); + shapes_.push_back(shape); + } + } + else if (num < shapes_.size()) { + shapes_.resize(num); + } + } + + void HumanSkeletonArrayDisplay::allocateBillboardLines(int num) + { + if (num > edges_.size()) { + for (size_t i = edges_.size(); i < num; i++) { + BillboardLinePtr line(new rviz::BillboardLine( + this->context_->getSceneManager(), this->scene_node_)); + edges_.push_back(line); + } + } + else if (num < edges_.size()) + { + edges_.resize(num); // ok?? + } + } + + void HumanSkeletonArrayDisplay::showEdges( + const jsk_recognition_msgs::HumanSkeletonArray::ConstPtr& msg) + { + int line_num = 0; + for (size_t i = 0; i < msg->skeletons.size(); i++) { + line_num = line_num + msg->skeletons[i].bones.size(); + } + allocateBillboardLines(line_num); + allocateSpheres(2 * line_num); + int line_i = 0; + for (size_t i = 0; i < msg->skeletons.size(); i++) { + for (size_t j = 0; j < msg->skeletons[i].bones.size(); j++) { + jsk_recognition_msgs::Segment edge_msg = msg->skeletons[i].bones[j]; + BillboardLinePtr edge = edges_[line_i]; + ShapePtr start_shape = shapes_[2 * line_i]; + ShapePtr end_shape = shapes_[2 * line_i + 1]; + edge->clear(); + + geometry_msgs::Pose start_pose_local; + geometry_msgs::Pose end_pose_local; + start_pose_local.position = edge_msg.start_point; + start_pose_local.orientation.w = 1.0; + end_pose_local.position = edge_msg.end_point; + end_pose_local.orientation.w = 1.0; + + Ogre::Vector3 start_point; + Ogre::Vector3 end_point; + Ogre::Quaternion quaternion; // not used to visualize + bool transform_ret; + transform_ret = + context_->getFrameManager()->transform(msg->header, start_pose_local, start_point, quaternion) + && context_->getFrameManager()->transform(msg->header, end_pose_local, end_point, quaternion); + if(!transform_ret) { + ROS_ERROR( "Error transforming pose" + "'%s' from frame '%s' to frame '%s'", + qPrintable( getName() ), msg->header.frame_id.c_str(), + qPrintable( fixed_frame_ )); + return; // return? + } + edge->addPoint(start_point); + edge->addPoint(end_point); + edge->setLineWidth(line_width_); + QColor color = getColor(i); + edge->setColor(color.red() / 255.0, + color.green() / 255.0, + color.blue() / 255.0, + alpha_); + + Ogre::Vector3 scale; + scale[0] = 2.0 * line_width_; + scale[1] = 2.0 * line_width_; + scale[2] = 2.0 * line_width_; + start_shape->setPosition(start_point); + start_shape->setScale(scale); + start_shape->setOrientation(quaternion); + start_shape->setColor(color.red() / 255.0, + color.green() / 255.0, + color.blue() / 255.0, + alpha_); + end_shape->setPosition(end_point); + end_shape->setScale(scale); + end_shape->setOrientation(quaternion); + end_shape->setColor(color.red() / 255.0, + color.green() / 255.0, + color.blue() / 255.0, + alpha_); + line_i++; + } + } + } + + void HumanSkeletonArrayDisplay::processMessage( + const jsk_recognition_msgs::HumanSkeletonArray::ConstPtr& msg) + { + // Store latest message + latest_msg_ = msg; + + showEdges(msg); + } +} + +#include +PLUGINLIB_EXPORT_CLASS( + jsk_rviz_plugins::HumanSkeletonArrayDisplay, rviz::Display) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/human_skeleton_array_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/human_skeleton_array_display.h new file mode 100755 index 0000000..b3337b0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/human_skeleton_array_display.h @@ -0,0 +1,101 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_HUMAN_SKELETON_ARRAY_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_HUMAN_SKELETON_ARRAY_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + class HumanSkeletonArrayDisplay: + public rviz::MessageFilterDisplay + { + Q_OBJECT + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr BillboardLinePtr; + typedef std::shared_ptr ShapePtr; +#else + typedef boost::shared_ptr BillboardLinePtr; + typedef boost::shared_ptr ShapePtr; +#endif + HumanSkeletonArrayDisplay(); + virtual ~HumanSkeletonArrayDisplay(); + protected: + virtual void onInitialize(); + virtual void reset(); + void allocateSpheres(int num); + void allocateBillboardLines(int num); + QColor getColor(size_t index); + virtual void showEdges( + const jsk_recognition_msgs::HumanSkeletonArray::ConstPtr& msg); + + rviz::EnumProperty* coloring_property_; + rviz::ColorProperty* color_property_; + rviz::FloatProperty* alpha_property_; + rviz::FloatProperty* line_width_property_; + QColor color_; + double alpha_; + std::string coloring_method_; + double line_width_; + std::vector edges_; + std::vector shapes_; + + jsk_recognition_msgs::HumanSkeletonArray::ConstPtr latest_msg_; + private Q_SLOTS: + void updateColor(); + void updateAlpha(); + void updateColoring(); + void updateLineWidth(); + private: + void processMessage( + const jsk_recognition_msgs::HumanSkeletonArray::ConstPtr& msg); + }; + +} +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/image_transport_hints_property.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/image_transport_hints_property.cpp new file mode 100755 index 0000000..e8c9a7b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/image_transport_hints_property.cpp @@ -0,0 +1,21 @@ +#include "image_transport_hints_property.h" + +namespace jsk_rviz_plugins { + +ImageTransportHintsProperty::ImageTransportHintsProperty(const char* name, + const char* description, + rviz::Property* parent, + const char* changed_slot) + : rviz::EditableEnumProperty(name, "raw", description, parent, changed_slot) { + addOptionStd("raw"); + addOptionStd("compressed"); + addOptionStd("theora"); +} + +ImageTransportHintsProperty::~ImageTransportHintsProperty() {} + +image_transport::TransportHints ImageTransportHintsProperty::getTransportHints() { + return image_transport::TransportHints(getStdString()); +} + +} diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/image_transport_hints_property.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/image_transport_hints_property.h new file mode 100755 index 0000000..6848c62 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/image_transport_hints_property.h @@ -0,0 +1,21 @@ +#ifndef JSK_RVIZ_PLUGINS_IMAGE_TRANSPORT_HINTS_PROPERTY_H +#define JSK_RVIZ_PLUGINS_IMAGE_TRANSPORT_HINTS_PROPERTY_H + +#include +#include +#include + +namespace jsk_rviz_plugins { + +class ImageTransportHintsProperty : public rviz::EditableEnumProperty +{ + Q_OBJECT + public: + ImageTransportHintsProperty(const char* name, const char* description, + rviz::Property* parent, const char* changed_slot); + ~ImageTransportHintsProperty(); + + image_transport::TransportHints getTransportHints(); +}; +} +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_display.cpp new file mode 100755 index 0000000..ee78390 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_display.cpp @@ -0,0 +1,304 @@ +// -*- mode: C++ -*- +#include "normal_display.h" + +using namespace rviz; + +namespace jsk_rviz_plugins +{ + + NormalDisplay::NormalDisplay():skip_rate_(1),scale_(0.3),alpha_(1.0) + { + skip_rate_property_ + = new FloatProperty("Display Rate (%)", 1, + "Skip the display normals for speed up. Around 1% is recommended", + this, SLOT( updateSkipRate() )); + skip_rate_property_->setMax(100.0); + skip_rate_property_->setMin( 0.0); + + scale_property_ + = new rviz::FloatProperty("Scale", 0.3, + "set the scale of arrow", + this, SLOT(updateScale())); + + scale_property_->setMin(0.0); + + alpha_property_ + = new rviz::FloatProperty("Alpha", 1, + "set the alpha of arrow", + this, SLOT(updateAlpha())); + + alpha_property_->setMax(1.0); + alpha_property_->setMin(0.0); + + style_property_ = new EnumProperty( "Style", "PointsColor", + "Rendering mode to use, in order of computational complexity.", + this, SLOT( updateStyle() ), this); + style_property_->addOption( "PointsColor", NormalDisplay::POINTS_COLOR ); + style_property_->addOption( "FlatColor", NormalDisplay::FLAT_COLOR ); + style_property_->addOption( "DirectionColor", NormalDisplay::DIRECTION_COLOR ); + style_property_->addOption( "CurvatureColor", NormalDisplay::CURVATURE_COLOR ); + + color_property_ = new ColorProperty( "Color", Qt::white, + "Color to assign to every point.",this); + color_property_->hide(); + + rainbow_property_ = new BoolProperty( "Use Rainbow", true, "Set rainbow range", this, SLOT( updateRainbow() ), this); + rainbow_property_->hide(); + + min_color_property_ = new ColorProperty( "MinColor", Qt::green, + "Min color.",this); + min_color_property_->hide(); + max_color_property_ = new ColorProperty( "Max Color", Qt::red, + "Max color.",this); + max_color_property_->hide(); + } + + void NormalDisplay::getRainbow(float value , float& rf, float& gf, float& bf){ + value = std::min(value, 1.0f); + value = std::max(value, 0.0f); + float h = value * 5.0f + 1.0f; + int i = floor(h); + float f = h - i; + if ( !(i&1) ) f = 1 - f; + float n = 1 - f; + if (i <= 1) rf = n, gf = 0, bf = 1; + else if (i == 2) rf = 0, gf = n, bf = 1; + else if (i == 3) rf = 0, gf = 1, bf = n; + else if (i == 4) rf = n, gf = 1, bf = 0; + else if (i >= 5) rf = 1, gf = n, bf = 0; + } + + void NormalDisplay::updateRainbow(){ + if(rainbow_property_->getBool()){ + min_color_property_->hide(); + max_color_property_->hide(); + }else{ + min_color_property_->show(); + max_color_property_->show(); + } + } + + void NormalDisplay::updateScale(){ + scale_ = scale_property_->getFloat(); + }; + + void NormalDisplay::updateAlpha(){ + alpha_ = alpha_property_->getFloat(); + }; + + void NormalDisplay::updateSkipRate(){ + skip_rate_ = skip_rate_property_->getFloat(); + } + + void NormalDisplay::updateStyle() + { + NormalDisplay::ColorTypes mode = (NormalDisplay::ColorTypes) style_property_->getOptionInt(); + if( mode != NormalDisplay::FLAT_COLOR ) + { + color_property_->hide(); + } + else + { + color_property_->show(); + } + + if( mode != NormalDisplay::CURVATURE_COLOR) + { + min_color_property_->hide(); + max_color_property_->hide(); + rainbow_property_->hide(); + } + else + { + rainbow_property_->show(); + if(rainbow_property_->getBool()){ + min_color_property_->hide(); + max_color_property_->hide(); + }else{ + min_color_property_->show(); + max_color_property_->show(); + } + } + } + + void NormalDisplay::onInitialize() + { + MFDClass::onInitialize(); + } + + NormalDisplay::~NormalDisplay() + { + delete style_property_; + delete color_property_; + visuals_.clear(); + } + + void NormalDisplay::reset() + { + MFDClass::reset(); + visuals_.clear(); + } + + + void NormalDisplay::processMessage( const sensor_msgs::PointCloud2::ConstPtr& msg ) + { + //check x,y,z + int32_t xi = findChannelIndex(msg, "x"); + int32_t yi = findChannelIndex(msg, "y"); + int32_t zi = findChannelIndex(msg, "z"); + + if (xi == -1 || yi == -1 || zi == -1) + { + ROS_ERROR("doesn't have x, y, z"); + return; + } + + const uint32_t xoff = msg->fields[xi].offset; + const uint32_t yoff = msg->fields[yi].offset; + const uint32_t zoff = msg->fields[zi].offset; + + //check normals x,y,z + int32_t normal_xi = findChannelIndex(msg, "normal_x"); + int32_t normal_yi = findChannelIndex(msg, "normal_y"); + int32_t normal_zi = findChannelIndex(msg, "normal_z"); + int32_t curvature_i = findChannelIndex(msg, "curvature"); + + if (normal_xi == -1 || normal_yi == -1 || normal_zi == -1 || curvature_i == -1) + { + ROS_ERROR("doesn't have normal_x, normal_y, normal_z, curvature"); + return; + } + + const uint32_t normal_xoff = msg->fields[normal_xi].offset; + const uint32_t normal_yoff = msg->fields[normal_yi].offset; + const uint32_t normal_zoff = msg->fields[normal_zi].offset; + const uint32_t curvature_off = msg->fields[curvature_i].offset; + + //check rgba color + int32_t rgbai = findChannelIndex(msg, "rgb"); + uint32_t rgbaoff = -1; + if(rgbai != -1) + rgbaoff = msg->fields[rgbai].offset; + + //check other option values + const uint32_t point_step = msg->point_step; + const size_t point_count = msg->width * msg->height; + + if (point_count == 0) + { + ROS_ERROR("doesn't have point_count > 0"); + return; + } + + Ogre::Quaternion orientation; + Ogre::Vector3 position; + if( !context_->getFrameManager()->getTransform( msg->header.frame_id, + msg->header.stamp, + position, orientation )) + { + ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'", + msg->header.frame_id.c_str(), qPrintable( fixed_frame_ )); + return; + } + + int skip_time = int( 100 / skip_rate_ ); + skip_time = std::max(skip_time, 1); + skip_time = std::min(skip_time, int(point_count / 2)); + visuals_.rset_capacity(int(point_count/skip_time)); + const uint8_t* ptr = &msg->data.front(); + + //Use Prev Curvature max, min + static float prev_max_curvature = 0.0; + static float prev_min_curvature = 1.0; + float max_curvature = 0.0; + float min_curvature = 1.0; + bool use_rainbow = rainbow_property_->getBool(); + Ogre::ColourValue max_color = max_color_property_->getOgreColor(); + Ogre::ColourValue min_color = min_color_property_->getOgreColor(); + for (size_t i = 0; i < point_count; ++i) + { + if(i % skip_time != 0){ + ptr += point_step; + continue; + } + float x = *reinterpret_cast(ptr + xoff); + float y = *reinterpret_cast(ptr + yoff); + float z = *reinterpret_cast(ptr + zoff); + float normal_x = *reinterpret_cast(ptr + normal_xoff); + float normal_y = *reinterpret_cast(ptr + normal_yoff); + float normal_z = *reinterpret_cast(ptr + normal_zoff); + float curvature = *reinterpret_cast(ptr + curvature_off); + int r=1,g=0,b=0; + + if (validateFloats(Ogre::Vector3(x, y, z)) && validateFloats(Ogre::Vector3(normal_x, normal_y, normal_z))) + { +#if ROS_VERSION_MINIMUM(1,12,0) + std::shared_ptr visual; +#else + boost::shared_ptr visual; +#endif + if(visuals_.full()){ + visual = visuals_.front(); + }else{ + visual.reset(new NormalVisual( context_->getSceneManager(), scene_node_ )); + } + visual->setValues( x, y, z, normal_x, normal_y, normal_z ); + visual->setFramePosition( position ); + visual->setFrameOrientation( orientation ); + visual->setScale( scale_ ); + + QColor color = color_property_->getColor(); + Ogre::Vector3 dir_vec(normal_x, normal_y, normal_z); + switch((NormalDisplay::ColorTypes) style_property_->getOptionInt()){ + case (NormalDisplay::POINTS_COLOR): + { + int r=1,g=0,b=0; + if(rgbai != -1){ + b = *reinterpret_cast(ptr + rgbaoff); + g = *reinterpret_cast(ptr + rgbaoff + 1*sizeof(uint8_t)); + r = *reinterpret_cast(ptr + rgbaoff + 2*sizeof(uint8_t)); + } + visual->setColor( r/256.0, g/256.0, b/256.0, alpha_ ); + } + break; + case (NormalDisplay::FLAT_COLOR): + visual->setColor(color.redF(), color.greenF(), color.blueF(), alpha_); + break; + case (NormalDisplay::DIRECTION_COLOR): + visual->setColor( dir_vec.dotProduct(Ogre::Vector3(-1,0,0)), dir_vec.dotProduct(Ogre::Vector3(0,1,0)), dir_vec.dotProduct(Ogre::Vector3(0,0,-1)), alpha_ ); + break; + case (NormalDisplay::CURVATURE_COLOR): + if(use_rainbow){ + float prev_diff = prev_max_curvature - prev_min_curvature; + float value = 1 - (curvature - prev_min_curvature)/prev_diff; + float rf,gf,bf; + getRainbow(value ,rf, gf, bf); + visual->setColor( rf, gf, bf, alpha_); + }else{ + float value = curvature/(prev_max_curvature - prev_min_curvature); + value = std::min(value, 1.0f); + value = std::max(value, 0.0f); + + float rf = max_color.r * value + min_color.r * ( 1 - value ); + float gf = max_color.g * value + min_color.g * ( 1 - value ); + float bf = max_color.b * value + min_color.b * ( 1 - value ); + visual->setColor( rf, gf, bf, alpha_); + } + max_curvature = std::max(max_curvature, curvature); + min_curvature = std::min(min_curvature, curvature); + + break; + } + visuals_.push_back(visual); + } + + ptr += point_step; + } + prev_min_curvature = min_curvature; + prev_max_curvature = max_curvature; + + } +} + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::NormalDisplay,rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_display.h new file mode 100755 index 0000000..a95a169 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_display.h @@ -0,0 +1,79 @@ +// -*- mode: C++ -*- +#ifndef NORMAL_DISPLAY_H +#define NORMAL_DISPLAY_H +#ifndef Q_MOC_RUN +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "normal_visual.h" +#endif + +namespace jsk_rviz_plugins +{ + +class NormalDisplay: public rviz::MessageFilterDisplay +{ +Q_OBJECT +public: + NormalDisplay(); + virtual ~NormalDisplay(); + rviz::EnumProperty* style_property_; + rviz::ColorProperty* color_property_; + rviz::ColorProperty* min_color_property_; + rviz::ColorProperty* max_color_property_; + rviz::FloatProperty* skip_rate_property_; + rviz::BoolProperty* rainbow_property_; + rviz::FloatProperty* scale_property_; + rviz::FloatProperty* alpha_property_; + float skip_rate_; + float scale_; + float alpha_; + + enum ColorTypes{ + POINTS_COLOR, + FLAT_COLOR, + DIRECTION_COLOR, + CURVATURE_COLOR + }; + +protected: + virtual void onInitialize(); + + virtual void reset(); + +#if ROS_VERSION_MINIMUM(1,12,0) + boost::circular_buffer > visuals_; +#else + boost::circular_buffer > visuals_; +#endif + + + // Function to handle an incoming ROS message. +private Q_SLOTS: + void processMessage( const sensor_msgs::PointCloud2::ConstPtr& msg ); + void updateStyle(); + void updateSkipRate(); + void updateRainbow(); + void updateScale(); + void updateAlpha(); + void getRainbow(float value , float& rf, float& gf, float& bf); +}; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_visual.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_visual.cpp new file mode 100755 index 0000000..8f7ac7a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_visual.cpp @@ -0,0 +1,53 @@ +// -*- mode:c++ -*- +#include "normal_visual.h" + +namespace jsk_rviz_plugins +{ + + NormalVisual::NormalVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node ) + { + scene_manager_ = scene_manager; + frame_node_ = parent_node->createChildSceneNode(); + normal_arrow_.reset(new rviz::Arrow( scene_manager_, frame_node_ )); + } + + NormalVisual::~NormalVisual() + { + scene_manager_->destroySceneNode( frame_node_ ); + } + + void NormalVisual::setValues( float x, float y, float z, float normal_x, float normal_y, float normal_z) + { + + Ogre::Vector3 dir( normal_x, normal_y, normal_z); + Ogre::Vector3 pos( x, y, z); + + float length = dir.length()/10; + + Ogre::Vector3 scale( length, length, length ); + normal_arrow_->setScale( scale ); + normal_arrow_->setDirection( dir ); + normal_arrow_->setPosition(pos); + } + + void NormalVisual::setFramePosition( const Ogre::Vector3& position ) + { + frame_node_->setPosition( position ); + } + + void NormalVisual::setFrameOrientation( const Ogre::Quaternion& orientation ) + { + frame_node_->setOrientation( orientation ); + } + + void NormalVisual::setColor( float r, float g, float b, float a ) + { + normal_arrow_->setColor( r, g, b, a ); + } + + void NormalVisual::setScale( float scale ) + { + normal_arrow_->setScale( Ogre::Vector3( scale, scale, scale ) ); + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_visual.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_visual.h new file mode 100755 index 0000000..0ef301b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/normal_visual.h @@ -0,0 +1,40 @@ +// -*- mode:c++ -*- +#ifndef NORMAL_VISUAL_H +#define NORMAL_VISUAL_H + +#include +#include +#include + +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + + class NormalVisual + { + public: + NormalVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node ); + + virtual ~NormalVisual(); + + void setValues( float x, float y, float z, float normal_x, float normal_y, float normal_z); + void setFramePosition( const Ogre::Vector3& position ); + void setFrameOrientation( const Ogre::Quaternion& orientation ); + void setColor( float r, float g, float b, float a ); + void setScale( float scale ); + + private: +#if ROS_VERSION_MINIMUM(1,12,0) + std::shared_ptr normal_arrow_; +#else + boost::shared_ptr normal_arrow_; +#endif + Ogre::SceneNode* frame_node_; + Ogre::SceneManager* scene_manager_; + }; +} +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/object_fit_operator.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/object_fit_operator.cpp new file mode 100755 index 0000000..3e46a39 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/object_fit_operator.cpp @@ -0,0 +1,109 @@ +#include +#include +#include +#include +#include +#include +#include +#include + +#include "object_fit_operator.h" + +using namespace rviz; +namespace jsk_rviz_plugins +{ + ObjectFitOperatorAction::ObjectFitOperatorAction( QWidget* parent ) + : rviz::Panel( parent ) + { + layout = new QVBoxLayout; + + horizontal_layout1_ = new QHBoxLayout(); + horizontal_layout2_ = new QHBoxLayout(); + + //Button to send cancel topic + std::string fit_button_name, reverse_fit_button_name, near_button_name, other_button_name; + nh_.param("/object_fit_icon", fit_button_name, ros::package::getPath("jsk_rviz_plugins")+std::string("/icons/fit.jpg")); + nh_.param("/object_near_icon", near_button_name, ros::package::getPath("jsk_rviz_plugins")+std::string("/icons/near.jpg")); + nh_.param("/object_other_icon", other_button_name, ros::package::getPath("jsk_rviz_plugins")+std::string("/icons/other.jpg")); + + QSize iconSize(150, 150); + fit_button_ = new QToolButton(); + fit_button_->setToolButtonStyle(Qt::ToolButtonTextUnderIcon); + fit_button_->setIcon(QIcon(QPixmap(QString(fit_button_name.c_str())))); + fit_button_->setText("Onto"); + fit_button_->setIconSize(iconSize); + horizontal_layout1_->addWidget( fit_button_ ); + + check_box_ = new QCheckBox(QString("Reverse")); + horizontal_layout1_->addWidget(check_box_); + + near_button_ = new QToolButton(); + near_button_->setToolButtonStyle(Qt::ToolButtonTextUnderIcon); + near_button_->setIcon(QIcon(QPixmap(QString(near_button_name.c_str())))); + near_button_->setIconSize(iconSize); + near_button_->setText("Parallel"); + horizontal_layout2_->addWidget( near_button_ ); + + other_button_ = new QToolButton(); + other_button_->setToolButtonStyle(Qt::ToolButtonTextUnderIcon); + other_button_->setIcon(QIcon(QPixmap(QString(other_button_name.c_str())))); + other_button_->setText("Perpendicular"); + other_button_->setIconSize(iconSize); + horizontal_layout2_->addWidget( other_button_ ); + + layout->addLayout(horizontal_layout1_); + layout->addLayout(horizontal_layout2_); + setLayout( layout ); + + connect( fit_button_, SIGNAL( clicked() ), this, SLOT( commandFit())); + connect( check_box_, SIGNAL(clicked(bool)), this, SLOT(checkBoxChanged(bool))); + connect( near_button_, SIGNAL( clicked() ), this, SLOT( commandNear())); + connect( other_button_, SIGNAL( clicked() ), this, SLOT( commandOther())); + + pub_ = nh_.advertise( "/object_fit_command", 1 ); + } + + void ObjectFitOperatorAction::checkBoxChanged(bool state){ + reverse_ = state; + } + + void ObjectFitOperatorAction::commandFit(){ + if(reverse_) + publishObjectFitOder(jsk_rviz_plugins::ObjectFitCommand::REVERSE_FIT); + else + publishObjectFitOder(jsk_rviz_plugins::ObjectFitCommand::FIT); + } + + void ObjectFitOperatorAction::commandNear(){ + if(reverse_) + publishObjectFitOder(jsk_rviz_plugins::ObjectFitCommand::REVERSE_NEAR); + else + publishObjectFitOder(jsk_rviz_plugins::ObjectFitCommand::NEAR); + } + + void ObjectFitOperatorAction::commandOther(){ + if(reverse_) + publishObjectFitOder(jsk_rviz_plugins::ObjectFitCommand::REVERSE_OTHER); + else + publishObjectFitOder(jsk_rviz_plugins::ObjectFitCommand::OTHER); + } + + void ObjectFitOperatorAction::publishObjectFitOder(int type){ + jsk_rviz_plugins::ObjectFitCommand msg; + msg.command = type; + pub_.publish(msg); + } + + void ObjectFitOperatorAction::save( rviz::Config config ) const + { + rviz::Panel::save( config ); + } + + void ObjectFitOperatorAction::load( const rviz::Config& config ) + { + rviz::Panel::load( config ); + } +} + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::ObjectFitOperatorAction, rviz::Panel ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/object_fit_operator.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/object_fit_operator.h new file mode 100755 index 0000000..620ce5d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/object_fit_operator.h @@ -0,0 +1,55 @@ +#ifndef OBJECT_FIT_OPERATOR_H +#define OBJECT_FIT_OPERATOR_H + +#ifndef Q_MOC_RUN +#include +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +# include +#else +# include +#endif +#include +#include +#include +#endif + +class QLineEdit; +class QToolButton; + +namespace jsk_rviz_plugins +{ + class ObjectFitOperatorAction: public rviz::Panel + { + Q_OBJECT + public: + ObjectFitOperatorAction( QWidget* parent = 0 ); + + virtual void load( const rviz::Config& config ); + virtual void save( rviz::Config config ) const; + + protected Q_SLOTS: + void commandFit(); + void commandNear(); + void commandOther(); + void checkBoxChanged(bool state); + void publishObjectFitOder(int type); + + protected: + QToolButton* fit_button_; + QToolButton* near_button_; + QToolButton* other_button_; + QCheckBox* check_box_; + + QHBoxLayout* horizontal_layout1_; + QHBoxLayout* horizontal_layout2_; + QVBoxLayout* layout; + bool reverse_; + + ros::NodeHandle nh_; + ros::Publisher pub_; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/open_all_tool.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/open_all_tool.cpp new file mode 100755 index 0000000..6580ac5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/open_all_tool.cpp @@ -0,0 +1,90 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include +#include +#include +#include +#include +#include "open_all_tool.h" + + +namespace jsk_rviz_plugins +{ + OpenAllTool::OpenAllTool() + : rviz::Tool() + { + + } + + OpenAllTool::~OpenAllTool() + { + } + + void OpenAllTool::onInitialize() + { + + } + + void OpenAllTool::openProperty( + rviz::Property* property) + { + property->expand(); + if (property->numChildren() > 0) { + for (size_t i = 0; i < property->numChildren(); i++) { + openProperty(property->childAt(i)); + } + context_->queueRender(); + } + } + + void OpenAllTool::activate() + { + rviz::DisplayGroup* display_group = context_->getRootDisplayGroup(); + openProperty(display_group); + rviz::ToolManager* tool_manager = context_->getToolManager(); + tool_manager->setCurrentTool(tool_manager->getTool(0)); + } + + void OpenAllTool::deactivate() + { + + } + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OpenAllTool, rviz::Tool ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/open_all_tool.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/open_all_tool.h new file mode 100755 index 0000000..9af0c6a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/open_all_tool.h @@ -0,0 +1,61 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGIN_OPEN_ALL_TOOL_H_ +#define JSK_RVIZ_PLUGIN_OPEN_ALL_TOOL_H_ + +#include +#include +#include + +namespace jsk_rviz_plugins +{ + class OpenAllTool: public rviz::Tool + { + public: + OpenAllTool(); + virtual ~OpenAllTool(); + virtual void onInitialize(); + virtual void activate(); + virtual void deactivate(); + protected: + virtual void openProperty(rviz::Property* property); + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_camera_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_camera_display.cpp new file mode 100755 index 0000000..7fe5bff --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_camera_display.cpp @@ -0,0 +1,640 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "rviz/bit_allocator.h" +#include "rviz/frame_manager.h" +#include "rviz/ogre_helpers/axes.h" +#include "rviz/properties/enum_property.h" +#include "rviz/properties/float_property.h" +#include "rviz/properties/int_property.h" +#include "rviz/properties/ros_topic_property.h" +#include "rviz/render_panel.h" +#include "rviz/uniform_string_stream.h" +#include "rviz/validate_floats.h" +#include "rviz/display_context.h" +#include "rviz/properties/display_group_visibility_property.h" +#include "rviz/load_resource.h" + +#include +#include "overlay_camera_display.h" + +namespace jsk_rviz_plugins +{ +using namespace rviz; +const QString OverlayCameraDisplay::BACKGROUND( "background" ); +const QString OverlayCameraDisplay::OVERLAY( "overlay" ); +const QString OverlayCameraDisplay::BOTH( "background and overlay" ); + +bool validateFloats(const sensor_msgs::CameraInfo& msg) +{ + bool valid = true; + valid = valid && rviz::validateFloats( msg.D ); + valid = valid && rviz::validateFloats( msg.K ); + valid = valid && rviz::validateFloats( msg.R ); + valid = valid && rviz::validateFloats( msg.P ); + return valid; +} + +OverlayCameraDisplay::OverlayCameraDisplay() + : ImageDisplayBase() + , texture_() + , render_panel_( 0 ) + , caminfo_tf_filter_( 0 ) + , new_caminfo_( false ) + , force_render_( false ) + , caminfo_ok_(false) +{ + image_position_property_ = new EnumProperty( "Image Rendering", BOTH, + "Render the image behind all other geometry or overlay it on top, or both.", + this, SLOT( forceRender() )); + image_position_property_->addOption( BACKGROUND ); + image_position_property_->addOption( OVERLAY ); + image_position_property_->addOption( BOTH ); + + alpha_property_ = new FloatProperty( "Overlay Alpha", 0.5, + "The amount of transparency to apply to the camera image when rendered as overlay.", + this, SLOT( updateAlpha() )); + alpha_property_->setMin( 0 ); + alpha_property_->setMax( 1 ); + + + zoom_property_ = new FloatProperty( "Zoom Factor", 1.0, + "Set a zoom factor below 1 to see a larger part of the world, above 1 to magnify the image.", + this, SLOT( forceRender() )); + zoom_property_->setMin( 0.00001 ); + zoom_property_->setMax( 100000 ); + + width_property_ = new IntProperty("width", 640, + "width of overlay image", + this, SLOT(updateWidth())); + height_property_ = new IntProperty("height", 480, + "height of overlay image", + this, SLOT(updateHeight())); + left_property_ = new IntProperty("left", 0, + "left positoin of overlay image", + this, SLOT(updateLeft())); + top_property_ = new IntProperty("top", 0, + "top positoin of overlay image", + this, SLOT(updateTop())); + texture_alpha_property_ = new FloatProperty("texture alpha", 0.8, + "texture alpha", + this, SLOT(updateTextureAlpha())); + texture_alpha_property_->setMin(0.0); + texture_alpha_property_->setMax(1.0); +} + +OverlayCameraDisplay::~OverlayCameraDisplay() +{ + if ( initializedp_ ) + { + render_panel_->getRenderWindow()->removeListener( this ); + + unsubscribe(); + caminfo_tf_filter_->clear(); + + + //workaround. delete results in a later crash + render_panel_->hide(); + //delete render_panel_; + + delete bg_screen_rect_; + delete fg_screen_rect_; + + bg_scene_node_->getParentSceneNode()->removeAndDestroyChild( bg_scene_node_->getName() ); + fg_scene_node_->getParentSceneNode()->removeAndDestroyChild( fg_scene_node_->getName() ); + + delete caminfo_tf_filter_; + + context_->visibilityBits()->freeBits(vis_bit_); + } +} + +void OverlayCameraDisplay::onInitialize() +{ + ImageDisplayBase::onInitialize(); + +#if ROS_VERSION_MINIMUM(1, 15, 0) // noetic and greater + caminfo_tf_filter_ = new tf2_ros::MessageFilter( + *context_->getTF2BufferPtr(), fixed_frame_.toStdString(), + queue_size_property_->getInt(), update_nh_ ); +#else + caminfo_tf_filter_ = new tf::MessageFilter( + *context_->getTFClient(), fixed_frame_.toStdString(), + queue_size_property_->getInt(), update_nh_ ); +#endif + + bg_scene_node_ = scene_node_->createChildSceneNode(); + fg_scene_node_ = scene_node_->createChildSceneNode(); + + { + static int count = 0; + UniformStringStream ss; + ss << "OverlayCameraDisplayObject" << count++; + + //background rectangle + bg_screen_rect_ = new Ogre::Rectangle2D(true); + bg_screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f); + + ss << "Material"; + bg_material_ = Ogre::MaterialManager::getSingleton().create( ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME ); + bg_material_->setDepthWriteEnabled(false); + + bg_material_->setReceiveShadows(false); + bg_material_->setDepthCheckEnabled(false); + + bg_material_->getTechnique(0)->setLightingEnabled(false); + Ogre::TextureUnitState* tu = bg_material_->getTechnique(0)->getPass(0)->createTextureUnitState(); + tu->setTextureName(texture_.getTexture()->getName()); + tu->setTextureFiltering( Ogre::TFO_NONE ); + tu->setAlphaOperation( Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL, Ogre::LBS_CURRENT, 0.0 ); + + bg_material_->setCullingMode(Ogre::CULL_NONE); + bg_material_->setSceneBlending( Ogre::SBT_REPLACE ); + + Ogre::AxisAlignedBox aabInf; + aabInf.setInfinite(); + + bg_screen_rect_->setRenderQueueGroup(Ogre::RENDER_QUEUE_BACKGROUND); + bg_screen_rect_->setBoundingBox(aabInf); + bg_screen_rect_->setMaterial(bg_material_->getName()); + + bg_scene_node_->attachObject(bg_screen_rect_); + bg_scene_node_->setVisible(false); + + //overlay rectangle + fg_screen_rect_ = new Ogre::Rectangle2D(true); + fg_screen_rect_->setCorners(-1.0f, 1.0f, 1.0f, -1.0f); + + fg_material_ = bg_material_->clone( ss.str()+"fg" ); + fg_screen_rect_->setBoundingBox(aabInf); + fg_screen_rect_->setMaterial(fg_material_->getName()); + + fg_material_->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA ); + fg_screen_rect_->setRenderQueueGroup(Ogre::RENDER_QUEUE_OVERLAY - 1); + + fg_scene_node_->attachObject(fg_screen_rect_); + fg_scene_node_->setVisible(false); + } + + updateAlpha(); + + updateWidth(); + updateHeight(); + updateLeft(); + updateTop(); + updateTextureAlpha(); + + render_panel_ = new RenderPanel(); + render_panel_->getRenderWindow()->addListener( this ); + render_panel_->getRenderWindow()->setAutoUpdated(false); + render_panel_->getRenderWindow()->setActive( false ); + render_panel_->resize( 640, 480 ); + render_panel_->initialize( context_->getSceneManager(), context_ ); + + //setAssociatedWidget( render_panel_ ); + + render_panel_->setAutoRender(false); + render_panel_->setOverlaysEnabled(false); + render_panel_->getCamera()->setNearClipDistance( 0.01f ); + + caminfo_tf_filter_->connectInput(caminfo_sub_); + caminfo_tf_filter_->registerCallback(boost::bind(&OverlayCameraDisplay::caminfoCallback, this, _1)); + //context_->getFrameManager()->registerFilterForTransformStatusCheck(caminfo_tf_filter_, this); + + vis_bit_ = context_->visibilityBits()->allocBit(); + render_panel_->getViewport()->setVisibilityMask( vis_bit_ ); + + visibility_property_ = new DisplayGroupVisibilityProperty( + vis_bit_, context_->getRootDisplayGroup(), this, "Visibility", true, + "Changes the visibility of other Displays in the camera view."); + + visibility_property_->setIcon( loadPixmap("package://rviz/icons/visibility.svg",true) ); + + this->addChild( visibility_property_, 0 ); + initializedp_ = true; +} + +void OverlayCameraDisplay::preRenderTargetUpdate(const Ogre::RenderTargetEvent& evt) +{ + QString image_position = image_position_property_->getString(); + bg_scene_node_->setVisible( caminfo_ok_ && (image_position == BACKGROUND || image_position == BOTH) ); + fg_scene_node_->setVisible( caminfo_ok_ && (image_position == OVERLAY || image_position == BOTH) ); + + // set view flags on all displays + visibility_property_->update(); +} + +void OverlayCameraDisplay::postRenderTargetUpdate(const Ogre::RenderTargetEvent& evt) +{ + bg_scene_node_->setVisible( false ); + fg_scene_node_->setVisible( false ); +} + +void OverlayCameraDisplay::onEnable() +{ + subscribe(); + render_panel_->getRenderWindow()->setActive(true); + if (overlay_) { + overlay_->show(); + } +} + +void OverlayCameraDisplay::onDisable() +{ + render_panel_->getRenderWindow()->setActive(false); + unsubscribe(); + clear(); + if (overlay_) { + overlay_->hide(); + } +} + +void OverlayCameraDisplay::subscribe() +{ + if ( (!isEnabled()) || (topic_property_->getTopicStd().empty()) ) + { + return; + } + + std::string target_frame = fixed_frame_.toStdString(); + ImageDisplayBase::enableTFFilter(target_frame); + + ImageDisplayBase::subscribe(); + + std::string topic = topic_property_->getTopicStd(); + std::string caminfo_topic = image_transport::getCameraInfoTopic(topic_property_->getTopicStd()); + + try + { + caminfo_sub_.subscribe( update_nh_, caminfo_topic, 1 ); + setStatus( StatusProperty::Ok, "Camera Info", "OK" ); + } + catch( ros::Exception& e ) + { + setStatus( StatusProperty::Error, "Camera Info", QString( "Error subscribing: ") + e.what() ); + } +} + +void OverlayCameraDisplay::unsubscribe() +{ + ImageDisplayBase::unsubscribe(); + caminfo_sub_.unsubscribe(); +} + +void OverlayCameraDisplay::updateAlpha() +{ + float alpha = alpha_property_->getFloat(); + + Ogre::Pass* pass = fg_material_->getTechnique( 0 )->getPass( 0 ); + if( pass->getNumTextureUnitStates() > 0 ) + { + Ogre::TextureUnitState* tex_unit = pass->getTextureUnitState( 0 ); + tex_unit->setAlphaOperation( Ogre::LBX_MODULATE, Ogre::LBS_MANUAL, Ogre::LBS_CURRENT, alpha ); + } + else + { + fg_material_->setAmbient( Ogre::ColourValue( 0.0f, 1.0f, 1.0f, alpha )); + fg_material_->setDiffuse( Ogre::ColourValue( 0.0f, 1.0f, 1.0f, alpha )); + } + + force_render_ = true; + context_->queueRender(); +} + +void OverlayCameraDisplay::forceRender() +{ + force_render_ = true; + context_->queueRender(); +} + +void OverlayCameraDisplay::updateQueueSize() +{ + caminfo_tf_filter_->setQueueSize( (uint32_t) queue_size_property_->getInt() ); + ImageDisplayBase::updateQueueSize(); +} + +void OverlayCameraDisplay::clear() +{ + texture_.clear(); + force_render_ = true; + context_->queueRender(); + + new_caminfo_ = false; + current_caminfo_.reset(); + + setStatus( StatusProperty::Warn, "Camera Info", + "No CameraInfo received on [" + QString::fromStdString( caminfo_sub_.getTopic() ) + "]. Topic may not exist."); + setStatus( StatusProperty::Warn, "Image", "No Image received"); + + render_panel_->getCamera()->setPosition( Ogre::Vector3( 999999, 999999, 999999 )); +} + +void OverlayCameraDisplay::update( float wall_dt, float ros_dt ) +{ + try + { + if( texture_.update() || force_render_ ) + { + caminfo_ok_ = updateCamera(); + force_render_ = false; + } + } + catch( UnsupportedImageEncoding& e ) + { + setStatus( StatusProperty::Error, "Image", e.what() ); + } + + render_panel_->getRenderWindow()->update(); + if (!overlay_) { + static int count = 0; + rviz::UniformStringStream ss; + ss << "OverlayImageDisplayObject" << count++; + overlay_.reset(new OverlayObject(ss.str())); + overlay_->show(); + } + overlay_->updateTextureSize(render_panel_->getRenderWindow()->getWidth(), + render_panel_->getRenderWindow()->getHeight()); + redraw(); + overlay_->setDimensions(width_, height_); + overlay_->setPosition(left_, top_); +} + +void OverlayCameraDisplay::redraw() +{ + Ogre::RenderTarget *rt = render_panel_->getRenderWindow(); + int width = rt->getWidth(); + int height = rt->getHeight(); + Ogre::uchar *data = new Ogre::uchar[width * height * 3]; + Ogre::PixelBox pb(width, height, 1, Ogre::PF_BYTE_RGB, data); + rt->copyContentsToMemory(pb); + { + ScopedPixelBuffer buffer = overlay_->getBuffer(); + QImage Hud = buffer.getQImage(*overlay_); + for (int i = 0; i < overlay_->getTextureWidth(); i++) { + for (int j = 0; j < overlay_->getTextureHeight(); j++) { + Ogre::ColourValue c = pb.getColourAt(i, j, 0); + QColor color(c.r * 255, c.g * 255, c.b * 255, texture_alpha_ * 255); + Hud.setPixel(i, j, color.rgba()); + } + } + } + delete[] data; +} + +bool OverlayCameraDisplay::updateCamera() +{ + sensor_msgs::CameraInfo::ConstPtr info; + sensor_msgs::Image::ConstPtr image; + { + boost::mutex::scoped_lock lock( caminfo_mutex_ ); + + info = current_caminfo_; + image = texture_.getImage(); + } + + if( !info || !image ) + { + return false; + } + + if( !validateFloats( *info )) + { + setStatus( StatusProperty::Error, "Camera Info", "Contains invalid floating point values (nans or infs)" ); + return false; + } + + // if we're in 'exact' time mode, only show image if the time is exactly right + ros::Time rviz_time = context_->getFrameManager()->getTime(); + if ( context_->getFrameManager()->getSyncMode() == FrameManager::SyncExact && + rviz_time != image->header.stamp ) + { + std::ostringstream s; + s << "Time-syncing active and no image at timestamp " << rviz_time.toSec() << "."; + setStatus( StatusProperty::Warn, "Time", s.str().c_str() ); + return false; + } + + Ogre::Vector3 position; + Ogre::Quaternion orientation; + context_->getFrameManager()->getTransform( image->header.frame_id, image->header.stamp, position, orientation ); + + //printf( "OverlayCameraDisplay:updateCamera(): pos = %.2f, %.2f, %.2f.\n", position.x, position.y, position.z ); + + // convert vision (Z-forward) frame to ogre frame (Z-out) + orientation = orientation * Ogre::Quaternion( Ogre::Degree( 180 ), Ogre::Vector3::UNIT_X ); + + float img_width = info->width; + float img_height = info->height; + + // If the image width is 0 due to a malformed caminfo, try to grab the width from the image. + if( img_width == 0 ) + { + ROS_DEBUG( "Malformed CameraInfo on camera [%s], width = 0", qPrintable( getName() )); + img_width = texture_.getWidth(); + } + + if (img_height == 0) + { + ROS_DEBUG( "Malformed CameraInfo on camera [%s], height = 0", qPrintable( getName() )); + img_height = texture_.getHeight(); + } + + if( img_height == 0.0 || img_width == 0.0 ) + { + setStatus( StatusProperty::Error, "Camera Info", + "Could not determine width/height of image due to malformed CameraInfo (either width or height is 0)" ); + return false; + } + + double fx = info->P[0]; + double fy = info->P[5]; + + float win_width = render_panel_->width(); + float win_height = render_panel_->height(); + float zoom_x = zoom_property_->getFloat(); + float zoom_y = zoom_x; + + // Preserve aspect ratio + if( win_width != 0 && win_height != 0 ) + { + float img_aspect = (img_width/fx) / (img_height/fy); + float win_aspect = win_width / win_height; + + if ( img_aspect > win_aspect ) + { + zoom_y = zoom_y / img_aspect * win_aspect; + } + else + { + zoom_x = zoom_x / win_aspect * img_aspect; + } + } + + // Add the camera's translation relative to the left camera (from P[3]); + double tx = -1 * (info->P[3] / fx); + Ogre::Vector3 right = orientation * Ogre::Vector3::UNIT_X; + position = position + (right * tx); + + double ty = -1 * (info->P[7] / fy); + Ogre::Vector3 down = orientation * Ogre::Vector3::UNIT_Y; + position = position + (down * ty); + + if( !rviz::validateFloats( position )) + { + setStatus( StatusProperty::Error, "Camera Info", "CameraInfo/P resulted in an invalid position calculation (nans or infs)" ); + return false; + } + + render_panel_->getCamera()->setPosition( position ); + render_panel_->getCamera()->setOrientation( orientation ); + + // calculate the projection matrix + double cx = info->P[2]; + double cy = info->P[6]; + + double far_plane = 100; + double near_plane = 0.01; + + Ogre::Matrix4 proj_matrix; + proj_matrix = Ogre::Matrix4::ZERO; + + proj_matrix[0][0]= 2.0 * fx/img_width * zoom_x; + proj_matrix[1][1]= 2.0 * fy/img_height * zoom_y; + + proj_matrix[0][2]= 2.0 * (0.5 - cx/img_width) * zoom_x; + proj_matrix[1][2]= 2.0 * (cy/img_height - 0.5) * zoom_y; + + proj_matrix[2][2]= -(far_plane+near_plane) / (far_plane-near_plane); + proj_matrix[2][3]= -2.0*far_plane*near_plane / (far_plane-near_plane); + + proj_matrix[3][2]= -1; + + render_panel_->getCamera()->setCustomProjectionMatrix( true, proj_matrix ); + render_panel_->resize(info->width, info->height); + setStatus( StatusProperty::Ok, "Camera Info", "OK" ); + +#if 0 + static Axes* debug_axes = new Axes(scene_manager_, 0, 0.2, 0.01); + debug_axes->setPosition(position); + debug_axes->setOrientation(orientation); +#endif + + //adjust the image rectangles to fit the zoom & aspect ratio + bg_screen_rect_->setCorners( -1.0f*zoom_x, 1.0f*zoom_y, 1.0f*zoom_x, -1.0f*zoom_y ); + fg_screen_rect_->setCorners( -1.0f*zoom_x, 1.0f*zoom_y, 1.0f*zoom_x, -1.0f*zoom_y ); + + Ogre::AxisAlignedBox aabInf; + aabInf.setInfinite(); + bg_screen_rect_->setBoundingBox( aabInf ); + fg_screen_rect_->setBoundingBox( aabInf ); + + setStatus( StatusProperty::Ok, "Time", "ok" ); + setStatus( StatusProperty::Ok, "Camera Info", "ok" ); + + return true; +} + +void OverlayCameraDisplay::processMessage(const sensor_msgs::Image::ConstPtr& msg) +{ + texture_.addMessage(msg); +} + +void OverlayCameraDisplay::caminfoCallback( const sensor_msgs::CameraInfo::ConstPtr& msg ) +{ + boost::mutex::scoped_lock lock( caminfo_mutex_ ); + current_caminfo_ = msg; + new_caminfo_ = true; +} + +void OverlayCameraDisplay::fixedFrameChanged() +{ + std::string targetFrame = fixed_frame_.toStdString(); + caminfo_tf_filter_->setTargetFrame(targetFrame); + ImageDisplayBase::fixedFrameChanged(); +} + +void OverlayCameraDisplay::reset() +{ + ImageDisplayBase::reset(); + clear(); +} + +void OverlayCameraDisplay::updateWidth() +{ + width_ = width_property_->getInt(); +} + +void OverlayCameraDisplay::updateHeight() +{ + height_ = height_property_->getInt(); +} + +void OverlayCameraDisplay::updateLeft() +{ + left_ = left_property_->getInt(); +} + +void OverlayCameraDisplay::updateTop() +{ + top_ = top_property_->getInt(); +} + +void OverlayCameraDisplay::updateTextureAlpha() +{ + texture_alpha_ = texture_alpha_property_->getFloat(); +} + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OverlayCameraDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_camera_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_camera_display.h new file mode 100755 index 0000000..b1fabc2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_camera_display.h @@ -0,0 +1,189 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_OVERLAY_CAMERA_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_OVERLAY_CAMERA_DISPLAY_H_ + +#include + +#ifndef Q_MOC_RUN +#include + +#include +#include +#include + +# include + +# include +#if ROS_VERSION_MINIMUM(1, 15, 0) // noetic and greater +# include +#else +# include +#endif + +# include "rviz/image/image_display_base.h" +# include "rviz/image/ros_image_texture.h" +# include "rviz/render_panel.h" + +#include "overlay_utils.h" +#endif + +namespace Ogre +{ +class SceneNode; +class ManualObject; +class Rectangle2D; +class Camera; +} + +namespace rviz +{ + +class EnumProperty; +class FloatProperty; +class IntProperty; +class RenderPanel; +class RosTopicProperty; +class DisplayGroupVisibilityProperty; +} +/** + * \class CameraDisplay + * + */ +namespace jsk_rviz_plugins +{ +using namespace rviz; +class OverlayCameraDisplay: public rviz::ImageDisplayBase, public Ogre::RenderTargetListener +{ +Q_OBJECT +public: + OverlayCameraDisplay(); + virtual ~OverlayCameraDisplay(); + + // Overrides from Display + virtual void onInitialize(); + virtual void fixedFrameChanged(); + virtual void update( float wall_dt, float ros_dt ); + virtual void reset(); + + // Overrides from Ogre::RenderTargetListener + virtual void preRenderTargetUpdate( const Ogre::RenderTargetEvent& evt ); + virtual void postRenderTargetUpdate( const Ogre::RenderTargetEvent& evt ); + + static const QString BACKGROUND; + static const QString OVERLAY; + static const QString BOTH; + +protected: + // overrides from Display + virtual void onEnable(); + virtual void onDisable(); + + ROSImageTexture texture_; + RenderPanel* render_panel_; + +private Q_SLOTS: + void forceRender(); + void updateAlpha(); + + virtual void updateQueueSize(); + +private: + void subscribe(); + void unsubscribe(); + + virtual void processMessage(const sensor_msgs::Image::ConstPtr& msg); + void caminfoCallback( const sensor_msgs::CameraInfo::ConstPtr& msg ); + + bool updateCamera(); + + void clear(); + void updateStatus(); + + Ogre::SceneNode* bg_scene_node_; + Ogre::SceneNode* fg_scene_node_; + + Ogre::Rectangle2D* bg_screen_rect_; + Ogre::MaterialPtr bg_material_; + + Ogre::Rectangle2D* fg_screen_rect_; + Ogre::MaterialPtr fg_material_; + + message_filters::Subscriber caminfo_sub_; +#if ROS_VERSION_MINIMUM(1, 15, 0) // noetic and greater + tf2_ros::MessageFilter* caminfo_tf_filter_; +#else + tf::MessageFilter* caminfo_tf_filter_; +#endif + + FloatProperty* alpha_property_; + EnumProperty* image_position_property_; + FloatProperty* zoom_property_; + DisplayGroupVisibilityProperty* visibility_property_; + + sensor_msgs::CameraInfo::ConstPtr current_caminfo_; + boost::mutex caminfo_mutex_; + + bool new_caminfo_; + + bool caminfo_ok_; + + bool force_render_; + + uint32_t vis_bit_; +protected: + OverlayObject::Ptr overlay_; + void redraw(); + rviz::IntProperty* width_property_; + rviz::IntProperty* height_property_; + rviz::IntProperty* left_property_; + rviz::IntProperty* top_property_; + rviz::FloatProperty* texture_alpha_property_; + int width_, height_; + int left_, top_; + float texture_alpha_; + bool initializedp_; +private Q_SLOTS: + void updateWidth(); + void updateHeight(); + void updateLeft(); + void updateTop(); + void updateTextureAlpha(); +}; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_diagnostic_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_diagnostic_display.cpp new file mode 100755 index 0000000..d1dcecb --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_diagnostic_display.cpp @@ -0,0 +1,712 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "overlay_diagnostic_display.h" + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + const double overlay_diagnostic_animation_duration = 5.0; + const double overlay_diagnostic_animation_transition_duration = 0.2; + OverlayDiagnosticDisplay::OverlayDiagnosticDisplay() + : previous_state_(STALL_STATE), Display() + { + ros_topic_property_ = new rviz::RosTopicProperty( + "Topic", "/diagnostics_agg", + ros::message_traits::datatype(), + "diagnostic_msgs::DiagnosticArray topic to subscribe to.", + this, SLOT( updateRosTopic() )); + diagnostics_namespace_property_ = new rviz::EditableEnumProperty( + "diagnostics namespace", "/", + "diagnostics namespace to visualize diagnostics", + this, SLOT(updateDiagnosticsNamespace())); + type_property_ = new rviz::EnumProperty( + "type", "SAC", "Type of visualization", this, SLOT(updateType())); + type_property_->addOptionStd("SAC", 0); + type_property_->addOptionStd("EVA", 1); + top_property_ = new rviz::IntProperty( + "top", 128, + "top positoin", + this, SLOT(updateTop())); + left_property_ = new rviz::IntProperty( + "left", 128, + "left positoin", + this, SLOT(updateLeft())); + size_property_ = new rviz::IntProperty( + "size", 128, + "size of the widget", + this, SLOT(updateSize())); + size_property_->setMin(1); + alpha_property_ = new rviz::FloatProperty( + "alpha", 0.8, + "alpha value", + this, SLOT(updateAlpha())); + alpha_property_->setMin(0.0); + alpha_property_->setMax(1.0); + stall_duration_property_ = new rviz::FloatProperty( + "stall duration", 5.0, + "seconds to be regarded as stalled", + this, SLOT(updateStallDuration()) + ); + stall_duration_property_->setMin(0.0); + } + + OverlayDiagnosticDisplay::~OverlayDiagnosticDisplay() + { + if (overlay_) { + overlay_->hide(); + } + // panel_material_->unload(); + // Ogre::MaterialManager::getSingleton().remove(panel_material_->getName()); + delete ros_topic_property_; + delete diagnostics_namespace_property_; + delete top_property_; + delete left_property_; + delete alpha_property_; + delete size_property_; + delete type_property_; + } + + void OverlayDiagnosticDisplay::processMessage( + const diagnostic_msgs::DiagnosticArray::ConstPtr& msg) + { + //std::make_shared + // update namespaces_ if needed + std::set new_namespaces; + for (size_t i = 0; i < msg->status.size(); i++) { + new_namespaces.insert(msg->status[i].name); + } + + std::set difference_namespaces; + std::set_difference(namespaces_.begin(), namespaces_.end(), + new_namespaces.begin(), new_namespaces.end(), + std::inserter(difference_namespaces, + difference_namespaces.end())); + if (difference_namespaces.size() != 0) { + namespaces_ = new_namespaces; + fillNamespaceList(); + } + else { + difference_namespaces.clear(); + std::set_difference(new_namespaces.begin(), new_namespaces.end(), + namespaces_.begin(), namespaces_.end(), + std::inserter(difference_namespaces, + difference_namespaces.end())); + if (difference_namespaces.size() != 0) { + namespaces_ = new_namespaces; + fillNamespaceList(); + } + } + + if (diagnostics_namespace_.length() == 0) { + return; + } + + for (size_t i = 0; i < msg->status.size(); i++) { + diagnostic_msgs::DiagnosticStatus status = msg->status[i]; + if (status.name == diagnostics_namespace_) { +#if ROS_VERSION_MINIMUM(1,12,0) + latest_status_ + = std::make_shared(status); +#else + latest_status_ + = boost::make_shared(status); +#endif + latest_message_time_ = ros::WallTime::now(); + break; + } + } + } + + void OverlayDiagnosticDisplay::update(float wall_dt, float ros_dt) + { + if (!isEnabled()) { + return; + } + if (!overlay_) { + static int count = 0; + rviz::UniformStringStream ss; + ss << "OverlayDiagnosticDisplayObject" << count++; + overlay_.reset(new OverlayObject(ss.str())); + overlay_->show(); + animation_start_time_ = ros::WallTime::now(); + } + t_ += wall_dt; + + // check if the widget should animate + if (!is_animating_) { + if (previous_state_ != getLatestState()) { + is_animating_ = true; + animation_start_time_ = ros::WallTime::now(); + } + } + else { + if (!isAnimating()) { // animation time is over + is_animating_ = false; + previous_state_ = getLatestState(); + } + } + + overlay_->updateTextureSize(size_, size_); + redraw(); + overlay_->setDimensions(overlay_->getTextureWidth(), + overlay_->getTextureHeight()); + overlay_->setPosition(left_, top_); + t_ = fmod(t_, overlay_diagnostic_animation_duration); + } + + bool OverlayDiagnosticDisplay::isAnimating() + { + return ((ros::WallTime::now() - animation_start_time_).toSec() < overlay_diagnostic_animation_transition_duration); + } + + double OverlayDiagnosticDisplay::animationRate() + { + return ((ros::WallTime::now() - animation_start_time_).toSec() / overlay_diagnostic_animation_transition_duration); + } + + void OverlayDiagnosticDisplay::onEnable() + { + t_ = 0.0; + if (overlay_) { + overlay_->show(); + } + subscribe(); + } + + void OverlayDiagnosticDisplay::onDisable() + { + ROS_INFO("onDisable"); + if (overlay_) { + overlay_->hide(); + } + unsubscribe(); + } + + void OverlayDiagnosticDisplay::onInitialize() + { + + ROS_DEBUG("onInitialize"); + updateType(); + updateDiagnosticsNamespace(); + updateSize(); + updateAlpha(); + updateLeft(); + updateTop(); + updateStallDuration(); + updateRosTopic(); + } + + void OverlayDiagnosticDisplay::unsubscribe() + { + sub_.shutdown(); + } + + void OverlayDiagnosticDisplay::subscribe() + { + ros::NodeHandle n; + sub_ = n.subscribe(ros_topic_property_->getTopicStd(), + 1, + &OverlayDiagnosticDisplay::processMessage, + this); + } + + bool OverlayDiagnosticDisplay::isStalled() + { + if (latest_status_) { + ros::WallDuration message_duration + = ros::WallTime::now() - latest_message_time_; + if (message_duration.toSec() < stall_duration_) { + return false; + } + else { + return true; + } + } + else { + return true; + } + } + + std::string OverlayDiagnosticDisplay::statusText() + { + if (latest_status_) { + if (!isStalled()) { + if (latest_status_->level == diagnostic_msgs::DiagnosticStatus::OK) { + return "OK"; + } + else if (latest_status_->level == diagnostic_msgs::DiagnosticStatus::WARN) { + return "WARN"; + } + else if (latest_status_->level == diagnostic_msgs::DiagnosticStatus::ERROR) { + return "ERROR"; + } + else { + return "UNKNOWN"; + } + } + else { + return "UNKNOWN"; + } + } + else { + return "UNKNOWN"; + } + } + + OverlayDiagnosticDisplay::State + OverlayDiagnosticDisplay::getLatestState() + { + if (latest_status_) { + if (!isStalled()) { + if (latest_status_->level == diagnostic_msgs::DiagnosticStatus::OK) { + return OK_STATE; + } + else if (latest_status_->level + == diagnostic_msgs::DiagnosticStatus::WARN) { + return WARN_STATE; + } + else if (latest_status_->level + == diagnostic_msgs::DiagnosticStatus::ERROR) { + return ERROR_STATE; + } + else { + return STALL_STATE; + } + } + else { + return STALL_STATE; + } + } + else { + return STALL_STATE; + } + } + + QColor OverlayDiagnosticDisplay::foregroundColor() + { + QColor ok_color(25, 255, 240, alpha_ * 255.0); + QColor warn_color(240, 173, 78, alpha_ * 255.0); + QColor error_color(217, 83, 79, alpha_ * 255.0); + QColor stall_color(151, 151, 151, alpha_ * 255.0); + //QColor fg_color = stall_color; + State state = getLatestState(); + if (state == OK_STATE) { + return ok_color; + } + else if (state == WARN_STATE) { + return warn_color; + } + else if (state == ERROR_STATE) { + return error_color; + } + else { + return stall_color; + } + } + + QColor OverlayDiagnosticDisplay::textColor() + { + QColor ok_color(40, 40, 40, alpha_ * 255.0); + QColor warn_color(255, 255, 255, alpha_ * 255.0); + QColor error_color(240, 173, 78, alpha_ * 255.0); + QColor stall_color(240, 173, 78, alpha_ * 255.0); + //QColor fg_color = stall_color; + State state = getLatestState(); + if (state == OK_STATE) { + return ok_color; + } + else if (state == WARN_STATE) { + return warn_color; + } + else if (state == ERROR_STATE) { + return error_color; + } + else { + return stall_color; + } + } + + + + QColor OverlayDiagnosticDisplay::blendColor(QColor a, QColor b, double a_rate) { + QColor ret (a.red() * a_rate + b.red() * (1 - a_rate), + a.green() * a_rate + b.green() * (1 - a_rate), + a.blue() * a_rate + b.blue() * (1 - a_rate), + a.alpha() * a_rate + b.alpha() * (1 - a_rate)); + return ret; + } + + double OverlayDiagnosticDisplay::textWidth(QPainter& painter, double font_size, const std::string& text) + { + painter.save(); + const double r = size_ / 128.0; + QFont font("Liberation Sans", font_size * r, font_size * r, QFont::Bold); + QPen pen; + QPainterPath path; + pen.setWidth(1); + painter.setFont(font); + painter.setPen(pen); + QFontMetrics metrics(font); + const int text_width = metrics.width(text.c_str()); + const int text_height = metrics.height(); + painter.restore(); + return text_width; + } + + double OverlayDiagnosticDisplay::textHeight(QPainter& painter, double font_size) + { + painter.save(); + const double r = size_ / 128.0; + QFont font("Liberation Sans", font_size * r, font_size * r, QFont::Bold); + QPen pen; + QPainterPath path; + pen.setWidth(1); + painter.setFont(font); + painter.setPen(pen); + QFontMetrics metrics(font); + const int text_height = metrics.height(); + painter.restore(); + return text_height; + } + + + double OverlayDiagnosticDisplay::drawAnimatingText(QPainter& painter, + QColor fg_color, + const double height, + const double font_size, + const std::string text) + { + const double r = size_ / 128.0; + QFont font("Liberation Sans", font_size * r, font_size * r, false); + QPen pen; + QPainterPath path; + pen.setWidth(1); + pen.setColor(blendColor(fg_color, Qt::white, 0.5)); + painter.setFont(font); + painter.setPen(pen); + painter.setBrush(fg_color); + QFontMetrics metrics(font); + const int text_width = metrics.width(text.c_str()); + const int text_height = metrics.height(); + if (overlay_->getTextureWidth() > text_width) { + path.addText((overlay_->getTextureWidth() - text_width) / 2.0, + height, + font, text.c_str()); + } + else { + double left = - fmod(t_, overlay_diagnostic_animation_duration) / + overlay_diagnostic_animation_duration * text_width * 2 + text_width; + path.addText(left, height, font, text.c_str()); + } + painter.drawPath(path); + return text_height; + } + + void OverlayDiagnosticDisplay::drawText(QPainter& painter, QColor fg_color, + const std::string& text) + { + double status_size = drawAnimatingText(painter, fg_color, + overlay_->getTextureHeight() / 3.0, + 20, text); + double namespace_size = drawAnimatingText(painter, fg_color, + overlay_->getTextureHeight() / 3.0 + status_size, + 10, diagnostics_namespace_); + std::string message; + if (latest_status_) { + if (!isStalled()) { + message = latest_status_->message; + } + else { + message = "stalled"; + } + } + else { + message = "stalled"; + } + drawAnimatingText(painter, fg_color, + overlay_->getTextureHeight() / 3.0 + + status_size + namespace_size, + 10, message); + } + + void OverlayDiagnosticDisplay::drawSAC(QImage& Hud) + { + QColor fg_color = foregroundColor(); + // draw outer circle + // line-width - margin - inner-line-width < size + QPainter painter( &Hud ); + const int line_width = 10; + const int margin = 10; + const int inner_line_width = 20; + + painter.setRenderHint(QPainter::Antialiasing, true); + painter.setPen(QPen(fg_color, line_width, Qt::SolidLine)); + painter.drawEllipse(line_width / 2, line_width / 2, + overlay_->getTextureWidth() - line_width, + overlay_->getTextureHeight() - line_width); + + painter.setPen(QPen(fg_color, inner_line_width, Qt::SolidLine)); + const double start_angle = fmod(t_, overlay_diagnostic_animation_duration) / + overlay_diagnostic_animation_duration * 360; + const double draw_angle = 250; + const double inner_circle_start + = line_width + margin + inner_line_width / 2.0; + drawText(painter, fg_color, statusText()); + } + + void OverlayDiagnosticDisplay::drawEVAConnectedRectangle(QPainter& painter, + QColor color, + QColor small_color, + int width) + { + double S = size_; + double A = S * 0.1; + double B = 0.2 * S; + double C = 0.2; + painter.setPen(QPen(color, width, Qt::SolidLine)); + QPainterPath large_rectangle_path; + large_rectangle_path.moveTo(A, S - B); + large_rectangle_path.lineTo(A, S); + large_rectangle_path.lineTo(S, B); + large_rectangle_path.lineTo(S, 0); + painter.setPen(Qt::NoPen); + painter.fillPath(large_rectangle_path, QBrush(color)); + QPainterPath small_rectangle_path; + small_rectangle_path.moveTo(A, S - B); + small_rectangle_path.lineTo(A, S - B + C * B); + small_rectangle_path.lineTo(A + (S - A) * C, S - B + C * B - (S - B) * C); + small_rectangle_path.lineTo(A + (S - A) * C, S - B - (S - B) * C); + painter.setPen(Qt::NoPen); + painter.fillPath(small_rectangle_path, QBrush(small_color)); + } + + void OverlayDiagnosticDisplay::drawEVANonConnectedRectangle(QPainter& painter, + QColor color, + QColor small_color, + int width, + double D) + { + double S = size_; + double A = S * 0.1; + double B = 0.2 * S; + double C = 0.2; + //double D = 0.05 * S; + painter.setPen(QPen(color, width, Qt::SolidLine)); + QPainterPath large_rectangle_path; + large_rectangle_path.moveTo(A, S - B); + large_rectangle_path.lineTo(A, S); + double r0 = (S - A - D) / 2 / (S - A); + large_rectangle_path.lineTo(A + (S - A - D) / 2, S - r0 * (S - B)); + large_rectangle_path.lineTo(A + (S - A - D) / 2, S - r0 * (S - B) - B); + painter.setPen(Qt::NoPen); + painter.fillPath(large_rectangle_path, QBrush(color)); + + QPainterPath large_rectangle_path2; + large_rectangle_path2.moveTo(S - (S - A - D) / 2, (S - B) * r0); + large_rectangle_path2.lineTo(S - (S - A - D) / 2, (S - B) * r0 + B); + large_rectangle_path2.lineTo(S, B); + large_rectangle_path2.lineTo(S, 0); + painter.setPen(Qt::NoPen); + painter.fillPath(large_rectangle_path2, QBrush(color)); + + QPainterPath small_rectangle_path; + small_rectangle_path.moveTo(A, S - B); + small_rectangle_path.lineTo(A, S - B + C * B); + small_rectangle_path.lineTo(A + (S - A) * C, S - B + C * B - (S - B) * C); + small_rectangle_path.lineTo(A + (S - A) * C, S - B - (S - B) * C); + painter.setPen(Qt::NoPen); + painter.fillPath(small_rectangle_path, QBrush(small_color)); + } + + void OverlayDiagnosticDisplay::drawEVA(QImage& Hud) + { + QColor line_color(240, 173, 78, alpha_ * 255.0); + QColor rectangle_color = foregroundColor(); + QColor small_rectangle_color(line_color); + QPainter painter(&Hud); + State close_state = OK_STATE; + int line_width = 2; + double S = size_; + double A = S * 0.1; + double B = 0.2 * S; + double C = 0.2; + double max_gap = 0.05 * S; + painter.setRenderHint(QPainter::Antialiasing, true); + painter.setPen(QPen(line_color, line_width, Qt::SolidLine)); + painter.drawLine(QPoint(0, 0), QPoint(0, S)); + painter.drawLine(QPoint(0, S - B / 2), QPoint(A, S - B / 2)); + if (isAnimating()) { + // check animation direction + double r = animationRate(); + if (previous_state_ == close_state) { // close -> open + drawEVANonConnectedRectangle(painter, rectangle_color, small_rectangle_color, line_width, max_gap * r); + } + else if (getLatestState() == close_state) { // open -> close + drawEVANonConnectedRectangle(painter, rectangle_color, small_rectangle_color, line_width, max_gap * (1 - r)); + } + else { // open -> open + drawEVANonConnectedRectangle(painter, rectangle_color, small_rectangle_color, line_width, max_gap); + } + } + else { + State state = getLatestState(); + if (state == close_state) { + drawEVAConnectedRectangle(painter, rectangle_color, small_rectangle_color, line_width); + } + else { + drawEVANonConnectedRectangle(painter, rectangle_color, small_rectangle_color, line_width, max_gap); + } + } + painter.setPen(QPen(textColor(), 2 * line_width, Qt::SolidLine)); + painter.setFont(QFont("Liberation Sans", 12, QFont::Bold)); + double theta = atan2(S - B, S - A) / M_PI * 180; + double text_box_height = cos(theta*M_PI/180) * B; + double text_box_width = (S - A) / cos(theta*M_PI/180) - sin(theta*M_PI/180) * B * 2; + double text_width = textWidth(painter, 12, diagnostics_namespace_); + + painter.translate(A, S - B); + painter.rotate(-theta); + if (text_width > text_box_width) { + double text_left = - fmod(t_, overlay_diagnostic_animation_duration) / + overlay_diagnostic_animation_duration * text_width; + painter.drawText(QRectF(text_left, 0, text_width*2, text_box_height), Qt::AlignLeft | Qt::AlignVCenter | Qt::TextSingleLine, + diagnostics_namespace_.c_str()); + } + else { + painter.drawText(QRectF(0, 0, text_box_width, text_box_height), Qt::AlignLeft | Qt::AlignVCenter | Qt::TextSingleLine, + diagnostics_namespace_.c_str()); + } + } + + void OverlayDiagnosticDisplay::redraw() + { + ScopedPixelBuffer buffer = overlay_->getBuffer(); + QColor transparent(0, 0, 0, 0.0); + QImage Hud = buffer.getQImage(*overlay_, transparent); + if (type_ == 0) { + drawSAC(Hud); + } + else if (type_ == 1) { + drawEVA(Hud); + } + } + + void OverlayDiagnosticDisplay::fillNamespaceList() + { + //QApplication::setOverrideCursor(QCursor(Qt::WaitCursor)); + diagnostics_namespace_property_->clearOptions(); + for (std::set::iterator it = namespaces_.begin(); + it != namespaces_.end(); + it++) { + diagnostics_namespace_property_->addOptionStd(*it); + } + diagnostics_namespace_property_->sortOptions(); + } + + void OverlayDiagnosticDisplay::updateRosTopic() + { + latest_status_.reset(); + unsubscribe(); + subscribe(); + } + + void OverlayDiagnosticDisplay::updateDiagnosticsNamespace() + { + latest_status_.reset(); + diagnostics_namespace_ = diagnostics_namespace_property_->getStdString(); + } + + void OverlayDiagnosticDisplay::updateSize() + { + size_ = size_property_->getInt(); + } + + void OverlayDiagnosticDisplay::updateAlpha() + { + alpha_ = alpha_property_->getFloat(); + } + + void OverlayDiagnosticDisplay::updateTop() + { + top_ = top_property_->getInt(); + } + + void OverlayDiagnosticDisplay::updateLeft() + { + left_ = left_property_->getInt(); + } + + void OverlayDiagnosticDisplay::updateStallDuration() + { + stall_duration_ = stall_duration_property_->getFloat(); + } + + bool OverlayDiagnosticDisplay::isInRegion(int x, int y) + { + return (top_ < y && top_ + size_ > y && + left_ < x && left_ + size_ > x); + } + + void OverlayDiagnosticDisplay::movePosition(int x, int y) + { + top_ = y; + left_ = x; + } + + void OverlayDiagnosticDisplay::setPosition(int x, int y) + { + top_property_->setValue(y); + left_property_->setValue(x); + } + + void OverlayDiagnosticDisplay::updateType() + { + type_ = type_property_->getOptionInt(); + } +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OverlayDiagnosticDisplay, rviz::Display) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_diagnostic_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_diagnostic_display.h new file mode 100755 index 0000000..01cc7fc --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_diagnostic_display.h @@ -0,0 +1,159 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#ifndef JSK_RVIZ_PLUGIN_OVERLAY_DIAGNOSTIC_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_OVERLAY_DIAGNOSTIC_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "overlay_utils.h" +#endif + +namespace jsk_rviz_plugins +{ + class OverlayDiagnosticDisplay: public rviz::Display + { + Q_OBJECT + public: + OverlayDiagnosticDisplay(); + typedef enum {OK_STATE, ERROR_STATE, WARN_STATE, STALL_STATE} State; + virtual ~OverlayDiagnosticDisplay(); + + // methods for OverlayPickerTool + virtual bool isInRegion(int x, int y); + virtual void movePosition(int x, int y); + virtual void setPosition(int x, int y); + virtual int getX() { return left_; }; + virtual int getY() { return top_; }; + + protected: + virtual bool isStalled(); + virtual void processMessage( + const diagnostic_msgs::DiagnosticArray::ConstPtr& msg); + virtual void update(float wall_dt, float ros_dt); + virtual void onEnable(); + virtual void onDisable(); + virtual void onInitialize(); + virtual void subscribe(); + virtual void unsubscribe(); + virtual void redraw(); + virtual State getLatestState(); + virtual void drawSAC(QImage& Hud); + virtual void drawEVA(QImage& Hud); + virtual void drawEVAConnectedRectangle(QPainter& painter, + QColor color, + QColor small_color, + int width); + virtual void drawEVANonConnectedRectangle(QPainter& painter, + QColor color, + QColor small_color, + int width, + double gap); + virtual void fillNamespaceList(); + virtual QColor foregroundColor(); + virtual QColor textColor(); + virtual double textWidth(QPainter& painter, double font_size, const std::string& text); + virtual double textHeight(QPainter& painter, double font_size); + virtual QColor blendColor(QColor a, QColor b, double a_rate); + virtual void drawText(QPainter& painter, QColor fg_color, + const std::string& text); + virtual double drawAnimatingText(QPainter& painter, + QColor fg_color, + const double height, + const double font_size, + const std::string text); + // return true if plugin needs to animate + virtual bool isAnimating(); + virtual double animationRate(); + virtual std::string statusText(); + boost::mutex mutex_; + OverlayObject::Ptr overlay_; + +#if ROS_VERSION_MINIMUM(1,12,0) + std::shared_ptr latest_status_; +#else + boost::shared_ptr latest_status_; +#endif + State previous_state_; + ros::WallTime latest_message_time_; + ros::WallTime animation_start_time_; + int size_; + std::string diagnostics_namespace_; + int type_; + std::set namespaces_; + double alpha_; + int top_, left_; + double t_; + double stall_duration_; + bool is_animating_; + rviz::RosTopicProperty* ros_topic_property_; + rviz::EditableEnumProperty* diagnostics_namespace_property_; + rviz::EnumProperty* type_property_; + rviz::IntProperty* top_property_; + rviz::IntProperty* left_property_; + rviz::FloatProperty* alpha_property_; + rviz::IntProperty* size_property_; + rviz::FloatProperty* stall_duration_property_; + + ros::Subscriber sub_; + protected Q_SLOTS: + virtual void updateType(); + virtual void updateRosTopic(); + virtual void updateDiagnosticsNamespace(); + virtual void updateSize(); + virtual void updateAlpha(); + virtual void updateTop(); + virtual void updateLeft(); + virtual void updateStallDuration(); + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_image_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_image_display.cpp new file mode 100755 index 0000000..430feba --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_image_display.cpp @@ -0,0 +1,344 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "overlay_image_display.h" + +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace jsk_rviz_plugins +{ + + OverlayImageDisplay::OverlayImageDisplay() + : Display(), width_(128), height_(128), left_(128), top_(128), alpha_(0.8), + is_msg_available_(false), require_update_(false), overwrite_alpha_(false) + { + // setup properties + update_topic_property_ = new rviz::RosTopicProperty( + "Topic", "", + ros::message_traits::datatype(), + "sensor_msgs::Image topic to subscribe to.", + this, SLOT( updateTopic() )); + transport_hint_property_ = new ImageTransportHintsProperty("transport hint", + "transport hint to subscribe topic", + this, SLOT(updateTopic())); + keep_aspect_ratio_property_ = new rviz::BoolProperty("keep aspect ratio", false, + "keep aspect ratio of original image", + this, SLOT(updateKeepAspectRatio())); + width_property_ = new rviz::IntProperty("width", 128, + "width of the image window", + this, SLOT(updateWidth())); + height_property_ = new rviz::IntProperty("height", 128, + "height of the image window", + this, SLOT(updateHeight())); + left_property_ = new rviz::IntProperty("left", 128, + "left of the image window", + this, SLOT(updateLeft())); + top_property_ = new rviz::IntProperty("top", 128, + "top of the image window", + this, SLOT(updateTop())); + alpha_property_ = new rviz::FloatProperty("alpha", 0.8, + "alpha belnding value", + this, SLOT(updateAlpha())); + overwrite_alpha_property_ = new rviz::BoolProperty("overwrite alpha value", false, + "overwrite alpha value by alpha property " + "and ignore alpha channel of the image", + this, SLOT(updateOverwriteAlpha())); + } + + OverlayImageDisplay::~OverlayImageDisplay() + { + delete update_topic_property_; + delete transport_hint_property_; + delete keep_aspect_ratio_property_; + delete overwrite_alpha_property_; + delete width_property_; + delete height_property_; + delete left_property_; + delete top_property_; + delete alpha_property_; + } + + void OverlayImageDisplay::onInitialize() + { + ros::NodeHandle nh; +#if ROS_VERSION_MINIMUM(1,12,0) + it_ = std::shared_ptr(new image_transport::ImageTransport(nh)); +#else + it_ = boost::shared_ptr(new image_transport::ImageTransport(nh)); +#endif + + updateWidth(); + updateHeight(); + updateKeepAspectRatio(); + updateOverwriteAlpha(); + updateTop(); + updateLeft(); + updateAlpha(); + updateTopic(); + } + + void OverlayImageDisplay::onEnable() + { + if (overlay_) { + overlay_->show(); + } + subscribe(); + } + void OverlayImageDisplay::onDisable() + { + if (overlay_) { + overlay_->hide(); + } + unsubscribe(); + } + + void OverlayImageDisplay::unsubscribe() + { + sub_.shutdown(); + // clear clear clear... + } + + void OverlayImageDisplay::subscribe() + { + if (isEnabled()) { + std::string topic_name = update_topic_property_->getTopicStd(); + + if (topic_name.length() > 0 && topic_name != "/") { + const image_transport::TransportHints transport_hint = + transport_hint_property_->getTransportHints(); + sub_ = it_->subscribe(topic_name, 1, &OverlayImageDisplay::processMessage, this, + transport_hint); + } + } + } + + void OverlayImageDisplay::processMessage( + const sensor_msgs::Image::ConstPtr& msg) + { + msg_ = msg; + is_msg_available_ = true; + require_update_ = true; + if ((width_property_->getInt() < 0) || (height_property_->getInt() < 0) || keep_aspect_ratio_) { + // automatically setup display size + updateWidth(); + updateHeight(); + } + } + + + void OverlayImageDisplay::update(float wall_dt, float ros_dt) + { + if (!isEnabled()) { + return; + } + + if (require_update_ && is_msg_available_) { + if (!overlay_) { + static int count = 0; + rviz::UniformStringStream ss; + ss << "OverlayImageDisplayObject" << count++; + overlay_.reset(new OverlayObject(ss.str())); + overlay_->show(); + } + overlay_->updateTextureSize(msg_->width, msg_->height); + // When aspect_ratio being kept, the size is specified by width; + height_property_->setHidden(keep_aspect_ratio_); + setImageSize(); + redraw(); + require_update_ = false; + } + if (overlay_) { + overlay_->setDimensions(width_, height_); + overlay_->setPosition(left_, top_); + } + } + + void OverlayImageDisplay::redraw() + { + try + { + if (msg_->width == 0 || msg_->height == 0) { + // image width/height and texture width/height should be same + // but they are not when input image width/height is 0 + return; + } + else { + cv::Mat mat; // mat should be BGRA8 image + + if ((msg_->encoding == sensor_msgs::image_encodings::BGRA8 || + msg_->encoding == sensor_msgs::image_encodings::RGBA8) && + !overwrite_alpha_) { + const cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy( + msg_, sensor_msgs::image_encodings::BGRA8); + cv_ptr->image.copyTo(mat); + } else { + // If the image does not have alpha channel, use alpha_ value. + const cv_bridge::CvImagePtr cv_ptr = + cv_bridge::toCvCopy(msg_, sensor_msgs::image_encodings::BGR8); + const cv::Mat bgr_image = cv_ptr->image; + std::vector channels; + // Split BGR image to each channel because cv::merge requires 4 images to create + // B-G-R-A image. The each 4 image represents each channel. + cv::split(bgr_image, channels); + // Create single alpha channel image + const cv::Mat alpha(bgr_image.rows, bgr_image.cols, CV_8UC1, + cv::Scalar(alpha_ * 255.0)); + channels.push_back(alpha); + cv::merge(channels, mat); + } + + ScopedPixelBuffer buffer = overlay_->getBuffer(); + QImage Hud = buffer.getQImage(*overlay_); + // QImage created from ScopedPixelBuffer has no padding between each line. + memcpy(Hud.scanLine(0), mat.data, mat.cols * mat.rows * mat.elemSize()); + } + } + catch (cv_bridge::Exception& e) + { + ROS_ERROR("cv_bridge exception: %s", e.what()); + } + } + + void OverlayImageDisplay::updateTopic() + { + unsubscribe(); + subscribe(); + } + + void OverlayImageDisplay::setImageSize() + { + if (width_ == -1) { + if (is_msg_available_) { + width_ = msg_->width; + } + else { + width_ = 128; + } + } + + if (height_ == -1) { + if (is_msg_available_) { + height_ = msg_->height; + } + else { + height_ = 128; + } + } + + if (keep_aspect_ratio_ && is_msg_available_) { + // When aspect_ratio being kept, the size is specified by width; + double aspect_ratio = msg_->height / (double)msg_->width; + int height_from_width = std::ceil(width_ * aspect_ratio); + height_ = height_from_width; + } + + } + + void OverlayImageDisplay::updateWidth() + { + boost::mutex::scoped_lock lock(mutex_); + width_ = width_property_->getInt(); + require_update_ = true; + } + + void OverlayImageDisplay::updateHeight() + { + boost::mutex::scoped_lock lock(mutex_); + height_ = height_property_->getInt(); + require_update_ = true; + } + + void OverlayImageDisplay::updateTop() + { + boost::mutex::scoped_lock lock(mutex_); + top_ = top_property_->getInt(); + } + + void OverlayImageDisplay::updateLeft() + { + boost::mutex::scoped_lock lock(mutex_); + left_ = left_property_->getInt(); + } + + void OverlayImageDisplay::updateAlpha() + { + boost::mutex::scoped_lock lock(mutex_); + alpha_ = alpha_property_->getFloat(); + } + + void OverlayImageDisplay::updateKeepAspectRatio() + { + boost::mutex::scoped_lock lock(mutex_); + keep_aspect_ratio_ = keep_aspect_ratio_property_->getBool(); + require_update_ = true; + } + + void OverlayImageDisplay::updateOverwriteAlpha() + { + boost::mutex::scoped_lock lock(mutex_); + overwrite_alpha_ = overwrite_alpha_property_->getBool(); + require_update_ = true; + } + + bool OverlayImageDisplay::isInRegion(int x, int y) + { + return (top_ < y && top_ + height_ > y && + left_ < x && left_ + width_ > x); + } + + void OverlayImageDisplay::movePosition(int x, int y) + { + top_ = y; + left_ = x; + } + + void OverlayImageDisplay::setPosition(int x, int y) + { + top_property_->setValue(y); + left_property_->setValue(x); + } + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OverlayImageDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_image_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_image_display.h new file mode 100755 index 0000000..7a6ac51 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_image_display.h @@ -0,0 +1,123 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#ifndef JSK_RVIZ_PLUGIN_OVERLAY_IMAGE_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_OVERLAY_IMAGE_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include "overlay_utils.h" +#include "image_transport_hints_property.h" +#endif + +namespace jsk_rviz_plugins +{ + class OverlayImageDisplay : public rviz::Display + { + Q_OBJECT + public: + OverlayImageDisplay(); + virtual ~OverlayImageDisplay(); + + // methods for OverlayPickerTool + virtual bool isInRegion(int x, int y); + virtual void movePosition(int x, int y); + virtual void setPosition(int x, int y); + virtual int getX() { return left_; }; + virtual int getY() { return top_; }; + + protected: + boost::mutex mutex_; + OverlayObject::Ptr overlay_; + rviz::RosTopicProperty* update_topic_property_; + ImageTransportHintsProperty* transport_hint_property_; + rviz::BoolProperty* keep_aspect_ratio_property_; + rviz::IntProperty* width_property_; + rviz::IntProperty* height_property_; + rviz::IntProperty* left_property_; + rviz::IntProperty* top_property_; + rviz::FloatProperty* alpha_property_; + rviz::BoolProperty* overwrite_alpha_property_; + int width_, height_, left_, top_; + double alpha_; +#if ROS_VERSION_MINIMUM(1,12,0) + std::shared_ptr it_; +#else + boost::shared_ptr it_; +#endif + image_transport::Subscriber sub_; + sensor_msgs::Image::ConstPtr msg_; + bool is_msg_available_; + bool require_update_; + bool keep_aspect_ratio_; + bool overwrite_alpha_; + + virtual void redraw(); + virtual void onInitialize(); + virtual void onEnable(); + virtual void onDisable(); + virtual void update(float wall_dt, float ros_dt); + virtual void subscribe(); + virtual void unsubscribe(); + virtual void setImageSize(); + virtual void processMessage(const sensor_msgs::Image::ConstPtr& msg); + protected Q_SLOTS: + void updateTopic(); + void updateWidth(); + void updateHeight(); + void updateLeft(); + void updateTop(); + void updateAlpha(); + void updateKeepAspectRatio(); + void updateOverwriteAlpha(); + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_menu_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_menu_display.cpp new file mode 100755 index 0000000..fee9bca --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_menu_display.cpp @@ -0,0 +1,605 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "overlay_menu_display.h" + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + + const int menu_padding_x = 100; + const int menu_padding_y = 5; + const int menu_last_padding_y = 30; + const double animate_duration = 0.2; + OverlayMenuDisplay::OverlayMenuDisplay() : Display() + { + update_topic_property_ = new rviz::RosTopicProperty( + "Topic", "", + ros::message_traits::datatype(), + "jsk_rviz_plugins::OverlayMenu topic to subscribe to.", + this, SLOT( updateTopic() )); + left_property_ = new rviz::IntProperty("left", 128, + "left of the image window", + this, SLOT(updateLeft())); + left_property_->setMin(0); + top_property_ = new rviz::IntProperty("top", 128, + "top of the image window", + this, SLOT(updateTop())); + top_property_->setMin(0); + keep_centered_property_ = new rviz::BoolProperty("keep centered", true, + "enable automatic center adjustment", + this, SLOT(updateKeepCentered())); + + // NOTE: Overtaking FG/BG Color Properties defaults to TRUE for backward compatibility. + overtake_fg_color_properties_property_ = new rviz::BoolProperty( + "Overtake FG Color Properties", true, + "overtake color properties specified by message such as foreground color and alpha", + this, SLOT(updateOvertakeFGColorProperties())); + overtake_bg_color_properties_property_ = new rviz::BoolProperty( + "Overtake BG Color Properties", true, + "overtake color properties specified by message such as background color and alpha", + this, SLOT(updateOvertakeBGColorProperties())); + + fg_color_property_ = new rviz::ColorProperty( + "Foreground Color", QColor(25, 255, 240), + "Foreground Color", + this, SLOT(updateFGColor())); + fg_alpha_property_ = new rviz::FloatProperty( + "Foreground Alpha", 1.0, "Foreground Alpha", + this, SLOT(updateFGAlpha())); + fg_alpha_property_->setMin(0.0); + fg_alpha_property_->setMax(1.0); + + bg_color_property_ = new rviz::ColorProperty( + "Background Color", QColor(0, 0, 0), + "Background Color", + this, SLOT(updateBGColor())); + bg_alpha_property_ = new rviz::FloatProperty( + "Background Alpha", 0.5, "Background Alpha", + this, SLOT(updateBGAlpha())); + bg_alpha_property_->setMin(0.0); + bg_alpha_property_->setMax(1.0); + } + + OverlayMenuDisplay::~OverlayMenuDisplay() + { + onDisable(); + delete update_topic_property_; + delete left_property_; + delete top_property_; + delete keep_centered_property_; + delete overtake_fg_color_properties_property_; + delete overtake_bg_color_properties_property_; + delete bg_color_property_; + delete bg_alpha_property_; + delete fg_color_property_; + delete fg_alpha_property_; + } + + void OverlayMenuDisplay::onInitialize() + { + updateKeepCentered(); + updateLeft(); + updateTop(); + updateOvertakeFGColorProperties(); + updateOvertakeBGColorProperties(); + updateFGColor(); + updateFGAlpha(); + updateBGColor(); + updateBGAlpha(); + require_update_texture_ = false; + animation_state_ = CLOSED; + } + + void OverlayMenuDisplay::onEnable() + { + if (overlay_) { + overlay_->show(); + } + subscribe(); + } + + void OverlayMenuDisplay::onDisable() + { + if (overlay_) { + overlay_->hide(); + } + unsubscribe(); + } + + void OverlayMenuDisplay::unsubscribe() + { + sub_.shutdown(); + } + + void OverlayMenuDisplay::subscribe() + { + std::string topic_name = update_topic_property_->getTopicStd(); + if (topic_name.length() > 0 && topic_name != "/") { + sub_ = ros::NodeHandle().subscribe(topic_name, 1, + &OverlayMenuDisplay::processMessage, + this); + } + } + + void OverlayMenuDisplay::processMessage + (const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg) + { + next_menu_ = msg; + if (!overtake_bg_color_properties_) + bg_color_ = QColor(msg->bg_color.r * 255.0, + msg->bg_color.g * 255.0, + msg->bg_color.b * 255.0, + msg->bg_color.a * 255.0); + if (!overtake_fg_color_properties_) + fg_color_ = QColor(msg->fg_color.r * 255.0, + msg->fg_color.g * 255.0, + msg->fg_color.b * 255.0, + msg->fg_color.a * 255.0); + } + + bool OverlayMenuDisplay::isNeedToResize() + { + if (!current_menu_ && next_menu_) { // first time + ROS_DEBUG("need to resize because this is the first time to draw"); + return true; + } + else if (!current_menu_ && !next_menu_) { + // both are null, it means that ... + // the plugin tries to draw without message reception + ROS_DEBUG("no need to resize because the plugin tries to draw without message reception"); + return false; + } + else if (current_menu_ && !next_menu_) { + // this is unexpected case + ROS_DEBUG("no need to resize, this is unexpected case. please debug"); + return false; + } + else { + if (current_menu_->menus.size() != next_menu_->menus.size()) { + ROS_DEBUG("need to resize because the length of menu is different"); + return true; + } + else if (current_menu_->title != next_menu_->title) { + return true; + } + else { + // check all the menu is same or not + for (size_t i = 0; i < current_menu_->menus.size(); i++) { + if (current_menu_->menus[i] != next_menu_->menus[i]) { + ROS_DEBUG("need to resize because the content of menu is different"); + return true; + } + } + ROS_DEBUG("no need to resize because the content of menu is same"); + return false; + } + } + } + + QFont OverlayMenuDisplay::font() + { + QFont font; + font.setPointSize(20); + return font; + } + + QFontMetrics OverlayMenuDisplay::fontMetrics() + { + QFontMetrics fm(font()); + return fm; + } + + int OverlayMenuDisplay::drawAreaWidth( + const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg) + { + QFontMetrics fm = fontMetrics(); + int max_width = 0; + for (size_t i = 0; i < msg->menus.size(); i++) { + int w = fm.width(getMenuString(msg, i).c_str()); + if (max_width < w) { + max_width = w; + } + } + int w = fm.width(msg->title.c_str()); + + if (max_width < w) { + max_width = w; + } + return max_width + menu_padding_x * 2; + } + + int OverlayMenuDisplay::drawAreaHeight( + const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg) + { + QFontMetrics fm = fontMetrics(); + return fm.height() * (msg->menus.size() + 1) + + menu_padding_y * (msg->menus.size() + 1 - 1) + + menu_last_padding_y * 2; + } + + void OverlayMenuDisplay::update(float wall_dt, float ros_dt) + { + if (!next_menu_) { + ROS_DEBUG("next_menu_ is null, no need to update"); + return; + } + if (next_menu_->action == jsk_rviz_plugins::OverlayMenu::ACTION_CLOSE && + animation_state_ == CLOSED) { + ROS_DEBUG("request is close and state is closed, we ignore it completely"); + return; + } + + if (next_menu_->action == jsk_rviz_plugins::OverlayMenu::ACTION_CLOSE) { + // need to close... + if (animation_state_ == CLOSED) { + // do nothing, it should be ignored above if sentence + ROS_WARN("request is CLOSE and state is CLOSED, it should be ignored before..."); + } + else if (animation_state_ == OPENED) { // OPENED -> CLOSING + animation_state_ = CLOSING; + animation_t_ = animate_duration; + } + else if (animation_state_ == CLOSING) { + animation_t_ -= wall_dt; + if (animation_t_ > 0) { // CLOSING -> CLOSING + openingAnimation(); + } + else { // CLOSING -> CLOSED + animation_t_ = 0; + openingAnimation(); + animation_state_ = CLOSED; + } + } + else if (animation_state_ == OPENING) { // if the status is OPENING, we open it anyway...?? + animation_t_ += wall_dt; + if (animation_t_ < animate_duration) { // OPENING -> OPENING + openingAnimation(); + } + else { // OPENING -> OPENED + redraw(); + animation_state_ = OPENED; + } + } + } + else { // OPEN request + if (animation_state_ == CLOSED) { // CLOSED -> OPENING, do nothing just change the state + animation_t_ = 0.0; + animation_state_ = OPENING; + } + else if (animation_state_ == OPENING) { + animation_t_ += wall_dt; + ROS_DEBUG("animation_t: %f", animation_t_); + if (animation_t_ < animate_duration) { // OPENING -> OPENING + openingAnimation(); + } + else { // OPENING -> OPENED + redraw(); + animation_state_ = OPENED; + } + } + else if (animation_state_ == OPENED) { // OPENED -> OPENED + if (isNeedToRedraw()) { + redraw(); + } + } + else if (animation_state_ == CLOSING) { // CLOSING, we close it anyway... + animation_t_ -= wall_dt; + if (animation_t_ > 0) { + openingAnimation(); + } + else { + animation_t_ = 0; + openingAnimation(); + animation_state_ = CLOSED; + } + } + } + //redraw(); + //current_menu_ = next_menu_; + } + + bool OverlayMenuDisplay::isNeedToRedraw() { + return true; + } + + std::string OverlayMenuDisplay::getMenuString( + const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg, + size_t index) + { + if (index >= msg->menus.size()) { + return ""; + } + else { + return msg->menus[index]; + } + } + + void OverlayMenuDisplay::prepareOverlay() + { + if (!overlay_) { + static int count = 0; + rviz::UniformStringStream ss; + ss << "OverlayMenuDisplayObject" << count++; + overlay_.reset(new OverlayObject(ss.str())); + overlay_->show(); + } + if (!overlay_->isTextureReady() || isNeedToResize()) { + overlay_->updateTextureSize(drawAreaWidth(next_menu_), drawAreaHeight(next_menu_)); + } + else { + ROS_DEBUG("no need to update texture size"); + } + } + + void OverlayMenuDisplay::openingAnimation() + { + ROS_DEBUG("openningAnimation"); + prepareOverlay(); + int current_width = animation_t_ / animate_duration * overlay_->getTextureWidth(); + int current_height = animation_t_ / animate_duration * overlay_->getTextureHeight(); + { + ScopedPixelBuffer buffer = overlay_->getBuffer(); + QColor transparent(0, 0, 0, 0.0); + QImage Hud = buffer.getQImage(*overlay_); + for (int i = 0; i < overlay_->getTextureWidth(); i++) { + for (int j = 0; j < overlay_->getTextureHeight(); j++) { + if (i > (overlay_->getTextureWidth() - current_width) / 2.0 && + i < overlay_->getTextureWidth() - (overlay_->getTextureWidth() - current_width) / 2.0 && + j > (overlay_->getTextureHeight() - current_height) / 2.0 && + j < overlay_->getTextureHeight() - (overlay_->getTextureHeight() - current_height) / 2.0) { + Hud.setPixel(i, j, bg_color_.rgba()); + } + else { + Hud.setPixel(i, j, transparent.rgba()); + } + } + } + } + setMenuLocation(); + current_menu_ = next_menu_; + } + + void OverlayMenuDisplay::redraw() + { + ROS_DEBUG("redraw"); + prepareOverlay(); + { + ScopedPixelBuffer buffer = overlay_->getBuffer(); + QImage Hud = buffer.getQImage(*overlay_, bg_color_); + QPainter painter( &Hud ); + painter.setRenderHint(QPainter::Antialiasing, true); + painter.setPen(QPen(fg_color_, 1, Qt::SolidLine)); + painter.setFont(font()); + int line_height = fontMetrics().height(); + int w = drawAreaWidth(next_menu_); + painter.drawText(menu_padding_x, menu_padding_y, + w, line_height, + Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop, + next_menu_->title.c_str()); + for (size_t i = 0; i < next_menu_->menus.size(); i++) { + std::string menu = getMenuString(next_menu_, i); + painter.drawText(menu_padding_x, line_height * ( 1 + i ) + menu_padding_y + menu_last_padding_y, + w, line_height, + Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop, + menu.c_str()); + } + if (next_menu_->current_index <= next_menu_->menus.size()) { + // draw '>' + painter.drawText(menu_padding_x - fontMetrics().width(">") * 2, + line_height * ( 1 + next_menu_->current_index ) + menu_padding_y + menu_last_padding_y, + w, line_height, + Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop, + ">"); + } + // draw line + int texture_width = overlay_->getTextureWidth(); + int texture_height = overlay_->getTextureHeight(); + painter.drawLine(menu_padding_x / 2, menu_last_padding_y / 2 + line_height, + menu_padding_x / 2, texture_height - menu_last_padding_y / 2); + painter.drawLine(texture_width - menu_padding_x / 2, menu_last_padding_y / 2 + line_height, + texture_width - menu_padding_x / 2, texture_height - menu_last_padding_y / 2); + painter.drawLine(menu_padding_x / 2, menu_last_padding_y / 2 + line_height, + texture_width - menu_padding_x / 2, menu_last_padding_y / 2 + line_height); + painter.drawLine(menu_padding_x / 2, texture_height - menu_last_padding_y / 2, + texture_width - menu_padding_x / 2, texture_height - menu_last_padding_y / 2); + + painter.end(); + current_menu_ = next_menu_; + } + setMenuLocation(); + } + + void OverlayMenuDisplay::setMenuLocation() + { + overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); + int window_width = context_->getViewManager()->getRenderPanel()->width(); + int window_height = context_->getViewManager()->getRenderPanel()->height(); + if (keep_centered_) + { + left_ = (window_width - (int)overlay_->getTextureWidth()) / 2.0; + top_ = (window_height - (int)overlay_->getTextureHeight()) / 2.0; + } + left_ = std::max(0, std::min(window_width - (int)overlay_->getTextureWidth(), left_)); + top_ = std::max(0, std::min(window_height - (int)overlay_->getTextureHeight(), top_)); + overlay_->setPosition(left_, top_); + } + + void OverlayMenuDisplay::updateTopic() + { + boost::mutex::scoped_lock lock(mutex_); + unsubscribe(); + subscribe(); + } + + void OverlayMenuDisplay::updateLeft() + { + boost::mutex::scoped_lock lock(mutex_); + left_ = left_property_->getInt(); + } + + void OverlayMenuDisplay::updateTop() + { + boost::mutex::scoped_lock lock(mutex_); + top_ = top_property_->getInt(); + } + + void OverlayMenuDisplay::updateKeepCentered() + { + if (keep_centered_ && + !keep_centered_property_->getBool()) { + updateLeft(); + updateTop(); + } + boost::mutex::scoped_lock lock(mutex_); + keep_centered_ = keep_centered_property_->getBool(); + } + + void OverlayMenuDisplay::updateOvertakeFGColorProperties() + { + if (!overtake_fg_color_properties_ && + overtake_fg_color_properties_property_->getBool()) { + // read all the parameters from properties + updateFGColor(); + updateFGAlpha(); + require_update_texture_ = true; + } + overtake_fg_color_properties_ = overtake_fg_color_properties_property_->getBool(); + if (overtake_fg_color_properties_) { + fg_color_property_->show(); + fg_alpha_property_->show(); + } + else { + fg_color_property_->hide(); + fg_alpha_property_->hide(); + } + } + + void OverlayMenuDisplay::updateOvertakeBGColorProperties() + { + if (!overtake_bg_color_properties_ && + overtake_bg_color_properties_property_->getBool()) { + // read all the parameters from properties + updateBGColor(); + updateBGAlpha(); + require_update_texture_ = true; + } + overtake_bg_color_properties_ = overtake_bg_color_properties_property_->getBool(); + if (overtake_bg_color_properties_) { + bg_color_property_->show(); + bg_alpha_property_->show(); + } + else { + bg_color_property_->hide(); + bg_alpha_property_->hide(); + } + } + + void OverlayMenuDisplay::updateFGColor() + { + QColor c = fg_color_property_->getColor(); + fg_color_.setRed(c.red()); + fg_color_.setGreen(c.green()); + fg_color_.setBlue(c.blue()); + if (overtake_fg_color_properties_) { + require_update_texture_ = true; + } + } + + void OverlayMenuDisplay::updateFGAlpha() + { + fg_color_.setAlpha(fg_alpha_property_->getFloat() * 255.0); + if (overtake_fg_color_properties_) { + require_update_texture_ = true; + } + } + + void OverlayMenuDisplay::updateBGColor() + { + QColor c = bg_color_property_->getColor(); + bg_color_.setRed(c.red()); + bg_color_.setGreen(c.green()); + bg_color_.setBlue(c.blue()); + if (overtake_bg_color_properties_) { + require_update_texture_ = true; + } + } + + void OverlayMenuDisplay::updateBGAlpha() + { + bg_color_.setAlpha(bg_alpha_property_->getFloat() * 255.0); + if (overtake_bg_color_properties_) { + require_update_texture_ = true; + } + } + + bool OverlayMenuDisplay::isInRegion(int x, int y) + { + return (overlay_ && overlay_->isTextureReady() && + top_ < y && top_ + overlay_->getTextureHeight() > y && + left_ < x && left_ + overlay_->getTextureWidth() > x); + } + + void OverlayMenuDisplay::movePosition(int x, int y) + { + if (!keep_centered_) + { + top_ = y; + left_ = x; + } + } + + void OverlayMenuDisplay::setPosition(int x, int y) + { + if (!keep_centered_) + { + top_property_->setValue(y); + left_property_->setValue(x); + } + } +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OverlayMenuDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_menu_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_menu_display.h new file mode 100755 index 0000000..2f54a87 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_menu_display.h @@ -0,0 +1,147 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#ifndef JSK_RVIZ_PLUGIN_OVERLAY_MENU_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_OVERLAY_MENU_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +#include +#include + +#include "overlay_utils.h" +#endif + +namespace jsk_rviz_plugins +{ + class OverlayMenuDisplay : public rviz::Display + { + Q_OBJECT + public: + OverlayMenuDisplay(); + virtual ~OverlayMenuDisplay(); + + enum AnimationState + { + CLOSED, + OPENED, + OPENING, + CLOSING, + }; + + // methods for OverlayPickerTool + virtual bool isInRegion(int x, int y); + virtual void movePosition(int x, int y); + virtual void setPosition(int x, int y); + virtual int getX() { return left_; }; + virtual int getY() { return top_; }; + + protected: + boost::mutex mutex_; + OverlayObject::Ptr overlay_; + ros::Subscriber sub_; + rviz::RosTopicProperty* update_topic_property_; + rviz::IntProperty* left_property_; + rviz::IntProperty* top_property_; + rviz::BoolProperty* keep_centered_property_; + rviz::BoolProperty* overtake_fg_color_properties_property_; + rviz::BoolProperty* overtake_bg_color_properties_property_; + rviz::ColorProperty* bg_color_property_; + rviz::FloatProperty* bg_alpha_property_; + rviz::ColorProperty* fg_color_property_; + rviz::FloatProperty* fg_alpha_property_; + AnimationState animation_state_; + bool require_update_texture_; + bool keep_centered_; + int left_, top_; + jsk_rviz_plugins::OverlayMenu::ConstPtr current_menu_; + jsk_rviz_plugins::OverlayMenu::ConstPtr next_menu_; + double animation_t_; + bool overtake_fg_color_properties_; + bool overtake_bg_color_properties_; + QColor bg_color_; + QColor fg_color_; + + virtual void prepareOverlay(); + virtual void openingAnimation(); + virtual std::string getMenuString( + const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg, + size_t index); + virtual QFont font(); + virtual QFontMetrics fontMetrics(); + virtual int drawAreaWidth( + const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg); + virtual int drawAreaHeight( + const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg); + virtual bool isNeedToResize(); + virtual bool isNeedToRedraw(); + virtual void redraw(); + virtual void onInitialize(); + virtual void onEnable(); + virtual void onDisable(); + virtual void update(float wall_dt, float ros_dt); + virtual void subscribe(); + virtual void unsubscribe(); + virtual void processMessage + (const jsk_rviz_plugins::OverlayMenu::ConstPtr& msg); + virtual void setMenuLocation(); + protected Q_SLOTS: + void updateTopic(); + void updateLeft(); + void updateTop(); + void updateKeepCentered(); + void updateOvertakeFGColorProperties(); + void updateOvertakeBGColorProperties(); + void updateFGColor(); + void updateFGAlpha(); + void updateBGColor(); + void updateBGAlpha(); + }; + +} + +#endif + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_picker_tool.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_picker_tool.cpp new file mode 100755 index 0000000..33eab4b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_picker_tool.cpp @@ -0,0 +1,195 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "overlay_picker_tool.h" +#include "overlay_text_display.h" +#include "plotter_2d_display.h" +#include "pie_chart_display.h" +#include "overlay_image_display.h" +#include "overlay_diagnostic_display.h" +#include "overlay_menu_display.h" + +namespace jsk_rviz_plugins +{ + OverlayPickerTool::OverlayPickerTool() + : is_moving_(false), shift_pressing_(false), rviz::Tool() + { + + } + + int OverlayPickerTool::processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel) + { + if (event->type() == QEvent::KeyPress && event->key() == 16777248) { // sift + shift_pressing_ = true; + } + else if (event->type() == QEvent::KeyRelease && event->key() == 16777248) { + shift_pressing_ = false; + } + return 0; + } + + + int OverlayPickerTool::processMouseEvent(rviz::ViewportMouseEvent& event) + { + if (event.left() && event.leftDown()) { + if (!is_moving_) { + onClicked(event); + } + } + else if (event.left() && is_moving_) { + onMove(event); + } + else if (is_moving_ && !(event.left() && event.leftDown())) { + onRelease(event); + } + return 0; + } + + bool OverlayPickerTool::handleDisplayClick(rviz::Property* property, rviz::ViewportMouseEvent& event) + { + if (isPropertyType(property)) { + rviz::DisplayGroup* group_property = isPropertyType(property); + for (int i = 0; i < group_property->numChildren(); i++) { + if (handleDisplayClick(group_property->childAt(i), event)) { + return true; + } + } + } + else { + if (startMovement(property, event, "overlay_text_display")) { + return true; + } + else if (startMovement(property, event, "plotter_2d_display")) { + return true; + } + else if (startMovement(property, event, "pie_chart_display")) { + return true; + } + else if (startMovement(property, event, "overlay_image_display")) { + return true; + } + else if (startMovement(property, event, "overlay_diagnostic_display")) { + return true; + } + else if (startMovement(property, event, "overlay_menu_display")) { + return true; + } + else { + return false; + } + } + return false; + } + + void OverlayPickerTool::onClicked(rviz::ViewportMouseEvent& event) + { + ROS_DEBUG("onClicked"); + is_moving_ = true; + ROS_DEBUG("clicked: (%d, %d)", event.x, event.y); + // check the active overlay plugin + rviz::DisplayGroup* display_group = context_->getRootDisplayGroup(); + handleDisplayClick(display_group, event); + } + + void OverlayPickerTool::onMove(rviz::ViewportMouseEvent& event) + { + ROS_DEBUG("onMove"); + ROS_DEBUG("moving: (%d, %d)", event.x, event.y); + if (target_property_) { + if (target_property_type_ == "overlay_text_display") { + movePosition(event); + } + else if (target_property_type_ == "plotter_2d_display") { + movePosition(event); + } + else if (target_property_type_ == "pie_chart_display") { + movePosition(event); + } + else if (target_property_type_ == "overlay_image_display") { + movePosition(event); + } + else if (target_property_type_ == "overlay_diagnostic_display") { + movePosition(event); + } + else if (target_property_type_ == "overlay_menu_display") { + movePosition(event); + } + } + } + + void OverlayPickerTool::onRelease(rviz::ViewportMouseEvent& event) + { + ROS_DEBUG("onRelease"); + is_moving_ = false; + ROS_DEBUG("released: (%d, %d)", event.x, event.y); + if (target_property_) { + if (target_property_type_ == "overlay_text_display") { + setPosition(event); + } + else if (target_property_type_ == "plotter_2d_display") { + setPosition(event); + } + else if (target_property_type_ == "pie_chart_display") { + setPosition(event); + } + else if (target_property_type_ == "overlay_image_display") { + setPosition(event); + } + else if (target_property_type_ == "overlay_diagnostic_display") { + setPosition(event); + } + else if (target_property_type_ == "overlay_menu_display") { + setPosition(event); + } + } + // clear cache + target_property_ = NULL; + target_property_type_ = ""; + } + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OverlayPickerTool, rviz::Tool ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_picker_tool.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_picker_tool.h new file mode 100755 index 0000000..d09d7ba --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_picker_tool.h @@ -0,0 +1,131 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGIN_OVERLAY_PICKER_TOOL_H_ +#define JSK_RVIZ_PLUGIN_OVERLAY_PICKER_TOOL_H_ + +#include +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + class OverlayPickerTool: public rviz::Tool + { + public: + OverlayPickerTool(); + virtual void activate() {} + virtual void deactivate() {}; + virtual int processKeyEvent(QKeyEvent* event, rviz::RenderPanel* panel); + virtual int processMouseEvent(rviz::ViewportMouseEvent& event); + template + T* isPropertyType(rviz::Property* p) + { + try { + return dynamic_cast(p); + } + catch (const std::bad_cast& e) { + return NULL; + } + } + + template + bool startMovement(rviz::Property* property, + rviz::ViewportMouseEvent& event, const std::string& type) + { + if (isPropertyType(property)) { + bool res = isPropertyType(property)->isInRegion(event.x, event.y); + if (res) { + target_property_ = property; + target_property_type_ = type; + move_offset_x_ = event.x - isPropertyType(property)->getX(); + move_offset_y_ = event.y - isPropertyType(property)->getY(); + } + return res; + } + else { + return false; + } + } + + template + void movePosition(rviz::ViewportMouseEvent& event) + { + if (shift_pressing_) { + int orig_x = event.x - move_offset_x_; + int orig_y = event.y - move_offset_y_; + isPropertyType(target_property_)->movePosition( + 20 * (orig_x / 20), 20 * (orig_y / 20)); + } + else { + isPropertyType(target_property_)->movePosition( + event.x - move_offset_x_, event.y - move_offset_y_); + } + } + + template + void setPosition(rviz::ViewportMouseEvent& event) + { + if (shift_pressing_) { + int orig_x = event.x - move_offset_x_; + int orig_y = event.y - move_offset_y_; + isPropertyType(target_property_)->setPosition( + 20 * (orig_x / 20), 20 * (orig_y / 20)); + } + else { + isPropertyType(target_property_)->setPosition( + event.x - move_offset_x_, event.y - move_offset_y_); + } + } + + protected: + virtual void onClicked(rviz::ViewportMouseEvent& event); + virtual void onMove(rviz::ViewportMouseEvent& event); + virtual void onRelease(rviz::ViewportMouseEvent& event); + virtual bool handleDisplayClick(rviz::Property* property, rviz::ViewportMouseEvent& event); + + bool is_moving_; + rviz::Property* target_property_; + std::string target_property_type_; + int move_offset_x_, move_offset_y_; + bool shift_pressing_; + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_text_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_text_display.cpp new file mode 100755 index 0000000..703e618 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_text_display.cpp @@ -0,0 +1,571 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "overlay_text_display.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + OverlayTextDisplay::OverlayTextDisplay() : Display(), + texture_width_(0), texture_height_(0), + text_size_(14), + line_width_(2), + text_(""), font_(""), + bg_color_(0, 0, 0, 0), + fg_color_(255, 255, 255, 255.0), + require_update_texture_(false) + { + update_topic_property_ = new rviz::RosTopicProperty( + "Topic", "", + ros::message_traits::datatype(), + "jsk_rviz_plugins::OverlayText topic to subscribe to.", + this, SLOT( updateTopic() )); + overtake_position_properties_property_ = new rviz::BoolProperty( + "Overtake Position Properties", false, + "overtake position properties specified by message such as left, top and font", + this, SLOT(updateOvertakePositionProperties())); + overtake_fg_color_properties_property_ = new rviz::BoolProperty( + "Overtake FG Color Properties", false, + "overtake color properties specified by message such as foreground color and alpha", + this, SLOT(updateOvertakeFGColorProperties())); + overtake_bg_color_properties_property_ = new rviz::BoolProperty( + "Overtake BG Color Properties", false, + "overtake color properties specified by message such as background color and alpha", + this, SLOT(updateOvertakeBGColorProperties())); + align_bottom_property_ = new rviz::BoolProperty( + "Align Bottom", false, + "align text with the bottom of the overlay region", + this, SLOT(updateAlignBottom())); + invert_shadow_property_ = new rviz::BoolProperty( + "Invert Shadow", false, + "make shadow lighter than original text", + this, SLOT(updateInvertShadow())); + top_property_ = new rviz::IntProperty( + "top", 0, + "top position", + this, SLOT(updateTop())); + top_property_->setMin(0); + left_property_ = new rviz::IntProperty( + "left", 0, + "left position", + this, SLOT(updateLeft())); + left_property_->setMin(0); + width_property_ = new rviz::IntProperty( + "width", 128, + "width position", + this, SLOT(updateWidth())); + width_property_->setMin(0); + height_property_ = new rviz::IntProperty( + "height", 128, + "height position", + this, SLOT(updateHeight())); + height_property_->setMin(0); + text_size_property_ = new rviz::IntProperty( + "text size", 12, + "text size", + this, SLOT(updateTextSize())); + text_size_property_->setMin(0); + line_width_property_ = new rviz::IntProperty( + "line width", 2, + "line width", + this, SLOT(updateLineWidth())); + line_width_property_->setMin(0); + fg_color_property_ = new rviz::ColorProperty( + "Foreground Color", QColor(25, 255, 240), + "Foreground Color", + this, SLOT(updateFGColor())); + fg_alpha_property_ = new rviz::FloatProperty( + "Foreground Alpha", 0.8, "Foreground Alpha", + this, SLOT(updateFGAlpha())); + fg_alpha_property_->setMin(0.0); + fg_alpha_property_->setMax(1.0); + bg_color_property_ = new rviz::ColorProperty( + "Background Color", QColor(0, 0, 0), + "Background Color", + this, SLOT(updateBGColor())); + bg_alpha_property_ = new rviz::FloatProperty( + "Background Alpha", 0.8, "Background Alpha", + this, SLOT(updateBGAlpha())); + bg_alpha_property_->setMin(0.0); + bg_alpha_property_->setMax(1.0); + + QFontDatabase database; + font_families_ = database.families(); + font_property_ = new rviz::EnumProperty( + "font", "DejaVu Sans Mono", + "font", this, + SLOT(updateFont())); + for (size_t i = 0; i < font_families_.size(); i++) { + font_property_->addOption(font_families_[i], (int)i); + } + } + + OverlayTextDisplay::~OverlayTextDisplay() + { + onDisable(); + //delete overlay_; + delete update_topic_property_; + delete overtake_fg_color_properties_property_; + delete overtake_bg_color_properties_property_; + delete overtake_position_properties_property_; + delete align_bottom_property_; + delete invert_shadow_property_; + delete top_property_; + delete left_property_; + delete width_property_; + delete height_property_; + delete text_size_property_; + delete line_width_property_; + delete bg_color_property_; + delete bg_alpha_property_; + delete fg_color_property_; + delete fg_alpha_property_; + delete font_property_; + } + + void OverlayTextDisplay::onEnable() + { + if (overlay_) { + overlay_->show(); + } + subscribe(); + } + + void OverlayTextDisplay::onDisable() + { + if (overlay_) { + overlay_->hide(); + } + unsubscribe(); + } + + void OverlayTextDisplay::unsubscribe() + { + sub_.shutdown(); + } + + void OverlayTextDisplay::subscribe() + { + std::string topic_name = update_topic_property_->getTopicStd(); + if (topic_name.length() > 0 && topic_name != "/") { + sub_ = ros::NodeHandle().subscribe(topic_name, 1, &OverlayTextDisplay::processMessage, this); + } + } + + void OverlayTextDisplay::updateTopic() + { + unsubscribe(); + subscribe(); + } + + // only the first time + void OverlayTextDisplay::onInitialize() + { + onEnable(); + updateTopic(); + updateOvertakePositionProperties(); + updateOvertakeFGColorProperties(); + updateOvertakeBGColorProperties(); + updateAlignBottom(); + updateInvertShadow(); + updateTop(); + updateLeft(); + updateWidth(); + updateHeight(); + updateTextSize(); + updateFGColor(); + updateFGAlpha(); + updateBGColor(); + updateBGAlpha(); + updateFont(); + updateLineWidth(); + require_update_texture_ = true; + } + + void OverlayTextDisplay::update(float wall_dt, float ros_dt) + { + if (!require_update_texture_) { + return; + } + if (!isEnabled()) { + return; + } + if (!overlay_) { + return; + } + overlay_->updateTextureSize(texture_width_, texture_height_); + { + jsk_rviz_plugins::ScopedPixelBuffer buffer = overlay_->getBuffer(); + QImage Hud = buffer.getQImage(*overlay_, bg_color_); + QPainter painter( &Hud ); + painter.setRenderHint(QPainter::Antialiasing, true); + painter.setPen(QPen(fg_color_, std::max(line_width_,1), Qt::SolidLine)); + uint16_t w = overlay_->getTextureWidth(); + uint16_t h = overlay_->getTextureHeight(); + + // font + if (text_size_ != 0) { + //QFont font = painter.font(); + QFont font(font_.length() > 0 ? font_.c_str(): "Liberation Sans"); + font.setPointSize(text_size_); + font.setBold(true); + painter.setFont(font); + } + if (text_.length() > 0) { + + QColor shadow_color; + if (invert_shadow_) + shadow_color = Qt::white; //fg_color_.lighter(); + else + shadow_color = Qt::black; //fg_color_.darker(); + shadow_color.setAlpha(fg_color_.alpha()); + + std::string color_wrapped_text + = (boost::format("%1%") + % text_ % fg_color_.red() % fg_color_.green() % fg_color_.blue() % + fg_color_.alpha()).str(); + + // find a remove "color: XXX;" regex match to generate a proper shadow + std::regex color_tag_re("color:.+?;"); + std::string null_char(""); + std::string formatted_text_ = std::regex_replace(text_, color_tag_re, null_char); + std::string color_wrapped_shadow + = (boost::format("%1%") + % formatted_text_ % shadow_color.red() % shadow_color.green() % shadow_color.blue() % shadow_color.alpha()).str(); + + QStaticText static_text( + boost::algorithm::replace_all_copy(color_wrapped_text, "\n", "
").c_str()); + static_text.setTextWidth(w); + + painter.setPen(QPen(shadow_color, std::max(line_width_,1), Qt::SolidLine)); + QStaticText static_shadow( + boost::algorithm::replace_all_copy(color_wrapped_shadow, "\n", "
").c_str()); + static_shadow.setTextWidth(w); + + if (!align_bottom_) { + painter.drawStaticText(1, 1, static_shadow); + painter.drawStaticText(0, 0, static_text); + } else { + QStaticText only_wrapped_text(color_wrapped_text.c_str()); + QFontMetrics fm(painter.fontMetrics()); + QRect text_rect = fm.boundingRect(0, 0, w, h, + Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop, + only_wrapped_text.text().remove(QRegExp("<[^>]*>"))); + painter.drawStaticText(1, h - text_rect.height()+1, static_shadow); + painter.drawStaticText(0, h - text_rect.height(), static_text); + } + } + painter.end(); + } + overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); + require_update_texture_ = false; + } + + void OverlayTextDisplay::processMessage + (const jsk_rviz_plugins::OverlayText::ConstPtr& msg) + { + if (!isEnabled()) { + return; + } + if (!overlay_) { + static int count = 0; + rviz::UniformStringStream ss; + ss << "OverlayTextDisplayObject" << count++; + overlay_.reset(new jsk_rviz_plugins::OverlayObject(ss.str())); + overlay_->show(); + } + if (overlay_) { + if (msg->action == jsk_rviz_plugins::OverlayText::DELETE) { + overlay_->hide(); + } + else if (msg->action == jsk_rviz_plugins::OverlayText::ADD) { + overlay_->show(); + } + } + + // store message for update method + text_ = msg->text; + if (!overtake_position_properties_) { + texture_width_ = msg->width; + texture_height_ = msg->height; + text_size_ = msg->text_size; + left_ = msg->left; + top_ = msg->top; + } + if (!overtake_bg_color_properties_) + bg_color_ = QColor(msg->bg_color.r * 255.0, + msg->bg_color.g * 255.0, + msg->bg_color.b * 255.0, + msg->bg_color.a * 255.0); + if (!overtake_fg_color_properties_) { + fg_color_ = QColor(msg->fg_color.r * 255.0, + msg->fg_color.g * 255.0, + msg->fg_color.b * 255.0, + msg->fg_color.a * 255.0); + font_ = msg->font; + line_width_ = msg->line_width; + } + if (overlay_) { + overlay_->setPosition(left_, top_); + } + require_update_texture_ = true; + } + + void OverlayTextDisplay::updateOvertakePositionProperties() + { + + if (!overtake_position_properties_ && + overtake_position_properties_property_->getBool()) { + updateTop(); + updateLeft(); + updateWidth(); + updateHeight(); + updateTextSize(); + require_update_texture_ = true; + } + overtake_position_properties_ + = overtake_position_properties_property_->getBool(); + if (overtake_position_properties_) { + top_property_->show(); + left_property_->show(); + width_property_->show(); + height_property_->show(); + text_size_property_->show(); + } + else { + top_property_->hide(); + left_property_->hide(); + width_property_->hide(); + height_property_->hide(); + text_size_property_->hide(); + } + } + + void OverlayTextDisplay::updateOvertakeFGColorProperties() + { + if (!overtake_fg_color_properties_ && + overtake_fg_color_properties_property_->getBool()) { + // read all the parameters from properties + updateFGColor(); + updateFGAlpha(); + updateFont(); + updateLineWidth(); + require_update_texture_ = true; + } + overtake_fg_color_properties_ = overtake_fg_color_properties_property_->getBool(); + if (overtake_fg_color_properties_) { + fg_color_property_->show(); + fg_alpha_property_->show(); + line_width_property_->show(); + font_property_->show(); + } + else { + fg_color_property_->hide(); + fg_alpha_property_->hide(); + line_width_property_->hide(); + font_property_->hide(); + } + } + + void OverlayTextDisplay::updateOvertakeBGColorProperties() + { + if (!overtake_bg_color_properties_ && + overtake_bg_color_properties_property_->getBool()) { + // read all the parameters from properties + updateBGColor(); + updateBGAlpha(); + require_update_texture_ = true; + } + overtake_bg_color_properties_ = overtake_bg_color_properties_property_->getBool(); + if (overtake_bg_color_properties_) { + bg_color_property_->show(); + bg_alpha_property_->show(); + } + else { + bg_color_property_->hide(); + bg_alpha_property_->hide(); + } + } + + void OverlayTextDisplay::updateAlignBottom() + { + if (align_bottom_ != align_bottom_property_->getBool()) { + require_update_texture_ = true; + } + align_bottom_ = align_bottom_property_->getBool(); + } + + void OverlayTextDisplay::updateInvertShadow() + { + if (invert_shadow_ != invert_shadow_property_->getBool()) { + require_update_texture_ = true; + } + invert_shadow_ = invert_shadow_property_->getBool(); + } + + + void OverlayTextDisplay::updateTop() + { + top_ = top_property_->getInt(); + if (overtake_position_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateLeft() + { + left_ = left_property_->getInt(); + if (overtake_position_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateWidth() + { + texture_width_ = width_property_->getInt(); + if (overtake_position_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateHeight() + { + texture_height_ = height_property_->getInt(); + if (overtake_position_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateTextSize() + { + text_size_ = text_size_property_->getInt(); + if (overtake_position_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateBGColor() + { + QColor c = bg_color_property_->getColor(); + bg_color_.setRed(c.red()); + bg_color_.setGreen(c.green()); + bg_color_.setBlue(c.blue()); + if (overtake_bg_color_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateBGAlpha() + { + bg_color_.setAlpha(bg_alpha_property_->getFloat() * 255.0); + if (overtake_bg_color_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateFGColor() + { + QColor c = fg_color_property_->getColor(); + fg_color_.setRed(c.red()); + fg_color_.setGreen(c.green()); + fg_color_.setBlue(c.blue()); + if (overtake_fg_color_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateFGAlpha() + { + fg_color_.setAlpha(fg_alpha_property_->getFloat() * 255.0); + if (overtake_fg_color_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateFont() + { + int font_index = font_property_->getOptionInt(); + if (font_index < font_families_.size()) { + font_ = font_families_[font_index].toStdString(); + } else { + ROS_FATAL("Unexpected error at selecting font index %d.", font_index); + return; + } + if (overtake_fg_color_properties_) { + require_update_texture_ = true; + } + } + + void OverlayTextDisplay::updateLineWidth() + { + line_width_ = line_width_property_->getInt(); + if (overtake_fg_color_properties_) { + require_update_texture_ = true; + } + } + + bool OverlayTextDisplay::isInRegion(int x, int y) + { + return (top_ < y && top_ + texture_height_ > y && + left_ < x && left_ + texture_width_ > x); + } + + void OverlayTextDisplay::movePosition(int x, int y) + { + top_ = y; + left_ = x; + } + + void OverlayTextDisplay::setPosition(int x, int y) + { + top_property_->setValue(y); + left_property_->setValue(x); + } + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::OverlayTextDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_text_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_text_display.h new file mode 100755 index 0000000..5a0e193 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_text_display.h @@ -0,0 +1,139 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#ifndef JSK_RVIZ_PLUGIN_OVERLAY_TEXT_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_OVERLAY_TEXT_DISPLAY_H_ + +#include "jsk_rviz_plugins/OverlayText.h" +#ifndef Q_MOC_RUN +#include +#include "overlay_utils.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + class OverlayTextDisplay + : public rviz::Display + { + Q_OBJECT + public: + OverlayTextDisplay(); + virtual ~OverlayTextDisplay(); + // methods for OverlayPickerTool + virtual bool isInRegion(int x, int y); + virtual void movePosition(int x, int y); + virtual void setPosition(int x, int y); + virtual int getX() { return left_; }; + virtual int getY() { return top_; }; + protected: + jsk_rviz_plugins::OverlayObject::Ptr overlay_; + + int texture_width_; + int texture_height_; + + bool overtake_fg_color_properties_; + bool overtake_bg_color_properties_; + bool overtake_position_properties_; + bool align_bottom_; + bool invert_shadow_; + QColor bg_color_; + QColor fg_color_; + int text_size_; + int line_width_; + std::string text_; + QStringList font_families_; + std::string font_; + int left_; + int top_; + + ros::Subscriber sub_; + + virtual void onInitialize(); + virtual void subscribe(); + virtual void unsubscribe(); + virtual void onEnable(); + virtual void onDisable(); + virtual void update(float wall_dt, float ros_dt); + + bool require_update_texture_; + rviz::RosTopicProperty* update_topic_property_; + rviz::BoolProperty* overtake_position_properties_property_; + rviz::BoolProperty* overtake_fg_color_properties_property_; + rviz::BoolProperty* overtake_bg_color_properties_property_; + rviz::BoolProperty* align_bottom_property_; + rviz::BoolProperty* invert_shadow_property_; + rviz::IntProperty* top_property_; + rviz::IntProperty* left_property_; + rviz::IntProperty* width_property_; + rviz::IntProperty* height_property_; + rviz::IntProperty* text_size_property_; + rviz::IntProperty* line_width_property_; + rviz::ColorProperty* bg_color_property_; + rviz::FloatProperty* bg_alpha_property_; + rviz::ColorProperty* fg_color_property_; + rviz::FloatProperty* fg_alpha_property_; + rviz::EnumProperty* font_property_; + protected Q_SLOTS: + void updateTopic(); + void updateOvertakePositionProperties(); + void updateOvertakeFGColorProperties(); + void updateOvertakeBGColorProperties(); + void updateAlignBottom(); + void updateInvertShadow(); + void updateTop(); + void updateLeft(); + void updateWidth(); + void updateHeight(); + void updateTextSize(); + void updateFGColor(); + void updateFGAlpha(); + void updateBGColor(); + void updateBGAlpha(); + void updateFont(); + void updateLineWidth(); + private: + void processMessage(const jsk_rviz_plugins::OverlayText::ConstPtr& msg); + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_utils.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_utils.cpp new file mode 100755 index 0000000..73525c4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_utils.cpp @@ -0,0 +1,224 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "overlay_utils.h" +#include + +namespace jsk_rviz_plugins +{ + ScopedPixelBuffer::ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer): + pixel_buffer_(pixel_buffer) + { + pixel_buffer_->lock( Ogre::HardwareBuffer::HBL_NORMAL ); + } + + ScopedPixelBuffer::~ScopedPixelBuffer() + { + pixel_buffer_->unlock(); + } + + Ogre::HardwarePixelBufferSharedPtr ScopedPixelBuffer::getPixelBuffer() + { + return pixel_buffer_; + } + + QImage ScopedPixelBuffer::getQImage(unsigned int width, unsigned int height) + { + const Ogre::PixelBox& pixelBox = pixel_buffer_->getCurrentLock(); + Ogre::uint8* pDest = static_cast (pixelBox.data); + memset(pDest, 0, width * height); + return QImage(pDest, width, height, QImage::Format_ARGB32 ); + } + + QImage ScopedPixelBuffer::getQImage( + unsigned int width, unsigned int height, QColor& bg_color) + { + QImage Hud = getQImage(width, height); + for (unsigned int i = 0; i < width; i++) { + for (unsigned int j = 0; j < height; j++) { + Hud.setPixel(i, j, bg_color.rgba()); + } + } + return Hud; + } + + QImage ScopedPixelBuffer::getQImage(OverlayObject& overlay) + { + return getQImage(overlay.getTextureWidth(), overlay.getTextureHeight()); + } + + QImage ScopedPixelBuffer::getQImage(OverlayObject& overlay, + QColor& bg_color) + { + return getQImage(overlay.getTextureWidth(), overlay.getTextureHeight(), + bg_color); + } + + OverlayObject::OverlayObject(const std::string& name) + : name_(name) + { + std::string material_name = name_ + "Material"; + Ogre::OverlayManager* mOverlayMgr = Ogre::OverlayManager::getSingletonPtr(); + overlay_ = mOverlayMgr->create(name_); + panel_ = static_cast ( + mOverlayMgr->createOverlayElement("Panel", name_ + "Panel")); + panel_->setMetricsMode(Ogre::GMM_PIXELS); + + panel_material_ + = Ogre::MaterialManager::getSingleton().create( + material_name, + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + panel_->setMaterialName(panel_material_->getName()); + overlay_->add2D(panel_); + } + + OverlayObject::~OverlayObject() + { + hide(); + panel_material_->unload(); + Ogre::MaterialManager::getSingleton().remove(panel_material_->getName()); + // Ogre::OverlayManager* mOverlayMgr = Ogre::OverlayManager::getSingletonPtr(); + // mOverlayMgr->destroyOverlayElement(panel_); + //delete panel_; + //delete overlay_; + } + + std::string OverlayObject::getName() + { + return name_; + } + + void OverlayObject::hide() + { + if (overlay_->isVisible()) { + overlay_->hide(); + } + } + + void OverlayObject::show() + { + if (!overlay_->isVisible()) { + overlay_->show(); + } + } + + bool OverlayObject::isTextureReady() + { + return !texture_.isNull(); + } + + void OverlayObject::updateTextureSize(unsigned int width, unsigned int height) + { + const std::string texture_name = name_ + "Texture"; + if (width == 0) { + ROS_WARN("[OverlayObject] width=0 is specified as texture size"); + width = 1; + } + if (height == 0) { + ROS_WARN("[OverlayObject] height=0 is specified as texture size"); + height = 1; + } + if (!isTextureReady() || + ((width != texture_->getWidth()) || + (height != texture_->getHeight()))) { + if (isTextureReady()) { + Ogre::TextureManager::getSingleton().remove(texture_name); + panel_material_->getTechnique(0)->getPass(0) + ->removeAllTextureUnitStates(); + } + texture_ = Ogre::TextureManager::getSingleton().createManual( + texture_name, // name + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, + Ogre::TEX_TYPE_2D, // type + width, height, // width & height of the render window + 0, // number of mipmaps + Ogre::PF_A8R8G8B8, // pixel format chosen to match a format Qt can use + Ogre::TU_DEFAULT // usage + ); + panel_material_->getTechnique(0)->getPass(0) + ->createTextureUnitState(texture_name); + + panel_material_->getTechnique(0)->getPass(0) + ->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); + } + } + + ScopedPixelBuffer OverlayObject::getBuffer() + { + if (isTextureReady()) { + return ScopedPixelBuffer(texture_->getBuffer()); + } + else { + return ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr()); + } + } + + void OverlayObject::setPosition(double left, double top) + { + panel_->setPosition(left, top); + } + + void OverlayObject::setDimensions(double width, double height) + { + panel_->setDimensions(width, height); + } + + bool OverlayObject::isVisible() + { + return overlay_->isVisible(); + } + + unsigned int OverlayObject::getTextureWidth() + { + if (isTextureReady()) { + return texture_->getWidth(); + } + else { + return 0; + } + } + + unsigned int OverlayObject::getTextureHeight() + { + if (isTextureReady()) { + return texture_->getHeight(); + } + else { + return 0; + } + } + + +} diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_utils.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_utils.h new file mode 100755 index 0000000..26ebc92 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/overlay_utils.h @@ -0,0 +1,127 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGIN_OVERLAY_UTIL_H_ +#define JSK_RVIZ_PLUGIN_OVERLAY_UTIL_H_ + + +#include +#include +#include +#include +#include +// see OGRE/OgrePrerequisites.h +//#define OGRE_VERSION ((OGRE_VERSION_MAJOR << 16) | (OGRE_VERSION_MINOR << 8) | OGRE_VERSION_PATCH) +#if OGRE_VERSION < ((1 << 16) | (9 << 8) | 0) + #include + #include + #include + #include +#else + #include + #include + #include + #include +#endif + +#include +#include + +#include + +namespace jsk_rviz_plugins +{ + class OverlayObject; + + class ScopedPixelBuffer + { + public: + ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer); + virtual ~ScopedPixelBuffer(); + virtual Ogre::HardwarePixelBufferSharedPtr getPixelBuffer(); + virtual QImage getQImage(unsigned int width, unsigned int height); + virtual QImage getQImage(OverlayObject& overlay); + virtual QImage getQImage(unsigned int width, unsigned int height, QColor& bg_color); + virtual QImage getQImage(OverlayObject& overlay, QColor& bg_color); + protected: + Ogre::HardwarePixelBufferSharedPtr pixel_buffer_; + private: + + }; + + + // this is a class for put overlay object on rviz 3D panel. + // This class suppose to be instantiated in onInitialize method + // of rviz::Display class. + class OverlayObject + { + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + + OverlayObject(const std::string& name); + virtual ~OverlayObject(); + + virtual std::string getName(); + virtual void hide(); + virtual void show(); + virtual bool isTextureReady(); + virtual void updateTextureSize(unsigned int width, unsigned int height); + virtual ScopedPixelBuffer getBuffer(); + virtual void setPosition(double left, double top); + virtual void setDimensions(double width, double height); + virtual bool isVisible(); + virtual unsigned int getTextureWidth(); + virtual unsigned int getTextureHeight(); + protected: + const std::string name_; + Ogre::Overlay* overlay_; + Ogre::PanelOverlayElement* panel_; + Ogre::MaterialPtr panel_material_; + Ogre::TexturePtr texture_; + + private: + + }; + + // Ogre::Overlay* createOverlay(std::string name); + // Ogre::PanelOverlayElement* createOverlayPanel(Ogre::Overlay* overlay); + // Ogre::MaterialPtr createOverlayMaterial(Ogre::Overlay* overlay); +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/people_position_measurement_array_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/people_position_measurement_array_display.cpp new file mode 100755 index 0000000..2570211 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/people_position_measurement_array_display.cpp @@ -0,0 +1,200 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "people_position_measurement_array_display.h" +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace jsk_rviz_plugins +{ + PeoplePositionMeasurementArrayDisplay::PeoplePositionMeasurementArrayDisplay() + { + size_property_ = new rviz::FloatProperty("size", 0.3, + "size of the visualizer", this, + SLOT(updateSize())); + timeout_property_ = new rviz::FloatProperty( + "timeout", 10.0, "timeout seconds", this, SLOT(updateTimeout())); + anonymous_property_ = new rviz::BoolProperty( + "anonymous", false, + "anonymous", + this, SLOT(updateAnonymous())); + text_property_ = new rviz::StringProperty( + "text", "person found here person found here", + "text to rotate", + this, SLOT(updateText())); + } + + + PeoplePositionMeasurementArrayDisplay::~PeoplePositionMeasurementArrayDisplay() + { + delete size_property_; + } + + void PeoplePositionMeasurementArrayDisplay::onInitialize() + { + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + updateSize(); + updateTimeout(); + updateAnonymous(); + updateText(); + } + + void PeoplePositionMeasurementArrayDisplay::clearObjects() + { + faces_.clear(); + visualizers_.clear(); + } + + void PeoplePositionMeasurementArrayDisplay::reset() + { + MFDClass::reset(); + clearObjects(); + } + + void PeoplePositionMeasurementArrayDisplay::processMessage( + const people_msgs::PositionMeasurementArray::ConstPtr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + static int count = 0; + static int square_count = 0; + faces_ = msg->people; + // check texture is ready or not + if (faces_.size() > visualizers_.size()) { + for (size_t i = visualizers_.size(); i < faces_.size(); i++) { + visualizers_.push_back(GISCircleVisualizer::Ptr(new GISCircleVisualizer( + scene_manager_, + scene_node_, + size_, + text_))); + visualizers_[visualizers_.size() - 1]->setAnonymous(anonymous_); + visualizers_[visualizers_.size() - 1]->update(0, 0); + QColor color(25.0, 255.0, 240.0); + visualizers_[visualizers_.size() - 1]->setColor(color); + } + } + else { + visualizers_.resize(faces_.size()); + } + // move scene_node + for (size_t i = 0; i < faces_.size(); i++) { + Ogre::Quaternion orientation; + Ogre::Vector3 position; + geometry_msgs::Pose pose; + pose.position = faces_[i].pos; + pose.orientation.w = 1.0; + if(!context_->getFrameManager()->transform(msg->header, + pose, + position, orientation)) + { + std::ostringstream oss; + oss << "Error transforming pose"; + oss << " from frame '" << msg->header.frame_id << "'"; + oss << " to frame '" << qPrintable(fixed_frame_) << "'"; + ROS_ERROR_STREAM(oss.str()); + setStatus(rviz::StatusProperty::Error, "Transform", QString::fromStdString(oss.str())); + } + else { + visualizers_[i]->setPosition(position); + } + } + latest_time_ = msg->header.stamp; + } + + void PeoplePositionMeasurementArrayDisplay::update( + float wall_dt, float ros_dt) + { + boost::mutex::scoped_lock lock(mutex_); + if (faces_.size() == 0) { + return; + } + if ((ros::Time::now() - latest_time_).toSec() > timeout_) { + ROS_WARN("timeout face recognition result"); + clearObjects(); + return; + } + for (size_t i = 0; i < visualizers_.size(); i++) { + visualizers_[i]->setOrientation(context_); + } + for (size_t i = 0; i < visualizers_.size(); i++) { + visualizers_[i]->update(wall_dt, ros_dt); + } + } + + void PeoplePositionMeasurementArrayDisplay::updateTimeout() + { + boost::mutex::scoped_lock lock(mutex_); + timeout_ = timeout_property_->getFloat(); + } + + void PeoplePositionMeasurementArrayDisplay::updateSize() + { + boost::mutex::scoped_lock lock(mutex_); + size_ = size_property_->getFloat(); + visualizers_.clear(); + } + + void PeoplePositionMeasurementArrayDisplay::updateAnonymous() + { + boost::mutex::scoped_lock lock(mutex_); + anonymous_ = anonymous_property_->getBool(); + for (size_t i = 0; i < visualizers_.size(); i++) { + visualizers_[i]->setAnonymous(anonymous_); + } + } + + void PeoplePositionMeasurementArrayDisplay::updateText() + { + boost::mutex::scoped_lock lock(mutex_); + text_ = text_property_->getStdString(); + for (size_t i = 0; i < visualizers_.size(); i++) { + visualizers_[i]->setText(text_); + } + } + +} + + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::PeoplePositionMeasurementArrayDisplay, rviz::Display ) + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/people_position_measurement_array_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/people_position_measurement_array_display.h new file mode 100755 index 0000000..906430c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/people_position_measurement_array_display.h @@ -0,0 +1,97 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGIN_PEOPLE_POSITION_MEASUREMENT_ARRAY_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_PEOPLE_POSITION_MEASUREMENT_ARRAY_DISPLAY_H_ + + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "overlay_utils.h" +#include "facing_visualizer.h" +#endif + +namespace jsk_rviz_plugins +{ + + class PeoplePositionMeasurementArrayDisplay: + public rviz::MessageFilterDisplay + { + Q_OBJECT + public: + PeoplePositionMeasurementArrayDisplay(); + virtual ~PeoplePositionMeasurementArrayDisplay(); + protected: + virtual void onInitialize(); + virtual void reset(); + void processMessage(const people_msgs::PositionMeasurementArray::ConstPtr& msg); + void update(float wall_dt, float ros_dt); + void clearObjects(); + rviz::FloatProperty* size_property_; + rviz::FloatProperty* timeout_property_; + rviz::BoolProperty* anonymous_property_; + rviz::StringProperty* text_property_; + boost::mutex mutex_; + double size_; + double timeout_; + bool anonymous_; + std::string text_; + std::vector faces_; + std::vector visualizers_; + ros::Time latest_time_; + private Q_SLOTS: + void updateSize(); + void updateTimeout(); + void updateAnonymous(); + void updateText(); + private: + + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_array_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_array_display.cpp new file mode 100755 index 0000000..58d75c7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_array_display.cpp @@ -0,0 +1,142 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "pictogram_array_display.h" + +namespace jsk_rviz_plugins +{ + PictogramArrayDisplay::PictogramArrayDisplay() + { + setupFont(); + } + + PictogramArrayDisplay::~PictogramArrayDisplay() + { + } + + void PictogramArrayDisplay::onInitialize() + { + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + } + + void PictogramArrayDisplay::reset() + { + MFDClass::reset(); + for (size_t i = 0; i < pictograms_.size(); i++) { + pictograms_[i]->setEnable(false); + } + } + + void PictogramArrayDisplay::onEnable() + { + subscribe(); + for (size_t i = 0; i < pictograms_.size(); i++) { + pictograms_[i]->setEnable(false); + } + } + + void PictogramArrayDisplay::allocatePictograms(size_t num) + { + if (pictograms_.size() > num) { + for (size_t i = num; i < pictograms_.size(); i++) { + pictograms_[i]->setEnable(false); + } + pictograms_.resize(num); + } + else if (pictograms_.size() < num) { + for (size_t i = pictograms_.size(); i < num; i++) { + //pictograms_[i]->setEnable(false); + PictogramObject::Ptr pictogram(new PictogramObject(scene_manager_, + scene_node_, + 1.0)); + pictogram->setContext(context_); + pictogram->setEnable(false); + pictogram->start(); + pictogram->setColor(QColor(25, 255, 240)); + pictogram->setAlpha(1.0); + pictograms_.push_back(pictogram); + } + } + } + + void PictogramArrayDisplay::processMessage( + const jsk_rviz_plugins::PictogramArray::ConstPtr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + allocatePictograms(msg->pictograms.size()); + for (size_t i = 0; i < pictograms_.size(); i++) { + pictograms_[i]->setEnable(isEnabled()); + } + if (!isEnabled()) { + return; + } + for (size_t i = 0; i < msg->pictograms.size(); i++) { + PictogramObject::Ptr pictogram = pictograms_[i]; + pictogram->setAction(msg->pictograms[i].action); + if (msg->pictograms[i].action == jsk_rviz_plugins::Pictogram::DELETE) { + continue; + } + + if (msg->pictograms[i].size <= 0.0) { + pictogram->setSize(0.5); + } + else { + pictogram->setSize(msg->pictograms[i].size / 2.0); + } + pictogram->setColor(QColor(msg->pictograms[i].color.r * 255, + msg->pictograms[i].color.g * 255, + msg->pictograms[i].color.b * 255)); + pictogram->setAlpha(msg->pictograms[i].color.a); + pictogram->setPose(msg->pictograms[i].pose, + msg->pictograms[i].header.frame_id); + pictogram->setText(msg->pictograms[i].character); + pictogram->setMode(msg->pictograms[i].mode); + pictogram->setTTL(msg->pictograms[i].ttl); + pictogram->setSpeed(msg->pictograms[i].speed); + } + } + + void PictogramArrayDisplay::update(float wall_dt, float ros_dt) + { + boost::mutex::scoped_lock lock(mutex_); + for (size_t i = 0; i < pictograms_.size(); i++) { + pictograms_[i]->update(wall_dt, ros_dt); + } + } +} + +#include +PLUGINLIB_EXPORT_CLASS (jsk_rviz_plugins::PictogramArrayDisplay, rviz::Display); diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_array_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_array_display.h new file mode 100755 index 0000000..b1b3e5f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_array_display.h @@ -0,0 +1,81 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGINS_PICTOGRAM_ARRAY_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_PICTOGRAM_ARRAY_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include "pictogram_display.h" +#include +#endif +namespace jsk_rviz_plugins +{ + //////////////////////////////////////////////////////// + // Display to visualize pictogram on rviz + //////////////////////////////////////////////////////// + class PictogramArrayDisplay: + public rviz::MessageFilterDisplay + { + Q_OBJECT + public: + PictogramArrayDisplay(); + virtual ~PictogramArrayDisplay(); + protected: + + //////////////////////////////////////////////////////// + // methods + //////////////////////////////////////////////////////// + virtual void onInitialize(); + virtual void reset(); + virtual void onEnable(); + void processMessage(const jsk_rviz_plugins::PictogramArray::ConstPtr& msg); + void update(float wall_dt, float ros_dt); + void allocatePictograms(size_t num); + + //////////////////////////////////////////////////////// + // parameters + //////////////////////////////////////////////////////// + boost::mutex mutex_; + std::vector pictograms_; + private Q_SLOTS: + + private: + }; + +} + +#endif + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_display.cpp new file mode 100755 index 0000000..ffada8c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_display.cpp @@ -0,0 +1,446 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "pictogram_display.h" +#include +#include +#include + +//////////////////////////////////////////////////////// +// read Entypo fonts +// http://mempko.wordpress.com/2014/11/28/using-entypo-fonts-as-icons-in-your-qt-application/ +//////////////////////////////////////////////////////// + +#include "Entypo.dat" +#include "Entypo_Social.dat" +#include "fontawesome.dat" +#include "pictogram_font_mapping.h" + +namespace jsk_rviz_plugins +{ + + int addFont(unsigned char* data, unsigned int data_len) + { + // register font + QByteArray entypo = + QByteArray::fromRawData( + reinterpret_cast(data), data_len); + int id = + QFontDatabase::addApplicationFontFromData(entypo); + if (id == -1) { + ROS_WARN("failed to load font"); + } + return id; + } + + bool epsEqual(double a, double b) + { + return (std::abs(a - b) < 0.01); + } + + bool isCharacterSupported(std::string character) + { + return ((entypo_social_character_map.find(character) + != entypo_social_character_map.end()) || + (entypo_character_map.find(character) + != entypo_character_map.end()) || + (fontawesome_character_map.find(character) + != fontawesome_character_map.end())); + } + + QFont getFont(std::string character) + { + if (entypo_social_character_map.find(character) + != entypo_social_character_map.end()) { + return QFont("Entypo Social"); + } + else if (entypo_character_map.find(character) + != entypo_character_map.end()) { + return QFont("Entypo"); + } + else { + return QFont("FontAwesome"); + } + } + + QString lookupPictogramText(std::string character) + { + if (entypo_social_character_map.find(character) + != entypo_social_character_map.end()) { + return entypo_social_character_map[character]; + } + else if (entypo_character_map.find(character) + != entypo_character_map.end()){ + return entypo_character_map[character]; + } + else { + return fontawesome_character_map[character]; + } + } + + bool isEntypo(std::string text) { + return ((entypo_social_character_map.find(text) + != entypo_social_character_map.end()) || + (entypo_character_map.find(text) + != entypo_character_map.end())); + } + + bool isFontAwesome(std::string text) { + return (fontawesome_character_map.find(text) + != fontawesome_character_map.end()); + } + + + + PictogramObject::PictogramObject(Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + double size): + FacingTexturedObject(manager, parent, size), + need_to_update_(false), + action_(jsk_rviz_plugins::Pictogram::ADD) + { + square_object_->setPolygonType(SquareObject::SQUARE); + square_object_->rebuildPolygon(); + + // for (std::map::iterator it = fontawesome_character_map.begin(); + // it != fontawesome_character_map.end(); + // ++it) { + // ROS_INFO("%s", it->first.c_str()); + // } + } + + void PictogramObject::setEnable(bool enable) + { + if (enable && !enable_) { + need_to_update_ = true; + } + FacingTexturedObject::setEnable(enable); + } + + void PictogramObject::start() + { + time_ = ros::WallTime::now(); + } + + void PictogramObject::setSize(double size) + { + if (size_ != size) { + need_to_update_ = true; + FacingTexturedObject::setSize(size); + } + } + + void PictogramObject::setSpeed(double speed) + { + speed_ = speed; + } + + void PictogramObject::setPose(const geometry_msgs::Pose& pose, + const std::string& frame_id) + { + pose_ = pose; + frame_id_ = frame_id; + } + + void PictogramObject::setContext(rviz::DisplayContext* context) + { + context_ = context; + } + + void PictogramObject::setMode(uint8_t mode) + { + mode_ = mode; + } + + void PictogramObject::setTTL(double ttl) + { + ttl_ = ttl; + } + + void PictogramObject::setAction(uint8_t type) + { + action_ = type; + if (action_ == jsk_rviz_plugins::Pictogram::DELETE) { + setEnable(false); + } + else{ + start(); + } + } + + void PictogramObject::updatePose(float wall_dt) + { + Ogre::Vector3 position; + Ogre::Quaternion quaternion; + std_msgs::Header header; + header.frame_id = frame_id_; + if(!context_->getFrameManager()->transform(header, + pose_, + position, + quaternion)) { + ROS_ERROR( "Error transforming pose from frame '%s'", + frame_id_.c_str()); + return; + } + + if (action_ == jsk_rviz_plugins::Pictogram::ADD) { + setPosition(position); + setOrientation(quaternion); + } + else if (action_ == jsk_rviz_plugins::Pictogram::ROTATE_Z || + action_ == jsk_rviz_plugins::Pictogram::ROTATE_X || + action_ == jsk_rviz_plugins::Pictogram::ROTATE_Y) { + Ogre::Vector3 axis; + if (action_ == jsk_rviz_plugins::Pictogram::ROTATE_Z) { + axis = Ogre::Vector3(0, 0, 1); + } + else if (action_ == jsk_rviz_plugins::Pictogram::ROTATE_X) { + axis = Ogre::Vector3(1, 0, 0); + } + else if (action_ == jsk_rviz_plugins::Pictogram::ROTATE_Y) { + axis = Ogre::Vector3(0, 1, 0); + } + time_ = time_ + ros::WallDuration(wall_dt); + // time_ -> theta + Ogre::Radian theta(M_PI * 2 * fmod(time_.toSec() * speed_, 1.0)); + + Ogre::Quaternion offset; + offset.FromAngleAxis(theta, axis); + Ogre::Quaternion final_rot = quaternion * offset; + setPosition(position); + setOrientation(final_rot); + } + else if (action_ == jsk_rviz_plugins::Pictogram::JUMP || + action_ == jsk_rviz_plugins::Pictogram::JUMP_ONCE) { + bool jumpingp = false; + if (action_ == jsk_rviz_plugins::Pictogram::JUMP) { + jumpingp = true; + } + else if (action_ == jsk_rviz_plugins::Pictogram::JUMP_ONCE && + (ros::WallTime::now() - time_).toSec() < 2) { + jumpingp = true; + } + + if (!jumpingp) { + setPosition(position); + } + else { + // t(2-t) * size + double t = fmod((ros::WallTime::now() - time_).toSec(), 2.0); + double height = size_ * t * (2 - t); + Ogre::Vector3 new_pos = position + quaternion * Ogre::Vector3(height, 0, 0); + setPosition(new_pos); + } + setOrientation(quaternion); + } + + double exceeded_time; + if( ttl_ && (exceeded_time = (ros::WallTime::now() - time_).toSec()) > ttl_) { + setAlpha( std::max(1.0 - 1.0 * (ros::WallTime::now() - (time_ + ros::WallDuration(ttl_))).toSec() / 5.0, 0.0) ); + if( 1.0 - 1.0 * (ros::WallTime::now() - (time_ + ros::WallDuration(ttl_))).toSec() / 3.0 < 0) + setAction(jsk_rviz_plugins::Pictogram::DELETE); + } + } + + void PictogramObject::update(float wall_dt, float ros_dt) + { + if (text_.empty()) { + // not yet setted + return; + } + // update position and orientation + if (!context_) { + return; + } + updatePose(wall_dt); + if (!need_to_update_) { + return; + } + need_to_update_ = false; + ScopedPixelBuffer buffer = texture_object_->getBuffer(); + QColor transparent(255, 255, 255, 0); + QImage Hud = buffer.getQImage(128, 128, transparent); // should change according to size + QPainter painter( &Hud ); + painter.setRenderHint(QPainter::Antialiasing, true); + QColor foreground = rviz::ogreToQt(color_); + painter.setPen(QPen(foreground, 5, Qt::SolidLine)); + + if (isCharacterSupported(text_) && mode_ == jsk_rviz_plugins::Pictogram::PICTOGRAM_MODE) { + QFont font = getFont(text_); + QString pictogram_text = lookupPictogramText(text_); + if (isEntypo(text_)) { + font.setPointSize(100); + } + else if (isFontAwesome(text_)) { + font.setPointSize(45); + } + painter.setFont(font); + painter.drawText(0, 0, 128, 128, + Qt::AlignHCenter | Qt::AlignVCenter, + pictogram_text); + painter.end(); + }else if( mode_ == jsk_rviz_plugins::Pictogram::STRING_MODE){ + QFont font("Liberation Sans"); + font.setPointSize(32); + font.setBold(true); + painter.setFont(font); + painter.drawText(0, 0, 128, 128, + Qt::TextWordWrap | Qt::AlignHCenter | Qt::AlignVCenter, + text_.c_str()); + painter.end(); + } + else { + ROS_WARN("%s is not supported", text_.c_str()); + } + } + + void PictogramObject::updateColor() + { + } + + void PictogramObject::updateText() + { + } + + void PictogramObject::setColor(QColor color) + { + if (!epsEqual(color_.r * 255.0, color.red()) || + !epsEqual(color_.g * 255.0, color.green()) || + !epsEqual(color_.b * 255.0, color.blue())) { + FacingTexturedObject::setColor(color); + need_to_update_ = true; + } + } + + void PictogramObject::setText(std::string text) + { + if (text_ != text) { + FacingTexturedObject::setText(text); + need_to_update_ = true; + } + } + + void PictogramObject::setAlpha(double alpha) + { + if (!epsEqual(color_.a, alpha)) { + need_to_update_ = true; + FacingTexturedObject::setAlpha(alpha); + } + } + + PictogramDisplay::PictogramDisplay() + { + setupFont(); + } + + PictogramDisplay::~PictogramDisplay() + { + + } + + void PictogramDisplay::onInitialize() + { + MFDClass::onInitialize(); + pictogram_.reset(new PictogramObject(scene_manager_, + scene_node_, + 1.0)); + + pictogram_->setContext(context_); + pictogram_->setEnable(false); + pictogram_->start(); + // initial setting + pictogram_->setColor(QColor(25, 255, 240)); + pictogram_->setAlpha(1.0); + pictogram_->setSpeed(1.0); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + } + + void PictogramDisplay::reset() + { + MFDClass::reset(); + pictogram_->setEnable(false); + } + + void PictogramDisplay::onEnable() + { + subscribe(); + if (pictogram_) { + // keep false, it will be true + // in side of processMessae callback. + pictogram_->setEnable(false); + } + } + + void PictogramDisplay::processMessage(const jsk_rviz_plugins::Pictogram::ConstPtr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + + pictogram_->setEnable(isEnabled()); + if (!isEnabled()) { + return; + } + pictogram_->setAction(msg->action); + if (msg->action == jsk_rviz_plugins::Pictogram::DELETE) { + return; + } + + if (msg->size <= 0.0) { + pictogram_->setSize(0.5); + } + else { + pictogram_->setSize(msg->size / 2.0); + } + pictogram_->setColor(QColor(msg->color.r * 255, + msg->color.g * 255, + msg->color.b * 255)); + pictogram_->setAlpha(msg->color.a); + pictogram_->setPose(msg->pose, msg->header.frame_id); + pictogram_->setText(msg->character); + pictogram_->setMode(msg->mode); + pictogram_->setTTL(msg->ttl); + if (msg->speed) + pictogram_->setSpeed(msg->speed); + } + + void PictogramDisplay::update(float wall_dt, float ros_dt) + { + boost::mutex::scoped_lock lock(mutex_); + if (pictogram_) { + pictogram_->update(wall_dt, ros_dt); + } + } +} + +#include +PLUGINLIB_EXPORT_CLASS (jsk_rviz_plugins::PictogramDisplay, rviz::Display); diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_display.h new file mode 100755 index 0000000..6ae9291 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_display.h @@ -0,0 +1,144 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGIN_PICTOGRAM_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_PICTOGRAM_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "facing_visualizer.h" +#endif + +namespace jsk_rviz_plugins +{ + void setupFont(); + int addFont(unsigned char* data, unsigned int data_len); + bool isFontAwesome(std::string); + bool isEntypo(std::string); + bool isCharacterSupported(std::string character); + QFont getFont(std::string character); + QString lookupPictogramText(std::string character); + //////////////////////////////////////////////////////// + // PictogramObject + //////////////////////////////////////////////////////// + class PictogramObject: public FacingTexturedObject + { + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + PictogramObject(Ogre::SceneManager* manager, + Ogre::SceneNode* parent, + double size); + virtual void update(float wall_dt, float ros_dt); + virtual void setEnable(bool enable); + virtual void setText(std::string text); + virtual void setAlpha(double alpha); + virtual void setColor(QColor color); + virtual void setSize(double size); + virtual void setSpeed(double speed); + virtual void setPose(const geometry_msgs::Pose& pose, + const std::string& frame_id); + virtual void start(); + virtual void setContext(rviz::DisplayContext* context); + virtual void setAction(uint8_t action); + virtual void setMode(uint8_t mode); + virtual void setTTL(double ttl); + protected: + virtual void updatePose(float dt); + virtual void updateColor(); + virtual void updateText(); + + bool need_to_update_; + uint8_t action_; + geometry_msgs::Pose pose_; + std::string frame_id_; + rviz::DisplayContext* context_; + ros::WallTime time_; + double ttl_; + double speed_; + uint8_t mode_; + private: + + }; + + + //////////////////////////////////////////////////////// + // Display to visualize pictogram on rviz + //////////////////////////////////////////////////////// + class PictogramDisplay: + public rviz::MessageFilterDisplay + { + Q_OBJECT + public: + PictogramDisplay(); + virtual ~PictogramDisplay(); + protected: + + //////////////////////////////////////////////////////// + // methods + //////////////////////////////////////////////////////// + virtual void onInitialize(); + virtual void reset(); + virtual void onEnable(); + void processMessage(const jsk_rviz_plugins::Pictogram::ConstPtr& msg); + void update(float wall_dt, float ros_dt); + + //////////////////////////////////////////////////////// + // parameters + //////////////////////////////////////////////////////// + boost::mutex mutex_; + PictogramObject::Ptr pictogram_; + private Q_SLOTS: + + private: + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_font_mapping.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_font_mapping.h new file mode 100755 index 0000000..a266103 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pictogram_font_mapping.h @@ -0,0 +1,1947 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +namespace jsk_rviz_plugins +{ + std::map entypo_character_map; + std::map entypo_social_character_map; + std::map fontawesome_character_map; + void setupFont() { + static bool font_initialized = false; + if (!font_initialized) { + font_initialized = true; + addFont(Entypo_ttf, Entypo_ttf_len); + addFont(Entypo_Social_ttf, Entypo_Social_ttf_len); + addFont(fontawesome_webfont_ttf, + font_awesome_4_2_0_fonts_fontawesome_webfont_ttf_len); + + entypo_character_map["phone"] = QString::fromWCharArray(L"\x1F4DE"); + entypo_character_map["mobile"] = QString::fromWCharArray(L"\x1F4F1"); + entypo_character_map["mouse"] = QString::fromWCharArray(L"\xE789"); + entypo_character_map["address"] = QString::fromWCharArray(L"\xE723"); + entypo_character_map["mail"] = QString::fromWCharArray(L"\x2709"); + entypo_character_map["paper-plane"] = QString::fromWCharArray(L"\x1F53F"); + entypo_character_map["pencil"] = QString::fromWCharArray(L"\x270E"); + entypo_character_map["feather"] = QString::fromWCharArray(L"\x2712"); + entypo_character_map["attach"] = QString::fromWCharArray(L"\x1F4CE"); + entypo_character_map["inbox"] = QString::fromWCharArray(L"\xE777"); + entypo_character_map["reply"] = QString::fromWCharArray(L"\xE712"); + entypo_character_map["reply-all"] = QString::fromWCharArray(L"\xE713"); + entypo_character_map["forward"] = QString::fromWCharArray(L"\x27A6"); + entypo_character_map["user"] = QString::fromWCharArray(L"\x1F464"); + entypo_character_map["users"] = QString::fromWCharArray(L"\x1F465"); + entypo_character_map["add-user"] = QString::fromWCharArray(L"\xE700"); + entypo_character_map["vcard"] = QString::fromWCharArray(L"\xE722"); + entypo_character_map["export"] = QString::fromWCharArray(L"\xE715"); + entypo_character_map["location"] = QString::fromWCharArray(L"\xE724"); + entypo_character_map["map"] = QString::fromWCharArray(L"\xE727"); + entypo_character_map["compass"] = QString::fromWCharArray(L"\xE728"); + entypo_character_map["direction"] = QString::fromWCharArray(L"\x27A2"); + entypo_character_map["hair-cross"] = QString::fromWCharArray(L"\x1F3AF"); + entypo_character_map["share"] = QString::fromWCharArray(L"\xE73C"); + entypo_character_map["shareable"] = QString::fromWCharArray(L"\xE73E"); + entypo_character_map["heart"] = QString::fromWCharArray(L"\x2665"); + entypo_character_map["heart-empty"] = QString::fromWCharArray(L"\x2661"); + entypo_character_map["star"] = QString::fromWCharArray(L"\x2605"); + entypo_character_map["star-empty"] = QString::fromWCharArray(L"\x2606"); + entypo_character_map["thumbs-up"] = QString::fromWCharArray(L"\x1F44D"); + entypo_character_map["thumbs-down"] = QString::fromWCharArray(L"\x1F44E"); + entypo_character_map["chat"] = QString::fromWCharArray(L"\xE720"); + entypo_character_map["comment"] = QString::fromWCharArray(L"\xE718"); + entypo_character_map["quote"] = QString::fromWCharArray(L"\x275E"); + entypo_character_map["home"] = QString::fromWCharArray(L"\x2302"); + entypo_character_map["popup"] = QString::fromWCharArray(L"\xE74C"); + entypo_character_map["search"] = QString::fromWCharArray(L"\x1F50D"); + entypo_character_map["flashlight"] = QString::fromWCharArray(L"\x1F526"); + entypo_character_map["print"] = QString::fromWCharArray(L"\xE716"); + entypo_character_map["bell"] = QString::fromWCharArray(L"\x1F514"); + entypo_character_map["link"] = QString::fromWCharArray(L"\x1F517"); + entypo_character_map["flag"] = QString::fromWCharArray(L"\x2691"); + entypo_character_map["cog"] = QString::fromWCharArray(L"\x2699"); + entypo_character_map["tools"] = QString::fromWCharArray(L"\x2692"); + entypo_character_map["trophy"] = QString::fromWCharArray(L"\x1F3C6"); + entypo_character_map["tag"] = QString::fromWCharArray(L"\xE70C"); + entypo_character_map["camera"] = QString::fromWCharArray(L"\x1F4F7"); + entypo_character_map["megaphone"] = QString::fromWCharArray(L"\x1F4E3"); + entypo_character_map["moon"] = QString::fromWCharArray(L"\x263D"); + entypo_character_map["palette"] = QString::fromWCharArray(L"\x1F3A8"); + entypo_character_map["leaf"] = QString::fromWCharArray(L"\x1F342"); + entypo_character_map["note"] = QString::fromWCharArray(L"\x266A"); + entypo_character_map["beamed-note"] = QString::fromWCharArray(L"\x266B"); + entypo_character_map["new"] = QString::fromWCharArray(L"\x1F4A5"); + entypo_character_map["graduation-cap"] = QString::fromWCharArray(L"\x1F393"); + entypo_character_map["book"] = QString::fromWCharArray(L"\x1F4D5"); + entypo_character_map["newspaper"] = QString::fromWCharArray(L"\x1F4F0"); + entypo_character_map["bag"] = QString::fromWCharArray(L"\x1F45C"); + entypo_character_map["airplane"] = QString::fromWCharArray(L"\x2708"); + entypo_character_map["lifebuoy"] = QString::fromWCharArray(L"\xE788"); + entypo_character_map["eye"] = QString::fromWCharArray(L"\xE70A"); + entypo_character_map["clock"] = QString::fromWCharArray(L"\x1F554"); + entypo_character_map["mic"] = QString::fromWCharArray(L"\x1F3A4"); + entypo_character_map["calendar"] = QString::fromWCharArray(L"\x1F4C5"); + entypo_character_map["flash"] = QString::fromWCharArray(L"\x26A1"); + entypo_character_map["thunder-cloud"] = QString::fromWCharArray(L"\x26C8"); + entypo_character_map["droplet"] = QString::fromWCharArray(L"\x1F4A7"); + entypo_character_map["cd"] = QString::fromWCharArray(L"\x1F4BF"); + entypo_character_map["briefcase"] = QString::fromWCharArray(L"\x1F4BC"); + entypo_character_map["air"] = QString::fromWCharArray(L"\x1F4A8"); + entypo_character_map["hourglass"] = QString::fromWCharArray(L"\x23F3"); + entypo_character_map["gauge"] = QString::fromWCharArray(L"\x1F6C7"); + entypo_character_map["language"] = QString::fromWCharArray(L"\x1F394"); + entypo_character_map["network"] = QString::fromWCharArray(L"\xE776"); + entypo_character_map["key"] = QString::fromWCharArray(L"\x1F511"); + entypo_character_map["battery"] = QString::fromWCharArray(L"\x1F50B"); + entypo_character_map["bucket"] = QString::fromWCharArray(L"\x1F4FE"); + entypo_character_map["magnet"] = QString::fromWCharArray(L"\xE7A1"); + entypo_character_map["drive"] = QString::fromWCharArray(L"\x1F4FD"); + entypo_character_map["cup"] = QString::fromWCharArray(L"\x2615"); + entypo_character_map["rocket"] = QString::fromWCharArray(L"\x1F680"); + entypo_character_map["brush"] = QString::fromWCharArray(L"\xE79A"); + entypo_character_map["suitcase"] = QString::fromWCharArray(L"\x1F6C6"); + entypo_character_map["traffic-cone"] = QString::fromWCharArray(L"\x1F6C8"); + entypo_character_map["globe"] = QString::fromWCharArray(L"\x1F30E"); + entypo_character_map["keyboard"] = QString::fromWCharArray(L"\x2328"); + entypo_character_map["browser"] = QString::fromWCharArray(L"\xE74E"); + entypo_character_map["publish"] = QString::fromWCharArray(L"\xE74D"); + entypo_character_map["progress-3"] = QString::fromWCharArray(L"\xE76B"); + entypo_character_map["progress-2"] = QString::fromWCharArray(L"\xE76A"); + entypo_character_map["progress-1"] = QString::fromWCharArray(L"\xE769"); + entypo_character_map["progress-0"] = QString::fromWCharArray(L"\xE768"); + entypo_character_map["light-down"] = QString::fromWCharArray(L"\x1F505"); + entypo_character_map["light-up"] = QString::fromWCharArray(L"\x1F506"); + entypo_character_map["adjust"] = QString::fromWCharArray(L"\x25D1"); + entypo_character_map["code"] = QString::fromWCharArray(L"\xE714"); + entypo_character_map["monitor"] = QString::fromWCharArray(L"\x1F4BB"); + entypo_character_map["infinity"] = QString::fromWCharArray(L"\x221E"); + entypo_character_map["light-bulb"] = QString::fromWCharArray(L"\x1F4A1"); + entypo_character_map["credit-card"] = QString::fromWCharArray(L"\x1F4B3"); + entypo_character_map["database"] = QString::fromWCharArray(L"\x1F4F8"); + entypo_character_map["voicemail"] = QString::fromWCharArray(L"\x2707"); + entypo_character_map["clipboard"] = QString::fromWCharArray(L"\x1F4CB"); + entypo_character_map["cart"] = QString::fromWCharArray(L"\xE73D"); + entypo_character_map["box"] = QString::fromWCharArray(L"\x1F4E6"); + entypo_character_map["ticket"] = QString::fromWCharArray(L"\x1F3AB"); + entypo_character_map["rss"] = QString::fromWCharArray(L"\xE73A"); + entypo_character_map["signal"] = QString::fromWCharArray(L"\x1F4F6"); + entypo_character_map["thermometer"] = QString::fromWCharArray(L"\x1F4FF"); + entypo_character_map["water"] = QString::fromWCharArray(L"\x1F4A6"); + entypo_character_map["sweden"] = QString::fromWCharArray(L"\xF601"); + entypo_character_map["line-graph"] = QString::fromWCharArray(L"\x1F4C8"); + entypo_character_map["pie-chart"] = QString::fromWCharArray(L"\x25F4"); + entypo_character_map["bar-graph"] = QString::fromWCharArray(L"\x1F4CA"); + entypo_character_map["area-graph"] = QString::fromWCharArray(L"\x1F53E"); + entypo_character_map["lock"] = QString::fromWCharArray(L"\x1F512"); + entypo_character_map["lock-open"] = QString::fromWCharArray(L"\x1F513"); + entypo_character_map["logout"] = QString::fromWCharArray(L"\xE741"); + entypo_character_map["login"] = QString::fromWCharArray(L"\xE740"); + entypo_character_map["check"] = QString::fromWCharArray(L"\x2713"); + entypo_character_map["cross"] = QString::fromWCharArray(L"\x274C"); + entypo_character_map["squared-minus"] = QString::fromWCharArray(L"\x229F"); + entypo_character_map["squared-plus"] = QString::fromWCharArray(L"\x229E"); + entypo_character_map["squared-cross"] = QString::fromWCharArray(L"\x274E"); + entypo_character_map["circled-minus"] = QString::fromWCharArray(L"\x2296"); + entypo_character_map["circled-plus"] = QString::fromWCharArray(L"\x2295"); + entypo_character_map["circled-cross"] = QString::fromWCharArray(L"\x2716"); + entypo_character_map["minus"] = QString::fromWCharArray(L"\x2796"); + entypo_character_map["plus"] = QString::fromWCharArray(L"\x2795"); + entypo_character_map["erase"] = QString::fromWCharArray(L"\x232B"); + entypo_character_map["block"] = QString::fromWCharArray(L"\x1F6AB"); + entypo_character_map["info"] = QString::fromWCharArray(L"\x2139"); + entypo_character_map["circled-info"] = QString::fromWCharArray(L"\xE705"); + entypo_character_map["help"] = QString::fromWCharArray(L"\x2753"); + entypo_character_map["circled-help"] = QString::fromWCharArray(L"\xE704"); + entypo_character_map["warning"] = QString::fromWCharArray(L"\x26A0"); + entypo_character_map["cycle"] = QString::fromWCharArray(L"\x1F504"); + entypo_character_map["cw"] = QString::fromWCharArray(L"\x27F3"); + entypo_character_map["ccw"] = QString::fromWCharArray(L"\x27F2"); + entypo_character_map["shuffle"] = QString::fromWCharArray(L"\x1F500"); + entypo_character_map["back"] = QString::fromWCharArray(L"\x1F519"); + entypo_character_map["level-down"] = QString::fromWCharArray(L"\x21B3"); + entypo_character_map["retweet"] = QString::fromWCharArray(L"\xE717"); + entypo_character_map["loop"] = QString::fromWCharArray(L"\x1F501"); + entypo_character_map["back-in-time"] = QString::fromWCharArray(L"\xE771"); + entypo_character_map["level-up"] = QString::fromWCharArray(L"\x21B0"); + entypo_character_map["switch"] = QString::fromWCharArray(L"\x21C6"); + entypo_character_map["numbered-list"] = QString::fromWCharArray(L"\xE005"); + entypo_character_map["add-to-list"] = QString::fromWCharArray(L"\xE003"); + entypo_character_map["layout"] = QString::fromWCharArray(L"\x268F"); + entypo_character_map["list"] = QString::fromWCharArray(L"\x2630"); + entypo_character_map["text-doc"] = QString::fromWCharArray(L"\x1F4C4"); + entypo_character_map["text-doc-inverted"] = QString::fromWCharArray(L"\xE731"); + entypo_character_map["doc"] = QString::fromWCharArray(L"\xE730"); + entypo_character_map["docs"] = QString::fromWCharArray(L"\xE736"); + entypo_character_map["landscape-doc"] = QString::fromWCharArray(L"\xE737"); + entypo_character_map["picture"] = QString::fromWCharArray(L"\x1F304"); + entypo_character_map["video"] = QString::fromWCharArray(L"\x1F3AC"); + entypo_character_map["music"] = QString::fromWCharArray(L"\x1F3B5"); + entypo_character_map["folder"] = QString::fromWCharArray(L"\x1F4C1"); + entypo_character_map["archive"] = QString::fromWCharArray(L"\xE800"); + entypo_character_map["trash"] = QString::fromWCharArray(L"\xE729"); + entypo_character_map["upload"] = QString::fromWCharArray(L"\x1F4E4"); + entypo_character_map["download"] = QString::fromWCharArray(L"\x1F4E5"); + entypo_character_map["save"] = QString::fromWCharArray(L"\x1F4BE"); + entypo_character_map["install"] = QString::fromWCharArray(L"\xE778"); + entypo_character_map["cloud"] = QString::fromWCharArray(L"\x2601"); + entypo_character_map["upload-cloud"] = QString::fromWCharArray(L"\xE711"); + entypo_character_map["bookmark"] = QString::fromWCharArray(L"\x1F516"); + entypo_character_map["bookmarks"] = QString::fromWCharArray(L"\x1F4D1"); + entypo_character_map["open-book"] = QString::fromWCharArray(L"\x1F4D6"); + entypo_character_map["play"] = QString::fromWCharArray(L"\x25B6"); + entypo_character_map["paus"] = QString::fromWCharArray(L"\x2016"); + entypo_character_map["record"] = QString::fromWCharArray(L"\x25CF"); + entypo_character_map["stop"] = QString::fromWCharArray(L"\x25A0"); + entypo_character_map["ff"] = QString::fromWCharArray(L"\x23E9"); + entypo_character_map["fb"] = QString::fromWCharArray(L"\x23EA"); + entypo_character_map["to-start"] = QString::fromWCharArray(L"\x23EE"); + entypo_character_map["to-end"] = QString::fromWCharArray(L"\x23ED"); + entypo_character_map["resize-full"] = QString::fromWCharArray(L"\xE744"); + entypo_character_map["resize-small"] = QString::fromWCharArray(L"\xE746"); + entypo_character_map["volume"] = QString::fromWCharArray(L"\x23F7"); + entypo_character_map["sound"] = QString::fromWCharArray(L"\x1F50A"); + entypo_character_map["mute"] = QString::fromWCharArray(L"\x1F507"); + entypo_character_map["flow-cascade"] = QString::fromWCharArray(L"\x1F568"); + entypo_character_map["flow-branch"] = QString::fromWCharArray(L"\x1F569"); + entypo_character_map["flow-tree"] = QString::fromWCharArray(L"\x1F56A"); + entypo_character_map["flow-line"] = QString::fromWCharArray(L"\x1F56B"); + entypo_character_map["flow-parallel"] = QString::fromWCharArray(L"\x1F56C"); + entypo_character_map["left-bold"] = QString::fromWCharArray(L"\xE4AD"); + entypo_character_map["down-bold"] = QString::fromWCharArray(L"\xE4B0"); + entypo_character_map["up-bold"] = QString::fromWCharArray(L"\xE4AF"); + entypo_character_map["right-bold"] = QString::fromWCharArray(L"\xE4AE"); + entypo_character_map["left"] = QString::fromWCharArray(L"\x2B05"); + entypo_character_map["down"] = QString::fromWCharArray(L"\x2B07"); + entypo_character_map["up"] = QString::fromWCharArray(L"\x2B06"); + entypo_character_map["right"] = QString::fromWCharArray(L"\x27A1"); + entypo_character_map["circled-left"] = QString::fromWCharArray(L"\xE759"); + entypo_character_map["circled-down"] = QString::fromWCharArray(L"\xE758"); + entypo_character_map["circled-up"] = QString::fromWCharArray(L"\xE75B"); + entypo_character_map["circled-right"] = QString::fromWCharArray(L"\xE75A"); + entypo_character_map["triangle-left"] = QString::fromWCharArray(L"\x25C2"); + entypo_character_map["triangle-down"] = QString::fromWCharArray(L"\x25BE"); + entypo_character_map["triangle-up"] = QString::fromWCharArray(L"\x25B4"); + entypo_character_map["triangle-right"] = QString::fromWCharArray(L"\x25B8"); + entypo_character_map["chevron-left"] = QString::fromWCharArray(L"\xE75D"); + entypo_character_map["chevron-down"] = QString::fromWCharArray(L"\xE75C"); + entypo_character_map["chevron-up"] = QString::fromWCharArray(L"\xE75F"); + entypo_character_map["chevron-right"] = QString::fromWCharArray(L"\xE75E"); + entypo_character_map["chevron-small-left"] = QString::fromWCharArray(L"\xE761"); + entypo_character_map["chevron-small-down"] = QString::fromWCharArray(L"\xE760"); + entypo_character_map["chevron-small-up"] = QString::fromWCharArray(L"\xE763"); + entypo_character_map["chevron-small-right"] = QString::fromWCharArray(L"\xE762"); + entypo_character_map["chevron-thin-left"] = QString::fromWCharArray(L"\xE765"); + entypo_character_map["chevron-thin-down"] = QString::fromWCharArray(L"\xE764"); + entypo_character_map["chevron-thin-up"] = QString::fromWCharArray(L"\xE767"); + entypo_character_map["chevron-thin-right"] = QString::fromWCharArray(L"\xE766"); + entypo_character_map["left-thin"] = QString::fromWCharArray(L"\x2190"); + entypo_character_map["down-thin"] = QString::fromWCharArray(L"\x2193"); + entypo_character_map["up-thin"] = QString::fromWCharArray(L"\x2191"); + entypo_character_map["right-thin"] = QString::fromWCharArray(L"\x2192"); + entypo_character_map["arrow-combo"] = QString::fromWCharArray(L"\xE74F"); + entypo_character_map["three-dots"] = QString::fromWCharArray(L"\x23F6"); + entypo_character_map["two-dots"] = QString::fromWCharArray(L"\x23F5"); + entypo_character_map["dot"] = QString::fromWCharArray(L"\x23F4"); + entypo_character_map["cc"] = QString::fromWCharArray(L"\x1F545"); + entypo_character_map["cc-by"] = QString::fromWCharArray(L"\x1F546"); + entypo_character_map["cc-nc"] = QString::fromWCharArray(L"\x1F547"); + entypo_character_map["cc-nc-eu"] = QString::fromWCharArray(L"\x1F548"); + entypo_character_map["cc-nc-jp"] = QString::fromWCharArray(L"\x1F549"); + entypo_character_map["cc-sa"] = QString::fromWCharArray(L"\x1F54A"); + entypo_character_map["cc-nd"] = QString::fromWCharArray(L"\x1F54B"); + entypo_character_map["cc-pd"] = QString::fromWCharArray(L"\x1F54C"); + entypo_character_map["cc-zero"] = QString::fromWCharArray(L"\x1F54D"); + entypo_character_map["cc-share"] = QString::fromWCharArray(L"\x1F54E"); + entypo_character_map["cc-remix"] = QString::fromWCharArray(L"\x1F54F"); + entypo_character_map["db-logo"] = QString::fromWCharArray(L"\x1F5F9"); + entypo_character_map["db-shape"] = QString::fromWCharArray(L"\x1F5FA"); + + entypo_social_character_map["github"] = QString::fromWCharArray(L"\xF300"); + entypo_social_character_map["c-github"] = QString::fromWCharArray(L"\xF301"); + entypo_social_character_map["flickr"] = QString::fromWCharArray(L"\xF303"); + entypo_social_character_map["c-flickr"] = QString::fromWCharArray(L"\xF304"); + entypo_social_character_map["vimeo"] = QString::fromWCharArray(L"\xF306"); + entypo_social_character_map["c-vimeo"] = QString::fromWCharArray(L"\xF307"); + entypo_social_character_map["twitter"] = QString::fromWCharArray(L"\xF309"); + entypo_social_character_map["c-twitter"] = QString::fromWCharArray(L"\xF30A"); + entypo_social_character_map["facebook"] = QString::fromWCharArray(L"\xF30C"); + entypo_social_character_map["c-facebook"] = QString::fromWCharArray(L"\xF30D"); + entypo_social_character_map["s-facebook"] = QString::fromWCharArray(L"\xF30E"); + entypo_social_character_map["google+"] = QString::fromWCharArray(L"\xF30F"); + entypo_social_character_map["c-google+"] = QString::fromWCharArray(L"\xF310"); + entypo_social_character_map["pinterest"] = QString::fromWCharArray(L"\xF312"); + entypo_social_character_map["c-pinterest"] = QString::fromWCharArray(L"\xF313"); + entypo_social_character_map["tumblr"] = QString::fromWCharArray(L"\xF315"); + entypo_social_character_map["c-tumblr"] = QString::fromWCharArray(L"\xF316"); + entypo_social_character_map["linkedin"] = QString::fromWCharArray(L"\xF318"); + entypo_social_character_map["c-linkedin"] = QString::fromWCharArray(L"\xF319"); + entypo_social_character_map["dribbble"] = QString::fromWCharArray(L"\xF31B"); + entypo_social_character_map["c-dribbble"] = QString::fromWCharArray(L"\xF31C"); + entypo_social_character_map["stumbleupon"] = QString::fromWCharArray(L"\xF31E"); + entypo_social_character_map["c-stumbleupon"] = QString::fromWCharArray(L"\xF31F"); + entypo_social_character_map["lastfm"] = QString::fromWCharArray(L"\xF321"); + entypo_social_character_map["c-lastfm"] = QString::fromWCharArray(L"\xF322"); + entypo_social_character_map["rdio"] = QString::fromWCharArray(L"\xF324"); + entypo_social_character_map["c-rdio"] = QString::fromWCharArray(L"\xF325"); + entypo_social_character_map["spotify"] = QString::fromWCharArray(L"\xF327"); + entypo_social_character_map["c-spotify"] = QString::fromWCharArray(L"\xF328"); + entypo_social_character_map["qq"] = QString::fromWCharArray(L"\xF32A"); + entypo_social_character_map["instagram"] = QString::fromWCharArray(L"\xF32D"); + entypo_social_character_map["dropbox"] = QString::fromWCharArray(L"\xF330"); + entypo_social_character_map["evernote"] = QString::fromWCharArray(L"\xF333"); + entypo_social_character_map["flattr"] = QString::fromWCharArray(L"\xF336"); + entypo_social_character_map["skype"] = QString::fromWCharArray(L"\xF339"); + entypo_social_character_map["c-skype"] = QString::fromWCharArray(L"\xF33A"); + entypo_social_character_map["renren"] = QString::fromWCharArray(L"\xF33C"); + entypo_social_character_map["sina-weibo"] = QString::fromWCharArray(L"\xF33F"); + entypo_social_character_map["paypal"] = QString::fromWCharArray(L"\xF342"); + entypo_social_character_map["picasa"] = QString::fromWCharArray(L"\xF345"); + entypo_social_character_map["soundcloud"] = QString::fromWCharArray(L"\xF348"); + entypo_social_character_map["mixi"] = QString::fromWCharArray(L"\xF34B"); + entypo_social_character_map["behance"] = QString::fromWCharArray(L"\xF34E"); + entypo_social_character_map["google-circles"] = QString::fromWCharArray(L"\xF351"); + entypo_social_character_map["vk"] = QString::fromWCharArray(L"\xF354"); + entypo_social_character_map["smashing"] = QString::fromWCharArray(L"\xF357"); + fontawesome_character_map["fa-glass-martini"] = QString::fromWCharArray(L"\xF000"); + fontawesome_character_map["fa-music"] = QString::fromWCharArray(L"\xF001"); + fontawesome_character_map["fa-search"] = QString::fromWCharArray(L"\xF002"); + fontawesome_character_map["fa-heart"] = QString::fromWCharArray(L"\xF004"); + fontawesome_character_map["fa-star"] = QString::fromWCharArray(L"\xF005"); + fontawesome_character_map["fa-user"] = QString::fromWCharArray(L"\xF007"); + fontawesome_character_map["fa-film"] = QString::fromWCharArray(L"\xF008"); + fontawesome_character_map["fa-th-large"] = QString::fromWCharArray(L"\xF009"); + fontawesome_character_map["fa-th"] = QString::fromWCharArray(L"\xF00a"); + fontawesome_character_map["fa-th-list"] = QString::fromWCharArray(L"\xF00b"); + fontawesome_character_map["fa-check"] = QString::fromWCharArray(L"\xF00c"); + fontawesome_character_map["fa-times"] = QString::fromWCharArray(L"\xF00d"); + fontawesome_character_map["fa-search-plus"] = QString::fromWCharArray(L"\xF00e"); + fontawesome_character_map["fa-search-minus"] = QString::fromWCharArray(L"\xF010"); + fontawesome_character_map["fa-power-off"] = QString::fromWCharArray(L"\xF011"); + fontawesome_character_map["fa-signal"] = QString::fromWCharArray(L"\xF012"); + fontawesome_character_map["fa-cog"] = QString::fromWCharArray(L"\xF013"); + fontawesome_character_map["fa-home"] = QString::fromWCharArray(L"\xF015"); + fontawesome_character_map["fa-clock"] = QString::fromWCharArray(L"\xF017"); + fontawesome_character_map["fa-road"] = QString::fromWCharArray(L"\xF018"); + fontawesome_character_map["fa-download"] = QString::fromWCharArray(L"\xF019"); + fontawesome_character_map["fa-inbox"] = QString::fromWCharArray(L"\xF01c"); + fontawesome_character_map["fa-redo"] = QString::fromWCharArray(L"\xF01e"); + fontawesome_character_map["fa-sync"] = QString::fromWCharArray(L"\xF021"); + fontawesome_character_map["fa-list-alt"] = QString::fromWCharArray(L"\xF022"); + fontawesome_character_map["fa-lock"] = QString::fromWCharArray(L"\xF023"); + fontawesome_character_map["fa-flag"] = QString::fromWCharArray(L"\xF024"); + fontawesome_character_map["fa-headphones"] = QString::fromWCharArray(L"\xF025"); + fontawesome_character_map["fa-volume-off"] = QString::fromWCharArray(L"\xF026"); + fontawesome_character_map["fa-volume-down"] = QString::fromWCharArray(L"\xF027"); + fontawesome_character_map["fa-volume-up"] = QString::fromWCharArray(L"\xF028"); + fontawesome_character_map["fa-qrcode"] = QString::fromWCharArray(L"\xF029"); + fontawesome_character_map["fa-barcode"] = QString::fromWCharArray(L"\xF02a"); + fontawesome_character_map["fa-tag"] = QString::fromWCharArray(L"\xF02b"); + fontawesome_character_map["fa-tags"] = QString::fromWCharArray(L"\xF02c"); + fontawesome_character_map["fa-book"] = QString::fromWCharArray(L"\xF02d"); + fontawesome_character_map["fa-bookmark"] = QString::fromWCharArray(L"\xF02e"); + fontawesome_character_map["fa-print"] = QString::fromWCharArray(L"\xF02f"); + fontawesome_character_map["fa-camera"] = QString::fromWCharArray(L"\xF030"); + fontawesome_character_map["fa-font"] = QString::fromWCharArray(L"\xF031"); + fontawesome_character_map["fa-bold"] = QString::fromWCharArray(L"\xF032"); + fontawesome_character_map["fa-italic"] = QString::fromWCharArray(L"\xF033"); + fontawesome_character_map["fa-text-height"] = QString::fromWCharArray(L"\xF034"); + fontawesome_character_map["fa-text-width"] = QString::fromWCharArray(L"\xF035"); + fontawesome_character_map["fa-align-left"] = QString::fromWCharArray(L"\xF036"); + fontawesome_character_map["fa-align-center"] = QString::fromWCharArray(L"\xF037"); + fontawesome_character_map["fa-align-right"] = QString::fromWCharArray(L"\xF038"); + fontawesome_character_map["fa-align-justify"] = QString::fromWCharArray(L"\xF039"); + fontawesome_character_map["fa-list"] = QString::fromWCharArray(L"\xF03a"); + fontawesome_character_map["fa-outdent"] = QString::fromWCharArray(L"\xF03b"); + fontawesome_character_map["fa-indent"] = QString::fromWCharArray(L"\xF03c"); + fontawesome_character_map["fa-video"] = QString::fromWCharArray(L"\xF03d"); + fontawesome_character_map["fa-image"] = QString::fromWCharArray(L"\xF03e"); + fontawesome_character_map["fa-map-marker"] = QString::fromWCharArray(L"\xF041"); + fontawesome_character_map["fa-adjust"] = QString::fromWCharArray(L"\xF042"); + fontawesome_character_map["fa-tint"] = QString::fromWCharArray(L"\xF043"); + fontawesome_character_map["fa-edit"] = QString::fromWCharArray(L"\xF044"); + fontawesome_character_map["fa-step-backward"] = QString::fromWCharArray(L"\xF048"); + fontawesome_character_map["fa-fast-backward"] = QString::fromWCharArray(L"\xF049"); + fontawesome_character_map["fa-backward"] = QString::fromWCharArray(L"\xF04a"); + fontawesome_character_map["fa-play"] = QString::fromWCharArray(L"\xF04b"); + fontawesome_character_map["fa-pause"] = QString::fromWCharArray(L"\xF04c"); + fontawesome_character_map["fa-stop"] = QString::fromWCharArray(L"\xF04d"); + fontawesome_character_map["fa-forward"] = QString::fromWCharArray(L"\xF04e"); + fontawesome_character_map["fa-fast-forward"] = QString::fromWCharArray(L"\xF050"); + fontawesome_character_map["fa-step-forward"] = QString::fromWCharArray(L"\xF051"); + fontawesome_character_map["fa-eject"] = QString::fromWCharArray(L"\xF052"); + fontawesome_character_map["fa-chevron-left"] = QString::fromWCharArray(L"\xF053"); + fontawesome_character_map["fa-chevron-right"] = QString::fromWCharArray(L"\xF054"); + fontawesome_character_map["fa-plus-circle"] = QString::fromWCharArray(L"\xF055"); + fontawesome_character_map["fa-minus-circle"] = QString::fromWCharArray(L"\xF056"); + fontawesome_character_map["fa-times-circle"] = QString::fromWCharArray(L"\xF057"); + fontawesome_character_map["fa-check-circle"] = QString::fromWCharArray(L"\xF058"); + fontawesome_character_map["fa-question-circle"] = QString::fromWCharArray(L"\xF059"); + fontawesome_character_map["fa-info-circle"] = QString::fromWCharArray(L"\xF05a"); + fontawesome_character_map["fa-crosshairs"] = QString::fromWCharArray(L"\xF05b"); + fontawesome_character_map["fa-ban"] = QString::fromWCharArray(L"\xF05e"); + fontawesome_character_map["fa-arrow-left"] = QString::fromWCharArray(L"\xF060"); + fontawesome_character_map["fa-arrow-right"] = QString::fromWCharArray(L"\xF061"); + fontawesome_character_map["fa-arrow-up"] = QString::fromWCharArray(L"\xF062"); + fontawesome_character_map["fa-arrow-down"] = QString::fromWCharArray(L"\xF063"); + fontawesome_character_map["fa-share"] = QString::fromWCharArray(L"\xF064"); + fontawesome_character_map["fa-expand"] = QString::fromWCharArray(L"\xF065"); + fontawesome_character_map["fa-compress"] = QString::fromWCharArray(L"\xF066"); + fontawesome_character_map["fa-plus"] = QString::fromWCharArray(L"\xF067"); + fontawesome_character_map["fa-minus"] = QString::fromWCharArray(L"\xF068"); + fontawesome_character_map["fa-asterisk"] = QString::fromWCharArray(L"\xF069"); + fontawesome_character_map["fa-exclamation-circle"] = QString::fromWCharArray(L"\xF06a"); + fontawesome_character_map["fa-gift"] = QString::fromWCharArray(L"\xF06b"); + fontawesome_character_map["fa-leaf"] = QString::fromWCharArray(L"\xF06c"); + fontawesome_character_map["fa-fire"] = QString::fromWCharArray(L"\xF06d"); + fontawesome_character_map["fa-eye"] = QString::fromWCharArray(L"\xF06e"); + fontawesome_character_map["fa-eye-slash"] = QString::fromWCharArray(L"\xF070"); + fontawesome_character_map["fa-exclamation-triangle"] = QString::fromWCharArray(L"\xF071"); + fontawesome_character_map["fa-plane"] = QString::fromWCharArray(L"\xF072"); + fontawesome_character_map["fa-calendar-alt"] = QString::fromWCharArray(L"\xF073"); + fontawesome_character_map["fa-random"] = QString::fromWCharArray(L"\xF074"); + fontawesome_character_map["fa-comment"] = QString::fromWCharArray(L"\xF075"); + fontawesome_character_map["fa-magnet"] = QString::fromWCharArray(L"\xF076"); + fontawesome_character_map["fa-chevron-up"] = QString::fromWCharArray(L"\xF077"); + fontawesome_character_map["fa-chevron-down"] = QString::fromWCharArray(L"\xF078"); + fontawesome_character_map["fa-retweet"] = QString::fromWCharArray(L"\xF079"); + fontawesome_character_map["fa-shopping-cart"] = QString::fromWCharArray(L"\xF07a"); + fontawesome_character_map["fa-folder"] = QString::fromWCharArray(L"\xF07b"); + fontawesome_character_map["fa-folder-open"] = QString::fromWCharArray(L"\xF07c"); + fontawesome_character_map["fa-chart-bar"] = QString::fromWCharArray(L"\xF080"); + fontawesome_character_map["fa-twitter-square"] = QString::fromWCharArray(L"\xF081"); + fontawesome_character_map["fa-facebook-square"] = QString::fromWCharArray(L"\xF082"); + fontawesome_character_map["fa-camera-retro"] = QString::fromWCharArray(L"\xF083"); + fontawesome_character_map["fa-key"] = QString::fromWCharArray(L"\xF084"); + fontawesome_character_map["fa-cogs"] = QString::fromWCharArray(L"\xF085"); + fontawesome_character_map["fa-comments"] = QString::fromWCharArray(L"\xF086"); + fontawesome_character_map["fa-star-half"] = QString::fromWCharArray(L"\xF089"); + fontawesome_character_map["fa-linkedin"] = QString::fromWCharArray(L"\xF08c"); + fontawesome_character_map["fa-thumbtack"] = QString::fromWCharArray(L"\xF08d"); + fontawesome_character_map["fa-trophy"] = QString::fromWCharArray(L"\xF091"); + fontawesome_character_map["fa-github-square"] = QString::fromWCharArray(L"\xF092"); + fontawesome_character_map["fa-upload"] = QString::fromWCharArray(L"\xF093"); + fontawesome_character_map["fa-lemon"] = QString::fromWCharArray(L"\xF094"); + fontawesome_character_map["fa-phone"] = QString::fromWCharArray(L"\xF095"); + fontawesome_character_map["fa-phone-square"] = QString::fromWCharArray(L"\xF098"); + fontawesome_character_map["fa-twitter"] = QString::fromWCharArray(L"\xF099"); + fontawesome_character_map["fa-facebook"] = QString::fromWCharArray(L"\xF09a"); + fontawesome_character_map["fa-github"] = QString::fromWCharArray(L"\xF09b"); + fontawesome_character_map["fa-unlock"] = QString::fromWCharArray(L"\xF09c"); + fontawesome_character_map["fa-credit-card"] = QString::fromWCharArray(L"\xF09d"); + fontawesome_character_map["fa-rss"] = QString::fromWCharArray(L"\xF09e"); + fontawesome_character_map["fa-hdd"] = QString::fromWCharArray(L"\xF0a0"); + fontawesome_character_map["fa-bullhorn"] = QString::fromWCharArray(L"\xF0a1"); + fontawesome_character_map["fa-certificate"] = QString::fromWCharArray(L"\xF0a3"); + fontawesome_character_map["fa-hand-point-right"] = QString::fromWCharArray(L"\xF0a4"); + fontawesome_character_map["fa-hand-point-left"] = QString::fromWCharArray(L"\xF0a5"); + fontawesome_character_map["fa-hand-point-up"] = QString::fromWCharArray(L"\xF0a6"); + fontawesome_character_map["fa-hand-point-down"] = QString::fromWCharArray(L"\xF0a7"); + fontawesome_character_map["fa-arrow-circle-left"] = QString::fromWCharArray(L"\xF0a8"); + fontawesome_character_map["fa-arrow-circle-right"] = QString::fromWCharArray(L"\xF0a9"); + fontawesome_character_map["fa-arrow-circle-up"] = QString::fromWCharArray(L"\xF0aa"); + fontawesome_character_map["fa-arrow-circle-down"] = QString::fromWCharArray(L"\xF0ab"); + fontawesome_character_map["fa-globe"] = QString::fromWCharArray(L"\xF0ac"); + fontawesome_character_map["fa-wrench"] = QString::fromWCharArray(L"\xF0ad"); + fontawesome_character_map["fa-tasks"] = QString::fromWCharArray(L"\xF0ae"); + fontawesome_character_map["fa-filter"] = QString::fromWCharArray(L"\xF0b0"); + fontawesome_character_map["fa-briefcase"] = QString::fromWCharArray(L"\xF0b1"); + fontawesome_character_map["fa-arrows-alt"] = QString::fromWCharArray(L"\xF0b2"); + fontawesome_character_map["fa-users"] = QString::fromWCharArray(L"\xF0c0"); + fontawesome_character_map["fa-link"] = QString::fromWCharArray(L"\xF0c1"); + fontawesome_character_map["fa-cloud"] = QString::fromWCharArray(L"\xF0c2"); + fontawesome_character_map["fa-flask"] = QString::fromWCharArray(L"\xF0c3"); + fontawesome_character_map["fa-cut"] = QString::fromWCharArray(L"\xF0c4"); + fontawesome_character_map["fa-copy"] = QString::fromWCharArray(L"\xF0c5"); + fontawesome_character_map["fa-paperclip"] = QString::fromWCharArray(L"\xF0c6"); + fontawesome_character_map["fa-save"] = QString::fromWCharArray(L"\xF0c7"); + fontawesome_character_map["fa-square"] = QString::fromWCharArray(L"\xF0c8"); + fontawesome_character_map["fa-bars"] = QString::fromWCharArray(L"\xF0c9"); + fontawesome_character_map["fa-list-ul"] = QString::fromWCharArray(L"\xF0ca"); + fontawesome_character_map["fa-list-ol"] = QString::fromWCharArray(L"\xF0cb"); + fontawesome_character_map["fa-strikethrough"] = QString::fromWCharArray(L"\xF0cc"); + fontawesome_character_map["fa-underline"] = QString::fromWCharArray(L"\xF0cd"); + fontawesome_character_map["fa-table"] = QString::fromWCharArray(L"\xF0ce"); + fontawesome_character_map["fa-magic"] = QString::fromWCharArray(L"\xF0d0"); + fontawesome_character_map["fa-truck"] = QString::fromWCharArray(L"\xF0d1"); + fontawesome_character_map["fa-pinterest"] = QString::fromWCharArray(L"\xF0d2"); + fontawesome_character_map["fa-pinterest-square"] = QString::fromWCharArray(L"\xF0d3"); + fontawesome_character_map["fa-google-plus-square"] = QString::fromWCharArray(L"\xF0d4"); + fontawesome_character_map["fa-google-plus-g"] = QString::fromWCharArray(L"\xF0d5"); + fontawesome_character_map["fa-money-bill"] = QString::fromWCharArray(L"\xF0d6"); + fontawesome_character_map["fa-caret-down"] = QString::fromWCharArray(L"\xF0d7"); + fontawesome_character_map["fa-caret-up"] = QString::fromWCharArray(L"\xF0d8"); + fontawesome_character_map["fa-caret-left"] = QString::fromWCharArray(L"\xF0d9"); + fontawesome_character_map["fa-caret-right"] = QString::fromWCharArray(L"\xF0da"); + fontawesome_character_map["fa-columns"] = QString::fromWCharArray(L"\xF0db"); + fontawesome_character_map["fa-sort"] = QString::fromWCharArray(L"\xF0dc"); + fontawesome_character_map["fa-sort-down"] = QString::fromWCharArray(L"\xF0dd"); + fontawesome_character_map["fa-sort-up"] = QString::fromWCharArray(L"\xF0de"); + fontawesome_character_map["fa-envelope"] = QString::fromWCharArray(L"\xF0e0"); + fontawesome_character_map["fa-linkedin-in"] = QString::fromWCharArray(L"\xF0e1"); + fontawesome_character_map["fa-undo"] = QString::fromWCharArray(L"\xF0e2"); + fontawesome_character_map["fa-gavel"] = QString::fromWCharArray(L"\xF0e3"); + fontawesome_character_map["fa-bolt"] = QString::fromWCharArray(L"\xF0e7"); + fontawesome_character_map["fa-sitemap"] = QString::fromWCharArray(L"\xF0e8"); + fontawesome_character_map["fa-umbrella"] = QString::fromWCharArray(L"\xF0e9"); + fontawesome_character_map["fa-paste"] = QString::fromWCharArray(L"\xF0ea"); + fontawesome_character_map["fa-lightbulb"] = QString::fromWCharArray(L"\xF0eb"); + fontawesome_character_map["fa-user-md"] = QString::fromWCharArray(L"\xF0f0"); + fontawesome_character_map["fa-stethoscope"] = QString::fromWCharArray(L"\xF0f1"); + fontawesome_character_map["fa-suitcase"] = QString::fromWCharArray(L"\xF0f2"); + fontawesome_character_map["fa-bell"] = QString::fromWCharArray(L"\xF0f3"); + fontawesome_character_map["fa-coffee"] = QString::fromWCharArray(L"\xF0f4"); + fontawesome_character_map["fa-hospital"] = QString::fromWCharArray(L"\xF0f8"); + fontawesome_character_map["fa-ambulance"] = QString::fromWCharArray(L"\xF0f9"); + fontawesome_character_map["fa-medkit"] = QString::fromWCharArray(L"\xF0fa"); + fontawesome_character_map["fa-fighter-jet"] = QString::fromWCharArray(L"\xF0fb"); + fontawesome_character_map["fa-beer"] = QString::fromWCharArray(L"\xF0fc"); + fontawesome_character_map["fa-h-square"] = QString::fromWCharArray(L"\xF0fd"); + fontawesome_character_map["fa-plus-square"] = QString::fromWCharArray(L"\xF0fe"); + fontawesome_character_map["fa-angle-double-left"] = QString::fromWCharArray(L"\xF100"); + fontawesome_character_map["fa-angle-double-right"] = QString::fromWCharArray(L"\xF101"); + fontawesome_character_map["fa-angle-double-up"] = QString::fromWCharArray(L"\xF102"); + fontawesome_character_map["fa-angle-double-down"] = QString::fromWCharArray(L"\xF103"); + fontawesome_character_map["fa-angle-left"] = QString::fromWCharArray(L"\xF104"); + fontawesome_character_map["fa-angle-right"] = QString::fromWCharArray(L"\xF105"); + fontawesome_character_map["fa-angle-up"] = QString::fromWCharArray(L"\xF106"); + fontawesome_character_map["fa-angle-down"] = QString::fromWCharArray(L"\xF107"); + fontawesome_character_map["fa-desktop"] = QString::fromWCharArray(L"\xF108"); + fontawesome_character_map["fa-laptop"] = QString::fromWCharArray(L"\xF109"); + fontawesome_character_map["fa-tablet"] = QString::fromWCharArray(L"\xF10a"); + fontawesome_character_map["fa-mobile"] = QString::fromWCharArray(L"\xF10b"); + fontawesome_character_map["fa-quote-left"] = QString::fromWCharArray(L"\xF10d"); + fontawesome_character_map["fa-quote-right"] = QString::fromWCharArray(L"\xF10e"); + fontawesome_character_map["fa-spinner"] = QString::fromWCharArray(L"\xF110"); + fontawesome_character_map["fa-circle"] = QString::fromWCharArray(L"\xF111"); + fontawesome_character_map["fa-github-alt"] = QString::fromWCharArray(L"\xF113"); + fontawesome_character_map["fa-smile"] = QString::fromWCharArray(L"\xF118"); + fontawesome_character_map["fa-frown"] = QString::fromWCharArray(L"\xF119"); + fontawesome_character_map["fa-meh"] = QString::fromWCharArray(L"\xF11a"); + fontawesome_character_map["fa-gamepad"] = QString::fromWCharArray(L"\xF11b"); + fontawesome_character_map["fa-keyboard"] = QString::fromWCharArray(L"\xF11c"); + fontawesome_character_map["fa-flag-checkered"] = QString::fromWCharArray(L"\xF11e"); + fontawesome_character_map["fa-terminal"] = QString::fromWCharArray(L"\xF120"); + fontawesome_character_map["fa-code"] = QString::fromWCharArray(L"\xF121"); + fontawesome_character_map["fa-reply-all"] = QString::fromWCharArray(L"\xF122"); + fontawesome_character_map["fa-location-arrow"] = QString::fromWCharArray(L"\xF124"); + fontawesome_character_map["fa-crop"] = QString::fromWCharArray(L"\xF125"); + fontawesome_character_map["fa-code-branch"] = QString::fromWCharArray(L"\xF126"); + fontawesome_character_map["fa-unlink"] = QString::fromWCharArray(L"\xF127"); + fontawesome_character_map["fa-question"] = QString::fromWCharArray(L"\xF128"); + fontawesome_character_map["fa-info"] = QString::fromWCharArray(L"\xF129"); + fontawesome_character_map["fa-exclamation"] = QString::fromWCharArray(L"\xF12a"); + fontawesome_character_map["fa-superscript"] = QString::fromWCharArray(L"\xF12b"); + fontawesome_character_map["fa-subscript"] = QString::fromWCharArray(L"\xF12c"); + fontawesome_character_map["fa-eraser"] = QString::fromWCharArray(L"\xF12d"); + fontawesome_character_map["fa-puzzle-piece"] = QString::fromWCharArray(L"\xF12e"); + fontawesome_character_map["fa-microphone"] = QString::fromWCharArray(L"\xF130"); + fontawesome_character_map["fa-microphone-slash"] = QString::fromWCharArray(L"\xF131"); + fontawesome_character_map["fa-calendar"] = QString::fromWCharArray(L"\xF133"); + fontawesome_character_map["fa-fire-extinguisher"] = QString::fromWCharArray(L"\xF134"); + fontawesome_character_map["fa-rocket"] = QString::fromWCharArray(L"\xF135"); + fontawesome_character_map["fa-maxcdn"] = QString::fromWCharArray(L"\xF136"); + fontawesome_character_map["fa-chevron-circle-left"] = QString::fromWCharArray(L"\xF137"); + fontawesome_character_map["fa-chevron-circle-right"] = QString::fromWCharArray(L"\xF138"); + fontawesome_character_map["fa-chevron-circle-up"] = QString::fromWCharArray(L"\xF139"); + fontawesome_character_map["fa-chevron-circle-down"] = QString::fromWCharArray(L"\xF13a"); + fontawesome_character_map["fa-html5"] = QString::fromWCharArray(L"\xF13b"); + fontawesome_character_map["fa-css3"] = QString::fromWCharArray(L"\xF13c"); + fontawesome_character_map["fa-anchor"] = QString::fromWCharArray(L"\xF13d"); + fontawesome_character_map["fa-unlock-alt"] = QString::fromWCharArray(L"\xF13e"); + fontawesome_character_map["fa-bullseye"] = QString::fromWCharArray(L"\xF140"); + fontawesome_character_map["fa-ellipsis-h"] = QString::fromWCharArray(L"\xF141"); + fontawesome_character_map["fa-ellipsis-v"] = QString::fromWCharArray(L"\xF142"); + fontawesome_character_map["fa-rss-square"] = QString::fromWCharArray(L"\xF143"); + fontawesome_character_map["fa-play-circle"] = QString::fromWCharArray(L"\xF144"); + fontawesome_character_map["fa-minus-square"] = QString::fromWCharArray(L"\xF146"); + fontawesome_character_map["fa-check-square"] = QString::fromWCharArray(L"\xF14a"); + fontawesome_character_map["fa-pen-square"] = QString::fromWCharArray(L"\xF14b"); + fontawesome_character_map["fa-share-square"] = QString::fromWCharArray(L"\xF14d"); + fontawesome_character_map["fa-compass"] = QString::fromWCharArray(L"\xF14e"); + fontawesome_character_map["fa-caret-square-down"] = QString::fromWCharArray(L"\xF150"); + fontawesome_character_map["fa-caret-square-up"] = QString::fromWCharArray(L"\xF151"); + fontawesome_character_map["fa-caret-square-right"] = QString::fromWCharArray(L"\xF152"); + fontawesome_character_map["fa-euro-sign"] = QString::fromWCharArray(L"\xF153"); + fontawesome_character_map["fa-pound-sign"] = QString::fromWCharArray(L"\xF154"); + fontawesome_character_map["fa-dollar-sign"] = QString::fromWCharArray(L"\xF155"); + fontawesome_character_map["fa-rupee-sign"] = QString::fromWCharArray(L"\xF156"); + fontawesome_character_map["fa-yen-sign"] = QString::fromWCharArray(L"\xF157"); + fontawesome_character_map["fa-ruble-sign"] = QString::fromWCharArray(L"\xF158"); + fontawesome_character_map["fa-won-sign"] = QString::fromWCharArray(L"\xF159"); + fontawesome_character_map["fa-btc"] = QString::fromWCharArray(L"\xF15a"); + fontawesome_character_map["fa-file"] = QString::fromWCharArray(L"\xF15b"); + fontawesome_character_map["fa-file-alt"] = QString::fromWCharArray(L"\xF15c"); + fontawesome_character_map["fa-sort-alpha-down"] = QString::fromWCharArray(L"\xF15d"); + fontawesome_character_map["fa-sort-alpha-up"] = QString::fromWCharArray(L"\xF15e"); + fontawesome_character_map["fa-sort-amount-down"] = QString::fromWCharArray(L"\xF160"); + fontawesome_character_map["fa-sort-amount-up"] = QString::fromWCharArray(L"\xF161"); + fontawesome_character_map["fa-sort-numeric-down"] = QString::fromWCharArray(L"\xF162"); + fontawesome_character_map["fa-sort-numeric-up"] = QString::fromWCharArray(L"\xF163"); + fontawesome_character_map["fa-thumbs-up"] = QString::fromWCharArray(L"\xF164"); + fontawesome_character_map["fa-thumbs-down"] = QString::fromWCharArray(L"\xF165"); + fontawesome_character_map["fa-youtube"] = QString::fromWCharArray(L"\xF167"); + fontawesome_character_map["fa-xing"] = QString::fromWCharArray(L"\xF168"); + fontawesome_character_map["fa-xing-square"] = QString::fromWCharArray(L"\xF169"); + fontawesome_character_map["fa-dropbox"] = QString::fromWCharArray(L"\xF16b"); + fontawesome_character_map["fa-stack-overflow"] = QString::fromWCharArray(L"\xF16c"); + fontawesome_character_map["fa-instagram"] = QString::fromWCharArray(L"\xF16d"); + fontawesome_character_map["fa-flickr"] = QString::fromWCharArray(L"\xF16e"); + fontawesome_character_map["fa-adn"] = QString::fromWCharArray(L"\xF170"); + fontawesome_character_map["fa-bitbucket"] = QString::fromWCharArray(L"\xF171"); + fontawesome_character_map["fa-tumblr"] = QString::fromWCharArray(L"\xF173"); + fontawesome_character_map["fa-tumblr-square"] = QString::fromWCharArray(L"\xF174"); + fontawesome_character_map["fa-apple"] = QString::fromWCharArray(L"\xF179"); + fontawesome_character_map["fa-windows"] = QString::fromWCharArray(L"\xF17a"); + fontawesome_character_map["fa-android"] = QString::fromWCharArray(L"\xF17b"); + fontawesome_character_map["fa-linux"] = QString::fromWCharArray(L"\xF17c"); + fontawesome_character_map["fa-dribbble"] = QString::fromWCharArray(L"\xF17d"); + fontawesome_character_map["fa-skype"] = QString::fromWCharArray(L"\xF17e"); + fontawesome_character_map["fa-foursquare"] = QString::fromWCharArray(L"\xF180"); + fontawesome_character_map["fa-trello"] = QString::fromWCharArray(L"\xF181"); + fontawesome_character_map["fa-female"] = QString::fromWCharArray(L"\xF182"); + fontawesome_character_map["fa-male"] = QString::fromWCharArray(L"\xF183"); + fontawesome_character_map["fa-gratipay"] = QString::fromWCharArray(L"\xF184"); + fontawesome_character_map["fa-sun"] = QString::fromWCharArray(L"\xF185"); + fontawesome_character_map["fa-moon"] = QString::fromWCharArray(L"\xF186"); + fontawesome_character_map["fa-archive"] = QString::fromWCharArray(L"\xF187"); + fontawesome_character_map["fa-bug"] = QString::fromWCharArray(L"\xF188"); + fontawesome_character_map["fa-vk"] = QString::fromWCharArray(L"\xF189"); + fontawesome_character_map["fa-weibo"] = QString::fromWCharArray(L"\xF18a"); + fontawesome_character_map["fa-renren"] = QString::fromWCharArray(L"\xF18b"); + fontawesome_character_map["fa-pagelines"] = QString::fromWCharArray(L"\xF18c"); + fontawesome_character_map["fa-stack-exchange"] = QString::fromWCharArray(L"\xF18d"); + fontawesome_character_map["fa-caret-square-left"] = QString::fromWCharArray(L"\xF191"); + fontawesome_character_map["fa-dot-circle"] = QString::fromWCharArray(L"\xF192"); + fontawesome_character_map["fa-wheelchair"] = QString::fromWCharArray(L"\xF193"); + fontawesome_character_map["fa-vimeo-square"] = QString::fromWCharArray(L"\xF194"); + fontawesome_character_map["fa-lira-sign"] = QString::fromWCharArray(L"\xF195"); + fontawesome_character_map["fa-space-shuttle"] = QString::fromWCharArray(L"\xF197"); + fontawesome_character_map["fa-slack"] = QString::fromWCharArray(L"\xF198"); + fontawesome_character_map["fa-envelope-square"] = QString::fromWCharArray(L"\xF199"); + fontawesome_character_map["fa-wordpress"] = QString::fromWCharArray(L"\xF19a"); + fontawesome_character_map["fa-openid"] = QString::fromWCharArray(L"\xF19b"); + fontawesome_character_map["fa-university"] = QString::fromWCharArray(L"\xF19c"); + fontawesome_character_map["fa-graduation-cap"] = QString::fromWCharArray(L"\xF19d"); + fontawesome_character_map["fa-yahoo"] = QString::fromWCharArray(L"\xF19e"); + fontawesome_character_map["fa-google"] = QString::fromWCharArray(L"\xF1a0"); + fontawesome_character_map["fa-reddit"] = QString::fromWCharArray(L"\xF1a1"); + fontawesome_character_map["fa-reddit-square"] = QString::fromWCharArray(L"\xF1a2"); + fontawesome_character_map["fa-stumbleupon-circle"] = QString::fromWCharArray(L"\xF1a3"); + fontawesome_character_map["fa-stumbleupon"] = QString::fromWCharArray(L"\xF1a4"); + fontawesome_character_map["fa-delicious"] = QString::fromWCharArray(L"\xF1a5"); + fontawesome_character_map["fa-digg"] = QString::fromWCharArray(L"\xF1a6"); + fontawesome_character_map["fa-pied-piper-pp"] = QString::fromWCharArray(L"\xF1a7"); + fontawesome_character_map["fa-pied-piper-alt"] = QString::fromWCharArray(L"\xF1a8"); + fontawesome_character_map["fa-drupal"] = QString::fromWCharArray(L"\xF1a9"); + fontawesome_character_map["fa-joomla"] = QString::fromWCharArray(L"\xF1aa"); + fontawesome_character_map["fa-language"] = QString::fromWCharArray(L"\xF1ab"); + fontawesome_character_map["fa-fax"] = QString::fromWCharArray(L"\xF1ac"); + fontawesome_character_map["fa-building"] = QString::fromWCharArray(L"\xF1ad"); + fontawesome_character_map["fa-child"] = QString::fromWCharArray(L"\xF1ae"); + fontawesome_character_map["fa-paw"] = QString::fromWCharArray(L"\xF1b0"); + fontawesome_character_map["fa-cube"] = QString::fromWCharArray(L"\xF1b2"); + fontawesome_character_map["fa-cubes"] = QString::fromWCharArray(L"\xF1b3"); + fontawesome_character_map["fa-behance"] = QString::fromWCharArray(L"\xF1b4"); + fontawesome_character_map["fa-behance-square"] = QString::fromWCharArray(L"\xF1b5"); + fontawesome_character_map["fa-steam"] = QString::fromWCharArray(L"\xF1b6"); + fontawesome_character_map["fa-steam-square"] = QString::fromWCharArray(L"\xF1b7"); + fontawesome_character_map["fa-recycle"] = QString::fromWCharArray(L"\xF1b8"); + fontawesome_character_map["fa-car"] = QString::fromWCharArray(L"\xF1b9"); + fontawesome_character_map["fa-taxi"] = QString::fromWCharArray(L"\xF1ba"); + fontawesome_character_map["fa-tree"] = QString::fromWCharArray(L"\xF1bb"); + fontawesome_character_map["fa-spotify"] = QString::fromWCharArray(L"\xF1bc"); + fontawesome_character_map["fa-deviantart"] = QString::fromWCharArray(L"\xF1bd"); + fontawesome_character_map["fa-soundcloud"] = QString::fromWCharArray(L"\xF1be"); + fontawesome_character_map["fa-database"] = QString::fromWCharArray(L"\xF1c0"); + fontawesome_character_map["fa-file-pdf"] = QString::fromWCharArray(L"\xF1c1"); + fontawesome_character_map["fa-file-word"] = QString::fromWCharArray(L"\xF1c2"); + fontawesome_character_map["fa-file-excel"] = QString::fromWCharArray(L"\xF1c3"); + fontawesome_character_map["fa-file-powerpoint"] = QString::fromWCharArray(L"\xF1c4"); + fontawesome_character_map["fa-file-image"] = QString::fromWCharArray(L"\xF1c5"); + fontawesome_character_map["fa-file-archive"] = QString::fromWCharArray(L"\xF1c6"); + fontawesome_character_map["fa-file-audio"] = QString::fromWCharArray(L"\xF1c7"); + fontawesome_character_map["fa-file-video"] = QString::fromWCharArray(L"\xF1c8"); + fontawesome_character_map["fa-file-code"] = QString::fromWCharArray(L"\xF1c9"); + fontawesome_character_map["fa-vine"] = QString::fromWCharArray(L"\xF1ca"); + fontawesome_character_map["fa-codepen"] = QString::fromWCharArray(L"\xF1cb"); + fontawesome_character_map["fa-jsfiddle"] = QString::fromWCharArray(L"\xF1cc"); + fontawesome_character_map["fa-life-ring"] = QString::fromWCharArray(L"\xF1cd"); + fontawesome_character_map["fa-circle-notch"] = QString::fromWCharArray(L"\xF1ce"); + fontawesome_character_map["fa-rebel"] = QString::fromWCharArray(L"\xF1d0"); + fontawesome_character_map["fa-empire"] = QString::fromWCharArray(L"\xF1d1"); + fontawesome_character_map["fa-git-square"] = QString::fromWCharArray(L"\xF1d2"); + fontawesome_character_map["fa-git"] = QString::fromWCharArray(L"\xF1d3"); + fontawesome_character_map["fa-hacker-news"] = QString::fromWCharArray(L"\xF1d4"); + fontawesome_character_map["fa-tencent-weibo"] = QString::fromWCharArray(L"\xF1d5"); + fontawesome_character_map["fa-qq"] = QString::fromWCharArray(L"\xF1d6"); + fontawesome_character_map["fa-weixin"] = QString::fromWCharArray(L"\xF1d7"); + fontawesome_character_map["fa-paper-plane"] = QString::fromWCharArray(L"\xF1d8"); + fontawesome_character_map["fa-history"] = QString::fromWCharArray(L"\xF1da"); + fontawesome_character_map["fa-heading"] = QString::fromWCharArray(L"\xF1dc"); + fontawesome_character_map["fa-paragraph"] = QString::fromWCharArray(L"\xF1dd"); + fontawesome_character_map["fa-sliders-h"] = QString::fromWCharArray(L"\xF1de"); + fontawesome_character_map["fa-share-alt"] = QString::fromWCharArray(L"\xF1e0"); + fontawesome_character_map["fa-share-alt-square"] = QString::fromWCharArray(L"\xF1e1"); + fontawesome_character_map["fa-bomb"] = QString::fromWCharArray(L"\xF1e2"); + fontawesome_character_map["fa-futbol"] = QString::fromWCharArray(L"\xF1e3"); + fontawesome_character_map["fa-tty"] = QString::fromWCharArray(L"\xF1e4"); + fontawesome_character_map["fa-binoculars"] = QString::fromWCharArray(L"\xF1e5"); + fontawesome_character_map["fa-plug"] = QString::fromWCharArray(L"\xF1e6"); + fontawesome_character_map["fa-slideshare"] = QString::fromWCharArray(L"\xF1e7"); + fontawesome_character_map["fa-twitch"] = QString::fromWCharArray(L"\xF1e8"); + fontawesome_character_map["fa-yelp"] = QString::fromWCharArray(L"\xF1e9"); + fontawesome_character_map["fa-newspaper"] = QString::fromWCharArray(L"\xF1ea"); + fontawesome_character_map["fa-wifi"] = QString::fromWCharArray(L"\xF1eb"); + fontawesome_character_map["fa-calculator"] = QString::fromWCharArray(L"\xF1ec"); + fontawesome_character_map["fa-paypal"] = QString::fromWCharArray(L"\xF1ed"); + fontawesome_character_map["fa-google-wallet"] = QString::fromWCharArray(L"\xF1ee"); + fontawesome_character_map["fa-cc-visa"] = QString::fromWCharArray(L"\xF1f0"); + fontawesome_character_map["fa-cc-mastercard"] = QString::fromWCharArray(L"\xF1f1"); + fontawesome_character_map["fa-cc-discover"] = QString::fromWCharArray(L"\xF1f2"); + fontawesome_character_map["fa-cc-amex"] = QString::fromWCharArray(L"\xF1f3"); + fontawesome_character_map["fa-cc-paypal"] = QString::fromWCharArray(L"\xF1f4"); + fontawesome_character_map["fa-cc-stripe"] = QString::fromWCharArray(L"\xF1f5"); + fontawesome_character_map["fa-bell-slash"] = QString::fromWCharArray(L"\xF1f6"); + fontawesome_character_map["fa-trash"] = QString::fromWCharArray(L"\xF1f8"); + fontawesome_character_map["fa-copyright"] = QString::fromWCharArray(L"\xF1f9"); + fontawesome_character_map["fa-at"] = QString::fromWCharArray(L"\xF1fa"); + fontawesome_character_map["fa-eye-dropper"] = QString::fromWCharArray(L"\xF1fb"); + fontawesome_character_map["fa-paint-brush"] = QString::fromWCharArray(L"\xF1fc"); + fontawesome_character_map["fa-birthday-cake"] = QString::fromWCharArray(L"\xF1fd"); + fontawesome_character_map["fa-chart-area"] = QString::fromWCharArray(L"\xF1fe"); + fontawesome_character_map["fa-chart-pie"] = QString::fromWCharArray(L"\xF200"); + fontawesome_character_map["fa-chart-line"] = QString::fromWCharArray(L"\xF201"); + fontawesome_character_map["fa-lastfm"] = QString::fromWCharArray(L"\xF202"); + fontawesome_character_map["fa-lastfm-square"] = QString::fromWCharArray(L"\xF203"); + fontawesome_character_map["fa-toggle-off"] = QString::fromWCharArray(L"\xF204"); + fontawesome_character_map["fa-toggle-on"] = QString::fromWCharArray(L"\xF205"); + fontawesome_character_map["fa-bicycle"] = QString::fromWCharArray(L"\xF206"); + fontawesome_character_map["fa-bus"] = QString::fromWCharArray(L"\xF207"); + fontawesome_character_map["fa-ioxhost"] = QString::fromWCharArray(L"\xF208"); + fontawesome_character_map["fa-angellist"] = QString::fromWCharArray(L"\xF209"); + fontawesome_character_map["fa-closed-captioning"] = QString::fromWCharArray(L"\xF20a"); + fontawesome_character_map["fa-shekel-sign"] = QString::fromWCharArray(L"\xF20b"); + fontawesome_character_map["fa-buysellads"] = QString::fromWCharArray(L"\xF20d"); + fontawesome_character_map["fa-connectdevelop"] = QString::fromWCharArray(L"\xF20e"); + fontawesome_character_map["fa-dashcube"] = QString::fromWCharArray(L"\xF210"); + fontawesome_character_map["fa-forumbee"] = QString::fromWCharArray(L"\xF211"); + fontawesome_character_map["fa-leanpub"] = QString::fromWCharArray(L"\xF212"); + fontawesome_character_map["fa-sellsy"] = QString::fromWCharArray(L"\xF213"); + fontawesome_character_map["fa-shirtsinbulk"] = QString::fromWCharArray(L"\xF214"); + fontawesome_character_map["fa-simplybuilt"] = QString::fromWCharArray(L"\xF215"); + fontawesome_character_map["fa-skyatlas"] = QString::fromWCharArray(L"\xF216"); + fontawesome_character_map["fa-cart-plus"] = QString::fromWCharArray(L"\xF217"); + fontawesome_character_map["fa-cart-arrow-down"] = QString::fromWCharArray(L"\xF218"); + fontawesome_character_map["fa-ship"] = QString::fromWCharArray(L"\xF21a"); + fontawesome_character_map["fa-user-secret"] = QString::fromWCharArray(L"\xF21b"); + fontawesome_character_map["fa-motorcycle"] = QString::fromWCharArray(L"\xF21c"); + fontawesome_character_map["fa-street-view"] = QString::fromWCharArray(L"\xF21d"); + fontawesome_character_map["fa-heartbeat"] = QString::fromWCharArray(L"\xF21e"); + fontawesome_character_map["fa-venus"] = QString::fromWCharArray(L"\xF221"); + fontawesome_character_map["fa-mars"] = QString::fromWCharArray(L"\xF222"); + fontawesome_character_map["fa-mercury"] = QString::fromWCharArray(L"\xF223"); + fontawesome_character_map["fa-transgender"] = QString::fromWCharArray(L"\xF224"); + fontawesome_character_map["fa-transgender-alt"] = QString::fromWCharArray(L"\xF225"); + fontawesome_character_map["fa-venus-double"] = QString::fromWCharArray(L"\xF226"); + fontawesome_character_map["fa-mars-double"] = QString::fromWCharArray(L"\xF227"); + fontawesome_character_map["fa-venus-mars"] = QString::fromWCharArray(L"\xF228"); + fontawesome_character_map["fa-mars-stroke"] = QString::fromWCharArray(L"\xF229"); + fontawesome_character_map["fa-mars-stroke-v"] = QString::fromWCharArray(L"\xF22a"); + fontawesome_character_map["fa-mars-stroke-h"] = QString::fromWCharArray(L"\xF22b"); + fontawesome_character_map["fa-neuter"] = QString::fromWCharArray(L"\xF22c"); + fontawesome_character_map["fa-genderless"] = QString::fromWCharArray(L"\xF22d"); + fontawesome_character_map["fa-pinterest-p"] = QString::fromWCharArray(L"\xF231"); + fontawesome_character_map["fa-whatsapp"] = QString::fromWCharArray(L"\xF232"); + fontawesome_character_map["fa-server"] = QString::fromWCharArray(L"\xF233"); + fontawesome_character_map["fa-user-plus"] = QString::fromWCharArray(L"\xF234"); + fontawesome_character_map["fa-user-times"] = QString::fromWCharArray(L"\xF235"); + fontawesome_character_map["fa-bed"] = QString::fromWCharArray(L"\xF236"); + fontawesome_character_map["fa-viacoin"] = QString::fromWCharArray(L"\xF237"); + fontawesome_character_map["fa-train"] = QString::fromWCharArray(L"\xF238"); + fontawesome_character_map["fa-subway"] = QString::fromWCharArray(L"\xF239"); + fontawesome_character_map["fa-medium"] = QString::fromWCharArray(L"\xF23a"); + fontawesome_character_map["fa-y-combinator"] = QString::fromWCharArray(L"\xF23b"); + fontawesome_character_map["fa-optin-monster"] = QString::fromWCharArray(L"\xF23c"); + fontawesome_character_map["fa-opencart"] = QString::fromWCharArray(L"\xF23d"); + fontawesome_character_map["fa-expeditedssl"] = QString::fromWCharArray(L"\xF23e"); + fontawesome_character_map["fa-battery-full"] = QString::fromWCharArray(L"\xF240"); + fontawesome_character_map["fa-battery-three-quarters"] = QString::fromWCharArray(L"\xF241"); + fontawesome_character_map["fa-battery-half"] = QString::fromWCharArray(L"\xF242"); + fontawesome_character_map["fa-battery-quarter"] = QString::fromWCharArray(L"\xF243"); + fontawesome_character_map["fa-battery-empty"] = QString::fromWCharArray(L"\xF244"); + fontawesome_character_map["fa-mouse-pointer"] = QString::fromWCharArray(L"\xF245"); + fontawesome_character_map["fa-i-cursor"] = QString::fromWCharArray(L"\xF246"); + fontawesome_character_map["fa-object-group"] = QString::fromWCharArray(L"\xF247"); + fontawesome_character_map["fa-object-ungroup"] = QString::fromWCharArray(L"\xF248"); + fontawesome_character_map["fa-sticky-note"] = QString::fromWCharArray(L"\xF249"); + fontawesome_character_map["fa-cc-jcb"] = QString::fromWCharArray(L"\xF24b"); + fontawesome_character_map["fa-cc-diners-club"] = QString::fromWCharArray(L"\xF24c"); + fontawesome_character_map["fa-clone"] = QString::fromWCharArray(L"\xF24d"); + fontawesome_character_map["fa-balance-scale"] = QString::fromWCharArray(L"\xF24e"); + fontawesome_character_map["fa-hourglass-start"] = QString::fromWCharArray(L"\xF251"); + fontawesome_character_map["fa-hourglass-half"] = QString::fromWCharArray(L"\xF252"); + fontawesome_character_map["fa-hourglass-end"] = QString::fromWCharArray(L"\xF253"); + fontawesome_character_map["fa-hourglass"] = QString::fromWCharArray(L"\xF254"); + fontawesome_character_map["fa-hand-rock"] = QString::fromWCharArray(L"\xF255"); + fontawesome_character_map["fa-hand-paper"] = QString::fromWCharArray(L"\xF256"); + fontawesome_character_map["fa-hand-scissors"] = QString::fromWCharArray(L"\xF257"); + fontawesome_character_map["fa-hand-lizard"] = QString::fromWCharArray(L"\xF258"); + fontawesome_character_map["fa-hand-spock"] = QString::fromWCharArray(L"\xF259"); + fontawesome_character_map["fa-hand-pointer"] = QString::fromWCharArray(L"\xF25a"); + fontawesome_character_map["fa-hand-peace"] = QString::fromWCharArray(L"\xF25b"); + fontawesome_character_map["fa-trademark"] = QString::fromWCharArray(L"\xF25c"); + fontawesome_character_map["fa-registered"] = QString::fromWCharArray(L"\xF25d"); + fontawesome_character_map["fa-creative-commons"] = QString::fromWCharArray(L"\xF25e"); + fontawesome_character_map["fa-gg"] = QString::fromWCharArray(L"\xF260"); + fontawesome_character_map["fa-gg-circle"] = QString::fromWCharArray(L"\xF261"); + fontawesome_character_map["fa-tripadvisor"] = QString::fromWCharArray(L"\xF262"); + fontawesome_character_map["fa-odnoklassniki"] = QString::fromWCharArray(L"\xF263"); + fontawesome_character_map["fa-odnoklassniki-square"] = QString::fromWCharArray(L"\xF264"); + fontawesome_character_map["fa-get-pocket"] = QString::fromWCharArray(L"\xF265"); + fontawesome_character_map["fa-wikipedia-w"] = QString::fromWCharArray(L"\xF266"); + fontawesome_character_map["fa-safari"] = QString::fromWCharArray(L"\xF267"); + fontawesome_character_map["fa-chrome"] = QString::fromWCharArray(L"\xF268"); + fontawesome_character_map["fa-firefox"] = QString::fromWCharArray(L"\xF269"); + fontawesome_character_map["fa-opera"] = QString::fromWCharArray(L"\xF26a"); + fontawesome_character_map["fa-internet-explorer"] = QString::fromWCharArray(L"\xF26b"); + fontawesome_character_map["fa-tv"] = QString::fromWCharArray(L"\xF26c"); + fontawesome_character_map["fa-contao"] = QString::fromWCharArray(L"\xF26d"); + fontawesome_character_map["fa-500px"] = QString::fromWCharArray(L"\xF26e"); + fontawesome_character_map["fa-amazon"] = QString::fromWCharArray(L"\xF270"); + fontawesome_character_map["fa-calendar-plus"] = QString::fromWCharArray(L"\xF271"); + fontawesome_character_map["fa-calendar-minus"] = QString::fromWCharArray(L"\xF272"); + fontawesome_character_map["fa-calendar-times"] = QString::fromWCharArray(L"\xF273"); + fontawesome_character_map["fa-calendar-check"] = QString::fromWCharArray(L"\xF274"); + fontawesome_character_map["fa-industry"] = QString::fromWCharArray(L"\xF275"); + fontawesome_character_map["fa-map-pin"] = QString::fromWCharArray(L"\xF276"); + fontawesome_character_map["fa-map-signs"] = QString::fromWCharArray(L"\xF277"); + fontawesome_character_map["fa-map"] = QString::fromWCharArray(L"\xF279"); + fontawesome_character_map["fa-comment-alt"] = QString::fromWCharArray(L"\xF27a"); + fontawesome_character_map["fa-houzz"] = QString::fromWCharArray(L"\xF27c"); + fontawesome_character_map["fa-vimeo-v"] = QString::fromWCharArray(L"\xF27d"); + fontawesome_character_map["fa-black-tie"] = QString::fromWCharArray(L"\xF27e"); + fontawesome_character_map["fa-fonticons"] = QString::fromWCharArray(L"\xF280"); + fontawesome_character_map["fa-reddit-alien"] = QString::fromWCharArray(L"\xF281"); + fontawesome_character_map["fa-edge"] = QString::fromWCharArray(L"\xF282"); + fontawesome_character_map["fa-codiepie"] = QString::fromWCharArray(L"\xF284"); + fontawesome_character_map["fa-modx"] = QString::fromWCharArray(L"\xF285"); + fontawesome_character_map["fa-fort-awesome"] = QString::fromWCharArray(L"\xF286"); + fontawesome_character_map["fa-usb"] = QString::fromWCharArray(L"\xF287"); + fontawesome_character_map["fa-product-hunt"] = QString::fromWCharArray(L"\xF288"); + fontawesome_character_map["fa-mixcloud"] = QString::fromWCharArray(L"\xF289"); + fontawesome_character_map["fa-scribd"] = QString::fromWCharArray(L"\xF28a"); + fontawesome_character_map["fa-pause-circle"] = QString::fromWCharArray(L"\xF28b"); + fontawesome_character_map["fa-stop-circle"] = QString::fromWCharArray(L"\xF28d"); + fontawesome_character_map["fa-shopping-bag"] = QString::fromWCharArray(L"\xF290"); + fontawesome_character_map["fa-shopping-basket"] = QString::fromWCharArray(L"\xF291"); + fontawesome_character_map["fa-hashtag"] = QString::fromWCharArray(L"\xF292"); + fontawesome_character_map["fa-bluetooth"] = QString::fromWCharArray(L"\xF293"); + fontawesome_character_map["fa-bluetooth-b"] = QString::fromWCharArray(L"\xF294"); + fontawesome_character_map["fa-percent"] = QString::fromWCharArray(L"\xF295"); + fontawesome_character_map["fa-gitlab"] = QString::fromWCharArray(L"\xF296"); + fontawesome_character_map["fa-wpbeginner"] = QString::fromWCharArray(L"\xF297"); + fontawesome_character_map["fa-wpforms"] = QString::fromWCharArray(L"\xF298"); + fontawesome_character_map["fa-envira"] = QString::fromWCharArray(L"\xF299"); + fontawesome_character_map["fa-universal-access"] = QString::fromWCharArray(L"\xF29a"); + fontawesome_character_map["fa-blind"] = QString::fromWCharArray(L"\xF29d"); + fontawesome_character_map["fa-audio-description"] = QString::fromWCharArray(L"\xF29e"); + fontawesome_character_map["fa-phone-volume"] = QString::fromWCharArray(L"\xF2a0"); + fontawesome_character_map["fa-braille"] = QString::fromWCharArray(L"\xF2a1"); + fontawesome_character_map["fa-assistive-listening-systems"] = QString::fromWCharArray(L"\xF2a2"); + fontawesome_character_map["fa-american-sign-language-interpreting"] = QString::fromWCharArray(L"\xF2a3"); + fontawesome_character_map["fa-deaf"] = QString::fromWCharArray(L"\xF2a4"); + fontawesome_character_map["fa-glide"] = QString::fromWCharArray(L"\xF2a5"); + fontawesome_character_map["fa-glide-g"] = QString::fromWCharArray(L"\xF2a6"); + fontawesome_character_map["fa-sign-language"] = QString::fromWCharArray(L"\xF2a7"); + fontawesome_character_map["fa-low-vision"] = QString::fromWCharArray(L"\xF2a8"); + fontawesome_character_map["fa-viadeo"] = QString::fromWCharArray(L"\xF2a9"); + fontawesome_character_map["fa-viadeo-square"] = QString::fromWCharArray(L"\xF2aa"); + fontawesome_character_map["fa-snapchat"] = QString::fromWCharArray(L"\xF2ab"); + fontawesome_character_map["fa-snapchat-ghost"] = QString::fromWCharArray(L"\xF2ac"); + fontawesome_character_map["fa-snapchat-square"] = QString::fromWCharArray(L"\xF2ad"); + fontawesome_character_map["fa-pied-piper"] = QString::fromWCharArray(L"\xF2ae"); + fontawesome_character_map["fa-first-order"] = QString::fromWCharArray(L"\xF2b0"); + fontawesome_character_map["fa-yoast"] = QString::fromWCharArray(L"\xF2b1"); + fontawesome_character_map["fa-themeisle"] = QString::fromWCharArray(L"\xF2b2"); + fontawesome_character_map["fa-google-plus"] = QString::fromWCharArray(L"\xF2b3"); + fontawesome_character_map["fa-font-awesome"] = QString::fromWCharArray(L"\xF2b4"); + fontawesome_character_map["fa-handshake"] = QString::fromWCharArray(L"\xF2b5"); + fontawesome_character_map["fa-envelope-open"] = QString::fromWCharArray(L"\xF2b6"); + fontawesome_character_map["fa-linode"] = QString::fromWCharArray(L"\xF2b8"); + fontawesome_character_map["fa-address-book"] = QString::fromWCharArray(L"\xF2b9"); + fontawesome_character_map["fa-address-card"] = QString::fromWCharArray(L"\xF2bb"); + fontawesome_character_map["fa-user-circle"] = QString::fromWCharArray(L"\xF2bd"); + fontawesome_character_map["fa-id-badge"] = QString::fromWCharArray(L"\xF2c1"); + fontawesome_character_map["fa-id-card"] = QString::fromWCharArray(L"\xF2c2"); + fontawesome_character_map["fa-quora"] = QString::fromWCharArray(L"\xF2c4"); + fontawesome_character_map["fa-free-code-camp"] = QString::fromWCharArray(L"\xF2c5"); + fontawesome_character_map["fa-telegram"] = QString::fromWCharArray(L"\xF2c6"); + fontawesome_character_map["fa-thermometer-full"] = QString::fromWCharArray(L"\xF2c7"); + fontawesome_character_map["fa-thermometer-three-quarters"] = QString::fromWCharArray(L"\xF2c8"); + fontawesome_character_map["fa-thermometer-half"] = QString::fromWCharArray(L"\xF2c9"); + fontawesome_character_map["fa-thermometer-quarter"] = QString::fromWCharArray(L"\xF2ca"); + fontawesome_character_map["fa-thermometer-empty"] = QString::fromWCharArray(L"\xF2cb"); + fontawesome_character_map["fa-shower"] = QString::fromWCharArray(L"\xF2cc"); + fontawesome_character_map["fa-bath"] = QString::fromWCharArray(L"\xF2cd"); + fontawesome_character_map["fa-podcast"] = QString::fromWCharArray(L"\xF2ce"); + fontawesome_character_map["fa-window-maximize"] = QString::fromWCharArray(L"\xF2d0"); + fontawesome_character_map["fa-window-minimize"] = QString::fromWCharArray(L"\xF2d1"); + fontawesome_character_map["fa-window-restore"] = QString::fromWCharArray(L"\xF2d2"); + fontawesome_character_map["fa-bandcamp"] = QString::fromWCharArray(L"\xF2d5"); + fontawesome_character_map["fa-grav"] = QString::fromWCharArray(L"\xF2d6"); + fontawesome_character_map["fa-etsy"] = QString::fromWCharArray(L"\xF2d7"); + fontawesome_character_map["fa-imdb"] = QString::fromWCharArray(L"\xF2d8"); + fontawesome_character_map["fa-ravelry"] = QString::fromWCharArray(L"\xF2d9"); + fontawesome_character_map["fa-sellcast"] = QString::fromWCharArray(L"\xF2da"); + fontawesome_character_map["fa-microchip"] = QString::fromWCharArray(L"\xF2db"); + fontawesome_character_map["fa-snowflake"] = QString::fromWCharArray(L"\xF2dc"); + fontawesome_character_map["fa-superpowers"] = QString::fromWCharArray(L"\xF2dd"); + fontawesome_character_map["fa-wpexplorer"] = QString::fromWCharArray(L"\xF2de"); + fontawesome_character_map["fa-meetup"] = QString::fromWCharArray(L"\xF2e0"); + fontawesome_character_map["fa-utensil-spoon"] = QString::fromWCharArray(L"\xF2e5"); + fontawesome_character_map["fa-utensils"] = QString::fromWCharArray(L"\xF2e7"); + fontawesome_character_map["fa-undo-alt"] = QString::fromWCharArray(L"\xF2ea"); + fontawesome_character_map["fa-trash-alt"] = QString::fromWCharArray(L"\xF2ed"); + fontawesome_character_map["fa-sync-alt"] = QString::fromWCharArray(L"\xF2f1"); + fontawesome_character_map["fa-stopwatch"] = QString::fromWCharArray(L"\xF2f2"); + fontawesome_character_map["fa-sign-out-alt"] = QString::fromWCharArray(L"\xF2f5"); + fontawesome_character_map["fa-sign-in-alt"] = QString::fromWCharArray(L"\xF2f6"); + fontawesome_character_map["fa-redo-alt"] = QString::fromWCharArray(L"\xF2f9"); + fontawesome_character_map["fa-poo"] = QString::fromWCharArray(L"\xF2fe"); + fontawesome_character_map["fa-images"] = QString::fromWCharArray(L"\xF302"); + fontawesome_character_map["fa-pencil-alt"] = QString::fromWCharArray(L"\xF303"); + fontawesome_character_map["fa-pen"] = QString::fromWCharArray(L"\xF304"); + fontawesome_character_map["fa-pen-alt"] = QString::fromWCharArray(L"\xF305"); + fontawesome_character_map["fa-long-arrow-alt-down"] = QString::fromWCharArray(L"\xF309"); + fontawesome_character_map["fa-long-arrow-alt-left"] = QString::fromWCharArray(L"\xF30a"); + fontawesome_character_map["fa-long-arrow-alt-right"] = QString::fromWCharArray(L"\xF30b"); + fontawesome_character_map["fa-long-arrow-alt-up"] = QString::fromWCharArray(L"\xF30c"); + fontawesome_character_map["fa-expand-arrows-alt"] = QString::fromWCharArray(L"\xF31e"); + fontawesome_character_map["fa-clipboard"] = QString::fromWCharArray(L"\xF328"); + fontawesome_character_map["fa-arrows-alt-h"] = QString::fromWCharArray(L"\xF337"); + fontawesome_character_map["fa-arrows-alt-v"] = QString::fromWCharArray(L"\xF338"); + fontawesome_character_map["fa-arrow-alt-circle-down"] = QString::fromWCharArray(L"\xF358"); + fontawesome_character_map["fa-arrow-alt-circle-left"] = QString::fromWCharArray(L"\xF359"); + fontawesome_character_map["fa-arrow-alt-circle-right"] = QString::fromWCharArray(L"\xF35a"); + fontawesome_character_map["fa-arrow-alt-circle-up"] = QString::fromWCharArray(L"\xF35b"); + fontawesome_character_map["fa-font-awesome-alt"] = QString::fromWCharArray(L"\xF35c"); + fontawesome_character_map["fa-external-link-alt"] = QString::fromWCharArray(L"\xF35d"); + fontawesome_character_map["fa-external-link-square-alt"] = QString::fromWCharArray(L"\xF360"); + fontawesome_character_map["fa-exchange-alt"] = QString::fromWCharArray(L"\xF362"); + fontawesome_character_map["fa-accessible-icon"] = QString::fromWCharArray(L"\xF368"); + fontawesome_character_map["fa-accusoft"] = QString::fromWCharArray(L"\xF369"); + fontawesome_character_map["fa-adversal"] = QString::fromWCharArray(L"\xF36a"); + fontawesome_character_map["fa-affiliatetheme"] = QString::fromWCharArray(L"\xF36b"); + fontawesome_character_map["fa-algolia"] = QString::fromWCharArray(L"\xF36c"); + fontawesome_character_map["fa-amilia"] = QString::fromWCharArray(L"\xF36d"); + fontawesome_character_map["fa-angrycreative"] = QString::fromWCharArray(L"\xF36e"); + fontawesome_character_map["fa-app-store"] = QString::fromWCharArray(L"\xF36f"); + fontawesome_character_map["fa-app-store-ios"] = QString::fromWCharArray(L"\xF370"); + fontawesome_character_map["fa-apper"] = QString::fromWCharArray(L"\xF371"); + fontawesome_character_map["fa-asymmetrik"] = QString::fromWCharArray(L"\xF372"); + fontawesome_character_map["fa-audible"] = QString::fromWCharArray(L"\xF373"); + fontawesome_character_map["fa-avianex"] = QString::fromWCharArray(L"\xF374"); + fontawesome_character_map["fa-aws"] = QString::fromWCharArray(L"\xF375"); + fontawesome_character_map["fa-bimobject"] = QString::fromWCharArray(L"\xF378"); + fontawesome_character_map["fa-bitcoin"] = QString::fromWCharArray(L"\xF379"); + fontawesome_character_map["fa-bity"] = QString::fromWCharArray(L"\xF37a"); + fontawesome_character_map["fa-blackberry"] = QString::fromWCharArray(L"\xF37b"); + fontawesome_character_map["fa-blogger"] = QString::fromWCharArray(L"\xF37c"); + fontawesome_character_map["fa-blogger-b"] = QString::fromWCharArray(L"\xF37d"); + fontawesome_character_map["fa-buromobelexperte"] = QString::fromWCharArray(L"\xF37f"); + fontawesome_character_map["fa-centercode"] = QString::fromWCharArray(L"\xF380"); + fontawesome_character_map["fa-cloud-download-alt"] = QString::fromWCharArray(L"\xF381"); + fontawesome_character_map["fa-cloud-upload-alt"] = QString::fromWCharArray(L"\xF382"); + fontawesome_character_map["fa-cloudscale"] = QString::fromWCharArray(L"\xF383"); + fontawesome_character_map["fa-cloudsmith"] = QString::fromWCharArray(L"\xF384"); + fontawesome_character_map["fa-cloudversify"] = QString::fromWCharArray(L"\xF385"); + fontawesome_character_map["fa-cpanel"] = QString::fromWCharArray(L"\xF388"); + fontawesome_character_map["fa-css3-alt"] = QString::fromWCharArray(L"\xF38b"); + fontawesome_character_map["fa-cuttlefish"] = QString::fromWCharArray(L"\xF38c"); + fontawesome_character_map["fa-d-and-d"] = QString::fromWCharArray(L"\xF38d"); + fontawesome_character_map["fa-deploydog"] = QString::fromWCharArray(L"\xF38e"); + fontawesome_character_map["fa-deskpro"] = QString::fromWCharArray(L"\xF38f"); + fontawesome_character_map["fa-digital-ocean"] = QString::fromWCharArray(L"\xF391"); + fontawesome_character_map["fa-discord"] = QString::fromWCharArray(L"\xF392"); + fontawesome_character_map["fa-discourse"] = QString::fromWCharArray(L"\xF393"); + fontawesome_character_map["fa-dochub"] = QString::fromWCharArray(L"\xF394"); + fontawesome_character_map["fa-docker"] = QString::fromWCharArray(L"\xF395"); + fontawesome_character_map["fa-draft2digital"] = QString::fromWCharArray(L"\xF396"); + fontawesome_character_map["fa-dribbble-square"] = QString::fromWCharArray(L"\xF397"); + fontawesome_character_map["fa-dyalog"] = QString::fromWCharArray(L"\xF399"); + fontawesome_character_map["fa-earlybirds"] = QString::fromWCharArray(L"\xF39a"); + fontawesome_character_map["fa-erlang"] = QString::fromWCharArray(L"\xF39d"); + fontawesome_character_map["fa-facebook-f"] = QString::fromWCharArray(L"\xF39e"); + fontawesome_character_map["fa-facebook-messenger"] = QString::fromWCharArray(L"\xF39f"); + fontawesome_character_map["fa-firstdraft"] = QString::fromWCharArray(L"\xF3a1"); + fontawesome_character_map["fa-fonticons-fi"] = QString::fromWCharArray(L"\xF3a2"); + fontawesome_character_map["fa-fort-awesome-alt"] = QString::fromWCharArray(L"\xF3a3"); + fontawesome_character_map["fa-freebsd"] = QString::fromWCharArray(L"\xF3a4"); + fontawesome_character_map["fa-gem"] = QString::fromWCharArray(L"\xF3a5"); + fontawesome_character_map["fa-gitkraken"] = QString::fromWCharArray(L"\xF3a6"); + fontawesome_character_map["fa-gofore"] = QString::fromWCharArray(L"\xF3a7"); + fontawesome_character_map["fa-goodreads"] = QString::fromWCharArray(L"\xF3a8"); + fontawesome_character_map["fa-goodreads-g"] = QString::fromWCharArray(L"\xF3a9"); + fontawesome_character_map["fa-google-drive"] = QString::fromWCharArray(L"\xF3aa"); + fontawesome_character_map["fa-google-play"] = QString::fromWCharArray(L"\xF3ab"); + fontawesome_character_map["fa-gripfire"] = QString::fromWCharArray(L"\xF3ac"); + fontawesome_character_map["fa-grunt"] = QString::fromWCharArray(L"\xF3ad"); + fontawesome_character_map["fa-gulp"] = QString::fromWCharArray(L"\xF3ae"); + fontawesome_character_map["fa-hacker-news-square"] = QString::fromWCharArray(L"\xF3af"); + fontawesome_character_map["fa-hire-a-helper"] = QString::fromWCharArray(L"\xF3b0"); + fontawesome_character_map["fa-hotjar"] = QString::fromWCharArray(L"\xF3b1"); + fontawesome_character_map["fa-hubspot"] = QString::fromWCharArray(L"\xF3b2"); + fontawesome_character_map["fa-itunes"] = QString::fromWCharArray(L"\xF3b4"); + fontawesome_character_map["fa-itunes-note"] = QString::fromWCharArray(L"\xF3b5"); + fontawesome_character_map["fa-jenkins"] = QString::fromWCharArray(L"\xF3b6"); + fontawesome_character_map["fa-joget"] = QString::fromWCharArray(L"\xF3b7"); + fontawesome_character_map["fa-js"] = QString::fromWCharArray(L"\xF3b8"); + fontawesome_character_map["fa-js-square"] = QString::fromWCharArray(L"\xF3b9"); + fontawesome_character_map["fa-keycdn"] = QString::fromWCharArray(L"\xF3ba"); + fontawesome_character_map["fa-kickstarter"] = QString::fromWCharArray(L"\xF3bb"); + fontawesome_character_map["fa-kickstarter-k"] = QString::fromWCharArray(L"\xF3bc"); + fontawesome_character_map["fa-laravel"] = QString::fromWCharArray(L"\xF3bd"); + fontawesome_character_map["fa-level-down-alt"] = QString::fromWCharArray(L"\xF3be"); + fontawesome_character_map["fa-level-up-alt"] = QString::fromWCharArray(L"\xF3bf"); + fontawesome_character_map["fa-line"] = QString::fromWCharArray(L"\xF3c0"); + fontawesome_character_map["fa-lock-open"] = QString::fromWCharArray(L"\xF3c1"); + fontawesome_character_map["fa-lyft"] = QString::fromWCharArray(L"\xF3c3"); + fontawesome_character_map["fa-magento"] = QString::fromWCharArray(L"\xF3c4"); + fontawesome_character_map["fa-map-marker-alt"] = QString::fromWCharArray(L"\xF3c5"); + fontawesome_character_map["fa-medapps"] = QString::fromWCharArray(L"\xF3c6"); + fontawesome_character_map["fa-medium-m"] = QString::fromWCharArray(L"\xF3c7"); + fontawesome_character_map["fa-medrt"] = QString::fromWCharArray(L"\xF3c8"); + fontawesome_character_map["fa-microphone-alt"] = QString::fromWCharArray(L"\xF3c9"); + fontawesome_character_map["fa-microsoft"] = QString::fromWCharArray(L"\xF3ca"); + fontawesome_character_map["fa-mix"] = QString::fromWCharArray(L"\xF3cb"); + fontawesome_character_map["fa-mizuni"] = QString::fromWCharArray(L"\xF3cc"); + fontawesome_character_map["fa-mobile-alt"] = QString::fromWCharArray(L"\xF3cd"); + fontawesome_character_map["fa-monero"] = QString::fromWCharArray(L"\xF3d0"); + fontawesome_character_map["fa-money-bill-alt"] = QString::fromWCharArray(L"\xF3d1"); + fontawesome_character_map["fa-napster"] = QString::fromWCharArray(L"\xF3d2"); + fontawesome_character_map["fa-node-js"] = QString::fromWCharArray(L"\xF3d3"); + fontawesome_character_map["fa-npm"] = QString::fromWCharArray(L"\xF3d4"); + fontawesome_character_map["fa-ns8"] = QString::fromWCharArray(L"\xF3d5"); + fontawesome_character_map["fa-nutritionix"] = QString::fromWCharArray(L"\xF3d6"); + fontawesome_character_map["fa-page4"] = QString::fromWCharArray(L"\xF3d7"); + fontawesome_character_map["fa-palfed"] = QString::fromWCharArray(L"\xF3d8"); + fontawesome_character_map["fa-patreon"] = QString::fromWCharArray(L"\xF3d9"); + fontawesome_character_map["fa-periscope"] = QString::fromWCharArray(L"\xF3da"); + fontawesome_character_map["fa-phabricator"] = QString::fromWCharArray(L"\xF3db"); + fontawesome_character_map["fa-phoenix-framework"] = QString::fromWCharArray(L"\xF3dc"); + fontawesome_character_map["fa-phone-slash"] = QString::fromWCharArray(L"\xF3dd"); + fontawesome_character_map["fa-playstation"] = QString::fromWCharArray(L"\xF3df"); + fontawesome_character_map["fa-portrait"] = QString::fromWCharArray(L"\xF3e0"); + fontawesome_character_map["fa-pushed"] = QString::fromWCharArray(L"\xF3e1"); + fontawesome_character_map["fa-python"] = QString::fromWCharArray(L"\xF3e2"); + fontawesome_character_map["fa-red-river"] = QString::fromWCharArray(L"\xF3e3"); + fontawesome_character_map["fa-wpressr"] = QString::fromWCharArray(L"\xF3e4"); + fontawesome_character_map["fa-reply"] = QString::fromWCharArray(L"\xF3e5"); + fontawesome_character_map["fa-replyd"] = QString::fromWCharArray(L"\xF3e6"); + fontawesome_character_map["fa-resolving"] = QString::fromWCharArray(L"\xF3e7"); + fontawesome_character_map["fa-rocketchat"] = QString::fromWCharArray(L"\xF3e8"); + fontawesome_character_map["fa-rockrms"] = QString::fromWCharArray(L"\xF3e9"); + fontawesome_character_map["fa-schlix"] = QString::fromWCharArray(L"\xF3ea"); + fontawesome_character_map["fa-searchengin"] = QString::fromWCharArray(L"\xF3eb"); + fontawesome_character_map["fa-servicestack"] = QString::fromWCharArray(L"\xF3ec"); + fontawesome_character_map["fa-shield-alt"] = QString::fromWCharArray(L"\xF3ed"); + fontawesome_character_map["fa-sistrix"] = QString::fromWCharArray(L"\xF3ee"); + fontawesome_character_map["fa-slack-hash"] = QString::fromWCharArray(L"\xF3ef"); + fontawesome_character_map["fa-speakap"] = QString::fromWCharArray(L"\xF3f3"); + fontawesome_character_map["fa-staylinked"] = QString::fromWCharArray(L"\xF3f5"); + fontawesome_character_map["fa-steam-symbol"] = QString::fromWCharArray(L"\xF3f6"); + fontawesome_character_map["fa-sticker-mule"] = QString::fromWCharArray(L"\xF3f7"); + fontawesome_character_map["fa-studiovinari"] = QString::fromWCharArray(L"\xF3f8"); + fontawesome_character_map["fa-supple"] = QString::fromWCharArray(L"\xF3f9"); + fontawesome_character_map["fa-tablet-alt"] = QString::fromWCharArray(L"\xF3fa"); + fontawesome_character_map["fa-tachometer-alt"] = QString::fromWCharArray(L"\xF3fd"); + fontawesome_character_map["fa-telegram-plane"] = QString::fromWCharArray(L"\xF3fe"); + fontawesome_character_map["fa-ticket-alt"] = QString::fromWCharArray(L"\xF3ff"); + fontawesome_character_map["fa-uber"] = QString::fromWCharArray(L"\xF402"); + fontawesome_character_map["fa-uikit"] = QString::fromWCharArray(L"\xF403"); + fontawesome_character_map["fa-uniregistry"] = QString::fromWCharArray(L"\xF404"); + fontawesome_character_map["fa-untappd"] = QString::fromWCharArray(L"\xF405"); + fontawesome_character_map["fa-user-alt"] = QString::fromWCharArray(L"\xF406"); + fontawesome_character_map["fa-ussunnah"] = QString::fromWCharArray(L"\xF407"); + fontawesome_character_map["fa-vaadin"] = QString::fromWCharArray(L"\xF408"); + fontawesome_character_map["fa-viber"] = QString::fromWCharArray(L"\xF409"); + fontawesome_character_map["fa-vimeo"] = QString::fromWCharArray(L"\xF40a"); + fontawesome_character_map["fa-vnv"] = QString::fromWCharArray(L"\xF40b"); + fontawesome_character_map["fa-whatsapp-square"] = QString::fromWCharArray(L"\xF40c"); + fontawesome_character_map["fa-whmcs"] = QString::fromWCharArray(L"\xF40d"); + fontawesome_character_map["fa-window-close"] = QString::fromWCharArray(L"\xF410"); + fontawesome_character_map["fa-wordpress-simple"] = QString::fromWCharArray(L"\xF411"); + fontawesome_character_map["fa-xbox"] = QString::fromWCharArray(L"\xF412"); + fontawesome_character_map["fa-yandex"] = QString::fromWCharArray(L"\xF413"); + fontawesome_character_map["fa-yandex-international"] = QString::fromWCharArray(L"\xF414"); + fontawesome_character_map["fa-apple-pay"] = QString::fromWCharArray(L"\xF415"); + fontawesome_character_map["fa-cc-apple-pay"] = QString::fromWCharArray(L"\xF416"); + fontawesome_character_map["fa-fly"] = QString::fromWCharArray(L"\xF417"); + fontawesome_character_map["fa-node"] = QString::fromWCharArray(L"\xF419"); + fontawesome_character_map["fa-osi"] = QString::fromWCharArray(L"\xF41a"); + fontawesome_character_map["fa-react"] = QString::fromWCharArray(L"\xF41b"); + fontawesome_character_map["fa-autoprefixer"] = QString::fromWCharArray(L"\xF41c"); + fontawesome_character_map["fa-less"] = QString::fromWCharArray(L"\xF41d"); + fontawesome_character_map["fa-sass"] = QString::fromWCharArray(L"\xF41e"); + fontawesome_character_map["fa-vuejs"] = QString::fromWCharArray(L"\xF41f"); + fontawesome_character_map["fa-angular"] = QString::fromWCharArray(L"\xF420"); + fontawesome_character_map["fa-aviato"] = QString::fromWCharArray(L"\xF421"); + fontawesome_character_map["fa-compress-alt"] = QString::fromWCharArray(L"\xF422"); + fontawesome_character_map["fa-ember"] = QString::fromWCharArray(L"\xF423"); + fontawesome_character_map["fa-expand-alt"] = QString::fromWCharArray(L"\xF424"); + fontawesome_character_map["fa-font-awesome-flag"] = QString::fromWCharArray(L"\xF425"); + fontawesome_character_map["fa-gitter"] = QString::fromWCharArray(L"\xF426"); + fontawesome_character_map["fa-hooli"] = QString::fromWCharArray(L"\xF427"); + fontawesome_character_map["fa-strava"] = QString::fromWCharArray(L"\xF428"); + fontawesome_character_map["fa-stripe"] = QString::fromWCharArray(L"\xF429"); + fontawesome_character_map["fa-stripe-s"] = QString::fromWCharArray(L"\xF42a"); + fontawesome_character_map["fa-typo3"] = QString::fromWCharArray(L"\xF42b"); + fontawesome_character_map["fa-amazon-pay"] = QString::fromWCharArray(L"\xF42c"); + fontawesome_character_map["fa-cc-amazon-pay"] = QString::fromWCharArray(L"\xF42d"); + fontawesome_character_map["fa-ethereum"] = QString::fromWCharArray(L"\xF42e"); + fontawesome_character_map["fa-korvue"] = QString::fromWCharArray(L"\xF42f"); + fontawesome_character_map["fa-elementor"] = QString::fromWCharArray(L"\xF430"); + fontawesome_character_map["fa-youtube-square"] = QString::fromWCharArray(L"\xF431"); + fontawesome_character_map["fa-baseball-ball"] = QString::fromWCharArray(L"\xF433"); + fontawesome_character_map["fa-basketball-ball"] = QString::fromWCharArray(L"\xF434"); + fontawesome_character_map["fa-bowling-ball"] = QString::fromWCharArray(L"\xF436"); + fontawesome_character_map["fa-chess"] = QString::fromWCharArray(L"\xF439"); + fontawesome_character_map["fa-chess-bishop"] = QString::fromWCharArray(L"\xF43a"); + fontawesome_character_map["fa-chess-board"] = QString::fromWCharArray(L"\xF43c"); + fontawesome_character_map["fa-chess-king"] = QString::fromWCharArray(L"\xF43f"); + fontawesome_character_map["fa-chess-knight"] = QString::fromWCharArray(L"\xF441"); + fontawesome_character_map["fa-chess-pawn"] = QString::fromWCharArray(L"\xF443"); + fontawesome_character_map["fa-chess-queen"] = QString::fromWCharArray(L"\xF445"); + fontawesome_character_map["fa-chess-rook"] = QString::fromWCharArray(L"\xF447"); + fontawesome_character_map["fa-dumbbell"] = QString::fromWCharArray(L"\xF44b"); + fontawesome_character_map["fa-flipboard"] = QString::fromWCharArray(L"\xF44d"); + fontawesome_character_map["fa-football-ball"] = QString::fromWCharArray(L"\xF44e"); + fontawesome_character_map["fa-golf-ball"] = QString::fromWCharArray(L"\xF450"); + fontawesome_character_map["fa-hips"] = QString::fromWCharArray(L"\xF452"); + fontawesome_character_map["fa-hockey-puck"] = QString::fromWCharArray(L"\xF453"); + fontawesome_character_map["fa-php"] = QString::fromWCharArray(L"\xF457"); + fontawesome_character_map["fa-quidditch"] = QString::fromWCharArray(L"\xF458"); + fontawesome_character_map["fa-quinscape"] = QString::fromWCharArray(L"\xF459"); + fontawesome_character_map["fa-square-full"] = QString::fromWCharArray(L"\xF45c"); + fontawesome_character_map["fa-table-tennis"] = QString::fromWCharArray(L"\xF45d"); + fontawesome_character_map["fa-volleyball-ball"] = QString::fromWCharArray(L"\xF45f"); + fontawesome_character_map["fa-allergies"] = QString::fromWCharArray(L"\xF461"); + fontawesome_character_map["fa-band-aid"] = QString::fromWCharArray(L"\xF462"); + fontawesome_character_map["fa-box"] = QString::fromWCharArray(L"\xF466"); + fontawesome_character_map["fa-boxes"] = QString::fromWCharArray(L"\xF468"); + fontawesome_character_map["fa-briefcase-medical"] = QString::fromWCharArray(L"\xF469"); + fontawesome_character_map["fa-burn"] = QString::fromWCharArray(L"\xF46a"); + fontawesome_character_map["fa-capsules"] = QString::fromWCharArray(L"\xF46b"); + fontawesome_character_map["fa-clipboard-check"] = QString::fromWCharArray(L"\xF46c"); + fontawesome_character_map["fa-clipboard-list"] = QString::fromWCharArray(L"\xF46d"); + fontawesome_character_map["fa-diagnoses"] = QString::fromWCharArray(L"\xF470"); + fontawesome_character_map["fa-dna"] = QString::fromWCharArray(L"\xF471"); + fontawesome_character_map["fa-dolly"] = QString::fromWCharArray(L"\xF472"); + fontawesome_character_map["fa-dolly-flatbed"] = QString::fromWCharArray(L"\xF474"); + fontawesome_character_map["fa-file-medical"] = QString::fromWCharArray(L"\xF477"); + fontawesome_character_map["fa-file-medical-alt"] = QString::fromWCharArray(L"\xF478"); + fontawesome_character_map["fa-first-aid"] = QString::fromWCharArray(L"\xF479"); + fontawesome_character_map["fa-hospital-alt"] = QString::fromWCharArray(L"\xF47d"); + fontawesome_character_map["fa-hospital-symbol"] = QString::fromWCharArray(L"\xF47e"); + fontawesome_character_map["fa-id-card-alt"] = QString::fromWCharArray(L"\xF47f"); + fontawesome_character_map["fa-notes-medical"] = QString::fromWCharArray(L"\xF481"); + fontawesome_character_map["fa-pallet"] = QString::fromWCharArray(L"\xF482"); + fontawesome_character_map["fa-pills"] = QString::fromWCharArray(L"\xF484"); + fontawesome_character_map["fa-prescription-bottle"] = QString::fromWCharArray(L"\xF485"); + fontawesome_character_map["fa-prescription-bottle-alt"] = QString::fromWCharArray(L"\xF486"); + fontawesome_character_map["fa-procedures"] = QString::fromWCharArray(L"\xF487"); + fontawesome_character_map["fa-shipping-fast"] = QString::fromWCharArray(L"\xF48b"); + fontawesome_character_map["fa-smoking"] = QString::fromWCharArray(L"\xF48d"); + fontawesome_character_map["fa-syringe"] = QString::fromWCharArray(L"\xF48e"); + fontawesome_character_map["fa-tablets"] = QString::fromWCharArray(L"\xF490"); + fontawesome_character_map["fa-thermometer"] = QString::fromWCharArray(L"\xF491"); + fontawesome_character_map["fa-vial"] = QString::fromWCharArray(L"\xF492"); + fontawesome_character_map["fa-vials"] = QString::fromWCharArray(L"\xF493"); + fontawesome_character_map["fa-warehouse"] = QString::fromWCharArray(L"\xF494"); + fontawesome_character_map["fa-weight"] = QString::fromWCharArray(L"\xF496"); + fontawesome_character_map["fa-x-ray"] = QString::fromWCharArray(L"\xF497"); + fontawesome_character_map["fa-box-open"] = QString::fromWCharArray(L"\xF49e"); + fontawesome_character_map["fa-comment-dots"] = QString::fromWCharArray(L"\xF4ad"); + fontawesome_character_map["fa-comment-slash"] = QString::fromWCharArray(L"\xF4b3"); + fontawesome_character_map["fa-couch"] = QString::fromWCharArray(L"\xF4b8"); + fontawesome_character_map["fa-donate"] = QString::fromWCharArray(L"\xF4b9"); + fontawesome_character_map["fa-dove"] = QString::fromWCharArray(L"\xF4ba"); + fontawesome_character_map["fa-hand-holding"] = QString::fromWCharArray(L"\xF4bd"); + fontawesome_character_map["fa-hand-holding-heart"] = QString::fromWCharArray(L"\xF4be"); + fontawesome_character_map["fa-hand-holding-usd"] = QString::fromWCharArray(L"\xF4c0"); + fontawesome_character_map["fa-hands"] = QString::fromWCharArray(L"\xF4c2"); + fontawesome_character_map["fa-hands-helping"] = QString::fromWCharArray(L"\xF4c4"); + fontawesome_character_map["fa-parachute-box"] = QString::fromWCharArray(L"\xF4cd"); + fontawesome_character_map["fa-people-carry"] = QString::fromWCharArray(L"\xF4ce"); + fontawesome_character_map["fa-piggy-bank"] = QString::fromWCharArray(L"\xF4d3"); + fontawesome_character_map["fa-readme"] = QString::fromWCharArray(L"\xF4d5"); + fontawesome_character_map["fa-ribbon"] = QString::fromWCharArray(L"\xF4d6"); + fontawesome_character_map["fa-route"] = QString::fromWCharArray(L"\xF4d7"); + fontawesome_character_map["fa-seedling"] = QString::fromWCharArray(L"\xF4d8"); + fontawesome_character_map["fa-sign"] = QString::fromWCharArray(L"\xF4d9"); + fontawesome_character_map["fa-smile-wink"] = QString::fromWCharArray(L"\xF4da"); + fontawesome_character_map["fa-tape"] = QString::fromWCharArray(L"\xF4db"); + fontawesome_character_map["fa-truck-loading"] = QString::fromWCharArray(L"\xF4de"); + fontawesome_character_map["fa-truck-moving"] = QString::fromWCharArray(L"\xF4df"); + fontawesome_character_map["fa-video-slash"] = QString::fromWCharArray(L"\xF4e2"); + fontawesome_character_map["fa-wine-glass"] = QString::fromWCharArray(L"\xF4e3"); + fontawesome_character_map["fa-java"] = QString::fromWCharArray(L"\xF4e4"); + fontawesome_character_map["fa-pied-piper-hat"] = QString::fromWCharArray(L"\xF4e5"); + fontawesome_character_map["fa-font-awesome-logo-full"] = QString::fromWCharArray(L"\xF4e6"); + fontawesome_character_map["fa-creative-commons-by"] = QString::fromWCharArray(L"\xF4e7"); + fontawesome_character_map["fa-creative-commons-nc"] = QString::fromWCharArray(L"\xF4e8"); + fontawesome_character_map["fa-creative-commons-nc-eu"] = QString::fromWCharArray(L"\xF4e9"); + fontawesome_character_map["fa-creative-commons-nc-jp"] = QString::fromWCharArray(L"\xF4ea"); + fontawesome_character_map["fa-creative-commons-nd"] = QString::fromWCharArray(L"\xF4eb"); + fontawesome_character_map["fa-creative-commons-pd"] = QString::fromWCharArray(L"\xF4ec"); + fontawesome_character_map["fa-creative-commons-pd-alt"] = QString::fromWCharArray(L"\xF4ed"); + fontawesome_character_map["fa-creative-commons-remix"] = QString::fromWCharArray(L"\xF4ee"); + fontawesome_character_map["fa-creative-commons-sa"] = QString::fromWCharArray(L"\xF4ef"); + fontawesome_character_map["fa-creative-commons-sampling"] = QString::fromWCharArray(L"\xF4f0"); + fontawesome_character_map["fa-creative-commons-sampling-plus"] = QString::fromWCharArray(L"\xF4f1"); + fontawesome_character_map["fa-creative-commons-share"] = QString::fromWCharArray(L"\xF4f2"); + fontawesome_character_map["fa-creative-commons-zero"] = QString::fromWCharArray(L"\xF4f3"); + fontawesome_character_map["fa-ebay"] = QString::fromWCharArray(L"\xF4f4"); + fontawesome_character_map["fa-keybase"] = QString::fromWCharArray(L"\xF4f5"); + fontawesome_character_map["fa-mastodon"] = QString::fromWCharArray(L"\xF4f6"); + fontawesome_character_map["fa-r-project"] = QString::fromWCharArray(L"\xF4f7"); + fontawesome_character_map["fa-researchgate"] = QString::fromWCharArray(L"\xF4f8"); + fontawesome_character_map["fa-teamspeak"] = QString::fromWCharArray(L"\xF4f9"); + fontawesome_character_map["fa-user-alt-slash"] = QString::fromWCharArray(L"\xF4fa"); + fontawesome_character_map["fa-user-astronaut"] = QString::fromWCharArray(L"\xF4fb"); + fontawesome_character_map["fa-user-check"] = QString::fromWCharArray(L"\xF4fc"); + fontawesome_character_map["fa-user-clock"] = QString::fromWCharArray(L"\xF4fd"); + fontawesome_character_map["fa-user-cog"] = QString::fromWCharArray(L"\xF4fe"); + fontawesome_character_map["fa-user-edit"] = QString::fromWCharArray(L"\xF4ff"); + fontawesome_character_map["fa-user-friends"] = QString::fromWCharArray(L"\xF500"); + fontawesome_character_map["fa-user-graduate"] = QString::fromWCharArray(L"\xF501"); + fontawesome_character_map["fa-user-lock"] = QString::fromWCharArray(L"\xF502"); + fontawesome_character_map["fa-user-minus"] = QString::fromWCharArray(L"\xF503"); + fontawesome_character_map["fa-user-ninja"] = QString::fromWCharArray(L"\xF504"); + fontawesome_character_map["fa-user-shield"] = QString::fromWCharArray(L"\xF505"); + fontawesome_character_map["fa-user-slash"] = QString::fromWCharArray(L"\xF506"); + fontawesome_character_map["fa-user-tag"] = QString::fromWCharArray(L"\xF507"); + fontawesome_character_map["fa-user-tie"] = QString::fromWCharArray(L"\xF508"); + fontawesome_character_map["fa-users-cog"] = QString::fromWCharArray(L"\xF509"); + fontawesome_character_map["fa-first-order-alt"] = QString::fromWCharArray(L"\xF50a"); + fontawesome_character_map["fa-fulcrum"] = QString::fromWCharArray(L"\xF50b"); + fontawesome_character_map["fa-galactic-republic"] = QString::fromWCharArray(L"\xF50c"); + fontawesome_character_map["fa-galactic-senate"] = QString::fromWCharArray(L"\xF50d"); + fontawesome_character_map["fa-jedi-order"] = QString::fromWCharArray(L"\xF50e"); + fontawesome_character_map["fa-mandalorian"] = QString::fromWCharArray(L"\xF50f"); + fontawesome_character_map["fa-old-republic"] = QString::fromWCharArray(L"\xF510"); + fontawesome_character_map["fa-phoenix-squadron"] = QString::fromWCharArray(L"\xF511"); + fontawesome_character_map["fa-sith"] = QString::fromWCharArray(L"\xF512"); + fontawesome_character_map["fa-trade-federation"] = QString::fromWCharArray(L"\xF513"); + fontawesome_character_map["fa-wolf-pack-battalion"] = QString::fromWCharArray(L"\xF514"); + fontawesome_character_map["fa-balance-scale-left"] = QString::fromWCharArray(L"\xF515"); + fontawesome_character_map["fa-balance-scale-right"] = QString::fromWCharArray(L"\xF516"); + fontawesome_character_map["fa-blender"] = QString::fromWCharArray(L"\xF517"); + fontawesome_character_map["fa-book-open"] = QString::fromWCharArray(L"\xF518"); + fontawesome_character_map["fa-broadcast-tower"] = QString::fromWCharArray(L"\xF519"); + fontawesome_character_map["fa-broom"] = QString::fromWCharArray(L"\xF51a"); + fontawesome_character_map["fa-chalkboard"] = QString::fromWCharArray(L"\xF51b"); + fontawesome_character_map["fa-chalkboard-teacher"] = QString::fromWCharArray(L"\xF51c"); + fontawesome_character_map["fa-church"] = QString::fromWCharArray(L"\xF51d"); + fontawesome_character_map["fa-coins"] = QString::fromWCharArray(L"\xF51e"); + fontawesome_character_map["fa-compact-disc"] = QString::fromWCharArray(L"\xF51f"); + fontawesome_character_map["fa-crow"] = QString::fromWCharArray(L"\xF520"); + fontawesome_character_map["fa-crown"] = QString::fromWCharArray(L"\xF521"); + fontawesome_character_map["fa-dice"] = QString::fromWCharArray(L"\xF522"); + fontawesome_character_map["fa-dice-five"] = QString::fromWCharArray(L"\xF523"); + fontawesome_character_map["fa-dice-four"] = QString::fromWCharArray(L"\xF524"); + fontawesome_character_map["fa-dice-one"] = QString::fromWCharArray(L"\xF525"); + fontawesome_character_map["fa-dice-six"] = QString::fromWCharArray(L"\xF526"); + fontawesome_character_map["fa-dice-three"] = QString::fromWCharArray(L"\xF527"); + fontawesome_character_map["fa-dice-two"] = QString::fromWCharArray(L"\xF528"); + fontawesome_character_map["fa-divide"] = QString::fromWCharArray(L"\xF529"); + fontawesome_character_map["fa-door-closed"] = QString::fromWCharArray(L"\xF52a"); + fontawesome_character_map["fa-door-open"] = QString::fromWCharArray(L"\xF52b"); + fontawesome_character_map["fa-equals"] = QString::fromWCharArray(L"\xF52c"); + fontawesome_character_map["fa-feather"] = QString::fromWCharArray(L"\xF52d"); + fontawesome_character_map["fa-frog"] = QString::fromWCharArray(L"\xF52e"); + fontawesome_character_map["fa-gas-pump"] = QString::fromWCharArray(L"\xF52f"); + fontawesome_character_map["fa-glasses"] = QString::fromWCharArray(L"\xF530"); + fontawesome_character_map["fa-greater-than"] = QString::fromWCharArray(L"\xF531"); + fontawesome_character_map["fa-greater-than-equal"] = QString::fromWCharArray(L"\xF532"); + fontawesome_character_map["fa-helicopter"] = QString::fromWCharArray(L"\xF533"); + fontawesome_character_map["fa-infinity"] = QString::fromWCharArray(L"\xF534"); + fontawesome_character_map["fa-kiwi-bird"] = QString::fromWCharArray(L"\xF535"); + fontawesome_character_map["fa-less-than"] = QString::fromWCharArray(L"\xF536"); + fontawesome_character_map["fa-less-than-equal"] = QString::fromWCharArray(L"\xF537"); + fontawesome_character_map["fa-memory"] = QString::fromWCharArray(L"\xF538"); + fontawesome_character_map["fa-microphone-alt-slash"] = QString::fromWCharArray(L"\xF539"); + fontawesome_character_map["fa-money-bill-wave"] = QString::fromWCharArray(L"\xF53a"); + fontawesome_character_map["fa-money-bill-wave-alt"] = QString::fromWCharArray(L"\xF53b"); + fontawesome_character_map["fa-money-check"] = QString::fromWCharArray(L"\xF53c"); + fontawesome_character_map["fa-money-check-alt"] = QString::fromWCharArray(L"\xF53d"); + fontawesome_character_map["fa-not-equal"] = QString::fromWCharArray(L"\xF53e"); + fontawesome_character_map["fa-palette"] = QString::fromWCharArray(L"\xF53f"); + fontawesome_character_map["fa-parking"] = QString::fromWCharArray(L"\xF540"); + fontawesome_character_map["fa-percentage"] = QString::fromWCharArray(L"\xF541"); + fontawesome_character_map["fa-project-diagram"] = QString::fromWCharArray(L"\xF542"); + fontawesome_character_map["fa-receipt"] = QString::fromWCharArray(L"\xF543"); + fontawesome_character_map["fa-robot"] = QString::fromWCharArray(L"\xF544"); + fontawesome_character_map["fa-ruler"] = QString::fromWCharArray(L"\xF545"); + fontawesome_character_map["fa-ruler-combined"] = QString::fromWCharArray(L"\xF546"); + fontawesome_character_map["fa-ruler-horizontal"] = QString::fromWCharArray(L"\xF547"); + fontawesome_character_map["fa-ruler-vertical"] = QString::fromWCharArray(L"\xF548"); + fontawesome_character_map["fa-school"] = QString::fromWCharArray(L"\xF549"); + fontawesome_character_map["fa-screwdriver"] = QString::fromWCharArray(L"\xF54a"); + fontawesome_character_map["fa-shoe-prints"] = QString::fromWCharArray(L"\xF54b"); + fontawesome_character_map["fa-skull"] = QString::fromWCharArray(L"\xF54c"); + fontawesome_character_map["fa-smoking-ban"] = QString::fromWCharArray(L"\xF54d"); + fontawesome_character_map["fa-store"] = QString::fromWCharArray(L"\xF54e"); + fontawesome_character_map["fa-store-alt"] = QString::fromWCharArray(L"\xF54f"); + fontawesome_character_map["fa-stream"] = QString::fromWCharArray(L"\xF550"); + fontawesome_character_map["fa-stroopwafel"] = QString::fromWCharArray(L"\xF551"); + fontawesome_character_map["fa-toolbox"] = QString::fromWCharArray(L"\xF552"); + fontawesome_character_map["fa-tshirt"] = QString::fromWCharArray(L"\xF553"); + fontawesome_character_map["fa-walking"] = QString::fromWCharArray(L"\xF554"); + fontawesome_character_map["fa-wallet"] = QString::fromWCharArray(L"\xF555"); + fontawesome_character_map["fa-angry"] = QString::fromWCharArray(L"\xF556"); + fontawesome_character_map["fa-archway"] = QString::fromWCharArray(L"\xF557"); + fontawesome_character_map["fa-atlas"] = QString::fromWCharArray(L"\xF558"); + fontawesome_character_map["fa-award"] = QString::fromWCharArray(L"\xF559"); + fontawesome_character_map["fa-backspace"] = QString::fromWCharArray(L"\xF55a"); + fontawesome_character_map["fa-bezier-curve"] = QString::fromWCharArray(L"\xF55b"); + fontawesome_character_map["fa-bong"] = QString::fromWCharArray(L"\xF55c"); + fontawesome_character_map["fa-brush"] = QString::fromWCharArray(L"\xF55d"); + fontawesome_character_map["fa-bus-alt"] = QString::fromWCharArray(L"\xF55e"); + fontawesome_character_map["fa-cannabis"] = QString::fromWCharArray(L"\xF55f"); + fontawesome_character_map["fa-check-double"] = QString::fromWCharArray(L"\xF560"); + fontawesome_character_map["fa-cocktail"] = QString::fromWCharArray(L"\xF561"); + fontawesome_character_map["fa-concierge-bell"] = QString::fromWCharArray(L"\xF562"); + fontawesome_character_map["fa-cookie"] = QString::fromWCharArray(L"\xF563"); + fontawesome_character_map["fa-cookie-bite"] = QString::fromWCharArray(L"\xF564"); + fontawesome_character_map["fa-crop-alt"] = QString::fromWCharArray(L"\xF565"); + fontawesome_character_map["fa-digital-tachograph"] = QString::fromWCharArray(L"\xF566"); + fontawesome_character_map["fa-dizzy"] = QString::fromWCharArray(L"\xF567"); + fontawesome_character_map["fa-drafting-compass"] = QString::fromWCharArray(L"\xF568"); + fontawesome_character_map["fa-drum"] = QString::fromWCharArray(L"\xF569"); + fontawesome_character_map["fa-drum-steelpan"] = QString::fromWCharArray(L"\xF56a"); + fontawesome_character_map["fa-feather-alt"] = QString::fromWCharArray(L"\xF56b"); + fontawesome_character_map["fa-file-contract"] = QString::fromWCharArray(L"\xF56c"); + fontawesome_character_map["fa-file-download"] = QString::fromWCharArray(L"\xF56d"); + fontawesome_character_map["fa-file-export"] = QString::fromWCharArray(L"\xF56e"); + fontawesome_character_map["fa-file-import"] = QString::fromWCharArray(L"\xF56f"); + fontawesome_character_map["fa-file-invoice"] = QString::fromWCharArray(L"\xF570"); + fontawesome_character_map["fa-file-invoice-dollar"] = QString::fromWCharArray(L"\xF571"); + fontawesome_character_map["fa-file-prescription"] = QString::fromWCharArray(L"\xF572"); + fontawesome_character_map["fa-file-signature"] = QString::fromWCharArray(L"\xF573"); + fontawesome_character_map["fa-file-upload"] = QString::fromWCharArray(L"\xF574"); + fontawesome_character_map["fa-fill"] = QString::fromWCharArray(L"\xF575"); + fontawesome_character_map["fa-fill-drip"] = QString::fromWCharArray(L"\xF576"); + fontawesome_character_map["fa-fingerprint"] = QString::fromWCharArray(L"\xF577"); + fontawesome_character_map["fa-fish"] = QString::fromWCharArray(L"\xF578"); + fontawesome_character_map["fa-flushed"] = QString::fromWCharArray(L"\xF579"); + fontawesome_character_map["fa-frown-open"] = QString::fromWCharArray(L"\xF57a"); + fontawesome_character_map["fa-glass-martini-alt"] = QString::fromWCharArray(L"\xF57b"); + fontawesome_character_map["fa-globe-africa"] = QString::fromWCharArray(L"\xF57c"); + fontawesome_character_map["fa-globe-americas"] = QString::fromWCharArray(L"\xF57d"); + fontawesome_character_map["fa-globe-asia"] = QString::fromWCharArray(L"\xF57e"); + fontawesome_character_map["fa-grimace"] = QString::fromWCharArray(L"\xF57f"); + fontawesome_character_map["fa-grin"] = QString::fromWCharArray(L"\xF580"); + fontawesome_character_map["fa-grin-alt"] = QString::fromWCharArray(L"\xF581"); + fontawesome_character_map["fa-grin-beam"] = QString::fromWCharArray(L"\xF582"); + fontawesome_character_map["fa-grin-beam-sweat"] = QString::fromWCharArray(L"\xF583"); + fontawesome_character_map["fa-grin-hearts"] = QString::fromWCharArray(L"\xF584"); + fontawesome_character_map["fa-grin-squint"] = QString::fromWCharArray(L"\xF585"); + fontawesome_character_map["fa-grin-squint-tears"] = QString::fromWCharArray(L"\xF586"); + fontawesome_character_map["fa-grin-stars"] = QString::fromWCharArray(L"\xF587"); + fontawesome_character_map["fa-grin-tears"] = QString::fromWCharArray(L"\xF588"); + fontawesome_character_map["fa-grin-tongue"] = QString::fromWCharArray(L"\xF589"); + fontawesome_character_map["fa-grin-tongue-squint"] = QString::fromWCharArray(L"\xF58a"); + fontawesome_character_map["fa-grin-tongue-wink"] = QString::fromWCharArray(L"\xF58b"); + fontawesome_character_map["fa-grin-wink"] = QString::fromWCharArray(L"\xF58c"); + fontawesome_character_map["fa-grip-horizontal"] = QString::fromWCharArray(L"\xF58d"); + fontawesome_character_map["fa-grip-vertical"] = QString::fromWCharArray(L"\xF58e"); + fontawesome_character_map["fa-headphones-alt"] = QString::fromWCharArray(L"\xF58f"); + fontawesome_character_map["fa-headset"] = QString::fromWCharArray(L"\xF590"); + fontawesome_character_map["fa-highlighter"] = QString::fromWCharArray(L"\xF591"); + fontawesome_character_map["fa-hornbill"] = QString::fromWCharArray(L"\xF592"); + fontawesome_character_map["fa-hot-tub"] = QString::fromWCharArray(L"\xF593"); + fontawesome_character_map["fa-hotel"] = QString::fromWCharArray(L"\xF594"); + fontawesome_character_map["fa-joint"] = QString::fromWCharArray(L"\xF595"); + fontawesome_character_map["fa-kiss"] = QString::fromWCharArray(L"\xF596"); + fontawesome_character_map["fa-kiss-beam"] = QString::fromWCharArray(L"\xF597"); + fontawesome_character_map["fa-kiss-wink-heart"] = QString::fromWCharArray(L"\xF598"); + fontawesome_character_map["fa-laugh"] = QString::fromWCharArray(L"\xF599"); + fontawesome_character_map["fa-laugh-beam"] = QString::fromWCharArray(L"\xF59a"); + fontawesome_character_map["fa-laugh-squint"] = QString::fromWCharArray(L"\xF59b"); + fontawesome_character_map["fa-laugh-wink"] = QString::fromWCharArray(L"\xF59c"); + fontawesome_character_map["fa-luggage-cart"] = QString::fromWCharArray(L"\xF59d"); + fontawesome_character_map["fa-mailchimp"] = QString::fromWCharArray(L"\xF59e"); + fontawesome_character_map["fa-map-marked"] = QString::fromWCharArray(L"\xF59f"); + fontawesome_character_map["fa-map-marked-alt"] = QString::fromWCharArray(L"\xF5a0"); + fontawesome_character_map["fa-marker"] = QString::fromWCharArray(L"\xF5a1"); + fontawesome_character_map["fa-medal"] = QString::fromWCharArray(L"\xF5a2"); + fontawesome_character_map["fa-megaport"] = QString::fromWCharArray(L"\xF5a3"); + fontawesome_character_map["fa-meh-blank"] = QString::fromWCharArray(L"\xF5a4"); + fontawesome_character_map["fa-meh-rolling-eyes"] = QString::fromWCharArray(L"\xF5a5"); + fontawesome_character_map["fa-monument"] = QString::fromWCharArray(L"\xF5a6"); + fontawesome_character_map["fa-mortar-pestle"] = QString::fromWCharArray(L"\xF5a7"); + fontawesome_character_map["fa-nimblr"] = QString::fromWCharArray(L"\xF5a8"); + fontawesome_character_map["fa-paint-roller"] = QString::fromWCharArray(L"\xF5aa"); + fontawesome_character_map["fa-passport"] = QString::fromWCharArray(L"\xF5ab"); + fontawesome_character_map["fa-pen-fancy"] = QString::fromWCharArray(L"\xF5ac"); + fontawesome_character_map["fa-pen-nib"] = QString::fromWCharArray(L"\xF5ad"); + fontawesome_character_map["fa-pencil-ruler"] = QString::fromWCharArray(L"\xF5ae"); + fontawesome_character_map["fa-plane-arrival"] = QString::fromWCharArray(L"\xF5af"); + fontawesome_character_map["fa-plane-departure"] = QString::fromWCharArray(L"\xF5b0"); + fontawesome_character_map["fa-prescription"] = QString::fromWCharArray(L"\xF5b1"); + fontawesome_character_map["fa-rev"] = QString::fromWCharArray(L"\xF5b2"); + fontawesome_character_map["fa-sad-cry"] = QString::fromWCharArray(L"\xF5b3"); + fontawesome_character_map["fa-sad-tear"] = QString::fromWCharArray(L"\xF5b4"); + fontawesome_character_map["fa-shopware"] = QString::fromWCharArray(L"\xF5b5"); + fontawesome_character_map["fa-shuttle-van"] = QString::fromWCharArray(L"\xF5b6"); + fontawesome_character_map["fa-signature"] = QString::fromWCharArray(L"\xF5b7"); + fontawesome_character_map["fa-smile-beam"] = QString::fromWCharArray(L"\xF5b8"); + fontawesome_character_map["fa-solar-panel"] = QString::fromWCharArray(L"\xF5ba"); + fontawesome_character_map["fa-spa"] = QString::fromWCharArray(L"\xF5bb"); + fontawesome_character_map["fa-splotch"] = QString::fromWCharArray(L"\xF5bc"); + fontawesome_character_map["fa-spray-can"] = QString::fromWCharArray(L"\xF5bd"); + fontawesome_character_map["fa-squarespace"] = QString::fromWCharArray(L"\xF5be"); + fontawesome_character_map["fa-stamp"] = QString::fromWCharArray(L"\xF5bf"); + fontawesome_character_map["fa-star-half-alt"] = QString::fromWCharArray(L"\xF5c0"); + fontawesome_character_map["fa-suitcase-rolling"] = QString::fromWCharArray(L"\xF5c1"); + fontawesome_character_map["fa-surprise"] = QString::fromWCharArray(L"\xF5c2"); + fontawesome_character_map["fa-swatchbook"] = QString::fromWCharArray(L"\xF5c3"); + fontawesome_character_map["fa-swimmer"] = QString::fromWCharArray(L"\xF5c4"); + fontawesome_character_map["fa-swimming-pool"] = QString::fromWCharArray(L"\xF5c5"); + fontawesome_character_map["fa-themeco"] = QString::fromWCharArray(L"\xF5c6"); + fontawesome_character_map["fa-tint-slash"] = QString::fromWCharArray(L"\xF5c7"); + fontawesome_character_map["fa-tired"] = QString::fromWCharArray(L"\xF5c8"); + fontawesome_character_map["fa-tooth"] = QString::fromWCharArray(L"\xF5c9"); + fontawesome_character_map["fa-umbrella-beach"] = QString::fromWCharArray(L"\xF5ca"); + fontawesome_character_map["fa-vector-square"] = QString::fromWCharArray(L"\xF5cb"); + fontawesome_character_map["fa-weebly"] = QString::fromWCharArray(L"\xF5cc"); + fontawesome_character_map["fa-weight-hanging"] = QString::fromWCharArray(L"\xF5cd"); + fontawesome_character_map["fa-wine-glass-alt"] = QString::fromWCharArray(L"\xF5ce"); + fontawesome_character_map["fa-wix"] = QString::fromWCharArray(L"\xF5cf"); + fontawesome_character_map["fa-air-freshener"] = QString::fromWCharArray(L"\xF5d0"); + fontawesome_character_map["fa-apple-alt"] = QString::fromWCharArray(L"\xF5d1"); + fontawesome_character_map["fa-atom"] = QString::fromWCharArray(L"\xF5d2"); + fontawesome_character_map["fa-bone"] = QString::fromWCharArray(L"\xF5d7"); + fontawesome_character_map["fa-book-reader"] = QString::fromWCharArray(L"\xF5da"); + fontawesome_character_map["fa-brain"] = QString::fromWCharArray(L"\xF5dc"); + fontawesome_character_map["fa-car-alt"] = QString::fromWCharArray(L"\xF5de"); + fontawesome_character_map["fa-car-battery"] = QString::fromWCharArray(L"\xF5df"); + fontawesome_character_map["fa-car-crash"] = QString::fromWCharArray(L"\xF5e1"); + fontawesome_character_map["fa-car-side"] = QString::fromWCharArray(L"\xF5e4"); + fontawesome_character_map["fa-charging-station"] = QString::fromWCharArray(L"\xF5e7"); + fontawesome_character_map["fa-directions"] = QString::fromWCharArray(L"\xF5eb"); + fontawesome_character_map["fa-draw-polygon"] = QString::fromWCharArray(L"\xF5ee"); + fontawesome_character_map["fa-ello"] = QString::fromWCharArray(L"\xF5f1"); + fontawesome_character_map["fa-hackerrank"] = QString::fromWCharArray(L"\xF5f7"); + fontawesome_character_map["fa-kaggle"] = QString::fromWCharArray(L"\xF5fa"); + fontawesome_character_map["fa-laptop-code"] = QString::fromWCharArray(L"\xF5fc"); + fontawesome_character_map["fa-layer-group"] = QString::fromWCharArray(L"\xF5fd"); + fontawesome_character_map["fa-markdown"] = QString::fromWCharArray(L"\xF60f"); + fontawesome_character_map["fa-microscope"] = QString::fromWCharArray(L"\xF610"); + fontawesome_character_map["fa-neos"] = QString::fromWCharArray(L"\xF612"); + fontawesome_character_map["fa-oil-can"] = QString::fromWCharArray(L"\xF613"); + fontawesome_character_map["fa-poop"] = QString::fromWCharArray(L"\xF619"); + fontawesome_character_map["fa-shapes"] = QString::fromWCharArray(L"\xF61f"); + fontawesome_character_map["fa-star-of-life"] = QString::fromWCharArray(L"\xF621"); + fontawesome_character_map["fa-teeth"] = QString::fromWCharArray(L"\xF62e"); + fontawesome_character_map["fa-teeth-open"] = QString::fromWCharArray(L"\xF62f"); + fontawesome_character_map["fa-theater-masks"] = QString::fromWCharArray(L"\xF630"); + fontawesome_character_map["fa-traffic-light"] = QString::fromWCharArray(L"\xF637"); + fontawesome_character_map["fa-truck-monster"] = QString::fromWCharArray(L"\xF63b"); + fontawesome_character_map["fa-truck-pickup"] = QString::fromWCharArray(L"\xF63c"); + fontawesome_character_map["fa-zhihu"] = QString::fromWCharArray(L"\xF63f"); + fontawesome_character_map["fa-ad"] = QString::fromWCharArray(L"\xF641"); + fontawesome_character_map["fa-alipay"] = QString::fromWCharArray(L"\xF642"); + fontawesome_character_map["fa-ankh"] = QString::fromWCharArray(L"\xF644"); + fontawesome_character_map["fa-bible"] = QString::fromWCharArray(L"\xF647"); + fontawesome_character_map["fa-business-time"] = QString::fromWCharArray(L"\xF64a"); + fontawesome_character_map["fa-city"] = QString::fromWCharArray(L"\xF64f"); + fontawesome_character_map["fa-comment-dollar"] = QString::fromWCharArray(L"\xF651"); + fontawesome_character_map["fa-comments-dollar"] = QString::fromWCharArray(L"\xF653"); + fontawesome_character_map["fa-cross"] = QString::fromWCharArray(L"\xF654"); + fontawesome_character_map["fa-dharmachakra"] = QString::fromWCharArray(L"\xF655"); + fontawesome_character_map["fa-envelope-open-text"] = QString::fromWCharArray(L"\xF658"); + fontawesome_character_map["fa-folder-minus"] = QString::fromWCharArray(L"\xF65d"); + fontawesome_character_map["fa-folder-plus"] = QString::fromWCharArray(L"\xF65e"); + fontawesome_character_map["fa-funnel-dollar"] = QString::fromWCharArray(L"\xF662"); + fontawesome_character_map["fa-gopuram"] = QString::fromWCharArray(L"\xF664"); + fontawesome_character_map["fa-hamsa"] = QString::fromWCharArray(L"\xF665"); + fontawesome_character_map["fa-bahai"] = QString::fromWCharArray(L"\xF666"); + fontawesome_character_map["fa-jedi"] = QString::fromWCharArray(L"\xF669"); + fontawesome_character_map["fa-journal-whills"] = QString::fromWCharArray(L"\xF66a"); + fontawesome_character_map["fa-kaaba"] = QString::fromWCharArray(L"\xF66b"); + fontawesome_character_map["fa-khanda"] = QString::fromWCharArray(L"\xF66d"); + fontawesome_character_map["fa-landmark"] = QString::fromWCharArray(L"\xF66f"); + fontawesome_character_map["fa-mail-bulk"] = QString::fromWCharArray(L"\xF674"); + fontawesome_character_map["fa-menorah"] = QString::fromWCharArray(L"\xF676"); + fontawesome_character_map["fa-mosque"] = QString::fromWCharArray(L"\xF678"); + fontawesome_character_map["fa-om"] = QString::fromWCharArray(L"\xF679"); + fontawesome_character_map["fa-pastafarianism"] = QString::fromWCharArray(L"\xF67b"); + fontawesome_character_map["fa-peace"] = QString::fromWCharArray(L"\xF67c"); + fontawesome_character_map["fa-place-of-worship"] = QString::fromWCharArray(L"\xF67f"); + fontawesome_character_map["fa-poll"] = QString::fromWCharArray(L"\xF681"); + fontawesome_character_map["fa-poll-h"] = QString::fromWCharArray(L"\xF682"); + fontawesome_character_map["fa-pray"] = QString::fromWCharArray(L"\xF683"); + fontawesome_character_map["fa-praying-hands"] = QString::fromWCharArray(L"\xF684"); + fontawesome_character_map["fa-quran"] = QString::fromWCharArray(L"\xF687"); + fontawesome_character_map["fa-search-dollar"] = QString::fromWCharArray(L"\xF688"); + fontawesome_character_map["fa-search-location"] = QString::fromWCharArray(L"\xF689"); + fontawesome_character_map["fa-socks"] = QString::fromWCharArray(L"\xF696"); + fontawesome_character_map["fa-square-root-alt"] = QString::fromWCharArray(L"\xF698"); + fontawesome_character_map["fa-star-and-crescent"] = QString::fromWCharArray(L"\xF699"); + fontawesome_character_map["fa-star-of-david"] = QString::fromWCharArray(L"\xF69a"); + fontawesome_character_map["fa-synagogue"] = QString::fromWCharArray(L"\xF69b"); + fontawesome_character_map["fa-the-red-yeti"] = QString::fromWCharArray(L"\xF69d"); + fontawesome_character_map["fa-torah"] = QString::fromWCharArray(L"\xF6a0"); + fontawesome_character_map["fa-torii-gate"] = QString::fromWCharArray(L"\xF6a1"); + fontawesome_character_map["fa-vihara"] = QString::fromWCharArray(L"\xF6a7"); + fontawesome_character_map["fa-volume-mute"] = QString::fromWCharArray(L"\xF6a9"); + fontawesome_character_map["fa-yin-yang"] = QString::fromWCharArray(L"\xF6ad"); + fontawesome_character_map["fa-acquisitions-incorporated"] = QString::fromWCharArray(L"\xF6af"); + fontawesome_character_map["fa-blender-phone"] = QString::fromWCharArray(L"\xF6b6"); + fontawesome_character_map["fa-book-dead"] = QString::fromWCharArray(L"\xF6b7"); + fontawesome_character_map["fa-campground"] = QString::fromWCharArray(L"\xF6bb"); + fontawesome_character_map["fa-cat"] = QString::fromWCharArray(L"\xF6be"); + fontawesome_character_map["fa-chair"] = QString::fromWCharArray(L"\xF6c0"); + fontawesome_character_map["fa-cloud-moon"] = QString::fromWCharArray(L"\xF6c3"); + fontawesome_character_map["fa-cloud-sun"] = QString::fromWCharArray(L"\xF6c4"); + fontawesome_character_map["fa-critical-role"] = QString::fromWCharArray(L"\xF6c9"); + fontawesome_character_map["fa-d-and-d-beyond"] = QString::fromWCharArray(L"\xF6ca"); + fontawesome_character_map["fa-dev"] = QString::fromWCharArray(L"\xF6cc"); + fontawesome_character_map["fa-dice-d20"] = QString::fromWCharArray(L"\xF6cf"); + fontawesome_character_map["fa-dice-d6"] = QString::fromWCharArray(L"\xF6d1"); + fontawesome_character_map["fa-dog"] = QString::fromWCharArray(L"\xF6d3"); + fontawesome_character_map["fa-dragon"] = QString::fromWCharArray(L"\xF6d5"); + fontawesome_character_map["fa-drumstick-bite"] = QString::fromWCharArray(L"\xF6d7"); + fontawesome_character_map["fa-dungeon"] = QString::fromWCharArray(L"\xF6d9"); + fontawesome_character_map["fa-fantasy-flight-games"] = QString::fromWCharArray(L"\xF6dc"); + fontawesome_character_map["fa-file-csv"] = QString::fromWCharArray(L"\xF6dd"); + fontawesome_character_map["fa-fist-raised"] = QString::fromWCharArray(L"\xF6de"); + fontawesome_character_map["fa-ghost"] = QString::fromWCharArray(L"\xF6e2"); + fontawesome_character_map["fa-hammer"] = QString::fromWCharArray(L"\xF6e3"); + fontawesome_character_map["fa-hanukiah"] = QString::fromWCharArray(L"\xF6e6"); + fontawesome_character_map["fa-hat-wizard"] = QString::fromWCharArray(L"\xF6e8"); + fontawesome_character_map["fa-hiking"] = QString::fromWCharArray(L"\xF6ec"); + fontawesome_character_map["fa-hippo"] = QString::fromWCharArray(L"\xF6ed"); + fontawesome_character_map["fa-horse"] = QString::fromWCharArray(L"\xF6f0"); + fontawesome_character_map["fa-house-damage"] = QString::fromWCharArray(L"\xF6f1"); + fontawesome_character_map["fa-hryvnia"] = QString::fromWCharArray(L"\xF6f2"); + fontawesome_character_map["fa-mask"] = QString::fromWCharArray(L"\xF6fa"); + fontawesome_character_map["fa-mountain"] = QString::fromWCharArray(L"\xF6fc"); + fontawesome_character_map["fa-network-wired"] = QString::fromWCharArray(L"\xF6ff"); + fontawesome_character_map["fa-otter"] = QString::fromWCharArray(L"\xF700"); + fontawesome_character_map["fa-penny-arcade"] = QString::fromWCharArray(L"\xF704"); + fontawesome_character_map["fa-ring"] = QString::fromWCharArray(L"\xF70b"); + fontawesome_character_map["fa-running"] = QString::fromWCharArray(L"\xF70c"); + fontawesome_character_map["fa-scroll"] = QString::fromWCharArray(L"\xF70e"); + fontawesome_character_map["fa-skull-crossbones"] = QString::fromWCharArray(L"\xF714"); + fontawesome_character_map["fa-slash"] = QString::fromWCharArray(L"\xF715"); + fontawesome_character_map["fa-spider"] = QString::fromWCharArray(L"\xF717"); + fontawesome_character_map["fa-toilet-paper"] = QString::fromWCharArray(L"\xF71e"); + fontawesome_character_map["fa-tractor"] = QString::fromWCharArray(L"\xF722"); + fontawesome_character_map["fa-user-injured"] = QString::fromWCharArray(L"\xF728"); + fontawesome_character_map["fa-vr-cardboard"] = QString::fromWCharArray(L"\xF729"); + fontawesome_character_map["fa-wind"] = QString::fromWCharArray(L"\xF72e"); + fontawesome_character_map["fa-wine-bottle"] = QString::fromWCharArray(L"\xF72f"); + fontawesome_character_map["fa-wizards-of-the-coast"] = QString::fromWCharArray(L"\xF730"); + fontawesome_character_map["fa-think-peaks"] = QString::fromWCharArray(L"\xF731"); + fontawesome_character_map["fa-cloud-meatball"] = QString::fromWCharArray(L"\xF73b"); + fontawesome_character_map["fa-cloud-moon-rain"] = QString::fromWCharArray(L"\xF73c"); + fontawesome_character_map["fa-cloud-rain"] = QString::fromWCharArray(L"\xF73d"); + fontawesome_character_map["fa-cloud-showers-heavy"] = QString::fromWCharArray(L"\xF740"); + fontawesome_character_map["fa-cloud-sun-rain"] = QString::fromWCharArray(L"\xF743"); + fontawesome_character_map["fa-democrat"] = QString::fromWCharArray(L"\xF747"); + fontawesome_character_map["fa-flag-usa"] = QString::fromWCharArray(L"\xF74d"); + fontawesome_character_map["fa-meteor"] = QString::fromWCharArray(L"\xF753"); + fontawesome_character_map["fa-person-booth"] = QString::fromWCharArray(L"\xF756"); + fontawesome_character_map["fa-poo-storm"] = QString::fromWCharArray(L"\xF75a"); + fontawesome_character_map["fa-rainbow"] = QString::fromWCharArray(L"\xF75b"); + fontawesome_character_map["fa-reacteurope"] = QString::fromWCharArray(L"\xF75d"); + fontawesome_character_map["fa-republican"] = QString::fromWCharArray(L"\xF75e"); + fontawesome_character_map["fa-smog"] = QString::fromWCharArray(L"\xF75f"); + fontawesome_character_map["fa-temperature-high"] = QString::fromWCharArray(L"\xF769"); + fontawesome_character_map["fa-temperature-low"] = QString::fromWCharArray(L"\xF76b"); + fontawesome_character_map["fa-vote-yea"] = QString::fromWCharArray(L"\xF772"); + fontawesome_character_map["fa-water"] = QString::fromWCharArray(L"\xF773"); + fontawesome_character_map["fa-adobe"] = QString::fromWCharArray(L"\xF778"); + fontawesome_character_map["fa-artstation"] = QString::fromWCharArray(L"\xF77a"); + fontawesome_character_map["fa-atlassian"] = QString::fromWCharArray(L"\xF77b"); + fontawesome_character_map["fa-baby"] = QString::fromWCharArray(L"\xF77c"); + fontawesome_character_map["fa-baby-carriage"] = QString::fromWCharArray(L"\xF77d"); + fontawesome_character_map["fa-biohazard"] = QString::fromWCharArray(L"\xF780"); + fontawesome_character_map["fa-blog"] = QString::fromWCharArray(L"\xF781"); + fontawesome_character_map["fa-calendar-day"] = QString::fromWCharArray(L"\xF783"); + fontawesome_character_map["fa-calendar-week"] = QString::fromWCharArray(L"\xF784"); + fontawesome_character_map["fa-canadian-maple-leaf"] = QString::fromWCharArray(L"\xF785"); + fontawesome_character_map["fa-candy-cane"] = QString::fromWCharArray(L"\xF786"); + fontawesome_character_map["fa-carrot"] = QString::fromWCharArray(L"\xF787"); + fontawesome_character_map["fa-cash-register"] = QString::fromWCharArray(L"\xF788"); + fontawesome_character_map["fa-centos"] = QString::fromWCharArray(L"\xF789"); + fontawesome_character_map["fa-compress-arrows-alt"] = QString::fromWCharArray(L"\xF78c"); + fontawesome_character_map["fa-confluence"] = QString::fromWCharArray(L"\xF78d"); + fontawesome_character_map["fa-dhl"] = QString::fromWCharArray(L"\xF790"); + fontawesome_character_map["fa-diaspora"] = QString::fromWCharArray(L"\xF791"); + fontawesome_character_map["fa-dumpster"] = QString::fromWCharArray(L"\xF793"); + fontawesome_character_map["fa-dumpster-fire"] = QString::fromWCharArray(L"\xF794"); + fontawesome_character_map["fa-ethernet"] = QString::fromWCharArray(L"\xF796"); + fontawesome_character_map["fa-fedex"] = QString::fromWCharArray(L"\xF797"); + fontawesome_character_map["fa-fedora"] = QString::fromWCharArray(L"\xF798"); + fontawesome_character_map["fa-figma"] = QString::fromWCharArray(L"\xF799"); + fontawesome_character_map["fa-gifts"] = QString::fromWCharArray(L"\xF79c"); + fontawesome_character_map["fa-glass-cheers"] = QString::fromWCharArray(L"\xF79f"); + fontawesome_character_map["fa-glass-whiskey"] = QString::fromWCharArray(L"\xF7a0"); + fontawesome_character_map["fa-globe-europe"] = QString::fromWCharArray(L"\xF7a2"); + fontawesome_character_map["fa-grip-lines"] = QString::fromWCharArray(L"\xF7a4"); + fontawesome_character_map["fa-grip-lines-vertical"] = QString::fromWCharArray(L"\xF7a5"); + fontawesome_character_map["fa-guitar"] = QString::fromWCharArray(L"\xF7a6"); + fontawesome_character_map["fa-heart-broken"] = QString::fromWCharArray(L"\xF7a9"); + fontawesome_character_map["fa-holly-berry"] = QString::fromWCharArray(L"\xF7aa"); + fontawesome_character_map["fa-horse-head"] = QString::fromWCharArray(L"\xF7ab"); + fontawesome_character_map["fa-icicles"] = QString::fromWCharArray(L"\xF7ad"); + fontawesome_character_map["fa-igloo"] = QString::fromWCharArray(L"\xF7ae"); + fontawesome_character_map["fa-intercom"] = QString::fromWCharArray(L"\xF7af"); + fontawesome_character_map["fa-invision"] = QString::fromWCharArray(L"\xF7b0"); + fontawesome_character_map["fa-jira"] = QString::fromWCharArray(L"\xF7b1"); + fontawesome_character_map["fa-mendeley"] = QString::fromWCharArray(L"\xF7b3"); + fontawesome_character_map["fa-mitten"] = QString::fromWCharArray(L"\xF7b5"); + fontawesome_character_map["fa-mug-hot"] = QString::fromWCharArray(L"\xF7b6"); + fontawesome_character_map["fa-radiation"] = QString::fromWCharArray(L"\xF7b9"); + fontawesome_character_map["fa-radiation-alt"] = QString::fromWCharArray(L"\xF7ba"); + fontawesome_character_map["fa-raspberry-pi"] = QString::fromWCharArray(L"\xF7bb"); + fontawesome_character_map["fa-redhat"] = QString::fromWCharArray(L"\xF7bc"); + fontawesome_character_map["fa-restroom"] = QString::fromWCharArray(L"\xF7bd"); + fontawesome_character_map["fa-satellite"] = QString::fromWCharArray(L"\xF7bf"); + fontawesome_character_map["fa-satellite-dish"] = QString::fromWCharArray(L"\xF7c0"); + fontawesome_character_map["fa-sd-card"] = QString::fromWCharArray(L"\xF7c2"); + fontawesome_character_map["fa-sim-card"] = QString::fromWCharArray(L"\xF7c4"); + fontawesome_character_map["fa-skating"] = QString::fromWCharArray(L"\xF7c5"); + fontawesome_character_map["fa-sketch"] = QString::fromWCharArray(L"\xF7c6"); + fontawesome_character_map["fa-skiing"] = QString::fromWCharArray(L"\xF7c9"); + fontawesome_character_map["fa-skiing-nordic"] = QString::fromWCharArray(L"\xF7ca"); + fontawesome_character_map["fa-sleigh"] = QString::fromWCharArray(L"\xF7cc"); + fontawesome_character_map["fa-sms"] = QString::fromWCharArray(L"\xF7cd"); + fontawesome_character_map["fa-snowboarding"] = QString::fromWCharArray(L"\xF7ce"); + fontawesome_character_map["fa-snowman"] = QString::fromWCharArray(L"\xF7d0"); + fontawesome_character_map["fa-snowplow"] = QString::fromWCharArray(L"\xF7d2"); + fontawesome_character_map["fa-sourcetree"] = QString::fromWCharArray(L"\xF7d3"); + fontawesome_character_map["fa-suse"] = QString::fromWCharArray(L"\xF7d6"); + fontawesome_character_map["fa-tenge"] = QString::fromWCharArray(L"\xF7d7"); + fontawesome_character_map["fa-toilet"] = QString::fromWCharArray(L"\xF7d8"); + fontawesome_character_map["fa-tools"] = QString::fromWCharArray(L"\xF7d9"); + fontawesome_character_map["fa-tram"] = QString::fromWCharArray(L"\xF7da"); + fontawesome_character_map["fa-ubuntu"] = QString::fromWCharArray(L"\xF7df"); + fontawesome_character_map["fa-ups"] = QString::fromWCharArray(L"\xF7e0"); + fontawesome_character_map["fa-usps"] = QString::fromWCharArray(L"\xF7e1"); + fontawesome_character_map["fa-yarn"] = QString::fromWCharArray(L"\xF7e3"); + fontawesome_character_map["fa-fire-alt"] = QString::fromWCharArray(L"\xF7e4"); + fontawesome_character_map["fa-bacon"] = QString::fromWCharArray(L"\xF7e5"); + fontawesome_character_map["fa-book-medical"] = QString::fromWCharArray(L"\xF7e6"); + fontawesome_character_map["fa-bread-slice"] = QString::fromWCharArray(L"\xF7ec"); + fontawesome_character_map["fa-cheese"] = QString::fromWCharArray(L"\xF7ef"); + fontawesome_character_map["fa-clinic-medical"] = QString::fromWCharArray(L"\xF7f2"); + fontawesome_character_map["fa-comment-medical"] = QString::fromWCharArray(L"\xF7f5"); + fontawesome_character_map["fa-crutch"] = QString::fromWCharArray(L"\xF7f7"); + fontawesome_character_map["fa-egg"] = QString::fromWCharArray(L"\xF7fb"); + fontawesome_character_map["fa-hamburger"] = QString::fromWCharArray(L"\xF805"); + fontawesome_character_map["fa-hand-middle-finger"] = QString::fromWCharArray(L"\xF806"); + fontawesome_character_map["fa-hard-hat"] = QString::fromWCharArray(L"\xF807"); + fontawesome_character_map["fa-hotdog"] = QString::fromWCharArray(L"\xF80f"); + fontawesome_character_map["fa-ice-cream"] = QString::fromWCharArray(L"\xF810"); + fontawesome_character_map["fa-laptop-medical"] = QString::fromWCharArray(L"\xF812"); + fontawesome_character_map["fa-pager"] = QString::fromWCharArray(L"\xF815"); + fontawesome_character_map["fa-pepper-hot"] = QString::fromWCharArray(L"\xF816"); + fontawesome_character_map["fa-pizza-slice"] = QString::fromWCharArray(L"\xF818"); + fontawesome_character_map["fa-trash-restore"] = QString::fromWCharArray(L"\xF829"); + fontawesome_character_map["fa-trash-restore-alt"] = QString::fromWCharArray(L"\xF82a"); + fontawesome_character_map["fa-user-nurse"] = QString::fromWCharArray(L"\xF82f"); + fontawesome_character_map["fa-airbnb"] = QString::fromWCharArray(L"\xF834"); + fontawesome_character_map["fa-battle-net"] = QString::fromWCharArray(L"\xF835"); + fontawesome_character_map["fa-bootstrap"] = QString::fromWCharArray(L"\xF836"); + fontawesome_character_map["fa-buffer"] = QString::fromWCharArray(L"\xF837"); + fontawesome_character_map["fa-chromecast"] = QString::fromWCharArray(L"\xF838"); + fontawesome_character_map["fa-evernote"] = QString::fromWCharArray(L"\xF839"); + fontawesome_character_map["fa-itch-io"] = QString::fromWCharArray(L"\xF83a"); + fontawesome_character_map["fa-salesforce"] = QString::fromWCharArray(L"\xF83b"); + fontawesome_character_map["fa-speaker-deck"] = QString::fromWCharArray(L"\xF83c"); + fontawesome_character_map["fa-symfony"] = QString::fromWCharArray(L"\xF83d"); + fontawesome_character_map["fa-wave-square"] = QString::fromWCharArray(L"\xF83e"); + fontawesome_character_map["fa-waze"] = QString::fromWCharArray(L"\xF83f"); + fontawesome_character_map["fa-yammer"] = QString::fromWCharArray(L"\xF840"); + fontawesome_character_map["fa-git-alt"] = QString::fromWCharArray(L"\xF841"); + fontawesome_character_map["fa-stackpath"] = QString::fromWCharArray(L"\xF842"); + fontawesome_character_map["fa-biking"] = QString::fromWCharArray(L"\xF84a"); + fontawesome_character_map["fa-border-all"] = QString::fromWCharArray(L"\xF84c"); + fontawesome_character_map["fa-border-none"] = QString::fromWCharArray(L"\xF850"); + fontawesome_character_map["fa-border-style"] = QString::fromWCharArray(L"\xF853"); + fontawesome_character_map["fa-fan"] = QString::fromWCharArray(L"\xF863"); + fontawesome_character_map["fa-icons"] = QString::fromWCharArray(L"\xF86d"); + fontawesome_character_map["fa-phone-alt"] = QString::fromWCharArray(L"\xF879"); + fontawesome_character_map["fa-phone-square-alt"] = QString::fromWCharArray(L"\xF87b"); + fontawesome_character_map["fa-photo-video"] = QString::fromWCharArray(L"\xF87c"); + fontawesome_character_map["fa-remove-format"] = QString::fromWCharArray(L"\xF87d"); + fontawesome_character_map["fa-sort-alpha-down-alt"] = QString::fromWCharArray(L"\xF881"); + fontawesome_character_map["fa-sort-alpha-up-alt"] = QString::fromWCharArray(L"\xF882"); + fontawesome_character_map["fa-sort-amount-down-alt"] = QString::fromWCharArray(L"\xF884"); + fontawesome_character_map["fa-sort-amount-up-alt"] = QString::fromWCharArray(L"\xF885"); + fontawesome_character_map["fa-sort-numeric-down-alt"] = QString::fromWCharArray(L"\xF886"); + fontawesome_character_map["fa-sort-numeric-up-alt"] = QString::fromWCharArray(L"\xF887"); + fontawesome_character_map["fa-spell-check"] = QString::fromWCharArray(L"\xF891"); + fontawesome_character_map["fa-voicemail"] = QString::fromWCharArray(L"\xF897"); + fontawesome_character_map["fa-cotton-bureau"] = QString::fromWCharArray(L"\xF89e"); + fontawesome_character_map["fa-buy-n-large"] = QString::fromWCharArray(L"\xF8a6"); + fontawesome_character_map["fa-hat-cowboy"] = QString::fromWCharArray(L"\xF8c0"); + fontawesome_character_map["fa-hat-cowboy-side"] = QString::fromWCharArray(L"\xF8c1"); + fontawesome_character_map["fa-mdb"] = QString::fromWCharArray(L"\xF8ca"); + fontawesome_character_map["fa-mouse"] = QString::fromWCharArray(L"\xF8cc"); + fontawesome_character_map["fa-orcid"] = QString::fromWCharArray(L"\xF8d2"); + fontawesome_character_map["fa-record-vinyl"] = QString::fromWCharArray(L"\xF8d9"); + fontawesome_character_map["fa-swift"] = QString::fromWCharArray(L"\xF8e1"); + fontawesome_character_map["fa-umbraco"] = QString::fromWCharArray(L"\xF8e8"); + fontawesome_character_map["fa-caravan"] = QString::fromWCharArray(L"\xF8ff"); + fontawesome_character_map["fa-firefox-browser"] = QString::fromWCharArray(L"\xF907"); + fontawesome_character_map["fa-ideal"] = QString::fromWCharArray(L"\xF913"); + fontawesome_character_map["fa-microblog"] = QString::fromWCharArray(L"\xF91a"); + fontawesome_character_map["fa-pied-piper-square"] = QString::fromWCharArray(L"\xF91e"); + fontawesome_character_map["fa-trailer"] = QString::fromWCharArray(L"\xF941"); + fontawesome_character_map["fa-unity"] = QString::fromWCharArray(L"\xF949"); + + /* For backwards compatibility */ + fontawesome_character_map["fa-glass"] = QString::fromWCharArray(L"\xF000"); + fontawesome_character_map["fa-remove"] = QString::fromWCharArray(L"\xF00d"); + fontawesome_character_map["fa-close"] = QString::fromWCharArray(L"\xF00d"); + fontawesome_character_map["fa-gear"] = QString::fromWCharArray(L"\xF013"); + fontawesome_character_map["fa-clock-o"] = QString::fromWCharArray(L"\xF017"); + fontawesome_character_map["fa-rotate-right"] = QString::fromWCharArray(L"\xF01e"); + fontawesome_character_map["fa-repeat"] = QString::fromWCharArray(L"\xF01e"); + fontawesome_character_map["fa-refresh"] = QString::fromWCharArray(L"\xF021"); + fontawesome_character_map["fa-dedent"] = QString::fromWCharArray(L"\xF03b"); + fontawesome_character_map["fa-video-camera"] = QString::fromWCharArray(L"\xF03d"); + fontawesome_character_map["fa-photo"] = QString::fromWCharArray(L"\xF03e"); + fontawesome_character_map["fa-picture-o"] = QString::fromWCharArray(L"\xF03e"); + fontawesome_character_map["fa-pencil-square-o"] = QString::fromWCharArray(L"\xF044"); + fontawesome_character_map["fa-mail-forward"] = QString::fromWCharArray(L"\xF064"); + fontawesome_character_map["fa-warning"] = QString::fromWCharArray(L"\xF071"); + fontawesome_character_map["fa-calendar"] = QString::fromWCharArray(L"\xF073"); + fontawesome_character_map["fa-bar-chart-o"] = QString::fromWCharArray(L"\xF080"); + fontawesome_character_map["fa-bar-chart"] = QString::fromWCharArray(L"\xF080"); + fontawesome_character_map["fa-gears"] = QString::fromWCharArray(L"\xF085"); + fontawesome_character_map["fa-linkedin-square"] = QString::fromWCharArray(L"\xF08c"); + fontawesome_character_map["fa-thumb-tack"] = QString::fromWCharArray(L"\xF08d"); + fontawesome_character_map["fa-lemon-o"] = QString::fromWCharArray(L"\xF094"); + fontawesome_character_map["fa-hdd-o"] = QString::fromWCharArray(L"\xF0a0"); + fontawesome_character_map["fa-bell"] = QString::fromWCharArray(L"\xF0f3"); + fontawesome_character_map["fa-hand-o-right"] = QString::fromWCharArray(L"\xF0a4"); + fontawesome_character_map["fa-hand-o-left"] = QString::fromWCharArray(L"\xF0a5"); + fontawesome_character_map["fa-hand-o-up"] = QString::fromWCharArray(L"\xF0a6"); + fontawesome_character_map["fa-hand-o-down"] = QString::fromWCharArray(L"\xF0a7"); + fontawesome_character_map["fa-group"] = QString::fromWCharArray(L"\xF0c0"); + fontawesome_character_map["fa-chain"] = QString::fromWCharArray(L"\xF0c1"); + fontawesome_character_map["fa-scissors"] = QString::fromWCharArray(L"\xF0c4"); + fontawesome_character_map["fa-files-o"] = QString::fromWCharArray(L"\xF0c5"); + fontawesome_character_map["fa-floppy-o"] = QString::fromWCharArray(L"\xF0c7"); + fontawesome_character_map["fa-navicon"] = QString::fromWCharArray(L"\xF0c9"); + fontawesome_character_map["fa-reorder"] = QString::fromWCharArray(L"\xF0c9"); + fontawesome_character_map["fa-google-plus"] = QString::fromWCharArray(L"\xF0d5"); + fontawesome_character_map["fa-money"] = QString::fromWCharArray(L"\xF0d6"); + fontawesome_character_map["fa-unsorted"] = QString::fromWCharArray(L"\xF0dc"); + fontawesome_character_map["fa-sort-desc"] = QString::fromWCharArray(L"\xF0dd"); + fontawesome_character_map["fa-sort-asc"] = QString::fromWCharArray(L"\xF0de"); + fontawesome_character_map["fa-linkedin"] = QString::fromWCharArray(L"\xF0e1"); + fontawesome_character_map["fa-rotate-left"] = QString::fromWCharArray(L"\xF0e2"); + fontawesome_character_map["fa-legal"] = QString::fromWCharArray(L"\xF0e3"); + fontawesome_character_map["fa-flash"] = QString::fromWCharArray(L"\xF0e7"); + fontawesome_character_map["fa-clipboard"] = QString::fromWCharArray(L"\xF0ea"); + fontawesome_character_map["fa-lightbulb-o"] = QString::fromWCharArray(L"\xF0eb"); + fontawesome_character_map["fa-hospital-o"] = QString::fromWCharArray(L"\xF0f8"); + fontawesome_character_map["fa-mobile-phone"] = QString::fromWCharArray(L"\xF10b"); + fontawesome_character_map["fa-smile-o"] = QString::fromWCharArray(L"\xF118"); + fontawesome_character_map["fa-frown-o"] = QString::fromWCharArray(L"\xF119"); + fontawesome_character_map["fa-meh-o"] = QString::fromWCharArray(L"\xF11a"); + fontawesome_character_map["fa-keyboard-o"] = QString::fromWCharArray(L"\xF11c"); + fontawesome_character_map["fa-mail-reply-all"] = QString::fromWCharArray(L"\xF122"); + fontawesome_character_map["fa-code-fork"] = QString::fromWCharArray(L"\xF126"); + fontawesome_character_map["fa-chain-broken"] = QString::fromWCharArray(L"\xF127"); + fontawesome_character_map["fa-calendar-o"] = QString::fromWCharArray(L"\xF133"); + fontawesome_character_map["fa-pencil-square"] = QString::fromWCharArray(L"\xF14b"); + fontawesome_character_map["fa-toggle-down"] = QString::fromWCharArray(L"\xF150"); + fontawesome_character_map["fa-caret-square-o-down"] = QString::fromWCharArray(L"\xF150"); + fontawesome_character_map["fa-toggle-up"] = QString::fromWCharArray(L"\xF151"); + fontawesome_character_map["fa-caret-square-o-up"] = QString::fromWCharArray(L"\xF151"); + fontawesome_character_map["fa-toggle-right"] = QString::fromWCharArray(L"\xF152"); + fontawesome_character_map["fa-caret-square-o-right"] = QString::fromWCharArray(L"\xF152"); + fontawesome_character_map["fa-euro"] = QString::fromWCharArray(L"\xF153"); + fontawesome_character_map["fa-eur"] = QString::fromWCharArray(L"\xF153"); + fontawesome_character_map["fa-gbp"] = QString::fromWCharArray(L"\xF154"); + fontawesome_character_map["fa-dollar"] = QString::fromWCharArray(L"\xF155"); + fontawesome_character_map["fa-usd"] = QString::fromWCharArray(L"\xF155"); + fontawesome_character_map["fa-rupee"] = QString::fromWCharArray(L"\xF156"); + fontawesome_character_map["fa-inr"] = QString::fromWCharArray(L"\xF156"); + fontawesome_character_map["fa-cny"] = QString::fromWCharArray(L"\xF157"); + fontawesome_character_map["fa-rmb"] = QString::fromWCharArray(L"\xF157"); + fontawesome_character_map["fa-yen"] = QString::fromWCharArray(L"\xF157"); + fontawesome_character_map["fa-jpy"] = QString::fromWCharArray(L"\xF157"); + fontawesome_character_map["fa-ruble"] = QString::fromWCharArray(L"\xF158"); + fontawesome_character_map["fa-rouble"] = QString::fromWCharArray(L"\xF158"); + fontawesome_character_map["fa-rub"] = QString::fromWCharArray(L"\xF158"); + fontawesome_character_map["fa-won"] = QString::fromWCharArray(L"\xF159"); + fontawesome_character_map["fa-krw"] = QString::fromWCharArray(L"\xF159"); + fontawesome_character_map["fa-bitcoin"] = QString::fromWCharArray(L"\xF15a"); + fontawesome_character_map["fa-file-text"] = QString::fromWCharArray(L"\xF15c"); + fontawesome_character_map["fa-sort-alpha-asc"] = QString::fromWCharArray(L"\xF15d"); + fontawesome_character_map["fa-sort-alpha-desc"] = QString::fromWCharArray(L"\xF15e"); + fontawesome_character_map["fa-sort-amount-asc"] = QString::fromWCharArray(L"\xF160"); + fontawesome_character_map["fa-sort-amount-desc"] = QString::fromWCharArray(L"\xF161"); + fontawesome_character_map["fa-sort-numeric-asc"] = QString::fromWCharArray(L"\xF162"); + fontawesome_character_map["fa-sort-numeric-desc"] = QString::fromWCharArray(L"\xF163"); + fontawesome_character_map["fa-gittip"] = QString::fromWCharArray(L"\xF184"); + fontawesome_character_map["fa-sun-o"] = QString::fromWCharArray(L"\xF185"); + fontawesome_character_map["fa-moon-o"] = QString::fromWCharArray(L"\xF186"); + fontawesome_character_map["fa-toggle-left"] = QString::fromWCharArray(L"\xF191"); + fontawesome_character_map["fa-caret-square-o-left"] = QString::fromWCharArray(L"\xF191"); + fontawesome_character_map["fa-dot-circle-o"] = QString::fromWCharArray(L"\xF192"); + fontawesome_character_map["fa-turkish-lira"] = QString::fromWCharArray(L"\xF195"); + fontawesome_character_map["fa-try"] = QString::fromWCharArray(L"\xF195"); + fontawesome_character_map["fa-institution"] = QString::fromWCharArray(L"\xF19c"); + fontawesome_character_map["fa-bank"] = QString::fromWCharArray(L"\xF19c"); + fontawesome_character_map["fa-mortar-board"] = QString::fromWCharArray(L"\xF19d"); + fontawesome_character_map["fa-pied-piper"] = QString::fromWCharArray(L"\xF1a7"); + fontawesome_character_map["fa-automobile"] = QString::fromWCharArray(L"\xF1b9"); + fontawesome_character_map["fa-cab"] = QString::fromWCharArray(L"\xF1ba"); + fontawesome_character_map["fa-file-pdf-o"] = QString::fromWCharArray(L"\xF1c1"); + fontawesome_character_map["fa-file-word-o"] = QString::fromWCharArray(L"\xF1c2"); + fontawesome_character_map["fa-file-excel-o"] = QString::fromWCharArray(L"\xF1c3"); + fontawesome_character_map["fa-file-powerpoint-o"] = QString::fromWCharArray(L"\xF1c4"); + fontawesome_character_map["fa-file-photo-o"] = QString::fromWCharArray(L"\xF1c5"); + fontawesome_character_map["fa-file-picture-o"] = QString::fromWCharArray(L"\xF1c5"); + fontawesome_character_map["fa-file-image-o"] = QString::fromWCharArray(L"\xF1c5"); + fontawesome_character_map["fa-file-zip-o"] = QString::fromWCharArray(L"\xF1c6"); + fontawesome_character_map["fa-file-archive-o"] = QString::fromWCharArray(L"\xF1c6"); + fontawesome_character_map["fa-file-sound-o"] = QString::fromWCharArray(L"\xF1c7"); + fontawesome_character_map["fa-file-audio-o"] = QString::fromWCharArray(L"\xF1c7"); + fontawesome_character_map["fa-file-movie-o"] = QString::fromWCharArray(L"\xF1c8"); + fontawesome_character_map["fa-file-video-o"] = QString::fromWCharArray(L"\xF1c8"); + fontawesome_character_map["fa-file-code-o"] = QString::fromWCharArray(L"\xF1c9"); + fontawesome_character_map["fa-life-bouy"] = QString::fromWCharArray(L"\xF1cd"); + fontawesome_character_map["fa-life-buoy"] = QString::fromWCharArray(L"\xF1cd"); + fontawesome_character_map["fa-life-saver"] = QString::fromWCharArray(L"\xF1cd"); + fontawesome_character_map["fa-support"] = QString::fromWCharArray(L"\xF1cd"); + fontawesome_character_map["fa-circle-o-notch"] = QString::fromWCharArray(L"\xF1ce"); + fontawesome_character_map["fa-ra"] = QString::fromWCharArray(L"\xF1d0"); + fontawesome_character_map["fa-ge"] = QString::fromWCharArray(L"\xF1d1"); + fontawesome_character_map["fa-wechat"] = QString::fromWCharArray(L"\xF1d7"); + fontawesome_character_map["fa-send"] = QString::fromWCharArray(L"\xF1d8"); + fontawesome_character_map["fa-header"] = QString::fromWCharArray(L"\xF1dc"); + fontawesome_character_map["fa-sliders"] = QString::fromWCharArray(L"\xF1de"); + fontawesome_character_map["fa-soccer-ball-o"] = QString::fromWCharArray(L"\xF1e3"); + fontawesome_character_map["fa-futbol-o"] = QString::fromWCharArray(L"\xF1e3"); + fontawesome_character_map["fa-newspaper-o"] = QString::fromWCharArray(L"\xF1ea"); + fontawesome_character_map["fa-eyedropper"] = QString::fromWCharArray(L"\xF1fb"); + fontawesome_character_map["fa-area-chart"] = QString::fromWCharArray(L"\xF1fe"); + fontawesome_character_map["fa-pie-chart"] = QString::fromWCharArray(L"\xF200"); + fontawesome_character_map["fa-line-chart"] = QString::fromWCharArray(L"\xF201"); + fontawesome_character_map["fa-cc"] = QString::fromWCharArray(L"\xF20a"); + fontawesome_character_map["fa-shekel"] = QString::fromWCharArray(L"\xF20b"); + fontawesome_character_map["fa-sheqel"] = QString::fromWCharArray(L"\xF20b"); + fontawesome_character_map["fa-ils"] = QString::fromWCharArray(L"\xF20b"); + + /* For backwards compatibility, but not present in new font data */ + fontawesome_character_map["fa-envelope-o"] = QString::fromWCharArray(L"\xF003"); + fontawesome_character_map["fa-star-o"] = QString::fromWCharArray(L"\xF006"); + fontawesome_character_map["fa-trash-o"] = QString::fromWCharArray(L"\xF014"); + fontawesome_character_map["fa-file-o"] = QString::fromWCharArray(L"\xF016"); + fontawesome_character_map["fa-arrow-circle-o-down"] = QString::fromWCharArray(L"\xF01a"); + fontawesome_character_map["fa-arrow-circle-o-up"] = QString::fromWCharArray(L"\xF01b"); + fontawesome_character_map["fa-play-circle-o"] = QString::fromWCharArray(L"\xF01d"); + fontawesome_character_map["fa-pencil"] = QString::fromWCharArray(L"\xF040"); + fontawesome_character_map["fa-share-square-o"] = QString::fromWCharArray(L"\xF045"); + fontawesome_character_map["fa-check-square-o"] = QString::fromWCharArray(L"\xF046"); + fontawesome_character_map["fa-arrows"] = QString::fromWCharArray(L"\xF047"); + fontawesome_character_map["fa-times-circle-o"] = QString::fromWCharArray(L"\xF05c"); + fontawesome_character_map["fa-check-circle-o"] = QString::fromWCharArray(L"\xF05d"); + fontawesome_character_map["fa-arrows-v"] = QString::fromWCharArray(L"\xF07d"); + fontawesome_character_map["fa-arrows-h"] = QString::fromWCharArray(L"\xF07e"); + fontawesome_character_map["fa-thumbs-o-up"] = QString::fromWCharArray(L"\xF087"); + fontawesome_character_map["fa-thumbs-o-down"] = QString::fromWCharArray(L"\xF088"); + fontawesome_character_map["fa-heart-o"] = QString::fromWCharArray(L"\xF08a"); + fontawesome_character_map["fa-sign-out"] = QString::fromWCharArray(L"\xF08b"); + fontawesome_character_map["fa-external-link"] = QString::fromWCharArray(L"\xF08e"); + fontawesome_character_map["fa-sign-in"] = QString::fromWCharArray(L"\xF090"); + fontawesome_character_map["fa-square-o"] = QString::fromWCharArray(L"\xF096"); + fontawesome_character_map["fa-bookmark-o"] = QString::fromWCharArray(L"\xF097"); + fontawesome_character_map["fa-dashboard"] = QString::fromWCharArray(L"\xF0e4"); + fontawesome_character_map["fa-tachometer"] = QString::fromWCharArray(L"\xF0e4"); + fontawesome_character_map["fa-comment-o"] = QString::fromWCharArray(L"\xF0e5"); + fontawesome_character_map["fa-comments-o"] = QString::fromWCharArray(L"\xF0e6"); + fontawesome_character_map["fa-exchange"] = QString::fromWCharArray(L"\xF0ec"); + fontawesome_character_map["fa-cloud-download"] = QString::fromWCharArray(L"\xF0ed"); + fontawesome_character_map["fa-cloud-upload"] = QString::fromWCharArray(L"\xF0ee"); + fontawesome_character_map["fa-bell-o"] = QString::fromWCharArray(L"\xF0a2"); + fontawesome_character_map["fa-cutlery"] = QString::fromWCharArray(L"\xF0f5"); + fontawesome_character_map["fa-file-text-o"] = QString::fromWCharArray(L"\xF0f6"); + fontawesome_character_map["fa-building-o"] = QString::fromWCharArray(L"\xF0f7"); + fontawesome_character_map["fa-circle-o"] = QString::fromWCharArray(L"\xF10c"); + fontawesome_character_map["fa-mail-reply"] = QString::fromWCharArray(L"\xF112"); + fontawesome_character_map["fa-reply"] = QString::fromWCharArray(L"\xF112"); + fontawesome_character_map["fa-folder-o"] = QString::fromWCharArray(L"\xF114"); + fontawesome_character_map["fa-folder-open-o"] = QString::fromWCharArray(L"\xF115"); + fontawesome_character_map["fa-flag-o"] = QString::fromWCharArray(L"\xF11d"); + fontawesome_character_map["fa-star-half-empty"] = QString::fromWCharArray(L"\xF123"); + fontawesome_character_map["fa-star-half-full"] = QString::fromWCharArray(L"\xF123"); + fontawesome_character_map["fa-star-half-o"] = QString::fromWCharArray(L"\xF123"); + fontawesome_character_map["fa-shield"] = QString::fromWCharArray(L"\xF132"); + fontawesome_character_map["fa-ticket"] = QString::fromWCharArray(L"\xF145"); + fontawesome_character_map["fa-minus-square-o"] = QString::fromWCharArray(L"\xF147"); + fontawesome_character_map["fa-level-up"] = QString::fromWCharArray(L"\xF148"); + fontawesome_character_map["fa-level-down"] = QString::fromWCharArray(L"\xF149"); + fontawesome_character_map["fa-external-link-square"] = QString::fromWCharArray(L"\xF14c"); + fontawesome_character_map["fa-youtube-square"] = QString::fromWCharArray(L"\xF166"); + fontawesome_character_map["fa-youtube-play"] = QString::fromWCharArray(L"\xF16a"); + fontawesome_character_map["fa-bitbucket-square"] = QString::fromWCharArray(L"\xF172"); + fontawesome_character_map["fa-long-arrow-down"] = QString::fromWCharArray(L"\xF175"); + fontawesome_character_map["fa-long-arrow-up"] = QString::fromWCharArray(L"\xF176"); + fontawesome_character_map["fa-long-arrow-left"] = QString::fromWCharArray(L"\xF177"); + fontawesome_character_map["fa-long-arrow-right"] = QString::fromWCharArray(L"\xF178"); + fontawesome_character_map["fa-arrow-circle-o-right"] = QString::fromWCharArray(L"\xF18e"); + fontawesome_character_map["fa-arrow-circle-o-left"] = QString::fromWCharArray(L"\xF190"); + fontawesome_character_map["fa-plus-square-o"] = QString::fromWCharArray(L"\xF196"); + fontawesome_character_map["fa-spoon"] = QString::fromWCharArray(L"\xF1b1"); + fontawesome_character_map["fa-send-o"] = QString::fromWCharArray(L"\xF1d9"); + fontawesome_character_map["fa-paper-plane-o"] = QString::fromWCharArray(L"\xF1d9"); + fontawesome_character_map["fa-circle-thin"] = QString::fromWCharArray(L"\xF1db"); + fontawesome_character_map["fa-bell-slash-o"] = QString::fromWCharArray(L"\xF1f7"); + fontawesome_character_map["fa-meanpath"] = QString::fromWCharArray(L"\xF20c"); + } + } +} diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pie_chart_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pie_chart_display.cpp new file mode 100755 index 0000000..eee24cd --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pie_chart_display.cpp @@ -0,0 +1,422 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "pie_chart_display.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + + PieChartDisplay::PieChartDisplay() + : rviz::Display(), update_required_(false), first_time_(true), data_(0.0) + { + update_topic_property_ = new rviz::RosTopicProperty( + "Topic", "", + ros::message_traits::datatype(), + "std_msgs::Float32 topic to subscribe to.", + this, SLOT( updateTopic() )); + size_property_ = new rviz::IntProperty("size", 128, + "size of the plotter window", + this, SLOT(updateSize())); + left_property_ = new rviz::IntProperty("left", 128, + "left of the plotter window", + this, SLOT(updateLeft())); + top_property_ = new rviz::IntProperty("top", 128, + "top of the plotter window", + this, SLOT(updateTop())); + fg_color_property_ = new rviz::ColorProperty("foreground color", + QColor(25, 255, 240), + "color to draw line", + this, SLOT(updateFGColor())); + fg_alpha_property_ + = new rviz::FloatProperty("foreground alpha", 0.7, + "alpha belnding value for foreground", + this, SLOT(updateFGAlpha())); + fg_alpha2_property_ + = new rviz::FloatProperty("foreground alpha 2", 0.4, + "alpha belnding value for foreground for indicator", + this, SLOT(updateFGAlpha2())); + bg_color_property_ = new rviz::ColorProperty("background color", + QColor(0, 0, 0), + "background color", + this, SLOT(updateBGColor())); + bg_alpha_property_ + = new rviz::FloatProperty("backround alpha", 0.0, + "alpha belnding value for background", + this, SLOT(updateBGAlpha())); + text_size_property_ + = new rviz::IntProperty("text size", 14, + "text size", + this, SLOT(updateTextSize())); + show_caption_property_ + = new rviz::BoolProperty("show caption", true, + "show caption", + this, SLOT(updateShowCaption())); + max_value_property_ + = new rviz::FloatProperty("max value", 1.0, + "max value of pie chart", + this, SLOT(updateMaxValue())); + min_value_property_ + = new rviz::FloatProperty("min value", 0.0, + "min value of pie chart", + this, SLOT(updateMinValue())); + auto_color_change_property_ + = new rviz::BoolProperty("auto color change", + false, + "change the color automatically", + this, SLOT(updateAutoColorChange())); + max_color_property_ + = new rviz::ColorProperty("max color", + QColor(255, 0, 0), + "only used if auto color change is set to True.", + this, SLOT(updateMaxColor())); + + clockwise_rotate_property_ + = new rviz::BoolProperty("clockwise rotate direction", + false, + "change the rotate direction", + this, SLOT(updateClockwiseRotate())); + } + + PieChartDisplay::~PieChartDisplay() + { + if (overlay_->isVisible()) { + overlay_->hide(); + } + delete update_topic_property_; + delete fg_color_property_; + delete bg_color_property_; + delete fg_alpha_property_; + delete fg_alpha2_property_; + delete bg_alpha_property_; + delete top_property_; + delete left_property_; + delete size_property_; + delete min_value_property_; + delete max_value_property_; + delete text_size_property_; + delete show_caption_property_; + } + + void PieChartDisplay::onInitialize() + { + static int count = 0; + rviz::UniformStringStream ss; + ss << "PieChartDisplayObject" << count++; + overlay_.reset(new OverlayObject(ss.str())); + onEnable(); + updateSize(); + updateLeft(); + updateTop(); + updateFGColor(); + updateBGColor(); + updateFGAlpha(); + updateFGAlpha2(); + updateBGAlpha(); + updateMinValue(); + updateMaxValue(); + updateTextSize(); + updateShowCaption(); + updateAutoColorChange(); + updateMaxColor(); + updateClockwiseRotate(); + overlay_->updateTextureSize(texture_size_, texture_size_ + caption_offset_); + overlay_->hide(); + } + + void PieChartDisplay::update(float wall_dt, float ros_dt) + { + if (update_required_) { + update_required_ = false; + overlay_->updateTextureSize(texture_size_, texture_size_ + caption_offset_); + drawPlot(data_); + overlay_->setPosition(left_, top_); + overlay_->setDimensions(overlay_->getTextureWidth(), + overlay_->getTextureHeight()); + } + } + + void PieChartDisplay::processMessage(const std_msgs::Float32::ConstPtr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + + if (!overlay_->isVisible()) { + return; + } + if (data_ != msg->data || first_time_) { + first_time_ = false; + data_ = msg->data; + update_required_ = true; + } + } + + void PieChartDisplay::drawPlot(double val) + { + QColor fg_color(fg_color_); + + if (auto_color_change_) { + double r + = std::min(1.0, fabs((val - min_value_) / (max_value_ - min_value_))); + if (r > 0.6) { + double r2 = (r - 0.6) / 0.4; + fg_color.setRed((max_color_.red() - fg_color_.red()) * r2 + + fg_color_.red()); + fg_color.setGreen((max_color_.green() - fg_color_.green()) * r2 + + fg_color_.green()); + fg_color.setBlue((max_color_.blue() - fg_color_.blue()) * r2 + + fg_color_.blue()); + } + } + + + QColor fg_color2(fg_color); + QColor bg_color(bg_color_); + fg_color.setAlpha(fg_alpha_); + fg_color2.setAlpha(fg_alpha2_); + bg_color.setAlpha(bg_alpha_); + int width = overlay_->getTextureWidth(); + int height = overlay_->getTextureHeight(); + { + ScopedPixelBuffer buffer = overlay_->getBuffer(); + QImage Hud = buffer.getQImage(*overlay_, bg_color); + QPainter painter( &Hud ); + painter.setRenderHint(QPainter::Antialiasing, true); + + const int outer_line_width = 5; + const int value_line_width = 10; + const int value_indicator_line_width = 2; + const int value_padding = 5; + + const int value_aabb_offset + = outer_line_width + value_padding + value_line_width / 2; + + painter.setPen(QPen(fg_color, outer_line_width, Qt::SolidLine)); + + painter.drawEllipse(outer_line_width / 2, outer_line_width / 2, + width - outer_line_width , + height - outer_line_width - caption_offset_); + + painter.setPen(QPen(fg_color2, value_indicator_line_width, Qt::SolidLine)); + painter.drawEllipse(value_aabb_offset, value_aabb_offset, + width - value_aabb_offset * 2, + height - value_aabb_offset * 2 - caption_offset_); + + const double ratio = (val - min_value_) / (max_value_ - min_value_); + const double rotate_direction = clockwise_rotate_ ? -1.0 : 1.0; + const double ratio_angle = ratio * 360.0 * rotate_direction; + const double start_angle_offset = -90; + painter.setPen(QPen(fg_color, value_line_width, Qt::SolidLine)); + painter.drawArc(QRectF(value_aabb_offset, value_aabb_offset, + width - value_aabb_offset * 2, + height - value_aabb_offset * 2 - caption_offset_), + start_angle_offset * 16 , + ratio_angle * 16); + QFont font = painter.font(); + font.setPointSize(text_size_); + font.setBold(true); + painter.setFont(font); + painter.setPen(QPen(fg_color, value_line_width, Qt::SolidLine)); + std::ostringstream s; + s << std::fixed << std::setprecision(2) << val; + painter.drawText(0, 0, width, height - caption_offset_, + Qt::AlignCenter | Qt::AlignVCenter, + s.str().c_str()); + + // caption + if (show_caption_) { + painter.drawText(0, height - caption_offset_, width, caption_offset_, + Qt::AlignCenter | Qt::AlignVCenter, + getName()); + } + + // done + painter.end(); + // Unlock the pixel buffer + } + } + + + void PieChartDisplay::subscribe() + { + std::string topic_name = update_topic_property_->getTopicStd(); + if (topic_name.length() > 0 && topic_name != "/") { + ros::NodeHandle n; + sub_ = n.subscribe(topic_name, 1, &PieChartDisplay::processMessage, this); + } + } + + + void PieChartDisplay::unsubscribe() + { + sub_.shutdown(); + } + + void PieChartDisplay::onEnable() + { + subscribe(); + overlay_->show(); + first_time_ = true; + } + + void PieChartDisplay::onDisable() + { + unsubscribe(); + overlay_->hide(); + } + + void PieChartDisplay::updateSize() + { + boost::mutex::scoped_lock lock(mutex_); + texture_size_ = size_property_->getInt(); + } + + void PieChartDisplay::updateTop() + { + top_ = top_property_->getInt(); + } + + void PieChartDisplay::updateLeft() + { + left_ = left_property_->getInt(); + } + + void PieChartDisplay::updateBGColor() + { + bg_color_ = bg_color_property_->getColor(); + } + + void PieChartDisplay::updateFGColor() + { + fg_color_ = fg_color_property_->getColor(); + } + + void PieChartDisplay::updateFGAlpha() + { + fg_alpha_ = fg_alpha_property_->getFloat() * 255.0; + } + + void PieChartDisplay::updateFGAlpha2() + { + fg_alpha2_ = fg_alpha2_property_->getFloat() * 255.0; + } + + + void PieChartDisplay::updateBGAlpha() + { + bg_alpha_ = bg_alpha_property_->getFloat() * 255.0; + } + + void PieChartDisplay::updateMinValue() + { + min_value_ = min_value_property_->getFloat(); + } + + void PieChartDisplay::updateMaxValue() + { + max_value_ = max_value_property_->getFloat(); + } + + void PieChartDisplay::updateTextSize() + { + boost::mutex::scoped_lock lock(mutex_); + text_size_ = text_size_property_->getInt(); + QFont font; + font.setPointSize(text_size_); + caption_offset_ = QFontMetrics(font).height(); + + } + + void PieChartDisplay::updateShowCaption() + { + show_caption_ = show_caption_property_->getBool(); + } + + + void PieChartDisplay::updateTopic() + { + unsubscribe(); + subscribe(); + } + + void PieChartDisplay::updateAutoColorChange() + { + auto_color_change_ = auto_color_change_property_->getBool(); + if (auto_color_change_) { + max_color_property_->show(); + } + else { + max_color_property_->hide(); + } + } + + void PieChartDisplay::updateMaxColor() + { + max_color_ = max_color_property_->getColor(); + } + + void PieChartDisplay::updateClockwiseRotate() + { + clockwise_rotate_ = clockwise_rotate_property_->getBool(); + } + + bool PieChartDisplay::isInRegion(int x, int y) + { + return (top_ < y && top_ + texture_size_ > y && + left_ < x && left_ + texture_size_ > x); + } + + void PieChartDisplay::movePosition(int x, int y) + { + top_ = y; + left_ = x; + } + + void PieChartDisplay::setPosition(int x, int y) + { + top_property_->setValue(y); + left_property_->setValue(x); + } +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::PieChartDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pie_chart_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pie_chart_display.h new file mode 100755 index 0000000..7e177b8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pie_chart_display.h @@ -0,0 +1,144 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#ifndef JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_PIE_CHART_DISPLAY_H_ +#include "std_msgs/Float32.h" +#ifndef Q_MOC_RUN +#include +#include "overlay_utils.h" +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + class PieChartDisplay + : public rviz::Display + { + Q_OBJECT + public: + PieChartDisplay(); + virtual ~PieChartDisplay(); + + // methods for OverlayPickerTool + virtual bool isInRegion(int x, int y); + virtual void movePosition(int x, int y); + virtual void setPosition(int x, int y); + virtual int getX() { return left_; }; + virtual int getY() { return top_; }; + + protected: + virtual void subscribe(); + virtual void unsubscribe(); + virtual void onEnable(); + virtual void onDisable(); + virtual void onInitialize(); + virtual void processMessage(const std_msgs::Float32::ConstPtr& msg); + virtual void drawPlot(double val); + virtual void update(float wall_dt, float ros_dt); + // properties + rviz::RosTopicProperty* update_topic_property_; + rviz::IntProperty* size_property_; + rviz::IntProperty* left_property_; + rviz::IntProperty* top_property_; + rviz::ColorProperty* fg_color_property_; + rviz::ColorProperty* bg_color_property_; + rviz::ColorProperty* text_color_property_; + rviz::FloatProperty* fg_alpha_property_; + rviz::FloatProperty* fg_alpha2_property_; + rviz::FloatProperty* bg_alpha_property_; + rviz::FloatProperty* text_alpha_property_; + rviz::IntProperty* text_size_property_; + rviz::FloatProperty* max_value_property_; + rviz::FloatProperty* min_value_property_; + rviz::BoolProperty* show_caption_property_; + rviz::BoolProperty* auto_color_change_property_; + rviz::ColorProperty* max_color_property_; + rviz::BoolProperty* clockwise_rotate_property_; + + ros::Subscriber sub_; + int left_; + int top_; + uint16_t texture_size_; + QColor fg_color_; + QColor bg_color_; + QColor max_color_; + int text_size_; + bool show_caption_; + bool auto_color_change_; + int caption_offset_; + double fg_alpha_; + double fg_alpha2_; + double bg_alpha_; + double max_value_; + double min_value_; + float data_; + bool update_required_; + bool first_time_; + OverlayObject::Ptr overlay_; + bool clockwise_rotate_; + + boost::mutex mutex_; + + protected Q_SLOTS: + void updateTopic(); + void updateSize(); + void updateTop(); + void updateLeft(); + void updateBGColor(); + void updateTextSize(); + void updateFGColor(); + void updateFGAlpha(); + void updateFGAlpha2(); + void updateBGAlpha(); + void updateMinValue(); + void updateMaxValue(); + void updateShowCaption(); + void updateAutoColorChange(); + void updateMaxColor(); + void updateClockwiseRotate(); + + private: + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/plotter_2d_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/plotter_2d_display.cpp new file mode 100755 index 0000000..1422e27 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/plotter_2d_display.cpp @@ -0,0 +1,559 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "plotter_2d_display.h" +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + Plotter2DDisplay::Plotter2DDisplay() + : rviz::Display(), min_value_(0.0), max_value_(0.0) + { + update_topic_property_ = new rviz::RosTopicProperty( + "Topic", "", + ros::message_traits::datatype(), + "std_msgs::Float32 topic to subscribe to.", + this, SLOT(updateTopic())); + show_value_property_ = new rviz::BoolProperty( + "Show Value", true, + "Show value on plotter", + this, SLOT(updateShowValue())); + buffer_length_property_ = new rviz::IntProperty( + "Buffer length", 100, + ros::message_traits::datatype(), + this, SLOT(updateBufferSize())); + width_property_ = new rviz::IntProperty("width", 128, + "width of the plotter window", + this, SLOT(updateWidth())); + width_property_->setMin(1); + width_property_->setMax(2000); + height_property_ = new rviz::IntProperty("height", 128, + "height of the plotter window", + this, SLOT(updateHeight())); + height_property_->setMin(1); + height_property_->setMax(2000); + left_property_ = new rviz::IntProperty("left", 128, + "left of the plotter window", + this, SLOT(updateLeft())); + left_property_->setMin(0); + top_property_ = new rviz::IntProperty("top", 128, + "top of the plotter window", + this, SLOT(updateTop())); + top_property_->setMin(0); + auto_scale_property_ = new rviz::BoolProperty( + "auto scale", true, + "enable auto scale", + this, SLOT(updateAutoScale())); + max_value_property_ = new rviz::FloatProperty( + "max value", 1.0, + "max value, used only if auto scale is disabled", + this, SLOT(updateMaxValue())); + min_value_property_ = new rviz::FloatProperty( + "min value", -1.0, + "min value, used only if auto scale is disabled", + this, SLOT(updateMinValue())); + fg_color_property_ = new rviz::ColorProperty( + "foreground color", QColor(25, 255, 240), + "color to draw line", + this, SLOT(updateFGColor())); + fg_alpha_property_ = new rviz::FloatProperty( + "foreground alpha", 0.7, + "alpha belnding value for foreground", + this, SLOT(updateFGAlpha())); + fg_alpha_property_->setMin(0); + fg_alpha_property_->setMax(1.0); + bg_color_property_ = new rviz::ColorProperty( + "background color", QColor(0, 0, 0), + "background color", + this, SLOT(updateBGColor())); + bg_alpha_property_ = new rviz::FloatProperty( + "backround alpha", 0.0, + "alpha belnding value for background", + this, SLOT(updateBGAlpha())); + bg_alpha_property_->setMin(0); + bg_alpha_property_->setMax(1.0); + line_width_property_ = new rviz::IntProperty("linewidth", 1, + "linewidth of the plot", + this, SLOT(updateLineWidth())); + line_width_property_->setMin(1); + line_width_property_->setMax(1000); + show_border_property_ = new rviz::BoolProperty( + "border", true, + "show border or not", + this, SLOT(updateShowBorder())); + text_size_property_ = new rviz::IntProperty("text size", 12, + "text size of the caption", + this, SLOT(updateTextSize())); + text_size_property_->setMin(1); + text_size_property_->setMax(1000); + show_caption_property_ = new rviz::BoolProperty( + "show caption", true, + "show caption or not", + this, SLOT(updateShowCaption())); + update_interval_property_ = new rviz::FloatProperty( + "update interval", 0.04, + "update interval of the plotter", + this, SLOT(updateUpdateInterval())); + update_interval_property_->setMin(0.0); + update_interval_property_->setMax(100); + auto_color_change_property_ + = new rviz::BoolProperty("auto color change", + false, + "change the color automatically", + this, SLOT(updateAutoColorChange())); + max_color_property_ + = new rviz::ColorProperty( + "max color", + QColor(255, 0, 0), + "only used if auto color change is set to True.", + this, SLOT(updateMaxColor())); + } + + Plotter2DDisplay::~Plotter2DDisplay() + { + onDisable(); + // delete update_topic_property_; + // delete buffer_length_property_; + // delete fg_color_property_; + // delete bg_color_property_; + // delete fg_alpha_property_; + // delete bg_alpha_property_; + // delete top_property_; + // delete left_property_; + // delete width_property_; + // delete height_property_; + // delete line_width_property_; + // delete show_border_property_; + // delete auto_color_change_property_; + // delete max_color_property_; + // delete update_interval_property_; + // delete show_caption_property_; + // delete text_size_property_; + // delete min_value_property_; + // delete max_value_property_; + // delete auto_color_change_property_; + } + + void Plotter2DDisplay::initializeBuffer() + { + buffer_.resize(buffer_length_); + if (min_value_ == 0.0 && max_value_ == 0.0) { + min_value_ = -1.0; + max_value_ = 1.0; + } + for (size_t i = 0; i < buffer_length_; i++) { + buffer_[i] = 0.0; + } + } + + void Plotter2DDisplay::onInitialize() + { + static int count = 0; + rviz::UniformStringStream ss; + ss << "Plotter2DDisplayObject" << count++; + overlay_.reset(new OverlayObject(ss.str())); + updateBufferSize(); + onEnable(); + updateShowValue(); + updateWidth(); + updateHeight(); + updateLeft(); + updateTop(); + updateFGColor(); + updateBGColor(); + updateFGAlpha(); + updateBGAlpha(); + updateLineWidth(); + updateUpdateInterval(); + updateShowBorder(); + updateAutoColorChange(); + updateMaxColor(); + updateShowCaption(); + updateTextSize(); + updateAutoScale(); + updateMinValue(); + updateMaxValue(); + overlay_->updateTextureSize(width_property_->getInt(), + height_property_->getInt() + caption_offset_); + } + + void Plotter2DDisplay::drawPlot() + { + QColor fg_color(fg_color_); + QColor bg_color(bg_color_); + + fg_color.setAlpha(fg_alpha_); + bg_color.setAlpha(bg_alpha_); + + if (auto_color_change_) { + double r + = std::min(std::max((buffer_[buffer_.size() - 1] - min_value_) / (max_value_ - min_value_), + 0.0), 1.0); + if (r > 0.3) { + double r2 = (r - 0.3) / 0.7; + fg_color.setRed((max_color_.red() - fg_color_.red()) * r2 + + fg_color_.red()); + fg_color.setGreen((max_color_.green() - fg_color_.green()) * r2 + + fg_color_.green()); + fg_color.setBlue((max_color_.blue() - fg_color_.blue()) * r2 + + fg_color_.blue()); + } + } + + { + ScopedPixelBuffer buffer = overlay_->getBuffer(); + QImage Hud = buffer.getQImage(*overlay_); + // initilize by the background color + for (int i = 0; i < overlay_->getTextureWidth(); i++) { + for (int j = 0; j < overlay_->getTextureHeight(); j++) { + Hud.setPixel(i, j, bg_color.rgba()); + } + } + // paste in HUD speedometer. I resize the image and offset it by 8 pixels from + // the bottom left edge of the render window + QPainter painter( &Hud ); + painter.setRenderHint(QPainter::Antialiasing, true); + painter.setPen(QPen(fg_color, line_width_, Qt::SolidLine)); + + uint16_t w = overlay_->getTextureWidth(); + uint16_t h = overlay_->getTextureHeight() - caption_offset_; + + double margined_max_value = max_value_ + (max_value_ - min_value_) / 2; + double margined_min_value = min_value_ - (max_value_ - min_value_) / 2; + + for (size_t i = 1; i < buffer_length_; i++) { + double v_prev = (margined_max_value - buffer_[i - 1]) / (margined_max_value - margined_min_value); + double v = (margined_max_value - buffer_[i]) / (margined_max_value - margined_min_value); + double u_prev = (i - 1) / (float)buffer_length_; + double u = i / (float)buffer_length_; + + // chop within 0 ~ 1 + v_prev = std::max(std::min(v_prev, 1.0), 0.0); + u_prev = std::max(std::min(u_prev, 1.0), 0.0); + v = std::max(std::min(v, 1.0), 0.0); + u = std::max(std::min(u, 1.0), 0.0); + + uint16_t x_prev = (int)(u_prev * w); + uint16_t x = (int)(u * w); + uint16_t y_prev = (int)(v_prev * h); + uint16_t y = (int)(v * h); + painter.drawLine(x_prev, y_prev, x, y); + } + // draw border + if (show_border_) { + painter.drawLine(0, 0, 0, h); + painter.drawLine(0, h, w, h); + painter.drawLine(w, h, w, 0); + painter.drawLine(w, 0, 0, 0); + } + // draw caption + if (show_caption_) { + QFont font = painter.font(); + font.setPointSize(text_size_); + font.setBold(true); + painter.setFont(font); + painter.drawText(0, h, w, caption_offset_, + Qt::AlignCenter | Qt::AlignVCenter, + getName()); + } + if (show_value_) { + QFont font = painter.font(); + font.setPointSize(w / 4); + font.setBold(true); + painter.setFont(font); + std::ostringstream ss; + ss << std::fixed << std::setprecision(2) << buffer_[buffer_.size() - 1]; + painter.drawText(0, 0, w, h, + Qt::AlignCenter | Qt::AlignVCenter, + ss.str().c_str()); + } + + // done + painter.end(); + } + } + + void Plotter2DDisplay::processMessage(const std_msgs::Float32::ConstPtr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + + if (!isEnabled()) { + return; + } + // add the message to the buffer + double min_value = buffer_[0]; + double max_value = buffer_[0]; + for (size_t i = 0; i < buffer_length_ - 1; i++) { + buffer_[i] = buffer_[i + 1]; + if (min_value > buffer_[i]) { + min_value = buffer_[i]; + } + if (max_value < buffer_[i]) { + max_value = buffer_[i]; + } + } + buffer_[buffer_length_ - 1] = msg->data; + if (min_value > msg->data) { + min_value = msg->data; + } + if (max_value < msg->data) { + max_value = msg->data; + } + if (auto_scale_) { + min_value_ = min_value; + max_value_ = max_value; + if (min_value_ == max_value_) { + min_value_ = min_value_ - 0.5; + max_value_ = max_value_ + 0.5; + } + } + if (!overlay_->isVisible()) { + return; + } + + draw_required_ = true; + } + + void Plotter2DDisplay::update(float wall_dt, float ros_dt) + { + if (draw_required_) { + if (wall_dt + last_time_ > update_interval_) { + overlay_->updateTextureSize(texture_width_, + texture_height_ + caption_offset_); + overlay_->setPosition(left_, top_); + overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); + last_time_ = 0; + drawPlot(); + draw_required_ = false; + } + else { + last_time_ = last_time_ + wall_dt; + } + } + } + + void Plotter2DDisplay::subscribe() + { + initializeBuffer(); + std::string topic_name = update_topic_property_->getTopicStd(); + if (topic_name.length() > 0 && topic_name != "/") { + ros::NodeHandle n; + sub_ = n.subscribe(topic_name, 1, &Plotter2DDisplay::processMessage, this); + } + } + + void Plotter2DDisplay::unsubscribe() + { + sub_.shutdown(); + } + + void Plotter2DDisplay::onEnable() + { + last_time_ = 0; + draw_required_ = false; + subscribe(); + overlay_->show(); + } + + void Plotter2DDisplay::onDisable() + { + unsubscribe(); + overlay_->hide(); + } + + void Plotter2DDisplay::updateWidth() + { + boost::mutex::scoped_lock lock(mutex_); + texture_width_ = width_property_->getInt(); + } + + void Plotter2DDisplay::updateHeight() + { + boost::mutex::scoped_lock lock(mutex_); + texture_height_ = height_property_->getInt(); + } + + void Plotter2DDisplay::updateTop() + { + top_ = top_property_->getInt(); + } + + void Plotter2DDisplay::updateLeft() + { + left_ = left_property_->getInt(); + } + + void Plotter2DDisplay::updateBGColor() + { + bg_color_ = bg_color_property_->getColor(); + } + + void Plotter2DDisplay::updateFGColor() + { + fg_color_ = fg_color_property_->getColor(); + } + + void Plotter2DDisplay::updateFGAlpha() + { + fg_alpha_ = fg_alpha_property_->getFloat() * 255.0; + } + + void Plotter2DDisplay::updateBGAlpha() + { + bg_alpha_ = bg_alpha_property_->getFloat() * 255.0; + } + + void Plotter2DDisplay::updateTopic() + { + unsubscribe(); + subscribe(); + } + + void Plotter2DDisplay::updateShowValue() + { + show_value_ = show_value_property_->getBool(); + } + + void Plotter2DDisplay::updateShowBorder() + { + show_border_ = show_border_property_->getBool(); + } + + void Plotter2DDisplay::updateLineWidth() + { + line_width_ = line_width_property_->getInt(); + } + + void Plotter2DDisplay::updateBufferSize() + { + buffer_length_ = buffer_length_property_->getInt(); + initializeBuffer(); + } + + void Plotter2DDisplay::updateAutoColorChange() + { + auto_color_change_ = auto_color_change_property_->getBool(); + if (auto_color_change_) { + max_color_property_->show(); + } + else { + max_color_property_->hide(); + } + } + + void Plotter2DDisplay::updateMaxColor() + { + max_color_ = max_color_property_->getColor(); + } + + void Plotter2DDisplay::updateUpdateInterval() + { + update_interval_ = update_interval_property_->getFloat(); + } + + void Plotter2DDisplay::updateTextSize() + { + text_size_ = text_size_property_->getInt(); + QFont font; + font.setPointSize(text_size_); + caption_offset_ = QFontMetrics(font).height(); + } + + void Plotter2DDisplay::updateShowCaption() + { + show_caption_ = show_caption_property_->getBool(); + if (show_caption_) { + text_size_property_->show(); + } + else { + text_size_property_->hide(); + } + } + + void Plotter2DDisplay::updateMinValue() + { + if (!auto_scale_) { + min_value_ = min_value_property_->getFloat(); + } + } + + void Plotter2DDisplay::updateMaxValue() + { + if (!auto_scale_) { + max_value_ = max_value_property_->getFloat(); + } + } + + void Plotter2DDisplay::updateAutoScale() + { + auto_scale_ = auto_scale_property_->getBool(); + if (auto_scale_) { + min_value_property_->hide(); + max_value_property_->hide(); + } + else { + min_value_property_->show(); + max_value_property_->show(); + } + updateMinValue(); + updateMaxValue(); + } + + bool Plotter2DDisplay::isInRegion(int x, int y) + { + return (top_ < y && top_ + texture_height_ > y && + left_ < x && left_ + texture_width_ > x); + } + + void Plotter2DDisplay::movePosition(int x, int y) + { + top_ = y; + left_ = x; + } + + void Plotter2DDisplay::setPosition(int x, int y) + { + top_property_->setValue(y); + left_property_->setValue(x); + } + + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::Plotter2DDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/plotter_2d_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/plotter_2d_display.h new file mode 100755 index 0000000..f1a600c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/plotter_2d_display.h @@ -0,0 +1,166 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#ifndef JSK_RVIZ_PLUGIN_PLOTTER_2D_H_ +#define JSK_RVIZ_PLUGIN_PLOTTER_2D_H_ + +#include "std_msgs/Float32.h" +#ifndef Q_MOC_RUN +#include +#include "overlay_utils.h" +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + + class Plotter2DDisplay + : public rviz::Display + { + Q_OBJECT + public: + Plotter2DDisplay(); + virtual ~Plotter2DDisplay(); + // methods for OverlayPickerTool + virtual bool isInRegion(int x, int y); + virtual void movePosition(int x, int y); + virtual void setPosition(int x, int y); + virtual int getX() { return left_; }; + virtual int getY() { return top_; }; + protected: + //////////////////////////////////////////////////////// + // methods + //////////////////////////////////////////////////////// + virtual void update(float wall_dt, float ros_dt); + virtual void subscribe(); + virtual void unsubscribe(); + virtual void onEnable(); + virtual void onDisable(); + virtual void initializeBuffer(); + virtual void onInitialize(); + virtual void processMessage(const std_msgs::Float32::ConstPtr& msg); + virtual void drawPlot(); + //////////////////////////////////////////////////////// + // properties + //////////////////////////////////////////////////////// + rviz::RosTopicProperty* update_topic_property_; + rviz::BoolProperty* show_value_property_; + rviz::ColorProperty* fg_color_property_; + rviz::ColorProperty* bg_color_property_; + rviz::FloatProperty* fg_alpha_property_; + rviz::FloatProperty* bg_alpha_property_; + rviz::FloatProperty* update_interval_property_; + rviz::BoolProperty* show_border_property_; + rviz::IntProperty* buffer_length_property_; + rviz::IntProperty* width_property_; + rviz::IntProperty* height_property_; + rviz::IntProperty* left_property_; + rviz::IntProperty* top_property_; + rviz::IntProperty* line_width_property_; + rviz::BoolProperty* auto_color_change_property_; + rviz::ColorProperty* max_color_property_; + rviz::BoolProperty* show_caption_property_; + rviz::IntProperty* text_size_property_; + rviz::BoolProperty* auto_scale_property_; + rviz::FloatProperty* max_value_property_; + rviz::FloatProperty* min_value_property_; + + OverlayObject::Ptr overlay_; + QColor fg_color_; + QColor max_color_; + QColor bg_color_; + + double fg_alpha_; + double bg_alpha_; + bool auto_scale_; + bool show_border_; + bool auto_color_change_; + bool show_value_; + bool show_caption_; + bool draw_required_; + float last_time_; + float update_interval_; + + int buffer_length_; + std::vector buffer_; + uint16_t texture_width_; + uint16_t texture_height_; + int left_; + int top_; + int line_width_; + int text_size_; + int caption_offset_; + double min_value_; + double max_value_; + + //////////////////////////////////////////////////////// + // ROS variables + //////////////////////////////////////////////////////// + boost::mutex mutex_; + ros::Subscriber sub_; + + protected Q_SLOTS: + void updateTopic(); + void updateShowValue(); + void updateBufferSize(); + void updateBGColor(); + void updateFGColor(); + void updateFGAlpha(); + void updateBGAlpha(); + void updateWidth(); + void updateHeight(); + void updateTop(); + void updateLeft(); + void updateLineWidth(); + void updateShowBorder(); + void updateAutoColorChange(); + void updateMaxColor(); + void updateUpdateInterval(); + void updateShowCaption(); + void updateTextSize(); + void updateAutoScale(); + void updateMinValue(); + void updateMaxValue(); + private: + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/polygon_array_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/polygon_array_display.cpp new file mode 100755 index 0000000..118a540 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/polygon_array_display.cpp @@ -0,0 +1,535 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#define BOOST_PARAMETER_MAX_ARITY 7 + +#include "polygon_array_display.h" +#include "rviz/properties/parse_color.h" +#include +#include +#include + +namespace jsk_rviz_plugins +{ + PolygonArrayDisplay::PolygonArrayDisplay() + { + coloring_property_ = new rviz::EnumProperty( + "coloring", "Auto", + "coloring method", + this, SLOT(updateColoring())); + coloring_property_->addOption("Auto", 0); + coloring_property_->addOption("Flat color", 1); + coloring_property_->addOption("Liekelihood", 2); + coloring_property_->addOption("Label", 3); + color_property_ = new rviz::ColorProperty( + "Color", QColor(25, 255, 0), + "Color to draw the polygons.", + this, SLOT(queueRender())); + alpha_property_ = new rviz::FloatProperty( + "Alpha", 1.0, + "Amount of transparency to apply to the polygon.", + this, SLOT(queueRender())); + only_border_property_ = new rviz::BoolProperty( + "only border", true, + "only shows the borders of polygons", + this, SLOT(updateOnlyBorder())); + show_normal_property_ = new rviz::BoolProperty( + "show normal", true, + "show normal direction", + this, SLOT(updateShowNormal())); + enable_lighting_property_ = new rviz::BoolProperty( + "enable lighting", true, + "enable lighting", + this, SLOT(updateEnableLighting())); + normal_length_property_ = new rviz::FloatProperty( + "normal length", 0.1, + "normal length", + this, SLOT(updateNormalLength())); + normal_length_property_->setMin(0); + //only_border_ = true; + alpha_property_->setMin(0); + alpha_property_->setMax(1); + } + + PolygonArrayDisplay::~PolygonArrayDisplay() + { + delete alpha_property_; + delete color_property_; + delete only_border_property_; + delete coloring_property_; + delete show_normal_property_; + delete normal_length_property_; + for (size_t i = 0; i < lines_.size(); i++) { + delete lines_[i]; + } + + for (size_t i = 0; i < materials_.size(); i++) { + materials_[i]->unload(); + Ogre::MaterialManager::getSingleton().remove(materials_[i]->getName()); + } + + for (size_t i = 0; i < manual_objects_.size(); i++) { + scene_manager_->destroyManualObject(manual_objects_[i]); + scene_manager_->destroySceneNode(scene_nodes_[i]); + } + } + + void PolygonArrayDisplay::onInitialize() + { + MFDClass::onInitialize(); + updateOnlyBorder(); + updateColoring(); + updateShowNormal(); + updateNormalLength(); + } + + void PolygonArrayDisplay::allocateMaterials(int num) + { + if (only_border_) { + return; + } + static uint32_t count = 0; + + if (num > materials_.size()) { + for (size_t i = materials_.size(); num > i; i++) { + std::stringstream ss; + ss << "PolygonArrayMaterial" << count++; + Ogre::MaterialPtr material + = Ogre::MaterialManager::getSingleton().create(ss.str(), "rviz"); + material->setReceiveShadows(false); + material->getTechnique(0)->setLightingEnabled(enable_lighting_); + material->getTechnique(0)->setAmbient(0.5, 0.5, 0.5); + + //material->setCullingMode(Ogre::CULL_NONE); + materials_.push_back(material); + } + } + } + + bool validateFloats(const jsk_recognition_msgs::PolygonArray& msg) + { + for (size_t i = 0; i < msg.polygons.size(); i++) { + if (!rviz::validateFloats(msg.polygons[i].polygon.points)) + return false; + } + return true; + } + + void PolygonArrayDisplay::reset() + { + MFDClass::reset(); + for (size_t i = 0; i < manual_objects_.size(); i++) { + manual_objects_[i]->clear(); + } + } + + void PolygonArrayDisplay::updateSceneNodes( + const jsk_recognition_msgs::PolygonArray::ConstPtr& msg) + { + int scale_factor = 2; + if (only_border_) { + scale_factor = 1; + } + if (msg->polygons.size() * scale_factor > manual_objects_.size()) { + for (size_t i = manual_objects_.size(); + i < msg->polygons.size() * scale_factor; + i++) { + Ogre::SceneNode* scene_node + = scene_node_->createChildSceneNode(); + Ogre::ManualObject* manual_object + = scene_manager_->createManualObject(); + manual_object->setDynamic(true); + scene_node->attachObject(manual_object); + manual_objects_.push_back(manual_object); + scene_nodes_.push_back(scene_node); + } + } + else if (msg->polygons.size() * scale_factor < manual_objects_.size()) { + for (size_t i = msg->polygons.size() * scale_factor; + i < manual_objects_.size(); i++) { + manual_objects_[i]->setVisible(false); + } + } + // arrow nodes + if (msg->polygons.size() > arrow_objects_.size()) { + for (size_t i = arrow_objects_.size(); i < msg->polygons.size(); i++) { + Ogre::SceneNode* scene_node = scene_node_->createChildSceneNode(); + ArrowPtr arrow (new rviz::Arrow(scene_manager_, scene_node)); + scene_node->setVisible(false); + arrow_objects_.push_back(arrow); + arrow_nodes_.push_back(scene_node); + } + } + else if (msg->polygons.size() < manual_objects_.size()) { + for (size_t i = msg->polygons.size(); i < arrow_nodes_.size(); i++) { + //arrow_objects_[i]->setVisible(false); + arrow_nodes_[i]->setVisible(false); + } + } + } + + void PolygonArrayDisplay::updateLines(int num) + { + if (num > lines_.size()) { + for (size_t i = lines_.size(); i < num; i++) { + rviz::BillboardLine* line + = new rviz::BillboardLine(context_->getSceneManager(), + scene_nodes_[i]); + line->setLineWidth(0.01); + line->setNumLines(1); + lines_.push_back(line); + } + } + for (size_t i = 0; i < lines_.size(); i++) { + lines_[i]->clear(); + } + } + + Ogre::ColourValue PolygonArrayDisplay::getColor(size_t index) + { + Ogre::ColourValue color; + if (coloring_method_ == "auto") { + std_msgs::ColorRGBA ros_color = jsk_topic_tools::colorCategory20(index); + color.r = ros_color.r; + color.g = ros_color.g; + color.b = ros_color.b; + color.a = ros_color.a; + } + else if (coloring_method_ == "flat") { + color = rviz::qtToOgre(color_property_->getColor()); + } + else if (coloring_method_ == "likelihood") { + if (latest_msg_->likelihood.size() == 0 || + latest_msg_->likelihood.size() < index) { + setStatus(rviz::StatusProperty::Error, + "Topic", + "Message does not have lieklihood fields"); + } + else { + std_msgs::ColorRGBA ros_color + = jsk_topic_tools::heatColor(latest_msg_->likelihood[index]); + color.r = ros_color.r; + color.g = ros_color.g; + color.b = ros_color.b; + color.a = ros_color.a; + } + } + else if (coloring_method_ == "label") { + if (latest_msg_->labels.size() == 0 || + latest_msg_->labels.size() < index) { + setStatus(rviz::StatusProperty::Error, + "Topic", + "Message does not have lebels fields"); + } + else { + std_msgs::ColorRGBA ros_color + = jsk_topic_tools::colorCategory20(latest_msg_->labels[index]); + color.r = ros_color.r; + color.g = ros_color.g; + color.b = ros_color.b; + color.a = ros_color.a; + } + } + color.a = alpha_property_->getFloat(); + return color; + } + + void PolygonArrayDisplay::processLine( + const size_t i, + const geometry_msgs::PolygonStamped& polygon) + { + Ogre::SceneNode* scene_node = scene_nodes_[i]; + //Ogre::ManualObject* manual_object = manual_objects_[i]; + Ogre::Vector3 position; + Ogre::Quaternion orientation; + if (!getTransform(polygon.header, position, orientation)) + return; + scene_node->setPosition(position); + scene_node->setOrientation(orientation); + rviz::BillboardLine* line = lines_[i]; + line->clear(); + line->setMaxPointsPerLine(polygon.polygon.points.size() + 1); + + Ogre::ColourValue color = getColor(i); + line->setColor(color.r, color.g, color.b, color.a); + + for (size_t i = 0; i < polygon.polygon.points.size(); ++i) { + Ogre::Vector3 step_position; + step_position.x = polygon.polygon.points[i].x; + step_position.y = polygon.polygon.points[i].y; + step_position.z = polygon.polygon.points[i].z; + line->addPoint(step_position); + } + Ogre::Vector3 step_position; + step_position.x = polygon.polygon.points[0].x; + step_position.y = polygon.polygon.points[0].y; + step_position.z = polygon.polygon.points[0].z; + line->addPoint(step_position); + } + + void PolygonArrayDisplay::processPolygonMaterial(const size_t i) + { + Ogre::ColourValue color = getColor(i); + materials_[i]->getTechnique(0)->setLightingEnabled(enable_lighting_); + materials_[i]->getTechnique(0)->setAmbient(color * 0.5); + materials_[i]->getTechnique(0)->setDiffuse(color); + if (color.a < 0.9998) { + materials_[i]->getTechnique(0)->setSceneBlending( + Ogre::SBT_TRANSPARENT_ALPHA); + materials_[i]->getTechnique(0)->setDepthWriteEnabled(false); + } + else { + materials_[i]->getTechnique(0)->setSceneBlending(Ogre::SBT_REPLACE); + materials_[i]->getTechnique(0)->setDepthWriteEnabled(true); + } + + materials_[i]->getTechnique(0)->setAmbient(color * 0.5); + materials_[i]->getTechnique(0)->setDiffuse(color); + } + + void PolygonArrayDisplay::processPolygon( + const size_t i, const geometry_msgs::PolygonStamped& polygon) + { + Ogre::Vector3 position; + Ogre::Quaternion orientation; + if (!getTransform(polygon.header, position, orientation)) + return; + + { + Ogre::SceneNode* scene_node = scene_nodes_[i * 2]; + Ogre::ManualObject* manual_object = manual_objects_[i * 2]; + Ogre::ColourValue color = getColor(i); + scene_node->setPosition(position); + scene_node->setOrientation(orientation); + manual_object->clear(); + manual_object->setVisible(true); + + jsk_recognition_utils::Polygon geo_polygon + = jsk_recognition_utils::Polygon::fromROSMsg(polygon.polygon); + std::vector + triangles = geo_polygon.decomposeToTriangles(); + + uint32_t num_points = 0; + for (size_t j = 0; j < triangles.size(); j++) { + num_points += triangles[j]->getNumVertices(); + } + if(num_points > 0) { + manual_object->estimateVertexCount(num_points * 2); + manual_object->begin( + materials_[i]->getName(), Ogre::RenderOperation::OT_TRIANGLE_LIST); + for (size_t ii = 0; ii < triangles.size(); ii++) { + jsk_recognition_utils::Polygon::Ptr triangle = triangles[ii]; + size_t num_vertices = triangle->getNumVertices(); + for (size_t j = 0; j < num_vertices; j++) { + Eigen::Vector3f v = triangle->getVertex(j); + manual_object->position(v[0], v[1], v[2]); + manual_object->colour(color.r, color.g, color.b, color.a); + } + for (int j = num_vertices - 1; j >= 0; j--) { + Eigen::Vector3f v = triangle->getVertex(j); + manual_object->position(v[0], v[1], v[2]); + manual_object->colour(color.r, color.g, color.b, color.a); + } + } + manual_object->end(); + } + } + } + + void PolygonArrayDisplay::processNormal( + const size_t i, const geometry_msgs::PolygonStamped& polygon) + { + Ogre::SceneNode* scene_node = arrow_nodes_[i]; + scene_node->setVisible(true); + ArrowPtr arrow = arrow_objects_[i]; + Ogre::Vector3 position; + Ogre::Quaternion orientation; + if (!getTransform(polygon.header, position, orientation)) + return; + scene_node->setPosition(position); + scene_node->setOrientation(orientation); // scene node is at frame pose + jsk_recognition_utils::Polygon geo_polygon + = jsk_recognition_utils::Polygon::fromROSMsg(polygon.polygon); + jsk_recognition_utils::Vertices vertices + = geo_polygon.getVertices(); + Eigen::Vector3f centroid(0, 0, 0); // should be replaced by centroid method + if (vertices.size() == 0) { + ROS_ERROR("the size of vertices is 0"); + } + else { + for (size_t j = 0; j < vertices.size(); j++) { + centroid = vertices[j] + centroid; + } + centroid = centroid / vertices.size(); + } + Ogre::Vector3 pos(centroid[0], centroid[1], centroid[2]); + Eigen::Vector3f normal = geo_polygon.getNormal(); + Ogre::Vector3 direction(normal[0], normal[1], normal[2]); + if (std::isnan(direction[0]) || std::isnan(direction[1]) || std::isnan(direction[2])) { + ROS_ERROR("failed to compute normal direction"); + Ogre::Vector3 zeroscale(0, 0, 0); + arrow->setScale(zeroscale); + return; + } + Ogre::Vector3 scale(normal_length_, normal_length_, normal_length_); + arrow->setPosition(pos); + arrow->setDirection(direction); + + arrow->setScale(scale); + arrow->setColor(getColor(i)); + } + + void PolygonArrayDisplay::processMessage( + const jsk_recognition_msgs::PolygonArray::ConstPtr& msg) + { + if (!validateFloats(*msg)) { + setStatus(rviz::StatusProperty::Error, + "Topic", + "Message contained invalid floating point values" + "(nans or infs)"); + return; + } + setStatus(rviz::StatusProperty::Ok, + "Topic", + "ok"); + latest_msg_ = msg; + // create nodes and manual objects + updateSceneNodes(msg); + allocateMaterials(msg->polygons.size()); + updateLines(msg->polygons.size()); + if (only_border_) { + // use line_ + for (size_t i = 0; i < manual_objects_.size(); i++) { + manual_objects_[i]->setVisible(false); + } + for (size_t i = 0; i < msg->polygons.size(); i++) { + geometry_msgs::PolygonStamped polygon = msg->polygons[i]; + if (polygon.polygon.points.size() >= 3) { + processLine(i, polygon); + } + } + } + else { + for (size_t i = 0; i < msg->polygons.size(); i++) { + processPolygonMaterial(i); + } + + for (size_t i = 0; i < msg->polygons.size(); i++) { + geometry_msgs::PolygonStamped polygon = msg->polygons[i]; + processPolygon(i, polygon); + } + } + + if (show_normal_) { + for (size_t i = 0; i < msg->polygons.size(); i++) { + geometry_msgs::PolygonStamped polygon = msg->polygons[i]; + if (polygon.polygon.points.size() >= 3) { + processNormal(i, polygon); + } + } + } + } + + bool PolygonArrayDisplay::getTransform( + const std_msgs::Header &header, + Ogre::Vector3 &position, Ogre::Quaternion &orientation) + { + bool ok = context_->getFrameManager()->getTransform( + header.frame_id, header.stamp, + position, orientation); + if (!ok) { + std::ostringstream oss; + oss << "Error transforming from frame '"; + oss << header.frame_id << "' to frame '"; + oss << qPrintable(fixed_frame_) << "'"; + ROS_DEBUG_STREAM(oss.str()); + setStatus(rviz::StatusProperty::Error, + "Transform", QString::fromStdString(oss.str())); + } + return ok; + } + + void PolygonArrayDisplay::updateColoring() + { + if (coloring_property_->getOptionInt() == 0) { + coloring_method_ = "auto"; + color_property_->hide(); + } + else if (coloring_property_->getOptionInt() == 1) { + coloring_method_ = "flat"; + color_property_->show(); + } + else if (coloring_property_->getOptionInt() == 2) { + coloring_method_ = "likelihood"; + color_property_->hide(); + } + else if (coloring_property_->getOptionInt() == 3) { + coloring_method_ = "label"; + color_property_->hide(); + } + } + + void PolygonArrayDisplay::updateOnlyBorder() + { + only_border_ = only_border_property_->getBool(); + } + + void PolygonArrayDisplay::updateShowNormal() + { + show_normal_ = show_normal_property_->getBool(); + if (show_normal_) { + normal_length_property_->show(); + } + else { + normal_length_property_->hide(); + for (size_t i = 0; i < arrow_nodes_.size(); i++) { + arrow_nodes_[i]->setVisible(false); + } + } + } + + void PolygonArrayDisplay::updateEnableLighting() + { + enable_lighting_ = enable_lighting_property_->getBool(); + } + + void PolygonArrayDisplay::updateNormalLength() + { + normal_length_ = normal_length_property_->getFloat(); + } +} + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::PolygonArrayDisplay, rviz::Display) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/polygon_array_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/polygon_array_display.h new file mode 100755 index 0000000..6fd135a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/polygon_array_display.h @@ -0,0 +1,126 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef POLYGON_ARRAY_DISPLAY_H +#define POLYGON_ARRAY_DISPLAY_H + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +#include + +namespace jsk_rviz_plugins +{ + + class PolygonArrayDisplay: + public rviz::MessageFilterDisplay + { + Q_OBJECT + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr ArrowPtr; +#else + typedef boost::shared_ptr ArrowPtr; +#endif + PolygonArrayDisplay(); + virtual ~PolygonArrayDisplay(); + protected: + virtual void onInitialize(); + virtual void reset(); + virtual void updateSceneNodes( + const jsk_recognition_msgs::PolygonArray::ConstPtr& msg); + virtual void allocateMaterials(int num); + virtual void updateLines(int num); + virtual Ogre::ColourValue getColor(size_t index); + virtual void processLine( + const size_t i, const geometry_msgs::PolygonStamped& polygon); + virtual void processPolygon( + const size_t i, const geometry_msgs::PolygonStamped& polygon); + virtual void processNormal( + const size_t i, const geometry_msgs::PolygonStamped& polygon); + virtual void processPolygonMaterial(const size_t i); + virtual void processMessage( + const jsk_recognition_msgs::PolygonArray::ConstPtr& msg); + virtual bool getTransform( + const std_msgs::Header &header, + Ogre::Vector3& position, Ogre::Quaternion& orientation); + rviz::ColorProperty* color_property_; + rviz::FloatProperty* alpha_property_; + rviz::BoolProperty* only_border_property_; + // rviz::BoolProperty* auto_coloring_property_; + rviz::EnumProperty* coloring_property_; + rviz::BoolProperty* show_normal_property_; + rviz::BoolProperty* enable_lighting_property_; + rviz::FloatProperty* normal_length_property_; + bool only_border_; + bool enable_lighting_; + std::string coloring_method_; + bool show_normal_; + double normal_length_; + jsk_recognition_msgs::PolygonArray::ConstPtr latest_msg_; + std::vector manual_objects_; + std::vector scene_nodes_; + std::vector arrow_nodes_; + std::vector arrow_objects_; + std::vector materials_; + std::vector lines_; + private Q_SLOTS: + void updateColoring(); + void updateOnlyBorder(); + void updateShowNormal(); + void updateEnableLighting(); + void updateNormalLength(); + private: + + }; +} + +#endif + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pose_array_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pose_array_display.cpp new file mode 100755 index 0000000..d2404c2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pose_array_display.cpp @@ -0,0 +1,258 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include + +#include "rviz/display_context.h" +#include "rviz/frame_manager.h" +#include "rviz/properties/color_property.h" +#include "rviz/properties/float_property.h" +#include "rviz/properties/enum_property.h" +#include "rviz/validate_floats.h" +#include "rviz/ogre_helpers/arrow.h" +#include "rviz/ogre_helpers/axes.h" + +#include "pose_array_display.h" + +namespace jsk_rviz_plugins +{ + +PoseArrayDisplay::PoseArrayDisplay() + : manual_object_( NULL ) +{ + color_property_ = new rviz::ColorProperty( "Color", QColor( 255, 25, 0 ), "Color to draw the arrows.", this ); + length_property_ = new rviz::FloatProperty( "Arrow Length", 0.3, "Length of the arrows.", this ); + axes_length_property_ = new rviz::FloatProperty( "Axes Length", 1, "Length of each axis, in meters.", + this, SLOT( updateAxisGeometry() )); + axes_radius_property_ = new rviz::FloatProperty( "Axes Radius", 0.1, "Radius of each axis, in meters.", + this, SLOT( updateAxisGeometry() )); + shape_property_ = new rviz::EnumProperty( "Shape", "Arrow", "Shape to display the pose as.", + this, SLOT( updateShapeChoice() )); + shape_property_->addOption( "Arrow", Arrow ); + shape_property_->addOption( "Axes", Axes ); +} + +PoseArrayDisplay::~PoseArrayDisplay() +{ + if ( initialized() ) + { + scene_manager_->destroyManualObject( manual_object_ ); + } +} + +void PoseArrayDisplay::onInitialize() +{ +#if ROS_VERSION_MINIMUM(1,12,0) + ROS_WARN("jsk_rviz_plugins/PoseArrayDisplay is deprecated. Please use rviz default PoseArrayDisplay plugin instead."); +#endif + MFDClass::onInitialize(); + manual_object_ = scene_manager_->createManualObject(); + manual_object_->setDynamic( true ); + scene_node_->attachObject( manual_object_ ); + + updateShapeChoice(); + updateShapeVisibility(); + updateAxisGeometry(); +} + +void PoseArrayDisplay::updateShapeChoice() +{ + bool use_arrow = ( shape_property_->getOptionInt() == Arrow ); + + color_property_->setHidden( !use_arrow ); + length_property_->setHidden( !use_arrow ); + + axes_length_property_->setHidden( use_arrow ); + axes_radius_property_->setHidden( use_arrow ); + + updateShapeVisibility(); + + context_->queueRender(); +} + +void PoseArrayDisplay::updateShapeVisibility() +{ + + if( !pose_valid_ ) + { + manual_object_->setVisible(false); + for (int i = 0; i < coords_nodes_.size() ; i++) + coords_nodes_[i]->setVisible(false); + } + else + { + bool use_arrow = (shape_property_->getOptionInt() == Arrow); + for (int i = 0; i < coords_nodes_.size() ; i++) + coords_nodes_[i]->setVisible(!use_arrow); + + manual_object_->setVisible(use_arrow); + } +} + +void PoseArrayDisplay::updateAxisGeometry() +{ + for(size_t i = 0; i < coords_objects_.size() ; i++) + coords_objects_[i]->set( axes_length_property_->getFloat(), + axes_radius_property_->getFloat() ); + context_->queueRender(); +} + +void PoseArrayDisplay::allocateCoords(int num) +{ + if (num > coords_objects_.size()) { + for (size_t i = coords_objects_.size(); i < num; i++) { + Ogre::SceneNode* scene_node = scene_node_->createChildSceneNode(); + rviz::Axes* axes = new rviz::Axes( scene_manager_, scene_node, + axes_length_property_->getFloat(), + axes_radius_property_->getFloat()); + coords_nodes_.push_back(scene_node); + coords_objects_.push_back(axes); + } + } + else if (num < coords_objects_.size()) { + for (int i = coords_objects_.size() - 1; num <= i; i--) { + delete coords_objects_[i]; + scene_manager_->destroySceneNode(coords_nodes_[i]); + } + coords_objects_.resize(num); + coords_nodes_.resize(num); + } +} + + +bool validateFloats( const geometry_msgs::PoseArray& msg ) +{ + return rviz::validateFloats( msg.poses ); +} + +void PoseArrayDisplay::processMessage( const geometry_msgs::PoseArray::ConstPtr& msg ) +{ +#if ROS_VERSION_MINIMUM(1,12,0) + ROS_WARN_THROTTLE(1.0, "jsk_rviz_plugins/PoseArrayDisplay is deprecated. Please use rviz default PoseArrayDisplay plugin instead."); +#endif + if( !validateFloats( *msg )) + { + setStatus( rviz::StatusProperty::Error, "Topic", "Message contained invalid floating point values (nans or infs)" ); + return; + } + + manual_object_->clear(); + + Ogre::Vector3 position; + Ogre::Quaternion orientation; + if( !context_->getFrameManager()->getTransform( msg->header, position, orientation )) + { + ROS_DEBUG( "Error transforming from frame '%s' to frame '%s'", msg->header.frame_id.c_str(), qPrintable( fixed_frame_ )); + } + + pose_valid_ = true; + updateShapeVisibility(); + + scene_node_->setPosition( position ); + scene_node_->setOrientation( orientation ); + + manual_object_->clear(); + + if(shape_property_->getOptionInt() == Arrow ) { + for (int i = 0; i < coords_nodes_.size() ; i++) + coords_nodes_[i]->setVisible(false); + Ogre::ColourValue color = color_property_->getOgreColor(); + float length = length_property_->getFloat(); + size_t num_poses = msg->poses.size(); + manual_object_->estimateVertexCount( num_poses * 6 ); + manual_object_->begin( "BaseWhiteNoLighting", Ogre::RenderOperation::OT_LINE_LIST ); + for( size_t i=0; i < num_poses; ++i ) + { + Ogre::Vector3 pos( msg->poses[i].position.x, + msg->poses[i].position.y, + msg->poses[i].position.z ); + Ogre::Quaternion orient( msg->poses[i].orientation.w, + msg->poses[i].orientation.x, + msg->poses[i].orientation.y, + msg->poses[i].orientation.z ); + // orient here is not normalized, so the scale of the quaternion + // will affect the scale of the arrow. + + Ogre::Vector3 vertices[6]; + vertices[0] = pos; // back of arrow + vertices[1] = pos + orient * Ogre::Vector3( length, 0, 0 ); // tip of arrow + vertices[2] = vertices[ 1 ]; + vertices[3] = pos + orient * Ogre::Vector3( 0.75*length, 0.2*length, 0 ); + vertices[4] = vertices[ 1 ]; + vertices[5] = pos + orient * Ogre::Vector3( 0.75*length, -0.2*length, 0 ); + + for( int i = 0; i < 6; ++i ) + { + manual_object_->position( vertices[i] ); + manual_object_->colour( color ); + } + } + manual_object_->end(); + } + else{ + allocateCoords(msg->poses.size()); + for (int i = 0; i < msg->poses.size() ; i++){ + geometry_msgs::Pose pose = msg->poses[i]; + Ogre::SceneNode* scene_node = coords_nodes_[i]; + scene_node->setVisible(true); + + Ogre::Vector3 position( msg->poses[i].position.x, + msg->poses[i].position.y, + msg->poses[i].position.z ); + Ogre::Quaternion orientation( msg->poses[i].orientation.w, + msg->poses[i].orientation.x, + msg->poses[i].orientation.y, + msg->poses[i].orientation.z ); + scene_node->setPosition(position); + scene_node->setOrientation(orientation); // scene node is at frame pose + } + } + + context_->queueRender(); +} + +void PoseArrayDisplay::reset() +{ + MFDClass::reset(); + if( manual_object_ ) + { + manual_object_->clear(); + } + if ( coords_objects_.size() > 0 ) { + allocateCoords(0); + } + +} + +} // namespace rviz + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::PoseArrayDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pose_array_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pose_array_display.h new file mode 100755 index 0000000..fed858b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/pose_array_display.h @@ -0,0 +1,92 @@ +/* + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef RVIZ_POSE_ARRAY_DISPLAY_H_ +#define RVIZ_POSE_ARRAY_DISPLAY_H_ + +#include + +#include "rviz/message_filter_display.h" + +namespace Ogre +{ +class ManualObject; +}; + +namespace rviz +{ +class ColorProperty; +class FloatProperty; +class EnumProperty; +class Axes; +}; + +namespace jsk_rviz_plugins +{ +/** @brief Displays a geometry_msgs/PoseArray message as a bunch of line-drawn arrows. */ + class PoseArrayDisplay: public rviz::MessageFilterDisplay +{ +Q_OBJECT +public: + enum Shape + { + Arrow, + Axes, + }; + PoseArrayDisplay(); + virtual ~PoseArrayDisplay(); + + virtual void onInitialize(); + virtual void reset(); + +private Q_SLOTS: + void updateShapeChoice(); + void updateShapeVisibility(); + void updateAxisGeometry(); + void allocateCoords(int num); + +private: + virtual void processMessage( const geometry_msgs::PoseArray::ConstPtr& msg ); + + Ogre::ManualObject* manual_object_; + + rviz::ColorProperty* color_property_; + rviz::FloatProperty* length_property_; + rviz::FloatProperty* axes_length_property_; + rviz::FloatProperty* axes_radius_property_; + rviz::EnumProperty* shape_property_; + std::vector coords_objects_; + std::vector coords_nodes_; + + bool pose_valid_; +}; + +} // namespace rviz + +#endif /* RVIZ_POSE_ARRAY_DISPLAY_H_ */ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/publish_topic.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/publish_topic.cpp new file mode 100755 index 0000000..2c9310c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/publish_topic.cpp @@ -0,0 +1,94 @@ +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "publish_topic.h" + +namespace jsk_rviz_plugins +{ + PublishTopic::PublishTopic( QWidget* parent ) + : rviz::Panel( parent ) + { + QHBoxLayout* topic_layout = new QHBoxLayout; + topic_layout->addWidget( new QLabel( "Topic:" )); + output_topic_editor_ = new QLineEdit; + topic_layout->addWidget( output_topic_editor_ ); + + + // Lay out the topic field above the control widget. + QVBoxLayout* layout = new QVBoxLayout; + layout->addLayout( topic_layout ); + + QPushButton* send_topic_button_ = new QPushButton("Send Topic"); + layout->addWidget( send_topic_button_ ); + setLayout( layout ); + + + connect( send_topic_button_, SIGNAL( clicked() ), this, SLOT( sendTopic ())); + connect( output_topic_editor_, SIGNAL( editingFinished() ), this, SLOT( updateTopic() )); + + } + + void PublishTopic::updateTopic() + { + setTopic( output_topic_editor_->text() ); + } + + // Set the topic name we are publishing to. + void PublishTopic::setTopic( const QString& new_topic ) + { + // Only take action if the name has changed. + if( new_topic != output_topic_ ) + { + output_topic_ = new_topic; + // If the topic is the empty string, don't publish anything. + if( output_topic_ == "" ) + { + velocity_publisher_.shutdown(); + } + else + { + velocity_publisher_ = nh_.advertise( output_topic_.toStdString(), 1 ); + } + + Q_EMIT configChanged(); + } + } + + void PublishTopic::sendTopic(){ + std_msgs::Empty msg; + velocity_publisher_.publish(msg); + } + + + void PublishTopic::save( rviz::Config config ) const + { + rviz::Panel::save( config ); + config.mapSetValue( "Topic", output_topic_ ); + } + + // Load all configuration data for this panel from the given Config object. + void PublishTopic::load( const rviz::Config& config ) + { + rviz::Panel::load( config ); + QString topic; + if( config.mapGetString( "Topic", &topic )) + { + output_topic_editor_->setText( topic ); + updateTopic(); + } + } + +} + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::PublishTopic, rviz::Panel ) + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/publish_topic.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/publish_topic.h new file mode 100755 index 0000000..7a02228 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/publish_topic.h @@ -0,0 +1,50 @@ +#ifndef PUBLISH_TOPIC_H +#define PUBLISH_TOPIC_H + +#ifndef Q_MOC_RUN +#include + +#include +#endif + +class QLineEdit; +class QPushButton; + +namespace jsk_rviz_plugins +{ + class PublishTopic: public rviz::Panel + { +Q_OBJECT + public: + PublishTopic( QWidget* parent = 0 ); + + virtual void load( const rviz::Config& config ); + virtual void save( rviz::Config config ) const; + + public Q_SLOTS: + + void setTopic( const QString& topic ); + + protected Q_SLOTS: + + void sendVel() {} + + void updateTopic(); + + void sendTopic(); + + protected: + QLineEdit* output_topic_editor_; + + QString output_topic_; + + QPushButton* send_topic_button_; + + ros::Publisher velocity_publisher_; + + ros::NodeHandle nh_; + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/quiet_interactive_marker_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/quiet_interactive_marker_display.cpp new file mode 100755 index 0000000..554fc78 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/quiet_interactive_marker_display.cpp @@ -0,0 +1,57 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "quiet_interactive_marker_display.h" +namespace jsk_rviz_plugins +{ + QuietInteractiveMarkerDisplay::QuietInteractiveMarkerDisplay(): + rviz::InteractiveMarkerDisplay(), dummy_status_(false) + { + + } + void QuietInteractiveMarkerDisplay::setStatus( rviz::StatusProperty::Level level, const QString& name, const QString& text ) + { + if (dummy_status_) { + // do nothing + } + else { + // in order to avoid SEGV at isEmpty, we call setStatus only once + dummy_status_ = true; + rviz::InteractiveMarkerDisplay::setStatus(level, name, text); + } + } +} +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::QuietInteractiveMarkerDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/quiet_interactive_marker_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/quiet_interactive_marker_display.h new file mode 100755 index 0000000..d547f93 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/quiet_interactive_marker_display.h @@ -0,0 +1,54 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_QUIET_INTERACTIVE_MARKER_H_ +#define JSK_RVIZ_PLUGINS_QUIET_INTERACTIVE_MARKER_H_ + +#include +#include + +namespace jsk_rviz_plugins +{ + class QuietInteractiveMarkerDisplay: public rviz::InteractiveMarkerDisplay + { + public: + QuietInteractiveMarkerDisplay(); + virtual void setStatus( rviz::StatusProperty::Level level, const QString& name, const QString& text ); + protected: + bool dummy_status_; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/record_action.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/record_action.cpp new file mode 100755 index 0000000..f93598f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/record_action.cpp @@ -0,0 +1,145 @@ +#include +#include +#include +#include +#include +#include + +#include "record_action.h" + +namespace jsk_rviz_plugins +{ + + RecordAction::RecordAction( QWidget* parent ) + : rviz::Panel( parent ) + { + layout = new QVBoxLayout; + + //Text Box and Add Button to add new topic + QHBoxLayout* motion_record_layout = new QHBoxLayout; + record_motion_name_editor_ = new QLineEdit; + record_motion_name_editor_->setPlaceholderText(QString("Motion Name")); + motion_record_layout->addWidget( record_motion_name_editor_ ); + + record_interface_button_ = new QPushButton("Record"); + motion_record_layout->addWidget( record_interface_button_ ); + + layout->addLayout( motion_record_layout ); + //End of Text Box and Add Button + m_play_sigmap_ = new QSignalMapper(this); + connect(m_play_sigmap_, SIGNAL(mapped(int)),this, SLOT(OnClickPlayButton(int))); + + m_delete_sigmap_ = new QSignalMapper(this); + connect(m_delete_sigmap_, SIGNAL(mapped(int)),this, SLOT(OnClickDeleteButton(int))); + + setLayout( layout ); + connect( record_interface_button_, SIGNAL( clicked() ), this, SLOT( recordClick() )); + pub_ = nh_.advertise( "/record_command", 1 ); + rstate_ = IDLE; + } + + void RecordAction::OnClickPlayButton(int id){ + std::vector::iterator it = motion_list_layouts_.begin(); + while( it != motion_list_layouts_.end()){ + if(it->id == id){ + jsk_rviz_plugins::RecordCommand msg; + msg.target = (it->target_name_)->text().toStdString(); + msg.command = jsk_rviz_plugins::RecordCommand::PLAY; + pub_.publish(msg); + break; + } + ++it; + } + } + + void RecordAction::OnClickDeleteButton(int id){ + std::vector::iterator it = motion_list_layouts_.begin(); + while( it != motion_list_layouts_.end()){ + if(it->id == id){ + it->target_name_->hide(); + delete it->target_name_; + + it->play_button_->hide(); + delete it->play_button_; + + it->remove_button_->hide(); + delete it->remove_button_; + + delete it->layout_; + it = motion_list_layouts_.erase( it ); + Q_EMIT configChanged(); + }else{ + ++it; + } + } + } + + void RecordAction::recordClick() + { + output_topic_ = record_motion_name_editor_->text(); + if( output_topic_ != "" ){ + addTopicList(output_topic_.toStdString()); + } + Q_EMIT configChanged(); + } + + void RecordAction::addTopicList(std::string topic_name){ + if(rstate_ == IDLE){ + jsk_rviz_plugins::RecordCommand msg; + msg.target = topic_name; + msg.command = jsk_rviz_plugins::RecordCommand::RECORD; + pub_.publish(msg); + rstate_ = RECORD; + record_interface_button_->setText(QString("Stop")); + record_motion_name_editor_->setDisabled(true); + }else{ + record_interface_button_->setText(QString("Record")); + record_motion_name_editor_->setDisabled(false); + + jsk_rviz_plugins::RecordCommand msg; + msg.target = topic_name; + msg.command = jsk_rviz_plugins::RecordCommand::RECORD_STOP; + pub_.publish(msg); + rstate_ = IDLE; + + motionListLayout tll; + if(!motion_list_layouts_.empty()){ + motionListLayout lastTll = motion_list_layouts_.back(); + tll.id = lastTll.id + 1; + }else{ + tll.id = 0; + } + + tll.layout_ = new QHBoxLayout; + tll.target_name_ = new QLabel( topic_name.c_str() ); + tll.layout_->addWidget( tll.target_name_ ); + tll.play_button_ = new QPushButton("Play"); + tll.layout_->addWidget( tll.play_button_ ); + tll.remove_button_ = new QPushButton("Delete"); + tll.layout_->addWidget( tll.remove_button_ ); + layout->addLayout(tll.layout_); + + motion_list_layouts_.push_back(tll); + + connect(tll.play_button_, SIGNAL(clicked()), m_play_sigmap_, SLOT(map())); + m_play_sigmap_->setMapping(tll.play_button_, tll.id); + + connect(tll.remove_button_, SIGNAL(clicked()), m_delete_sigmap_, SLOT(map())); + m_delete_sigmap_->setMapping(tll.remove_button_, tll.id); + } + } + + void RecordAction::save( rviz::Config config ) const + { + rviz::Panel::save( config ); + } + + void RecordAction::load( const rviz::Config& config ) + { + rviz::Panel::load( config ); + } + +} + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::RecordAction, rviz::Panel ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/record_action.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/record_action.h new file mode 100755 index 0000000..9a0f20d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/record_action.h @@ -0,0 +1,82 @@ +#ifndef RECORD_ACTION_H +#define RECORD_ACTION_H + +#ifndef Q_MOC_RUN +#include + +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +# include +#else +# include +#endif +#include +#endif + +class QLineEdit; +class QLabel; +class QPushButton; + +namespace jsk_rviz_plugins +{ + class RecordAction: public rviz::Panel + { + enum RecordState{ + IDLE = 0, + RECORD = 1 + }; + Q_OBJECT + public: + RecordAction( QWidget* parent = 0 ); + + virtual void load( const rviz::Config& config ); + virtual void save( rviz::Config config ) const; + + public Q_SLOTS: + + void setTopic( const QString& topic ) {} + + protected Q_SLOTS: + + void updateTopic() {}; + + void commandPlay() {}; + void recordClick(); + + void addTopicList(std::string topic_name); + + void OnClickPlayButton(int id); + void OnClickDeleteButton(int id); + + protected: + QLineEdit* record_motion_name_editor_; + + QString output_topic_; + + QPushButton* record_interface_button_; + + QComboBox* add_topic_box_; + + QSignalMapper *m_delete_sigmap_; + QSignalMapper *m_play_sigmap_; + + QVBoxLayout* layout; + + struct motionListLayout{ + int id; + QHBoxLayout* layout_; + QPushButton* play_button_; + QPushButton* remove_button_; + QLabel* target_name_; + }; + + std::vector motion_list_layouts_; + + ros::Publisher pub_; + ros::NodeHandle nh_; + RecordState rstate_; + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/robot_command_interface.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/robot_command_interface.cpp new file mode 100755 index 0000000..7d45ea5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/robot_command_interface.cpp @@ -0,0 +1,165 @@ +#include + +#include "rviz/config.h" +#include "robot_command_interface.h" +#include "ros/time.h" +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + + // Exception class + class RobotCommandParseException: public std::runtime_error + { + public: + RobotCommandParseException(const std::string& text): std::runtime_error(text) {} + }; + + RobotCommandInterfaceAction::RobotCommandInterfaceAction( QWidget* parent ) + : rviz::Panel( parent ) + { + resource_retriever::Retriever r; + signal_mapper_ = new QSignalMapper(this); + ros::NodeHandle nh("~"); + QHBoxLayout* layout = new QHBoxLayout(); + // Parse yaml file from parameter + if (nh.hasParam("robot_command_buttons")) { + try { + XmlRpc::XmlRpcValue robot_command_buttons_xmlrpc; + nh.param("robot_command_buttons", robot_command_buttons_xmlrpc, robot_command_buttons_xmlrpc); + if (robot_command_buttons_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeArray) { + throw RobotCommandParseException("~robot_comamnd_buttons should be an array"); + } + else { + for (size_t i = 0; i < robot_command_buttons_xmlrpc.size(); i++) { + XmlRpc::XmlRpcValue button_xmlrpc = robot_command_buttons_xmlrpc[i]; + if (button_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeStruct) { + throw RobotCommandParseException("element of ~robot_comamnd_buttons should be an struct"); + } + else { + std::string name; + QToolButton* button = new QToolButton(); + //button->setSizePolicy(QSizePolicy::Maximum, QSizePolicy::Maximum); + button->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); + + if (button_xmlrpc.hasMember("name")) { + name = (std::string)button_xmlrpc["name"]; + } + else { + throw RobotCommandParseException("element of ~robot_comamnd_buttons should have name field"); + } + button->setText(QString(name.c_str())); + if (button_xmlrpc.hasMember("icon")) { + // TODO: resolve path + std::string icon; + icon = (std::string)button_xmlrpc["icon"]; + if (icon.find("package://") == 0) { + icon.erase(0, strlen("package://")); + size_t package_end = icon.find("/"); + std::string package = icon.substr(0, package_end); + icon.erase(0, package_end); + std::string package_path; + package_path = ros::package::getPath(package); + icon = package_path + icon; + } + button->setIcon(QIcon(QPixmap(QString(icon.c_str())))); + button->setIconSize(QSize(80, 80)); + button->setToolButtonStyle(Qt::ToolButtonTextUnderIcon); + } + std::string type; + if (button_xmlrpc.hasMember("type")) { + type = (std::string)button_xmlrpc["type"]; + } + if (type == "euscommand") { + if (button_xmlrpc.hasMember("command")) { + euscommand_mapping_[i] = (std::string)button_xmlrpc["command"]; + button->setToolTip(euscommand_mapping_[i].c_str()); + } + else { + throw RobotCommandParseException("type: euscommand requires command field"); + } + } + else if (type == "emptysrv") { + if (button_xmlrpc.hasMember("srv")) { + emptyservice_mapping_[i] = (std::string)button_xmlrpc["srv"]; + button->setToolTip(emptyservice_mapping_[i].c_str()); + } + else { + throw RobotCommandParseException("type: emptysrv requires srv field"); + } + } + else { + throw RobotCommandParseException("type field is required"); + } + // connect + connect(button, SIGNAL(clicked()), signal_mapper_, SLOT(map())); + signal_mapper_->setMapping(button, i); + layout->addWidget(button); + } + } + } + } + catch (RobotCommandParseException& e) { + popupDialog((boost::format("Malformed ~robot_command_buttons parameter.\n" + "%s\n" + "See package://jsk_rviz_plugins/config/default_robot_command.yaml") + % e.what()).str().c_str()); + } + } + else { + popupDialog("You need to specify ~robot_command_buttons parameter.\n" + "See package://jsk_rviz_plugins/launch/robot_command_interface_sample.launch"); + } + layout->addStretch(); + connect(signal_mapper_, SIGNAL(mapped(int)), this, SLOT(buttonCallback(int))); + // QToolButton* button = new QToolButton(); + + // // button->setPopupMode(QToolButton::MenuButtonPopup); + // button->setToolButtonStyle(Qt::ToolButtonTextUnderIcon); + // button->setIcon(QIcon(QPixmap(QString("/home/garaemon/ros/hydro/src/jsk-ros-pkg/jsk_visualization/jsk_rviz_plugins/icons/stop-imp.png")))); + + // button->setText("Hello worpld"); + // layout->addWidget(button); + this->setLayout(layout); + } + + bool RobotCommandInterfaceAction::callRequestEusCommand(const std::string& command){ + ros::ServiceClient client = nh_.serviceClient("/eus_command", true); + jsk_rviz_plugins::EusCommand srv; + srv.request.command = command; + return client.call(srv); + } + + void RobotCommandInterfaceAction::buttonCallback(int i) + { + ROS_INFO("buttonCallback(%d)", i); + if (euscommand_mapping_.find(i) != euscommand_mapping_.end()) { + if(!callRequestEusCommand(euscommand_mapping_[i])) { + popupDialog((boost::format("Failed to call %s") % euscommand_mapping_[i]).str().c_str()); + } + } + else if (emptyservice_mapping_.find(i) != emptyservice_mapping_.end()) { + std_srvs::Empty emp; + if (!ros::service::call(emptyservice_mapping_[i], emp)) { + popupDialog((boost::format("Failed to call %s") % emptyservice_mapping_[i]).str().c_str()); + } + } + else { + popupDialog((boost::format("Failed to find corresponding command for %d") % i).str().c_str()); + } + } + + void RobotCommandInterfaceAction::popupDialog(const std::string& text) + { + QMessageBox msg_box; + msg_box.setText("Unexpected error"); + msg_box.setText(QString(text.c_str())); + msg_box.exec(); + } +} + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::RobotCommandInterfaceAction, rviz::Panel ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/robot_command_interface.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/robot_command_interface.h new file mode 100755 index 0000000..ca0c719 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/robot_command_interface.h @@ -0,0 +1,39 @@ +#ifndef ROBOT_COMMAND_INTERFACE_H +#define ROBOT_COMMAND_INTERFACE_H + +#ifndef Q_MOC_RUN +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +# include +#else +# include +#endif +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + class RobotCommandInterfaceAction: public rviz::Panel + { + Q_OBJECT + public: + RobotCommandInterfaceAction( QWidget* parent = 0 ); + + protected Q_SLOTS: + bool callRequestEusCommand(const std::string& command); + void buttonCallback(int i); + protected: + void popupDialog(const std::string& text); + // The ROS node handle. + ros::NodeHandle nh_; + QSignalMapper* signal_mapper_; + std::map euscommand_mapping_; + std::map emptyservice_mapping_; + //std::vector buttons_; + }; + +} + +#endif // TELEOP_PANEL_H diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/rviz_scene_publisher.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/rviz_scene_publisher.cpp new file mode 100755 index 0000000..e24eeb2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/rviz_scene_publisher.cpp @@ -0,0 +1,107 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2020, Iori Yanokura + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "rviz_scene_publisher.h" +#include +#include +#include +#include +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +#include +#include +#endif +#include + +namespace jsk_rviz_plugins +{ + RvizScenePublisher::RvizScenePublisher(): + Display(), it_(nh_), image_id_(0) + { + topic_name_property_ = new rviz::StringProperty( + "topic_name", "/rviz/image", + "topic_name", this, SLOT(updateTopicName())); + } + + RvizScenePublisher::~RvizScenePublisher() + { + delete topic_name_property_; + } + + void RvizScenePublisher::onInitialize() + { + updateTopicName(); + context_->queueRender(); + } + + void RvizScenePublisher::onEnable() + { + context_->queueRender(); + } + + void RvizScenePublisher::updateTopicName() + { + topic_name_ = topic_name_property_->getStdString(); + publisher_ = it_.advertise(topic_name_, 1); + } + + void RvizScenePublisher::update(float wall_dt, float ros_dt) + { + rviz::RenderPanel* panel = context_->getViewManager()->getRenderPanel(); +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) + QPixmap screenshot + = QGuiApplication::primaryScreen()->grabWindow(context_->getViewManager()->getRenderPanel()->winId()); +#else + QPixmap screenshot + = QPixmap::grabWindow(context_->getViewManager()->getRenderPanel()->winId()); +#endif + QImage src = screenshot.toImage().convertToFormat(QImage::Format_RGB888); // RGB + cv::Mat image(src.height(), src.width(), CV_8UC3, + (uchar*)src.bits(), src.bytesPerLine()); // RGB + + sensor_msgs::Image img_msg; + std_msgs::Header header; + header.stamp = ros::Time::now(); + header.seq = image_id_++; + cv_bridge::CvImage img_bridge = cv_bridge::CvImage(header, sensor_msgs::image_encodings::RGB8, image); + img_bridge.toImageMsg(img_msg); + publisher_.publish(img_msg); + } +} + + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::RvizScenePublisher, rviz::Display) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/rviz_scene_publisher.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/rviz_scene_publisher.h new file mode 100755 index 0000000..44740ce --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/rviz_scene_publisher.h @@ -0,0 +1,79 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2020, Iori Yanokura + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGIN_RVIZ_SCENE_PUBLISHER_H_ +#define JSK_RVIZ_PLUGIN_RVIZ_SCENE_PUBLISHER_H_ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +namespace jsk_rviz_plugins +{ + class RvizScenePublisher: public rviz::Display + { + Q_OBJECT + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + RvizScenePublisher(); + virtual ~RvizScenePublisher(); + protected: + virtual void onInitialize(); + virtual void onEnable(); + virtual void update(float wall_dt, float ros_dt); + rviz::StringProperty* topic_name_property_; + std::string topic_name_; + int image_id_; + ros::NodeHandle nh_; + image_transport::ImageTransport it_; + image_transport::Publisher publisher_; + protected Q_SLOTS: + void updateTopicName(); + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/rviz_util.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/rviz_util.h new file mode 100755 index 0000000..8969fa5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/rviz_util.h @@ -0,0 +1,62 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGINGS_RVIZ_UTIL_H_ +#define JSK_RVIZ_PLUGINGS_RVIZ_UTIL_H_ + +#include +#include + + +namespace rviz +{ + inline Ogre::ColourValue colorMsgToOgre(const std_msgs::ColorRGBA& c) + { + return Ogre::ColourValue(c.r, c.g, c.b, c.a); + } + + inline std_msgs::ColorRGBA colorOgreToMsg(const Ogre::ColourValue& c) + { + std_msgs::ColorRGBA ret; + ret.r = c.r; + ret.g = c.g; + ret.b = c.b; + ret.a = c.a; + return ret; + } +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/screenshot_listener_tool.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/screenshot_listener_tool.cpp new file mode 100755 index 0000000..372cdeb --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/screenshot_listener_tool.cpp @@ -0,0 +1,90 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include "screenshot_listener_tool.h" + +namespace jsk_rviz_plugins +{ + ScreenshotListenerTool::ScreenshotListenerTool() + : rviz::Tool() + { + + } + ScreenshotListenerTool::~ScreenshotListenerTool() + { + + } + + void ScreenshotListenerTool::onInitialize() + { + ros::NodeHandle nh; + screenshot_service_ = nh.advertiseService( + "/rviz/screenshot", + &ScreenshotListenerTool::takeScreenShot, this); + } + + void ScreenshotListenerTool::activate() + { + + } + + void ScreenshotListenerTool::deactivate() + { + + } + + bool ScreenshotListenerTool::takeScreenShot( + jsk_rviz_plugins::Screenshot::Request& req, + jsk_rviz_plugins::Screenshot::Response& res) + { + QPixmap screenshot = QPixmap::grabWindow(context_->getViewManager()->getRenderPanel()->winId()); + QString output_file = QString::fromStdString(req.file_name); + QImageWriter writer(output_file); + writer.write(screenshot.toImage()); + return true; + } + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::ScreenshotListenerTool, rviz::Tool ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/screenshot_listener_tool.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/screenshot_listener_tool.h new file mode 100755 index 0000000..ba77c75 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/screenshot_listener_tool.h @@ -0,0 +1,66 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGIN_SCREENSHOT_LISTENER_H_ +#define JSK_RVIZ_PLUGIN_SCREENSHOT_LISTENER_H_ + +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + class ScreenshotListenerTool: public rviz::Tool + { + public: + ScreenshotListenerTool(); + virtual ~ScreenshotListenerTool(); + virtual void onInitialize(); + virtual void activate(); + virtual void deactivate(); + protected: + virtual bool takeScreenShot( + jsk_rviz_plugins::Screenshot::Request& req, + jsk_rviz_plugins::Screenshot::Response& res); + ros::ServiceServer screenshot_service_; + private: + + }; +} + + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/segment_array_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/segment_array_display.cpp new file mode 100755 index 0000000..663fa7f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/segment_array_display.cpp @@ -0,0 +1,211 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Ryohei Ueda and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "segment_array_display.h" +#include +namespace jsk_rviz_plugins +{ + SegmentArrayDisplay::SegmentArrayDisplay() + { + coloring_property_ = new rviz::EnumProperty( + "coloring", "Auto", + "coloring method", + this, SLOT(updateColoring())); + coloring_property_->addOption("Auto", 0); + coloring_property_->addOption("Flat color", 1); + + color_property_ = new rviz::ColorProperty( + "color", QColor(25, 255, 0), + "color to draw the edges", + this, SLOT(updateColor())); + alpha_property_ = new rviz::FloatProperty( + "alpha", 0.8, + "alpha value to draw the edges", + this, SLOT(updateAlpha())); + line_width_property_ = new rviz::FloatProperty( + "line width", 0.005, + "line width of the edges", + this, SLOT(updateLineWidth())); + } + + SegmentArrayDisplay::~SegmentArrayDisplay() + { + delete color_property_; + delete alpha_property_; + delete coloring_property_; + } + + QColor SegmentArrayDisplay::getColor(size_t index) + { + if (coloring_method_ == "auto") { + std_msgs::ColorRGBA ros_color = jsk_topic_tools::colorCategory20(index); + return QColor(ros_color.r * 255.0, + ros_color.g * 255.0, + ros_color.b * 255.0, + ros_color.a * 255.0); + } + else if (coloring_method_ == "flat") { + return color_; + } + return QColor(255, 255, 255, 255); + } + + void SegmentArrayDisplay::onInitialize() + { + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + + updateColor(); + updateAlpha(); + updateColoring(); + updateLineWidth(); + } + + void SegmentArrayDisplay::updateLineWidth() + { + line_width_ = line_width_property_->getFloat(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void SegmentArrayDisplay::updateColor() + { + color_ = color_property_->getColor(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void SegmentArrayDisplay::updateAlpha() + { + alpha_ = alpha_property_->getFloat(); + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void SegmentArrayDisplay::updateColoring() + { + if (coloring_property_->getOptionInt() == 0) { + coloring_method_ = "auto"; + color_property_->hide(); + } + else if (coloring_property_->getOptionInt() == 1) { + coloring_method_ = "flat"; + color_property_->show(); + } + + if (latest_msg_) { + processMessage(latest_msg_); + } + } + + void SegmentArrayDisplay::reset() + { + MFDClass::reset(); + edges_.clear(); + latest_msg_.reset(); + } + + void SegmentArrayDisplay::allocateBillboardLines(int num) + { + if (num > edges_.size()) { + for (size_t i = edges_.size(); i < num; i++) { + BillboardLinePtr line(new rviz::BillboardLine( + this->context_->getSceneManager(), this->scene_node_)); + edges_.push_back(line); + } + } + else if (num < edges_.size()) + { + edges_.resize(num); // ok?? + } + } + + void SegmentArrayDisplay::showEdges( + const jsk_recognition_msgs::SegmentArray::ConstPtr& msg) + { + allocateBillboardLines(msg->segments.size()); + for (size_t i = 0; i < msg->segments.size(); i++) { + jsk_recognition_msgs::Segment edge_msg = msg->segments[i]; + + BillboardLinePtr edge = edges_[i]; + edge->clear(); + + geometry_msgs::Pose start_pose_local; + geometry_msgs::Pose end_pose_local; + start_pose_local.position = edge_msg.start_point; + start_pose_local.orientation.w = 1.0; + end_pose_local.position = edge_msg.end_point; + end_pose_local.orientation.w = 1.0; + + Ogre::Vector3 start_point; + Ogre::Vector3 end_point; + Ogre::Quaternion quaternion; // not used to visualize + bool transform_ret; + transform_ret = + context_->getFrameManager()->transform(msg->header, start_pose_local, start_point, quaternion) + && context_->getFrameManager()->transform(msg->header, end_pose_local, end_point, quaternion); + if(!transform_ret) { + ROS_ERROR( "Error transforming pose" + "'%s' from frame '%s' to frame '%s'", + qPrintable( getName() ), msg->header.frame_id.c_str(), + qPrintable( fixed_frame_ )); + return; // return? + } + edge->addPoint(start_point); + edge->addPoint(end_point); + edge->setLineWidth(line_width_); + QColor color = getColor(i); + edge->setColor(color.red() / 255.0, + color.green() / 255.0, + color.blue() / 255.0, + alpha_); + } + } + + void SegmentArrayDisplay::processMessage( + const jsk_recognition_msgs::SegmentArray::ConstPtr& msg) + { + // Store latest message + latest_msg_ = msg; + + showEdges(msg); + } +} + +#include +PLUGINLIB_EXPORT_CLASS( + jsk_rviz_plugins::SegmentArrayDisplay, rviz::Display) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/segment_array_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/segment_array_display.h new file mode 100755 index 0000000..9e5640c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/segment_array_display.h @@ -0,0 +1,97 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_SEGMENT_ARRAY_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_SEGMENT_ARRAY_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + class SegmentArrayDisplay: + public rviz::MessageFilterDisplay + { + Q_OBJECT + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr BillboardLinePtr; +#else + typedef boost::shared_ptr BillboardLinePtr; +#endif + SegmentArrayDisplay(); + virtual ~SegmentArrayDisplay(); + protected: + virtual void onInitialize(); + virtual void reset(); + void allocateBillboardLines(int num); + QColor getColor(size_t index); + virtual void showEdges( + const jsk_recognition_msgs::SegmentArray::ConstPtr& msg); + + rviz::EnumProperty* coloring_property_; + rviz::ColorProperty* color_property_; + rviz::FloatProperty* alpha_property_; + rviz::FloatProperty* line_width_property_; + QColor color_; + double alpha_; + std::string coloring_method_; + double line_width_; + std::vector edges_; + + jsk_recognition_msgs::SegmentArray::ConstPtr latest_msg_; + private Q_SLOTS: + void updateColor(); + void updateAlpha(); + void updateColoring(); + void updateLineWidth(); + private: + void processMessage( + const jsk_recognition_msgs::SegmentArray::ConstPtr& msg); + }; + +} +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/select_point_cloud_publish_action.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/select_point_cloud_publish_action.cpp new file mode 100755 index 0000000..350fe1b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/select_point_cloud_publish_action.cpp @@ -0,0 +1,119 @@ +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "rviz/properties/property_tree_widget.h" +#include "rviz/selection/selection_manager.h" +#include "rviz/visualization_manager.h" + +#include "rviz/config.h" +#include "rviz/properties/property_tree_model.h" +#include "rviz/properties/status_list.h" +#include "rviz/properties/property.h" +#include "rviz/properties/vector_property.h" +#include "rviz/properties/color_property.h" + +#include +#include + +#include "select_point_cloud_publish_action.h" +#include "ros/time.h" + +using namespace rviz; + +namespace jsk_rviz_plugins +{ + + SelectPointCloudPublishAction::SelectPointCloudPublishAction( QWidget* parent ) + : rviz::Panel( parent ) + { + select_pointcloud_publisher_ = nh_.advertise("selected_pointcloud", 1); + layout = new QVBoxLayout; + + //Button to send cancel topic + publish_pointcloud_button_ = new QPushButton("SelectPointCloudPublish Action"); + layout->addWidget( publish_pointcloud_button_ ); + + setLayout( layout ); + + connect( publish_pointcloud_button_, SIGNAL( clicked() ), this, SLOT( publishPointCloud ())); + } + + void SelectPointCloudPublishAction::publishPointCloud(){ + PropertyTreeModel* model_ =vis_manager_->getSelectionManager()->getPropertyModel(); + int num_children = model_->rowCount(); + if( num_children > 0 ) + { + ROS_INFO("num > %d!", num_children); + sensor_msgs::PointCloud2 pc2; + pc2.header.stamp = ros::Time::now(); + pc2.header.frame_id = "camera_depth_optical_frame"; + pc2.height = 1; + pc2.width = num_children; + + pc2.fields.resize(4); + pc2.fields[0].name = "x"; + pc2.fields[1].name = "y"; + pc2.fields[2].name = "z"; + pc2.fields[3].name = "rgb"; + pc2.fields[0].offset = 0; + pc2.fields[1].offset = 4; + pc2.fields[2].offset = 8; + pc2.fields[3].offset = 12; + pc2.fields[0].count = pc2.fields[1].count = pc2.fields[2].count = pc2.fields[3].count = 1; + pc2.fields[0].datatype = pc2.fields[1].datatype = pc2.fields[2].datatype = pc2.fields[3].datatype = sensor_msgs::PointField::FLOAT32; + + pc2.data.resize(num_children * 4 * sizeof(float)); + for( int i = 0; i < num_children; i++ ) + { + QModelIndex child_index = model_->index( i, 0, QModelIndex()); + VectorProperty* vec_data = qobject_cast(model_->getProp( child_index )->childAt(0)); + ColorProperty* color_data = qobject_cast(model_->getProp( child_index )->childAt(1)); + + Ogre::Vector3 point_vec = vec_data->getVector(); + // check if color_data is available + // if not color_data is available, set the color to black(0,0,0) + int rgb_int = 0; + if (color_data != NULL && color_data->getColor().isValid()) { + Ogre::ColourValue point_color = color_data->getOgreColor(); + rgb_int = (int)point_color.r << 16 | (int)point_color.g << 8 | (int)point_color.b << 0; + } + float x = point_vec.x, y = point_vec.y, z = point_vec.z; + //Tty to add color, but point_color's value are all zero!!!!!! + float rgb_float = *reinterpret_cast(&rgb_int); + memcpy(&pc2.data[i*4*sizeof(float)], &x, sizeof(float)); + memcpy(&pc2.data[(i*4+1)*sizeof(float)], &y, sizeof(float)); + memcpy(&pc2.data[(i*4+2)*sizeof(float)], &z, sizeof(float)); + memcpy(&pc2.data[(i*4+3)*sizeof(float)], &rgb_float, sizeof(float)); + } + + pc2.point_step = 16; + pc2.row_step = pc2.point_step * pc2.width; + pc2.is_dense = false; + select_pointcloud_publisher_.publish(pc2); + } + } + + void SelectPointCloudPublishAction::save( rviz::Config config ) const + { + rviz::Panel::save( config ); + } + + // Load all configuration data for this panel from the given Config object. + void SelectPointCloudPublishAction::load( const rviz::Config& config ) + { + rviz::Panel::load( config ); + } + +} + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::SelectPointCloudPublishAction, rviz::Panel ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/select_point_cloud_publish_action.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/select_point_cloud_publish_action.h new file mode 100755 index 0000000..4b1032e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/select_point_cloud_publish_action.h @@ -0,0 +1,53 @@ +#ifndef SELECT_POINT_CLOUD_PUBLISH_ACTION_H +#define SELECT_POINT_CLOUD_PUBLISH_ACTION_H + +#ifndef Q_MOC_RUN +#include + +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +# include +#else +# include +#endif +#endif + +class QLineEdit; +class QLabel; +class QPushButton; +//class QSignalMapper; +class PropertyTreeWidget; + + +namespace jsk_rviz_plugins +{ + class SelectPointCloudPublishAction: public rviz::Panel + { + // This class uses Qt slots and is a subclass of QObject, so it needs + // the Q_OBJECT macro. +Q_OBJECT + public: + SelectPointCloudPublishAction( QWidget* parent = 0 ); + + virtual void load( const rviz::Config& config ); + virtual void save( rviz::Config config ) const; + + protected Q_SLOTS: + + void publishPointCloud(); + protected: + QPushButton* publish_pointcloud_button_; + + QVBoxLayout* layout; + + // The ROS publisher for the command velocity. + ros::Publisher select_pointcloud_publisher_; + + // The ROS node handle. + ros::NodeHandle nh_; + + }; + +} + +#endif // TELEOP_PANEL_H diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.cpp new file mode 100755 index 0000000..95bd0f9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.cpp @@ -0,0 +1,177 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#define BOOST_PARAMETER_MAX_ARITY 7 +#include "simple_occupancy_grid_array_display.h" +#include +#include +#include +#include "rviz_util.h" +#include + +namespace jsk_rviz_plugins +{ + SimpleOccupancyGridArrayDisplay::SimpleOccupancyGridArrayDisplay() + { + auto_color_property_ = new rviz::BoolProperty( + "Auto Color", true, + "Auto coloring", + this, SLOT(updateAutoColor())); + + alpha_property_ = new rviz::FloatProperty( + "Alpha", 1.0, + "Amount of transparency to apply to the polygon.", + this, SLOT(updateAlpha())); + + alpha_property_->setMin(0.0); + alpha_property_->setMax(1.0); + + + } + + SimpleOccupancyGridArrayDisplay::~SimpleOccupancyGridArrayDisplay() + { + delete alpha_property_; + allocateCloudsAndNodes(0); + } + + void SimpleOccupancyGridArrayDisplay::onInitialize() + { + MFDClass::onInitialize(); + updateAlpha(); + updateAutoColor(); + } + + void SimpleOccupancyGridArrayDisplay::allocateCloudsAndNodes(const size_t num) + { + if (num > clouds_.size()) { // need to allocate new node and clouds + for (size_t i = clouds_.size(); i < num; i++) { + Ogre::SceneNode* node = scene_node_->createChildSceneNode(); + rviz::PointCloud* cloud = new rviz::PointCloud(); + cloud->setRenderMode(rviz::PointCloud::RM_TILES); + cloud->setCommonDirection( Ogre::Vector3::UNIT_Z ); + cloud->setCommonUpVector( Ogre::Vector3::UNIT_Y ); + node->attachObject(cloud); + clouds_.push_back(cloud); + nodes_.push_back(node); + } + } + else if (num < clouds_.size()) // need to destroy + { + for (size_t i = num; i < clouds_.size(); i++) { + nodes_[i]->detachObject(clouds_[i]); + delete clouds_[i]; + scene_manager_->destroySceneNode(nodes_[i]); + } + clouds_.resize(num); + nodes_.resize(num); + } + } + + void SimpleOccupancyGridArrayDisplay::reset() + { + MFDClass::reset(); + allocateCloudsAndNodes(0); + } + + void SimpleOccupancyGridArrayDisplay::processMessage( + const jsk_recognition_msgs::SimpleOccupancyGridArray::ConstPtr& msg) + { + Ogre::ColourValue white(1, 1, 1, 1); + allocateCloudsAndNodes(msg->grids.size()); // not enough + for (size_t i = 0; i < msg->grids.size(); i++) { + Ogre::SceneNode* node = nodes_[i]; + rviz::PointCloud* cloud = clouds_[i]; + const jsk_recognition_msgs::SimpleOccupancyGrid grid = msg->grids[i]; + Ogre::Vector3 position; + Ogre::Quaternion quaternion; + + // coefficients + geometry_msgs::Pose plane_pose; + jsk_recognition_utils::Plane::Ptr plane(new jsk_recognition_utils::Plane(grid.coefficients)); + Eigen::Affine3f plane_pose_eigen = plane->coordinates(); + tf::poseEigenToMsg(plane_pose_eigen, plane_pose); + if(!context_->getFrameManager()->transform(grid.header, plane_pose, + position, + quaternion)) { + std::ostringstream oss; + oss << "Error transforming pose"; + oss << " from frame '" << grid.header.frame_id << "'"; + oss << " to frame '" << qPrintable(fixed_frame_) << "'"; + ROS_ERROR_STREAM(oss.str()); + setStatus(rviz::StatusProperty::Error, "Transform", QString::fromStdString(oss.str())); + return; + } + node->setPosition(position); + node->setOrientation(quaternion); + cloud->setDimensions(grid.resolution, grid.resolution, 0.0); + std::vector points; + for (size_t ci = 0; ci < grid.cells.size(); ci++) { + const geometry_msgs::Point p = grid.cells[ci]; + rviz::PointCloud::Point point; + if (auto_color_) { + point.color = rviz::colorMsgToOgre(jsk_topic_tools::colorCategory20(i)); + } + else { + point.color = white; + } + point.position.x = p.x; + point.position.y = p.y; + point.position.z = p.z; + points.push_back(point); + } + cloud->clear(); + cloud->setAlpha(alpha_); + if (!points.empty()) { + cloud->addPoints(&points.front(), points.size()); + } + } + context_->queueRender(); + } + + void SimpleOccupancyGridArrayDisplay::updateAlpha() + { + alpha_ = alpha_property_->getFloat(); + } + + void SimpleOccupancyGridArrayDisplay::updateAutoColor() + { + auto_color_ = auto_color_property_->getBool(); + } + +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::SimpleOccupancyGridArrayDisplay, rviz::Display ) + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.h new file mode 100755 index 0000000..d7a44c6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/simple_occupancy_grid_array_display.h @@ -0,0 +1,84 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_SIMPLE_OCCUPANCY_GRID_ARRAY_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_SIMPLE_OCCUPANCY_GRID_ARRAY_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + class SimpleOccupancyGridArrayDisplay: + public rviz::MessageFilterDisplay< + jsk_recognition_msgs::SimpleOccupancyGridArray> + { + Q_OBJECT + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr PointCloudPtr; +#else + typedef boost::shared_ptr PointCloudPtr; +#endif + SimpleOccupancyGridArrayDisplay(); + virtual ~SimpleOccupancyGridArrayDisplay(); + protected: + virtual void onInitialize(); + virtual void reset(); + virtual void allocateCloudsAndNodes(const size_t num); + rviz::FloatProperty* alpha_property_; + rviz::BoolProperty* auto_color_property_; + double alpha_; + std::vector clouds_; + std::vector nodes_; + bool auto_color_; + private: + void processMessage( + const jsk_recognition_msgs::SimpleOccupancyGridArray::ConstPtr& msg); + private Q_SLOTS: + void updateAlpha(); + void updateAutoColor(); + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/string_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/string_display.cpp new file mode 100755 index 0000000..ff989ea --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/string_display.cpp @@ -0,0 +1,520 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "string_display.h" + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ + StringDisplay::StringDisplay() : Display(), + texture_width_(0), texture_height_(0), + text_size_(14), + line_width_(2), + text_(""), font_(""), + bg_color_(0, 0, 0, 0), + fg_color_(255, 255, 255, 255.0), + require_update_texture_(false) + { + update_topic_property_ = new rviz::RosTopicProperty( + "Topic", "", + ros::message_traits::datatype(), + "std_msgs::String topic to subscribe to.", + this, SLOT(updateTopic())); + overtake_position_properties_property_ = new rviz::BoolProperty( + "Overtake Position Properties", false, + "overtake position properties specified by message such as left, top and font", + this, SLOT(updateOvertakePositionProperties())); + overtake_color_properties_property_ = new rviz::BoolProperty( + "Overtake Color Properties", false, + "overtake color properties specified by message such as foreground/background color and alpha", + this, SLOT(updateOvertakeColorProperties())); + align_bottom_property_ = new rviz::BoolProperty( + "Align Bottom", false, + "align text with the bottom of the overlay region", + this, SLOT(updateAlignBottom())); + top_property_ = new rviz::IntProperty( + "top", 0, + "top position", + this, SLOT(updateTop())); + top_property_->setMin(0); + left_property_ = new rviz::IntProperty( + "left", 0, + "left position", + this, SLOT(updateLeft())); + left_property_->setMin(0); + width_property_ = new rviz::IntProperty( + "width", 128, + "width position", + this, SLOT(updateWidth())); + width_property_->setMin(0); + height_property_ = new rviz::IntProperty( + "height", 128, + "height position", + this, SLOT(updateHeight())); + height_property_->setMin(0); + text_size_property_ = new rviz::IntProperty( + "text size", 12, + "text size", + this, SLOT(updateTextSize())); + text_size_property_->setMin(0); + line_width_property_ = new rviz::IntProperty( + "line width", 2, + "line width", + this, SLOT(updateLineWidth())); + line_width_property_->setMin(0); + fg_color_property_ = new rviz::ColorProperty( + "Foreground Color", QColor(25, 255, 240), + "Foreground Color", + this, SLOT(updateFGColor())); + fg_alpha_property_ = new rviz::FloatProperty( + "Foreground Alpha", 0.8, "Foreground Alpha", + this, SLOT(updateFGAlpha())); + fg_alpha_property_->setMin(0.0); + fg_alpha_property_->setMax(1.0); + bg_color_property_ = new rviz::ColorProperty( + "Background Color", QColor(0, 0, 0), + "Background Color", + this, SLOT(updateBGColor())); + bg_alpha_property_ = new rviz::FloatProperty( + "Background Alpha", 0.8, "Background Alpha", + this, SLOT(updateBGAlpha())); + bg_alpha_property_->setMin(0.0); + bg_alpha_property_->setMax(1.0); + + QFontDatabase database; + font_families_ = database.families(); + font_property_ = new rviz::EnumProperty( + "font", "DejaVu Sans Mono", + "font", this, + SLOT(updateFont())); + for (size_t i = 0; i < font_families_.size(); i++) + { + font_property_->addOption(font_families_[i], static_cast(i)); + } + } + + StringDisplay::~StringDisplay() + { + onDisable(); + //delete overlay_; + delete update_topic_property_; + delete overtake_color_properties_property_; + delete overtake_position_properties_property_; + delete align_bottom_property_; + delete top_property_; + delete left_property_; + delete width_property_; + delete height_property_; + delete text_size_property_; + delete line_width_property_; + delete bg_color_property_; + delete bg_alpha_property_; + delete fg_color_property_; + delete fg_alpha_property_; + delete font_property_; + } + + void StringDisplay::onEnable() + { + if (overlay_) + { + overlay_->show(); + } + subscribe(); + } + + void StringDisplay::onDisable() + { + if (overlay_) + { + overlay_->hide(); + } + unsubscribe(); + } + + void StringDisplay::unsubscribe() + { + sub_.shutdown(); + } + + void StringDisplay::subscribe() + { + std::string topic_name = update_topic_property_->getTopicStd(); + if (topic_name.length() > 0 && topic_name != "/") + { + sub_ = ros::NodeHandle().subscribe(topic_name, 1, &StringDisplay::processMessage, this); + } + } + + void StringDisplay::updateTopic() + { + unsubscribe(); + subscribe(); + } + + // only the first time + void StringDisplay::onInitialize() + { + onEnable(); + updateTopic(); + updateOvertakePositionProperties(); + updateOvertakeColorProperties(); + updateAlignBottom(); + updateTop(); + updateLeft(); + updateWidth(); + updateHeight(); + updateTextSize(); + updateFGColor(); + updateFGAlpha(); + updateBGColor(); + updateBGAlpha(); + updateFont(); + updateLineWidth(); + require_update_texture_ = true; + } + + void StringDisplay::update(float wall_dt, float ros_dt) + { + if (!require_update_texture_) + { + return; + } + if (!isEnabled()) + { + return; + } + if (!overlay_) + { + return; + } + overlay_->setPosition(left_, top_); + overlay_->updateTextureSize(texture_width_, texture_height_); + { + ScopedPixelBuffer buffer = overlay_->getBuffer(); + QImage Hud = buffer.getQImage(*overlay_, bg_color_); + QPainter painter( &Hud ); + painter.setRenderHint(QPainter::Antialiasing, true); + painter.setPen(QPen(fg_color_, line_width_ || 1, Qt::SolidLine)); + uint16_t w = overlay_->getTextureWidth(); + uint16_t h = overlay_->getTextureHeight(); + + // font + if (text_size_ != 0) + { + QFont font(font_.length() > 0 ? font_.c_str(): "Liberation Sans"); + font.setPointSize(text_size_); + font.setBold(true); + painter.setFont(font); + } + if (text_.length() > 0) + { + std::string color_wrapped_text + = (boost::format("%1%") + % text_ % fg_color_.red() % fg_color_.green() % fg_color_.blue() % + fg_color_.alpha()).str(); + QStaticText static_text( + boost::algorithm::replace_all_copy(color_wrapped_text, "\n", "
").c_str()); + static_text.setTextWidth(w); + if (!align_bottom_) + { + painter.drawStaticText(0, 0, static_text); + } + else + { + QStaticText only_wrapped_text(color_wrapped_text.c_str()); + QFontMetrics fm(painter.fontMetrics()); + QRect text_rect = fm.boundingRect(0, 0, w, h, + Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop, + only_wrapped_text.text().remove(QRegExp("<[^>]*>"))); + painter.drawStaticText(0, h - text_rect.height(), static_text); + } + } + painter.end(); + } + overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); + require_update_texture_ = false; + } + + void StringDisplay::processMessage + (const std_msgs::String::ConstPtr& msg) + { + if (!isEnabled()) + { + return; + } + if (!overlay_) + { + static int count = 0; + rviz::UniformStringStream ss; + ss << "StringDisplayObject" << count++; + overlay_.reset(new OverlayObject(ss.str())); + overlay_->show(); + } + if (overlay_) + { + overlay_->show(); + } + + // store message for update method + text_ = msg->data; + require_update_texture_ = true; + } + + void StringDisplay::updateOvertakePositionProperties() + { + if (!overtake_position_properties_ && + overtake_position_properties_property_->getBool()) + { + updateTop(); + updateLeft(); + updateWidth(); + updateHeight(); + updateTextSize(); + require_update_texture_ = true; + } + overtake_position_properties_ + = overtake_position_properties_property_->getBool(); + if (overtake_position_properties_) + { + top_property_->show(); + left_property_->show(); + width_property_->show(); + height_property_->show(); + text_size_property_->show(); + } + else + { + top_property_->hide(); + left_property_->hide(); + width_property_->hide(); + height_property_->hide(); + text_size_property_->hide(); + } + } + + void StringDisplay::updateOvertakeColorProperties() + { + if (!overtake_color_properties_ && + overtake_color_properties_property_->getBool()) + { + // read all the parameters from properties + updateFGColor(); + updateFGAlpha(); + updateBGColor(); + updateBGAlpha(); + updateFont(); + updateLineWidth(); + require_update_texture_ = true; + } + overtake_color_properties_ = overtake_color_properties_property_->getBool(); + if (overtake_color_properties_) + { + fg_color_property_->show(); + fg_alpha_property_->show(); + bg_color_property_->show(); + bg_alpha_property_->show(); + line_width_property_->show(); + font_property_->show(); + } + else + { + fg_color_property_->hide(); + fg_alpha_property_->hide(); + bg_color_property_->hide(); + bg_alpha_property_->hide(); + line_width_property_->hide(); + font_property_->hide(); + } + } + + void StringDisplay::updateAlignBottom() + { + if (align_bottom_ != align_bottom_property_->getBool()) + { + require_update_texture_ = true; + } + align_bottom_ = align_bottom_property_->getBool(); + } + + void StringDisplay::updateTop() + { + top_ = top_property_->getInt(); + if (overtake_position_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateLeft() + { + left_ = left_property_->getInt(); + if (overtake_position_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateWidth() + { + texture_width_ = width_property_->getInt(); + if (overtake_position_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateHeight() + { + texture_height_ = height_property_->getInt(); + if (overtake_position_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateTextSize() + { + text_size_ = text_size_property_->getInt(); + if (overtake_position_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateBGColor() + { + QColor c = bg_color_property_->getColor(); + bg_color_.setRed(c.red()); + bg_color_.setGreen(c.green()); + bg_color_.setBlue(c.blue()); + if (overtake_color_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateBGAlpha() + { + bg_color_.setAlpha(bg_alpha_property_->getFloat() * 255.0); + if (overtake_color_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateFGColor() + { + QColor c = fg_color_property_->getColor(); + fg_color_.setRed(c.red()); + fg_color_.setGreen(c.green()); + fg_color_.setBlue(c.blue()); + if (overtake_color_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateFGAlpha() + { + fg_color_.setAlpha(fg_alpha_property_->getFloat() * 255.0); + if (overtake_color_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateFont() + { + int font_index = font_property_->getOptionInt(); + if (font_index < font_families_.size()) + { + font_ = font_families_[font_index].toStdString(); + } + else + { + ROS_FATAL("Unexpected error at selecting font index %d.", font_index); + return; + } + if (overtake_color_properties_) + { + require_update_texture_ = true; + } + } + + void StringDisplay::updateLineWidth() + { + line_width_ = line_width_property_->getInt(); + if (overtake_color_properties_) + { + require_update_texture_ = true; + } + } + + bool StringDisplay::isInRegion(int x, int y) + { + return (top_ < y && top_ + texture_height_ > y && + left_ < x && left_ + texture_width_ > x); + } + + void StringDisplay::movePosition(int x, int y) + { + top_ = y; + left_ = x; + } + + void StringDisplay::setPosition(int x, int y) + { + top_property_->setValue(y); + left_property_->setValue(x); + } + +} // namespace jsk_rviz_plugins + +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::StringDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/string_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/string_display.h new file mode 100755 index 0000000..000b52d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/string_display.h @@ -0,0 +1,133 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2019, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#ifndef JSK_RVIZ_PLUGIN_STRING_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_STRING_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "overlay_utils.h" +#endif + +namespace jsk_rviz_plugins +{ +class StringDisplay : public rviz::Display + { + Q_OBJECT + public: + StringDisplay(); + virtual ~StringDisplay(); + // methods for OverlayPickerTool + virtual bool isInRegion(int x, int y); + virtual void movePosition(int x, int y); + virtual void setPosition(int x, int y); + virtual int getX() { return left_; } + virtual int getY() { return top_; } + protected: + OverlayObject::Ptr overlay_; + + int texture_width_; + int texture_height_; + + bool overtake_color_properties_; + bool overtake_position_properties_; + bool align_bottom_; + QColor bg_color_; + QColor fg_color_; + int text_size_; + int line_width_; + std::string text_; + QStringList font_families_; + std::string font_; + int left_; + int top_; + + ros::Subscriber sub_; + + virtual void onInitialize(); + virtual void subscribe(); + virtual void unsubscribe(); + virtual void onEnable(); + virtual void onDisable(); + virtual void update(float wall_dt, float ros_dt); + + bool require_update_texture_; + rviz::RosTopicProperty* update_topic_property_; + rviz::BoolProperty* overtake_position_properties_property_; + rviz::BoolProperty* overtake_color_properties_property_; + rviz::BoolProperty* align_bottom_property_; + rviz::IntProperty* top_property_; + rviz::IntProperty* left_property_; + rviz::IntProperty* width_property_; + rviz::IntProperty* height_property_; + rviz::IntProperty* text_size_property_; + rviz::IntProperty* line_width_property_; + rviz::ColorProperty* bg_color_property_; + rviz::FloatProperty* bg_alpha_property_; + rviz::ColorProperty* fg_color_property_; + rviz::FloatProperty* fg_alpha_property_; + rviz::EnumProperty* font_property_; + protected Q_SLOTS: + void updateTopic(); + void updateOvertakePositionProperties(); + void updateOvertakeColorProperties(); + void updateAlignBottom(); + void updateTop(); + void updateLeft(); + void updateWidth(); + void updateHeight(); + void updateTextSize(); + void updateFGColor(); + void updateFGAlpha(); + void updateBGColor(); + void updateBGAlpha(); + void updateFont(); + void updateLineWidth(); + private: + void processMessage(const std_msgs::String::ConstPtr& msg); + }; +} // namespace jsk_rviz_plugins + +#endif // JSK_RVIZ_PLUGIN_STRING_DISPLAY_H_ diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tablet_controller_panel.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tablet_controller_panel.cpp new file mode 100755 index 0000000..b94f29c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tablet_controller_panel.cpp @@ -0,0 +1,368 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#include "tablet_controller_panel.h" +#include +#include +namespace jsk_rviz_plugins +{ + TabletCmdVelArea::TabletCmdVelArea(QWidget* parent, ros::Publisher& pub_cmd_vel): + QWidget(parent), mouse_x_(-1), mouse_y_(-1), pub_cmd_vel_(pub_cmd_vel) + { + setBackgroundRole(QPalette::Base); + setAutoFillBackground(true); + } + + QSize TabletCmdVelArea::minimumSizeHint() const + { + return QSize(300, 300); + } + + QSize TabletCmdVelArea::sizeHint() const + { + return QSize(300, 300); + } + + void TabletCmdVelArea::mouseMoveEvent(QMouseEvent* event){ + mouse_x_ = event->x(); + mouse_y_ = event->y(); + repaint(); + } + void TabletCmdVelArea::mousePressEvent(QMouseEvent* event){ + mouse_x_ = event->x(); + mouse_y_ = event->y(); + repaint(); + } + void TabletCmdVelArea::mouseReleaseEvent(QMouseEvent* event){ + mouse_x_ = -1; + mouse_y_ = -1; + repaint(); + publishCmdVel(0, 0, 0); + } + + void TabletCmdVelArea::paintEvent(QPaintEvent* event) + { + QSize widget_size = size(); + int line_width = 20; + int width = widget_size.width() - line_width * 2; + int height = widget_size.height() - line_width * 2; + // out circle + int radius = std::min(width, height) / 2; + int center_x = width / 2 + line_width; + int center_y = height / 2 + line_width; + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + QPen pen; + pen.setColor(QColor(130, 177, 255)); + pen.setWidth(10); + painter.setPen(pen); + painter.drawArc(center_x - radius, center_y - radius, + radius * 2, radius * 2, 0, (360 + 1) * 16); + // position of mouse + QPen inner_pen; + inner_pen.setColor(QColor(33, 150, 243)); + int inner_size = 40; + inner_pen.setWidth(inner_size); + painter.setPen(inner_pen); + if (mouse_x_ == -1 && mouse_y_ == -1) { + mouse_x_ = center_x; + mouse_y_ = center_y; + } + else { + publishVelocity(mouse_x_, mouse_y_, center_x, center_y); + } + painter.drawArc(mouse_x_ - inner_size / 2, + mouse_y_ - inner_size / 2, + inner_size, inner_size, 0, (360 + 1) * 16); + } + + void TabletCmdVelArea::publishVelocity( + int mouse_x, int mouse_y, int cx, int cy) + { + double diff_x = mouse_x - cx; + double diff_y = mouse_y - cy; + Eigen::Vector3d ex(0, -1, 0); + Eigen::Vector3d vel(diff_x / cx, diff_y / cy, 0); + + int sign = 1; + if (ex.cross(vel).dot(Eigen::Vector3d(0, 0, -1)) < 0) { + sign = -1; + } + double dot = ex.dot(vel) / ex.norm() / vel.norm(); + if (dot < -1) { + dot = -1.0; + } + else if (dot > 1) { + dot = 1.0; + } + double theta = sign * acos(dot); + if (!std::isnan(theta)) { + Eigen::Vector3d vel_refined(-vel[1], -vel[0], 0); + + publishCmdVel(vel_refined[0] * 0.2 , vel_refined[1] * 0.2, theta * 0.2); + } + } + + void TabletCmdVelArea::publishCmdVel(double x, double y, double theta) + { + ROS_INFO("(%f, %f)", x, y); + ROS_INFO("theta: %f", theta); + geometry_msgs::Twist twist; + twist.linear.x = x; + twist.linear.y = y; + twist.angular.z = theta; + pub_cmd_vel_.publish(twist); + } + + QString TabletControllerPanel::defaultButtonStyleSheet() + { + return "QPushButton {background-color: #FF5252; color: white; font-size: 30pt;}"; + } + + QString TabletControllerPanel::executeButtonStyleSheet() + { + return "QPushButton {background-color: white; color: #424242; font-size: 30pt;}"; + } + + QString TabletControllerPanel::radioButtonStyleSheet() + { + return "QRadioButton {font-size: 20pt; color: #424242;}"; + } + + QString TabletControllerPanel::listStyleSheet() + { + return "QListWidget {font-size: 20pt; color: #424242;}"; + } + + TabletControllerPanel::TabletControllerPanel(QWidget* parent): rviz::Panel(parent) + { + ros::NodeHandle nh; + pub_start_demo_ = nh.advertise( + "/Tablet/StartDemo", 1); + pub_spot_ = nh.advertise( + "/Tablet/MoveToSpot", 1); + sub_spots_ = nh.subscribe("/spots_marker_array", + 1, &TabletControllerPanel::spotCallback, this); + pub_cmd_vel_ = nh.advertise( + "/navigation/unsafe_vel", 1); + layout_ = new QVBoxLayout(); + layout_->addStretch(); + task_button_ = new QPushButton("Task", this); + task_button_->setMinimumHeight(100); + task_button_->setStyleSheet(defaultButtonStyleSheet()); + + connect(task_button_, SIGNAL(released()), this, SLOT(taskButtonClicked())); + layout_->addWidget(task_button_); + layout_->addSpacing(10); + spot_button_ = new QPushButton("Move to spot", this); + spot_button_->setMinimumHeight(100); + spot_button_->setStyleSheet(defaultButtonStyleSheet()); + connect(spot_button_, SIGNAL(released()), this, SLOT(spotButtonClicked())); + layout_->addWidget(spot_button_); + layout_->addSpacing(10); + cmd_vel_area_ = new TabletCmdVelArea(this, pub_cmd_vel_); + layout_->addWidget(cmd_vel_area_); + + + setLayout(layout_); + setBackgroundRole(QPalette::Base); + setAutoFillBackground(true); + } + + TabletControllerPanel::~TabletControllerPanel() + { + + } + + void TabletControllerPanel::load(const rviz::Config& config) + { + rviz::Panel::load(config); + } + + void TabletControllerPanel::save(rviz::Config config) const + { + rviz::Panel::save(config); + } + + //////////////////////////////////////////////////////// + // callbacks + //////////////////////////////////////////////////////// + void TabletControllerPanel::spotCallback( + const visualization_msgs::MarkerArray::ConstPtr& marker) + { + boost::mutex::scoped_lock lock(mutex_); + spots_.clear(); + for (size_t i = 0; i < marker->markers.size(); i++) { + std::string text = marker->markers[i].text; + if (!text.empty()) { + spots_.push_back(text); + } + } + } + + + + void TabletControllerPanel::taskButtonClicked() + { + task_dialog_ = new QDialog(); + task_dialog_->setBackgroundRole(QPalette::Base); + task_dialog_->setAutoFillBackground(true); + task_dialog_layout_ = new QVBoxLayout(); + task_radio_buttons_.clear(); + std::vector tasks; + tasks.push_back("/Tablet/other/GetGeorgia"); + tasks.push_back("/Tablet/chen/GoToElevator"); + tasks.push_back("/Tablet/chen/Greeting1"); + tasks.push_back("/Tablet/chen/Greeting2"); + tasks.push_back("/Tablet/chen/Greeting3"); + tasks.push_back("/Tablet/chen/Greeting4"); + tasks.push_back("/Tablet/chen/Greeting5"); + tasks.push_back("/Tablet/chen/HandOver"); + for (size_t i = 0; i < tasks.size(); i++) { + QRadioButton* task = new QRadioButton(QString::fromStdString(tasks[i]), this); + task->setMinimumHeight(50); + if (i == 0) { + task->setChecked(true); + } + task->setStyleSheet(radioButtonStyleSheet()); + task_radio_buttons_.push_back(task); + } + + for (size_t i = 0; i < task_radio_buttons_.size(); i++) { + task_dialog_layout_->addWidget(task_radio_buttons_[i]); + } + task_dialog_button_layout_ = new QHBoxLayout(); + task_execute_button_ = new QPushButton("Execute", this); + task_execute_button_->setStyleSheet(executeButtonStyleSheet()); + task_execute_button_->setMinimumHeight(100); + task_execute_button_->setMinimumWidth(300); + task_dialog_button_layout_->addWidget(task_execute_button_); + connect(task_execute_button_, SIGNAL(released()), this, SLOT(taskExecuteClicked())); + task_cancel_button_ = new QPushButton("Cancel", this); + task_cancel_button_->setStyleSheet(defaultButtonStyleSheet()); + task_cancel_button_->setMinimumHeight(100); + task_cancel_button_->setMinimumWidth(300); + connect(task_cancel_button_, SIGNAL(released()), this, SLOT(taskCancelClicked())); + task_dialog_button_layout_->addWidget(task_cancel_button_); + task_dialog_layout_->addLayout(task_dialog_button_layout_); + task_dialog_->setLayout(task_dialog_layout_); + task_dialog_->show(); + + } + + void TabletControllerPanel::taskCancelClicked() + { + task_dialog_->reject(); + } + + void TabletControllerPanel::taskExecuteClicked() + { + for (size_t i = 0; i < task_radio_buttons_.size(); i++) { + QRadioButton* radio = task_radio_buttons_[i]; + if (radio->isChecked()) { + std::string task = radio->text().toStdString(); + ROS_INFO("task: %s", task.c_str()); + task_dialog_->reject(); + jsk_rviz_plugins::StringStamped command; + command.data = task; + command.header.stamp = ros::Time::now(); + pub_start_demo_.publish(command); + return; + } + } + } + + void TabletControllerPanel::spotButtonClicked() + { + boost::mutex::scoped_lock lock(mutex_); + spot_dialog_ = new QDialog(); + spot_dialog_->setBackgroundRole(QPalette::Base); + spot_dialog_->setAutoFillBackground(true); + spot_dialog_layout_ = new QVBoxLayout(); + + spot_list_ = new QListWidget(); + spot_list_->setSortingEnabled(true); + spot_list_->setStyleSheet(listStyleSheet()); + for (size_t i = 0; i < spots_.size(); i++) { + QListWidgetItem* item = new QListWidgetItem( + QString::fromStdString(spots_[i])); + item->setSizeHint(QSize(item->sizeHint().width(), 30)); + spot_list_->addItem(item); + } + spot_dialog_layout_->addWidget(spot_list_); + spot_dialog_button_layout_ = new QHBoxLayout(); + spot_go_button_ = new QPushButton("Go", this); + spot_go_button_->setStyleSheet(executeButtonStyleSheet()); + spot_go_button_->setMinimumHeight(50); + spot_go_button_->setMinimumWidth(300); + connect(spot_go_button_, SIGNAL(released()), + this, SLOT(spotGoClicked())); + spot_dialog_button_layout_->addWidget(spot_go_button_); + + spot_cancel_button_ = new QPushButton("Cancel", this); + spot_cancel_button_->setMinimumHeight(50); + spot_cancel_button_->setMinimumWidth(300); + spot_cancel_button_->setStyleSheet(defaultButtonStyleSheet()); + connect(spot_cancel_button_, SIGNAL(released()), + this, SLOT(spotCancelClicked())); + spot_dialog_button_layout_->addWidget(spot_cancel_button_); + spot_dialog_layout_->addLayout(spot_dialog_button_layout_); + spot_dialog_->setLayout(spot_dialog_layout_); + spot_dialog_->show(); + } + + void TabletControllerPanel::spotCancelClicked() + { + spot_dialog_->reject(); + } + + void TabletControllerPanel::spotGoClicked() + { + QListWidgetItem* item = spot_list_->currentItem(); + if (item) { + std::string spot = item->text().toStdString(); + jsk_rviz_plugins::StringStamped spot_command; + spot_command.data = spot; + spot_command.header.stamp = ros::Time::now(); + pub_spot_.publish(spot_command); + } + spot_dialog_->reject(); + } + +} + +#include +PLUGINLIB_EXPORT_CLASS (jsk_rviz_plugins::TabletControllerPanel, rviz::Panel); diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tablet_controller_panel.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tablet_controller_panel.h new file mode 100755 index 0000000..af9d8ea --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tablet_controller_panel.h @@ -0,0 +1,155 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGINS_TABLET_CONTROLLER_PANEL_H_ +#define JSK_RVIZ_PLUGINS_TABLET_CONTROLLER_PANEL_H_ + +#ifndef Q_MOC_RUN +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +# include +#else +# include +#endif +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + class TabletCmdVelArea: public QWidget + { + Q_OBJECT + public: + TabletCmdVelArea(QWidget* parent, ros::Publisher& pub_cmd_vel); + virtual QSize minimumSizeHint() const; + virtual QSize sizeHint() const; + protected: + virtual void paintEvent(QPaintEvent* event); + virtual void mouseMoveEvent(QMouseEvent* event); + virtual void mousePressEvent(QMouseEvent* event); + virtual void mouseReleaseEvent(QMouseEvent* event); + virtual void publishVelocity(int mouse_x, int mouse_y, int cx, int cy); + virtual void publishCmdVel(double x, double y, double theta); + int mouse_x_; + int mouse_y_; + ros::Publisher pub_cmd_vel_; + }; + + class TabletControllerPanel: public rviz::Panel + { + Q_OBJECT + public: + TabletControllerPanel(QWidget* parent = 0); + virtual ~TabletControllerPanel(); + virtual void load(const rviz::Config& config); + virtual void save(rviz::Config config) const; + + protected: + //////////////////////////////////////////////////////// + // methods + //////////////////////////////////////////////////////// + virtual void spotCallback( + const visualization_msgs::MarkerArray::ConstPtr& marker); + virtual QString defaultButtonStyleSheet(); + virtual QString executeButtonStyleSheet(); + virtual QString radioButtonStyleSheet(); + virtual QString listStyleSheet(); + //////////////////////////////////////////////////////// + // GUI variables + //////////////////////////////////////////////////////// + + QVBoxLayout* layout_; + QPushButton* task_button_; + QPushButton* spot_button_; + TabletCmdVelArea* cmd_vel_area_; + + QDialog* task_dialog_; + QVBoxLayout* task_dialog_layout_; + QHBoxLayout* task_dialog_button_layout_; + QPushButton* task_execute_button_; + QPushButton* task_cancel_button_; + std::vector task_radio_buttons_; + + std::vector spots_; + QDialog* spot_dialog_; + QVBoxLayout* spot_dialog_layout_; + QHBoxLayout* spot_dialog_button_layout_; + QPushButton* spot_go_button_; + QPushButton* spot_cancel_button_; + QListWidget* spot_list_; + //////////////////////////////////////////////////////// + // ROS variables + //////////////////////////////////////////////////////// + ros::Publisher pub_cmd_vel_; + ros::Publisher pub_spot_; + ros::Publisher pub_start_demo_; + ros::Subscriber sub_spots_; + boost::mutex mutex_; + + + protected Q_SLOTS: + //////////////////////////////////////////////////////// + // callbacks + //////////////////////////////////////////////////////// + void taskButtonClicked(); + void taskCancelClicked(); + void taskExecuteClicked(); + void spotButtonClicked(); + void spotGoClicked(); + void spotCancelClicked(); + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/target_visualizer_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/target_visualizer_display.cpp new file mode 100755 index 0000000..367af9f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/target_visualizer_display.cpp @@ -0,0 +1,224 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#include +#include +#include +#include +#include +#include "target_visualizer_display.h" +#include + +namespace jsk_rviz_plugins +{ + const float arrow_animation_duration = 1.0; + const double minimum_font_size = 0.2; + + TargetVisualizerDisplay::TargetVisualizerDisplay(): + message_recieved_(false) + { + target_name_property_ = new rviz::StringProperty( + "target name", "target", + "name of the target", + this, SLOT(updateTargetName()) + ); + radius_property_ = new rviz::FloatProperty( + "radius", 1.0, + "radius of the target mark", + this, SLOT(updateRadius())); + radius_property_->setMin(0.0); + alpha_property_ = new rviz::FloatProperty( + "alpha", 0.8, + "0 is fully transparent, 1.0 is fully opaque.", + this, SLOT(updateAlpha())); + alpha_property_->setMin(0.0); + alpha_property_->setMax(1.0); + color_property_ = new rviz::ColorProperty( + "color", QColor(25, 255, 240), + "color of the target", + this, SLOT(updateColor())); + shape_type_property_ = new rviz::EnumProperty( + "type", "Simple Circle", + "Shape to display the pose as", + this, SLOT(updateShapeType())); + shape_type_property_->addOption("Simple Circle", SimpleCircle); + shape_type_property_->addOption("Decoreted Circle", GISCircle); + } + + TargetVisualizerDisplay::~TargetVisualizerDisplay() + { + delete target_name_property_; + delete alpha_property_; + delete color_property_; + delete radius_property_; + } + + void TargetVisualizerDisplay::onEnable() + { + subscribe(); + visualizer_->setEnable(false); // keep false, it will be true + // in side of processMessae callback. + } + + void TargetVisualizerDisplay::processMessage( + const geometry_msgs::PoseStamped::ConstPtr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + message_recieved_ = true; + visualizer_->setEnable(isEnabled()); + if (!isEnabled()) { + return; + } + Ogre::Quaternion orientation; + Ogre::Vector3 position; + if(!context_->getFrameManager()->transform(msg->header, + msg->pose, + position, orientation)) + { + std::ostringstream oss; + oss << "Error transforming pose"; + oss << " from frame '" << msg->header.frame_id << "'"; + oss << " to frame '" << qPrintable(fixed_frame_) << "'"; + ROS_ERROR_STREAM(oss.str()); + setStatus(rviz::StatusProperty::Error, "Transform", QString::fromStdString(oss.str())); + return; + } + visualizer_->setPosition(position); + } + + + void TargetVisualizerDisplay::update(float wall_dt, float ros_dt) + { + if (!message_recieved_) { + return; + } + visualizer_->setOrientation(context_); + visualizer_->update(wall_dt, ros_dt); + } + + void TargetVisualizerDisplay::onInitialize() + { + visualizer_initialized_ = false; + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + + updateRadius(); + updateShapeType(); + // updateTargetName(); + // updateColor(); + // updateAlpha(); + } + + void TargetVisualizerDisplay::reset() + { + MFDClass::reset(); + message_recieved_ = false; + if (visualizer_) { + visualizer_->setEnable(false); + } + } + + void TargetVisualizerDisplay::updateTargetName() + { + boost::mutex::scoped_lock lock(mutex_); + target_name_ = target_name_property_->getStdString(); + if (visualizer_) { + visualizer_->setText(target_name_); + } + } + + void TargetVisualizerDisplay::updateRadius() + { + boost::mutex::scoped_lock lock(mutex_); + radius_ = radius_property_->getFloat(); + if (visualizer_) { + visualizer_->setSize(radius_); + } + } + + void TargetVisualizerDisplay::updateAlpha() + { + boost::mutex::scoped_lock lock(mutex_); + alpha_ = alpha_property_->getFloat(); + if (visualizer_) { + visualizer_->setAlpha(alpha_); + } + } + + void TargetVisualizerDisplay::updateColor() + { + boost::mutex::scoped_lock lock(mutex_); + color_ = color_property_->getColor(); + if (visualizer_) { + visualizer_->setColor(color_); + } + } + + void TargetVisualizerDisplay::updateShapeType() + { + if (!visualizer_initialized_ || + current_type_ != shape_type_property_->getOptionInt()) { + { + boost::mutex::scoped_lock lock(mutex_); + if (shape_type_property_->getOptionInt() == SimpleCircle) { + current_type_ = SimpleCircle; + // simple circle + visualizer_.reset(new SimpleCircleFacingVisualizer( + scene_manager_, + scene_node_, + context_, + radius_)); + } + else { + current_type_ = GISCircle; + // GIS + GISCircleVisualizer* v = new GISCircleVisualizer( + scene_manager_, + scene_node_, + radius_); + v->setAnonymous(false); + visualizer_.reset(v); + } + visualizer_initialized_ = true; + } + updateTargetName(); + updateColor(); + updateAlpha(); + } + } +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::TargetVisualizerDisplay, rviz::Display ) + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/target_visualizer_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/target_visualizer_display.h new file mode 100755 index 0000000..2388beb --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/target_visualizer_display.h @@ -0,0 +1,109 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGIN_TARGET_VISUALIZER_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_TARGET_VISUALIZER_DISPLAY_H_ + + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "facing_visualizer.h" +#endif + +namespace jsk_rviz_plugins +{ + class TargetVisualizerDisplay: + public rviz::MessageFilterDisplay + { + Q_OBJECT + public: + TargetVisualizerDisplay(); + virtual ~TargetVisualizerDisplay(); + enum ShapeType + { + SimpleCircle, + GISCircle + }; + + protected: + virtual void onInitialize(); + virtual void reset(); + virtual void onEnable(); + void processMessage(const geometry_msgs::PoseStamped::ConstPtr& msg); + void update(float wall_dt, float ros_dt); + rviz::StringProperty* target_name_property_; + rviz::FloatProperty* alpha_property_; + rviz::ColorProperty* color_property_; + rviz::FloatProperty* radius_property_; + rviz::EnumProperty* shape_type_property_; + FacingObject::Ptr visualizer_; + + boost::mutex mutex_; + std::string target_name_; + double alpha_; + QColor color_; + double radius_; + bool message_recieved_; + ShapeType current_type_; + bool visualizer_initialized_; + private Q_SLOTS: + void updateTargetName(); + void updateAlpha(); + void updateColor(); + void updateRadius(); + void updateShapeType(); + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tf_trajectory_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tf_trajectory_display.cpp new file mode 100755 index 0000000..06c0f2b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tf_trajectory_display.cpp @@ -0,0 +1,175 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include "tf_trajectory_display.h" + +namespace jsk_rviz_plugins +{ + TFTrajectoryDisplay::TFTrajectoryDisplay() + : Display() + { + frame_property_ = new rviz::TfFrameProperty("frame", "", + "frame to visualize trajectory", + this, + NULL, + false, + SLOT(updateFrame())); + duration_property_ = new rviz::FloatProperty("duration", 10.0, + "duration to visualize trajectory", + this, SLOT(updateDuration())); + line_width_property_ = new rviz::FloatProperty("line_width", 0.01, + "line width", + this, SLOT(updateLineWidth())); + color_property_ = new rviz::ColorProperty("color", QColor(25, 255, 240), + "color of trajectory", + this, SLOT(updateColor())); + duration_property_->setMin(0.0); + line_width_property_->setMin(0.0); + } + + TFTrajectoryDisplay::~TFTrajectoryDisplay() + { + delete line_width_property_; + delete frame_property_; + delete duration_property_; + delete color_property_; + delete line_; + } + + void TFTrajectoryDisplay::onInitialize() + { + frame_property_->setFrameManager( context_->getFrameManager() ); + line_ = new rviz::BillboardLine(context_->getSceneManager(), scene_node_); + updateFrame(); + updateDuration(); + updateColor(); + updateLineWidth(); + } + + void TFTrajectoryDisplay::updateFrame() + { + frame_ = frame_property_->getFrame().toStdString(); + trajectory_.clear(); + } + + void TFTrajectoryDisplay::updateDuration() + { + duration_ = duration_property_->getFloat(); + } + + void TFTrajectoryDisplay::updateColor() + { + color_ = color_property_->getColor(); + } + + void TFTrajectoryDisplay::onEnable() + { + line_->clear(); + trajectory_.clear(); + } + + void TFTrajectoryDisplay::updateLineWidth() + { + line_width_ = line_width_property_->getFloat(); + } + + void TFTrajectoryDisplay::onDisable() + { + line_->clear(); + trajectory_.clear(); + } + + void TFTrajectoryDisplay::update(float wall_dt, float ros_dt) + { + if (frame_.empty()) { + return; + } + std::string fixed_frame_id = context_->getFrameManager()->getFixedFrame(); + if (fixed_frame_ != fixed_frame_id) { + fixed_frame_ = fixed_frame_id; + line_->clear(); + trajectory_.clear(); + return; + } + fixed_frame_ = fixed_frame_id; + ros::Time now = context_->getFrameManager()->getTime(); + std_msgs::Header header; + header.stamp = ros::Time(0.0); + header.frame_id = frame_; + Ogre::Vector3 position; + Ogre::Quaternion orientation; + if(!context_->getFrameManager()->getTransform( + header, position, orientation)) { + setStatus(rviz::StatusProperty::Error, "transformation", + (boost::format("Failed transforming from frame '%s' to frame '%s'") + % header.frame_id.c_str() % fixed_frame_id.c_str()).str().c_str()); + return; + } + setStatus(rviz::StatusProperty::Ok, "transformation", "Ok"); + geometry_msgs::PointStamped new_point; + new_point.header.stamp = now; + new_point.point.x = position[0]; + new_point.point.y = position[1]; + new_point.point.z = position[2]; + trajectory_.push_back(new_point); + // check old data, is it too slow?? + for (std::vector::iterator it = trajectory_.begin(); + it != trajectory_.end();) { + ros::Duration duration = now - it->header.stamp; + if (duration.toSec() > duration_) { + it = trajectory_.erase(it); + } + else { + break; + } + } + line_->clear(); + line_->setNumLines(1); + line_->setMaxPointsPerLine(trajectory_.size()); + line_->setLineWidth(line_width_); + line_->setColor(color_.red() * 255.0, color_.green() * 255.0, color_.blue() * 255.0, 255.0); + for (size_t i = 0; i < trajectory_.size(); i++) { + Ogre::Vector3 p; + p[0] = trajectory_[i].point.x; + p[1] = trajectory_[i].point.y; + p[2] = trajectory_[i].point.z; + line_->addPoint(p); + } + } +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::TFTrajectoryDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tf_trajectory_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tf_trajectory_display.h new file mode 100755 index 0000000..5e2f94f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/tf_trajectory_display.h @@ -0,0 +1,83 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_TF_TRAJECTORY_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_TF_TRAJECTORY_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + + class TFTrajectoryDisplay: public rviz::Display + { + Q_OBJECT + public: + TFTrajectoryDisplay(); + virtual ~TFTrajectoryDisplay(); + protected: + virtual void onInitialize(); + virtual void onEnable(); + virtual void onDisable(); + virtual void update(float wall_dt, float ros_dt); + + rviz::TfFrameProperty* frame_property_; + rviz::FloatProperty* duration_property_; + rviz::ColorProperty* color_property_; + rviz::FloatProperty* line_width_property_; + rviz::BillboardLine* line_; + std::vector trajectory_; + std::string frame_; + std::string fixed_frame_; + float duration_; + QColor color_; + float line_width_; + protected Q_SLOTS: + void updateFrame(); + void updateDuration(); + void updateColor(); + void updateLineWidth(); + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/torus_array_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/torus_array_display.cpp new file mode 100755 index 0000000..a1cd1c4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/torus_array_display.cpp @@ -0,0 +1,322 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Ryohei Ueda and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "torus_array_display.h" +#include + +#define PI 3.14159265 + +namespace jsk_rviz_plugins +{ + TorusArrayDisplay::TorusArrayDisplay() + { + color_property_ = new rviz::ColorProperty("color", QColor(25, 255, 0), + "color to draw the toruses", + this, SLOT(updateColor())); + alpha_property_ = new rviz::FloatProperty("alpha", 0.8, + "alpha value to draw the toruses", + this, SLOT(updateAlpha())); + uv_property_ = new rviz::IntProperty("uv-smooth", 50, + "torus uv dimension setting", + this, SLOT(updateUVdimension())); + auto_color_property_ = new rviz::BoolProperty("auto color", false, + "change the color of the toruses automatically", + this, SLOT(updateAutoColor())); + show_normal_property_ = new rviz::BoolProperty("show normal", true, + "show normal direction", + this, SLOT(updateShowNormal())); + normal_length_property_ = new rviz::FloatProperty("normal length", 0.1, + "normal length", + this, SLOT(updateNormalLength())); + + uv_property_->setMin(5); + } + + TorusArrayDisplay::~TorusArrayDisplay() + { + delete color_property_; + delete alpha_property_; + delete auto_color_property_; + delete uv_property_; + delete show_normal_property_; + delete normal_length_property_; + } + + QColor TorusArrayDisplay::getColor(size_t index) + { + if (auto_color_) { + std_msgs::ColorRGBA ros_color = jsk_topic_tools::colorCategory20(index); + return QColor(ros_color.r * 255.0, ros_color.g * 255.0, ros_color.b * 255.0, + ros_color.a * 255.0); + } + else { + return color_; + } + } + + void TorusArrayDisplay::onInitialize() + { + MFDClass::onInitialize(); + scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode(); + + updateColor(); + updateAlpha(); + updateAutoColor(); + updateUVdimension(); + updateNormalLength(); + updateShowNormal(); + + uv_dimension_ = 50; + } + + void TorusArrayDisplay::updateColor() + { + color_ = color_property_->getColor(); + } + + void TorusArrayDisplay::updateAlpha() + { + alpha_ = alpha_property_->getFloat(); + } + + void TorusArrayDisplay::updateUVdimension() + { + uv_dimension_ = uv_property_->getInt(); + } + + void TorusArrayDisplay::updateAutoColor() + { + auto_color_ = auto_color_property_->getBool(); + } + + void TorusArrayDisplay::reset() + { + MFDClass::reset(); + allocateShapes(0); + } + + void TorusArrayDisplay::allocateShapes(const size_t num) + { + if (num > shapes_.size()) { + for (size_t i = shapes_.size(); i < num; i++) { + ShapePtr shape (new rviz::MeshShape(context_->getSceneManager())); + shapes_.push_back(shape); + } + } + else if (num < shapes_.size()) + { + shapes_.resize(num); + } + + if (num > arrow_objects_.size()) { + for (size_t i = arrow_objects_.size(); i < num; i++) { + Ogre::SceneNode* scene_node = scene_node_->createChildSceneNode(); + ArrowPtr arrow (new rviz::Arrow(scene_manager_, scene_node)); + arrow_objects_.push_back(arrow); + arrow_nodes_.push_back(scene_node); + } + } + else if (num < arrow_objects_.size()) { + for (size_t i = num; i < arrow_objects_.size(); i++) { + arrow_nodes_[i]->setVisible(false); + } + arrow_objects_.resize(num); + arrow_nodes_.resize(num); + } + } + + void TorusArrayDisplay::allocateShapes(const jsk_recognition_msgs::TorusArray::ConstPtr& msg) + { + size_t num = 0; + for (size_t i = 0; i < msg->toruses.size(); i++) { + if (!msg->toruses[i].failure) { + ++num; + } + } + allocateShapes(num); + } + + void + TorusArrayDisplay::calcurateTriangleMesh( + int large_dimension, int small_dimension, + float large_radius, float small_radius, + Ogre::Vector3 pos, Ogre::Quaternion q, + std::vector &triangles, + std::vector &vertices, + std::vector &normals + ){ + //Create Vertex List and Normal List + for (int i = 0; i < large_dimension; i ++){ + float target_circle_x = large_radius * cos( ( i * 1.0/ large_dimension) * 2 * PI) ; + float target_circle_y = large_radius * sin( ( i * 1.0 / large_dimension) * 2 * PI) ; + for (int j = 0; j < small_dimension; j++){ + Ogre::Vector3 new_point; + new_point.x = target_circle_x + small_radius * cos ( (j * 1.0 / small_dimension) * 2 * PI) * cos( ( i * 1.0/ large_dimension) * 2 * PI); + new_point.y = target_circle_y + small_radius * cos ( (j * 1.0/ small_dimension) * 2 * PI) * sin( ( i * 1.0/ large_dimension) * 2 * PI); + new_point.z = small_radius * sin ( (j * 1.0/ small_dimension) * 2 * PI); + + //new_point rotate + new_point = q * new_point; + //new_point translate + new_point += pos; + vertices.push_back(new_point); + + //GetNormals + Ogre::Vector3 normal; + normal.x = small_radius * cos ( (j * 1.0 / small_dimension) * 2 * PI) * cos( ( i * 1.0/ large_dimension) * 2 * PI); + normal.y = small_radius * cos ( (j * 1.0/ small_dimension) * 2 * PI) * sin( ( i * 1.0/ large_dimension) * 2 * PI); + normal.z = small_radius * sin ( (j * 1.0/ small_dimension) * 2 * PI); + normal = q * normal; + normals.push_back(normal); + } + } + + //Create Index List and push into triangles + for(int i = 0; i < large_dimension; i++){ + for(int j = 0; j < small_dimension; j++){ + int target_index = i * large_dimension + j; + int next_index = target_index + 1; + if(next_index >= small_dimension * large_dimension) + next_index = 0; + int next_circle_target_index = target_index + large_dimension; + if (next_circle_target_index >= large_dimension*small_dimension) + next_circle_target_index -= large_dimension*small_dimension; + int prev_circle_next_index = target_index - large_dimension + 1; + if (prev_circle_next_index < 0) + prev_circle_next_index += large_dimension*small_dimension; + Triangle t1; + t1.v1 = target_index; + t1.v3 = next_index; + t1.v2 = next_circle_target_index; + Triangle t2; + t2.v1 = target_index; + t2.v2 = next_index; + t2.v3 = prev_circle_next_index; + triangles.push_back(t1); + triangles.push_back(t2); + } + } + } + + void TorusArrayDisplay::updateShowNormal() + { + show_normal_ = show_normal_property_->getBool(); + if (show_normal_) { + normal_length_property_->show(); + } + else { + normal_length_property_->hide(); + for (size_t i = 0; i < arrow_objects_.size(); i++) { + arrow_nodes_[i]->setVisible(false); + } + } + } + + void TorusArrayDisplay::updateNormalLength() + { + normal_length_ = normal_length_property_->getFloat(); + } + + + void TorusArrayDisplay::processMessage(const jsk_recognition_msgs::TorusArray::ConstPtr& msg) + { + allocateShapes(msg); + for (size_t i = 0; i < msg->toruses.size(); i++) { + jsk_recognition_msgs::Torus torus = msg->toruses[i]; + if (torus.failure) { + continue; + } + ShapePtr shape = shapes_[i]; + + Ogre::Vector3 position; + Ogre::Quaternion quaternion; + float large_radius = torus.large_radius; + float small_radius = torus.small_radius; + + if(!context_->getFrameManager()->transform(torus.header, torus.pose, + position, + quaternion)) + { + std::ostringstream oss; + oss << "Error transforming pose"; + oss << " from frame '" << torus.header.frame_id << "'"; + oss << " to frame '" << qPrintable(fixed_frame_) << "'"; + ROS_ERROR_STREAM(oss.str()); + setStatus(rviz::StatusProperty::Error, "Transform", QString::fromStdString(oss.str())); + return; + } + + shape->clear(); + std::vector triangles; + std::vector vertices; + std::vector normals; + + calcurateTriangleMesh(uv_dimension_, uv_dimension_, + large_radius, small_radius, + position,quaternion, + triangles, vertices, normals); + + shape->estimateVertexCount(vertices.size()); + shape->beginTriangles(); + for (std::size_t j = 0 ; j < vertices.size() ; ++j) + shape->addVertex(vertices[j], normals[j]); + for (std::size_t j = 0 ; j < triangles.size() ; ++j) + shape->addTriangle(triangles[j].v1, triangles[j].v2, triangles[j].v3); + shape->endTriangles(); + QColor color = getColor(i); + shape->setColor(color.red() / 255.0, + color.green() / 255.0, + color.blue() / 255.0, + alpha_); + + if (show_normal_) { + Ogre::Vector3 normal; + arrow_nodes_[i]->setVisible(true); + arrow_nodes_[i]->setPosition(position); + arrow_nodes_[i]->setOrientation(quaternion); + normal.x = 0; normal.y = 0; normal.z = 1; + Ogre::Vector3 scale(normal_length_, normal_length_, normal_length_); + arrow_objects_[i]->setScale(scale); + arrow_objects_[i]->setColor(color.red() / 255.0, + color.green() / 255.0, + color.blue() / 255.0, + alpha_); + } + } + } +} + + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::TorusArrayDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/torus_array_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/torus_array_display.h new file mode 100755 index 0000000..227b0de --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/torus_array_display.h @@ -0,0 +1,115 @@ +// -*- mode: c++; -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_RVIZ_PLUGINS_TORUS_ARRAY_DISPLAY_H_ +#define JSK_RVIZ_PLUGINS_TORUS_ARRAY_DISPLAY_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#endif + +namespace jsk_rviz_plugins +{ + struct Triangle + { + unsigned v1, v2, v3; // index for the 3 vertices that make up a triangle + }; + + class TorusArrayDisplay: public rviz::MessageFilterDisplay + { + Q_OBJECT + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr ArrowPtr; + typedef std::shared_ptr ShapePtr; +#else + typedef boost::shared_ptr ArrowPtr; + typedef boost::shared_ptr ShapePtr; +#endif + TorusArrayDisplay(); + virtual ~TorusArrayDisplay(); + protected: + virtual void onInitialize(); + virtual void reset(); + void allocateShapes(const jsk_recognition_msgs::TorusArray::ConstPtr& msg); + void allocateShapes(const size_t num); + QColor getColor(size_t index); + rviz::ColorProperty* color_property_; + rviz::FloatProperty* alpha_property_; + rviz::IntProperty* uv_property_; + rviz::BoolProperty* auto_color_property_; + rviz::BoolProperty* show_normal_property_; + rviz::FloatProperty* normal_length_property_; + QColor color_; + double alpha_; + bool auto_color_; + bool show_normal_; + double normal_length_; + int uv_dimension_; + std::vector arrow_nodes_; + std::vector arrow_objects_; + std::vector shapes_; + private Q_SLOTS: + void updateColor(); + void updateAlpha(); + void updateUVdimension(); + void updateAutoColor(); + void updateShowNormal(); + void updateNormalLength(); + + void calcurateTriangleMesh( + int large_dimension, int small_dimension, + float large_radius, float small_radius, + Ogre::Vector3 pos, Ogre::Quaternion q, + std::vector &triangles, + std::vector &vertices, + std::vector &normals + ); + private: + void processMessage(const jsk_recognition_msgs::TorusArray::ConstPtr& msg); + }; + +} +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/twist_stamped_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/twist_stamped_display.cpp new file mode 100755 index 0000000..1391a8a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/twist_stamped_display.cpp @@ -0,0 +1,211 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "twist_stamped_display.h" + +namespace jsk_rviz_plugins +{ + TwistStampedDisplay::TwistStampedDisplay() + { + linear_scale_property_ = new rviz::FloatProperty("linear scale", 1.0, + "linear velocity scale", + this, SLOT(updateLinearScale())); + angular_scale_property_ = new rviz::FloatProperty("angular scale", 1.0, + "angular velocity scale", + this, SLOT(updateAngularScale())); + linear_color_property_ = new rviz::ColorProperty("linear color", QColor(0, 255, 0), + "linear velocity color", + this, SLOT(updateLinearColor())); + angular_color_property_ = new rviz::ColorProperty("angular color", QColor(255, 0, 0), + "angular velocity color", + this, SLOT(updateAngularColor())); + linear_scale_property_->setMin(0.0); + angular_scale_property_->setMin(0.0); + } + + TwistStampedDisplay::~TwistStampedDisplay() + { + delete linear_color_property_; + delete angular_color_property_; + } + + void TwistStampedDisplay::onInitialize() + { + MFDClass::onInitialize(); + linear_arrow_.reset(new rviz::Arrow(scene_manager_, scene_node_)); + x_rotate_circle_.reset(new rviz::BillboardLine(scene_manager_, scene_node_)); + y_rotate_circle_.reset(new rviz::BillboardLine(scene_manager_, scene_node_)); + z_rotate_circle_.reset(new rviz::BillboardLine(scene_manager_, scene_node_)); + x_rotate_arrow_.reset(new rviz::Arrow(scene_manager_, scene_node_)); + y_rotate_arrow_.reset(new rviz::Arrow(scene_manager_, scene_node_)); + z_rotate_arrow_.reset(new rviz::Arrow(scene_manager_, scene_node_)); + updateLinearScale(); + updateAngularScale(); + updateLinearColor(); + updateAngularColor(); + Ogre::Vector3 zero_scale(0, 0, 0); + linear_arrow_->setScale(zero_scale); + x_rotate_arrow_->set(0, 0, 0, 0); + y_rotate_arrow_->set(0, 0, 0, 0); + z_rotate_arrow_->set(0, 0, 0, 0); + } + + void TwistStampedDisplay::reset() + { + MFDClass::reset(); + } + + void TwistStampedDisplay::processMessage( + const geometry_msgs::TwistStamped::ConstPtr& msg) + { + // move scene_node_ to the frame pose + Ogre::Vector3 position; + Ogre::Quaternion orientation; + if(!context_->getFrameManager()->getTransform( + msg->header, position, orientation)) { + ROS_DEBUG("Error transforming from frame '%s' to frame '%s'", + msg->header.frame_id.c_str(), qPrintable(fixed_frame_)); + return; + } + scene_node_->setPosition(position); + scene_node_->setOrientation(orientation); + // linear velocity + linear_arrow_->setColor(rviz::qtToOgre(linear_color_)); + Ogre::Vector3 linear_direction(msg->twist.linear.x, msg->twist.linear.y, msg->twist.linear.z); + Ogre::Vector3 linear_scale(linear_scale_ * linear_direction.length(), + linear_scale_ * linear_direction.length(), + linear_scale_ * linear_direction.length()); + linear_arrow_->setScale(linear_scale); + linear_arrow_->setDirection(linear_direction); + + // rotate velocity + updateRotationVelocity(x_rotate_circle_, + x_rotate_arrow_, + Ogre::Vector3(0, 1, 0), + Ogre::Vector3(0, 0, 1), + Ogre::Vector3(1, 0, 0), + std::abs(msg->twist.angular.x), + msg->twist.angular.x > 0); + updateRotationVelocity(y_rotate_circle_, + y_rotate_arrow_, + Ogre::Vector3(0, 0, 1), + Ogre::Vector3(1, 0, 0), + Ogre::Vector3(0, 1, 0), + std::abs(msg->twist.angular.y), + msg->twist.angular.y > 0); + updateRotationVelocity(z_rotate_circle_, + z_rotate_arrow_, + Ogre::Vector3(1, 0, 0), + Ogre::Vector3(0, 1, 0), + Ogre::Vector3(0, 0, 1), + std::abs(msg->twist.angular.z), + msg->twist.angular.z > 0); + Ogre::ColourValue c = rviz::qtToOgre(angular_color_); + x_rotate_circle_->setColor(c.r, c.g, c.b, 1.0); + y_rotate_circle_->setColor(c.r, c.g, c.b, 1.0); + z_rotate_circle_->setColor(c.r, c.g, c.b, 1.0); + x_rotate_arrow_->setColor(c); + y_rotate_arrow_->setColor(c); + z_rotate_arrow_->setColor(c); + } + + void TwistStampedDisplay::updateRotationVelocity( + BillboardLinePtr circle, + ArrowPtr arrow, + const Ogre::Vector3& ux, + const Ogre::Vector3& uy, + const Ogre::Vector3& uz, + const double r, + bool positive) + { + circle->clear(); + if (r < 1.0e-9) { // too small to visualize it + arrow->set(0, 0, 0, 0); + return; + } + const double step = 10; // per 10 deg + const double start_theta = 20; + const double end_theta = 340; + circle->setMaxPointsPerLine((end_theta - start_theta) / step + 1); // +1? + circle->setLineWidth(r * angular_scale_ / 2 * 0.1); + for (double theta = start_theta; theta < end_theta; theta += step) { + double rad = theta / 180 * M_PI; + Ogre::Vector3 p = ux * cos(rad) * r * angular_scale_ + uy * sin(rad) * r * angular_scale_; + circle->addPoint(p); + } + // put arrow + if (positive) { + double end_rad = (end_theta - step) / 180 * M_PI; + Ogre::Vector3 endpoint = ux * cos(end_rad) * r * angular_scale_ + uy * sin(end_rad) * r * angular_scale_; + Ogre::Vector3 direction = ux * (- sin(end_rad)) + uy * cos(end_rad); + arrow->setPosition(endpoint); + arrow->setDirection(direction); + } + else { + double end_rad = (start_theta + step) / 180 * M_PI; + Ogre::Vector3 endpoint = ux * cos(end_rad) * r * angular_scale_ + uy * sin(end_rad) * r * angular_scale_; + Ogre::Vector3 direction = - ux * (- sin(end_rad)) - uy * cos(end_rad); + arrow->setPosition(endpoint); + arrow->setDirection(direction); + } + arrow->set(0, 0, r * angular_scale_ / 2, r * angular_scale_ / 2); + } + + //////////////////////////////////////////////////////// + // update methods + //////////////////////////////////////////////////////// + void TwistStampedDisplay::updateLinearScale() + { + linear_scale_ = linear_scale_property_->getFloat(); + } + + void TwistStampedDisplay::updateAngularScale() + { + angular_scale_ = angular_scale_property_->getFloat(); + } + + void TwistStampedDisplay::updateLinearColor() + { + linear_color_ = linear_color_property_->getColor(); + } + + void TwistStampedDisplay::updateAngularColor() + { + angular_color_ = angular_color_property_->getColor(); + } +} + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::TwistStampedDisplay, rviz::Display ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/twist_stamped_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/twist_stamped_display.h new file mode 100755 index 0000000..73d662c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/twist_stamped_display.h @@ -0,0 +1,114 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGINS_TWIST_STAMPED_H_ +#define JSK_RVIZ_PLUGINS_TWIST_STAMPED_H_ + +#ifndef Q_MOC_RUN +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#endif + + +namespace jsk_rviz_plugins +{ + class TwistStampedDisplay: public rviz::MessageFilterDisplay + { + Q_OBJECT + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr ArrowPtr; + typedef std::shared_ptr BillboardLinePtr; +#else + typedef boost::shared_ptr ArrowPtr; + typedef boost::shared_ptr BillboardLinePtr; +#endif + TwistStampedDisplay(); + virtual ~TwistStampedDisplay(); + protected: + + virtual void onInitialize(); + virtual void reset(); + virtual void processMessage( + const geometry_msgs::TwistStamped::ConstPtr& msg); + virtual void updateRotationVelocity( + BillboardLinePtr circle, + ArrowPtr arrow, + const Ogre::Vector3& ux, + const Ogre::Vector3& uy, + const Ogre::Vector3& uz, + const double r, + bool positive); + //////////////////////////////////////////////////////// + // properties + //////////////////////////////////////////////////////// + rviz::FloatProperty* linear_scale_property_; + rviz::FloatProperty* angular_scale_property_; + rviz::ColorProperty* linear_color_property_; + rviz::ColorProperty* angular_color_property_; + + double linear_scale_; + double angular_scale_; + QColor linear_color_; + QColor angular_color_; + + ArrowPtr linear_arrow_; + BillboardLinePtr x_rotate_circle_; + BillboardLinePtr y_rotate_circle_; + BillboardLinePtr z_rotate_circle_; + ArrowPtr x_rotate_arrow_; + ArrowPtr y_rotate_arrow_; + ArrowPtr z_rotate_arrow_; + private Q_SLOTS: + void updateLinearScale(); + void updateAngularScale(); + void updateLinearColor(); + void updateAngularColor(); + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/video_capture_display.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/video_capture_display.cpp new file mode 100755 index 0000000..a55a880 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/video_capture_display.cpp @@ -0,0 +1,253 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "video_capture_display.h" +#if CV_MAJOR_VERSION >= 4 +#include +#include +#endif +#include +#include +#include +#include +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +#include +#include +#endif +#include + +namespace jsk_rviz_plugins +{ + VideoCaptureDisplay::VideoCaptureDisplay(): + Display(), capturing_(false), first_time_(true) + { + start_capture_property_ = new rviz::BoolProperty( + "start capture", false, "start capture", + this, SLOT(updateStartCapture())); + file_name_property_ = new rviz::StringProperty( + "filename", "output.avi", + "filename", this, SLOT(updateFileName())); + fps_property_ = new rviz::FloatProperty( + "fps", 30.0, + "fps", this, SLOT(updateFps())); + fps_property_->setMin(0.1); + use_3d_viewer_size_property_ = new rviz::BoolProperty( + "use 3D viewer size", true, + "Use width and height of 3D viewer for output video or set them manually", + this, SLOT(updateUse3DViewerSize())); + width_property_ = new rviz::IntProperty( + "width", 1920, + "Width of video in pixels", this, SLOT(updateWidth())); + height_property_ = new rviz::IntProperty( + "height", 1080, + "Height of video in pixels", this, SLOT(updateHeight())); + } + + VideoCaptureDisplay::~VideoCaptureDisplay() + { + delete start_capture_property_; + delete file_name_property_; + delete use_3d_viewer_size_property_; + delete width_property_; + delete height_property_; + } + + void VideoCaptureDisplay::onInitialize() + { + updateFileName(); + updateFps(); + updateUse3DViewerSize(); + updateWidth(); + updateHeight(); + //updateStartCapture(); + start_capture_property_->setBool(false); // always false when starting up + context_->queueRender(); + } + + void VideoCaptureDisplay::onEnable() + { + start_capture_property_->setBool(false); // always false when starting up + context_->queueRender(); + } + + void VideoCaptureDisplay::updateFileName() + { + if (capturing_) { + ROS_WARN("cannot change name wile recording"); + file_name_property_->setStdString(file_name_); + } + else { + file_name_ = file_name_property_->getStdString(); + int exists_check = access(file_name_.c_str(), F_OK); + if (exists_check == 0) { + int access_result = access(file_name_.c_str(), W_OK); + ROS_INFO("access_result to %s: %d", file_name_.c_str(), access_result); + if (access_result != 0) { + setStatus(rviz::StatusProperty::Error, "File", "NOT Writable"); + } + else { + setStatus(rviz::StatusProperty::Ok, "File", "Writable"); + } + } + else { // do not exists, check directory permission + ROS_INFO("%s do not exists", file_name_.c_str()); + boost::filesystem::path pathname(file_name_); + std::string dirname = pathname.parent_path().string(); + if (dirname.length() == 0) { // Special case for without path + dirname = "."; + } + ROS_INFO("dirname: %s", dirname.c_str()); + int directory_access_result = access(dirname.c_str(), W_OK); + if (directory_access_result != 0) { + setStatus(rviz::StatusProperty::Error, "File", "NOT Writable (direcotry)"); + } + else { + setStatus(rviz::StatusProperty::Ok, "File", "Writable"); + } + } + } + } + + void VideoCaptureDisplay::updateStartCapture() + { + ROS_INFO("updateStartCapture"); + if (first_time_) { + ROS_WARN("ignore first time capture enabling"); + } + else { + // start capture! + if (start_capture_property_->getBool()) { + capturing_ = true; + startCapture(); + } + else { + capturing_ = false; + stopCapture(); + } + } + } + + void VideoCaptureDisplay::updateFps() + { + fps_ = fps_property_->getFloat(); + } + + void VideoCaptureDisplay::updateUse3DViewerSize() + { + if (use_3d_viewer_size_ && !use_3d_viewer_size_property_->getBool()) { + updateWidth(); + updateHeight(); + } + + use_3d_viewer_size_ = use_3d_viewer_size_property_->getBool(); + if (use_3d_viewer_size_) { + width_property_->hide(); + height_property_->hide(); + } + else { + width_property_->show(); + height_property_->show(); + } + } + + void VideoCaptureDisplay::updateWidth() + { + width_ = width_property_->getInt(); + } + + void VideoCaptureDisplay::updateHeight() + { + height_ = height_property_->getInt(); + } + + void VideoCaptureDisplay::startCapture() + { + ROS_INFO("start capturing"); + frame_counter_ = 0; + if (use_3d_viewer_size_) { + rviz::RenderPanel* panel = context_->getViewManager()->getRenderPanel(); + width_ = panel->width(); + height_ = panel->height(); + } + writer_.open(file_name_, CV_FOURCC_DEFAULT, fps_, cv::Size(width_, height_)); + } + + void VideoCaptureDisplay::stopCapture() + { + ROS_INFO("stop capturing"); + writer_.release(); + frame_counter_ = 0; + } + + void VideoCaptureDisplay::update(float wall_dt, float ros_dt) + { + if (first_time_) { + ROS_WARN("force to disable capturing"); + start_capture_property_->setBool(false); // always false when starting up + first_time_ = false; + return; + } + if (capturing_) { + rviz::RenderPanel* panel = context_->getViewManager()->getRenderPanel(); +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) + QPixmap screenshot + = QGuiApplication::primaryScreen()->grabWindow(context_->getViewManager()->getRenderPanel()->winId()); +#else + QPixmap screenshot + = QPixmap::grabWindow(context_->getViewManager()->getRenderPanel()->winId()); +#endif + QImage src = screenshot.toImage().convertToFormat(QImage::Format_RGB888); // RGB + cv::Mat image(src.height(), src.width(), CV_8UC3, + (uchar*)src.bits(), src.bytesPerLine()); // RGB + if (image.size().width != width_ || image.size().height != height_) { + cv::resize(image, image, cv::Size(width_, height_), 0, 0, cv::INTER_LINEAR); + } + cv::cvtColor(image, image, CV_RGB2BGR); // RGB -> BGR + writer_ << image; + ++frame_counter_; + if (frame_counter_ % 100 == 0) { + ROS_INFO("taking %d frames as video", frame_counter_); + } + } + // convert QPixmap into cv::Mat + } +} + + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::VideoCaptureDisplay, rviz::Display) + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/video_capture_display.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/video_capture_display.h new file mode 100755 index 0000000..c3d6fe4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/video_capture_display.h @@ -0,0 +1,101 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_RVIZ_PLUGIN_VIDEO_CAPTURE_DISPLAY_H_ +#define JSK_RVIZ_PLUGIN_VIDEO_CAPTURE_DISPLAY_H_ + +#include +#include +#include +#include +#include +#include + +#include + +namespace jsk_rviz_plugins +{ + class VideoCaptureDisplay: public rviz::Display + { + Q_OBJECT + public: +#if ROS_VERSION_MINIMUM(1,12,0) + typedef std::shared_ptr Ptr; +#else + typedef boost::shared_ptr Ptr; +#endif + VideoCaptureDisplay(); + virtual ~VideoCaptureDisplay(); + protected: + virtual void onInitialize(); + // virtual void subscribe(); + // virtual void unsubscribe(); + virtual void onEnable(); + // virtual void onDisable(); + virtual void update(float wall_dt, float ros_dt); + virtual void startCapture(); + virtual void stopCapture(); + //////////////////////////////////////////////////////// + // Variables + //////////////////////////////////////////////////////// + rviz::StringProperty* file_name_property_; + rviz::BoolProperty* start_capture_property_; + rviz::FloatProperty* fps_property_; + rviz::BoolProperty* use_3d_viewer_size_property_; + rviz::IntProperty* width_property_; + rviz::IntProperty* height_property_; + std::string file_name_; + bool capturing_; + double fps_; + bool use_3d_viewer_size_; + int width_; + int height_; + int frame_counter_; + bool first_time_; + cv::VideoWriter writer_; + protected Q_SLOTS: + void updateFileName(); + void updateStartCapture(); + void updateFps(); + void updateUse3DViewerSize(); + void updateWidth(); + void updateHeight(); + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/view_controller/tablet_view_controller.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/view_controller/tablet_view_controller.cpp new file mode 100755 index 0000000..9d734d4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/view_controller/tablet_view_controller.cpp @@ -0,0 +1,861 @@ +/* + * Copyright (c) 2012, JSK Lab, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the JSK Lab, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Adam Leeper + * Author: Ryohei Ueda + */ + +#include "tablet_view_controller.h" + +#include "rviz/load_resource.h" +#include "rviz/uniform_string_stream.h" +#include "rviz/display_context.h" +#include "rviz/viewport_mouse_event.h" +#include "rviz/frame_manager.h" +#include "rviz/geometry.h" +#include "rviz/ogre_helpers/shape.h" +#include "rviz/properties/float_property.h" +#include "rviz/properties/vector_property.h" +#include "rviz/properties/bool_property.h" +#include "rviz/properties/tf_frame_property.h" +#include "rviz/properties/editable_enum_property.h" +#include "rviz/properties/ros_topic_property.h" + +#include "view_controller_msgs/CameraPlacement.h" +#include "geometry_msgs/PointStamped.h" + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace jsk_rviz_plugins +{ +using namespace view_controller_msgs; +using namespace rviz; + +// Strings for selecting control mode styles +static const std::string MODE_ORBIT = "Orbit"; +static const std::string MODE_FPS = "FPS"; + +// Limits to prevent orbit controller singularity, but not currently used. +//static const Ogre::Radian PITCH_LIMIT_LOW = Ogre::Radian(-Ogre::Math::HALF_PI + 0.02); +//static const Ogre::Radian PITCH_LIMIT_HIGH = Ogre::Radian( Ogre::Math::HALF_PI - 0.02); +static const Ogre::Radian PITCH_LIMIT_LOW = Ogre::Radian( 0.02 ); +static const Ogre::Radian PITCH_LIMIT_HIGH = Ogre::Radian( Ogre::Math::PI - 0.02); + + +// Some convenience functions for Ogre / geometry_msgs conversions +static inline Ogre::Vector3 vectorFromMsg(const geometry_msgs::Point &m) { return Ogre::Vector3(m.x, m.y, m.z); } +static inline Ogre::Vector3 vectorFromMsg(const geometry_msgs::Vector3 &m) { return Ogre::Vector3(m.x, m.y, m.z); } +static inline geometry_msgs::Point pointOgreToMsg(const Ogre::Vector3 &o) +{ + geometry_msgs::Point m; + m.x = o.x; m.y = o.y; m.z = o.z; + return m; +} +static inline void pointOgreToMsg(const Ogre::Vector3 &o, geometry_msgs::Point &m) { m.x = o.x; m.y = o.y; m.z = o.z; } + +static inline geometry_msgs::Vector3 vectorOgreToMsg(const Ogre::Vector3 &o) +{ + geometry_msgs::Vector3 m; + m.x = o.x; m.y = o.y; m.z = o.z; + return m; +} +static inline void vectorOgreToMsg(const Ogre::Vector3 &o, geometry_msgs::Vector3 &m) { m.x = o.x; m.y = o.y; m.z = o.z; } + +// ----------------------------------------------------------------------------- + + +TabletViewController::TabletViewController() + : nh_(""), animate_(false), dragging_( false ) +{ + interaction_disabled_cursor_ = makeIconCursor( "package://rviz/icons/forbidden.svg" ); + + mouse_enabled_property_ = new BoolProperty("Mouse Enabled", true, + "Enables mouse control of the camera.", + this); + interaction_mode_property_ = new EditableEnumProperty("Control Mode", QString::fromStdString(MODE_ORBIT), + "Select the style of mouse interaction.", + this); + interaction_mode_property_->addOptionStd(MODE_ORBIT); + interaction_mode_property_->addOptionStd(MODE_FPS); + interaction_mode_property_->setStdString(MODE_ORBIT); + + fixed_up_property_ = new BoolProperty( "Maintain Vertical Axis", true, + "If enabled, the camera is not allowed to roll side-to-side.", + this); + attached_frame_property_ = new TfFrameProperty("Target Frame", + TfFrameProperty::FIXED_FRAME_STRING, + "TF frame the camera is attached to.", + this, NULL, true ); + eye_point_property_ = new VectorProperty( "Eye", Ogre::Vector3( 5, 5, 10 ), + "Position of the camera.", this ); + focus_point_property_ = new VectorProperty( "Focus", Ogre::Vector3::ZERO, + "Position of the focus/orbit point.", this ); + up_vector_property_ = new VectorProperty( "Up", Ogre::Vector3::UNIT_Z, + "The vector which maps to \"up\" in the camera image plane.", this ); + distance_property_ = new FloatProperty( "Distance", getDistanceFromCameraToFocalPoint(), + "The distance between the camera position and the focus point.", + this ); + distance_property_->setMin( 0.01 ); + default_transition_time_property_ = new FloatProperty( "Transition Time", 0.5, + "The default time to use for camera transitions.", + this ); + camera_placement_topic_property_ = new RosTopicProperty("Placement Topic", "/rviz/camera_placement", + QString::fromStdString(ros::message_traits::datatype() ), + "Topic for CameraPlacement messages", this, SLOT(updateTopics())); + + camera_placement_publish_topic_property_ = new RosTopicProperty("Placement Publish Topic", "/rviz/current_camera_placement", + QString::fromStdString(ros::message_traits::datatype() ), + "Publishing Topic for CameraPlacement messages", this, SLOT(updatePublishTopics())); + + mouse_point_publish_topic_property_ = new RosTopicProperty("Placement Mouse Point", "/rviz/current_mouse_point", + QString::fromStdString(ros::message_traits::datatype() ), + "Publishing position of mouse", this, SLOT(updateMousePointPublishTopics())); + +// camera_placement_trajectory_topic_property_ = new RosTopicProperty("Trajectory Topic", "/rviz/camera_placement_trajectory", +// QString::fromStdString(ros::message_traits::datatype() ), +// "Topic for CameraPlacementTrajectory messages", this, SLOT(updateTopics())); +} + +TabletViewController::~TabletViewController() +{ + delete focal_shape_; + context_->getSceneManager()->destroySceneNode( attached_scene_node_ ); +} + +void TabletViewController::updatePublishTopics() +{ + placement_publisher_ = nh_.advertise + (camera_placement_publish_topic_property_->getStdString(), 1); +} + +void TabletViewController::updateMousePointPublishTopics() +{ + mouse_point_publisher_ = nh_.advertise + (mouse_point_publish_topic_property_->getStdString(), 1); +} + +void TabletViewController::publishMouseEvent(rviz::ViewportMouseEvent& event) +{ + geometry_msgs::PointStamped msg; + msg.header.frame_id = context_->getFixedFrame().toStdString(); + msg.header.stamp = ros::Time::now(); + rviz::ViewManager* manager = context_->getViewManager(); + rviz::RenderPanel* panel = manager->getRenderPanel(); + Ogre::RenderWindow* window = panel->getRenderWindow(); + msg.point.x = (double)event.x / window->getWidth(); + msg.point.y = (double)event.y / window->getHeight(); + msg.point.z = 0; + mouse_point_publisher_.publish(msg); +} + +void TabletViewController::publishCurrentPlacement() +{ + view_controller_msgs::CameraPlacement msg; + ros::Time now = ros::Time::now(); + msg.target_frame = attached_frame_property_->getFrameStd(); + std::string fixed_frame = context_->getFixedFrame().toStdString(); + // eye + msg.eye.header.stamp = now; + msg.eye.header.frame_id = fixed_frame; + Ogre::Vector3 eye = eye_point_property_->getVector(); + msg.eye.point.x = eye[0]; + msg.eye.point.y = eye[1]; + msg.eye.point.z = eye[2]; + // focus + msg.focus.header.stamp = now; + msg.focus.header.frame_id = fixed_frame; + Ogre::Vector3 focus = focus_point_property_->getVector(); + msg.focus.point.x = focus[0]; + msg.focus.point.y = focus[1]; + msg.focus.point.z = focus[2]; + // up + msg.up.header.stamp = now; + msg.up.header.frame_id = fixed_frame; + Ogre::Vector3 up = up_vector_property_->getVector(); + msg.up.vector.x = up[0]; + msg.up.vector.y = up[1]; + msg.up.vector.z = up[2]; + + placement_publisher_.publish(msg); +} + +void TabletViewController::updateTopics() +{ +// trajectory_subscriber_ = nh_.subscribe +// (camera_placement_trajectory_topic_property_->getStdString(), 1, +// boost::bind(&TabletViewController::cameraPlacementTrajectoryCallback, this, _1)); + placement_subscriber_ = nh_.subscribe + (camera_placement_topic_property_->getStdString(), 1, + boost::bind(&TabletViewController::cameraPlacementCallback, this, _1)); +} + +void TabletViewController::onInitialize() +{ + attached_frame_property_->setFrameManager( context_->getFrameManager() ); + attached_scene_node_ = context_->getSceneManager()->getRootSceneNode()->createChildSceneNode(); + camera_->detachFromParent(); + attached_scene_node_->attachObject( camera_ ); + + camera_->setProjectionType( Ogre::PT_PERSPECTIVE ); + + focal_shape_ = new Shape(Shape::Sphere, context_->getSceneManager(), attached_scene_node_); + focal_shape_->setScale(Ogre::Vector3(0.05f, 0.05f, 0.01f)); + focal_shape_->setColor(1.0f, 1.0f, 0.0f, 0.5f); + focal_shape_->getRootNode()->setVisible(false); + +} + +void TabletViewController::onActivate() +{ + updateAttachedSceneNode(); + + // Before activation, changes to target frame property should have + // no side-effects. After activation, changing target frame + // property has the side effect (typically) of changing an offset + // property so that the view does not jump. Therefore we make the + // signal/slot connection from the property here in onActivate() + // instead of in the constructor. + connect( attached_frame_property_, SIGNAL( changed() ), this, SLOT( updateAttachedFrame() )); + connect( fixed_up_property_, SIGNAL( changed() ), this, SLOT( onUpPropertyChanged() )); + connectPositionProperties(); + + // Only do this once activated! + updateTopics(); + updatePublishTopics(); + updateMousePointPublishTopics(); +} + +void TabletViewController::connectPositionProperties() +{ + connect( distance_property_, SIGNAL( changed() ), this, SLOT( onDistancePropertyChanged() ), Qt::UniqueConnection); + connect( eye_point_property_, SIGNAL( changed() ), this, SLOT( onEyePropertyChanged() ), Qt::UniqueConnection); + connect( focus_point_property_, SIGNAL( changed() ), this, SLOT( onFocusPropertyChanged() ), Qt::UniqueConnection); + connect( up_vector_property_, SIGNAL( changed() ), this, SLOT( onUpPropertyChanged() ), Qt::UniqueConnection); +} + +void TabletViewController::disconnectPositionProperties() +{ + disconnect( distance_property_, SIGNAL( changed() ), this, SLOT( onDistancePropertyChanged() )); + disconnect( eye_point_property_, SIGNAL( changed() ), this, SLOT( onEyePropertyChanged() )); + disconnect( focus_point_property_, SIGNAL( changed() ), this, SLOT( onFocusPropertyChanged() )); + disconnect( up_vector_property_, SIGNAL( changed() ), this, SLOT( onUpPropertyChanged() )); +} + +void TabletViewController::onEyePropertyChanged() +{ + distance_property_->setFloat(getDistanceFromCameraToFocalPoint()); +} + +void TabletViewController::onFocusPropertyChanged() +{ + distance_property_->setFloat(getDistanceFromCameraToFocalPoint()); +} + +void TabletViewController::onDistancePropertyChanged() +{ + disconnectPositionProperties(); + Ogre::Vector3 new_eye_position = focus_point_property_->getVector() + distance_property_->getFloat()* camera_->getOrientation().zAxis(); + eye_point_property_->setVector(new_eye_position); + connectPositionProperties(); +} + +void TabletViewController::onUpPropertyChanged() +{ + disconnect( up_vector_property_, SIGNAL( changed() ), this, SLOT( onUpPropertyChanged() )); + if(fixed_up_property_->getBool()){ + up_vector_property_->setVector(Ogre::Vector3::UNIT_Z); + camera_->setFixedYawAxis(true, reference_orientation_ * Ogre::Vector3::UNIT_Z); + } + else { + // force orientation to match up vector; first call doesn't actually change the quaternion + camera_->setFixedYawAxis(true, reference_orientation_ * up_vector_property_->getVector()); + camera_->setDirection( reference_orientation_ * (focus_point_property_->getVector() - eye_point_property_->getVector())); + // restore normal behavior + camera_->setFixedYawAxis(false); + } + connect( up_vector_property_, SIGNAL( changed() ), this, SLOT( onUpPropertyChanged() ), Qt::UniqueConnection); +} + +void TabletViewController::updateAttachedFrame() +{ + Ogre::Vector3 old_position = attached_scene_node_->getPosition(); + Ogre::Quaternion old_orientation = attached_scene_node_->getOrientation(); + + updateAttachedSceneNode(); + + onAttachedFrameChanged( old_position, old_orientation ); +} + +void TabletViewController::updateAttachedSceneNode() +{ + Ogre::Vector3 new_reference_position; + Ogre::Quaternion new_reference_orientation; + + bool queue = false; + if( context_->getFrameManager()->getTransform( attached_frame_property_->getFrameStd(), ros::Time(), + new_reference_position, new_reference_orientation )) + { + attached_scene_node_->setPosition( new_reference_position ); + attached_scene_node_->setOrientation( new_reference_orientation ); + reference_position_ = new_reference_position; + reference_orientation_ = new_reference_orientation; + queue = true; + } + if(queue) context_->queueRender(); +} + +void TabletViewController::onAttachedFrameChanged(const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation) +{ + Ogre::Vector3 fixed_frame_focus_position = old_reference_orientation*focus_point_property_->getVector() + old_reference_position; + Ogre::Vector3 fixed_frame_eye_position = old_reference_orientation*eye_point_property_->getVector() + old_reference_position; + Ogre::Vector3 new_focus_position = fixedFrameToAttachedLocal(fixed_frame_focus_position); + Ogre::Vector3 new_eye_position = fixedFrameToAttachedLocal(fixed_frame_eye_position); + Ogre::Vector3 new_up_vector = reference_orientation_.Inverse()*old_reference_orientation*up_vector_property_->getVector(); + + //Ogre::Quaternion new_camera_orientation = reference_orientation_.Inverse()*old_reference_orientation*getOrientation(); + + focus_point_property_->setVector(new_focus_position); + eye_point_property_->setVector(new_eye_position); + up_vector_property_->setVector(fixed_up_property_->getBool() ? Ogre::Vector3::UNIT_Z : new_up_vector); + distance_property_->setFloat( getDistanceFromCameraToFocalPoint()); + + // force orientation to match up vector; first call doesn't actually change the quaternion + camera_->setFixedYawAxis(true, reference_orientation_ * up_vector_property_->getVector()); + camera_->setDirection( reference_orientation_ * (focus_point_property_->getVector() - eye_point_property_->getVector())); +} + +float TabletViewController::getDistanceFromCameraToFocalPoint() +{ + return (eye_point_property_->getVector() - focus_point_property_->getVector()).length(); +} + +void TabletViewController::reset() +{ + eye_point_property_->setVector(Ogre::Vector3(5, 5, 10)); + focus_point_property_->setVector(Ogre::Vector3::ZERO); + up_vector_property_->setVector(Ogre::Vector3::UNIT_Z); + distance_property_->setFloat( getDistanceFromCameraToFocalPoint()); + mouse_enabled_property_->setBool(true); + interaction_mode_property_->setStdString(MODE_ORBIT); + + + // Hersh says: why is the following junk necessary? I don't know. + // However, without this you need to call reset() twice after + // switching from TopDownOrtho to FPS. After the first call the + // camera is in the right position but pointing the wrong way. + updateCamera(); + camera_->lookAt( 0, 0, 0 ); + setPropertiesFromCamera( camera_ ); +} + +void TabletViewController::handleMouseEvent(ViewportMouseEvent& event) +{ + if( !mouse_enabled_property_->getBool() ) + { + setCursor( interaction_disabled_cursor_ ); + setStatus( "Mouse interaction is disabled. You can enable it by checking the \"Mouse Enabled\" check-box in the Views panel." ); + return; + } + else if ( event.shift() ) + { + setStatus( "TODO: Fix me! Left-Click: Move X/Y. Right-Click:: Move Z." ); + } + else if ( event.control() ) + { + setStatus( "TODO: Fix me! Left-Click: Move X/Y. Right-Click:: Move Z." ); + } + else + { + setStatus( "TODO: Fix me! Left-Click: Rotate. Middle-Click: Move X/Y. Right-Click:: Zoom. Shift: More options." ); + } + if (event.type == QEvent::MouseButtonPress + || event.type == QEvent::MouseButtonRelease + || (dragging_ && event.type == QEvent::MouseMove)) { + publishMouseEvent(event); + } + float distance = distance_property_->getFloat(); + int32_t diff_x = 0; + int32_t diff_y = 0; + bool moved = false; + + if( event.type == QEvent::MouseButtonPress ) + { + focal_shape_->getRootNode()->setVisible(true); + moved = true; + dragging_ = true; + cancelTransition(); // Stop any automated movement + } + else if( event.type == QEvent::MouseButtonRelease ) + { + focal_shape_->getRootNode()->setVisible(false); + moved = true; + dragging_ = false; + } + else if( dragging_ && event.type == QEvent::MouseMove ) + { + diff_x = event.x - event.last_x; + diff_y = event.y - event.last_y; + moved = true; + } + + // regular left-button drag + if( event.left() && !event.shift() ) + { + setCursor( Rotate3D ); + yaw_pitch_roll( -diff_x*0.005, -diff_y*0.005, 0 ); + } + // middle or shift-left drag + else if( event.middle() || ( event.shift() && event.left() )) + { + setCursor( MoveXY ); + if(interaction_mode_property_->getStdString() == MODE_ORBIT) // Orbit style + { + float fovY = camera_->getFOVy().valueRadians(); + float fovX = 2.0f * atan( tan( fovY / 2.0f ) * camera_->getAspectRatio() ); + + int width = camera_->getViewport()->getActualWidth(); + int height = camera_->getViewport()->getActualHeight(); + + move_focus_and_eye( -((float)diff_x / (float)width) * distance * tan( fovX / 2.0f ) * 2.0f, + ((float)diff_y / (float)height) * distance * tan( fovY / 2.0f ) * 2.0f, + 0.0f ); + } + else if(interaction_mode_property_->getStdString() == MODE_FPS) // Orbit style + { + move_focus_and_eye( diff_x*0.01, -diff_y*0.01, 0.0f ); + } + } + else if( event.right() ) + { + if( event.shift() || (interaction_mode_property_->getStdString() == MODE_FPS) ) + { + setCursor( MoveZ ); + move_focus_and_eye(0.0f, 0.0f, diff_y * 0.01 * distance); + } + else + { + setCursor( Zoom ); + move_eye( 0, 0, diff_y * 0.01 * distance ); + } + } + else + { + setCursor( event.shift() ? MoveXY : Rotate3D ); + } + + if ( event.wheel_delta != 0 ) + { + int diff = event.wheel_delta; + + if( event.shift() ) + { + move_focus_and_eye(0, 0, -diff * 0.001 * distance ); + } + else if(event.control()) + { + yaw_pitch_roll(0, 0, diff*0.001 ); + } + else + { + move_eye( 0, 0, -diff * 0.001 * distance ); + } + moved = true; + } + + if(event.type == QEvent::MouseButtonPress && event.left() && event.control() && event.shift()) + { + bool was_orbit = (interaction_mode_property_->getStdString() == MODE_ORBIT); + interaction_mode_property_->setStdString(was_orbit ? MODE_FPS : MODE_ORBIT ); + } + + if (moved) + { + publishCurrentPlacement(); + context_->queueRender(); + } +} + +//void TabletViewController::setUpVectorPropertyModeDependent( const Ogre::Vector3 &vector ) +//{ +// if(fixed_up_property_->getBool()) +// { +// //up_vector_property_->setVector(Ogre::Vector3::UNIT_Z); +// } +// else { +// up_vector_property_->setVector(vector); +// } +//} + + +void TabletViewController::setPropertiesFromCamera( Ogre::Camera* source_camera ) +{ + disconnectPositionProperties(); + Ogre::Vector3 direction = source_camera->getOrientation() * Ogre::Vector3::NEGATIVE_UNIT_Z; + eye_point_property_->setVector( source_camera->getPosition() ); + focus_point_property_->setVector( source_camera->getPosition() + direction*distance_property_->getFloat()); + if(fixed_up_property_->getBool()) + up_vector_property_->setVector(Ogre::Vector3::UNIT_Z); + else + up_vector_property_->setVector(source_camera->getOrientation().yAxis()); + + //setUpVectorPropertyModeDependent(source_camera->getOrientation().yAxis()); + connectPositionProperties(); +} + +void TabletViewController::mimic( ViewController* source_view ) +{ + QVariant target_frame = source_view->subProp( "Target Frame" )->getValue(); + if( target_frame.isValid() ) + { + attached_frame_property_->setValue( target_frame ); + } + + Ogre::Camera* source_camera = source_view->getCamera(); + Ogre::Vector3 position = source_camera->getPosition(); + Ogre::Quaternion orientation = source_camera->getOrientation(); + + if( source_view->getClassId() == "rviz/Orbit" ) + { + distance_property_->setFloat( source_view->subProp( "Distance" )->getValue().toFloat() ); + } + else + { + distance_property_->setFloat( position.length() ); + } + interaction_mode_property_->setStdString( MODE_ORBIT ); + + Ogre::Vector3 direction = orientation * (Ogre::Vector3::NEGATIVE_UNIT_Z * distance_property_->getFloat() ); + focus_point_property_->setVector( position + direction ); + eye_point_property_->setVector(position); + updateCamera(); +} + +void TabletViewController::transitionFrom( ViewController* previous_view ) +{ + TabletViewController* fvc = dynamic_cast(previous_view); + if(fvc) + { + Ogre::Vector3 new_eye = eye_point_property_->getVector(); + Ogre::Vector3 new_focus = focus_point_property_->getVector(); + Ogre::Vector3 new_up = up_vector_property_->getVector(); + + eye_point_property_->setVector(fvc->eye_point_property_->getVector()); + focus_point_property_->setVector(fvc->focus_point_property_->getVector()); + up_vector_property_->setVector(fvc->up_vector_property_->getVector()); + + beginNewTransition(new_eye, new_focus, new_up, ros::Duration(default_transition_time_property_->getFloat())); + } +} + +void TabletViewController::beginNewTransition(const Ogre::Vector3 &eye, const Ogre::Vector3 &focus, const Ogre::Vector3 &up, + const ros::Duration &transition_time) +{ + if(ros::Duration(transition_time).isZero()) + { + eye_point_property_->setVector(eye); + focus_point_property_->setVector(focus); + up_vector_property_->setVector(up); + distance_property_->setFloat(getDistanceFromCameraToFocalPoint()); + return; + } + + start_position_ = eye_point_property_->getVector(); + goal_position_ = eye; + + start_focus_ = focus_point_property_->getVector(); + goal_focus_ = focus; + +// start_up_ = fixed_up_property_->getBool() ? (Ogre::Vector3::UNIT_Z) : getOrientation().yAxis(); +// goal_up_ = fixed_up_property_->getBool() ? (Ogre::Vector3::UNIT_Z) : up; + start_up_ = up_vector_property_->getVector(); + goal_up_ = up; + + current_transition_duration_ = ros::Duration(transition_time); + transition_start_time_ = ros::Time::now(); + + animate_ = true; +} + +void TabletViewController::cancelTransition() +{ + animate_ = false; +} + +void TabletViewController::cameraPlacementCallback(const CameraPlacementConstPtr &cp_ptr) +{ + CameraPlacement cp = *cp_ptr; + + // Handle control parameters + mouse_enabled_property_->setBool( !cp.interaction_disabled ); + fixed_up_property_->setBool( !cp.allow_free_yaw_axis ); + if(cp.mouse_interaction_mode != cp.NO_CHANGE) + { + std::string name = ""; + if(cp.mouse_interaction_mode == cp.ORBIT) name = MODE_ORBIT; + else if(cp.mouse_interaction_mode == cp.FPS) name = MODE_FPS; + interaction_mode_property_->setStdString(name); + } + + if(cp.target_frame != "") + { + attached_frame_property_->setStdString(cp.target_frame); + updateAttachedFrame(); + } + + if(cp.time_from_start.toSec() >= 0) + { + ROS_DEBUG_STREAM("Received a camera placement request! \n" << cp); + transformCameraPlacementToAttachedFrame(cp); + ROS_DEBUG_STREAM("After transform, we have \n" << cp); + + Ogre::Vector3 eye = vectorFromMsg(cp.eye.point); + Ogre::Vector3 focus = vectorFromMsg(cp.focus.point); + Ogre::Vector3 up = vectorFromMsg(cp.up.vector); + + beginNewTransition(eye, focus, up, cp.time_from_start); + } +} + +//void TabletViewController::cameraPlacementTrajectoryCallback(const CameraPlacementTrajectoryConstPtr &cptptr) +//{ +// CameraPlacementTrajectory cpt = *cptptr; +// ROS_DEBUG_STREAM("Received a camera placement trajectory request! \n" << cpt); + +// // Handle control parameters +// mouse_enabled_property_->setBool( cpt.interaction_enabled ); +// fixed_up_property_->setBool( !cpt.allow_free_yaw_axis ); +// if(cpt.mouse_interaction_mode != cpt.NO_CHANGE) +// { +// std::string name = ""; +// if(cpt.mouse_interaction_mode == cpt.ORBIT) name = MODE_ORBIT; +// else if(cpt.mouse_interaction_mode == cpt.FPS) name = MODE_FPS; +// interaction_mode_property_->setStdString(name); +// } + +// // TODO should transform the interpolated positions (later), or transform info will only reflect the TF tree state at the beginning... +// for(size_t i = 0; isetStdString(cp.target_frame); +// updateAttachedFrame(); +// } +// Ogre::Vector3 eye = vectorFromMsg(cp.eye.point); +// Ogre::Vector3 focus = vectorFromMsg(cp.focus.point); +// Ogre::Vector3 up = vectorFromMsg(cp.up.vector); + +// beginNewTransition(eye, focus, up, cp.time_from_start); +//} + +void TabletViewController::transformCameraPlacementToAttachedFrame(CameraPlacement &cp) +{ + Ogre::Vector3 position_fixed_eye, position_fixed_focus, position_fixed_up; // position_fixed_attached; + Ogre::Quaternion rotation_fixed_eye, rotation_fixed_focus, rotation_fixed_up; // rotation_fixed_attached; + + context_->getFrameManager()->getTransform(cp.eye.header.frame_id, ros::Time(0), position_fixed_eye, rotation_fixed_eye); + context_->getFrameManager()->getTransform(cp.focus.header.frame_id, ros::Time(0), position_fixed_focus, rotation_fixed_focus); + context_->getFrameManager()->getTransform(cp.up.header.frame_id, ros::Time(0), position_fixed_up, rotation_fixed_up); + //context_->getFrameManager()->getTransform(attached_frame_property_->getStdString(), ros::Time(0), position_fixed_attached, rotation_fixed_attached); + + Ogre::Vector3 eye = vectorFromMsg(cp.eye.point); + Ogre::Vector3 focus = vectorFromMsg(cp.focus.point); + Ogre::Vector3 up = vectorFromMsg(cp.up.vector); + + eye = fixedFrameToAttachedLocal(position_fixed_eye + rotation_fixed_eye*eye); + focus = fixedFrameToAttachedLocal(position_fixed_focus + rotation_fixed_focus*focus); + up = reference_orientation_.Inverse()*rotation_fixed_up*up; + //up = rotation_fixed_up*up; + + cp.eye.point = pointOgreToMsg(eye); + cp.focus.point = pointOgreToMsg(focus); + cp.up.vector = vectorOgreToMsg(up); + cp.eye.header.frame_id = attached_frame_property_->getStdString(); + cp.focus.header.frame_id = attached_frame_property_->getStdString(); + cp.up.header.frame_id = attached_frame_property_->getStdString(); +} + + +// We must assume that this point is in the Rviz Fixed frame since it came from Rviz... +void TabletViewController::lookAt( const Ogre::Vector3& point ) +{ + if( !mouse_enabled_property_->getBool() ) return; + + Ogre::Vector3 new_point = fixedFrameToAttachedLocal(point); + + beginNewTransition(eye_point_property_->getVector(), new_point, + up_vector_property_->getVector(), + ros::Duration(default_transition_time_property_->getFloat())); + + // // Just for easily testing the other movement styles: + // orbitCameraTo(point); + // moveCameraWithFocusTo(point); +} + +void TabletViewController::orbitCameraTo( const Ogre::Vector3& point) +{ + beginNewTransition(point, focus_point_property_->getVector(), + up_vector_property_->getVector(), + ros::Duration(default_transition_time_property_->getFloat())); +} + +void TabletViewController::moveEyeWithFocusTo( const Ogre::Vector3& point) +{ + beginNewTransition(point, focus_point_property_->getVector() + (point - eye_point_property_->getVector()), + up_vector_property_->getVector(), + ros::Duration(default_transition_time_property_->getFloat())); +} + + +void TabletViewController::update(float dt, float ros_dt) +{ + updateAttachedSceneNode(); + + if(animate_) + { + ros::Duration time_from_start = ros::Time::now() - transition_start_time_; + float fraction = time_from_start.toSec()/current_transition_duration_.toSec(); + // make sure we get all the way there before turning off + if(fraction > 1.0f) + { + fraction = 1.0f; + animate_ = false; + } + + // TODO remap progress to progress_out, which can give us a new interpolation profile. + float progress = 0.5*(1-cos(fraction*M_PI)); + + Ogre::Vector3 new_position = start_position_ + progress*(goal_position_ - start_position_); + Ogre::Vector3 new_focus = start_focus_ + progress*(goal_focus_ - start_focus_); + Ogre::Vector3 new_up = start_up_ + progress*(goal_up_ - start_up_); + + disconnectPositionProperties(); + eye_point_property_->setVector( new_position ); + focus_point_property_->setVector( new_focus ); + up_vector_property_->setVector(new_up); + distance_property_->setFloat( getDistanceFromCameraToFocalPoint()); + connectPositionProperties(); + + // This needs to happen so that the camera orientation will update properly when fixed_up_property == false + camera_->setFixedYawAxis(true, reference_orientation_ * up_vector_property_->getVector()); + camera_->setDirection(reference_orientation_ * (focus_point_property_->getVector() - eye_point_property_->getVector())); + } + updateCamera(); +} + +void TabletViewController::updateCamera() +{ + camera_->setPosition( eye_point_property_->getVector() ); + camera_->setFixedYawAxis(fixed_up_property_->getBool(), reference_orientation_ * up_vector_property_->getVector()); + camera_->setDirection( reference_orientation_ * (focus_point_property_->getVector() - eye_point_property_->getVector())); + //camera_->setDirection( (focus_point_property_->getVector() - eye_point_property_->getVector())); + focal_shape_->setPosition( focus_point_property_->getVector() ); +} + +void TabletViewController::yaw_pitch_roll( float yaw, float pitch, float roll ) +{ + Ogre::Quaternion old_camera_orientation = camera_->getOrientation(); + Ogre::Radian old_pitch = old_camera_orientation.getPitch(false);// - Ogre::Radian(Ogre::Math::HALF_PI); + + if(fixed_up_property_->getBool()) yaw = cos(old_pitch.valueRadians() - Ogre::Math::HALF_PI)*yaw; // helps to reduce crazy spinning! + + Ogre::Quaternion yaw_quat, pitch_quat, roll_quat; + yaw_quat.FromAngleAxis( Ogre::Radian( yaw ), Ogre::Vector3::UNIT_Y ); + pitch_quat.FromAngleAxis( Ogre::Radian( pitch ), Ogre::Vector3::UNIT_X ); + roll_quat.FromAngleAxis( Ogre::Radian( roll ), Ogre::Vector3::UNIT_Z ); + Ogre::Quaternion orientation_change = yaw_quat * pitch_quat * roll_quat; + Ogre::Quaternion new_camera_orientation = old_camera_orientation * orientation_change; + Ogre::Radian new_pitch = new_camera_orientation.getPitch(false);// - Ogre::Radian(Ogre::Math::HALF_PI); + + if( fixed_up_property_->getBool() && + ((new_pitch > PITCH_LIMIT_HIGH && new_pitch > old_pitch) || (new_pitch < PITCH_LIMIT_LOW && new_pitch < old_pitch)) ) + { + orientation_change = yaw_quat * roll_quat; + new_camera_orientation = old_camera_orientation * orientation_change; + } + +// Ogre::Radian new_roll = new_camera_orientation.getRoll(false); +// Ogre::Radian new_yaw = new_camera_orientation.getYaw(false); + //ROS_INFO("old_pitch: %.3f, new_pitch: %.3f", old_pitch.valueRadians(), new_pitch.valueRadians()); + + camera_->setOrientation( new_camera_orientation ); + if( interaction_mode_property_->getStdString() == MODE_ORBIT ) + { + // In orbit mode the focal point stays fixed, so we need to compute the new camera position. + Ogre::Vector3 new_eye_position = focus_point_property_->getVector() + distance_property_->getFloat()* new_camera_orientation.zAxis(); + eye_point_property_->setVector(new_eye_position); + camera_->setPosition(new_eye_position); + setPropertiesFromCamera(camera_); + } + else + { + // In FPS mode the camera stays fixed, so we can just apply the rotations and then rely on the property update to set the new focal point. + setPropertiesFromCamera(camera_); + } +} + +Ogre::Quaternion TabletViewController::getOrientation() // Do we need this? +{ + return camera_->getOrientation(); +} + +void TabletViewController::move_focus_and_eye( float x, float y, float z ) +{ + Ogre::Vector3 translate( x, y, z ); + eye_point_property_->add( getOrientation() * translate ); + focus_point_property_->add( getOrientation() * translate ); +} + +void TabletViewController::move_eye( float x, float y, float z ) +{ + Ogre::Vector3 translate( x, y, z ); + // Only update the camera position if it won't "pass through" the origin + Ogre::Vector3 new_position = eye_point_property_->getVector() + getOrientation() * translate; + if( (new_position - focus_point_property_->getVector()).length() > distance_property_->getMin() ) + eye_point_property_->setVector(new_position); + distance_property_->setFloat(getDistanceFromCameraToFocalPoint()); +} + +} // end namespace rviz + +#include +PLUGINLIB_EXPORT_CLASS( jsk_rviz_plugins::TabletViewController, rviz::ViewController ) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/view_controller/tablet_view_controller.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/view_controller/tablet_view_controller.h new file mode 100755 index 0000000..2cc0d51 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/view_controller/tablet_view_controller.h @@ -0,0 +1,254 @@ +/* + * Copyright (c) 2012, JSK Lab, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the JSK Lab, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * Author: Adam Leeper + * Author: Ryohei Ueda + */ + +#ifndef JSK_RVIZ_PLUGINS_TABLET_VIEW_CONTROLLER_H_ +#define JSK_RVIZ_PLUGINS_TABLET_VIEW_CONTROLLER_H_ + +#ifndef Q_MOC_RUN +#include "rviz/view_controller.h" + +#include +#include + +#include "view_controller_msgs/CameraPlacement.h" + +#include +#include +#endif + +namespace rviz { + class SceneNode; + class Shape; + class BoolProperty; + class FloatProperty; + class VectorProperty; + class QuaternionProperty; + class TfFrameProperty; + class EditableEnumProperty; + class RosTopicProperty; +} + +namespace jsk_rviz_plugins +{ + +/** @brief An un-constrained "flying" camera, specified by an eye point, focus point, and up vector. */ +class TabletViewController : public rviz::ViewController +{ +Q_OBJECT +public: + + enum { TRANSITION_LINEAR = 0, + TRANSITION_SPHERICAL}; + + TabletViewController(); + virtual ~TabletViewController(); + + /** @brief Do subclass-specific initialization. Called by + * ViewController::initialize after context_ and camera_ are set. + * + * This version sets up the attached_scene_node, focus shape, and subscribers. */ + virtual void onInitialize(); + + /** @brief called by activate(). + * + * This version calls updateAttachedSceneNode(). */ + virtual void onActivate(); + + + /** @brief Applies a translation to the focus and eye points. */ + void move_focus_and_eye( float x, float y, float z ); + + /** @brief Applies a translation to only the eye point. */ + void move_eye( float x, float y, float z ); + + + /** @brief Applies a body-fixed-axes sequence of rotations; + only accurate for small angles. */ + void yaw_pitch_roll( float yaw, float pitch, float roll ); + + + virtual void handleMouseEvent(rviz::ViewportMouseEvent& evt); + + + /** @brief Calls beginNewTransition() to + move the focus point to the point provided, assumed to be in the Rviz Fixed Frame */ + virtual void lookAt( const Ogre::Vector3& point ); + + + /** @brief Calls beginNewTransition() with the focus point fixed, moving the eye to the point given. */ + void orbitCameraTo( const Ogre::Vector3& point); + + /** @brief Calls beginNewTransition() to move the eye to the point given, keeping the direction fixed.*/ + void moveEyeWithFocusTo( const Ogre::Vector3& point); + + /** @brief Resets the camera parameters to a sane value. */ + virtual void reset(); + + /** @brief Configure the settings of this view controller to give, + * as much as possible, a similar view as that given by the + * @a source_view. + * + * @a source_view must return a valid @c Ogre::Camera* from getCamera(). */ + virtual void mimic( ViewController* source_view ); + + /** @brief Called by ViewManager when this ViewController is being made current. + * @param previous_view is the previous "current" view, and will not be NULL. + * + * This gives ViewController subclasses an opportunity to implement + * a smooth transition from a previous viewpoint to the new + * viewpoint. + */ + virtual void transitionFrom( ViewController* previous_view ); + + +protected Q_SLOTS: + /** @brief Called when Target Frame property changes while view is + * active. Purpose is to change values in the view controller (like + * a position offset) such that the actual viewpoint does not + * change. Calls updateTargetSceneNode() and + * onTargetFrameChanged(). */ + virtual void updateAttachedFrame(); + + /** @brief Called when distance property is changed; computes new eye position. */ + virtual void onDistancePropertyChanged(); + + /** @brief Called focus property is changed; computes new distance. */ + virtual void onFocusPropertyChanged(); + + /** @brief Called when eye property is changed; computes new distance. */ + virtual void onEyePropertyChanged(); + + /** @brief Called when up vector property is changed (does nothing for now...). */ + virtual void onUpPropertyChanged(); + +protected: //methods + + /** @brief Called at 30Hz by ViewManager::update() while this view + * is active. Override with code that needs to run repeatedly. */ + virtual void update(float dt, float ros_dt); + + /** @brief Convenience function; connects the signals/slots for position properties. */ + void connectPositionProperties(); + + /** @brief Convenience function; disconnects the signals/slots for position properties. */ + void disconnectPositionProperties(); + + /** @brief Override to implement the change in properties which + * nullifies the change in attached frame. + * @see updateAttachedFrame() */ + virtual void onAttachedFrameChanged( const Ogre::Vector3& old_reference_position, const Ogre::Quaternion& old_reference_orientation ); + + /** @brief Update the position of the attached_scene_node_ from the TF + * frame specified in the Attached Frame property. */ + void updateAttachedSceneNode(); + + void cameraPlacementCallback(const view_controller_msgs::CameraPlacementConstPtr &cp_ptr); + //void cameraPlacementTrajectoryCallback(const view_controller_msgs::CameraPlacementTrajectoryConstPtr &cptptr); + void transformCameraPlacementToAttachedFrame(view_controller_msgs::CameraPlacement &cp); + + //void setUpVectorPropertyModeDependent( const Ogre::Vector3 &vector ); + + void setPropertiesFromCamera( Ogre::Camera* source_camera ); + + /** @brief Begins a camera movement animation to the given goal points. */ + void beginNewTransition(const Ogre::Vector3 &eye, const Ogre::Vector3 &focus, const Ogre::Vector3 &up, + const ros::Duration &transition_time); + + /** @brief Cancels any currently active camera movement. */ + void cancelTransition(); + + /** @brief Updates the Ogre camera properties from the view controller properties. */ + void updateCamera(); + + Ogre::Vector3 fixedFrameToAttachedLocal(const Ogre::Vector3 &v) { return reference_orientation_.Inverse()*(v - reference_position_); } + Ogre::Vector3 attachedLocalToFixedFrame(const Ogre::Vector3 &v) { return reference_position_ + (reference_orientation_*v); } + + float getDistanceFromCameraToFocalPoint(); ///< Return the distance between camera and focal point. + + void publishCurrentPlacement(); + void publishMouseEvent(rviz::ViewportMouseEvent& event); + Ogre::Quaternion getOrientation(); ///< Return a Quaternion + +protected Q_SLOTS: + void updateTopics(); + void updatePublishTopics(); + void updateMousePointPublishTopics(); +protected: //members + + ros::NodeHandle nh_; + + rviz::BoolProperty* mouse_enabled_property_; ///< If True, most user changes to camera state are disabled. + rviz::EditableEnumProperty* interaction_mode_property_; ///< Select between Orbit or FPS control style. + rviz::BoolProperty* fixed_up_property_; ///< If True, "up" is fixed to ... up. + + rviz::FloatProperty* distance_property_; ///< The camera's distance from the focal point + rviz::VectorProperty* eye_point_property_; ///< The position of the camera. + rviz::VectorProperty* focus_point_property_; ///< The point around which the camera "orbits". + rviz::VectorProperty* up_vector_property_; ///< The up vector for the camera. + rviz::FloatProperty* default_transition_time_property_; ///< A default time for any animation requests. + + rviz::RosTopicProperty* camera_placement_topic_property_; + rviz::RosTopicProperty* camera_placement_publish_topic_property_; + rviz::RosTopicProperty* mouse_point_publish_topic_property_; +// rviz::RosTopicProperty* camera_placement_trajectory_topic_property_; + + rviz::TfFrameProperty* attached_frame_property_; + Ogre::SceneNode* attached_scene_node_; + + Ogre::Quaternion reference_orientation_; ///< Used to store the orientation of the attached frame relative to + Ogre::Vector3 reference_position_; ///< Used to store the position of the attached frame relative to + + // Variables used during animation + bool animate_; + Ogre::Vector3 start_position_, goal_position_; + Ogre::Vector3 start_focus_, goal_focus_; + Ogre::Vector3 start_up_, goal_up_; + ros::Time trajectory_start_time_; + ros::Time transition_start_time_; + ros::Duration current_transition_duration_; + + rviz::Shape* focal_shape_; ///< A small ellipsoid to show the focus point. + bool dragging_; ///< A flag indicating the dragging state of the mouse. + + QCursor interaction_disabled_cursor_; ///< A cursor for indicating mouse interaction is disabled. + +// ros::Subscriber trajectory_subscriber_; + ros::Subscriber placement_subscriber_; + + ros::Publisher placement_publisher_; + + ros::Publisher mouse_point_publisher_; +}; + +} // namespace rviz_animated_view_controller + +#endif // RVIZ_ANIMATED_VIEW_CONTROLLER_H diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/yes_no_button_interface.cpp b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/yes_no_button_interface.cpp new file mode 100755 index 0000000..e246cb8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/yes_no_button_interface.cpp @@ -0,0 +1,89 @@ +#include "yes_no_button_interface.h" +#include +#include +#include +#include +#include +#include + +#include + + +namespace jsk_rviz_plugins +{ + + YesNoButtonInterface::YesNoButtonInterface(QWidget* parent) + : rviz::Panel(parent) + { + layout_ = new QHBoxLayout; + + yes_button_ = new QPushButton("Yes"); + layout_->addWidget(yes_button_); + yes_button_->setEnabled(false); + + no_button_ = new QPushButton("No"); + layout_->addWidget(no_button_); + no_button_->setEnabled(false); + + connect(yes_button_, SIGNAL(clicked()), this, SLOT(respondYes())); + connect(no_button_, SIGNAL(clicked()), this, SLOT(respondNo())); + + setLayout(layout_); + } + + void YesNoButtonInterface::onInitialize() + { + ros::NodeHandle nh; + if (!ros::service::exists("/rviz/yes_no_button", /*print_failure_reason*/false)) { + yes_no_button_service_ = nh.advertiseService( + "/rviz/yes_no_button", + &YesNoButtonInterface::requested, + this); + } + } + + bool YesNoButtonInterface::requested( + jsk_gui_msgs::YesNo::Request& req, + jsk_gui_msgs::YesNo::Response& res) + { + need_user_input_ = true; + yes_button_->setEnabled(true); + no_button_->setEnabled(true); + while (need_user_input_) { + QApplication::processEvents(QEventLoop::AllEvents, 100); + } + yes_button_->setEnabled(false); + no_button_->setEnabled(false); + res.yes = yes_; + return true; + } + + void YesNoButtonInterface::respondYes() + { + boost::mutex::scoped_lock lock(mutex_); + yes_ = true; + need_user_input_ = false; + } + + void YesNoButtonInterface::respondNo() + { + boost::mutex::scoped_lock lock(mutex_); + yes_ = false; + need_user_input_ = false; + } + + void YesNoButtonInterface::save(rviz::Config config) const + { + rviz::Panel::save(config); + } + + void YesNoButtonInterface::load(const rviz::Config& config) + { + rviz::Panel::load(config); + } + +} // namespace jsk_rviz_plugins + + +#include +PLUGINLIB_EXPORT_CLASS(jsk_rviz_plugins::YesNoButtonInterface, rviz::Panel) diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/yes_no_button_interface.h b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/yes_no_button_interface.h new file mode 100755 index 0000000..5d50f83 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/src/yes_no_button_interface.h @@ -0,0 +1,50 @@ +#ifndef YES_NO_BUTTON_INTERFACE_H +#define YES_NO_BUTTON_INTERFACE_H + +#ifndef Q_MOC_RUN +#include +#include +#include +#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0) +# include +#else +# include +#endif +#endif + +#include + + +namespace jsk_rviz_plugins +{ + + class YesNoButtonInterface: public rviz::Panel + { + Q_OBJECT + public: + YesNoButtonInterface(QWidget* parent = 0); + + virtual void onInitialize(); + virtual void load(const rviz::Config& config); + virtual void save(rviz::Config config) const; + + protected Q_SLOTS: + void respondYes(); + void respondNo(); + protected: + virtual bool requested( + jsk_gui_msgs::YesNo::Request& req, + jsk_gui_msgs::YesNo::Response& res); + QHBoxLayout* layout_; + QPushButton* yes_button_; + QPushButton* no_button_; + bool yes_; + bool need_user_input_; + boost::mutex mutex_; + ros::ServiceServer yes_no_button_service_; + }; + +} // namespace jsk_rviz_plugins + + +#endif // YES_NO_BUTTON_INTERFACE_H diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/srv/EusCommand.srv b/ros_drivers/jsk_rviz/jsk_rviz_plugins/srv/EusCommand.srv new file mode 100755 index 0000000..7d26692 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/srv/EusCommand.srv @@ -0,0 +1,2 @@ +string command +--- diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/srv/RequestMarkerOperate.srv b/ros_drivers/jsk_rviz/jsk_rviz_plugins/srv/RequestMarkerOperate.srv new file mode 100755 index 0000000..5deb1e0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/srv/RequestMarkerOperate.srv @@ -0,0 +1,2 @@ +jsk_rviz_plugins/TransformableMarkerOperate operate +--- diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/srv/Screenshot.srv b/ros_drivers/jsk_rviz/jsk_rviz_plugins/srv/Screenshot.srv new file mode 100755 index 0000000..3d1f538 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/srv/Screenshot.srv @@ -0,0 +1,2 @@ +string file_name +--- diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/test/jsk-rviz-plugins.test b/ros_drivers/jsk_rviz/jsk_rviz_plugins/test/jsk-rviz-plugins.test new file mode 100755 index 0000000..6446752 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/test/jsk-rviz-plugins.test @@ -0,0 +1,2 @@ + + diff --git a/ros_drivers/jsk_rviz/jsk_rviz_plugins/test/point_test.py b/ros_drivers/jsk_rviz/jsk_rviz_plugins/test/point_test.py new file mode 100755 index 0000000..a1e61e9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_rviz_plugins/test/point_test.py @@ -0,0 +1,32 @@ +#!/usr/bin/env python + + +import roslib +roslib.load_manifest('tf') +import rospy, tf +from geometry_msgs.msg import PointStamped +from math import * + +pub = rospy.Publisher('point_test', PointStamped) +rospy.init_node('point_test') +r = rospy.Rate(10) +br = tf.TransformBroadcaster() + +count = 0; +while not rospy.is_shutdown(): + t = count/10.0 + br.sendTransform((3*sin(t/10),3*cos(t/10),sin(t/20)), + tf.transformations.quaternion_from_euler(0,0,0), + rospy.Time.now(), + "/map", "/point") + msg = PointStamped(); + msg.header.frame_id = "/point" + msg.header.stamp = rospy.Time.now(); + msg.point.x = 2*sin(t); + msg.point.y = 2*cos(t); + msg.point.z = 0; + print(msg) + pub.publish(msg); + r.sleep() + count += 1; + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/CHANGELOG.rst b/ros_drivers/jsk_rviz/jsk_topic_tools/CHANGELOG.rst new file mode 100755 index 0000000..cb2ec0e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/CHANGELOG.rst @@ -0,0 +1,848 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package jsk_topic_tools +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.2.11 (2020-07-10) +------------------- +* [jsk_topic_tools] check nodelet version>=1.9.10 (`#1647 `_) +* [jsk_topic_tools/scripts/pose_stamped_publisher.py] fix orientation bug (`#1649 `_) +* Fix for noetic build (`#1648 `_) + + * fix for python3, except, print .... + * fix print(), Exception as e for python3 + * fox for boost 1.67 (20.04) + * migrate to noetic with ROS_PYTHON_VERSION=2/3, use multiple ROS distro strategy http://wiki.ros.org/noetic/Migration + * upgrade package.xml to format=3 + +* call ros::param::get before set not to overwrite (`#1643 `_) + + * run test_standalone_complexed_nodelet.test + * add test code for standalone_complexed_nodelet + * call ros::param::get before set not to overwrite + +* [jsk_topic_tools/SynchronizedThrottle] Reset sync policy in destructor (`#1640 `_) + +* [jsk_topic_tools] import _pickle as pickle for python3 (`#1636 `_) + + * add comment in log_utils + * import _pickle as pickle for python3, cpickle is no more used in python3 + +* add SoundRequest.volume for kinetic (`#1635 `_) +* Create tf.TransformListener before run timerf( `#1634 `_) + + * Assign listener varaible before run timer and the callback in order, not to lookup listener variable before it is assigned. + +* [jsk_tools] Add --ping-trials option to roscore_regardless.pyf( `#1632 `_) + + * Sometimes ping is not stable. `--ping-trials` option enables roscore_regardless.py to verify host computer of rosmaster is alive by multi-times ping commands. + +* [deprecated_relay] print warning message only when relayed topic is subscribed (`#1624 `_) + + * print warn only when the msg is subscribed + * print warn only once in starting + +* [jsk_tools] Add --timeout option to roscore_regardless.py (`#1622 `_) +* standalone_complexed_nodelet: add `params` key for each nodelet (`#1614 `_) + + * Add --timeout option to change timeout duration of ping command towards rosmaster computer. + * --timeout option defaults to 10 seconds. + +* jsk_nodelet: fix overwritting find_package(boost) (`#1618 `_) +* synchronized_throttle: add some more infos (`#1615 `_) +* stealth_relay_nodelet: fix error double free or corruption (fasttop) (`#1613 `_) + + * update standalone_complexed_nodelet sample launch + * standalone_complexed_ndoelet: support params tag + +* Contributors: Furushchev, Kei Okada, Ryo Koyama, Ryohei Ueda, Shingo Kitagawa, Yuki Furuta, Iory Yanokura + +2.2.10 (2018-11-03) +------------------- + +2.2.9 (2018-11-02) +------------------ + +2.2.8 (2018-11-01) +------------------ +* Fix to install 'scripts' directory (`#1604 `_) +* Add reset to Timer in ConnectionBasedTransport (`#1597 `_) + * Check if >=kinetic to pass reset arg to Timer + +* Add test for data_collection_server (`#1599 `_) + * Stop using cv2 in static_image_publisher.py + To fix + https://github.com/jsk-ros-pkg/jsk_common/pull/1599#issuecomment-417908500 + * Add reset to Timer in ConnectionBasedTransport + To fix below: + ``` + [ERROR] [1535796247.786932, 1535792085.063646]: [/get_heightmap] [sleep] ROS time moved backwards: 1.407559397s + Exception in thread Thread-4: + Traceback (most recent call last): + File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner + self.run() + File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/timer.py", line 226, in run + r.sleep() + File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/timer.py", line 103, in sleep + sleep(self._remaining(curr_time)) + File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/timer.py", line 164, in sleep + raise rospy.exceptions.ROSTimeMovedBackwardsException(time_jump) + ROSTimeMovedBackwardsException: ROS time moved backwards + Exception in thread Thread-4: + Traceback (most recent call last): + File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner + self.run() + File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/timer.py", line 226, in run + r.sleep() + File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/timer.py", line 103, in sleep + sleep(self._remaining(curr_time)) + File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/timer.py", line 164, in sleep + raise rospy.exceptions.ROSTimeMovedBackwardsException(time_jump) + ROSTimeMovedBackwardsException: ROS time moved backwards + ^C[image_view-9] killing on exit + [tile_image-8] killing on exit + [get_heightmap/output/depth_view-7] killing on exit + [get_heightmap-6] killing on exit + [heightmap_frame_publisher-5] killing on exit + [bbox_to_tf-4] killing on exit + [bbox_array_to_bbox-3] killing on exit + [rosbag_play-2] killing on exit + [rosout-1] killing on exit + [master] killing on exit + shutting down processing monitor... + ... shutting down processing monitor complete + done + ``` +* [jsk_topic_tools] Fixed use_warn option (`#1592 `_) +* use PROJECT_NAME instad of __NODENAME_PREFIX (RANDOM) (`#1591 `_) + * https://github.com/jsk-ros-pkg/jsk_common/pull/1586/files#r207146300 +* jsk_topic_tools/cmake/nodelet.cmake: add random prefix before _single (``#1586 `_) +* Contributors: Kei Okada, Kentaro Wada, Yohei Kakiuchi, Yuto Uchimi, Iori Yanokura + +2.2.7 (2018-06-27) +------------------ +* Add warnNoRemap to ConnectionBasedNodelet (`#1538 `_) + * add version_gte 1.9.11 for nodelet +* jsk_topic_tools: add option to display diagnostic messages on warning level (`#1585 `_) + * jsk_topic_tools: add option to set diangostic level + jsk_topic_tools: update doc for jsk_topic_tools nodelet classes +* Add #include (`#1584 `_) +* jsk_topic_tools: add synchronized_throttle (`#1579 `_) + * jsk_topic_tools: add synchronized_throttle + * Add warnNoRemap to ConnectionBasedNodelet +* Fix roscore regardless (`#1576 `_) + * jsk_topic_tools: fix isMasterAlive to work +* Contributors: Yuki Furuta, Kentaro Wada, Laurenz + +2.2.6 (2018-01-05) +------------------ +* jsk_topic_tools: stealth_relay_nodelet: support MessageEvent (`#1572 `_) +* jsk_topic_tools: stealth_relay add options as dynamic_reconfigure (`#1568 `_) + * jsk_topic_tools: test_stealth_relay: disable updating dynamic reconfigure + * jsk_topic_tools: test_stealth_relay: update timeout + * jsk_topic_tools: stealth_relay: add deprecation warning + * jsk_topic_tools: add options as dynamic_reconfigure + +* jsk_topic_tools: connection_based_nodelet: fix typo in advertiseCamera (`#1558 `_) +* jsk_topic_tools: add stealth_relay for silently subscribing topic (`#1544 `_) +* Validate implementation of child class of ConnectionBasedTransport (`#1556 `_) + * Check if publishers exist to avoid implementation failures + * Use ABCMeta to avoid unexpected usage of ConnectionBasedTransport + Someone use this class without any subscriptions, + and in that case this class should not be used in general. +* Contributors: Kei Okada, Kentaro Wada, Yuki Furuta + +2.2.5 (2017-06-19) +------------------ + +2.2.4 (2017-06-14) +------------------ +* [jsk_topic_tools][LightweightThrottle] dynamic change update_rate (`#1514 `_) + * [jsk_topic_tools][lightweight_throttle] support jump back in time + +* [jsk_topic_tools][connection_based_nodelet] add isSubscribed method (`#1523 `_) +* Test disconnection in test_connection.py (`#1520 `_) + - modified: test/test_connection.py + - https://github.com/jsk-ros-pkg/jsk_common/pull/1520#issuecomment-298151270 +* [jsk_topic_tools][connection_based_nodelet] warn if onInitPostProcess is not called (`#1513 `_) +* Contributors: Kentaro Wada, Yuki Furuta + +2.2.3 (2017-03-23) +------------------ +* jsk_topic_tools/scripts/tf_to_transform.py: Use different value for duration and rate in tf_to_transform.py (`#1509 `_) + * Rate can be 50 - 100 for example, but duration should be ~1 [s] even + so. In previous implementation, the duration will be 1/100 - 1/50 [s] + and it is too small to resolve tf. + * Fix for flake8 +* Contributors: Kentaro Wada + +2.2.2 (2016-12-30) +------------------ + +2.2.1 (2016-12-13) +------------------ +* add tf_to_transform node (`#1482 `_) +* Contributors: Shingo Kitagawa + +2.2.0 (2016-10-28) +------------------ +* include/jsk_topic_tools/log_utils.h : JSK_ROS_XXX logging macros are not necessary just recently. Its feature is already covered by ROSCONSOLE_FORMAT environmental variable. http://wiki.ros.org/rosconsole#Console_Output_Formatting (`#1461 `_) + + * Stop using deprecated jsk_topic_tools/log_utils.h (`#1470 `_) + see + - https://github.com/jsk-ros-pkg/jsk_common/pull/1462 + - https://github.com/jsk-ros-pkg/jsk_common/issues/1461 + * Fix too many warnings about JSK_ROS_XXX (`#1468 `_) + * [jsk_topic_tools] Deprecate JSK log macros and show warning (`#1462 `_) + * feedback: Use ROS_WARN + * Deprecate JSK log macros and show warning + See https://github.com/jsk-ros-pkg/jsk_common/issues/1461 + +* [jsk_topic_tools/scripts/tf_to_pose.py] add rate param. (`#1457 `_) + +* Contributors: Kentaro Wada, Masaki Murooka + +2.1.2 (2016-09-14) +------------------ + +2.1.1 (2016-09-07) +------------------ +* Fix missing installation of jsk_topic_tools_test_nodelet.xml +* Contributors: Kentaro Wada + +2.1.0 (2016-09-06) +------------------ +* [synchronize_republish.py] Republish after approximate synchronization (`#1443 `_) + + * Add sample for synchronize_republish.py + * Add script to publish statid image for sample/testing + * Republish after approxiamte synchronization + * Refactor synchrnoze_republish.py (making it pythonic) + +* Refactor CMake files (`#1447 `_) + + * Use project exported library for linking target library + * Add ::test namespace to avoid conflicts of nodelet class name + * Rename to have log_utils in the filename + * Nodelet should be have suffix of _nodelet + +* add JSK_NODELET_LOG_THROTTLE (`#1446 `_) + + * [jsk_topic_tools] add test for JSK_NODELET_LOG + * [jsk_topic_tools/src/log_utils.h] add THROTTLE to JSK_NODELET_LOG + +* Contributors: Kei Okada, Kentaro Wada, Yuki Furuta + +2.0.17 (2016-07-21) +------------------- +* Add JSK_ROS_XXX_THROTTLE, JSK_ROS_XXX_STREAM_THROTTLE +* Contributors: Kentaro Wada + +2.0.16 (2016-06-19) +------------------- +* Fix unreasonable test name of test_log_utils.cpp +* Add test for getFunctionName +* Use JSK_NODELET_WARN in connection_based_nodelet +* Show only func name in JSK_XXX log utils +* Contributors: Kentaro Wada + +2.0.15 (2016-06-13) +------------------- +* add parameter for selecting MultiThread callback or SingleThread callback +* Test LoggingThrottle +* Implement logXXX_throttle +* Support async in is_synchronized +* Install only usable *.test files +* Test and documentize tf_to_pose.py +* Transform tf to pose and publish it +* Contributors: Kentaro Wada, Yohei Kakiuchi + +2.0.14 (2016-05-14) +------------------- +* Show node name and func name by log_utils +* Contributors: Kentaro Wada + +2.0.13 (2016-04-29) +------------------- + +2.0.12 (2016-04-18) +------------------- +* Set flag of subscribed even when always_subscribe + Modified: + - jsk_topic_tools/src/connection_based_nodelet.cpp +* Show test condition for 'scripts/is_synchronized' +* Support timeout and exit fastly +* Add method of wait_for_sync in 'scripts/is_synchronized' +* Set queue_size as 100 +* Fix unregistering of the subscribers +* Exit with exit code to represent the synchronization +* Use rostime to check synchronization +* Contributors: Kentaro Wada + +2.0.11 (2016-03-20) +------------------- +* [jsk_topic_tools] Set property is_initialized + Modified: + - jsk_topic_tools/src/jsk_topic_tools/transport.py +* Contributors: Kentaro Wada + +2.0.10 (2016-02-13) +------------------- +* [jsk_topic_tools] Fix topic to advertise by advertiseImage and advertiseCamera +* Support jsk_tilt_laser and jsk_topic_tools on OS X +* [jsk_topic_tools] Find Boost with quiet option always in order + to avoid link error with boost programs options. +* [jsk_topic_tools] Add script to synchronize timestamp of topics + and republish them for visualization +* [jsk_topic_tools/scripts/bag2csv.py] support flatten option in bag2csv. +* [jsk_topic_tools] Return to avoid segfault when --inout opt + Modified: + - jsk_topic_tools/cmake/single_nodelet_exec.cpp.in +* [jsk_topic_tools] Add symlink to doc +* [jsk_topic_tools] Add tool to check synchronized topics + Added: + - jsk_topic_tools/scripts/is_synchronized.py +* [jsk_topic_tools] Stop using roslint as test + Need https://github.com/jsk-ros-pkg/jsk_travis/pull/219 + Modified: + jsk_topic_tools/CMakeLists.txt +* Update maintainer of jsk_network_tools and jsk_topic_tools +* Contributors: Kentaro Wada, Masaki Murooka, Ryohei Ueda + +2.0.9 (2015-12-14) +------------------ +* [jsk_topic_tools] Fix typo: test -> text in rosping_existence.py +* [jsk_topic_tools] Stop using enum34 and use just int +* [jsk_topic_tools/rosping_existence] Add ~speak_text parameter to customization +* [jsk_topic_tools/log_utils] Fix include guard. + Define warnNoRemap in include guard section. +* [jsk_topic_tools] Find Boost_LIBRARIES once nodelet.cmake +* Contributors: Kentaro Wada, Ryohei Ueda + +2.0.8 (2015-12-07) +------------------ +* [jsk_topic_tools] Add roslint_cpp for src/log_utils.cpp +* [jsk_topic_tools] Add roslint_python +* [jsk_topic_tools] Refactor CMakeLists.txt by moving rostest find_package +* [jsk_topic_tools] Fix for pep8 +* [jsk_topic_tools/ConnectionBasedNodelet] Support image_transport. + Add advertiseImage and advertiseCamera. + closes `#1198 `_ +* Contributors: Kentaro Wada, Ryohei Ueda + +2.0.7 (2015-12-05) +------------------ +* Use ccache if installed to make it fast to generate obj file +* [jsk_topic_tools] Fix linking for boost_program_options +* [jsk_topic_tools] Add sample launch file for standalone_complexed_nodelet +* [jsk_topic_tools] Show input/output topics with --inout opt +* Contributors: Kentaro Wada, Ryohei Ueda + +2.0.6 (2015-12-02) +------------------ + +2.0.5 (2015-11-30) +------------------ +* [jsk_topic_tools] Rename _util.py -> _utils.py +* [jsk_topic_tools] Also fix import in test_name_util.py: name_util -> name_utils +* [jsk_topic_tools] Fix renamed module import in log_utils: name_util -> name_utils +* Contributors: Iori Kumagai, Kentaro Wada, Yuto Inagaki + +2.0.4 (2015-11-25) +------------------ +* [jsk_topic_tools] test related things in CATKIN_ENABLE_TESTING block +* [jsk_topic_tools] Test warnNoRemap Closes `jsk-ros-pkg/jsk_recognition#1322 `_ +* [jsk_topic_tools/rosping_existence] Speak dead nodes +* Use gcc -z defs to check undefined symbols in shared objects Related to https://github.com/jsk-ros-pkg/jsk_recognition/pull/1330 +* [jsk_topic_tools] Retry to 3 times +* [jsk_topic_tools] Test rosparam_utils.cpp with gtest +* [jsk_topic_tools] Test warn_no_remap +* [jsk_topic_tools] Test jsk_topic_tools.log_util +* [jsk_topic_tools] Test jsk_topic_tools.name_util +* [jsk_topic_tools] add_library src/log_utils.cpp +* build_depend -> test_depend roscpp_tutorials +* Reasonable connection num for connection_based_nodelet +* [jsk_topic_tools] Use retry for tag +* Refactor test_hz_measure.py as good example +* Refactor test_connection.py as good example +* Refactor: test_block.py as good example +* [jsk_topic_tools] display input/output by --inout +* [jsk_topic_tools] Fix style (indent) +* [jsk_topic_tools] Follow name rule *_utils.py +* [jsk_topic_tools] warnNoRemap for cpp nodes +* Generate Documentation for jsk_topic_tools +* [jsk_topic_tools] Function to warn with no remappings +* [jsk_topic_tools] Correctly return instance +* [jsk_topic_tools] Retry test max to 3 times +* [jsk_topic_tools] add topic_statistics.py +* [jsk_topic_tools] Correctly unsubscribe with multiple publishers +* [jsk_topic_tools] ``add_rostest`` problem should be fixed in latest catkin For https://github.com/jsk-ros-pkg/jsk_common/pull/1178#issuecomment-147396447 +* [jsk_topic_tools] Describe about ~always_subscribe in warning +* [jsk_topic_tools] Add ~always_subscribe param for ConnectionBasedTransport +* [jsk_topic_tools] Correctly set connection status +* [jsk_topic_tools] Add log_utils.py +* [jsk_topic_tools] Add python-enum34 as run_depend +* [jsk_topic_tools] List depends in alphabetical order +* [jsk_topic_tools] Test ConnectionBasedTransport +* [jsk_topic_tools] Test ConnectionBasedNodelet with rostest +* [jsk_topic_tools] Rename to test_connection_based_nodelet.test +* [jsk_topic_tools] Python ConnectionBasedTransport +* [jsk_topic_tools] Utility to publish PoseStamped with given static transformation +* [jsk_topic_tools/ConnectionBasedNodelet] Read `verbose_connection` as well as `~verbose_connection` +* [jsk_topic_tools/ConnectionBasedNodelet] `~verbose_connection` parameter to print verbose messages about connection +* [jsk_topic_tools] Ros error for rosparam type conversion +* [jsk_topic_tools] Warn when no connection in a few sec Closes `#1132 `_ The warning message should be write with ROS_INFO, for no many warning when running with roslaunch. +* [jsk_topic_tools] Supress output messages from testing +* [jsk_topic_tools] Depends on roscpp and rostime explicitly +* [jsk_topic_tools] Faster implementation of test_topic_compare.py by removing magic sleep +* [jsk_topic_tools/ConnectionBasedNodelet] Add latch option to advertise template method +* [jsk_topic_tools/LightweightThrottle] Clean-up codes and added some comments +* [jsk_topic_tools] Add readme about standalone_complexed_nodelet +* [jsk_topic_tools] check /run_id param to know roscore is restarted or not +* [jsk_topic_tools/standalone_complexed_nodelet] Fix handling of reampping name resolvance +* [jsk_topic_tools] Add space after [functionname] +* Contributors: Yuki Furuta, Kei Okada, Kentaro Wada, Ryohei Ueda + +2.0.3 (2015-07-24) +------------------ +* [jsk_topic_tools] Install missing executables +* [jsk_topic_tools/standalone_complexed_nodelet] Support if and unless + fields and read parameter from ~nodelet_%lu as well as ~nodelet +* [jsk_topic_tools] Introduce new nodelet manager called + standalone_complexed_nodelet. + It reads nodelet clients from rosparam and launch them. It is a general + model for nodelet like stereo_image_proc. It does not need different + processes for manager/clients +* [jsk_topic_tools] Make advertise template method critical section in + order to avoid race condition between advertise and connectionCallback +* [jsk_topic_tools] Add StringRelay nodelet to test DiagnosticNodelet class +* Contributors: Ryohei Ueda + +2.0.2 (2015-07-07) +------------------ +* [jsk_topic_tools] add install config directory +* [jsk_topic_tools] Add number of subscribers to diagnostic information +* [jsk_topic_tools/Relay] Add more readable diagnostic including last time it receives input topic +* [jsk_topic_tools/Relay] Add diagnostic information +* [jsk_topic_tools] Update default diagnostic message to be more useful +* Contributors: Yuki Furuta, Ryohei Ueda + +2.0.1 (2015-06-28) +------------------ +* [jsk_topic_tools] Add DeprecatedRelay nodelet for deprecated topics +* Contributors: Ryohei Ueda + +2.0.0 (2015-06-19) +------------------ + +1.0.72 (2015-06-07) +------------------- +* [jsk_topic_tools] Add global nodehandle +* Contributors: Kentaro Wada + +1.0.71 (2015-05-17) +------------------- +* [jsk_topic_tools] Add ~always_subscribe parameter to ConnectionBasedNodelet + and DiagnosticNodelet to always subscribe input topics +* Contributors: Ryohei Ueda + +1.0.70 (2015-05-08) +------------------- +* [jsk_topic_tools/Passthrough] Add ~request service like Snapshot +* Contributors: Ryohei Ueda + +1.0.69 (2015-05-05) +------------------- +* [jsk_topic_tools] Shorter test duration for topic_buffer/hztest_chatter_update +* Contributors: Ryohei Ueda + +1.0.68 (2015-05-05) +------------------- +* [jsk_topic_tools] Add log_utils.h to print with __PRETY_FUNCTION__ +* Contributors: Ryohei Ueda + +1.0.67 (2015-05-03) +------------------- +* [jsk_topic_tools] Do not subscribe input if no need in Passthrough nodelet +* [jsk_topic_tools] Remove non-used TransportHint from relay_nodelet +* Contributors: Ryohei Ueda + +1.0.66 (2015-04-03) +------------------- + +1.0.65 (2015-04-02) +------------------- + +1.0.64 (2015-03-29) +------------------- +* [jsk_topic_tools] Publish timestamp from snapshot as it publishes ~output +* [jsk_topic_tools] Add ~stop service to force to stop publishing messages +* Contributors: Ryohei Ueda + +1.0.63 (2015-02-19) +------------------- +* [jsk_topic_tools] Add Passthrough nodelet to relay topics during + specified duration +* Contributors: Ryohei Ueda + +1.0.62 (2015-02-17) +------------------- +* [jsk_topic_tools] Add ~latch option to snapshot nodelet +* Contributors: Ryohei Ueda + +1.0.61 (2015-02-11) +------------------- +* [jsk_topic_tools] Fix snapshot to publish first message correctly +* [jsk_topic_tools] Add service interface to change output topic of relay node +* anonymous node +* add flatten mode for array type message +* remove space after , +* add argument exception handler +* add csv exporter for rosbag +* Contributors: Yuki Furuta, Ryohei Ueda + +1.0.60 (2015-02-03) +------------------- +* [jsk_topic_tools] add std_srvs + +1.0.59 (2015-02-03) +------------------- +* [jsk_topic_tools] Add document about nodelet utility classes +* [jsk_topic_tools] Fix license: WillowGarage -> JSK Lab +* [jsk_topic_tools] Add documentation about color_utils.h +* Remove rosbuild files +* [jsk_topic_tools] Return true in service callback of snapshot nodelet +* [jsk_topci_tools] Fix heatColor function to return std_msgs::ColorRGBA +* [jsk_topic_tools] Add new utility to take snapshot of topic +* Contributors: Ryohei Ueda + +1.0.58 (2015-01-07) +------------------- +* [jsk_topic_tools] Indigo test seems to be broken, + so skip testing on indigo +* [jsk_topic_tools] Do not implement updateDiagnostic + as pure virtual method +* Reuse isMasterAlive function across scripts which + want to check master state +* Contributors: Ryohei Ueda + +1.0.57 (2014-12-23) +------------------- +* Add function to compute heat color gradient +* Add new script: static_transform_pose_stamped. It looks like tf's + satatic_transform_publisher but it re-publishes geometry_msgs/PoseStamped. +* Contributors: Ryohei Ueda + +1.0.56 (2014-12-17) +------------------- + +1.0.55 (2014-12-09) +------------------- +* added topic_buffer_periodic_test.launch and added argument to topic_buffer_client/server_sample.launch +* add mutex lock in callback and thread function +* enable to select periodic mode from server param +* enable to select periodic mode from server param +* send request periodic publish from client when rosparam is set +* add update periodically function +* Contributors: Yuki Furuta, Masaki Murooka + +1.0.54 (2014-11-15) +------------------- + +1.0.53 (2014-11-01) +------------------- +* add nodelet to check vital of topic +* Contributors: Ryohei Ueda + +1.0.52 (2014-10-23) +------------------- +* Move several utilities for roscpp from jsk_pcl_ros +* Contributors: Ryohei Ueda + +1.0.51 (2014-10-20) +------------------- + +1.0.50 (2014-10-20) +------------------- +* use 300 for default message_num, rostopic hz uses 50000? https://github.com/ros/ros_comm/blob/indigo-devel/tools/rostopic/src/rostopic/__init__.py#L111 +* use median instead of average +* Contributors: Kei Okada + +1.0.49 (2014-10-13) +------------------- +* Fix location of catkin_package of jsk_topic_tools +* Contributors: Ryohei Ueda + +1.0.48 (2014-10-12) +------------------- + +1.0.47 (2014-10-08) +------------------- +* Install executables build as single nodelet +* LightweightThrottle does not subscribe any topics if no need +* fix mutex lock of relay node +* Do not subscribe topics until mux/output is subscribed +* Contributors: Ryohei Ueda + +1.0.46 (2014-10-03) +------------------- +* Do not use sleep inside of lightweight_throttle + +1.0.45 (2014-09-29) +------------------- + +1.0.44 (2014-09-26) +------------------- + +1.0.43 (2014-09-26) +------------------- + +1.0.42 (2014-09-25) +------------------- + +1.0.41 (2014-09-23) +------------------- +* Compile transform_merger on catkin +* Use PLUGINLIB_EXPORT_CLASS instead of deprecated PLUGINLIB_DECLARE_CLASS +* Contributors: Ryohei Ueda + +1.0.40 (2014-09-19) +------------------- +* Add diagnostic utils from jsk_pcl_ros +* Contributors: Ryohei Ueda + +1.0.39 (2014-09-17) +------------------- + +1.0.38 (2014-09-13) +------------------- +* add new utility function colorCategory20 to jsk_topic_tools +* Contributors: Ryohei Ueda + +1.0.36 (2014-09-01) +------------------- +* Add rosparam_utils.cpp: utility functions for ros parameters +* Contributors: Ryohei Ueda + +1.0.35 (2014-08-16) +------------------- +* add nodelet.cmake to export utility cmake macro to + compile nodelet libraries +* Contributors: Ryohei Ueda + +1.0.34 (2014-08-14) +------------------- +* add new class: VitalChecker from jsk_pcl_ros +* Contributors: Ryohei Ueda + +1.0.33 (2014-07-28) +------------------- +* compile time_acucmulator.cpp on rosbuild environment +* add depend to dynamic_tf_reconfigure +* Contributors: Ryohei Ueda, Yuto Inagaki + +1.0.32 (2014-07-26) +------------------- +* fix compilation for jsk_topic_tools::TimeAccumulator +* Contributors: Ryohei Ueda + +1.0.31 (2014-07-23) +------------------- +* add class TimeAccumulator to measure and accumurate time to jsk_topic_tools +* Contributors: Ryohei Ueda + +1.0.30 (2014-07-15) +------------------- +* add tool to check the existence of ros nodes and publish them to diagnostics +* Contributors: Ryohei Ueda + +1.0.29 (2014-07-02) +------------------- + +1.0.28 (2014-06-24) +------------------- +* initialize variable in relay_nodelet +* shutdown subscriber if no need to publish message in relay nodelet +* Merge pull request #466 from garaemon/add-single-executable-for-nodelet + Add single executables for nodelets of jsk_topic_tools +* add single executable files for each nodelet in jsk_topic_tools +* add test code for block nodelet +* add nodelet to BLOCK topic pipeline according to the number of the subscribers +* add nodelet to relay topic +* Contributors: Ryohei Ueda, Yusuke Furuta + +1.0.27 (2014-06-10) +------------------- +* add nodelet to relay topic +* Contributors: Ryohei Ueda + +1.0.26 (2014-05-30) +------------------- + +1.0.25 (2014-05-26) +------------------- + +1.0.24 (2014-05-24) +------------------- + +1.0.23 (2014-05-23) +------------------- + +1.0.22 (2014-05-22) +------------------- +* add new nodelet: HzMeasure to measure message rate +* display info in debug mode +* print ignoring tf +* Merge remote-tracking branch 'tarukosu/ignore-specific-transform' into ignore-specific-transform +* add output='screen' +* use joint_states_pruned_buffered instead of _update +* remap /joint_states to /joint_states_pruned_update +* add ignoreing tf config +* add launch file for send joint state and other tf +* prune velocity and effort in joint state +* ignoring tf designated in yaml +* Contributors: Ryohei Ueda, Yusuke Furuta + +1.0.21 (2014-05-20) +------------------- + +1.0.20 (2014-05-09) +------------------- + +1.0.19 (2014-05-06) +------------------- + +1.0.18 (2014-05-04) +------------------- + +1.0.17 (2014-04-20) +------------------- + +1.0.16 (2014-04-19) +------------------- + +1.0.15 (2014-04-19) +------------------- + +1.0.14 (2014-04-19) +------------------- + +1.0.13 (2014-04-19) +------------------- + +1.0.12 (2014-04-18) +------------------- + +1.0.11 (2014-04-18) +------------------- + +1.0.10 (2014-04-17) +------------------- +* change the length of the name field according to the topic now the script subscribes +* print topic name rather than topic index and prettier format +* add test launch file for topic_compare and run it on catkin and rosbuild +* add test script and do not run load_manifest, it's not required +* add topic_compare.py +* Contributors: Ryohei Ueda, Yuki Furuta + +1.0.9 (2014-04-12) +------------------ +* use ShapeShifter rather than ShapeShifterEvent +* fix for goovy SEGV + * use ros::Subscriber's pointer + * use topic_tools::ShapeShiter rather than ShapeShifterEvent + * not call getPrivateNodeHandle so many times +* Contributors: Ryohei Ueda + +1.0.8 (2014-04-11) +------------------ + +1.0.7 (2014-04-10) +------------------ +* add documentation on nodelet xml +* Contributors: Ryohei Ueda + +1.0.6 (2014-04-07) +------------------ +* add a sample for mux nodelet and does not use mux nodehandle. + not using mux NodeHandle is different from original mux in topic_tools. + now private nodehandle, which is the name of nodelet instance, + behaves as 'mux' name of mux/topic_tools. + If you want to use mux_** tools, you just specify nodelet name as mux name. +* implement nodelet version of mux with the same api to topic_tools and no need to specify the + message type as well as topic_tools/mux +* add rostopic dependency to run test for LightweightThrottle +* update documentation of nodelet xml +* add test code for LightwehgitThrottle +* add a sample launch file for LightwehgitThrottle +* publish data only if any subscriber is +* compile nodelet on rosbuild too +* fixing dependency for nodelet usage + depends to nodelet on manifest.xml, package.xml and catkin.cmake +* add xml declaration for nodlet plugin +* read update_rate from the parameter ~update_rate +* implement lightweight nodelet throttle +* add lightweight nodelet throttle skelton cpp/header file +* change arg name and node name +* Contributors: Ryohei Ueda, Yusuke Furuta + +1.0.4 (2014-03-27) +------------------ +* move the location of generate_messages and catkin_package to avoid emtpy + catkin variables problem caused by roseus. it's a hack. +* Contributors: Ryohei Ueda + +1.0.3 (2014-03-19) +------------------ + +1.0.2 (2014-03-12) +------------------ +* `#299 `_: fix typo: dependp -> depend +* `#299 `_: add depend tag to jsk_topic_tools/manifest.xml because of previous breaking change of manifest.xml +* `#299 `_: replace .test suffix with .launch in jsk_topic_tools' rosbuild cmake +* `#299 `_: add full path to rostest of ros_topic_tools +* Contributors: Ryohei Ueda + +1.0.1 (2014-03-07) +------------------ +* set all package to 1.0.0 +* Contributors: Kei Okada + +1.0.0 (2014-03-05) +------------------ +* set all package to 1.0.0 +* fix typo CATKIN-DEPEND -> CATKIN_DEPEND +* add install to catkin.cmake +* (kill_server_and_check_close_wait.py) num=1 is ok for test_close_wait_check? +* add rostest and roscpp_tutorials +* use rosdep instead of depend +* add rostest +* add description in topic buffer sample program +* add buffer client and server for tf +* merge transform message to publish at low rate +* add sample launch files for specific transform +* do not initialize pub_update in use_service mode and restart serviceClient if sc_update.call failed, fixed Issue `#266 `_ +* rename to test_topic_buffer_close_wait.launch and add kill_server_and_check_close_wait.py +* add test launch for CLOSE_WAIT problem +* fixing output of ROS_INFO +* supporting topicized /update and parameterized /list +* fix test code chatter_update only publish every 10 min +* update topic_buffer_server/cliet, client automatically calls /update service to get latest information on server side ,see Issue `#260 `_ +* support update_rate param to configure how often client calls /update, see issue `#260 `_ +* client to call update to get current information on publish rate +* add rosbuild_add_rostest +* fix output message +* fix problem reported on `#260 `_, add test code +* add more verbose message +* add sample launch file using topic_buffer +* update for treating multiple tf +* wait until service is available +* add specific transform publisher and subscriber +* add fixed_rate and latched parameter +* make catkin to work jsk_topic_tools +* add update service in topic_buffer_server +* fix xml: catkinize jsk_topic_tools +* fix broken xml: catkinize jsk_topic_tools +* fix broken xml: catkinize jsk_topic_tools +* catkinize jsk_topic_tools +* add jsk_topic_tools +* Contributors: Ryohei Ueda, Kei Okada, youhei, Yusuke Furuta diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/CMakeLists.txt b/ros_drivers/jsk_rviz/jsk_topic_tools/CMakeLists.txt new file mode 100755 index 0000000..0f48e2b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/CMakeLists.txt @@ -0,0 +1,218 @@ +# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html +cmake_minimum_required(VERSION 2.8.3) +project(jsk_topic_tools) + +# Use ccache if installed to make it fast to generate object files +find_program(CCACHE_FOUND ccache) +if(CCACHE_FOUND) + set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) + set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache) +endif(CCACHE_FOUND) + +find_package(catkin REQUIRED COMPONENTS + dynamic_reconfigure + eigen_conversions + geometry_msgs + image_transport + message_generation + nodelet + roscpp + rostime + std_msgs + std_srvs + tf + topic_tools +) + +configure_file( + ${CMAKE_CURRENT_SOURCE_DIR}/include/jsk_topic_tools/nodelet_version.h.in + ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/jsk_topic_tools/nodelet_version.h) + +catkin_python_setup() +add_message_files( + FILES TopicInfo.msg +) +add_service_files( + FILES List.srv Update.srv ChangeTopic.srv PassthroughDuration.srv +) +generate_dynamic_reconfigure_options( + cfg/LightweightThrottle.cfg + cfg/StealthRelay.cfg + cfg/SynchronizedThrottle.cfg +) +generate_messages() +catkin_package( + DEPENDS + CATKIN_DEPENDS topic_tools message_runtime nodelet std_msgs std_srvs roscpp rostime + INCLUDE_DIRS include + LIBRARIES jsk_topic_tools + CFG_EXTRAS nodelet.cmake +) + +if(topic_tools_VERSION VERSION_GREATER "1.13.2") + add_definitions("-Dtopic_tools_relay_stealth_EXISTS") +endif() + +include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) +if(NOT APPLE) + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z defs") +endif(NOT APPLE) +#include_directories(${Boost_INCLUDE_DIRS}) +add_executable(standalone_complexed_nodelet src/standalone_complexed_nodelet.cpp src/log_utils.cpp) +add_executable(topic_buffer_server src/topic_buffer_server.cpp) +add_executable(topic_buffer_client src/topic_buffer_client.cpp) +add_executable(transform_merger src/transform_merger.cpp) +add_executable(static_transform_pose_stamped + src/static_transform_pose_stamped.cpp) +target_link_libraries(transform_merger ${catkin_LIBRARIES}) +target_link_libraries(static_transform_pose_stamped ${catkin_LIBRARIES}) +add_dependencies(static_transform_pose_stamped ${PROJECT_NAME}_gencpp) +add_dependencies(topic_buffer_server ${PROJECT_NAME}_gencpp) +add_dependencies(topic_buffer_client ${PROJECT_NAME}_gencpp) +target_link_libraries(topic_buffer_server ${catkin_LIBRARIES}) +target_link_libraries(topic_buffer_client ${catkin_LIBRARIES}) +target_link_libraries(standalone_complexed_nodelet ${catkin_LIBRARIES}) + +include(${PROJECT_SOURCE_DIR}/cmake/nodelet.cmake) + +macro(jsk_topic_tools_nodelet _nodelet_cpp _nodelet_class _single_nodelet_exec_name) + jsk_nodelet(${_nodelet_cpp} ${_nodelet_class} ${_single_nodelet_exec_name} + jsk_topic_tools_nodelet_sources jsk_topic_tools_nodelet_executable_names) +endmacro(jsk_topic_tools_nodelet _nodelet_cpp _nodelet_class _single_nodelet_exec_name) + +# nodelet shared object +jsk_topic_tools_nodelet(src/lightweight_throttle_nodelet.cpp + "jsk_topic_tools/LightweightThrottle" "lightweight_throttle") +jsk_topic_tools_nodelet(src/mux_nodelet.cpp + "jsk_topic_tools/MUX" "mux") +jsk_topic_tools_nodelet(src/relay_nodelet.cpp + "jsk_topic_tools/Relay" "relay") +jsk_topic_tools_nodelet(src/deprecated_relay_nodelet.cpp + "jsk_topic_tools/DeprecatedRelay" "deprecated_relay") +jsk_topic_tools_nodelet(src/stealth_relay_nodelet.cpp + "jsk_topic_tools/StealthRelay" "stealth_relay") +jsk_topic_tools_nodelet(src/passthrough_nodelet.cpp + "jsk_topic_tools/Passthrough" "passthrough") +jsk_topic_tools_nodelet(src/block_nodelet.cpp + "jsk_topic_tools/Block" "block") +jsk_topic_tools_nodelet(src/snapshot_nodelet.cpp + "jsk_topic_tools/Snapshot" "snapshot") +jsk_topic_tools_nodelet(src/hz_measure_nodelet.cpp + "jsk_topic_tools/HzMeasure" "hz_measure") +jsk_topic_tools_nodelet(src/vital_checker_nodelet.cpp + "jsk_topic_tools/VitalCheckerNodelet" "vital_checker") +jsk_topic_tools_nodelet(src/string_relay_nodelet.cpp + "jsk_topic_tools/StringRelay" "string_relay") +jsk_topic_tools_nodelet(src/synchronized_throttle_nodelet.cpp + "jsk_topic_tools/SynchronizedThrottle" "synchronized_throttle") + +add_library(jsk_topic_tools SHARED + ${jsk_topic_tools_nodelet_sources} + src/timered_diagnostic_updater.cpp + src/diagnostic_utils.cpp + src/rosparam_utils.cpp + src/time_accumulator.cpp + src/vital_checker.cpp + src/color_utils.cpp + src/log_utils.cpp + src/connection_based_nodelet.cpp + src/diagnostic_nodelet.cpp + src/series_boolean.cpp + src/counter.cpp) +add_dependencies(jsk_topic_tools ${PROJECT_NAME}_gencpp ${PROJECT_NAME}_gencfg) +target_link_libraries(jsk_topic_tools ${catkin_LIBRARIES}) + +if (CATKIN_ENABLE_TESTING) + find_package(roslint REQUIRED) + set(ROSLINT_CPP_OPTS "--filter=-whitespace/parens,-whitespace/braces") + roslint_cpp() + roslint_python() + macro(jsk_topic_tools_add_rostest file) + list(APPEND jsk_topic_tools_test_files ${file}) + add_rostest(${file}) + endmacro() + find_package(rostest REQUIRED) + jsk_topic_tools_add_rostest(test/test_topic_buffer.test) + jsk_topic_tools_add_rostest(test/test_topic_buffer_close_wait.test) + jsk_topic_tools_add_rostest(test/test_topic_buffer_fixed_rate.test) + jsk_topic_tools_add_rostest(test/test_topic_buffer_fixed_rate_and_update_rate.test) + jsk_topic_tools_add_rostest(test/test_topic_buffer_update_rate.test) + jsk_topic_tools_add_rostest(test/test_lightweight_throttle.test) + jsk_topic_tools_add_rostest(test/test_topic_compare.test) + jsk_topic_tools_add_rostest(test/test_hz_measure.test) + jsk_topic_tools_add_rostest(test/test_block.test) + jsk_topic_tools_add_rostest(test/test_connection_based_nodelet.test) + jsk_topic_tools_add_rostest(test/test_connection_based_transport.test) + jsk_topic_tools_add_rostest(test/test_stealth_relay.test) + jsk_topic_tools_add_rostest(test/test_synchronized_throttle.test) + jsk_topic_tools_add_rostest(test/test_pose_stamped_publisher.test) + catkin_add_nosetests(src/jsk_topic_tools/tests) + catkin_add_gtest(test_rosparam_utils src/tests/test_rosparam_utils.cpp) + target_link_libraries(test_rosparam_utils ${PROJECT_NAME}) + add_rostest_gtest(test_log_utils test/test_log_utils.launch src/tests/test_log_utils.cpp) + target_link_libraries(test_log_utils ${PROJECT_NAME}) + + # nodelets for testing + add_library(jsk_topic_tools_test src/tests/test_log_utils_nodelet.cpp) + target_link_libraries(jsk_topic_tools_test ${PROJECT_NAME}) + # testing with loading nodelet + add_rostest_gtest(test_nodelet_log_utils test/test_nodelet_log_utils.test test/test_nodelet_log_utils.cpp) + target_link_libraries(test_nodelet_log_utils ${PROJECT_NAME}) + add_dependencies(test_nodelet_log_utils jsk_topic_tools_test) + if("$ENV{ROS_DISTRO}" STRGREATER "indigo") + # rostest/publishtest is available on kinetic and later + jsk_topic_tools_add_rostest(test/test_standalone_complexed_nodelet.test) + elseif("$ENV{ROS_DISTRO}" STRGREATER "hydro") + # FIXME: jsk_tools/test_topic_published.py does not work on hydro travis/jenkins + # https://github.com/jsk-ros-pkg/jsk_common/pull/1293#issuecomment-164158260 + jsk_topic_tools_add_rostest(test/test_tf_to_pose.test) + endif() +endif() + +# From https://github.com/jsk-ros-pkg/jsk_recognition/pull/2345 +# Install header files directly into ${CATKIN_PACKAGE_INCLUDE_DESTINATION}. +# If the package has setup.py and modules under src/${PROJECT_NAME}/, +# install python executables directly into ${CATKIN_PACKAGE_BIN_DESTINATION}. +# However, if it doesn't have setup.py, directories including python executables +# should be installed recursively into ${CATKIN_PACKAGE_SHARE_DESTINATION}. +# Also, other directories like 'launch' or 'sample' must be installed +# recursively into ${CATKIN_PACKAGE_SHARE_DESTINATION}. +# Be careful that 'launch' and 'launch/' are different: the former is directory +# and the latter is each content. +install(TARGETS topic_buffer_server topic_buffer_client jsk_topic_tools + ${jsk_topic_tools_nodelet_executable_names} + standalone_complexed_nodelet + static_transform_pose_stamped + transform_merger + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(FILES + jsk_topic_tools_nodelet.xml + jsk_topic_tools_test_nodelet.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +install(DIRECTORY scripts/ + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + USE_SOURCE_PERMISSIONS +) + +install(FILES ${jsk_topic_tools_test_files} + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test +) +install(DIRECTORY test + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS + PATTERN "*.test" EXCLUDE +) +install(DIRECTORY cmake config launch sample + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS +) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/cfg/LightweightThrottle.cfg b/ros_drivers/jsk_rviz/jsk_topic_tools/cfg/LightweightThrottle.cfg new file mode 100755 index 0000000..d7d12c7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/cfg/LightweightThrottle.cfg @@ -0,0 +1,11 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +PKG = "jsk_topic_tools" + +gen = ParameterGenerator() + +gen.add("update_rate", double_t, 0, "Desired publish rate of throttled messages", 1.0, 0.0, 1000.0) + +exit(gen.generate(PKG, PKG, "LightweightThrottle")) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/cfg/StealthRelay.cfg b/ros_drivers/jsk_rviz/jsk_topic_tools/cfg/StealthRelay.cfg new file mode 100755 index 0000000..4edc6f2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/cfg/StealthRelay.cfg @@ -0,0 +1,15 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +PKG = "jsk_topic_tools" + +gen = ParameterGenerator() + +# name type level description default min max +gen.add("queue_size", int_t, 0, "Queue size of subscriber", 1, 1, 1000) +gen.add("enable_monitor", bool_t, 0, "Enable monitoring", True) +gen.add("monitor_topic", str_t, 0, "Name of monitoring topic", "") +gen.add("monitor_rate", double_t, 0, "Desired monitoring rate of subscribing messages", 1.0, 0.001, 60.0) + +exit(gen.generate(PKG, PKG, "StealthRelay")) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/cfg/SynchronizedThrottle.cfg b/ros_drivers/jsk_rviz/jsk_topic_tools/cfg/SynchronizedThrottle.cfg new file mode 100755 index 0000000..fcb234a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/cfg/SynchronizedThrottle.cfg @@ -0,0 +1,16 @@ +#!/usr/bin/env python + +from dynamic_reconfigure.parameter_generator_catkin import * + +PKG = "jsk_topic_tools" + +gen = ParameterGenerator() + +# name type level description default min max +gen.add("approximate_sync", bool_t, 0, "Enable approximate synchronization policy", False) +gen.add("queue_size", int_t, 0, "Queue size of subscriber", 100, 1, 1000) +gen.add("update_rate", double_t, 0, "Throttle rate", 1.0, 0.0, 1000.0) +gen.add("use_wall_time", bool_t, 0, "Use wall time for throttling", False) +gen.add("suffix", str_t, 0, "Suffix for throttled topics", "throttled") + +exit(gen.generate(PKG, PKG, "SynchronizedThrottle")) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/cmake/nodelet.cmake b/ros_drivers/jsk_rviz/jsk_topic_tools/cmake/nodelet.cmake new file mode 100755 index 0000000..134692c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/cmake/nodelet.cmake @@ -0,0 +1,45 @@ +# utility cmake for nodelet +# it will auto-generate an executable which contains a single nodelet. +macro(jsk_nodelet _nodelet_cpp _nodelet_class + _single_nodelet_exec_name _CODE_PARAM_NAME) + list(APPEND ${_CODE_PARAM_NAME} ${_nodelet_cpp}) + set(NODELET ${_nodelet_class}) + set(DEFAULT_NODE_NAME JSK_NODELET_${PROJECT_NAME}_${_single_nodelet_exec_name}) + if(${USE_ROSBUILD}) + rosbuild_find_ros_package(jsk_topic_tools) + set(_jsk_topic_tools_SOURCE_DIR ${jsk_topic_tools_PACKAGE_PATH}) + else(${USE_ROSBUILD}) + if(jsk_topic_tools_SOURCE_DIR) + set(_jsk_topic_tools_SOURCE_DIR ${jsk_topic_tools_SOURCE_DIR}) + elseif(jsk_topic_tools_SOURCE_PREFIX) + set(_jsk_topic_tools_SOURCE_DIR ${jsk_topic_tools_SOURCE_PREFIX}) + else(jsk_topic_tools_SOURCE_PREFIX) + set(_jsk_topic_tools_SOURCE_DIR ${jsk_topic_tools_PREFIX}/share/jsk_topic_tools) + endif() + endif(${USE_ROSBUILD}) + configure_file( + ${_jsk_topic_tools_SOURCE_DIR}/cmake/single_nodelet_exec.cpp.in + ${DEFAULT_NODE_NAME}.cpp) + if(${USE_ROSBUILD}) + rosbuild_add_executable(${DEFAULT_NODE_NAME} build/${DEFAULT_NODE_NAME}.cpp) + else(${USE_ROSBUILD}) + add_executable(${DEFAULT_NODE_NAME} ${DEFAULT_NODE_NAME}.cpp) + target_link_libraries(${DEFAULT_NODE_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + endif(${USE_ROSBUILD}) + set_target_properties(${DEFAULT_NODE_NAME} PROPERTIES OUTPUT_NAME ${_single_nodelet_exec_name}) + if (${ARGC} GREATER 4) + list(APPEND ${ARGV4} ${DEFAULT_NODE_NAME}) + endif(${ARGC} GREATER 4) + if(NOT ${USE_ROSBUILD}) + install(TARGETS ${DEFAULT_NODE_NAME} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + endif(NOT ${USE_ROSBUILD}) +endmacro(jsk_nodelet _nodelet_cpp _nodelet_class + _single_nodelet_exec_name CODE_PARAM_NAME) + +find_package(Boost QUIET COMPONENTS program_options) +if(NOT Boost_FOUND) + message(WARNING "Boost.program_options is not found. Using jsk_nodelet macro may fail.") +endif() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/cmake/single_nodelet_exec.cpp.in b/ros_drivers/jsk_rviz/jsk_topic_tools/cmake/single_nodelet_exec.cpp.in new file mode 100755 index 0000000..f04dcba --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/cmake/single_nodelet_exec.cpp.in @@ -0,0 +1,113 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Ryohei Ueda and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include +#include + +namespace po = boost::program_options; + +std::string unresolve_name(const std::string node_name, + const std::string resolved_name) +{ + std::string suffix = node_name + "/"; + if (resolved_name.find(suffix) == 0) { + return "~" + resolved_name.substr(suffix.length()); + } + return resolved_name; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "@DEFAULT_NODE_NAME@"); + + // Shared parameters to be propagated to nodelet private namespaces + nodelet::Loader manager(true); // Don't bring up the manager ROS API + nodelet::M_string remappings; + nodelet::V_string my_argv; + + // Parse commane line arguments + po::options_description desc("option"); + desc.add_options() ("inout", "show input/output topics"); + po::variables_map vm; + try { + po::store(po::command_line_parser(argc, argv).options(desc).run(), vm); + } catch (boost::program_options::invalid_command_line_syntax& e) { + throw ros::Exception(e.what()); + } catch (boost::program_options::unknown_option& e) { + throw ros::Exception(e.what()); + } + // Show input/output topics with --inout option + if (vm.count("inout")) { + // set always_subscribe:=true + bool original_value; + ros::param::get("~always_subscribe", original_value); + ros::param::set("~always_subscribe", true); + // setup node + std::string node_name = ros::this_node::getName(); + manager.load(node_name, "@NODELET@", remappings, my_argv); + // see publications + ros::V_string topics; + ros::this_node::getAdvertisedTopics(topics); + std::cout << "Publications:" << std::endl; + for (size_t i = 0; i < topics.size(); i++) { + if (topics[i] != "/rosout") { + std::cout << " * " << unresolve_name(node_name, topics[i]) << std::endl; + } + } + topics.clear(); + // see subscriptions + std::cout << "Subscriptions:" << std::endl; + ros::this_node::getSubscribedTopics(topics); + bool at_least_a_topic = false; + for (size_t i = 0; i < topics.size(); i++) { + if (topics[i] != "/rosout") { + std::cout << " * " << unresolve_name(node_name, topics[i]) << std::endl; + at_least_a_topic = true; + } + } + if (!at_least_a_topic) { + // FIXME: https://github.com/jsk-ros-pkg/jsk_common/issues/1145 + std::cout << "[WARNING] No Subscriptions. This may be caused by unsupported '~always_subscribe' rosparam." << std::endl; + std::cout << "[WARNING] See: https://github.com/jsk-ros-pkg/jsk_common/issues/1145" << std::endl; + } + ros::param::set("~always_subscribe", original_value); // restore always_subscribe value + return 0; + } + + manager.load(ros::this_node::getName(), "@NODELET@", remappings, my_argv); + + ros::spin(); + return 0; +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/config/pr2_tf_buffer.yaml b/ros_drivers/jsk_rviz/jsk_topic_tools/config/pr2_tf_buffer.yaml new file mode 100755 index 0000000..92beb14 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/config/pr2_tf_buffer.yaml @@ -0,0 +1,99 @@ +ignore_tf: + - "/bl_caster_l_wheel_link" + - "/bl_caster_rotation_link" + - "/bl_caster_r_wheel_link" + - "/base_link" + - "/br_caster_l_wheel_link" + - "/br_caster_rotation_link" + - "/br_caster_r_wheel_link" + - "/fl_caster_l_wheel_link" + - "/fl_caster_rotation_link" + - "/fl_caster_r_wheel_link" + - "/fr_caster_l_wheel_link" + - "/fr_caster_rotation_link" + - "/fr_caster_r_wheel_link" + - "/head_pan_link" + - "/torso_lift_link" + - "/head_tilt_link" + - "/l_elbow_flex_link" + - "/l_upper_arm_link" + - "/l_forearm_roll_link" + - "/l_gripper_l_finger_tip_frame" + - "/l_gripper_r_finger_tip_link" + - "/l_gripper_l_finger_link" + - "/l_gripper_palm_link" + - "/l_gripper_l_finger_tip_link" + - "/l_gripper_motor_screw_link" + - "/l_gripper_motor_slider_link" + - "/l_gripper_r_finger_link" + - "/l_shoulder_lift_link" + - "/l_shoulder_pan_link" + - "/l_upper_arm_roll_link" + - "/l_wrist_flex_link" + - "/l_forearm_link" + - "/l_wrist_roll_link" + - "/laser_tilt_mount_link" + - "/r_elbow_flex_link" + - "/r_upper_arm_link" + - "/r_forearm_roll_link" + - "/r_gripper_l_finger_tip_frame" + - "/r_gripper_r_finger_tip_link" + - "/r_gripper_l_finger_link" + - "/r_gripper_palm_link" + - "/r_gripper_l_finger_tip_link" + - "/r_gripper_motor_screw_link" + - "/r_gripper_motor_slider_link" + - "/r_gripper_r_finger_link" + - "/r_shoulder_lift_link" + - "/r_shoulder_pan_link" + - "/r_upper_arm_roll_link" + - "/r_wrist_flex_link" + - "/r_forearm_link" + - "/r_wrist_roll_link" + - "/torso_lift_motor_screw_link" + - "/base_bellow_link" + - "/base_laser_link" + - "/double_stereo_link" + - "/sensor_mount_link" + - "/head_mount_link" + - "/head_plate_frame" + - "/head_mount_kinect_ir_link" + - "/head_mount_kinect_ir_optical_frame" + - "/head_mount_kinect_rgb_link" + - "/head_mount_kinect_rgb_optical_frame" + - "/head_mount_prosilica_link" + - "/head_mount_prosilica_optical_frame" + - "/high_def_frame" + - "/high_def_optical_frame" + - "/imu_link" + - "/l_forearm_cam_frame" + - "/l_forearm_cam_optical_frame" + - "/l_gripper_led_frame" + - "/l_gripper_motor_accelerometer_link" + - "/l_gripper_tool_frame" + - "/l_torso_lift_side_plate_link" + - "/laser_tilt_link" + - "/narrow_stereo_link" + - "/narrow_stereo_gazebo_l_stereo_camera_frame" + - "/narrow_stereo_gazebo_l_stereo_camera_optical_frame" + - "/narrow_stereo_gazebo_r_stereo_camera_frame" + - "/narrow_stereo_gazebo_r_stereo_camera_optical_frame" + - "/narrow_stereo_optical_frame" + - "/openni_depth_optical_frame" + - "/openni_rgb_optical_frame" + - "/projector_wg6802418_child_frame" + - "/projector_wg6802418_frame" + - "/r_forearm_cam_frame" + - "/r_forearm_cam_optical_frame" + - "/r_gripper_led_frame" + - "/r_gripper_motor_accelerometer_link" + - "/r_gripper_tool_frame" + - "/r_torso_lift_side_plate_link" + - "/wide_stereo_link" + - "/wide_stereo_gazebo_l_stereo_camera_frame" + - "/wide_stereo_gazebo_l_stereo_camera_optical_frame" + - "/wide_stereo_gazebo_r_stereo_camera_frame" + - "/wide_stereo_gazebo_r_stereo_camera_optical_frame" + - "/wide_stereo_optical_frame" + - "/r_forearm_cam_optical_frame_rotated" + - "/l_forearm_cam_optical_frame_rotated" diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/config/tf_buffer.yaml b/ros_drivers/jsk_rviz/jsk_topic_tools/config/tf_buffer.yaml new file mode 100755 index 0000000..e69de29 diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/block_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/block_nodelet.h new file mode 100755 index 0000000..2c4cc30 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/block_nodelet.h @@ -0,0 +1,79 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Ryohei Ueda and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef BLOCK_NODELET_H_ +#define BLOCK_NODELET_H_ + +#include +#include + +namespace jsk_topic_tools +{ + + /*************************************** + * + * + * [input] -- | | -- [input_original] -- |process| -- [output_original] -- | | -- [output] + * + * * a subscriber to subscribe input := sub_input_ + * * a subscriber to subscribe output_original := sub_output_original_ + * * a publisher to publish input_original := pub_input_original_ + * * a publisher to publish output := pub_output_ + */ + + class Block : public nodelet::Nodelet + { + public: + typedef ros::MessageEvent ShapeShifterEvent; + protected: + virtual void onInit(); + + + ros::NodeHandle pnh_; + bool pub_input_original_advertised_, pub_output_advertised_; + bool sub_input_subscribing_, sub_output_original_subscribing_; + ros::Subscriber sub_input_, sub_output_original_; + ros::Publisher pub_input_original_, pub_output_; + double check_rate_; // in Hz + virtual void inputCallback( + const boost::shared_ptr& msg); + virtual void outputOriginalCallback( + const boost::shared_ptr& msg); + virtual void timerCallback(const ros::TimerEvent& event); + ros::Timer timer_; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/color_utils.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/color_utils.h new file mode 100755 index 0000000..7c4f72c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/color_utils.h @@ -0,0 +1,65 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_COLOR_UTILS_H_ +#define JSK_TOPIC_TOOLS_COLOR_UTILS_H_ + +#include + +/** + * @file color_utils.h + * @brief Provide color utility functions + */ + +namespace jsk_topic_tools +{ + /** @brief choose a color out of 20 good selected colors + * + * The color format is same as d3.js (https://github.com/mbostock/d3/wiki/Ordinal-Scales#category20) + * @param[in] i index value + * @return return std_msgs::ColorRGBA and each value is in range between 0 and 1. + */ + std_msgs::ColorRGBA colorCategory20(int i); + + /** @brief returns heat-map color (http://en.wikipedia.org/wiki/Heat_map) + * + * @param[in] v Value to colorize. This should be in [0.0:1.0] + * @return return std_msgs::ColorRGBA and each value is in range between 0 and 1. + */ + std_msgs::ColorRGBA heatColor(double v); +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h new file mode 100755 index 0000000..8db3ac8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/connection_based_nodelet.h @@ -0,0 +1,421 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef CONNECTION_BASED_NODELET_H_ +#define CONNECTION_BASED_NODELET_H_ + +#include +#include +#include +#include +#include "jsk_topic_tools/log_utils.h" + +namespace jsk_topic_tools +{ + /** @brief + * Enum to represent connection status. + */ + enum ConnectionStatus + { + NOT_INITIALIZED, + NOT_SUBSCRIBED, + SUBSCRIBED + }; + + /** @brief + * Nodelet to automatically subscribe/unsubscribe + * topics according to subscription of advertised topics. + * + * It's important not to subscribe topic if no output is required. + * + * In order to watch advertised topics, need to use advertise template method. + * And create subscribers in subscribe() and shutdown them in unsubscribed(). + * + */ + class ConnectionBasedNodelet: public nodelet::Nodelet + { + public: + ConnectionBasedNodelet(): subscribed_(false) { } + protected: + + /** @brief + * Initialize nodehandles nh_ and pnh_. Subclass should call + * this method in its onInit method + */ + virtual void onInit(); + + + /** @brief + * Post processing of initialization of nodelet. + * You need to call this method in order to use always_subscribe + * feature. + */ + virtual void onInitPostProcess(); + + /** @brief + * callback function which is called when new subscriber come + */ + virtual void connectionCallback(const ros::SingleSubscriberPublisher& pub); + + /** @brief + * callback function which is called when new subscriber come for image + * publisher + */ + virtual void imageConnectionCallback( + const image_transport::SingleSubscriberPublisher& pub); + + /** @brief + * callback function which is called when new subscriber come for camera + * image publisher + */ + virtual void cameraConnectionCallback( + const image_transport::SingleSubscriberPublisher& pub); + + /** @brief + * callback function which is called when new subscriber come for + * camera info publisher + */ + virtual void cameraInfoConnectionCallback( + const ros::SingleSubscriberPublisher& pub); + + /** @brief + * callback function which is called when new subscriber come for camera + * image publisher or camera info publisher. + * This function is called from cameraConnectionCallback + * or cameraInfoConnectionCallback. + */ + virtual void cameraConnectionBaseCallback(); + + /** @brief + * callback function which is called when walltimer + * duration run out. + */ + virtual void warnOnInitPostProcessCalledCallback(const ros::WallTimerEvent& event); + + /** @brief + * callback function which is called when walltimer + * duration run out. + */ + virtual void warnNeverSubscribedCallback(const ros::WallTimerEvent& event); + + /** @brief + * This method is called when publisher is subscribed by other + * nodes. + * Set up subscribers in this method. + */ + virtual void subscribe() = 0; + + /** @brief + * This method is called when publisher is unsubscribed by other + * nodes. + * Shut down subscribers in this method. + */ + virtual void unsubscribe() = 0; + + /** @brief + * Returns true when this nodelet subscribes topics, false otherwise. + */ + virtual bool isSubscribed(); + + /** @brief warn if there are expected remappings. + * + * @param[in] names Names which are expected to remapped. + * @return false if there is at least a topic which is not remapped, else true; + */ + virtual bool warnNoRemap(const std::vector names); + + /** @brief + * Advertise a topic and watch the publisher. Publishers which are + * created by this method. + * It automatically reads latch boolean parameter from nh and + * publish topic with appropriate latch parameter. + * + * @param nh NodeHandle. + * @param topic topic name to advertise. + * @param queue_size queue size for publisher. + * @return Publisher for the advertised topic. + */ + template ros::Publisher + advertise(ros::NodeHandle& nh, std::string topic, int queue_size) + { + bool latch; + nh.param("latch", latch, false); + return advertise(nh, topic, queue_size, latch); + } + + /** @brief + * Advertise a topic and watch the publisher. Publishers which are + * created by this method. + * + * @param nh NodeHandle. + * @param topic topic name to advertise. + * @param queue_size queue size for publisher. + * @param latch set true if latch topic publication. + * @return Publisher for the advertised topic. + */ + template ros::Publisher + advertise(ros::NodeHandle& nh, + std::string topic, int queue_size, bool latch) + { + boost::mutex::scoped_lock lock(connection_mutex_); + ros::SubscriberStatusCallback connect_cb + = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1); + ros::SubscriberStatusCallback disconnect_cb + = boost::bind(&ConnectionBasedNodelet::connectionCallback, this, _1); + ros::Publisher ret = nh.advertise(topic, queue_size, + connect_cb, + disconnect_cb, + ros::VoidConstPtr(), + latch); + publishers_.push_back(ret); + + return ret; + } + + image_transport::Publisher + advertiseImage(ros::NodeHandle& nh, + image_transport::ImageTransport& it, + const std::string& topic, + int queue_size) + { + NODELET_WARN("advertiseImage with ImageTransport is deprecated"); + return advertiseImage(nh, topic, queue_size); + } + + /** @brief + * Advertise an image topic and watch the publisher. Publishers which are + * created by this method. + * It automatically reads latch boolean parameter from nh and the publisher + * publishes topic with appropriate latch parameter. + * + * @param nh NodeHandle. + * @param topic topic name to advertise. + * @param queue_size queue size for publisher. + * @return Publisher for the advertised topic. + */ + image_transport::Publisher + advertiseImage(ros::NodeHandle& nh, + const std::string& topic, + int queue_size) + { + bool latch; + nh.param("latch", latch, false); + return advertiseImage(nh, topic, queue_size, latch); + } + + /** @brief + * Advertise an image topic and watch the publisher. Publishers which are + * created by this method. + * + * @param nh NodeHandle. + * @param topic topic name to advertise. + * @param queue_size queue size for publisher. + * @param latch set true if latch topic publication. + * @return Publisher for the advertised topic. + */ + image_transport::Publisher + advertiseImage(ros::NodeHandle& nh, + const std::string& topic, + int queue_size, + bool latch) + { + boost::mutex::scoped_lock lock(connection_mutex_); + image_transport::SubscriberStatusCallback connect_cb + = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback, + this, _1); + image_transport::SubscriberStatusCallback disconnect_cb + = boost::bind(&ConnectionBasedNodelet::imageConnectionCallback, + this, _1); + image_transport::Publisher pub = image_transport::ImageTransport(nh).advertise( + topic, 1, + connect_cb, + disconnect_cb, + ros::VoidPtr(), + latch); + image_publishers_.push_back(pub); + return pub; + } + + + image_transport::CameraPublisher + advertiseCamera(ros::NodeHandle& nh, + image_transport::ImageTransport& it, + const std::string& topic, + int queue_size) + { + NODELET_WARN("advertiseCamera with ImageTransport is deprecated"); + return advertiseCamera(nh, topic, queue_size); + } + + + /** @brief + * Advertise an image and camerainfo topic and watch the publisher. + * It automatically reads latch boolean parameter from nh and the publisher + * publishes topic with appropriate latch parameter. + * + * @param nh NodeHandle. + * @param topic topic name to advertise. + * @param queue_size queue size for publisher. + * @return Publisher for the advertised topic. + */ + image_transport::CameraPublisher + advertiseCamera(ros::NodeHandle& nh, + const std::string& topic, + int queue_size) + { + bool latch; + nh.param("latch", latch, false); + return advertiseCamera(nh, topic, queue_size, latch); + } + + /** @brief + * Advertise an image and camerainfo topic and watch the publisher. + * + * @param nh NodeHandle. + * @param topic topic name to advertise. + * @param queue_size queue size for publisher. + * @param latch set true if latch topic publication. + * @return Publisher for the advertised topic. + */ + image_transport::CameraPublisher + advertiseCamera(ros::NodeHandle& nh, + const std::string& topic, + int queue_size, + bool latch) + { + boost::mutex::scoped_lock lock(connection_mutex_); + image_transport::SubscriberStatusCallback connect_cb + = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback, + this, _1); + image_transport::SubscriberStatusCallback disconnect_cb + = boost::bind(&ConnectionBasedNodelet::cameraConnectionCallback, + this, _1); + ros::SubscriberStatusCallback info_connect_cb + = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback, + this, _1); + ros::SubscriberStatusCallback info_disconnect_cb + = boost::bind(&ConnectionBasedNodelet::cameraInfoConnectionCallback, + this, _1); + image_transport::CameraPublisher + pub = image_transport::ImageTransport(nh).advertiseCamera( + topic, 1, + connect_cb, disconnect_cb, + info_connect_cb, info_disconnect_cb, + ros::VoidPtr(), + latch); + camera_publishers_.push_back(pub); + return pub; + } + + /** @brief + * mutex to call subscribe() and unsubscribe() in + * critical section. + */ + boost::mutex connection_mutex_; + + /** @brief + * List of watching publishers + */ + std::vector publishers_; + + /** @brief + * List of watching image publishers + */ + std::vector image_publishers_; + + /** @brief + * List of watching camera publishers + */ + std::vector camera_publishers_; + + /** @brief + * Shared pointer to nodehandle. + */ + boost::shared_ptr nh_; + + /** @brief + * Shared pointer to private nodehandle. + */ + boost::shared_ptr pnh_; + + /** @brief + * WallTimer instance for warning about no connection. + */ + ros::WallTimer timer_warn_never_subscribed_; + + /** @brief + * A flag to check if any publisher is already subscribed + * or not. + */ + bool subscribed_; + + /** @brief + * A flag to check if the node has been ever subscribed + * or not. + */ + bool ever_subscribed_; + + /** @brief + * A flag to disable watching mechanism and always subscribe input + * topics. It can be specified via ~always_subscribe parameter. + */ + bool always_subscribe_; + + /** @brief + * Status of connection + */ + ConnectionStatus connection_status_; + + /** @brief + * true if `~verbose_connection` or `verbose_connection` parameter is true. + */ + bool verbose_connection_; + + /** @brief + * Never warning on not calling onInitPostProcess if true + */ + bool on_init_post_process_called_; + + /** @brief + * WallTimer instance for warning about no connection. + */ + ros::WallTimer timer_warn_on_init_post_process_called_; + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/counter.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/counter.h new file mode 100755 index 0000000..9c8a59d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/counter.h @@ -0,0 +1,71 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_COUNTER_H_ +#define JSK_TOPIC_TOOLS_COUNTER_H_ + +#include +#include +#include +#include +#include +#include + + +namespace jsk_topic_tools +{ + class Counter + { + public: + typedef boost::accumulators::accumulator_set< + double, + boost::accumulators::stats > Accumulator; + virtual void add(double v); + virtual double mean(); + virtual double min(); + virtual double max(); + virtual int count(); + virtual double variance(); + protected: + Accumulator acc_; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/deprecated_relay.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/deprecated_relay.h new file mode 100755 index 0000000..2b6a27a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/deprecated_relay.h @@ -0,0 +1,55 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_DEPRECATED_RELAY_H_ +#define JSK_TOPIC_TOOLS_DEPRECATED_RELAY_H_ + +#include "jsk_topic_tools/relay_nodelet.h" + +namespace jsk_topic_tools +{ + class DeprecatedRelay: public Relay + { + public: + typedef boost::shared_ptr Ptr; + protected: + virtual void inputCallback(const boost::shared_ptr& msg); + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/diagnostic_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/diagnostic_nodelet.h new file mode 100755 index 0000000..54dd372 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/diagnostic_nodelet.h @@ -0,0 +1,124 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_DIAGNOSTIC_NODELET_ +#define JSK_TOPIC_TOOLS_DIAGNOSTIC_NODELET_ + +#include +#include +#include + +#include "jsk_topic_tools/connection_based_nodelet.h" +#include "jsk_topic_tools/diagnostic_utils.h" +#include "jsk_topic_tools/timered_diagnostic_updater.h" + +namespace jsk_topic_tools +{ + + /** @brief + * Nodelet class based on ConnectionBasedNodelet and + * publish diagnostic infromation periodicaly. + * + * In default, diagnostic status is determined by vital_checker_ + * status. + * If vital_checker_ is not poked for seconds, which is specified by + * ~vital_rate param and defaults to 1.0 second, diagnostic status + * will be ERROR. + * + * In order to utilize this, need to call VitalChecker::poke method + * in your callback function. + * + */ + class DiagnosticNodelet: public ConnectionBasedNodelet + { + public: + typedef boost::shared_ptr Ptr; + + /** @brief + * Constructor and subclass need to call this. + * + * @param name name of subclass + */ + DiagnosticNodelet(const std::string& name); + + protected: + + /** @brief + * Initialize method. Subclass should call this method + * in its onInit method. + */ + virtual void onInit(); + + /** @brief + * Method which is called periodically. + * + * In default, it check vitality of vital_checker_ and if vital_checker_ + * is not poked for seconds, diagnostic status will be ERROR. + * @param stat Modofy stat to change status of diagnostic information. + */ + virtual void updateDiagnostic( + diagnostic_updater::DiagnosticStatusWrapper &stat); + + /** @brief + * Name of subclass. It is set by constructor and used as + * Diagnostic method. + */ + const std::string name_; + + /** @brief + * Pointer to TimeredDiagnosticUpdater to call + * updateDiagnostic(diagnostic_updater::DiagnosticStatusWrapper&) + * periodically. + */ + TimeredDiagnosticUpdater::Ptr diagnostic_updater_; + + /** @brief + * VitalChecker object wihch is used in default configuration. + */ + jsk_topic_tools::VitalChecker::Ptr vital_checker_; + + /** @brief + * True if summary is displayed as 'Warnings', otherwise it is displayed as 'Errors' + */ + uint8_t diagnostic_error_level_; + + + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/diagnostic_utils.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/diagnostic_utils.h new file mode 100755 index 0000000..0adefef --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/diagnostic_utils.h @@ -0,0 +1,74 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_DIAGNOSTIC_UTIL_H_ +#define JSK_TOPIC_TOOLS_DIAGNOSTIC_UTIL_H_ + +#include +#include +#include "jsk_topic_tools/time_accumulator.h" +#include "jsk_topic_tools/vital_checker.h" + +namespace jsk_topic_tools +{ + //////////////////////////////////////////////////////// + // add TimeAcumulator information to Diagnostics + //////////////////////////////////////////////////////// + void addDiagnosticInformation( + const std::string& string_prefix, + jsk_topic_tools::TimeAccumulator& accumulator, + diagnostic_updater::DiagnosticStatusWrapper& stat); + + //////////////////////////////////////////////////////// + // set error string to + //////////////////////////////////////////////////////// + void addDiagnosticErrorSummary( + const std::string& string_prefix, + jsk_topic_tools::VitalChecker::Ptr vital_checker, + diagnostic_updater::DiagnosticStatusWrapper& stat, + const uint8_t error_level = diagnostic_msgs::DiagnosticStatus::ERROR); + + //////////////////////////////////////////////////////// + // add Boolean string to stat + //////////////////////////////////////////////////////// + void addDiagnosticBooleanStat( + const std::string& string_prefix, + const bool value, + diagnostic_updater::DiagnosticStatusWrapper& stat); + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/hz_measure_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/hz_measure_nodelet.h new file mode 100755 index 0000000..c021e8b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/hz_measure_nodelet.h @@ -0,0 +1,63 @@ +// -*- mode: c++ -*-> +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Ryohei Ueda and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_TOPIC_TOOLS_HZ_MEASURE_NODELET_H_ +#define JSK_TOPIC_TOOLS_HZ_MEASURE_NODELET_H_ + +#include +#include + +#include + +namespace jsk_topic_tools +{ + class HzMeasure: public nodelet::Nodelet + { + public: + typedef ros::MessageEvent ShapeShifterEvent; + virtual void onInit(); + protected: + int average_message_num_; + std::queue buffer_; + ros::Publisher hz_pub_; + ros::Subscriber sub_; + ros::NodeHandle pnh_; + virtual void inputCallback(const boost::shared_ptr& msg); + + private: + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/lightweight_throttle_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/lightweight_throttle_nodelet.h new file mode 100755 index 0000000..19de879 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/lightweight_throttle_nodelet.h @@ -0,0 +1,72 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Ryohei Ueda and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef LIGHTWEIGHT_THROTTLE_NODELET_H_ +#define LIGHTWEIGHT_THROTTLE_NODELET_H_ + +#include +#include + +#include +#include +#include + +namespace jsk_topic_tools +{ + class LightweightThrottle : public nodelet::Nodelet + { + public: + typedef LightweightThrottleConfig Config; + virtual void onInit(); + virtual void inCallback(const boost::shared_ptr& msg); + virtual void connectionCallback( + const ros::SingleSubscriberPublisher& pub); + virtual void configCallback(Config& config, uint32_t level); + protected: + typedef boost::shared_ptr SubscriberPtr; + boost::mutex mutex_; + boost::shared_ptr > srv_; + SubscriberPtr sub_; + ros::Publisher pub_; + ros::TransportHints th_; + bool advertised_; + bool subscribing_; + double update_rate_; + ros::Time latest_stamp_; + ros::NodeHandle pnh_; + }; +} + +#endif + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/log_utils.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/log_utils.h new file mode 100755 index 0000000..cacecb0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/log_utils.h @@ -0,0 +1,199 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_LOG_UTILS_H_ +#define JSK_TOPIC_TOOLS_LOG_UTILS_H_ + +#include +#include + + +namespace jsk_topic_tools +{ + + /** @brief warn if there are expected remappings. + * + * @param[in] names Names which are expected to remapped. + * @return false if there is at least a topic which is not remapped, else true; + */ + bool warnNoRemap(const std::vector names); + + + /** @brief Get only function name from __PRETTY_FUNCTION__ + * + * @param[in] name std::string from which only function name is extracted + * @return std::string function name which is extracted + */ + const std::string getFunctionName(const std::string &name); + +} + +#define JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX() \ + ROS_WARN_ONCE("DEPRECATION WARNING: JSK_NODELET_XXX log macros are deprecated, and please use NODELET_XXX instead." \ + " (See https://github.com/jsk-ros-pkg/jsk_common/issues/1461)"); +#define JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX() \ + ROS_WARN_ONCE("DEPRECATION WARNING: JSK_ROS_XXX log utils are deprecated, and please use ROS_XXX instead." \ + " (See https://github.com/jsk-ros-pkg/jsk_common/issues/1461)"); + +#define JSK_NODELET_DEBUG(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_DEBUG("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_NODELET_INFO(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_INFO("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_NODELET_WARN(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_WARN("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_NODELET_ERROR(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_ERROR("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_NODELET_FATAL(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_FATAL("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) + +#define JSK_NODELET_DEBUG_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_DEBUG_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_NODELET_INFO_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_INFO_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_NODELET_WARN_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_WARN_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_NODELET_ERROR_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_ERROR_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_NODELET_FATAL_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_FATAL_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) + +#define JSK_NODELET_DEBUG_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_DEBUG_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_NODELET_INFO_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_INFO_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_NODELET_WARN_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_WARN_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_NODELET_ERROR_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_ERROR_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_NODELET_FATAL_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_FATAL_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) + +#define JSK_NODELET_DEBUG_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_DEBUG_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_NODELET_INFO_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_INFO_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_NODELET_WARN_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_WARN_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_NODELET_ERROR_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_ERROR_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_NODELET_FATAL_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_NODELET_XXX(); \ + NODELET_FATAL_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) + +#define JSK_ROS_DEBUG(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_DEBUG("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_ROS_INFO(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_INFO("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_ROS_WARN(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_WARN("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_ROS_ERROR(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_ERROR("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_ROS_FATAL(str,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_FATAL("[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) + +#define JSK_ROS_DEBUG_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_DEBUG_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_ROS_INFO_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_INFO_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_ROS_WARN_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_WARN_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_ROS_ERROR_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_ERROR_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_ROS_FATAL_STREAM(...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_FATAL_STREAM("[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) + +#define JSK_ROS_DEBUG_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_DEBUG_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_ROS_INFO_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_INFO_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_ROS_WARN_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_WARN_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_ROS_ERROR_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_ERROR_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) +#define JSK_ROS_FATAL_THROTTLE(rate, str, ...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_FATAL_THROTTLE(rate, "[%s] " str, jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str(), ##__VA_ARGS__) + +#define JSK_ROS_DEBUG_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_DEBUG_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_ROS_INFO_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_INFO_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_ROS_WARN_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_WARN_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_ROS_ERROR_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_ERROR_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) +#define JSK_ROS_FATAL_STREAM_THROTTLE(rate,...) \ + JSK_TOPIC_TOOLS_DEPRECATED_JSK_ROS_XXX(); \ + ROS_FATAL_STREAM_THROTTLE(rate, "[" << jsk_topic_tools::getFunctionName(__PRETTY_FUNCTION__).c_str() << "] " << __VA_ARGS__) + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/mux_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/mux_nodelet.h new file mode 100755 index 0000000..e29cb94 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/mux_nodelet.h @@ -0,0 +1,78 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Ryohei Ueda and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef MUX_NODELET_H_ +#define MUX_NODELET_H_ + +#include +#include + +#include +#include +#include +#include + +namespace jsk_topic_tools +{ + class MUX : public nodelet::Nodelet + { + public: + typedef ros::MessageEvent ShapeShifterEvent; + virtual void onInit(); + virtual bool selectTopicCallback(topic_tools::MuxSelect::Request &req, + topic_tools::MuxSelect::Response &res); + virtual bool addTopicCallback(topic_tools::MuxAdd::Request& req, + topic_tools::MuxAdd::Response& res); + virtual bool deleteTopicCallback(topic_tools::MuxDelete::Request& req, + topic_tools::MuxDelete::Response& res); + virtual bool listTopicCallback(topic_tools::MuxList::Request& req, + topic_tools::MuxList::Response& res); + virtual void inputCallback(const boost::shared_ptr& msg); + protected: + virtual void connectCb(const ros::SingleSubscriberPublisher& pub); + virtual void subscribeSelectedTopic(); + bool advertised_; + bool subscribing_; + std::vector topics_; + std::string selected_topic_; + boost::shared_ptr sub_; + ros::Publisher pub_selected_; + ros::Publisher pub_; + ros::NodeHandle pnh_; + ros::TransportHints th_; + ros::ServiceServer ss_select_, ss_add_, ss_list_, ss_del_; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/nodelet_version.h.in b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/nodelet_version.h.in new file mode 100755 index 0000000..a0c53ee --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/nodelet_version.h.in @@ -0,0 +1,48 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2020, Shingo Kitagawa and JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_TOPIC_TOOLS_NODELET_VERSION_ +#define JSK_TOPIC_TOOLS_NODELET_VERSION_ + +#define NODELET_VERSION_MAJOR @nodelet_VERSION_MAJOR@ +#define NODELET_VERSION_MINOR @nodelet_VERSION_MINOR@ +#define NODELET_VERSION_PATCH @nodelet_VERSION_PATCH@ +#define NODELET_VERSION_COMBINED(major, minor, patch) (((major) << 20) | ((minor) << 10) | (patch)) +#define NODELET_VERSION NODELET_VERSION_COMBINED(NODELET_VERSION_MAJOR, NODELET_VERSION_MINOR, NODELET_VERSION_PATCH) + +#define NODELET_VERSION_GE(major1, minor1, patch1, major2, minor2, patch2) (NODELET_VERSION_COMBINED(major1, minor1, patch1) >= NODELET_VERSION_COMBINED(major2, minor2, patch2)) +#define NODELET_VERSION_MINIMUM(major, minor, patch) NODELET_VERSION_GE(NODELET_VERSION_MAJOR, NODELET_VERSION_MINOR, NODELET_VERSION_PATCH, major, minor, patch) + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/passthrough_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/passthrough_nodelet.h new file mode 100755 index 0000000..b49e3e5 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/passthrough_nodelet.h @@ -0,0 +1,136 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef PASSTHROUGH_NODELET_H_ +#define PASSTHROUGH_NODELET_H_ + +#include +#include +#include +#include +#include +#include + +namespace jsk_topic_tools +{ + class Passthrough : public nodelet::Nodelet + { + public: + typedef ros::MessageEvent ShapeShifterEvent; + protected: + /** @brief + * Initialization function. + * + * Setup subscriber for ~input topic. + */ + virtual void onInit(); + + /** @brief + * Callback function for ~input. + * It advertise ~output topic according to the definition of input topic + * at the first time. + * After that, Passthrough relays ~input topic to ~output topic + * until end_time_. + * + * If ros::Time::now() goes over end_time_, publish_requested_ flag is set + * to false. + */ + virtual void inputCallback(const boost::shared_ptr& msg); + + /** @brief + * Callback function for ~request service. + * + * This callback reqtrieves std_srvs::Empty and + * enables passthrough for ~default_duration seconds. + */ + virtual bool requestCallback( + std_srvs::Empty::Request &req, + std_srvs::Empty::Response &res); + + /** @brief + * Callback function for ~request_duration service. + * + * This callback reqtrieves jsk_topic_tools::PassThroughDuration and + * it has a duration to relay message. + * In side of this function, end_time_ is updated relative to ros::Time::now(). + * + * If duration is equivalent to ros::Duration(0), it is interpreted as eternal. + */ + virtual bool requestDurationCallback( + jsk_topic_tools::PassthroughDuration::Request &req, + jsk_topic_tools::PassthroughDuration::Response &res); + + /** @brief + * Implementation of requestDurationCallback. + * + */ + virtual void requestDurationCallbackImpl( + const ros::Duration& duration); + + /** @brief + * Advertise a topic according to a specific message instance. + */ + virtual ros::Publisher advertise( + boost::shared_ptr msg, + const std::string& topic); + + /** @brief + * Callback function of ~stop service. + * Force to stop publishing messages. + */ + virtual bool stopCallback( + std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res); + + virtual void disconnectCb(); + virtual void connectCb(); + + ros::Time finish_time_; + bool publish_requested_; + double default_duration_; + boost::mutex mutex_; + ros::Publisher pub_; + ros::Subscriber sub_; + bool advertised_; + bool subscribing_; + ros::NodeHandle pnh_; + ros::Time end_time_; + ros::ServiceServer request_duration_srv_; + ros::ServiceServer stop_srv_; + ros::ServiceServer request_srv_; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/relay_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/relay_nodelet.h new file mode 100755 index 0000000..5fa4d15 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/relay_nodelet.h @@ -0,0 +1,87 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef RELAY_NODELET_H_ +#define RELAY_NODELET_H_ + +#include +#include +#include +#include +#include +#include "jsk_topic_tools/connection_based_nodelet.h" +#include "jsk_topic_tools/timered_diagnostic_updater.h" +#include "jsk_topic_tools/diagnostic_utils.h" + +namespace jsk_topic_tools +{ + class Relay : public nodelet::Nodelet + { + public: + typedef ros::MessageEvent ShapeShifterEvent; + virtual void onInit(); + virtual void inputCallback(const boost::shared_ptr& msg); + protected: + virtual void connectCb(); + virtual void disconnectCb(); + virtual bool changeOutputTopicCallback( + jsk_topic_tools::ChangeTopic::Request &req, + jsk_topic_tools::ChangeTopic::Response &res); + virtual ros::Publisher advertise( + boost::shared_ptr msg, + const std::string& topic); + virtual void updateDiagnostic( + diagnostic_updater::DiagnosticStatusWrapper &stat); + boost::shared_ptr sample_msg_; + std::string output_topic_name_; + boost::mutex mutex_; + ros::Publisher pub_; + ros::Subscriber sub_; + ConnectionStatus connection_status_; + ros::NodeHandle pnh_; + ros::ServiceServer change_output_topic_srv_; + bool always_subscribe_; + bool latch_; + /** @brief + * Pointer to TimeredDiagnosticUpdater to call + * updateDiagnostic(diagnostic_updater::DiagnosticStatusWrapper&) + * periodically. + */ + TimeredDiagnosticUpdater::Ptr diagnostic_updater_; + VitalChecker::Ptr vital_checker_; + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/rosparam_utils.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/rosparam_utils.h new file mode 100755 index 0000000..0f3124b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/rosparam_utils.h @@ -0,0 +1,88 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_ROSPARAM_UTILS_H_ +#define JSK_TOPIC_TOOLS_ROSPARAM_UTILS_H_ + +#include + +namespace jsk_topic_tools +{ + //////////////////////////////////////////////////////// + // a function to read vector of double parameters + // from ros parameter servers. + //////////////////////////////////////////////////////// + bool readVectorParameter( + ros::NodeHandle& nh, + const std::string& param_name, + std::vector& result); + + //////////////////////////////////////////////////////// + // a function to read vector of vector of double + // parameters. (nested) + // from ros parameter servers. + //////////////////////////////////////////////////////// + bool readVectorParameter( + ros::NodeHandle& nh, + const std::string& param_name, + std::vector >& result); + + //////////////////////////////////////////////////////// + // a function to read vector of string parameters + // from ros parameter servers. + //////////////////////////////////////////////////////// + bool readVectorParameter( + ros::NodeHandle& nh, + const std::string& param_name, + std::vector& result); + + //////////////////////////////////////////////////////// + // a function to read vector of vector of string + // parameters. (nested) + // from ros parameter servers. + //////////////////////////////////////////////////////// + bool readVectorParameter( + ros::NodeHandle& nh, + const std::string& param_name, + std::vector >& result); + + //////////////////////////////////////////////////////// + // a function to convert from XmlRpc type to double + //////////////////////////////////////////////////////// + double getXMLDoubleValue(XmlRpc::XmlRpcValue val); +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/series_boolean.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/series_boolean.h new file mode 100755 index 0000000..80f1141 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/series_boolean.h @@ -0,0 +1,61 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_TOPIC_TOOLS_SERIESED_BOOLEAN_H_ +#define JSK_TOPIC_TOOLS_SERIESED_BOOLEAN_H_ + +#include + +namespace jsk_topic_tools +{ + //////////////////////////////////////////////////////// + // SeriesBoolean + // store boolean value to limited buffer + // and return true if all the values are true. + //////////////////////////////////////////////////////// + class SeriesBoolean + { + public: + typedef boost::shared_ptr Ptr; + SeriesBoolean(const int buf_len); + virtual ~SeriesBoolean(); + virtual void addValue(bool val); + virtual bool getValue(); + protected: + private: + boost::circular_buffer buf_; + }; +} +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/snapshot_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/snapshot_nodelet.h new file mode 100755 index 0000000..c3c740c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/snapshot_nodelet.h @@ -0,0 +1,75 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_SNAPSHOT_NODELET_H_ +#define JSK_TOPIC_TOOLS_SNAPSHOT_NODELET_H_ + +#include +#include +#include +#include +#include + +namespace jsk_topic_tools +{ + class Snapshot: public nodelet::Nodelet + { + public: + typedef ros::MessageEvent ShapeShifterEvent; + typedef boost::shared_ptr Ptr; + protected: + virtual void onInit(); + virtual void inputCallback(const boost::shared_ptr& msg); + virtual bool requestCallback( + std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res); + + ros::ServiceServer request_service_; + boost::mutex mutex_; + ros::Publisher pub_; + ros::Publisher pub_timestamp_; + ros::Subscriber sub_; + ros::NodeHandle pnh_; + bool subscribing_; + bool advertised_; + bool requested_; + bool latch_; + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/specific_transform_subscriber.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/specific_transform_subscriber.h new file mode 100755 index 0000000..a7b4168 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/specific_transform_subscriber.h @@ -0,0 +1,11 @@ +#include +#include +#include + +ros::ServiceClient dynamic_tf_publisher_client; + +void CallSetDynamicTf(std::string parent_frame_id, std::string frame_id, geometry_msgs::Transform transform); + +void transformCallback(const geometry_msgs::TransformStamped::ConstPtr& msg); + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/stealth_relay.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/stealth_relay.h new file mode 100755 index 0000000..51af103 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/stealth_relay.h @@ -0,0 +1,83 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +/* + * stealth_relay.h + * Author: Furushchev + */ + + +#ifndef STEALTH_RELAY_H__ +#define STEALTH_RELAY_H__ + +#include +#include +#include + +#include +#include + + +namespace jsk_topic_tools +{ + class StealthRelay : public nodelet::Nodelet + { + typedef StealthRelayConfig Config; + protected: + virtual void onInit(); + virtual void subscribe(); + virtual void unsubscribe(); + virtual bool isSubscribed(); + virtual void configCallback(Config& config, uint32_t level); + virtual void inputCallback(const ros::MessageEvent& event); + virtual void inputCallback(const boost::shared_ptr& msg); + virtual void timerCallback(const ros::TimerEvent& event); + virtual int getNumOtherSubscribers(const std::string& name); + + boost::mutex mutex_; + boost::shared_ptr nh_, pnh_; + boost::shared_ptr > srv_; + ros::Publisher pub_; + ros::Subscriber sub_; + ros::Timer poll_timer_; + std::string monitor_topic_; + double monitor_rate_; + int queue_size_; + bool enable_monitor_; + bool subscribed_; + bool advertised_; + }; +} + +#endif // STEALTH_RELAY_H__ diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/string_relay.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/string_relay.h new file mode 100755 index 0000000..531ea2a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/string_relay.h @@ -0,0 +1,63 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_STRING_RELAY_H_ +#define JSK_TOPIC_TOOLS_STRING_RELAY_H_ + +#include "jsk_topic_tools/diagnostic_nodelet.h" +#include + +namespace jsk_topic_tools +{ + class StringRelay: public DiagnosticNodelet + { + public: + typedef boost::shared_ptr Ptr; + StringRelay(): DiagnosticNodelet("StringRelay"){} + protected: + virtual void onInit(); + virtual void subscribe(); + virtual void unsubscribe(); + virtual void callback(const std_msgs::String::ConstPtr& msg); + + ros::Publisher pub_; + ros::Subscriber sub_; + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/synchronized_throttle.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/synchronized_throttle.h new file mode 100755 index 0000000..6b28522 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/synchronized_throttle.h @@ -0,0 +1,233 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +/* + * synchronized_throttle_nodelet.h + * Author: furushchev + */ + + +#ifndef SYNCHRONIZED_THROTTLE_NODELET_H__ +#define SYNCHRONIZED_THROTTLE_NODELET_H__ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace topic_tools +{ +class ShapeShifterStamped : public ShapeShifter +{ + public: + typedef boost::shared_ptr Ptr; + typedef boost::shared_ptr ConstPtr; + void fillHeader() { + uint8_t buf[size()]; + ros::serialization::OStream stream(buf, size()); + write(stream); + header.seq = ((uint32_t*)buf)[0]; + header.stamp.sec = ((uint32_t*)buf)[1]; + header.stamp.nsec = ((uint32_t*)buf)[2]; + } + + std_msgs::Header header; +}; +} + +namespace ros +{ +namespace message_traits +{ +template<> struct HasHeader : public TrueType {}; +template<> struct HasHeader : public TrueType {}; +template<> +struct Header >::type> +{ + static std_msgs::Header* pointer(topic_tools::ShapeShifterStamped& m) { return &m.header; } + static std_msgs::Header const* pointer(const topic_tools::ShapeShifterStamped& m) { return &m.header; } +}; +template<> +struct TimeStamp >::type> +{ + static ros::Time* pointer(typename boost::remove_const::type &m) { return &m.header.stamp; } + static ros::Time const* pointer(const topic_tools::ShapeShifterStamped& m) { return &m.header.stamp; } + static ros::Time value(const topic_tools::ShapeShifterStamped& m) { return m.header.stamp; } +}; +template<> +struct MD5Sum +{ + static const char* value(const topic_tools::ShapeShifterStamped& m) { return m.getMD5Sum().c_str(); } + static const char* value() { return "*"; } +}; +template<> +struct DataType +{ + static const char* value(const topic_tools::ShapeShifterStamped& m) { return m.getDataType().c_str(); } + static const char* value() { return "*"; } +}; + +} // message_traits + + +namespace serialization +{ + +template<> +struct Serializer +{ + template + inline static void write(Stream& stream, const topic_tools::ShapeShifterStamped& m) { + m.write(stream); + } + + template + inline static void read(Stream& stream, topic_tools::ShapeShifterStamped& m) + { + m.read(stream); + m.fillHeader(); + } + + inline static uint32_t serializedLength(const topic_tools::ShapeShifterStamped& m) { + return m.size(); + } +}; +template<> +struct PreDeserialize +{ + static void notify(const PreDeserializeParams& params) + { + std::string md5 = (*params.connection_header)["md5sum"]; + std::string datatype = (*params.connection_header)["type"]; + std::string msg_def = (*params.connection_header)["message_definition"]; + std::string latching = (*params.connection_header)["latching"]; + + params.message->morph(md5, datatype, msg_def, latching); + } +}; +} // serialization +} // ros + +namespace jsk_topic_tools +{ +class SynchronizedThrottle : public nodelet::Nodelet +{ + public: + typedef message_filters::sync_policies::ExactTime< + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped> SyncPolicy; + + typedef message_filters::sync_policies::ApproximateTime< + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped, + topic_tools::ShapeShifterStamped> AsyncPolicy; + + typedef jsk_topic_tools::SynchronizedThrottleConfig Config; + + static const int MAX_SYNC_NUM = 8; + + protected: + virtual ~SynchronizedThrottle(); + virtual void onInit(); + virtual void configCallback(Config &config, uint32_t level); + virtual void subscribe(); + virtual void unsubscribe(); + virtual bool isSubscribed() const; + virtual void checkCallback( + const topic_tools::ShapeShifterStamped::ConstPtr &msg, + const size_t index); + virtual void connectCb(); + virtual void disconnectCb(); + virtual void checkAdvertisedTimerCallback(const ros::WallTimerEvent& event); + + virtual void fillNullMessage( + const topic_tools::ShapeShifterStamped::ConstPtr& msg); + virtual void inputCallback( + const topic_tools::ShapeShifterStamped::ConstPtr& msg0, + const topic_tools::ShapeShifterStamped::ConstPtr& msg1, + const topic_tools::ShapeShifterStamped::ConstPtr& msg2, + const topic_tools::ShapeShifterStamped::ConstPtr& msg3, + const topic_tools::ShapeShifterStamped::ConstPtr& msg4, + const topic_tools::ShapeShifterStamped::ConstPtr& msg5, + const topic_tools::ShapeShifterStamped::ConstPtr& msg6, + const topic_tools::ShapeShifterStamped::ConstPtr& msg7); + + boost::mutex mutex_; + boost::shared_ptr nh_, pnh_; + boost::shared_ptr > srv_; + ros::WallTimer check_timer_; + boost::shared_ptr > sync_; + boost::shared_ptr > async_; + std::vector check_sub_; + std::vector > > sub_; + message_filters::PassThrough null_; + std::vector pub_; + + std::vector input_topics_; + std::string suffix_; + ros::Time last_stamp_; + bool subscribed_; + bool advertised_; + bool enable_warning_; + bool use_wall_time_; + bool approximate_sync_; + int queue_size_; + double update_rate_; +}; +} + + +#endif // SYNCHRONIZED_THROTTLE_NODELET_H__ diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/time_accumulator.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/time_accumulator.h new file mode 100755 index 0000000..277da31 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/time_accumulator.h @@ -0,0 +1,90 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_TIME_ACCUMULATOR_H_ +#define JSK_TOPIC_TOOLS_TIME_ACCUMULATOR_H_ + +#include +#include +#include +#include +#include +#include + +#include + + +namespace jsk_topic_tools +{ + class ScopedTimer; + + class TimeAccumulator + { + public: + typedef boost::accumulators::accumulator_set< + double, + boost::accumulators::stats > Accumulator; + + TimeAccumulator(); + virtual ~TimeAccumulator(); + virtual ScopedTimer scopedTimer(); + virtual void registerTime(double time); + virtual double mean(); + virtual double min(); + virtual double max(); + virtual int count(); + virtual double variance(); + protected: + Accumulator acc_; + }; + + class ScopedTimer + { + public: + ScopedTimer(TimeAccumulator* parent); + virtual ~ScopedTimer(); + protected: + TimeAccumulator* parent_; + ros::WallTime start_time_; + }; + +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/timered_diagnostic_updater.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/timered_diagnostic_updater.h new file mode 100755 index 0000000..2120eef --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/timered_diagnostic_updater.h @@ -0,0 +1,73 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_TIMERED_DIAGNOSTIC_UPDATER_H_ +#define JSK_TOPIC_TOOLS_TIMERED_DIAGNOSTIC_UPDATER_H_ + +#include +#include + +namespace jsk_topic_tools +{ + //////////////////////////////////////////////////////// + // TimeredDiagnosticUpdater + // useful wrapper of DiagnosticUpdater. + //////////////////////////////////////////////////////// + class TimeredDiagnosticUpdater + { + public: + typedef boost::shared_ptr Ptr; + TimeredDiagnosticUpdater(ros::NodeHandle& nh, + const ros::Duration& timer_duration); + virtual ~TimeredDiagnosticUpdater(); + // wrapper methods of diagnostic_updater::Updater + virtual void add(const std::string& name, + diagnostic_updater::TaskFunction f); + //virtual void add(diagnostic_updater::DiagnosticTask task); + virtual void start(); + virtual void setHardwareID(const std::string& name); + virtual void update(); + protected: + virtual void timerCallback(const ros::TimerEvent& event); + ros::Timer timer_; + boost::shared_ptr diagnostic_updater_; + private: + + }; +} + +#endif + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/vital_checker.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/vital_checker.h new file mode 100755 index 0000000..10ad0e6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/vital_checker.h @@ -0,0 +1,79 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef JSK_TOPIC_TOOLS_VITAL_CHECKER_H_ +#define JSK_TOPIC_TOOLS_VITAL_CHECKER_H_ + +#include +#include +#include +#include +#include +#include +#include + +#if BOOST_VERSION < 106700 // for < 20.4 +#include +#else +#include +#endif + +#include +#include + +namespace jsk_topic_tools +{ + // multi-thread safe + class VitalChecker + { + public: + typedef boost::shared_ptr Ptr; + VitalChecker(const double dead_sec); + virtual ~VitalChecker(); + void poke(); + bool isAlive(); + double deadSec(); + double lastAliveTimeRelative(); + void registerStatInfo(diagnostic_updater::DiagnosticStatusWrapper &stat, + const std::string& prefix = std::string("last_poked_time")); + protected: + ros::Time last_alive_time_; + double dead_sec_; + boost::mutex mutex_; + private: + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/vital_checker_nodelet.h b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/vital_checker_nodelet.h new file mode 100755 index 0000000..df0f9d4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/include/jsk_topic_tools/vital_checker_nodelet.h @@ -0,0 +1,71 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#ifndef JSK_TOPIC_TOOLS_VITAL_CHECKER_NODELET_H_ +#define JSK_TOPIC_TOOLS_VITAL_CHECKER_NODELET_H_ + +#include "jsk_topic_tools/diagnostic_nodelet.h" +#include + +namespace jsk_topic_tools +{ + class VitalCheckerNodelet: public DiagnosticNodelet + { + public: + VitalCheckerNodelet(): DiagnosticNodelet("VitalCheckerNodelet") { } + protected: + //////////////////////////////////////////////////////// + // methods + //////////////////////////////////////////////////////// + virtual void onInit(); + virtual void subscribe(); + virtual void unsubscribe(); + virtual void updateDiagnostic( + diagnostic_updater::DiagnosticStatusWrapper &stat); + virtual void inputCallback( + const boost::shared_ptr& msg); + //////////////////////////////////////////////////////// + // ROS variables + //////////////////////////////////////////////////////// + ros::Subscriber sub_; + std::string title_; + boost::mutex mutex_; + private: + + }; +} + +#endif diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/jsk_topic_tools_nodelet.xml b/ros_drivers/jsk_rviz/jsk_topic_tools/jsk_topic_tools_nodelet.xml new file mode 100755 index 0000000..97bac98 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/jsk_topic_tools_nodelet.xml @@ -0,0 +1,80 @@ + + + + + + + + check ~input is alive or not and publish the status into /diagnostics. + ~title parameter is required. + + + + + subscribe ~input topic and publish the rate of the messages to ~output + as std_msgs/Float32. + + + + + lightweight throttle nodelet. + Publish ~output from ~input with the fixed rate specified by + ~update_rate parameter. + + + + + mux nodelet. + Publish ~output from the list of the topics listed on ~topics parameters. + It supports all the API of topic_tools/mux, so you can use mux_select, mux_add, + mux_delete, mux_list of topic_tools. + + + + + relay a topic message from ~input to ~output. + + + + + relay a topic message from ~input to ~output with deprecated message. + + + + + relay a topic message from ~input to ~output without incrementing subscription count. + + + + + passthrough a topic message from ~input to ~output during specified time. + + + + + block topic + + + + + block topic + + + + + Synchronized Throttle + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/jsk_topic_tools_test_nodelet.xml b/ros_drivers/jsk_rviz/jsk_topic_tools/jsk_topic_tools_test_nodelet.xml new file mode 100755 index 0000000..c1825b6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/jsk_topic_tools_test_nodelet.xml @@ -0,0 +1,8 @@ + + + + Test nodelet for logging macros. + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/nodelet_sample.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/nodelet_sample.launch new file mode 100755 index 0000000..da90c3c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/nodelet_sample.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + topics: ["/camera/rgb/image_raw", "/camera/rgb/image_rect_color", "/camera/rgb/image_rect_mono", "/camera/rgb/image_color"] + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/passthrough_sample.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/passthrough_sample.launch new file mode 100755 index 0000000..8267124 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/passthrough_sample.launch @@ -0,0 +1,14 @@ + + + + + + + + + + default_duration: $(arg default_duration) + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/robot_tf_buffer_client.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/robot_tf_buffer_client.launch new file mode 100755 index 0000000..cfd74f0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/robot_tf_buffer_client.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/robot_tf_buffer_server.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/robot_tf_buffer_server.launch new file mode 100755 index 0000000..a260655 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/robot_tf_buffer_server.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/specific_transform_publisher_sample.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/specific_transform_publisher_sample.launch new file mode 100755 index 0000000..8b13671 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/specific_transform_publisher_sample.launch @@ -0,0 +1,17 @@ + + + + + + parent_frame: + - "/parent1" + - "/parent2" + child_frame: + - "/child1" + - "/child2" + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/specific_transform_subscriber_sample.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/specific_transform_subscriber_sample.launch new file mode 100755 index 0000000..cb183fd --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/specific_transform_subscriber_sample.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/standalone_complexed_nodelet_sample.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/standalone_complexed_nodelet_sample.launch new file mode 100755 index 0000000..7e4f495 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/standalone_complexed_nodelet_sample.launch @@ -0,0 +1,24 @@ + + + + + nodelets: + - name: relay_0 + type: jsk_topic_tools/Relay + remappings: + - from: ~input + to: input + - name: relay_1 + type: jsk_topic_tools/Relay + remappings: + - from: ~input + to: relay_0/output + - name: relay_2 + type: jsk_topic_tools/Relay + remappings: + - from: ~input + to: relay_1/output + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/tf_buffer_client.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/tf_buffer_client.launch new file mode 100755 index 0000000..de95436 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/tf_buffer_client.launch @@ -0,0 +1,17 @@ + + + + + + + + + + use_service: false + topics: ["tf_merged"] + fixed_rate: 0.1 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/tf_buffer_server.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/tf_buffer_server.launch new file mode 100755 index 0000000..96b6e54 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/tf_buffer_server.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_client_param_sample.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_client_param_sample.launch new file mode 100755 index 0000000..7e84f35 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_client_param_sample.launch @@ -0,0 +1,20 @@ + + + + + + + + + + topics: ["/chatter"] + fixed_rate: 0.1 + use_service: false + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_client_sample.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_client_sample.launch new file mode 100755 index 0000000..c4f3b13 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_client_sample.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_periodic_test.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_periodic_test.launch new file mode 100755 index 0000000..212f4a8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_periodic_test.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_server_sample.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_server_sample.launch new file mode 100755 index 0000000..515b23b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/topic_buffer_server_sample.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/launch/vital_checker_sample.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/vital_checker_sample.launch new file mode 100755 index 0000000..a8d355a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/launch/vital_checker_sample.launch @@ -0,0 +1,15 @@ + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/mainpage.dox b/ros_drivers/jsk_rviz/jsk_topic_tools/mainpage.dox new file mode 100755 index 0000000..c2f7680 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/mainpage.dox @@ -0,0 +1,16 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b jsk_topic_tools + +Source code is hosted here: https://github.com/jsk-ros-pkg/jsk_common/tree/master/jsk_topic_tools + +\section ColorUtil +Please see color_utils.h + + +\section NodeletUtils +Please see jsk_topic_tools::ConnectionBasedNodelet and jsk_topic_tools::DiagnosticNodelet + +*/ diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/msg/TopicInfo.msg b/ros_drivers/jsk_rviz/jsk_topic_tools/msg/TopicInfo.msg new file mode 100755 index 0000000..5839f2d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/msg/TopicInfo.msg @@ -0,0 +1,3 @@ +string topic_name +float64 rate + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/package.xml b/ros_drivers/jsk_rviz/jsk_topic_tools/package.xml new file mode 100755 index 0000000..239df44 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/package.xml @@ -0,0 +1,75 @@ + + jsk_topic_tools + 2.2.11 + jsk_topic_tools + Kei Okada + Ryohei Ueda + + BSD + + http://ros.org/wiki/jsk_topic_tools + + + Kei Okada + Yusuke Furuta + + catkin + + + diagnostic_msgs + diagnostic_updater + dynamic_reconfigure + dynamic_tf_publisher + eigen_conversions + geometry_msgs + image_transport + message_generation + nodelet + roscpp + roslaunch + rosnode + rostest + rostime + rostopic + std_msgs + std_srvs + tf + topic_tools + + + diagnostic_msgs + diagnostic_updater + dynamic_reconfigure + dynamic_tf_publisher + eigen_conversions + geometry_msgs + image_transport + message_runtime + nodelet + python-opencv + python3-opencv + python-numpy + python3-numpy + python-scipy + python3-scipy + roscpp + roslaunch + rosnode + rostime + rostopic + sound_play + sensor_msgs + std_msgs + std_srvs + tf + topic_tools + + + roscpp_tutorials + roslint + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/sample/sample_synchronize_republish.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/sample/sample_synchronize_republish.launch new file mode 100755 index 0000000..51d4c97 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/sample/sample_synchronize_republish.launch @@ -0,0 +1,31 @@ + + + + + + + + + + + + + approximate_sync: true + topics: + - static_image_publisher_0/output + - static_image_publisher_1/output + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/sample/simple_image_transport.py b/ros_drivers/jsk_rviz/jsk_topic_tools/sample/simple_image_transport.py new file mode 100755 index 0000000..04fb397 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/sample/simple_image_transport.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import rospy + +from sensor_msgs.msg import Image + +from jsk_topic_tools import ConnectionBasedTransport + + +class SimpleImageTransport(ConnectionBasedTransport): + def __init__(self): + super(SimpleImageTransport, self).__init__() + self._pub = self.advertise('~output', Image, queue_size=1) + + def subscribe(self): + self.sub_img = rospy.Subscriber('~input', Image, self._process) + + def unsubscribe(self): + self.sub_img.unregister() + + def _process(self, img_msg): + self._pub.publish(img_msg) + + +if __name__ == '__main__': + rospy.init_node('sample_image_transport') + img_trans = SimpleImageTransport() + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/sample/standalone_complexed_nodelet/simple.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/sample/standalone_complexed_nodelet/simple.launch new file mode 100755 index 0000000..b01f53f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/sample/standalone_complexed_nodelet/simple.launch @@ -0,0 +1,27 @@ + + + + nodelets: + - name: relay + type: jsk_topic_tools/Relay + remappings: + - from: ~input + to: /foo + - name: relay2 + type: jsk_topic_tools/Relay + remappings: + - from: ~input + to: relay/output + - name: relay3 + type: jsk_topic_tools/LightweightThrottle + remappings: + - from: ~input + to: relay2/output + params: + - name: update_rate + value: 2.0 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/bag2csv.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/bag2csv.py new file mode 100755 index 0000000..aff3db4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/bag2csv.py @@ -0,0 +1,127 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + + +import rospy +import rosbag + +from optparse import OptionParser +import StringIO +from datetime import datetime +import uuid + + +def message_to_csv(stream, msg, flatten=False): + """ + stream: StringIO + msg: message + """ + try: + for s in type(msg).__slots__: + val = msg.__getattribute__(s) + message_to_csv(stream, val, flatten) + except: + msg_str = str(msg) + if msg_str.find(",") is not -1: + if flatten: + msg_str = msg_str.strip("(") + msg_str = msg_str.strip(")") + msg_str = msg_str.strip(" ") + else: + msg_str = "\"" + msg_str + "\"" + stream.write("," + msg_str) + +def message_type_to_csv(stream, msg, parent_content_name="", flatten=False): + """ + stream: StringIO + msg: message + """ + try: + for s in type(msg).__slots__: + val = msg.__getattribute__(s) + if flatten and type(val) == tuple: + for i in range(len(val)): + stream.write("," + ".".join([parent_content_name, s, str(i)])) + else: + stream.write("," + ".".join([parent_content_name, s])) + except: + stream.write("," + parent_content_name) + +seq = 0 +nowtime = datetime.now().strftime("%Y%m%d-%H%M%S") + +def format_csv_filename(form, topic_name): + global seq + ret = form.replace('%t', topic_name.replace('/','-')) + ret = ret.replace('%s', str(seq)) + seq += 1 + ret = ret.replace('%d', nowtime) + ret = ret.replace('%u', str(uuid.uuid4())) + return ret + +def bag_to_csv(options, args): + try: + bag = rosbag.Bag(args[0]) + streamdict= dict() + stime = None + if options.start_time: + stime = rospy.Time(options.start_time) + etime = None + if options.end_time: + etime = rospy.Time(options.end_time) + except Exception as e: + rospy.logfatal('failed to load bag file: %s', e) + exit(1) + + try: + for topic, msg, time in bag.read_messages(topics=options.topic_names, + start_time=stime, + end_time=etime): + if streamdict.has_key(topic): + stream = streamdict[topic] + else: + stream = open(format_csv_filename(options.output_file_format, topic),'w') + streamdict[topic] = stream + # header + if options.header: + stream.write("time") + message_type_to_csv(stream, msg, flatten = options.flatten) + stream.write('\n') + + stream.write(datetime.fromtimestamp(time.to_time()).strftime('%Y/%m/%d/%H:%M:%S.%f')) + message_to_csv(stream, msg, flatten = options.flatten) + stream.write('\n') + [s.close for s in streamdict.values()] + except Exception as e: + rospy.logwarn("fail: %s", e) + finally: + bag.close() + +if __name__ == '__main__': + rospy.init_node('bag2csv', anonymous=True) + parser = OptionParser(usage="%prog [options] bagfile") + parser.add_option("-a", "--all", dest="all_topics", + action="store_true", + help="exports all topics", default=False) + parser.add_option("-t", "--topic", dest="topic_names", + action="append", + help="white list topic names", metavar="TOPIC_NAME") + parser.add_option("-O", "--output", dest="output_file_format", + help="output file names format\n%t: topic name\n%s: sequential number\n%d: datetime (now)\n%u: uuid\ne.g.: -O jskbag-$t-$d.csv", metavar="DESTINATION") + parser.add_option("-s", "--start-time", dest="start_time", + help="start time of bagfile", type="float") + parser.add_option("-e", "--end-time", dest="end_time", + help="end time of bagfile", type="float") + parser.add_option("-n", "--no-header", dest="header", + action="store_false", default=True, + help="no header / flatten array value") + parser.add_option("-f", "--flatten", dest="flatten", + action="store_true", + help="output the list type topic with flatten format", default=False) + (options, args) = parser.parse_args() + + if len(args) != 1: + parser.print_help() + exit(0) + + bag_to_csv(options, args) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/is_synchronized b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/is_synchronized new file mode 100755 index 0000000..e0b5ac2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/is_synchronized @@ -0,0 +1,125 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# vim: ft=python colorcolumn=80 + +from __future__ import print_function +import argparse +import sys +from collections import OrderedDict + +import message_filters +import rospy + +from rostopic import get_topic_class + + +class IsSynchronized(object): + + def __init__(self, topics, timeout, queue_size, + use_async=False, slop=None): + self.is_sync = False + self.timeout = timeout + self.queue_size = queue_size + self.use_async = use_async + self.slop = slop + + self.subs = [] + for tp in topics: + msg_class, real_topic, _ = get_topic_class(tp, blocking=True) + sub = message_filters.Subscriber(real_topic, msg_class) + self.subs.append(sub) + if use_async: + sync = message_filters.ApproximateTimeSynchronizer( + self.subs, queue_size=queue_size, slop=slop) + else: + sync = message_filters.TimeSynchronizer( + self.subs, queue_size=queue_size) + sync.registerCallback(self.callback) + + def callback(self, *msg): + self.is_sync = True + + def show_test_condition(self): + topics = ''.join('\n - {} [{}]'.format(sub.sub.name, + sub.sub.data_class._type) + for sub in self.subs) + sync_policy = 'Approximate' if self.use_async else 'Exact' + condition = OrderedDict( + timeout='{0} seconds'.format(self.timeout), + queue_size=self.queue_size, + topics=topics, + sync_policy=sync_policy, + ) + if self.slop is not None: + condition['slop'] = self.slop + print('****************** Test Condition ******************') + for key, value in condition.items(): + print(key, ': ', value, sep='') + print('****************************************************') + + def wait_for_sync(self): + print('listening these topics for at most {} seconds in rostime' + .format(self.timeout)) + tick = 0.1 + elapsed_time = 0 + while True: + rospy.sleep(rospy.Duration(tick)) + elapsed_time += tick + if self.is_sync: + print('synchronized in {} seconds'.format(elapsed_time)) + return True + if elapsed_time >= self.timeout: + break + print('timeout for {} seconds'.format(self.timeout)) + return False + + def __del__(self): + for sub in self.subs: + sub.unregister() + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument('topics', nargs='+', + help='topics which should be synchronized') + parser.add_argument('-t', '--timeout', type=int, default=5, + help='Timeout for the test of synchronization') + parser.add_argument('-q', '--queue-size', type=int, default=100, + help='Size of queue for the synchronization') + parser.add_argument('-a', '--approximate-sync', action='store_true', + help='Flag to use approximate synchronization') + parser.add_argument( + '--slop', type=float, default=None, + help='Allowed time delta in approximate synchronization') + args = parser.parse_args() + + topics = args.topics + if len(topics) < 2: + print('[WARNING] Please specify at least 2 topics', file=sys.stderr) + sys.exit(1) + timeout = args.timeout + queue_size = args.queue_size + use_async = args.approximate_sync + slop = args.slop + + # validate arguments for approximate sync + if not use_async and slop is not None: + print('[WARNING] --slop is used with approximate synchronization.' + 'Ignoring...', file=sys.stderr) + slop = None + if use_async and slop is None: + slop = 0.1 + + check_sync = IsSynchronized(topics=topics, timeout=timeout, + queue_size=queue_size, use_async=use_async, + slop=slop) + check_sync.show_test_condition() + is_sync = check_sync.wait_for_sync() + result = 'synchronized' if is_sync else 'not synchronized' + print("these topics are: '{}'".format(result)) + sys.exit(0 if is_sync else 1) + + +if __name__ == '__main__': + rospy.init_node('is_synchronized', anonymous=True) + main() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/joint_state_pruner.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/joint_state_pruner.py new file mode 100755 index 0000000..faa597c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/joint_state_pruner.py @@ -0,0 +1,21 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import rospy +from sensor_msgs.msg import JointState + +class JointStatePruner(): + def __init__(self): + rospy.init_node('joint_state_pruner', anonymous=True) + self.pruned_pub = rospy.Publisher("/joint_states_pruned", JointState) + rospy.Subscriber("/joint_states", JointState, self.joint_state_callback) + rospy.spin() + + + def joint_state_callback(self,js): + js.effort = [] + js.velocity = [] + self.pruned_pub.publish(js) + +if __name__ == '__main__': + jsp = JointStatePruner() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/pose_stamped_publisher.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/pose_stamped_publisher.py new file mode 100755 index 0000000..4c6f5e2 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/pose_stamped_publisher.py @@ -0,0 +1,47 @@ +#!/usr/bin/env python + +import rospy +import sys +from geometry_msgs.msg import PoseStamped +from tf.transformations import quaternion_from_euler + +def usage(): + "print usage" + print("Usage: pose_stamped_publisher.py x y z roll pitch yaw from_frame rate") + +def eulerToQuaternion(roll, pitch, yaw): + "convert roll-pitch-yaw to quaternion" + return quaternion_from_euler(roll, pitch, yaw) + +if __name__ == "__main__": + rospy.init_node("pose_stamped_publisher") + argv = rospy.myargv() + if len(argv) != 9: + usage() + sys.exit(1) + x = float(argv[1]) + y = float(argv[2]) + z = float(argv[3]) + roll = float(argv[4]) + pitch = float(argv[5]) + yaw = float(argv[6]) + frame = argv[7] + rate = float(argv[8]) + pose = PoseStamped() + + pose.header.frame_id = frame + pose.pose.position.x = x + pose.pose.position.y = y + pose.pose.position.z = z + # roll, pitch, yaw to quaternion + q = eulerToQuaternion(roll, pitch, yaw) + pose.pose.orientation.x = q[0] + pose.pose.orientation.y = q[1] + pose.pose.orientation.z = q[2] + pose.pose.orientation.w = q[3] + r = rospy.Rate(rate) + pub = rospy.Publisher("~output", PoseStamped) + while not rospy.is_shutdown(): + pose.header.stamp = rospy.Time.now() + pub.publish(pose) + r.sleep() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/rosping_existence.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/rosping_existence.py new file mode 100755 index 0000000..09e3b56 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/rosping_existence.py @@ -0,0 +1,158 @@ +#!/usr/bin/env python + +""" +rosping_existence.py + +check the existence of the ros nodes and publish the result to diagnostics +""" + +import rospy +try: + from xmlrpc.client import ServerProxy +except ImportError: + from xmlrpclib import ServerProxy + +from rosnode import * +import sys +import roslaunch +import diagnostic_updater +import diagnostic_msgs +from sound_play.msg import SoundRequest + +def _succeed(args): + code, msg, val = args + if code != 1: + raise ROSNodeException("remote call failed: %s"%msg) + return val + +def ping(node_name, max_count=None, verbose=False): + """ + Test connectivity to node by calling its XMLRPC API + @param node_name: name of node to ping + @type node_name: str + @param max_count: number of ping requests to make + @type max_count: int + @param verbose: print ping information to screen + @type verbose: bool + @return: True if node pinged + @rtype: bool + @raise ROSNodeIOException: if unable to communicate with master + """ + master = rosgraph.Master(ID) + node_api = get_api_uri(master,node_name) + if not node_api: + # print "cannot ping [%s]: unknown node" % node_name, file=sys.stderr + return False + + timeout = 3. + + if verbose: + print("pinging %s with a timeout of %ss"%(node_name, timeout)) + socket.setdefaulttimeout(timeout) + node = ServerProxy(node_api) + lastcall = 0. + count = 0 + acc = 0. + try: + while True: + try: + count += 1 + start = time.time() + pid = _succeed(node.getPid(ID)) + end = time.time() + + dur = (end-start)*1000. + acc += dur + + + if verbose: + print("xmlrpc reply from %s\ttime=%fms"%(node_api, dur)) + # 1s between pings + except socket.error as e: + # 3786: catch ValueError on unpack as socket.error is not always a tuple + try: + # #3659 + errnum, msg = e + if errnum == -2: #name/service unknown + p = urlparse.urlparse(node_api) + #print("ERROR: Unknown host [%s] for node [%s]"%(p.hostname, node_name), file=sys.stderr) + elif errnum == errno.ECONNREFUSED: + # check if node url has changed + new_node_api = get_api_uri(master,node_name, skip_cache=True) + if not new_node_api: + #print("cannot ping [%s]: unknown node"%node_name, file=sys.stderr) + return False + if new_node_api != node_api: + if verbose: + print("node url has changed from [%s] to [%s], retrying to ping"%(node_api, new_node_api)) + node_api = new_node_api + node = ServerProxy(node_api) + continue + #print("ERROR: connection refused to [%s]"%(node_api), file=sys.stderr) + else: + pass + #print("connection to [%s] timed out"%node_name, file=sys.stderr) + return False + except ValueError: + print("unknown network error contacting node: %s"%(str(e))) + if max_count and count >= max_count: + break + time.sleep(1.0) + except KeyboardInterrupt: + pass + + if verbose and count > 1: + print("ping average: %fms"%(acc/count)) + return True + +def checkNodeExistence(stat): + global nodes, speak_text + result = {} + have_dead = False + for n in nodes: + res = ping(n, max_count = 1, verbose = False) + result[n] = res + if not res: + have_dead = True + if have_dead: + stat.summary(diagnostic_msgs.msg.DiagnosticStatus.ERROR, + "dead nodes: " + ", ".join([n for (n, res) + in result.items() if not res])) + if speak: + sound = SoundRequest() + sound.sound = SoundRequest.SAY + sound.command = SoundRequest.PLAY_ONCE + if hasattr(SoundRequest, 'volume'): # volume is added from 0.3.0 https://github.com/ros-drivers/audio_common/commit/da9623414f381642e52f59701c09928c72a54be7#diff-fe2d85580f1ccfed4e23a608df44a7f7 + sound.volume = 1.0 + if speak_text: + sound.arg = speak_text + else: + sound.arg = " ".join(nodes).replace("/", "").replace("_", " ") + " is dead" + g_robotsound_pub.publish(sound) + else: + stat.summary(diagnostic_msgs.msg.DiagnosticStatus.OK, + "every node is alive") + for n, res in result.items(): + stat.add(n, res) + return stat + +if __name__ == "__main__": + rospy.init_node('rosping_existence') + updater = diagnostic_updater.Updater() + updater.setHardwareID(rospy.get_name()) + updater.add("node existence", checkNodeExistence) + argv = rospy.myargv() + # you can specify the list of the launch files + # launch_files = argv[1:] + # config = roslaunch.config.load_config_default(launch_files, 0) + # nodes = [n.namespace + n.name for n in config.nodes] + nodes = argv[1:] + speak = rospy.get_param("~speak", False) + speak_text = rospy.get_param("~speak_text", "") + if speak: + g_robotsound_pub = rospy.Publisher("/robotsound", SoundRequest) + r = rospy.Rate(0.01) + while not rospy.is_shutdown(): + updater.update() + r.sleep() + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/sample_topic_update_caller.sh b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/sample_topic_update_caller.sh new file mode 100755 index 0000000..1bc50e0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/sample_topic_update_caller.sh @@ -0,0 +1,6 @@ +#!/bin/sh +while : +do + rosservice call /sample_topic_buffer_server/update "/chatter" + sleep 0.5 +done diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/static_image_publisher.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/static_image_publisher.py new file mode 100755 index 0000000..bcf6e28 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/static_image_publisher.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python + +try: + from scipy.misc import face + img = face()[:, :, ::-1] +except ImportError: + from scipy.misc import lena + img = lena()[:, :, None].repeat(3, axis=2) + +import cv_bridge +import rospy +from sensor_msgs.msg import Image + + +def timer_cb(event): + imgmsg.header.stamp = rospy.Time.now() + pub_img.publish(imgmsg) + + +if __name__ == '__main__': + rospy.init_node('static_image_publisher') + + pub_img = rospy.Publisher('~output', Image, queue_size=1) + + bridge = cv_bridge.CvBridge() + imgmsg = bridge.cv2_to_imgmsg(img, encoding='bgr8') + + rospy.Timer(rospy.Duration(0.1), timer_cb) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/synchronize_republish.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/synchronize_republish.py new file mode 100755 index 0000000..3da1959 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/synchronize_republish.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python + +import rospy +import message_filters + +from rostopic import get_topic_class + + +def callback(*msgs): + stamp = None + for msg, pub in zip(msgs, pubs): + if stamp is None: + stamp = msg.header.stamp + else: + msg.header.stamp = stamp + pub.publish(msg) + + +if __name__ == '__main__': + rospy.init_node('synchrnoze_republish') + topics = rospy.get_param('~topics') + use_async = rospy.get_param('~approximate_sync', False) + queue_size = rospy.get_param('~queue_size', 100) + slop = rospy.get_param('~slop', 0.1) + pubs = [] + subs = [] + for i, topic in enumerate(topics): + topic = rospy.resolve_name(topic) + msg_class = get_topic_class(topic, blocking=True)[0] + pub = rospy.Publisher( + '~pub_{0:0>2}'.format(i), msg_class, queue_size=1) + pubs.append(pub) + sub = message_filters.Subscriber(topic, msg_class) + subs.append(sub) + if use_async: + sync = message_filters.ApproximateTimeSynchronizer( + subs, queue_size=queue_size, slop=slop) + else: + sync = message_filters.TimeSynchronizer(subs, queue_size=queue_size) + sync.registerCallback(callback) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/tf_to_pose.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/tf_to_pose.py new file mode 100755 index 0000000..6858804 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/tf_to_pose.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python + +import rospy +import tf +from geometry_msgs.msg import PoseStamped + + +def cb(event): + stamp = rospy.Time.now() + try: + listener.waitForTransform(src_frame, dst_frame, stamp, + timeout=rospy.Duration(1)) + except Exception as e: + rospy.logerr(e) + return + + dst_pose = listener.lookupTransform(src_frame, dst_frame, stamp) + + pose_msg = PoseStamped() + pose_msg.header.frame_id = src_frame + pose_msg.header.stamp = stamp + pose_msg.pose.position.x = dst_pose[0][0] + pose_msg.pose.position.y = dst_pose[0][1] + pose_msg.pose.position.z = dst_pose[0][2] + pose_msg.pose.orientation.x = dst_pose[1][0] + pose_msg.pose.orientation.y = dst_pose[1][1] + pose_msg.pose.orientation.z = dst_pose[1][2] + pose_msg.pose.orientation.w = dst_pose[1][3] + + pub.publish(pose_msg) + + +if __name__ == '__main__': + rospy.init_node('tf_to_pose') + pub = rospy.Publisher('~output', PoseStamped, queue_size=1) + src_frame = rospy.get_param('~src_frame') + dst_frame = rospy.get_param('~dst_frame') + rate = rospy.get_param('~rate', 1.) + listener = tf.TransformListener() + timer = rospy.Timer(rospy.Duration(1.0 / rate), cb) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/tf_to_transform.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/tf_to_transform.py new file mode 100755 index 0000000..0995a3a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/tf_to_transform.py @@ -0,0 +1,86 @@ +#!/usr/bin/env python + +import argparse +from geometry_msgs.msg import Quaternion +from geometry_msgs.msg import Transform +from geometry_msgs.msg import TransformStamped +from geometry_msgs.msg import Vector3 +import rospy +from std_msgs.msg import Header +import tf + + +class TFToTransform(object): + def __init__(self, parent_frame_id, child_frame_id, duration, rate): + self.duration = rospy.get_param('~duration', duration) + self.parent_frame_id = rospy.get_param('~parent_frame_id', + parent_frame_id) + self.child_frame_id = rospy.get_param('~child_frame_id', + child_frame_id) + rate = rospy.get_param('~rate', rate) + self.pub = rospy.Publisher('~output', TransformStamped, queue_size=1) + self.listener = tf.TransformListener() + rospy.Timer(rospy.Duration(1. / rate), self._publish_transform) + + def _publish_transform(self, event): + try: + now = rospy.Time.now() + self.listener.waitForTransform( + self.parent_frame_id, + self.child_frame_id, + now, + timeout=rospy.Duration(self.duration) + ) + except Exception: + rospy.logerr( + "cannot get transform from '%s' to '%s' in '%.2f' [s]" % + (self.parent_frame_id, self.child_frame_id, self.duration)) + return + + trans, rot = self.listener.lookupTransform( + self.parent_frame_id, + self.child_frame_id, + now + ) + tf_msg = Transform( + translation=Vector3( + x=trans[0], + y=trans[1], + z=trans[2] + ), + rotation=Quaternion( + x=rot[0], + y=rot[1], + z=rot[2], + w=rot[3] + ) + ) + tf_stamped_msg = TransformStamped( + header=Header( + stamp=now, + frame_id=self.parent_frame_id + ), + child_frame_id=self.child_frame_id, + transform=tf_msg + ) + self.pub.publish(tf_stamped_msg) + +if __name__ == '__main__': + parser = argparse.ArgumentParser() + parser.add_argument('parent_frame_id', nargs='?', + help='parent frame id', default=None) + parser.add_argument('child_frame_id', nargs='?', + help='child frame id', default=None) + parser.add_argument('--duration', '-d', type=float, default=1, + help='Duration to resolve tf. default: 1 [s]') + parser.add_argument('--rate', '-r', type=float, default=1, + help='Rate of publication. default: 1 [hz]') + args = parser.parse_args(rospy.myargv()[1:]) + rospy.init_node('tf_to_transform') + tf_pub = TFToTransform( + args.parent_frame_id, + args.child_frame_id, + args.duration, + args.rate, + ) + rospy.spin() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/topic_compare.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/topic_compare.py new file mode 100755 index 0000000..f0873a7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/topic_compare.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import imp +import roslib +import roslib.message +import rospy +import os, sys +import time +import traceback +from threading import Lock + +try: + from jsk_topic_tools.compare import ROSTopicCompare +except ImportError: + import roslib + roslib.load_manifest('jsk_topic_tools') + from jsk_topic_tools.compare import ROSTopicCompare + + +def onShutdown(): + i = 0 + print("subscribed topic:") + for sub in tc.subscriberArray: + print("%d: %s" % (i, sub.name)) + i += 1 + +def fullUsage(): + print("[Usage] rosrun jsk_topic_tools topic_compare.py [Option] ..") + print("[Option]") + print("-h: full usage") + print("-b: show value as bytes") + print("-m: show value as megabytes") + +if __name__ == '__main__': + # check if valid argument + if len(sys.argv) < 2: + print("[Usage] rosrun jsk_topic_tools topic_compare.py ..") + quit() + + rospy.init_node("topic_compare") + + # check options + if "-h" in sys.argv: + fullUsage() + quit() + elif "-b" in sys.argv: + tc = ROSTopicCompare("B") + elif "-m" in sys.argv: + tc = ROSTopicCompare("MB") + else: + tc = ROSTopicCompare() + + for name in sys.argv[1:]: + if name[0] != "/": + continue + tc.registerTopic(name) + + rospy.on_shutdown(onShutdown) + + while not rospy.is_shutdown(): + rospy.rostime.wallsleep(1.0) + tc.printBandWidth() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/topic_statistics.py b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/topic_statistics.py new file mode 100755 index 0000000..5962fcf --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/scripts/topic_statistics.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# Author: Yuki Furuta + +import optparse +import rospy + +class TopicStatistics(object): + def __init__(self, topic_name, duration, window_size=None): + self.topic_name = topic_name + self.duration = duration + self.use_timer = True + if window_size: + self.use_timer = False + self.window_size = window_size + self.msgs = [] + self.start_time = None + self.end_time = None + + def cb(self, msg): + self.msgs.append(msg) + if not self.use_timer and len(self.msgs) > self.window_size: + self.stop() + + def start(self): + print("start subscribing", self.topic_name) + self.start_time = rospy.Time.now() + self.sub = rospy.Subscriber(self.topic_name, rospy.AnyMsg, self.cb) + if self.use_timer: + print("waiting for", self.duration, "[sec]...") + self.timer = rospy.Timer(rospy.Duration(self.duration), self.stop, True) + else: + print("waiting for", self.window_size, "msgs...") + rospy.spin() + + def stop(self, _=None): + self.end_time = rospy.Time.now() + self.sub.unregister() + self.show_result() + rospy.signal_shutdown("finished measurement") + + def show_result(self): + d = self.end_time - self.start_time + msg_size = reduce(lambda a,b: a+b, map(lambda x: len(x._buff), self.msgs)) + print("received", len(self.msgs), "messages for", d.to_sec(), "[sec]") + print("size amount:\t", msg_size / 1000.0, "[kB]") + print("size avg:\t", msg_size / 1000.0 / len(self.msgs), "[kB/msg]") + if self.use_timer: + print("rate:\t\t", msg_size / 1000.0 / d.to_sec(), "[kB/sec]") + +if __name__ == '__main__': + p = optparse.OptionParser(usage="%prog [options] topic_name") + p.add_option("-w", dest="window_size", type="int", default=None) + p.add_option("-d", dest="duration", type="int", default=5) + + (opt, args) = p.parse_args(rospy.myargv()) + if len(args) != 2: + p.print_help() + exit(1) + + rospy.init_node("topic_statistics") + t = TopicStatistics(topic_name=args[1], + window_size=opt.window_size, + duration=opt.duration) + t.start() diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/setup.py b/ros_drivers/jsk_rviz/jsk_topic_tools/setup.py new file mode 100755 index 0000000..b1b73b1 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/setup.py @@ -0,0 +1,12 @@ +## ! 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=['jsk_topic_tools'], + package_dir={'': 'src'}) + + +setup(**setup_args) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/block_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/block_nodelet.cpp new file mode 100755 index 0000000..54578c8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/block_nodelet.cpp @@ -0,0 +1,161 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#include +#include "jsk_topic_tools/block_nodelet.h" + +#include + +namespace jsk_topic_tools +{ + + + + void Block::onInit() + { + pnh_ = getPrivateNodeHandle(); + pub_input_original_advertised_ = pub_output_advertised_ = false; + sub_input_subscribing_ = sub_output_original_subscribing_ = false; + pnh_.param("check_rate", check_rate_, 1.0); // defaults to 1Hz + sub_input_ + = pnh_.subscribe("input", 1, + &Block::inputCallback, + this); + sub_output_original_ + = pnh_.subscribe( + "output_original", 1, + &Block::outputOriginalCallback, + this); + timer_ = pnh_.createTimer(ros::Duration(1 / check_rate_), + &Block::timerCallback, this); + } + + void Block::timerCallback(const ros::TimerEvent& event) + { + NODELET_DEBUG("timerCallback"); + if (pub_input_original_advertised_ && pub_output_advertised_) { + // if the publishers are not advertised, we need to wait until + // the subscribers get the first messages + + // next, check the number of the publisher + if (pub_output_.getNumSubscribers() > 0) { + NODELET_DEBUG("subscribe input"); + // we need to run all the subscribers + if (!sub_input_subscribing_) { + sub_input_ = pnh_.subscribe( + "input", 1, + &Block::inputCallback, + this); + sub_input_subscribing_ = true; + } + if (!sub_output_original_subscribing_) { + NODELET_DEBUG("subscribe output original"); + sub_output_original_ + = pnh_.subscribe( + "output_original", 1, + &Block::outputOriginalCallback, + this); + sub_output_original_subscribing_ = true; + } + } + else { + // we need to shutdown the subscribers + if (sub_input_subscribing_) { + NODELET_DEBUG("shutdown input"); + sub_input_.shutdown(); + sub_input_subscribing_ = false; + } + if (sub_output_original_subscribing_) { + NODELET_DEBUG("shutdown output_original"); + sub_output_original_.shutdown(); + sub_output_original_subscribing_ = false; + } + } + } + } + + void Block::inputCallback( + const boost::shared_ptr& msg) + { + NODELET_DEBUG("inputCallback"); + // first we need to check is the publisher is advertised or not + if (!pub_input_original_advertised_) { + NODELET_DEBUG("advertise input_original"); + pub_input_original_ = msg->advertise(pnh_, "input_original", 1); + pub_input_original_advertised_ = true; + // shutdown subscriber + if (pub_output_advertised_) { + NODELET_DEBUG("shutdown input"); + sub_input_.shutdown(); + } + else { + NODELET_DEBUG("publish input_original"); + pub_input_original_.publish(msg); + } + } + else { + NODELET_DEBUG("publish input_original"); + pub_input_original_.publish(msg); + } + } + + void Block::outputOriginalCallback( + const boost::shared_ptr& msg) + { + NODELET_DEBUG("outputOriginalCallback"); + // first we need to check is the publisher is advertised or not + if (!pub_output_advertised_) { + NODELET_DEBUG("advertise output");; + pub_output_ = msg->advertise(pnh_, "output", 1); + pub_output_advertised_ = true; + // shutdown subscriber + sub_output_original_.shutdown(); + if (pub_input_original_advertised_) { + NODELET_DEBUG("shutdown input"); + sub_input_.shutdown(); + } + else { + NODELET_DEBUG("publish output"); + pub_output_.publish(msg); + } + } + else { + NODELET_DEBUG("publish output"); + pub_output_.publish(msg); + } + } +} + +typedef jsk_topic_tools::Block Block; +PLUGINLIB_EXPORT_CLASS(Block, nodelet::Nodelet) + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/color_utils.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/color_utils.cpp new file mode 100755 index 0000000..d9d32f3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/color_utils.cpp @@ -0,0 +1,203 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/color_utils.h" + +namespace jsk_topic_tools +{ + std_msgs::ColorRGBA colorCategory20(int i) + { + std_msgs::ColorRGBA c; + c.a = 1.0; + switch (i % 20) { + case 0: + { + c.r = 0.121569; + c.g = 0.466667; + c.b = 0.705882; + } + break; + case 1: + { + c.r = 0.682353; + c.g = 0.780392; + c.b = 0.909804; + } + break; + case 2: + { + c.r = 1.000000; + c.g = 0.498039; + c.b = 0.054902; + } + break; + case 3: + { + c.r = 1.000000; + c.g = 0.733333; + c.b = 0.470588; + } + break; + case 4: + { + c.r = 0.172549; + c.g = 0.627451; + c.b = 0.172549; + } + break; + case 5: + { + c.r = 0.596078; + c.g = 0.874510; + c.b = 0.541176; + } + break; + case 6: + { + c.r = 0.839216; + c.g = 0.152941; + c.b = 0.156863; + } + break; + case 7: + { + c.r = 1.000000; + c.g = 0.596078; + c.b = 0.588235; + } + break; + case 8: + { + c.r = 0.580392; + c.g = 0.403922; + c.b = 0.741176; + } + break; + case 9: + { + c.r = 0.772549; + c.g = 0.690196; + c.b = 0.835294; + } + break; + case 10: + { + c.r = 0.549020; + c.g = 0.337255; + c.b = 0.294118; + } + break; + case 11: + { + c.r = 0.768627; + c.g = 0.611765; + c.b = 0.580392; + } + break; + case 12: + { + c.r = 0.890196; + c.g = 0.466667; + c.b = 0.760784; + } + break; + case 13: + { + c.r = 0.968627; + c.g = 0.713725; + c.b = 0.823529; + } + break; + case 14: + { + c.r = 0.498039; + c.g = 0.498039; + c.b = 0.498039; + } + break; + case 15: + { + c.r = 0.780392; + c.g = 0.780392; + c.b = 0.780392; + } + break; + case 16: + { + c.r = 0.737255; + c.g = 0.741176; + c.b = 0.133333; + } + break; + case 17: + { + c.r = 0.858824; + c.g = 0.858824; + c.b = 0.552941; + } + break; + case 18: + { + c.r = 0.090196; + c.g = 0.745098; + c.b = 0.811765; + } + break; + case 19: + { + c.r = 0.619608; + c.g = 0.854902; + c.b = 0.898039; + } + break; + } + return c; + } + + std_msgs::ColorRGBA heatColor(double v) + { + double ratio = 2 * v; + int b = std::max(0.0, 255 * (1.0 - ratio)); + int r = std::max(0.0, 255 * (ratio - 1.0)); + int g = 255 - b - r; + std_msgs::ColorRGBA color; + color.a = 1.0; + color.r = r / 255.0; + color.g = g / 255.0; + color.b = b / 255.0; + return color; + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/connection_based_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/connection_based_nodelet.cpp new file mode 100755 index 0000000..2249d0a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/connection_based_nodelet.cpp @@ -0,0 +1,249 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include "jsk_topic_tools/connection_based_nodelet.h" +#include "jsk_topic_tools/log_utils.h" + +namespace jsk_topic_tools +{ + void ConnectionBasedNodelet::onInit() + { + connection_status_ = NOT_SUBSCRIBED; + bool use_multithread; + ros::param::param("~use_multithread_callback", use_multithread, true); + if (use_multithread) { + NODELET_DEBUG("use multithread callback"); + nh_.reset (new ros::NodeHandle (getMTNodeHandle ())); + pnh_.reset (new ros::NodeHandle (getMTPrivateNodeHandle ())); + } else { + NODELET_DEBUG("use singlethread callback"); + nh_.reset (new ros::NodeHandle (getNodeHandle ())); + pnh_.reset (new ros::NodeHandle (getPrivateNodeHandle ())); + } + pnh_->param("always_subscribe", always_subscribe_, false); + pnh_->param("verbose_connection", verbose_connection_, false); + if (!verbose_connection_) { + nh_->param("verbose_connection", verbose_connection_, false); + } + + // timer to warn when onInitProcess is not called + pnh_->param("no_warn_on_init_post_process", on_init_post_process_called_, false); + if (!on_init_post_process_called_) { + timer_warn_on_init_post_process_called_ = nh_->createWallTimer( + ros::WallDuration(5), + &ConnectionBasedNodelet::warnOnInitPostProcessCalledCallback, + this, + /*oneshot=*/true); + } + + // timer to warn when no connection in a few seconds + ever_subscribed_ = false; + timer_warn_never_subscribed_ = nh_->createWallTimer( + ros::WallDuration(5), + &ConnectionBasedNodelet::warnNeverSubscribedCallback, + this, + /*oneshot=*/true); + } + + void ConnectionBasedNodelet::onInitPostProcess() + { + on_init_post_process_called_ = true; + if (always_subscribe_) { + boost::mutex::scoped_lock lock(connection_mutex_); + ever_subscribed_ = true; + subscribe(); + } + } + + inline bool ConnectionBasedNodelet::isSubscribed() + { + return connection_status_ == SUBSCRIBED; + } + + + void ConnectionBasedNodelet::warnOnInitPostProcessCalledCallback(const ros::WallTimerEvent& event) + { + if (!on_init_post_process_called_) { + NODELET_WARN("[%s] onInitPostProcess is not yet called.", nodelet::Nodelet::getName().c_str()); + } + } + + void ConnectionBasedNodelet::warnNeverSubscribedCallback(const ros::WallTimerEvent& event) + { + if (!ever_subscribed_) { + NODELET_WARN("'%s' subscribes topics only with child subscribers.", nodelet::Nodelet::getName().c_str()); + } + } + + bool ConnectionBasedNodelet::warnNoRemap(const std::vector names) + { + bool no_warning = true; +#if NODELET_VERSION_MINIMUM(1, 9, 11) + // standalone + ros::M_string remappings = ros::names::getRemappings(); + // load + ros::M_string remappings_loaded = getRemappingArgs(); + for (ros::M_string::iterator it = remappings_loaded.begin(); + it != remappings_loaded.end(); it++) + { + remappings[it->first] = it->second; + } + for (size_t i = 0; i < names.size(); i++) + { + std::string resolved_name = ros::names::resolve(/*name=*/names[i], + /*_remap=*/false); + if (remappings.find(resolved_name) == remappings.end()) + { + NODELET_WARN("[%s] '%s' has not been remapped.", getName().c_str(), names[i].c_str()); + no_warning = false; + } + } +#endif + return no_warning; + } + + void ConnectionBasedNodelet::connectionCallback(const ros::SingleSubscriberPublisher& pub) + { + if (verbose_connection_) { + NODELET_INFO("New connection or disconnection is detected"); + } + if (!always_subscribe_) { + boost::mutex::scoped_lock lock(connection_mutex_); + for (size_t i = 0; i < publishers_.size(); i++) { + ros::Publisher pub = publishers_[i]; + if (pub.getNumSubscribers() > 0) { + if (!ever_subscribed_) { + ever_subscribed_ = true; + } + if (connection_status_ != SUBSCRIBED) { + if (verbose_connection_) { + NODELET_INFO("Subscribe input topics"); + } + subscribe(); + connection_status_ = SUBSCRIBED; + } + return; + } + } + if (connection_status_ == SUBSCRIBED) { + if (verbose_connection_) { + NODELET_INFO("Unsubscribe input topics"); + } + unsubscribe(); + connection_status_ = NOT_SUBSCRIBED; + } + } + } + + void ConnectionBasedNodelet::imageConnectionCallback( + const image_transport::SingleSubscriberPublisher& pub) + { + if (verbose_connection_) { + NODELET_INFO("New image connection or disconnection is detected"); + } + if (!always_subscribe_) { + boost::mutex::scoped_lock lock(connection_mutex_); + for (size_t i = 0; i < image_publishers_.size(); i++) { + image_transport::Publisher pub = image_publishers_[i]; + if (pub.getNumSubscribers() > 0) { + if (!ever_subscribed_) { + ever_subscribed_ = true; + } + if (connection_status_ != SUBSCRIBED) { + if (verbose_connection_) { + NODELET_INFO("Subscribe input topics"); + } + subscribe(); + connection_status_ = SUBSCRIBED; + } + return; + } + } + if (connection_status_ == SUBSCRIBED) { + if (verbose_connection_) { + NODELET_INFO("Unsubscribe input topics"); + } + unsubscribe(); + connection_status_ = NOT_SUBSCRIBED; + } + } + } + + void ConnectionBasedNodelet::cameraConnectionCallback( + const image_transport::SingleSubscriberPublisher& pub) + { + cameraConnectionBaseCallback(); + } + + void ConnectionBasedNodelet::cameraInfoConnectionCallback( + const ros::SingleSubscriberPublisher& pub) + { + cameraConnectionBaseCallback(); + } + + void ConnectionBasedNodelet::cameraConnectionBaseCallback() + { + if (verbose_connection_) { + NODELET_INFO("New image connection or disconnection is detected"); + } + if (!always_subscribe_) { + boost::mutex::scoped_lock lock(connection_mutex_); + for (size_t i = 0; i < camera_publishers_.size(); i++) { + image_transport::CameraPublisher pub = camera_publishers_[i]; + if (pub.getNumSubscribers() > 0) { + if (!ever_subscribed_) { + ever_subscribed_ = true; + } + if (connection_status_ != SUBSCRIBED) { + if (verbose_connection_) { + NODELET_INFO("Subscribe input topics"); + } + subscribe(); + connection_status_ = SUBSCRIBED; + } + return; + } + } + if (connection_status_ == SUBSCRIBED) { + if (verbose_connection_) { + NODELET_INFO("Unsubscribe input topics"); + } + unsubscribe(); + connection_status_ = NOT_SUBSCRIBED; + } + } + } +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/counter.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/counter.cpp new file mode 100755 index 0000000..a2950bd --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/counter.cpp @@ -0,0 +1,69 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/counter.h" +namespace jsk_topic_tools +{ + void Counter::add(double v) + { + acc_(v); + } + + double Counter::mean() + { + return boost::accumulators::mean(acc_); + } + + double Counter::min() + { + return boost::accumulators::min(acc_); + } + + double Counter::max() + { + return boost::accumulators::max(acc_); + } + + int Counter::count() + { + return boost::accumulators::count(acc_); + } + + double Counter::variance() + { + return boost::accumulators::variance(acc_); + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/deprecated_relay_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/deprecated_relay_nodelet.cpp new file mode 100755 index 0000000..1601af7 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/deprecated_relay_nodelet.cpp @@ -0,0 +1,53 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include "jsk_topic_tools/deprecated_relay.h" +#include "jsk_topic_tools/log_utils.h" +namespace jsk_topic_tools +{ + void DeprecatedRelay::inputCallback( + const boost::shared_ptr& msg) + { + if (connection_status_ == SUBSCRIBED) { + NODELET_WARN_THROTTLE( + 1.0, "%s is deprecated", pub_.getTopic().c_str()); + } + Relay::inputCallback(msg); + } +} + +typedef jsk_topic_tools::DeprecatedRelay DeprecatedRelay; +PLUGINLIB_EXPORT_CLASS(DeprecatedRelay, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/diagnostic_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/diagnostic_nodelet.cpp new file mode 100755 index 0000000..5044766 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/diagnostic_nodelet.cpp @@ -0,0 +1,111 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/diagnostic_nodelet.h" +#include +namespace jsk_topic_tools +{ + DiagnosticNodelet::DiagnosticNodelet(const std::string& name): + name_(name) + { + + } + + void DiagnosticNodelet::onInit() + { + ConnectionBasedNodelet::onInit(); + diagnostic_updater_.reset( + new TimeredDiagnosticUpdater(*pnh_, ros::Duration(1.0))); + diagnostic_updater_->setHardwareID(getName()); + diagnostic_updater_->add( + getName() + "::" + name_, + boost::bind( + &DiagnosticNodelet::updateDiagnostic, + this, + _1)); + + bool use_warn; + nh_->param("/diagnostic_nodelet/use_warn", use_warn, false); + if (pnh_->hasParam("use_warn")) { + pnh_->getParam("use_warn", use_warn); + } + if (use_warn) + { + diagnostic_error_level_ = diagnostic_msgs::DiagnosticStatus::WARN; + } else { + diagnostic_error_level_ = diagnostic_msgs::DiagnosticStatus::ERROR; + } + + double vital_rate; + pnh_->param("vital_rate", vital_rate, 1.0); + vital_checker_.reset( + new jsk_topic_tools::VitalChecker(1 / vital_rate)); + diagnostic_updater_->start(); + } + + void DiagnosticNodelet::updateDiagnostic( + diagnostic_updater::DiagnosticStatusWrapper &stat) + { + if (connection_status_ == SUBSCRIBED) { + if (vital_checker_->isAlive()) { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, + getName() + " running"); + } + else { + jsk_topic_tools::addDiagnosticErrorSummary( + name_, vital_checker_, stat, diagnostic_error_level_); + } + } + else { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, + getName() + " is not subscribed"); + } + std::stringstream topic_names; + for (size_t i = 0; i < publishers_.size(); i++) { + if (i == publishers_.size() - 1) { + topic_names << publishers_[i].getTopic(); + } + else { + topic_names << publishers_[i].getTopic() << ", "; + } + } + stat.add("watched topics", topic_names.str()); + for (size_t i = 0; i < publishers_.size(); i++) { + stat.add(publishers_[i].getTopic(), + (boost::format("%d subscribers") % + publishers_[i].getNumSubscribers()).str()); + } + } +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/diagnostic_utils.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/diagnostic_utils.cpp new file mode 100755 index 0000000..14801b6 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/diagnostic_utils.cpp @@ -0,0 +1,80 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#include "jsk_topic_tools/diagnostic_utils.h" + +namespace jsk_topic_tools +{ + void addDiagnosticInformation( + const std::string& string_prefix, + jsk_topic_tools::TimeAccumulator& accumulator, + diagnostic_updater::DiagnosticStatusWrapper& stat) + { + stat.add(string_prefix + " (Avg.)", accumulator.mean()); + if (accumulator.mean() != 0.0) { + stat.add(string_prefix + " (Avg., fps)", 1.0 / accumulator.mean()); + } + stat.add(string_prefix + " (Max)", accumulator.max()); + stat.add(string_prefix + " (Min)", accumulator.min()); + stat.add(string_prefix + " (Var.)", accumulator.variance()); + } + + void addDiagnosticErrorSummary( + const std::string& string_prefix, + jsk_topic_tools::VitalChecker::Ptr vital_checker, + diagnostic_updater::DiagnosticStatusWrapper& stat, + const uint8_t error_level) + { + stat.summary( + error_level, + (boost::format("%s not running for %f sec") + % string_prefix % vital_checker->deadSec()).str()); + } + + void addDiagnosticBooleanStat( + const std::string& string_prefix, + const bool value, + diagnostic_updater::DiagnosticStatusWrapper& stat) + { + if (value) { + stat.add(string_prefix, "True"); + } + else { + stat.add(string_prefix, "False"); + } + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/hz_measure_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/hz_measure_nodelet.cpp new file mode 100755 index 0000000..444c8b9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/hz_measure_nodelet.cpp @@ -0,0 +1,74 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include "jsk_topic_tools/hz_measure_nodelet.h" + +#include "std_msgs/Float32.h" + +namespace jsk_topic_tools +{ + void HzMeasure::onInit() + { + pnh_ = getPrivateNodeHandle(); + if (!pnh_.getParam("message_num", average_message_num_)) { + average_message_num_ = 10; // defaults to 10 + } + hz_pub_ = pnh_.advertise("output", 1); + sub_ = pnh_.subscribe("input", 1, + &HzMeasure::inputCallback, this); + } + + void HzMeasure::inputCallback(const boost::shared_ptr& msg) + { + ros::Time now = ros::Time::now(); + buffer_.push(now); + if (buffer_.size() > average_message_num_) { + ros::Time oldest = buffer_.front(); + double whole_time = (now - oldest).toSec(); + double average_time = whole_time / (buffer_.size() - 1); + std_msgs::Float32 output; + output.data = 1.0 / average_time; + hz_pub_.publish(output); + buffer_.pop(); + } + else { + NODELET_DEBUG("there is no enough messages yet"); + } + } + +} + +typedef jsk_topic_tools::HzMeasure HzMeasure; +PLUGINLIB_EXPORT_CLASS(HzMeasure, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/__init__.py b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/__init__.py new file mode 100755 index 0000000..68be43a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/__init__.py @@ -0,0 +1,6 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +from .transport import * +from .log_utils import * +from .name_utils import * diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/compare.py b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/compare.py new file mode 100755 index 0000000..5549b72 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/compare.py @@ -0,0 +1,114 @@ +from threading import Lock +import time +import traceback + +import rospy + + +class ROSTopicCompare(object): + subscriberArray = [] + topicSizesArray = [] + topicTimesArray = [] + scaleType = 0 + captureSize = 100 + lock = Lock() + + def __init__(self, scale="KB", captureSize=100): + if scale == "B": + self.scaleType = 1 + elif scale == "KB": + self.scaleType = 2 + elif scale == "MB": + self.scaleType = 3 + + self.captureSize = captureSize + + def _gen_callback(self): + self.topicSizesArray.append([]) + self.topicTimesArray.append([]) + _topic_num = len(self.subscriberArray) + + def _callback(msg): + topic_num = _topic_num + try: + t = time.time() + with self.lock: + self.topicTimesArray[topic_num].append(t) + self.topicSizesArray[topic_num].append(len(msg._buff)) + assert(len(self.topicTimesArray[topic_num]) == + len(self.topicSizesArray[topic_num])) + if len(self.topicTimesArray[topic_num]) > self.captureSize: + self.topicTimesArray[topic_num].pop(0) + self.topicSizesArray[topic_num].pop(0) + except Exception: + traceback.print_exc() + return _callback + + def registerTopic(self, topic_name): + sub = rospy.Subscriber(topic_name, rospy.AnyMsg, self._gen_callback()) + self.subscriberArray.append(sub) + print("subscribed as %d: %s" % + (len(self.subscriberArray) - 1, topic_name)) + + def isAllTopicAvailable(self, size): + with self.lock: + return all([len(t) > size for t in self.topicTimesArray]) + + def getTotalBytes(self, i): + return sum(self.topicSizesArray[i]) + + def getMaxByte(self, i): + return max(self.topicSizesArray[i]) + + def getMinByte(self, i): + return min(self.topicSizesArray[i]) + + def getMessageNum(self, i): + return len(self.topicTimesArray[i]) + + def getStartTime(self, i): + return self.topicTimesArray[i][0] + + def getEndTime(self, i): + return self.topicTimesArray[i][-1] + + def getBandwidth(self, i): + return self.getTotalBytes(i) / \ + (self.getEndTime(i) - self.getStartTime(i)) + + def printBandWidth(self): + current_time = time.time() + + # first lookup the longest topic name + longest_topic_len = 0 + for i in range(len(self.subscriberArray)): + if len(self.subscriberArray[i].name) > longest_topic_len: + longest_topic_len = len(self.subscriberArray[i].name) + row_format = "{:>" + str(longest_topic_len + 1) + "}" + "{:>11}" * 5 + print("") + print(row_format.format("Name", "avg/sec", "avg/msg", + "min/msg", "max/msg", "quant")) + for i in range(len(self.subscriberArray)): + try: + n = self.getMessageNum(i) + start_time = self.getStartTime(i) + total_bytes = self.getTotalBytes(i) + bytes_per_sec = 1.0 * total_bytes / (current_time - start_time) + bytes_per_msg = total_bytes / n + max_size = self.getMaxByte(i) + min_size = self.getMinByte(i) + res = [bytes_per_sec, bytes_per_msg, min_size, max_size] + + if self.scaleType == 1: # B + bps, bpm, ms, Ms = ["%.2fB" % v for v in res] + elif self.scaleType == 2: # KB + bps, bpm, ms, Ms = ["%.2fKB" % (v/1000) for v in res] + elif self.scaleType == 3: # MB + bps, bpm, ms, Ms = ["%.2fMB" % (v/1000000) for v in res] + else: + raise "error: invalid scale type" + quit() + print(row_format.format( + self.subscriberArray[i].name, bps, bpm, ms, Ms, n)) + except Exception: + pass diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/log_utils.py b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/log_utils.py new file mode 100755 index 0000000..54d006f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/log_utils.py @@ -0,0 +1,111 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# cPickle is moved to _pickle in Python3 +# See https://docs.python.org/3.1/whatsnew/3.0.html#library-changes +try: + import cPickle as pickle +except ImportError: + import _pickle as pickle +import inspect + +import rosgraph +import rospy + +from jsk_topic_tools.name_utils import unresolve_name + + +def _log_msg_with_called_location(msg): + try: + return '[{node}] [{cls}::{method}] {msg}'.format( + node=rospy.get_name(), + cls=inspect.stack()[2][0].f_locals['self'].__class__.__name__, + method=inspect.stack()[2][0].f_code.co_name, + msg=msg) + except KeyError: + return '[{node}] [{func}] {msg}'.format( + node=rospy.get_name(), + func=inspect.stack()[2][0].f_code.co_name, + msg=msg) + + +def jsk_logdebug(msg): + rospy.logdebug(_log_msg_with_called_location(msg)) + + +def jsk_loginfo(msg): + rospy.loginfo(_log_msg_with_called_location(msg)) + + +def jsk_logwarn(msg): + rospy.logwarn(_log_msg_with_called_location(msg)) + + +def jsk_logerr(msg): + rospy.logerr(_log_msg_with_called_location(msg)) + + +def jsk_logfatal(msg): + rospy.logfatal(_log_msg_with_called_location(msg)) + + +class LoggingThrottle(object): + + last_logging_time_table = {} + + def __call__(self, id, logging_func, period, msg): + """Do logging specified message periodically. + + - id (str): Id to identify the caller + - logging_func (function): Function to do logging. + - period (float): Period to do logging in second unit. + - msg (object): Message to do logging. + """ + now = rospy.Time.now() + + last_logging_time = self.last_logging_time_table.get(id) + + if (last_logging_time is None or + (now - last_logging_time) > rospy.Duration(period)): + logging_func(msg) + self.last_logging_time_table[id] = now + + +_logging_throttle = LoggingThrottle() + + +def logdebug_throttle(period, msg): + id = pickle.dumps(inspect.stack()[1][1:]) + _logging_throttle(id, rospy.logdebug, period, msg) + + +def loginfo_throttle(period, msg): + id = pickle.dumps(inspect.stack()[1][1:]) + _logging_throttle(id, rospy.loginfo, period, msg) + + +def logwarn_throttle(period, msg): + id = pickle.dumps(inspect.stack()[1][1:]) + _logging_throttle(id, rospy.logwarn, period, msg) + + +def logerr_throttle(period, msg): + id = pickle.dumps(inspect.stack()[1][1:]) + _logging_throttle(id, rospy.logerr, period, msg) + + +def logfatal_throttle(period, msg): + id = pickle.dumps(inspect.stack()[1][1:]) + _logging_throttle(id, rospy.logfatal, period, msg) + + +def warn_no_remap(*names): + node_name = rospy.get_name() + resolved_names = [rosgraph.names.resolve_name(n, node_name) for n in names] + mappings = rospy.names.get_resolved_mappings() + for r_name in resolved_names: + if r_name in mappings: + continue + name = unresolve_name(node_name, r_name) + rospy.logwarn("[{node_name}] '{name}' has not been remapped." + .format(node_name=node_name, name=name)) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/master_util.py b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/master_util.py new file mode 100755 index 0000000..0f73993 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/master_util.py @@ -0,0 +1,42 @@ +# -*- coding: utf-8 -*- + +import urlparse +import rospy +import os + +previous_run_id = None + + +def isMasterAlive(timeout_sec, trials): + """ + return True if master alive and return False if + master is not alive + """ + global previous_run_id + try: + # first check the host is available + master_host = urlparse.urlsplit(rospy.core.rosgraph.get_master_uri()).hostname + for i in range(trials): + response = os.system("ping -W {} -c 1 {} > /dev/null".format(timeout_sec, master_host)) + if response == 0: + # host machine is available, immediately break from for loop + break + # Ping failed trials times in a row, the master computer is regarded as dead. + if i == trials - 1: + print("master machine looks down because ping fails with timeout={} {} times".format(timeout_sec, trials)) + return False + else: + print("ping fails {}/{} times".format(i, trials)) + + assert 1 == rospy.get_master().getSystemState()[0] + run_id = rospy.get_param("/run_id") + + if not previous_run_id: + previous_run_id = run_id + if run_id != previous_run_id: + print("run_id is not same") + previous_run_id = run_id + return False + return True + except Exception as e: + return False diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/name_utils.py b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/name_utils.py new file mode 100755 index 0000000..24a7436 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/name_utils.py @@ -0,0 +1,9 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + + +def unresolve_name(node_name, name): + suffix = node_name + '/' + if name.startswith(suffix): + return '~{0}'.format(name[len(suffix):]) + return name diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/tests/test_log_utils.py b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/tests/test_log_utils.py new file mode 100755 index 0000000..f959e37 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/tests/test_log_utils.py @@ -0,0 +1,72 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +from mock import patch +from nose.tools import assert_equal +import unittest + +from jsk_topic_tools.log_utils import _log_msg_with_called_location +from jsk_topic_tools.log_utils import jsk_logdebug +from jsk_topic_tools.log_utils import jsk_loginfo +from jsk_topic_tools.log_utils import jsk_logwarn +from jsk_topic_tools.log_utils import jsk_logerr +from jsk_topic_tools.log_utils import jsk_logfatal +from jsk_topic_tools.log_utils import warn_no_remap + + +@patch('rospy.get_name') +def test__log_msg_with_called_location(mock_get_name): + mock_get_name.return_value = '/spam' + msg = _log_msg_with_called_location('spam') + assert_equal(msg, '[/spam] [patched] spam') + + +class TestJSKLogXXX(unittest.TestCase): + + @patch('rospy.logdebug') + @patch('rospy.get_name') + def test_jsk_logdebug(self, mock_get_name, mock_log): + mock_get_name.return_value = '/spam' + jsk_logdebug('spam') + mock_log.assert_called_with('[/spam] [TestJSKLogXXX::test_jsk_logdebug] spam') + + @patch('rospy.loginfo') + @patch('rospy.get_name') + def test_jsk_loginfo(self, mock_get_name, mock_log): + mock_get_name.return_value = '/spam' + jsk_loginfo('spam') + mock_log.assert_called_with('[/spam] [TestJSKLogXXX::test_jsk_loginfo] spam') + + @patch('rospy.logwarn') + @patch('rospy.get_name') + def test_jsk_logwarn(self, mock_get_name, mock_log): + mock_get_name.return_value = '/spam' + jsk_logwarn('spam') + mock_log.assert_called_with('[/spam] [TestJSKLogXXX::test_jsk_logwarn] spam') + + @patch('rospy.logerr') + @patch('rospy.get_name') + def test_jsk_logerr(self, mock_get_name, mock_log): + mock_get_name.return_value = '/spam' + jsk_logerr('spam') + mock_log.assert_called_with('[/spam] [TestJSKLogXXX::test_jsk_logerr] spam') + + @patch('rospy.logfatal') + @patch('rospy.get_name') + def test_jsk_logfatal(self, mock_get_name, mock_log): + mock_get_name.return_value = '/spam' + jsk_logfatal('spam') + mock_log.assert_called_with('[/spam] [TestJSKLogXXX::test_jsk_logfatal] spam') + + +@patch('rospy.logwarn') +@patch('rospy.names.get_resolved_mappings') +@patch('rosgraph.names.resolve_name') +@patch('rospy.get_name') +def test_warn_no_remap(mock_get_name, mock_resolve_name, + mock_get_resolved_mappings, mock_log): + mock_get_name.return_value = '/spam' + mock_resolve_name.return_value = '/spam/input' + mock_get_resolved_mappings.return_value = {} + warn_no_remap('~input') + mock_log.assert_called_with("[/spam] '~input' has not been remapped.") diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/tests/test_name_utils.py b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/tests/test_name_utils.py new file mode 100755 index 0000000..e0bc584 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/tests/test_name_utils.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +from nose.tools import assert_equal + +from jsk_topic_tools.name_utils import unresolve_name + + +def test_unresolve_name_0(): + node_name = 'relay_0' + name = 'relay_0/input' + assert_equal(unresolve_name(node_name, name), '~input') + + +def test_unresolve_name_1(): + node_name = 'relay_0' + name = 'relay_1/input' + assert_equal(unresolve_name(node_name, name), name) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/transport.py b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/transport.py new file mode 100755 index 0000000..8ff7001 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/jsk_topic_tools/transport.py @@ -0,0 +1,132 @@ +#!/usr/bin/env python + +import abc +import argparse +from distutils.version import LooseVersion +import pkg_resources +import sys + +import rospy + +from jsk_topic_tools.name_utils import unresolve_name + + +__all__ = ('ConnectionBasedTransport',) + + +SUBSCRIBED = 0 +NOT_SUBSCRIBED = 1 + + +# define a new metaclass which overrides the '__call__' function +# See: http://martyalchin.com/2008/jan/10/simple-plugin-framework/ +class MetaConnectionBasedTransport(abc.ABCMeta): + def __call__(cls, *args, **kwargs): + """Called when you call ConnectionBasedTransport()""" + obj = type.__call__(cls, *args, **kwargs) + + # display node input/output topics + parser = argparse.ArgumentParser() + parser.add_argument('--inout', action='store_true') + args = parser.parse_args(rospy.myargv()[1:]) + if args.inout: + obj.subscribe() + tp_manager = rospy.topics.get_topic_manager() + print('Publications:') + for topic, topic_type in tp_manager.get_publications(): + if topic == '/rosout': + continue + topic = unresolve_name(rospy.get_name(), topic) + print(' * {0} [{1}]'.format(topic, topic_type)) + print('Subscriptions:') + for topic, topic_type in tp_manager.get_subscriptions(): + topic = unresolve_name(rospy.get_name(), topic) + print(' * {0} [{1}]'.format(topic, topic_type)) + sys.exit(0) + + obj._post_init() + return obj + + +class ConnectionBasedTransport(rospy.SubscribeListener): + + __metaclass__ = MetaConnectionBasedTransport + + def __init__(self): + super(ConnectionBasedTransport, self).__init__() + self.is_initialized = False + self._publishers = [] + self._ever_subscribed = False + self._connection_status = NOT_SUBSCRIBED + kwargs = dict( + period=rospy.Duration(5), + callback=self._warn_never_subscribed_cb, + oneshot=True, + ) + if (LooseVersion(pkg_resources.get_distribution('rospy').version) >= + LooseVersion('1.12.0')): + # on >=kinetic, it raises ROSTimeMovedBackwardsException + # when we use rosbag play --loop. + kwargs['reset'] = True + rospy.Timer(**kwargs) + + def _post_init(self): + self.is_initialized = True + if not self._publishers: + raise RuntimeError( + 'No publishers registered.' + ' Have you called ConnectionBasedTransport.advertise?') + if rospy.get_param('~always_subscribe', False): + self.subscribe() + self._connection_status = SUBSCRIBED + self._ever_subscribed = True + + def _warn_never_subscribed_cb(self, timer_event): + if not self._ever_subscribed: + rospy.logwarn( + '[{name}] subscribes topics only with' + " child subscribers. Set '~always_subscribe' as True" + ' to have it subscribe always.'.format(name=rospy.get_name())) + + @abc.abstractmethod + def subscribe(self): + raise NotImplementedError + + @abc.abstractmethod + def unsubscribe(self): + raise NotImplementedError + + def is_subscribed(self): + return self._connection_status == SUBSCRIBED + + def peer_subscribe(self, *args, **kwargs): + rospy.logdebug('[{topic}] is subscribed'.format(topic=args[0])) + if self._connection_status == NOT_SUBSCRIBED: + self.subscribe() + self._connection_status = SUBSCRIBED + if not self._ever_subscribed: + self._ever_subscribed = True + + def peer_unsubscribe(self, *args, **kwargs): + rospy.logdebug('[{topic}] is unsubscribed'.format(topic=args[0])) + if rospy.get_param('~always_subscribe', False): + return # do not unsubscribe + if self._connection_status == NOT_SUBSCRIBED: + return # no need to unsubscribe + for pub in self._publishers: + if pub.get_num_connections() > 0: + break + else: + self.unsubscribe() + self._connection_status = NOT_SUBSCRIBED + + def advertise(self, *args, **kwargs): + # subscriber_listener should be 'self' + # to detect connection and disconnection of the publishing topics + assert len(args) < 3 or args[2] is None + assert kwargs.get('subscriber_listener') is None + kwargs['subscriber_listener'] = self + + pub = rospy.Publisher(*args, **kwargs) + self._publishers.append(pub) + return pub diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp new file mode 100755 index 0000000..cdb83ee --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/lightweight_throttle_nodelet.cpp @@ -0,0 +1,125 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include + +namespace jsk_topic_tools +{ + void LightweightThrottle::onInit() + { + pnh_ = this->getPrivateNodeHandle(); + latest_stamp_ = ros::Time::now(); + advertised_ = false; + subscribing_ = false; + + srv_ = boost::make_shared >(pnh_); + dynamic_reconfigure::Server::CallbackType f = + boost::bind(&LightweightThrottle::configCallback, this, _1, _2); + srv_->setCallback(f); + + // Subscribe input topic at first in order to decide + // message type of publisher. + // nodelet will unsubscribe input topic after it receives the first topic. + sub_.reset(new ros::Subscriber( + pnh_.subscribe("input", 1, + &LightweightThrottle::inCallback, + this, + th_))); + } + + void LightweightThrottle::configCallback(Config& config, uint32_t level) + { + boost::mutex::scoped_lock lock(mutex_); + update_rate_ = config.update_rate; + } + + void LightweightThrottle::connectionCallback( + const ros::SingleSubscriberPublisher& pub) + { + if (pub_.getNumSubscribers() > 0) { + if (!subscribing_) { + sub_.reset(new ros::Subscriber( + pnh_.subscribe( + "input", 1, + &LightweightThrottle::inCallback, + this, + th_))); + subscribing_ = true; + } + } + else { // No subscribers, nodelet can unsubscribe input topic + if (subscribing_) { + sub_->shutdown(); + subscribing_ = false; + } + } + } + + void LightweightThrottle::inCallback( + const boost::shared_ptr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + // advertise if not + if (!advertised_) { + // This section should be called once + sub_->shutdown(); // Shutdown before advertising topic + ros::SubscriberStatusCallback connect_cb + = boost::bind(&LightweightThrottle::connectionCallback, this, _1); + ros::AdvertiseOptions opts("output", 1, + msg->getMD5Sum(), + msg->getDataType(), + msg->getMessageDefinition(), + connect_cb, + connect_cb); + advertised_ = true; + pub_ = pnh_.advertise(opts); + } + + ros::Time now = ros::Time::now(); + + if (latest_stamp_ > now) { + ROS_WARN("Detected jump back in time. latest_stamp_ is overwritten."); + latest_stamp_ = now; + } + + if (update_rate_ > 0.0 && (now - latest_stamp_).toSec() > 1.0 / update_rate_) { + pub_.publish(msg); + latest_stamp_ = now; + } + } +} + +#include +typedef jsk_topic_tools::LightweightThrottle LightweightThrottle; +PLUGINLIB_EXPORT_CLASS(LightweightThrottle, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/log_utils.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/log_utils.cpp new file mode 100755 index 0000000..2a27b93 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/log_utils.cpp @@ -0,0 +1,73 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include +#include "jsk_topic_tools/log_utils.h" + + +namespace jsk_topic_tools +{ + + bool warnNoRemap(const std::vector names) + { + bool no_warning = true; + ros::M_string remappings = ros::names::getRemappings(); + for (size_t i = 0; i < names.size(); i++) + { + std::string resolved_name = ros::names::resolve(/*name=*/names[i], + /*_remap=*/false); + if (remappings.find(resolved_name) == remappings.end()) + { + ROS_WARN("[%s] '%s' has not been remapped.", + ros::this_node::getName().c_str(), names[i].c_str()); + no_warning = false; + } + } + return no_warning; + } + + const std::string getFunctionName(const std::string &name) + { + size_t end = name.rfind('('); + if(end == std::string::npos) + { + end = name.size(); + } + size_t begin = 1 + name.rfind(' ', end); + return name.substr(begin, end - begin); + } + +} // namespace jsk_topic_tools diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/mux_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/mux_nodelet.cpp new file mode 100755 index 0000000..a3ba1f9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/mux_nodelet.cpp @@ -0,0 +1,216 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#include +#include "jsk_topic_tools/mux_nodelet.h" +#include +#include "jsk_topic_tools/rosparam_utils.h" + +namespace jsk_topic_tools +{ + + const static std::string g_none_topic = "__none"; + + void MUX::onInit() + { + advertised_ = false; + pnh_ = getPrivateNodeHandle(); + readVectorParameter(pnh_, "topics", topics_); + if (topics_.size() < 1) { + NODELET_FATAL("need to specify at least one topic in ~topics"); + return; + } + pub_selected_ = pnh_.advertise("selected", 1, true); + // in original mux node, it subscribes all the topics first, however + // in our version, we never subscribe topic which are not selected. + // ros::SubscriberStatusCallback connect_cb + // = boost::bind( &Mux::connectCb, this); + selected_topic_ = topics_[0]; + subscribeSelectedTopic(); + // service advertise: _select, select, add, list, delete + ss_select_ = pnh_.advertiseService("select", &MUX::selectTopicCallback, this); + ss_add_ = pnh_.advertiseService("add", &MUX::addTopicCallback, this); + ss_list_ = pnh_.advertiseService("list_topics", &MUX::listTopicCallback, this); + ss_del_ = pnh_.advertiseService("delete", &MUX::deleteTopicCallback, this); + + } + + void MUX::connectCb(const ros::SingleSubscriberPublisher& pub) + { + // new subscriber come or + if (pub_.getNumSubscribers() > 0) { + // subscribe topic again + if (!subscribing_) { + //NODELET_INFO("subscribe"); + sub_.reset(new ros::Subscriber( + pnh_.subscribe( + selected_topic_, 10, + &MUX::inputCallback, this, th_))); + subscribing_ = true; + } + } + else { + if (subscribing_) { + //NODELET_INFO("unsubscribe"); + sub_->shutdown(); + subscribing_ = false; + } + } + } + + + + bool MUX::selectTopicCallback(topic_tools::MuxSelect::Request &req, + topic_tools::MuxSelect::Response &res) + { + res.prev_topic = selected_topic_; + if (selected_topic_ != g_none_topic) { + //NODELET_INFO("unsubscribe"); + sub_->shutdown(); // unsubscribe first + } + + if (req.topic == g_none_topic) { // same topic + selected_topic_ = g_none_topic; + return true; + } + for (size_t i = 0; i < topics_.size(); i++) { + if (pnh_.resolveName(topics_[i]) == pnh_.resolveName(req.topic)) { + // subscribe the topic + selected_topic_ = topics_[i]; + subscribeSelectedTopic(); + return true; + } + } + + NODELET_WARN("%s is not provided in topic list", req.topic.c_str()); + return false; + } + + bool MUX::addTopicCallback(topic_tools::MuxAdd::Request& req, + topic_tools::MuxAdd::Response& res) + { + NODELET_INFO("trying to add %s to mux", req.topic.c_str()); + if (req.topic == g_none_topic) { + NODELET_WARN("failed to add topic %s to mux, because it's reserved for special use", + req.topic.c_str()); + return false; + } + + for (size_t i = 0; i < topics_.size(); i++) { + if (pnh_.resolveName(topics_[i]) == pnh_.resolveName(req.topic)) { + NODELET_WARN("tried to add a topic that mux was already listening to: [%s]", + topics_[i].c_str()); + return false; + } + } + + // in original mux, it subscribes the topic immediately after adds topic. + // in this version, we postpone the subscription until selected. + + topics_.push_back(ros::names::resolve(req.topic)); + return true; + } + + bool MUX::deleteTopicCallback(topic_tools::MuxDelete::Request& req, + topic_tools::MuxDelete::Response& res) + { + // cannot delete the topic now selected + for (size_t i = 0; i < topics_.size(); i++) { + if (pnh_.resolveName(topics_[i]) == pnh_.resolveName(req.topic)) { + if (pnh_.resolveName(req.topic) == pnh_.resolveName(selected_topic_)) { + NODELET_WARN("tried to delete currently selected topic %s from mux", + req.topic.c_str()); + return false; + } + topics_.erase(topics_.begin() + i); + return true; + } + } + NODELET_WARN("cannot find the topics %s in the list of mux", + req.topic.c_str()); + return false; + } + + bool MUX::listTopicCallback(topic_tools::MuxList::Request& req, + topic_tools::MuxList::Response& res) + { + for (size_t i = 0; i < topics_.size(); i++) { + res.topics.push_back(pnh_.resolveName(topics_[i])); + } + return true; + } + + void MUX::subscribeSelectedTopic() + { + // subscribe topic in order to "advertise" + advertised_ = false; + subscribing_ = false; + // assume that selected_topic_ is already set correctly + if (selected_topic_ == g_none_topic) { + NODELET_WARN("none topic is selected"); + return; + } + //NODELET_INFO("subscribe"); + sub_.reset(new ros::Subscriber( + pnh_.subscribe( + selected_topic_, 10, + &MUX::inputCallback, this, th_))); + std_msgs::String msg; + msg.data = selected_topic_; + pub_selected_.publish(msg); + } + + void MUX::inputCallback(const boost::shared_ptr& msg) + { + if (!advertised_) { // first time + ros::SubscriberStatusCallback connect_cb + = boost::bind(&MUX::connectCb, this, _1); + ros::AdvertiseOptions opts("output", 1, + msg->getMD5Sum(), + msg->getDataType(), + msg->getMessageDefinition(), + connect_cb, + connect_cb); + pub_ = pnh_.advertise(opts); + advertised_ = true; + sub_->shutdown(); + //NODELET_INFO("unsubscribe"); + } + pub_.publish(msg); + } + +} + +typedef jsk_topic_tools::MUX MUX; +PLUGINLIB_EXPORT_CLASS(MUX, nodelet::Nodelet) + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/passthrough_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/passthrough_nodelet.cpp new file mode 100755 index 0000000..2c618e9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/passthrough_nodelet.cpp @@ -0,0 +1,212 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#include +#include "jsk_topic_tools/passthrough_nodelet.h" + +namespace jsk_topic_tools +{ + /** + * senario 1. + * 1-1 subscribe input + * 1-2 message + * 1-3 advertise output + * 1-4 unsubscribe input + * 1-5 prepare for request + * senario 2. + * 1-1 subscribe input + * 1-2 request + * 1-3 message + * 1-4 advertise + * 1-5 unsubscribe at the end of request + */ + void Passthrough::onInit() + { + advertised_ = false; + publish_requested_ = false; + pnh_ = getPrivateNodeHandle(); + subscribing_ = true; + pnh_.param("default_duration", default_duration_, 10.0); + sub_ = pnh_.subscribe( + "input", 1, + &Passthrough::inputCallback, this); + request_duration_srv_ = pnh_.advertiseService( + "request_duration", &Passthrough::requestDurationCallback, this); + request_srv_ = pnh_.advertiseService( + "request", &Passthrough::requestCallback, this); + stop_srv_ = pnh_.advertiseService( + "stop", &Passthrough::stopCallback, this); + } + + bool Passthrough::stopCallback( + std_srvs::Empty::Request &req, + std_srvs::Empty::Response &res) + { + boost::mutex::scoped_lock lock(mutex_); + // force to stop publishing + if (!publish_requested_) { + NODELET_DEBUG("already stoppped"); + } + publish_requested_ = false; + return true; + } + + void Passthrough::requestDurationCallbackImpl( + const ros::Duration& duration) + { + boost::mutex::scoped_lock lock(mutex_); + // special case of ros::Duration(0), it means eternal + if (duration == ros::Duration(0)) { + end_time_ = ros::Time(0); + publish_requested_ = true; + } + else { + ros::Time now = ros::Time::now(); + if (publish_requested_) { + // check need to update end_time or not + if (end_time_ < now + duration) { + end_time_ = now + duration; + } + } + else { + publish_requested_ = true; + end_time_ = now + duration; + } + } + if (!subscribing_) { + NODELET_DEBUG("suscribe"); + sub_ = pnh_.subscribe( + "input", 1, + &Passthrough::inputCallback, this); + subscribing_ = true; + } + } + + bool Passthrough::requestDurationCallback( + jsk_topic_tools::PassthroughDuration::Request &req, + jsk_topic_tools::PassthroughDuration::Response &res) + { + requestDurationCallbackImpl(req.duration); + return true; + } + + bool Passthrough::requestCallback( + std_srvs::Empty::Request &req, + std_srvs::Empty::Response &res) + { + requestDurationCallbackImpl(ros::Duration(default_duration_)); + return true; + } + + void Passthrough::inputCallback( + const boost::shared_ptr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + if (!advertised_) { + // this block is called only once + // in order to advertise topic. + // we need to subscribe at least one message + // in order to detect message definition. + pub_ = advertise(msg, "output"); + advertised_ = true; + } + if (publish_requested_) { + ros::Time now = ros::Time::now(); + if (end_time_ == ros::Time(0) || // ros::Time(0) means eternal publishing + end_time_ > now) { + pub_.publish(msg); + } + // check it goes over end_time_ + if (end_time_ != ros::Time(0) && end_time_ < now) { + publish_requested_ = false; + } + } + if (!publish_requested_) { + // Unsubscribe input anyway + sub_.shutdown(); + subscribing_ = false; + } + } + + void Passthrough::connectCb() + { + boost::mutex::scoped_lock lock(mutex_); + NODELET_DEBUG("connectCB"); + if (advertised_) { + if (pub_.getNumSubscribers() > 0) { + if (!subscribing_ && publish_requested_) { + NODELET_DEBUG("suscribe"); + sub_ = pnh_.subscribe( + "input", 1, + &Passthrough::inputCallback, this); + subscribing_ = true; + } + } + } + } + + void Passthrough::disconnectCb() + { + boost::mutex::scoped_lock lock(mutex_); + NODELET_DEBUG("disconnectCb"); + if (advertised_) { + if (pub_.getNumSubscribers() == 0) { + if (subscribing_) { + NODELET_DEBUG("disconnect"); + sub_.shutdown(); + subscribing_ = false; + } + } + } + } + + + ros::Publisher Passthrough::advertise( + boost::shared_ptr msg, + const std::string& topic) + { + ros::SubscriberStatusCallback connect_cb + = boost::bind( &Passthrough::connectCb, this); + ros::SubscriberStatusCallback disconnect_cb + = boost::bind( &Passthrough::disconnectCb, this); + ros::AdvertiseOptions opts(topic, 1, + msg->getMD5Sum(), + msg->getDataType(), + msg->getMessageDefinition()); + opts.latch = true; + return pnh_.advertise(opts); + } +} + +typedef jsk_topic_tools::Passthrough Passthrough; +PLUGINLIB_EXPORT_CLASS(Passthrough, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/relay_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/relay_nodelet.cpp new file mode 100755 index 0000000..cd22174 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/relay_nodelet.cpp @@ -0,0 +1,185 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +#include +#include "jsk_topic_tools/relay_nodelet.h" + +namespace jsk_topic_tools +{ + + void Relay::onInit() + { + output_topic_name_ = "output"; + connection_status_ = NOT_INITIALIZED; + pnh_ = getPrivateNodeHandle(); + pnh_.param("always_subscribe", always_subscribe_, false); + pnh_.param("latch", latch_, false); + // setup diagnostic + diagnostic_updater_.reset( + new TimeredDiagnosticUpdater(pnh_, ros::Duration(1.0))); + diagnostic_updater_->setHardwareID(getName()); + diagnostic_updater_->add( + getName() + "::Relay", + boost::bind( + &Relay::updateDiagnostic, this, _1)); + double vital_rate; + pnh_.param("vital_rate", vital_rate, 1.0); + vital_checker_.reset( + new jsk_topic_tools::VitalChecker(1 / vital_rate)); + diagnostic_updater_->start(); + sub_ = pnh_.subscribe( + "input", 1, + &Relay::inputCallback, this); + change_output_topic_srv_ = pnh_.advertiseService( + "change_output_topic", &Relay::changeOutputTopicCallback, this); + if (always_subscribe_) { + connectCb(); + } + } + + void Relay::updateDiagnostic( + diagnostic_updater::DiagnosticStatusWrapper &stat) + { + boost::mutex::scoped_lock lock(mutex_); + if (connection_status_ == NOT_INITIALIZED) { + stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, + "not initialized. Is " + + pnh_.resolveName("input") + " active?"); + } + else if (connection_status_ == SUBSCRIBED) { + if (vital_checker_->isAlive()) { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, + "subscribed: " + pnh_.resolveName("output")); + } + else { + stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, + "subscribed but no input. Is " + + pnh_.resolveName("input") + " active?"); + } + vital_checker_->registerStatInfo(stat); + } + else if (connection_status_ == NOT_SUBSCRIBED) { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, + "not subscribed: " + pnh_.resolveName("output")); + } + stat.add("input topic", pnh_.resolveName("input")); + stat.add("output topic", pnh_.resolveName("output")); + } + + void Relay::inputCallback(const boost::shared_ptr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + if (connection_status_ == NOT_INITIALIZED) { + // this block is called only once + // in order to advertise topic. + // we need to subscribe at least one message + // in order to detect message definition. + pub_ = advertise(msg, output_topic_name_); + connection_status_ = NOT_SUBSCRIBED; + // shutdown subscriber + sub_.shutdown(); + sample_msg_ = msg; + } + else if (pub_.getNumSubscribers() > 0) { + vital_checker_->poke(); + pub_.publish(msg); + } + } + + void Relay::connectCb() + { + boost::mutex::scoped_lock lock(mutex_); + NODELET_DEBUG("connectCB"); + if (connection_status_ != NOT_INITIALIZED) { + if (pub_.getNumSubscribers() > 0) { + if (connection_status_ == NOT_SUBSCRIBED) { + NODELET_DEBUG("suscribe"); + sub_ = pnh_.subscribe("input", 1, + &Relay::inputCallback, this); + connection_status_ = SUBSCRIBED; + } + } + } + } + + void Relay::disconnectCb() + { + if (always_subscribe_) { + return; + } + boost::mutex::scoped_lock lock(mutex_); + NODELET_DEBUG("disconnectCb"); + if (connection_status_ != NOT_INITIALIZED) { + if (pub_.getNumSubscribers() == 0) { + if (connection_status_ == SUBSCRIBED) { + NODELET_DEBUG("disconnect"); + sub_.shutdown(); + connection_status_ = NOT_SUBSCRIBED; + } + } + } + } + + ros::Publisher Relay::advertise( + boost::shared_ptr msg, + const std::string& topic) + { + ros::SubscriberStatusCallback connect_cb + = boost::bind( &Relay::connectCb, this); + ros::SubscriberStatusCallback disconnect_cb + = boost::bind( &Relay::disconnectCb, this); + ros::AdvertiseOptions opts(topic, 1, + msg->getMD5Sum(), + msg->getDataType(), + msg->getMessageDefinition(), + connect_cb, + disconnect_cb); + opts.latch = latch_; + return pnh_.advertise(opts); + } + + bool Relay::changeOutputTopicCallback( + jsk_topic_tools::ChangeTopic::Request &req, + jsk_topic_tools::ChangeTopic::Response &res) + { + boost::mutex::scoped_lock lock(mutex_); + output_topic_name_ = req.topic; + if (sample_msg_) { // we can advertise it! + pub_ = advertise(sample_msg_, output_topic_name_); + } + return true; + } +} + +typedef jsk_topic_tools::Relay Relay; +PLUGINLIB_EXPORT_CLASS(Relay, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/rosparam_utils.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/rosparam_utils.cpp new file mode 100755 index 0000000..c008565 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/rosparam_utils.cpp @@ -0,0 +1,187 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/rosparam_utils.h" +#include "jsk_topic_tools/log_utils.h" + +namespace jsk_topic_tools +{ + double getXMLDoubleValue(XmlRpc::XmlRpcValue val) + { + switch(val.getType()) + { + case XmlRpc::XmlRpcValue::TypeInt: + { + return (double)((int)val); + } + case XmlRpc::XmlRpcValue::TypeDouble: + { + return (double)val; + } + default: + { + ROS_ERROR_STREAM("the value cannot be converted into double: " << val); + throw std::runtime_error("the value cannot be converted into double"); + } + } + } + + bool readVectorParameter(ros::NodeHandle& nh, + const std::string& param_name, + std::vector& result) + { + if (nh.hasParam(param_name)) { + XmlRpc::XmlRpcValue v; + nh.param(param_name, v, v); + if (v.getType() == XmlRpc::XmlRpcValue::TypeArray) { + result.resize(v.size()); + for (size_t i = 0; i < v.size(); i++) { + result[i] = getXMLDoubleValue(v[i]); + } + return true; + } + else { + return false; + } + } + else { + return false; + } + } + + bool readVectorParameter(ros::NodeHandle& nh, + const std::string& param_name, + std::vector >& result) + { + if (nh.hasParam(param_name)) { + XmlRpc::XmlRpcValue v_toplevel; + nh.param(param_name, v_toplevel, v_toplevel); + if (v_toplevel.getType() == XmlRpc::XmlRpcValue::TypeArray) { + result.resize(v_toplevel.size()); + for (size_t i = 0; i < v_toplevel.size(); i++) { + // ensure v[i] is an array + XmlRpc::XmlRpcValue nested_v = v_toplevel[i]; + if (nested_v.getType() == XmlRpc::XmlRpcValue::TypeArray) { + std::vector nested_std_vector(nested_v.size()); + for (size_t j = 0; j < nested_v.size(); j++) { + nested_std_vector[j] = getXMLDoubleValue(nested_v[j]); + } + result[i] = nested_std_vector; + } + else { + return false; + } + } + return true; + } + else { + return false; + } + } + else { + return false; + } + } + + bool readVectorParameter(ros::NodeHandle& nh, + const std::string& param_name, + std::vector >& result) + { + if (nh.hasParam(param_name)) { + XmlRpc::XmlRpcValue v_toplevel; + nh.param(param_name, v_toplevel, v_toplevel); + if (v_toplevel.getType() == XmlRpc::XmlRpcValue::TypeArray) { + result.resize(v_toplevel.size()); + for (size_t i = 0; i < v_toplevel.size(); i++) { + // ensure v[i] is an array + XmlRpc::XmlRpcValue nested_v = v_toplevel[i]; + if (nested_v.getType() == XmlRpc::XmlRpcValue::TypeArray) { + std::vector nested_std_vector(nested_v.size()); + for (size_t j = 0; j < nested_v.size(); j++) { + if (nested_v[j].getType() == XmlRpc::XmlRpcValue::TypeString) { + nested_std_vector[j] = (std::string)nested_v[j]; + } + else { + return false; + } + } + result[i] = nested_std_vector; + } + else { + return false; + } + } + return true; + } + else { + return false; + } + } + else { + return false; + } + } + + bool readVectorParameter(ros::NodeHandle& nh, + const std::string& param_name, + std::vector& result) + { + if (nh.hasParam(param_name)) { + XmlRpc::XmlRpcValue v; + nh.param(param_name, v, v); + if (v.getType() == XmlRpc::XmlRpcValue::TypeArray) { + result.resize(v.size()); + for (size_t i = 0; i < result.size(); i++) { + if (v[i].getType() == XmlRpc::XmlRpcValue::TypeString) { + result[i] = (std::string)v[i]; + } + else { + throw std::runtime_error( + "the value cannot be converted into std::string"); + } + } + return true; + } + else { + return false; + } + } + else { + return false; + } + } + + +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/series_boolean.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/series_boolean.cpp new file mode 100755 index 0000000..9f80e17 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/series_boolean.cpp @@ -0,0 +1,70 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/series_boolean.h" + +namespace jsk_topic_tools +{ + SeriesBoolean::SeriesBoolean(const int buf_len): + buf_(buf_len) + { + } + + SeriesBoolean::~SeriesBoolean() + { + } + + void SeriesBoolean::addValue(bool val) + { + buf_.push_front(val); + } + + bool SeriesBoolean::getValue() + { + if (buf_.size() == 0) { + return false; + } + else { + for (boost::circular_buffer::iterator it = buf_.begin(); + it != buf_.end(); + ++it) { + if (!*it) { + return false; + } + } + return true; + } + } +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/snapshot_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/snapshot_nodelet.cpp new file mode 100755 index 0000000..4bda9b9 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/snapshot_nodelet.cpp @@ -0,0 +1,105 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/snapshot_nodelet.h" +#include + +namespace jsk_topic_tools +{ + void Snapshot::onInit() + { + advertised_ = false; + subscribing_ = false; + pnh_ = getPrivateNodeHandle(); + pnh_.param("latch", latch_, false); + pub_timestamp_ = pnh_.advertise("output/stamp", 1); + sub_ = pnh_.subscribe( + "input", 1, + &Snapshot::inputCallback, this); + request_service_ = pnh_.advertiseService( + "request", + &Snapshot::requestCallback, this); + } + + void Snapshot::inputCallback( + const boost::shared_ptr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + if (!advertised_) { // initialization + ros::AdvertiseOptions opts("output", 1, + msg->getMD5Sum(), + msg->getDataType(), + msg->getMessageDefinition()); + opts.latch = latch_; + pub_ = pnh_.advertise(opts); + advertised_ = true; + if (requested_) { + pub_.publish(msg); + std_msgs::Time timestamp; + timestamp.data = ros::Time::now(); + pub_timestamp_.publish(timestamp); + requested_ = false; + } + sub_.shutdown(); + } + else { + if (requested_) { + pub_.publish(msg); + std_msgs::Time timestamp; + timestamp.data = ros::Time::now(); + pub_timestamp_.publish(timestamp); + requested_ = false; + sub_.shutdown(); + } + } + } + + + bool Snapshot::requestCallback( + std_srvs::Empty::Request& req, + std_srvs::Empty::Response& res) + { + boost::mutex::scoped_lock lock(mutex_); + requested_ = true; + sub_ = pnh_.subscribe( + "input", 1, + &Snapshot::inputCallback, this); + return true; + } + +} + +#include +PLUGINLIB_EXPORT_CLASS (jsk_topic_tools::Snapshot, nodelet::Nodelet); diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/specific_transform_publisher.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/specific_transform_publisher.cpp new file mode 100755 index 0000000..a613563 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/specific_transform_publisher.cpp @@ -0,0 +1,79 @@ +#include +#include +#include +#include +#include + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "jsk_model_marker_interface"); + ros::NodeHandle n; + ros::NodeHandle pnh_("~"); + tf::TransformListener tfl_; + + ros::Publisher pub_ = pnh_.advertise ("/specific_transform", 1); + + std::vector parent_frame; + std::vector child_frame; + + { + XmlRpc::XmlRpcValue param_val; + pnh_.getParam("parent_frame", param_val); + if (param_val.getType() == XmlRpc::XmlRpcValue::TypeArray) { + for(int i = 0; i < param_val.size(); i++) { + std::string st = param_val[i]; + parent_frame.push_back(st); + } + } else if (param_val.getType() == XmlRpc::XmlRpcValue::TypeString) { + std::string st = param_val; + parent_frame.push_back(st); + } + } + { + XmlRpc::XmlRpcValue param_val; + pnh_.getParam("child_frame", param_val); + if (param_val.getType() == XmlRpc::XmlRpcValue::TypeArray) { + for(int i = 0; i < param_val.size(); i++) { + std::string st = param_val[i]; + child_frame.push_back(st); + } + } else if (param_val.getType() == XmlRpc::XmlRpcValue::TypeString) { + std::string st = param_val; + child_frame.push_back(st); + } + } + + if (parent_frame.size() != child_frame.size()) { + ROS_FATAL("size difference between parent frames and child frames"); + } + + double loop_hz; + pnh_.param("loop_hz", loop_hz, 1.0 ); + + for(int i = 0; i < parent_frame.size(); i++) { + ROS_INFO_STREAM("parent->child: " << parent_frame[i] << " -> " << child_frame[i]); + } + ROS_INFO_STREAM("loop_hz:" << loop_hz); + + ros::Rate rate(loop_hz); + + while (ros::ok()) + { + tf::tfMessage tf_msg; + for(int i = 0; i < parent_frame.size(); i++) { + geometry_msgs::TransformStamped tfs_msg; + tf::StampedTransform stf; + try { + tfl_.lookupTransform(parent_frame[i], child_frame[i], ros::Time(0), stf); + tf::transformStampedTFToMsg(stf, tfs_msg); + tf_msg.transforms.push_back(tfs_msg); + } catch(tf::TransformException ex) { + ROS_INFO_STREAM("missing transform: " << parent_frame[i] << " to " << child_frame[i]); + } + } + pub_.publish(tf_msg); + + ros::spinOnce(); + rate.sleep(); + } +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/specific_transform_subscriber.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/specific_transform_subscriber.cpp new file mode 100755 index 0000000..dda484a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/specific_transform_subscriber.cpp @@ -0,0 +1,40 @@ +#include +#include +#include +#include +#include +#include +#include + +void CallSetDynamicTf(std::string parent_frame_id, std::string frame_id, geometry_msgs::Transform transform){ + dynamic_tf_publisher::SetDynamicTF SetTf; + SetTf.request.freq = 10; + SetTf.request.cur_tf.header.stamp = ros::Time::now(); + SetTf.request.cur_tf.header.frame_id = parent_frame_id; + SetTf.request.cur_tf.child_frame_id = frame_id; + SetTf.request.cur_tf.transform = transform; + dynamic_tf_publisher_client.call(SetTf); +} + + +void transformCallback(const tf::tfMessage::ConstPtr& msg){ + for(int i=0; itransforms.size(); i++){ + CallSetDynamicTf(msg->transforms[i].header.frame_id, msg->transforms[i].child_frame_id, msg->transforms[i].transform); + } +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "specific_transform_subscriber"); + + ros::NodeHandle nh_; + ros::NodeHandle pnh_("~"); + + ros::Subscriber sub_ = pnh_.subscribe + ("/specific_transform", 100, transformCallback); + + dynamic_tf_publisher_client = nh_.serviceClient("set_dynamic_tf"); + ros::service::waitForService("set_dynamic_tf", -1); + + ros::spin(); +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/standalone_complexed_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/standalone_complexed_nodelet.cpp new file mode 100755 index 0000000..73abea0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/standalone_complexed_nodelet.cpp @@ -0,0 +1,219 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include "jsk_topic_tools/rosparam_utils.h" +#include "jsk_topic_tools/log_utils.h" +#include +#include +#include + +/* + Parameter structure is + nodelets: + - name: node_name + type: nodelet_type + remappings: + - from: from_topic + to: to_topic + - from: from_topic + to: to_topic + params: + - name: approximate_sync + value: true + - name: queue_size + value: 100 + - name: node_name2 + type: nodelet_type2 + if: false + - name: node_name3 + type: nodelet_type3 + unless: false +*/ + + +std::string parentName(const std::string& name) +{ + std::list list_string; + std::string delim("/"); + boost::split(list_string, name, boost::is_any_of(delim)); + + if (list_string.size() > 0) { + list_string.pop_back(); + } + return boost::algorithm::join(list_string, "/"); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "standalone_complexed_nodelet"); + ros::NodeHandle private_nh("~"); + ros::NodeHandle nh; + nodelet::Loader manager(false); // Don't bring up the manager ROS API + nodelet::V_string my_argv; + std::vector candidate_root; + candidate_root.push_back("nodelets"); + int candidate_num; + private_nh.param("candidate_num", candidate_num, 100); + for (size_t i = 0; i < candidate_num; i++) { + candidate_root.push_back((boost::format("nodelets_%lu") % i).str()); + } + for (size_t i_candidate = 0; i_candidate < candidate_root.size(); i_candidate++) { + std::string root_name = candidate_root[i_candidate]; + if (private_nh.hasParam(root_name)) { + XmlRpc::XmlRpcValue nodelets_values; + private_nh.param(root_name, nodelets_values, nodelets_values); + if (nodelets_values.getType() == XmlRpc::XmlRpcValue::TypeArray) { + for (size_t i_nodelet = 0; i_nodelet < nodelets_values.size(); i_nodelet++) { + ROS_INFO("i_nodelet %lu", i_nodelet); + XmlRpc::XmlRpcValue onenodelet_param = nodelets_values[i_nodelet]; + if (onenodelet_param.getType() == XmlRpc::XmlRpcValue::TypeStruct) { + std::string name, type; + nodelet::M_string remappings; + if (onenodelet_param.hasMember("if") && !(bool)onenodelet_param["if"]) { + continue; + } + if (onenodelet_param.hasMember("unless") && (bool)onenodelet_param["unless"]) { + continue; + } + if (onenodelet_param.hasMember("name")) { + name = nh.resolveName((std::string)onenodelet_param["name"]); + } + else { + ROS_FATAL("element ~nodelets should have name field"); + return 1; + } + if (onenodelet_param.hasMember("type")) { + type = (std::string)onenodelet_param["type"]; + } + else { + ROS_FATAL("element ~nodelets should have type field"); + return 1; + } + if (onenodelet_param.hasMember("remappings")) { + XmlRpc::XmlRpcValue remappings_params + = onenodelet_param["remappings"]; + if (remappings_params.getType() == XmlRpc::XmlRpcValue::TypeArray) { + for (size_t remappings_i = 0; remappings_i < remappings_params.size(); remappings_i++) { + XmlRpc::XmlRpcValue remapping_element_param = remappings_params[remappings_i]; + if (remapping_element_param.getType() == XmlRpc::XmlRpcValue::TypeStruct) { + if (remapping_element_param.hasMember("from") && remapping_element_param.hasMember("to")) { + std::string from = (std::string)remapping_element_param["from"]; + std::string to = (std::string)remapping_element_param["to"]; + if (from.size() > 0 && from[0] == '~') { + ros::NodeHandle nodelet_private_nh = ros::NodeHandle(name); + from = nodelet_private_nh.resolveName(from.substr(1, from.size() - 1)); + } + else { + ros::NodeHandle nodelet_nh = ros::NodeHandle(parentName(name)); + from = nodelet_nh.resolveName(from); + } + if (to.size() > 0 && to[0] == '~') { + ros::NodeHandle nodelet_private_nh = ros::NodeHandle(name); + to = nodelet_private_nh.resolveName(to.substr(1, to.size() - 1)); + } + else { + ros::NodeHandle nodelet_nh = ros::NodeHandle(parentName(name)); + to = nodelet_nh.resolveName(to); + } + ROS_INFO("remapping: %s => %s", from.c_str(), to.c_str()); + remappings[from] = to; + } + else { + ROS_FATAL("remappings parameter requires from and to fields"); + return 1; + } + } + else { + ROS_FATAL("remappings should be an array"); + return 1; + } + } + } + else { + ROS_FATAL("remappings should be an array"); + return 1; + } + } + if (onenodelet_param.hasMember("params")) { + if (onenodelet_param["params"].getType() != XmlRpc::XmlRpcValue::TypeArray) { + ROS_FATAL("params parameter must be an array"); + return 1; + } + XmlRpc::XmlRpcValue values; + ros::param::get(name, values); + for (int params_i = 0; params_i < onenodelet_param["params"].size(); ++params_i) { + XmlRpc::XmlRpcValue oneparam = onenodelet_param["params"][params_i]; + if (!(oneparam.getType() == XmlRpc::XmlRpcValue::TypeStruct && + oneparam.hasMember("name") && oneparam.hasMember("value"))) { + ROS_FATAL("each 'params' element must be a struct which contains 'name' and 'value' fields."); + return 1; + } + std::string key = oneparam["name"]; + values[key] = oneparam["value"]; + ROS_INFO_STREAM("setparam: " << name << "/" << key << " => " << values[key]); + } + ros::param::set(name, values); + } + // Done reading parmaeter for one nodelet + + if (!manager.load(name, type, remappings, my_argv)) { + ROS_ERROR("Failed to load nodelet [%s -- %s]", name.c_str(), type.c_str()); + } + else { + ROS_INFO("Succeeded to load nodelet [%s -- %s]", name.c_str(), type.c_str()); + } + } + else { + ROS_FATAL("element ~nodelets should be a dictionay"); + return 1; + } + } + } + else { + ROS_FATAL("~nodelets should be a list"); + return 1; + } + } + } + ROS_INFO("done reading parmaeters"); + std::vector loaded_nodelets = manager.listLoadedNodelets(); + ROS_INFO("loaded nodelets: %lu", loaded_nodelets.size()); + for (size_t i = 0; i < loaded_nodelets.size(); i++) { + ROS_INFO("loaded nodelet: %s", loaded_nodelets[i].c_str()); + } + ros::spin(); + return 0; +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/static_transform_pose_stamped.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/static_transform_pose_stamped.cpp new file mode 100755 index 0000000..caf1058 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/static_transform_pose_stamped.cpp @@ -0,0 +1,129 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include +#include +#include + +namespace jsk_topic_tools +{ + class PoseStampedTransformer + { + public: + typedef boost::shared_ptr Ptr; + PoseStampedTransformer(double x, double y, double z, + double yaw, double pitch, double roll, + std::string from_topic, + std::string to_topic); + virtual ~PoseStampedTransformer(); + protected: + void transform(const geometry_msgs::PoseStamped::ConstPtr& pose_msg); + ros::Subscriber sub_; + ros::Publisher pub_; + double x_; + double y_; + double z_; + double roll_; + double pitch_; + double yaw_; + private: + + }; + + PoseStampedTransformer::PoseStampedTransformer( + double x, double y, double z, + double yaw, double pitch, double roll, + std::string from_topic, std::string to_topic): + x_(x), y_(y), z_(z), yaw_(yaw), pitch_(pitch), roll_(roll) + { + ros::NodeHandle nh; + pub_ = nh.advertise( + to_topic, 1); + sub_ = nh.subscribe(from_topic, 1, + &PoseStampedTransformer::transform, this); + } + + PoseStampedTransformer::~PoseStampedTransformer() + { + + } + + void PoseStampedTransformer::transform( + const geometry_msgs::PoseStamped::ConstPtr& pose_msg) + { + Eigen::Affine3d input_transform; + tf::poseMsgToEigen(pose_msg->pose, input_transform); + Eigen::AngleAxisd roll_angle(roll_, Eigen::Vector3d::UnitZ()); + Eigen::AngleAxisd yaw_angle(yaw_, Eigen::Vector3d::UnitY()); + Eigen::AngleAxisd pitch_angle(pitch_, Eigen::Vector3d::UnitX()); + + Eigen::Affine3d transformation + = Eigen::Translation3d(x_, y_, z_) * roll_angle * yaw_angle * pitch_angle; + Eigen::Affine3d output_transform = input_transform * transformation; + geometry_msgs::PoseStamped output_pose_msg; + tf::poseEigenToMsg(output_transform, output_pose_msg.pose); + output_pose_msg.header = pose_msg->header; + pub_.publish(output_pose_msg); + } + +} + +int usage(char** argv) +{ + std::cerr << "Usage:: " << argv[0] + << " x y z yaw pitch roll from_topic to_topic" + << std::endl; +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "static_transform_pose_stamped", + ros::init_options::AnonymousName); + // x y z yaw pitch roll + if (argc != 9) { + usage(argv); + exit(1); + } + // parse argument + jsk_topic_tools::PoseStampedTransformer p(::atof(argv[1]), + ::atof(argv[2]), + ::atof(argv[3]), + ::atof(argv[4]), + ::atof(argv[5]), + ::atof(argv[6]), + argv[7], + argv[8]); + ros::spin(); +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/stealth_relay_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/stealth_relay_nodelet.cpp new file mode 100755 index 0000000..bff1e8d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/stealth_relay_nodelet.cpp @@ -0,0 +1,202 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2017, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +/* + * stealth_relay_nodelet.cpp + * Author: Furushchev + */ + +#include + + +namespace jsk_topic_tools +{ + void StealthRelay::onInit() + { + bool use_multithread; + ros::param::param("~use_multithread_callback", use_multithread, true); + if (use_multithread) { + NODELET_DEBUG("use multithread callback"); + nh_.reset (new ros::NodeHandle (getMTNodeHandle ())); + pnh_.reset (new ros::NodeHandle (getMTPrivateNodeHandle ())); + } else { + NODELET_DEBUG("use singlethread callback"); + nh_.reset (new ros::NodeHandle (getNodeHandle ())); + pnh_.reset (new ros::NodeHandle (getPrivateNodeHandle ())); + } + + subscribed_ = false; + advertised_ = false; + +#ifdef topic_tools_relay_stealth_EXISTS + NODELET_WARN("This nodelet is deprecated. Use `topic_tools/Relay` with `stealth_mode`"); +#endif + + poll_timer_ = pnh_->createTimer(ros::Duration(1.0), + &StealthRelay::timerCallback, this, + /* oneshot= */false, /* autostart= */ false); + + srv_ = boost::make_shared >(*pnh_); + dynamic_reconfigure::Server::CallbackType f = + boost::bind(&StealthRelay::configCallback, this, _1, _2); + srv_->setCallback(f); + + /* To advertise output topic as the same type of input topic, + first this node subscribes input topic until one message is received. */ + subscribe(); + } + + void StealthRelay::subscribe() + { + NODELET_DEBUG("subscribe"); + sub_ = pnh_->subscribe&> + ("input", queue_size_, &StealthRelay::inputCallback, this); + subscribed_ = true; + } + + void StealthRelay::unsubscribe() + { + NODELET_DEBUG("unsubscribe"); + sub_.shutdown(); + subscribed_ = false; + } + + bool StealthRelay::isSubscribed() + { + return subscribed_; + } + + void StealthRelay::configCallback(Config& config, uint32_t level) + { + boost::mutex::scoped_lock lock(mutex_); + NODELET_DEBUG("configCallback"); + bool need_resubscribe = (config.queue_size != queue_size_); + queue_size_ = config.queue_size; + + if (config.monitor_topic.empty()) { + config.monitor_topic = pnh_->resolveName("input"); + } + monitor_topic_ = config.monitor_topic; + + if (monitor_rate_ != config.monitor_rate) { + monitor_rate_ = config.monitor_rate; + poll_timer_.setPeriod(ros::Duration(monitor_rate_), true); + } + + if (enable_monitor_ != config.enable_monitor) { + enable_monitor_ = config.enable_monitor; + if (enable_monitor_) { + poll_timer_.start(); + } else { + poll_timer_.stop(); + subscribe(); + } + } + + if (isSubscribed() && need_resubscribe) { + unsubscribe(); + subscribe(); + } + } + + void StealthRelay::inputCallback(const ros::MessageEvent& event) + { + const boost::shared_ptr& msg = event.getConstMessage(); + inputCallback(msg); + } + + void StealthRelay::inputCallback(const boost::shared_ptr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + NODELET_DEBUG("inputCallback"); + + if (!advertised_) + { + pub_ = msg->advertise(*pnh_, "output", 1); + advertised_ = true; + if (enable_monitor_) unsubscribe(); + return; + } + + pub_.publish(msg); + } + + void StealthRelay::timerCallback(const ros::TimerEvent& event) + { + boost::mutex::scoped_lock lock(mutex_); + NODELET_DEBUG("timerCallback"); + + if (pub_.getNumSubscribers() == 0 && isSubscribed()) + { + unsubscribe(); + return; + } + + int subscribing_num = getNumOtherSubscribers(monitor_topic_); + if (subscribed_ && subscribing_num == 0) + unsubscribe(); + else if (!subscribed_ && subscribing_num > 0) + subscribe(); + } + + int StealthRelay::getNumOtherSubscribers(const std::string& name) + { + int num = 0; + XmlRpc::XmlRpcValue req(ros::this_node::getName()), res, data; + bool ok = ros::master::execute("getSystemState", req, res, data, false); + + XmlRpc::XmlRpcValue& sub_info = data[1]; + for (size_t i = 0; i < sub_info.size(); ++i) + { + std::string topic_name = sub_info[i][0]; + if (topic_name == name) + { + XmlRpc::XmlRpcValue& subscribers = sub_info[i][1]; + int cnt = 0; + for (size_t j = 0; j < subscribers.size(); ++j) + { + std::string subscriber = subscribers[j]; + if (subscriber != ros::this_node::getName()) ++cnt; + } + num = cnt; + break; + } + } + return num; + } +} + +#include +typedef jsk_topic_tools::StealthRelay StealthRelay; +PLUGINLIB_EXPORT_CLASS(StealthRelay, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/string_relay_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/string_relay_nodelet.cpp new file mode 100755 index 0000000..0b2d23e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/string_relay_nodelet.cpp @@ -0,0 +1,65 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/string_relay.h" + +namespace jsk_topic_tools +{ + void StringRelay::onInit() + { + DiagnosticNodelet::onInit(); + pub_ = advertise(*pnh_, "output", 1); + } + + void StringRelay::subscribe() + { + sub_ = pnh_->subscribe("input", 1, &StringRelay::callback, this); + } + + void StringRelay::unsubscribe() + { + sub_.shutdown(); + } + + void StringRelay::callback(const std_msgs::String::ConstPtr& msg) + { + vital_checker_->poke(); + pub_.publish(msg); + } +} + +#include +typedef jsk_topic_tools::StringRelay StringRelay; +PLUGINLIB_EXPORT_CLASS(StringRelay, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp new file mode 100755 index 0000000..0f5cd98 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/synchronized_throttle_nodelet.cpp @@ -0,0 +1,432 @@ +// -*- mode: C++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2018, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ +/* + * synchronized_throttle_nodelet.cpp + * Author: furushchev + */ + +#include + +namespace jsk_topic_tools +{ + +void SynchronizedThrottle::onInit() +{ + // nodelet handle initialization + bool use_multithread; + ros::param::param("~use_multithread_callback", use_multithread, true); + if (use_multithread) { + NODELET_DEBUG("use multithread callback"); + nh_.reset (new ros::NodeHandle(getMTNodeHandle())); + pnh_.reset (new ros::NodeHandle(getMTPrivateNodeHandle())); + } else { + NODELET_DEBUG("use singlethread callback"); + nh_.reset (new ros::NodeHandle(getNodeHandle())); + pnh_.reset (new ros::NodeHandle(getPrivateNodeHandle())); + } + + // load parameters + pnh_->param("enable_warning", enable_warning_, true); + pnh_->param("topics", input_topics_, std::vector()); + const size_t n_topics = input_topics_.size(); + subscribed_ = false; + advertised_ = false; + + srv_ = boost::make_shared >(*pnh_); + dynamic_reconfigure::Server::CallbackType f = + boost::bind(&SynchronizedThrottle::configCallback, this, _1, _2); + srv_->setCallback(f); + + // message_filter supports 2~8 input topics + if (n_topics > MAX_SYNC_NUM) + { + NODELET_FATAL_STREAM("Found more than " << MAX_SYNC_NUM << " input topics which is not supported"); + return; + } else if (n_topics < 2) { + NODELET_FATAL("Found less than 2 input topics which is not supported"); + return; + } + + NODELET_DEBUG_STREAM(n_topics << " input topics"); + + // subscribe to identify topic types + check_sub_.resize(n_topics); + sub_.resize(n_topics); + pub_.resize(n_topics); + for (size_t i = 0; i < n_topics; ++i) + { + check_sub_[i] = pnh_->subscribe( + input_topics_[i], 1, + boost::bind(&SynchronizedThrottle::checkCallback, this, _1, i)); + sub_[i].reset(new message_filters::Subscriber()); + } + + if (enable_warning_) + { + check_timer_ = pnh_->createWallTimer( + ros::WallDuration(5), &SynchronizedThrottle::checkAdvertisedTimerCallback, + this, /* oneshot= */false); + } +} + +SynchronizedThrottle::~SynchronizedThrottle() { + // This fixes the following error on shutdown of the nodelet: + // terminate called after throwing an instance of + // 'boost::exception_detail::clone_impl >' + // what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument + // Also see ros/ros_comm#720 . + if (approximate_sync_) { + async_.reset(); + } else { + sync_.reset(); + } +} + +void SynchronizedThrottle::configCallback(Config &config, uint32_t level) +{ + boost::mutex::scoped_lock lock(mutex_); + + update_rate_ = config.update_rate; + + if (use_wall_time_ != config.use_wall_time) + { + use_wall_time_ = config.use_wall_time; + if (use_wall_time_) last_stamp_.fromSec(ros::WallTime::now().toSec()); + else last_stamp_ = ros::Time::now(); + } + + if (config.suffix.empty()) + { + NODELET_ERROR("parameter suffix cannot be empty"); + if (suffix_.empty()) config.suffix = "throttled"; + else config.suffix = suffix_; + } + + if (approximate_sync_ != config.approximate_sync || + queue_size_ != config.queue_size || + suffix_ != config.suffix) + { + approximate_sync_ = config.approximate_sync; + queue_size_ = config.queue_size; + suffix_ = config.suffix; + if (subscribed_) + { + unsubscribe(); + subscribe(); + } + } +} + +void SynchronizedThrottle::checkAdvertisedTimerCallback(const ros::WallTimerEvent& event) +{ + for (size_t i = 0; i < pub_.size(); ++i) + { + if (!pub_[i]) + { + NODELET_WARN_STREAM(input_topics_[i] << " is not yet published"); + } + } + if (advertised_) + { + NODELET_INFO("All topics are now published and synchronized"); + check_timer_.stop(); + } +} + +void SynchronizedThrottle::subscribe() +{ + NODELET_DEBUG("subscribe"); + + const size_t n_topics = input_topics_.size(); + + for (size_t i = 0; i < n_topics; ++i) + { + sub_[i]->subscribe(*pnh_, input_topics_[i], 1); + } + if (n_topics < MAX_SYNC_NUM) + { + sub_[0]->registerCallback( + boost::bind(&SynchronizedThrottle::fillNullMessage, this, _1)); + } + + if (approximate_sync_) + { + async_ = boost::make_shared >(queue_size_); + + switch (n_topics) + { + case 2: + async_->connectInput(*sub_[0], *sub_[1], null_, null_, + null_, null_, null_, null_); + break; + case 3: + async_->connectInput(*sub_[0], *sub_[1], *sub_[2], null_, + null_, null_, null_, null_); + break; + case 4: + async_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + null_, null_, null_, null_); + break; + case 5: + async_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + *sub_[4], null_, null_, null_); + break; + case 6: + async_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + *sub_[4], *sub_[5], null_, null_); + break; + case 7: + async_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + *sub_[4], *sub_[5], *sub_[6], null_); + break; + case 8: + async_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + *sub_[4], *sub_[5], *sub_[6], *sub_[7]); + break; + default: + NODELET_FATAL("Unhandled error"); + return; + } + async_->registerCallback( + boost::bind(&SynchronizedThrottle::inputCallback, this, + _1, _2, _3, _4, _5, _6, _7, _8)); + } else { + sync_ = boost::make_shared >(queue_size_); + + switch (n_topics) + { + case 2: + sync_->connectInput(*sub_[0], *sub_[1], null_, null_, + null_, null_, null_, null_); + break; + case 3: + sync_->connectInput(*sub_[0], *sub_[1], *sub_[2], null_, + null_, null_, null_, null_); + break; + case 4: + sync_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + null_, null_, null_, null_); + break; + case 5: + sync_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + *sub_[4], null_, null_, null_); + break; + case 6: + sync_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + *sub_[4], *sub_[5], null_, null_); + break; + case 7: + sync_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + *sub_[4], *sub_[5], *sub_[6], null_); + break; + case 8: + sync_->connectInput(*sub_[0], *sub_[1], *sub_[2], *sub_[3], + *sub_[4], *sub_[5], *sub_[6], *sub_[7]); + break; + default: + NODELET_FATAL("Unhandled error"); + return; + } + sync_->registerCallback( + boost::bind(&SynchronizedThrottle::inputCallback, this, + _1, _2, _3, _4, _5, _6, _7, _8)); + } +} + +void SynchronizedThrottle::unsubscribe() +{ + NODELET_DEBUG("unsubscribe"); + + for (size_t i = 0; i < sub_.size(); ++i) + { + sub_[i]->unsubscribe(); + } +} + +bool SynchronizedThrottle::isSubscribed() const +{ + return subscribed_; +} + +void SynchronizedThrottle::checkCallback( + const topic_tools::ShapeShifterStamped::ConstPtr& msg, + const size_t index) +{ + boost::mutex::scoped_lock lock(mutex_); + + NODELET_DEBUG_STREAM("check callback: " << index); + NODELET_DEBUG_STREAM(" name: " << input_topics_[index]); + NODELET_DEBUG_STREAM(" type: " << msg->getDataType()); + NODELET_DEBUG_STREAM(" md5: " << msg->getMD5Sum()); + + check_sub_[index].shutdown(); + + // advertise + ros::SubscriberStatusCallback connect_cb + = boost::bind(&SynchronizedThrottle::connectCb, this); + ros::SubscriberStatusCallback disconnect_cb + = boost::bind(&SynchronizedThrottle::disconnectCb, this); + std::string output_topic = input_topics_[index] + "/" + suffix_; + ros::AdvertiseOptions options( + output_topic, 1, + msg->getMD5Sum(), msg->getDataType(), msg->getMessageDefinition(), + connect_cb, disconnect_cb); + options.latch = false; + pub_[index] = pnh_->advertise(options); + + // check if all are advertised + bool all_advertised = true; + for (size_t i = 0; i < pub_.size(); ++i) + { + if (!pub_[i]) all_advertised = false; + } + if (all_advertised) + { + NODELET_DEBUG("All Advertised"); + advertised_ = true; + if (!subscribed_) + { + for (size_t i = 0; i < pub_.size(); ++i) + { + if (pub_[i].getNumSubscribers() > 0) { + subscribe(); + subscribed_ = true; + break; + } + } + } + } +} + +void SynchronizedThrottle::connectCb() +{ + boost::mutex::scoped_lock lock(mutex_); + + NODELET_DEBUG("connectCb"); + + if (advertised_ && !subscribed_) + { + for (size_t i = 0; i < pub_.size(); ++i) + { + if (pub_[i].getNumSubscribers() > 0) { + subscribe(); + subscribed_ = true; + break; + } + } + } +} + +void SynchronizedThrottle::disconnectCb() +{ + // need to check https://github.com/ros/ros_comm/issues/158 ? + boost::mutex::scoped_lock lock(mutex_); + + NODELET_DEBUG("disconnectCb"); + + if (subscribed_) + { + bool need_unsubscribe = true; + for (size_t i = 0; i < pub_.size(); ++i) + { + if (pub_[i].getNumSubscribers() > 0) + { + need_unsubscribe = false; + break; + } + } + if (need_unsubscribe) + { + unsubscribe(); + subscribed_ = false; + } + } +} + +void SynchronizedThrottle::fillNullMessage( + const topic_tools::ShapeShifterStamped::ConstPtr& msg) +{ + NODELET_DEBUG("fill null message"); + null_.add(msg); +} + +void SynchronizedThrottle::inputCallback( + const topic_tools::ShapeShifterStamped::ConstPtr& msg0, + const topic_tools::ShapeShifterStamped::ConstPtr& msg1, + const topic_tools::ShapeShifterStamped::ConstPtr& msg2, + const topic_tools::ShapeShifterStamped::ConstPtr& msg3, + const topic_tools::ShapeShifterStamped::ConstPtr& msg4, + const topic_tools::ShapeShifterStamped::ConstPtr& msg5, + const topic_tools::ShapeShifterStamped::ConstPtr& msg6, + const topic_tools::ShapeShifterStamped::ConstPtr& msg7) +{ + boost::mutex::scoped_lock lock(mutex_); + NODELET_DEBUG("input callback"); + + ros::Time now; + if (use_wall_time_) now.fromSec(ros::WallTime::now().toSec()); + else now = ros::Time::now(); + + // detect time jump back + if (last_stamp_ > now) + { + NODELET_WARN("Detected jump back in time. last_stamp_ is overwritten."); + last_stamp_ = now; + } + + // throttle + if (update_rate_ <= 0.0 || + (now - last_stamp_).toSec() < 1.0 / update_rate_) + return; + + // publish + topic_tools::ShapeShifterStamped::ConstPtr msgs[] = + {msg0, msg1, msg2, msg3, msg4, msg5, msg6, msg7}; + + for (size_t i = 0; i < pub_.size(); ++i) + { + if (pub_[i].getNumSubscribers() > 0) + { + pub_[i].publish(msgs[i]); + } + } + last_stamp_ = now; +} + +} // jsk_topic_tools + +#include +typedef jsk_topic_tools::SynchronizedThrottle SynchronizedThrottle; +PLUGINLIB_EXPORT_CLASS(SynchronizedThrottle, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/tests/test_log_utils.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/tests/test_log_utils.cpp new file mode 100755 index 0000000..af04bbe --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/tests/test_log_utils.cpp @@ -0,0 +1,63 @@ +#include "jsk_topic_tools/log_utils.h" +#include +#include +#include + + +TEST(LogUtils, testWarnNoRemap){ + ros::NodeHandle pnh = ros::NodeHandle("~"); + ros::Publisher pub_remap = pnh.advertise( + /*topic=*/"remap", /*queue_size=*/10); + ros::Publisher pub_noremap = pnh.advertise( + /*topic=*/"noremap", /*queue_size=*/10); + + std::vector topics; + topics.push_back(std::string("~remap")); + bool actual; + actual = jsk_topic_tools::warnNoRemap(topics); + EXPECT_EQ(true, actual); + + topics.push_back(std::string("~noremap")); + actual = jsk_topic_tools::warnNoRemap(topics); + EXPECT_EQ(false, actual); +} + +TEST(LogUtils, testGetFunctionName){ + std::string name = std::string( + "virtual void jsk_topic_tools::ConnectionBasedNodelet::warnNeverSubscribedCallback(const ros::WallTimerEvent&)"); + std::string actual = jsk_topic_tools::getFunctionName(name); + std::string expected = std::string("jsk_topic_tools::ConnectionBasedNodelet::warnNeverSubscribedCallback"); + ASSERT_STREQ(expected.c_str(), actual.c_str()); +} + +TEST(LogUtils, testJSKROSXXX){ + JSK_ROS_DEBUG("Testing JSK_ROS_DEBUG: %ld", ros::Time::now().toNSec()); + JSK_ROS_INFO("Testing JSK_ROS_INFO: %ld", ros::Time::now().toNSec()); + JSK_ROS_WARN("Testing JSK_ROS_WARN: %ld", ros::Time::now().toNSec()); + JSK_ROS_ERROR("Testing JSK_ROS_ERROR: %ld", ros::Time::now().toNSec()); + JSK_ROS_FATAL("Testing JSK_ROS_FATAL: %ld", ros::Time::now().toNSec()); + + JSK_ROS_DEBUG_STREAM("Testing " << "JSK_ROS_DEBUG_STREAM: " << ros::Time::now().toNSec()); + JSK_ROS_INFO_STREAM("Testing " << "JSK_ROS_INFO_STREAM: " << ros::Time::now().toNSec()); + JSK_ROS_WARN_STREAM("Testing " << "JSK_ROS_WARN_STREAM: " << ros::Time::now().toNSec()); + JSK_ROS_ERROR_STREAM("Testing " << "JSK_ROS_ERROR_STREAM: " << ros::Time::now().toNSec()); + JSK_ROS_FATAL_STREAM("Testing " << "JSK_ROS_FATAL_STREAM: " << ros::Time::now().toNSec()); + + JSK_ROS_DEBUG_THROTTLE(1, "Testing JSK_ROS_DEBUG_THROTTLE: %ld", ros::Time::now().toNSec()); + JSK_ROS_INFO_THROTTLE(1, "Testing JSK_ROS_INFO_THROTTLE: %ld", ros::Time::now().toNSec()); + JSK_ROS_WARN_THROTTLE(1, "Testing JSK_ROS_WARN_THROTTLE: %ld", ros::Time::now().toNSec()); + JSK_ROS_ERROR_THROTTLE(1, "Testing JSK_ROS_ERROR_THROTTLE: %ld", ros::Time::now().toNSec()); + JSK_ROS_FATAL_THROTTLE(1, "Testing JSK_ROS_FATAL_THROTTLE: %ld", ros::Time::now().toNSec()); + + JSK_ROS_DEBUG_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_DEBUG_STREAM_THROTTLE: " << ros::Time::now().toNSec()); + JSK_ROS_INFO_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_INFO_STREAM_THROTTLE: " << ros::Time::now().toNSec()); + JSK_ROS_WARN_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_WARN_STREAM_THROTTLE: " << ros::Time::now().toNSec()); + JSK_ROS_ERROR_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_ERROR_STREAM_THROTTLE: " << ros::Time::now().toNSec()); + JSK_ROS_FATAL_STREAM_THROTTLE(1, "Testing " << "JSK_ROS_FATAL_STREAM_THROTTLE: " << ros::Time::now().toNSec()); +} + +int main(int argc, char **argv){ + ros::init(argc, argv, "test_log_utils"); + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/tests/test_log_utils_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/tests/test_log_utils_nodelet.cpp new file mode 100755 index 0000000..d789cb3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/tests/test_log_utils_nodelet.cpp @@ -0,0 +1,49 @@ +#include +#include + +#include "jsk_topic_tools/log_utils.h" + +namespace jsk_topic_tools +{ + +namespace test +{ + +class LogUtils : public nodelet::Nodelet +{ +private: + virtual void onInit() + { + JSK_NODELET_DEBUG("DEBUG output"); + JSK_NODELET_DEBUG_STREAM("DEBUG" << " output"); + JSK_NODELET_DEBUG_THROTTLE(10.0, "DEBUG output"); + JSK_NODELET_DEBUG_STREAM_THROTTLE(10.0, "DEBUG" << " output"); + + JSK_NODELET_INFO("INFO output"); + JSK_NODELET_INFO_STREAM("INFO" << " output"); + JSK_NODELET_INFO_THROTTLE(10.0, "INFO output"); + JSK_NODELET_INFO_STREAM_THROTTLE(10.0, "INFO" << " output"); + + JSK_NODELET_WARN("WARN output"); + JSK_NODELET_WARN_STREAM("WARN" << " output"); + JSK_NODELET_WARN_THROTTLE(10.0, "WARN output"); + JSK_NODELET_WARN_STREAM_THROTTLE(10.0, "WARN" << " output"); + + JSK_NODELET_ERROR("ERROR output"); + JSK_NODELET_ERROR_STREAM("ERROR" << " output"); + JSK_NODELET_ERROR_THROTTLE(10.0, "ERROR output"); + JSK_NODELET_ERROR_STREAM_THROTTLE(10.0, "ERROR" << " output"); + + JSK_NODELET_FATAL("FATAL output"); + JSK_NODELET_FATAL_STREAM("FATAL" << " output"); + JSK_NODELET_FATAL_THROTTLE(10.0, "FATAL output"); + JSK_NODELET_FATAL_STREAM_THROTTLE(10.0, "FATAL" << " output"); + } +}; + +} // namespace test + +} // namespace jsk_topic_tools + +#include +PLUGINLIB_EXPORT_CLASS(jsk_topic_tools::test::LogUtils, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/tests/test_rosparam_utils.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/tests/test_rosparam_utils.cpp new file mode 100755 index 0000000..f4fb447 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/tests/test_rosparam_utils.cpp @@ -0,0 +1,28 @@ +#include "jsk_topic_tools/rosparam_utils.h" +#include +#include + + +TEST(RoparamUtils, testGetXmlDoubleValue){ + // type int + XmlRpc::XmlRpcValue v = 1; + EXPECT_EQ(XmlRpc::XmlRpcValue::TypeInt, v.getType()); + EXPECT_EQ(1.0, jsk_topic_tools::getXMLDoubleValue(v)); + // type double + v = 1.0; + EXPECT_EQ(XmlRpc::XmlRpcValue::TypeDouble, v.getType()); + EXPECT_EQ(1.0, jsk_topic_tools::getXMLDoubleValue(v)); + // test unparsable param + try { + v = "-.3"; + EXPECT_EQ(-0.3, jsk_topic_tools::getXMLDoubleValue(v)); + } catch (std::runtime_error &e) { + SUCCEED() << "Not parsable value"; + return; + } +} + +int main(int argc, char **argv){ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/time_accumulator.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/time_accumulator.cpp new file mode 100755 index 0000000..0bb5936 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/time_accumulator.cpp @@ -0,0 +1,95 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/time_accumulator.h" + +namespace jsk_topic_tools +{ + TimeAccumulator::TimeAccumulator() + { + + } + + TimeAccumulator::~TimeAccumulator() + { + + } + + ScopedTimer TimeAccumulator::scopedTimer() + { + return ScopedTimer(this); + } + + void TimeAccumulator::registerTime(double time) + { + acc_(time); + } + + double TimeAccumulator::mean() + { + return boost::accumulators::mean(acc_); + } + + double TimeAccumulator::min() + { + return boost::accumulators::min(acc_); + } + + double TimeAccumulator::max() + { + return boost::accumulators::max(acc_); + } + + int TimeAccumulator::count() + { + return boost::accumulators::count(acc_); + } + + double TimeAccumulator::variance() + { + return boost::accumulators::variance(acc_); + } + + ScopedTimer::ScopedTimer(TimeAccumulator* parent): + parent_(parent), start_time_(ros::WallTime::now()) + { + } + + ScopedTimer::~ScopedTimer() + { + parent_->registerTime((ros::WallTime::now() - start_time_).toSec()); + } +} + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/timered_diagnostic_updater.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/timered_diagnostic_updater.cpp new file mode 100755 index 0000000..87c822b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/timered_diagnostic_updater.cpp @@ -0,0 +1,88 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/timered_diagnostic_updater.h" + +namespace jsk_topic_tools +{ + TimeredDiagnosticUpdater::TimeredDiagnosticUpdater( + ros::NodeHandle& nh, + const ros::Duration& timer_duration): + diagnostic_updater_(new diagnostic_updater::Updater) + { + timer_ = nh.createTimer( + timer_duration, boost::bind( + &TimeredDiagnosticUpdater::timerCallback, + this, + _1)); + timer_.stop(); + } + + void TimeredDiagnosticUpdater::start() + { + timer_.start(); + } + + TimeredDiagnosticUpdater::~TimeredDiagnosticUpdater() + { + } + + void TimeredDiagnosticUpdater::setHardwareID(const std::string& name) + { + diagnostic_updater_->setHardwareID(name); + } + + void TimeredDiagnosticUpdater::add(const std::string& name, + diagnostic_updater::TaskFunction f) + { + diagnostic_updater_->add(name, f); + } + + // void TimeredDiagnosticUpdater::add(diagnostic_updater::DiagnosticTask task) + // { + // diagnostic_updater_->add(task); + // } + + void TimeredDiagnosticUpdater::update() + { + diagnostic_updater_->update(); + } + + void TimeredDiagnosticUpdater::timerCallback(const ros::TimerEvent& event) + { + update(); + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/topic_buffer_client.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/topic_buffer_client.cpp new file mode 100755 index 0000000..f4aaafa --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/topic_buffer_client.cpp @@ -0,0 +1,273 @@ +#include +#include +#include +#include +#include "ros/ros.h" +#include "ros/header.h" +#include "ros/console.h" +#include "std_msgs/Header.h" +#include "std_msgs/String.h" +#include "jsk_topic_tools/List.h" +#include "jsk_topic_tools/Update.h" +#include "topic_tools/shape_shifter.h" +#include "topic_tools/parse.h" + +using std::string; +using std::vector; +using std::list; +using namespace topic_tools; +static bool debug; + +class pub_info_t +{ +public: + std::string topic_name; + ros::Publisher pub; + ros::Subscriber *sub; + bool advertised; + boost::shared_ptr msg; + ros::Timer timer; + ros::Duration rate; + ros::Time last_time_received; + bool topic_with_header; + bool latched; + uint32_t last_seq_received; + uint32_t topic_received; + + void publish(const ros::TimerEvent &event) + { + if ( advertised == false ) return; + + topic_received++; + if ( topic_with_header == true ) { + std_msgs::Header header; + uint8_t buf[msg->size()]; + ros::serialization::OStream ostream(buf, msg->size()); + ros::serialization::IStream istream(buf, msg->size()); + msg->write(ostream); + ((uint32_t *)buf)[0] = last_seq_received + topic_received; + ros::Time tmp(last_time_received.toSec() + topic_received * rate.toSec()); + ((uint32_t *)buf)[1] = tmp.sec; + ((uint32_t *)buf)[2] = tmp.nsec; + msg->read(istream); + } + if(debug){ + ROS_INFO_STREAM("publishing " << topic_name); + } + pub.publish(msg); + } +}; + +typedef boost::shared_ptr pub_info_ref; + +static list g_pubs; + +static ros::NodeHandle *g_node = NULL; + +static bool use_fixed_rate; +static bool use_periodic_rate = false; + + + +void in_cb(const boost::shared_ptr& msg, + boost::shared_ptr s) +{ + using namespace boost::lambda; + + s->msg = boost::const_pointer_cast(msg); + s->topic_received = 0; // reset topic_received + if ( s->advertised == false ) { + s->pub = msg->advertise(*g_node, s->topic_name+string("_buffered"), 10, s->latched); + s->advertised = true; + } + if(debug){ + ROS_INFO_STREAM("advertised as " << s->topic_name+string("_buffered") << " running at " << 1/(s->rate.toSec()) << "Hz"); + } + + // check if msg has header + { + std_msgs::Header header; + uint8_t buf[msg->size()]; + ros::serialization::OStream stream(buf, msg->size()); + msg->write(stream); + header.seq = ((uint32_t *)buf)[0]; + header.stamp.sec = ((uint32_t *)buf)[1]; + header.stamp.nsec = ((uint32_t *)buf)[2]; + + if ( abs((header.stamp - ros::Time::now()).toSec()) < 5.0 ) { + if(debug){ + ROS_INFO_STREAM(" this message contains headers.. seq =" << header.seq << " stamp = " << header.stamp); + } + s->topic_with_header = true; + s->last_seq_received = header.seq; + s->last_time_received = header.stamp; + } + } + //g_node->createTimer(ros::Duration(0.1), [](const ros::TimerEvent event) { std::cerr << "hoge" << std::endl; }); + {// at first publish once + ros::TimerEvent ev; + s->publish (ev); + } + s->timer = g_node->createTimer(s->rate, &pub_info_t::publish, s); +} + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "topic_buffer_client", ros::init_options::AnonymousName); + + ros::NodeHandle n; + ros::NodeHandle nh("~"); + + double fixed_rate = 0.1; // 10Hz + if (nh.hasParam("fixed_rate")) { + use_fixed_rate = true; + nh.param ("fixed_rate", fixed_rate, 0.1); + ROS_INFO("use fixed rate = %f", fixed_rate); + } + + double update_rate = 10; // 0.1Hz + if (nh.hasParam("update_rate")) { + nh.param ("update_rate", update_rate, 10.0); + ROS_INFO("use update rate = %f", update_rate); + } + + double periodic_rate = 0.1; // 10Hz + if (nh.hasParam("periodic_rate")) { + use_periodic_rate = true; + nh.param ("periodic_rate", periodic_rate, 0.1); + ROS_INFO("use periodic rate = %f", periodic_rate); + } + + bool latched; + if (nh.hasParam("latched")) { + nh.param ("latched", latched, false); + if(latched) { + ROS_INFO("use latched"); + } + } + + g_node = &n; + bool use_service_p = false; + std::vector target_topics; + // use service or parameter + // check the parameter first + XmlRpc::XmlRpcValue topics; + if (!nh.getParam ("topics", topics)) { + ROS_WARN("no ~topics is available, use service interface"); + use_service_p = true; + } + else { + switch (topics.getType ()) { + case XmlRpc::XmlRpcValue::TypeArray: { + for (int d = 0; d < topics.size(); ++d) { + target_topics.push_back((std::string)(topics[d])); + } + break; + } + default: { + ROS_WARN("~topics mismatches type, it should be a list, use service interface"); + use_service_p = true; + } + } + } + + if (use_service_p) { + target_topics.clear(); + // New service + ros::service::waitForService(string("/list"), -1); + ros::ServiceClient sc_list = n.serviceClient(string("/list"), true); + jsk_topic_tools::List::Request req; + jsk_topic_tools::List::Response res; + ROS_INFO_STREAM("calling " << sc_list.getService()); + while ( sc_list.call(req, res) == false) { + ROS_WARN_STREAM("calling " << sc_list.getService() << " fails, retry..."); + ros::Duration(1).sleep(); + } + ROS_WARN_STREAM("calling /list success!!!"); + for(vector::iterator it = res.topic_names.begin(); it != res.topic_names.end(); ++it) { + target_topics.push_back(*it); + } + ROS_INFO_STREAM("calling /list has done.. found " << res.topic_names.size() << " topics to publish"); + } + for(size_t i = 0; i < target_topics.size(); i++) { + boost::shared_ptr pub_info(new pub_info_t); + pub_info->topic_name = target_topics[i]; + if (use_fixed_rate) { + pub_info->rate = ros::Duration(fixed_rate); + } + pub_info->latched = latched; + pub_info->advertised = false; + pub_info->topic_with_header = false; + ROS_INFO_STREAM("subscribe " << pub_info->topic_name+string("_update")); + pub_info->sub = new ros::Subscriber(n.subscribe(pub_info->topic_name+string("_update"), 10, boost::bind(in_cb, _1, pub_info))); + + g_pubs.push_back(pub_info); + } + + ros::Rate rate_loop(100); + ros::Time last_updated; + + bool use_service = true; + nh.param("use_service", use_service, true); + + nh.param("debug", debug, false); + + ros::ServiceClient sc_update = n.serviceClient(string("/update"), true); + ros::Publisher pub_update; + if (!use_service) { + pub_update = n.advertise("/update", 1); + } + + if (use_periodic_rate) { + for (list::iterator it = g_pubs.begin(); + it != g_pubs.end(); + ++it) { + jsk_topic_tools::Update::Request req; + jsk_topic_tools::Update::Response res; + req.topic_name = (*it)->topic_name; + req.periodic = true; + req.periodic_rate = ros::Duration(periodic_rate); + sc_update.call(req, res); + ROS_INFO_STREAM("sending request for periodic rate publish topic:" << req.topic_name << " rate:" << req.periodic_rate); + } + } + while ( ros::ok() ) { + + if ( update_rate >= 0 && (ros::Time::now() - last_updated) > ros::Duration(update_rate) ) { + for (list::iterator it = g_pubs.begin(); + it != g_pubs.end(); + ++it) { + + if (use_service) { + jsk_topic_tools::Update::Request req; + jsk_topic_tools::Update::Response res; + req.topic_name = (*it)->topic_name; + if ( sc_update.call(req, res) == false ) { + ROS_ERROR_STREAM("calling /update (" << req.topic_name << ") fails, retry..."); + sc_update = n.serviceClient(string("/update"), true); + continue; + } + (*it)->rate = ros::Duration(res.rate); + if(debug){ + ROS_INFO_STREAM("calling /update " << req.topic_name << " .. " << res.rate); + } + } + else { + std_msgs::String msg; + msg.data = (*it)->topic_name; + pub_update.publish(msg); + if(debug){ + ROS_INFO_STREAM("publishing /update " << msg.data); + } + } + } + last_updated = ros::Time::now(); + } + + ros::spinOnce(); + rate_loop.sleep(); + } + + return 0; +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/topic_buffer_server.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/topic_buffer_server.cpp new file mode 100755 index 0000000..4358e4a --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/topic_buffer_server.cpp @@ -0,0 +1,251 @@ +#include +#include +#include +#include "ros/console.h" +#include "std_msgs/String.h" +#include "jsk_topic_tools/List.h" +#include "jsk_topic_tools/Update.h" +#include "topic_tools/shape_shifter.h" +#include "topic_tools/parse.h" +#include +#include +#include + +using std::string; +using std::vector; +using std::list; +using namespace topic_tools; + +static bool use_periodic_rate = false; + +class sub_info_t +{ +public: + boost::mutex mutex; + std::string topic_name; + ros::Subscriber *sub; + ros::Publisher pub; + bool advertised; + boost::shared_ptr msg; + ros::Time last_time_received; + ros::Duration rate; + bool periodic; + ros::Duration periodic_rate; + boost::thread periodic_thread; + void periodic_update_topic(){ + ROS_INFO_STREAM("topic " << this->topic_name << " is now published at " << 1.0/(this->periodic_rate).toSec() << " Hz periodically."); + while(ros::ok() && this->periodic){ + double sleep_sec; + { + sleep_sec = this->periodic_rate.toNSec(); + boost::mutex::scoped_lock lock(mutex); + this->pub.publish(this->msg); + } + //ROS_DEBUG_STREAM("sleep " << this->periodic_rate.toNSec() * 1e-6 << " msec."); +#if BOOST_VERSION < 106700 // for < 20.4 + boost::this_thread::sleep(boost::posix_time::milliseconds(sleep_sec * 1e-6)); +#else + boost::this_thread::sleep_for(boost::chrono::milliseconds((int)(sleep_sec * 1e-6))); +#endif + } + ROS_INFO_STREAM("topic " << this->topic_name << " is now NOT published."); + } +}; + +typedef boost::shared_ptr sub_info_ref; + +static list g_subs; + +static ros::NodeHandle *g_node = NULL; + +void in_cb(const boost::shared_ptr& msg, + boost::shared_ptr s) +{ + boost::mutex::scoped_lock lock(s->mutex); + if ( s->rate.isZero() && s->last_time_received.isZero() ) { // skip first time + } else if ( s->rate.isZero() && ! s->last_time_received.isZero() ) { // just for second time + s->rate = ros::Time::now() - s->last_time_received; + } else { + double alpha = 0.1; //N = 19 alpha = 2 / ( N + 1 ) + s->rate = (ros::Duration(alpha * (ros::Time::now() - s->last_time_received).toSec() + (1 - alpha) * s->rate.toSec())); + } + + if ( s->advertised == false ) { + s->pub = msg->advertise(*g_node, s->topic_name+string("_update"), 10); + s->advertised = true; + ROS_INFO_STREAM("advertised as " << s->topic_name+string("_update")); + } + + s->msg = msg; + + // update last_time_received + s->last_time_received = ros::Time::now(); +} + + +bool list_topic_cb(jsk_topic_tools::List::Request& req, + jsk_topic_tools::List::Response& res) +{ + ROS_INFO_STREAM("service (list) is called, returns " << g_subs.size() << " topics"); + for (list::iterator it = g_subs.begin(); + it != g_subs.end(); + ++it) + { + while( ! (*it)->advertised ) { + ROS_WARN_STREAM("service (list) waiting.. " << (*it)->topic_name << " is not running yet..."); + return false; + } + res.topic_names.push_back((*it)->topic_name); + ROS_INFO_STREAM("service (list) returns res.topic_name:" << (*it)->topic_name ); + } + + return true; +} + +void update_topic_cb(const std_msgs::String::ConstPtr &msg) { + ROS_INFO_STREAM("topic (update) is called, searching from " << g_subs.size() << " topics"); + for (list::iterator it = g_subs.begin(); + it != g_subs.end(); + ++it) + { + if ( (*it)->topic_name == msg->data && (*it)->advertised == true ) { + if (! (*it)->advertised ) { + ROS_WARN_STREAM("topic (update) " << (*it)->topic_name << " is not running yet..."); + continue; + } + ROS_INFO_STREAM("topic (update) " << (*it)->topic_name << " running at " << 1.0/((*it)->rate).toSec() << " Hz"); + (*it)->pub.publish((*it)->msg); + ROS_INFO_STREAM("topic (update) is called, req.topic:" << msg->data); + return; + } + } + ROS_ERROR_STREAM("could not find topic named " << msg->data ); +} + +bool update_topic_cb(jsk_topic_tools::Update::Request& req, + jsk_topic_tools::Update::Response& res) +{ + + ROS_INFO_STREAM("service (update) is called, searching from " << g_subs.size() << " topics"); + for (list::iterator it = g_subs.begin(); + it != g_subs.end(); + ++it) + { + if ( (*it)->topic_name == req.topic_name && (*it)->advertised == true ) { + if (! (*it)->advertised ) { + ROS_WARN_STREAM("service (update) " << (*it)->topic_name << " is not running yet..."); + continue; + } + if (req.periodic && ! (*it)->periodic) { + // start periodic publish thread + if (req.periodic_rate > (*it)->rate) { + (*it)->periodic = true; + (*it)->periodic_rate = ros::Duration(req.periodic_rate); + (*it)->periodic_thread = boost::thread(boost::bind(&sub_info_t::periodic_update_topic, &(**it))); + res.rate = (*it)->rate.toSec(); + ROS_INFO_STREAM("periodic publish of topic is started in the new thread. topic:" << (*it)->topic_name << " rate:" << (*it)->periodic_rate); + return true; + } else { + ROS_ERROR_STREAM("Invalid periodic rate is set at " << (*it)->topic_name << ". rate must be 0.0 < " << 1.0/req.periodic_rate.toSec() << " < " << 1.0/((*it)->rate).toSec()); + return false; + } + } else if (! req.periodic && (*it)->periodic) { + // stop periodic publish thread + (*it)->periodic = false; + ((*it)->periodic_thread).join(); + res.rate = 0.0; + ROS_INFO_STREAM("periodic publish of topic " << (*it)->topic_name << " is now stopped."); + return true; + } else if (req.periodic) { + if (req.periodic_rate > (*it)->rate) { + (*it)->periodic = true; + (*it)->periodic_rate = ros::Duration(req.periodic_rate); + ROS_INFO_STREAM("periodic publish of topic is started in the existing thread. topic:" << (*it)->topic_name << " rate:" << (*it)->periodic_rate); + return true; + } else { + ROS_ERROR_STREAM("Invalid periodic rate is set at " << (*it)->topic_name << ". rate must be 0.0 < " << 1.0/req.periodic_rate.toSec() << " < " << 1.0/((*it)->rate).toSec()); + return false; + } + } else { + // single publish + ROS_INFO_STREAM("service (update) " << (*it)->topic_name << " running at " << 1.0/((*it)->rate).toSec() << " Hz"); + (*it)->pub.publish((*it)->msg); + res.rate = (*it)->rate.toSec(); + ROS_INFO_STREAM("service (update) is called, req.topic:" << req.topic_name << ", res.rate " << res.rate); + return true; + } + } + } + ROS_ERROR_STREAM("could not find topic named " << req.topic_name ); + return false; +} + + +int main(int argc, char **argv) +{ + vector args; + ros::removeROSArgs(argc, (const char**)argv, args); + + if (args.size() < 2) + { + printf("\nusage: topic_buffer_Server IN_TOPIC1 [IN_TOPIC2 [...]]\n\n"); + return 1; + } + + ros::init(argc, argv, "topic_buffer_server"); + vector topics; + for (unsigned int i = 1; i < args.size(); i++) + topics.push_back(args[i]); + + ros::NodeHandle n; + ros::NodeHandle nh("~"); + + g_node = &n; + + double periodic_rate = 0.1; // 10Hz + if (nh.hasParam("periodic_rate")) { + use_periodic_rate = true; + nh.param ("periodic_rate", periodic_rate, 0.1); + ROS_INFO("use periodic rate = %f", periodic_rate); + } + + for (size_t i = 0; i < topics.size(); i++) + { + //sub_info_t sub_info; + boost::shared_ptr sub_info(new sub_info_t); + sub_info->topic_name = ros::names::resolve(topics[i]); + sub_info->last_time_received = ros::Time(0); + sub_info->rate = ros::Duration(0); + sub_info->advertised = false; + sub_info->periodic = false; + ROS_INFO_STREAM("subscribe " << sub_info->topic_name); + sub_info->sub = new ros::Subscriber(n.subscribe(sub_info->topic_name, 10, boost::bind(in_cb, _1, sub_info))); + + // waiting for all topics are publisherd + while (sub_info->sub->getNumPublishers() == 0 ) { + ros::Duration(1.0).sleep(); + ROS_WARN_STREAM("wait for " << sub_info->topic_name << " ... " << i << "/" << topics.size()); + } + + g_subs.push_back(sub_info); + } + ROS_INFO_STREAM("setup done, subscribed " << topics.size() << " topics"); + + if(use_periodic_rate) { + for (list::iterator it = g_subs.begin(); it != g_subs.end(); ++it) { + (*it)->periodic = true; + (*it)->periodic_rate = ros::Duration(periodic_rate); + (*it)->periodic_thread = boost::thread(boost::bind(&sub_info_t::periodic_update_topic, &(**it))); + ROS_INFO_STREAM("periodic publish of topic is started in the new thread. topic:" << (*it)->topic_name << " rate:" << (*it)->periodic_rate); + } + } + + // New service + ros::ServiceServer ss_list = nh.advertiseService(string("list"), list_topic_cb); + + ros::ServiceServer ss_update = nh.advertiseService(string("update"), update_topic_cb); + ros::Subscriber ss_update_sub = nh.subscribe("update", 1, update_topic_cb); + ros::spin(); + + return 0; +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/transform_merger.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/transform_merger.cpp new file mode 100755 index 0000000..f1542c8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/transform_merger.cpp @@ -0,0 +1,75 @@ +#include +#include +#include +#include +#include +#include +#include + +std::map tf_map; + +void transformCallback(const tf::tfMessage::ConstPtr& msg){ + std::pair::iterator, bool> ret; + for(int i=0; itransforms.size(); i++){ + geometry_msgs::TransformStamped tfs = msg->transforms[i]; + ret = tf_map.insert( std::map::value_type(tfs.child_frame_id, tfs) ); + + //update value + if(!ret.second){ + tf_map[tfs.child_frame_id] = tfs; + } + } +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "transform_merger"); + ros::NodeHandle n; + ros::NodeHandle pnh_("~"); + tf::TransformListener tfl_; + + ros::Publisher pub_ = pnh_.advertise ("/tf_merged", 1); + ros::Subscriber sub_ = pnh_.subscribe + ("/tf", 100, transformCallback); + + double loop_hz; + pnh_.param("loop_hz", loop_hz, 1.0 ); + ROS_INFO_STREAM("loop_hz:" << loop_hz); + + ros::Rate rate(loop_hz); + + // set ignore tf + std::vector< std::string > ignore_tf_vec; + + + XmlRpc::XmlRpcValue v; + pnh_.param("transform_config", v, v); + if(v.hasMember("ignore_tf")){ + XmlRpc::XmlRpcValue ignore_v = v["ignore_tf"]; + ROS_INFO_STREAM("ignore following transform"); + for(int i=0; i< ignore_v.size(); i++){ + ignore_tf_vec.push_back(ignore_v[i]); + ROS_INFO_STREAM("ignore: " << ignore_v[i]); + } + } + + + while (ros::ok()) + { + tf::tfMessage tf_msg; + std::map::iterator it = tf_map.begin(); + while( it != tf_map.end() ) + { + + std::vector< std::string >::iterator ignore_it = find( ignore_tf_vec.begin(), ignore_tf_vec.end(), it->second.child_frame_id ); + if(ignore_it == ignore_tf_vec.end()){ + tf_msg.transforms.push_back( it->second ); + } + ++it; + } + pub_.publish(tf_msg); + tf_map.clear(); + rate.sleep(); + ros::spinOnce(); + } +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/vital_checker.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/vital_checker.cpp new file mode 100755 index 0000000..39501fc --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/vital_checker.cpp @@ -0,0 +1,84 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "jsk_topic_tools/vital_checker.h" + +namespace jsk_topic_tools +{ + VitalChecker::VitalChecker(const double dead_sec): + dead_sec_(dead_sec) + { + + } + + VitalChecker::~VitalChecker() + { + + } + + void VitalChecker::poke() + { + boost::mutex::scoped_lock lock(mutex_); + last_alive_time_ = ros::Time::now(); + } + + double VitalChecker::lastAliveTimeRelative() + { + return (ros::Time::now() - last_alive_time_).toSec(); + } + + bool VitalChecker::isAlive() + { + bool ret; + { + boost::mutex::scoped_lock lock(mutex_); + ret = (ros::Time::now() - last_alive_time_).toSec() < dead_sec_; + } + return ret; + } + + double VitalChecker::deadSec() + { + return dead_sec_; + } + + void VitalChecker::registerStatInfo(diagnostic_updater::DiagnosticStatusWrapper &stat, const std::string& prefix) + { + boost::mutex::scoped_lock lock(mutex_); + stat.add(prefix, + (boost::format("%f sec before") % lastAliveTimeRelative()).str()); + } + +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/src/vital_checker_nodelet.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/src/vital_checker_nodelet.cpp new file mode 100755 index 0000000..1e35214 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/src/vital_checker_nodelet.cpp @@ -0,0 +1,91 @@ +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + + +#include "jsk_topic_tools/vital_checker_nodelet.h" + +namespace jsk_topic_tools +{ + void VitalCheckerNodelet::onInit() + { + DiagnosticNodelet::onInit(); + if (pnh_->hasParam("title")) { + pnh_->getParam("title", title_); + } + else { + NODELET_FATAL("no ~title is specified"); + return; + } + sub_ = pnh_->subscribe( + "input", 1, + &VitalCheckerNodelet::inputCallback, this); + } + + void VitalCheckerNodelet::subscribe() + { + + } + + void VitalCheckerNodelet::unsubscribe() + { + + } + + void VitalCheckerNodelet::inputCallback( + const boost::shared_ptr& msg) + { + boost::mutex::scoped_lock lock(mutex_); + vital_checker_->poke(); + } + + void VitalCheckerNodelet::updateDiagnostic( + diagnostic_updater::DiagnosticStatusWrapper &stat) + { + boost::mutex::scoped_lock lock(mutex_); + if (vital_checker_->isAlive()) { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, + title_ + " is running"); + stat.add("last alive time", vital_checker_->lastAliveTimeRelative()); + } + else { + addDiagnosticErrorSummary( + title_, vital_checker_, stat); + } + } +} + +#include +typedef jsk_topic_tools::VitalCheckerNodelet VitalCheckerNodelet; +PLUGINLIB_EXPORT_CLASS(VitalCheckerNodelet, nodelet::Nodelet) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/srv/ChangeTopic.srv b/ros_drivers/jsk_rviz/jsk_topic_tools/srv/ChangeTopic.srv new file mode 100755 index 0000000..4e5e3ca --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/srv/ChangeTopic.srv @@ -0,0 +1,2 @@ +string topic +--- diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/srv/List.srv b/ros_drivers/jsk_rviz/jsk_topic_tools/srv/List.srv new file mode 100755 index 0000000..4c724c0 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/srv/List.srv @@ -0,0 +1,2 @@ +--- +string[] topic_names diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/srv/PassthroughDuration.srv b/ros_drivers/jsk_rviz/jsk_topic_tools/srv/PassthroughDuration.srv new file mode 100755 index 0000000..4744223 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/srv/PassthroughDuration.srv @@ -0,0 +1,2 @@ +duration duration +--- diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/srv/Update.srv b/ros_drivers/jsk_rviz/jsk_topic_tools/srv/Update.srv new file mode 100755 index 0000000..efd688b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/srv/Update.srv @@ -0,0 +1,6 @@ +string topic_name +bool periodic # when true is set, periodic publish starts. when false, it stops. do nothing when this is empty. +duration periodic_rate # when periodic is true, periodic publish starts at this rate. +--- +float64 rate + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/kill_server_and_check_close_wait.py b/ros_drivers/jsk_rviz/jsk_topic_tools/test/kill_server_and_check_close_wait.py new file mode 100755 index 0000000..f798eef --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/kill_server_and_check_close_wait.py @@ -0,0 +1,49 @@ +#!/usr/bin/env python + + +import sys +import rospy +import subprocess +import unittest +import rostest + +class CloseWaitCheck(unittest.TestCase): + def __init__(self, *args): + super(CloseWaitCheck, self).__init__(*args) + rospy.init_node("ClosWaitCheck") + def setUp(self): + True + + # this works for hydro, but not for groovy https://github.com/ros/ros_comm/issues/325 + @unittest.expectedFailure + def test_close_wait_check(self): + rospy.loginfo("check close_wait...") + num = 0 + for i in range(5): + num = int(subprocess.check_output("lsof -nl | grep rosmaster | grep CLOSE_WAIT | wc -l", shell=True)) + rospy.loginfo("number of close_wait is ... %d (%d)"%(num, i)) + self.assert_(num>1, "some socket is not closed, found CLOSE_WAIT") + subprocess.call("rosnode kill sample_topic_buffer_server", shell=True) + rospy.sleep(rospy.Duration(1.0)) + return True + + + +if __name__ == '__main__': + try: + rostest.run('rostest', "CloseWaitCheck", CloseWaitCheck, sys.argv) + except KeyboardInterrupt as e: + pass + print("exiting") + +# while [ t ]; do +# NUM_OF_PROCESS=`lsof -nl | grep rosmaster | grep CLOSE_WAIT | wc -l` +# echo $NUM_OF_PROCESS +# if [ $NUM_OF_PROCESS != 0 ]; then +# exit -1 +# fi +# sleep 5 +# rosnode kill sample_topic_buffer_server +# done + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_block.py b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_block.py new file mode 100755 index 0000000..0740079 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_block.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python + +import unittest + +import rospy + +try: + from std_msgs.msg import String +except: + import roslib + roslib.load_manifest("jsk_topic_tools") + from std_msgs.msg import String + + +PKG = 'jsk_topic_tools' +NAME = 'test_block' + + +class TestBlock(unittest.TestCase): + input_msg = None + subscriber = None + + def __init__(self, *args): + super(TestBlock, self).__init__(*args) + rospy.init_node(NAME) + self.output_original_pub = rospy.Publisher( + 'output_original', String, queue_size=1) + self.input_original_sub = rospy.Subscriber( + 'input_original', String, self.original_topic_cb) + + def original_topic_cb(self, msg): + self.running = True + self.output_original_pub.publish(msg) + + def reset_subscriber(self): + if self.subscriber: + self.subscriber.unregister() + self.subscriber = None + self.input_msg = None + self.running = False + + def test_subscribe(self): + self.reset_subscriber() + self.subscriber = rospy.Subscriber("output", String, self.cb) + rospy.loginfo("wait 10 seconds...") + rospy.sleep(10) + self.assertFalse(self.input_msg is None) + + def cb(self, msg): + self.input_msg = msg + + def test_no_subscribe(self): + self.reset_subscriber() + # do not subscribe + rospy.loginfo("wait 10 seconds...") + rospy.sleep(10) + self.assertTrue(self.input_msg is None) + + +if __name__ == "__main__": + import rostest + rostest.rosrun(PKG, NAME, TestBlock) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_block.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_block.test new file mode 100755 index 0000000..b63c90c --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_block.test @@ -0,0 +1,23 @@ + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_connection.py b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_connection.py new file mode 100755 index 0000000..dedc143 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_connection.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python + +import os +import sys + +import unittest + +import rosgraph +import rospy +import rosmsg +import roslib + + +PKG = 'jsk_topic_tools' +NAME = 'test_connection' + + +class TestConnection(unittest.TestCase): + + def __init__(self, *args): + super(TestConnection, self).__init__(*args) + rospy.init_node(NAME) + + def test_no_subscribers(self): + check_connected_topics = rospy.get_param('~check_connected_topics') + master = rosgraph.Master('/test_connection') + _, sub, _ = master.getSystemState() + # Check assumed topics are not there + master = rosgraph.Master('test_connection') + _, subscriptions, _ = master.getSystemState() + for check_topic in check_connected_topics: + for topic, sub_node in subscriptions: + if topic == rospy.get_namespace() + check_topic: + raise ValueError('Found topic: {}'.format(check_topic)) + + def test_subscriber_appears_disappears(self): + topic_type = rospy.get_param('~input_topic_type') + check_connected_topics = rospy.get_param('~check_connected_topics') + wait_time = rospy.get_param('~wait_for_connection', 0) + msg_class = roslib.message.get_message_class(topic_type) + # Subscribe topic and bond connection + sub = rospy.Subscriber('~input', msg_class, + self._cb_test_subscriber_appears_disappears) + print('Waiting for connection for {} sec.'.format(wait_time)) + rospy.sleep(wait_time) + # Check assumed topics are there + master = rosgraph.Master('test_connection') + _, subscriptions, _ = master.getSystemState() + for check_topic in check_connected_topics: + for topic, sub_node in subscriptions: + if topic == rospy.get_namespace() + check_topic: + break + else: + raise ValueError('Not found topic: {}'.format(check_topic)) + sub.unregister() + # FIXME: below test won't pass on hydro + ROS_DISTRO = os.environ.get('ROS_DISTRO', 'indigo') + if ord(ROS_DISTRO[0]) < ord('i'): + sys.stderr.write('WARNING: running on rosdistro %s, and skipping ' + 'test for disconnection.\n' % ROS_DISTRO) + return + rospy.sleep(1) # wait for disconnection + # Check specified topics do not exist + _, subscriptions, _ = master.getSystemState() + for check_topic in check_connected_topics: + for topic, sub_node in subscriptions: + if topic == rospy.get_namespace() + check_topic: + raise ValueError('Found topic: {}'.format(check_topic)) + + def _cb_test_subscriber_appears_disappears(self, msg): + pass + + +if __name__ == "__main__": + import rostest + rostest.rosrun(PKG, NAME, TestConnection) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_connection_based_nodelet.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_connection_based_nodelet.test new file mode 100755 index 0000000..3a1e30f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_connection_based_nodelet.test @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + input_topic_type: std_msgs/String + check_connected_topics: [string_relay_1/output, string_relay_2/output, string_relay_3/output] + wait_for_connection: 3 + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_connection_based_transport.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_connection_based_transport.test new file mode 100755 index 0000000..cd8037b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_connection_based_transport.test @@ -0,0 +1,23 @@ + + + + + + + + + + + input_topic_type: sensor_msgs/Image + check_connected_topics: [simple_image_transport/output, input] + wait_for_connection: 10 + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_hz_measure.py b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_hz_measure.py new file mode 100755 index 0000000..a66a5ed --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_hz_measure.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import unittest + +import numpy as np + +import rospy +try: + from std_msgs.msg import Float32 +except: + import roslib + roslib.load_manifest("jsk_topic_tools") + from std_msgs.msg import Float32 + + +PKG = 'jsk_topic_tools' +NAME = 'test_hz_measure' + + +def eps_equal(a, b, err=0.001): + return abs(a - b) < err + + +class TestHzMeasure(unittest.TestCase): + + def __init__(self, *args): + super(TestHzMeasure, self).__init__(*args) + self.hz_msg = None + rospy.init_node(NAME) + rospy.Subscriber('/hz/output', Float32, self.topic_cb) + + def topic_cb(self, msg): + self.hz_msg = msg + + def test_hz(self): + while self.hz_msg is None: + rospy.loginfo('wait for msg...') + if not rospy.is_shutdown(): + rospy.sleep(5.0) # wait for 5 sec + # should be 30Hz + msgs = [] + while len(msgs) < 30: + msgs.append(self.hz_msg.data) + # rospy.loginfo('hz of msg %s'%hz_msg.data) + rospy.sleep(0.1) + hz = np.median(msgs) + rospy.loginfo('average hz of msg %s' % np.mean(msgs)) + rospy.loginfo('median hz of msg %s' % hz) + self.assertTrue(eps_equal(hz, 30, 1)) + + +if __name__ == "__main__": + import rostest + rostest.rosrun(PKG, NAME, TestHzMeasure) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_hz_measure.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_hz_measure.test new file mode 100755 index 0000000..6ff6208 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_hz_measure.test @@ -0,0 +1,22 @@ + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_lightweight_throttle.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_lightweight_throttle.test new file mode 100755 index 0000000..34be04d --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_lightweight_throttle.test @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_log_utils.launch b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_log_utils.launch new file mode 100755 index 0000000..8eae6e1 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_log_utils.launch @@ -0,0 +1,12 @@ + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_nodelet_log_utils.cpp b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_nodelet_log_utils.cpp new file mode 100755 index 0000000..e5dcd82 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_nodelet_log_utils.cpp @@ -0,0 +1,28 @@ +/* + * test_nodelet_log.cpp + * Author: Yuki Furuta + */ + +#include +#include +#include +#include +#include +#include + +TEST(JSKNodeletLog, TEST_LOG) +{ + nodelet::Loader n(false); + ros::M_string remappings; + std::string nodelet_name = ros::this_node::getName(); + std::string nodelet_type = "jsk_topic_tools_test/LogUtils"; + std::vector argv; + EXPECT_TRUE(n.load(nodelet_name, nodelet_type, remappings, argv)); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "test_nodelet_log_utils"); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_nodelet_log_utils.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_nodelet_log_utils.test new file mode 100755 index 0000000..afaffec --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_nodelet_log_utils.test @@ -0,0 +1,3 @@ + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_pose_stamped_publisher.py b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_pose_stamped_publisher.py new file mode 100755 index 0000000..0d2926b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_pose_stamped_publisher.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python +# -*-coding: utf-8 -*- + +import unittest +import rospy +from numpy import pi, sqrt, cos, sin +from geometry_msgs.msg import PoseStamped + +PKG = 'jsk_topic_tools' +NAME = 'test_pose_stamped_publisher' + +class TestPoseStampedPublisher(unittest.TestCase): + def __init__(self, *args): + super(TestPoseStampedPublisher, self).__init__(*args) + rospy.init_node(NAME) + self.poses = {} + + def test_pose(self): + ''' + Rotation represented by (roll, pitch, yaw) = (-pi/2, pi/2, pi/2) [rad] in static xyz + is equivalent to the pi[rad] rotation around the axis (-1/sqrt(2), 0, 1/sqrt(2)). + Rotation represented by the angle theta[rad] around the axis r=(rx, ry, rz) is represented by + Quaternion q = (rx*sin(thta/2), ry*sin(theta/2), rz*sin(theta/2), cos(theta/2)). + see http://docs.ros.org/jade/api/tf/html/python/transformations.html + ''' + topic_name = 'pose' + rospy.Subscriber(topic_name, PoseStamped, lambda msg: self.callback(topic_name, msg)) + if not self.wait_until_topic_ready(topic_name): + raise ValueError('Not Found Topic: {}'.format(topic_name)) + self.assert_topic(topic_name, [1,2,3], [-1./sqrt(2)*sin(pi/2), 0*sin(pi/2), 1./sqrt(2)*sin(pi/2), cos(pi/2)], 'world') + + def callback(self, topic_name, msg): + self.poses[topic_name] = msg + + def wait_until_topic_ready(self, topic_name, timeout=3): + """Wait until the topic is subscribed + Args: + topic_name (str): Name of topic to subscribe. + timeout (float): Duration to timeout when the topic won't be subscribed. + Returns: + bool: if the topic has been subscribed. + """ + start = rospy.Time.now() + while (self.poses.get(topic_name) is None) and (rospy.Time.now() - start < rospy.Duration(timeout)): + rospy.sleep(1) + return self.poses.get(topic_name) is not None + + def assert_topic(self, topic_name, p, q, frame_id): + """Assert the data in topic is equal to the given data. + Args: + topic_name (str): Name of the topic to check. + p ([float, float, float]): Expected Position + q ([float, float, float, float]): Expected Quaternion + frame_id (str): Expected frame_id + """ + self.assertEqual(self.poses[topic_name].header.frame_id, frame_id) + self.assertAlmostEqual(self.poses[topic_name].pose.position.x, p[0]) + self.assertAlmostEqual(self.poses[topic_name].pose.position.y, p[1]) + self.assertAlmostEqual(self.poses[topic_name].pose.position.z, p[2]) + self.assertAlmostEqual(self.poses[topic_name].pose.orientation.x, q[0]) + self.assertAlmostEqual(self.poses[topic_name].pose.orientation.y, q[1]) + self.assertAlmostEqual(self.poses[topic_name].pose.orientation.z, q[2]) + self.assertAlmostEqual(self.poses[topic_name].pose.orientation.w, q[3]) + self.assertAlmostEqual(q[0]**2 + q[1]**2 + q[2]**2 + q[3]**2, 1) + +if __name__=='__main__': + import rostest + rostest.rosrun(PKG, NAME, TestPoseStampedPublisher) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_pose_stamped_publisher.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_pose_stamped_publisher.test new file mode 100755 index 0000000..1160353 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_pose_stamped_publisher.test @@ -0,0 +1,18 @@ + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_python_log_utils.py b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_python_log_utils.py new file mode 100755 index 0000000..82321a4 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_python_log_utils.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import cStringIO as StringIO +import sys +import unittest + +from jsk_topic_tools.log_utils import LoggingThrottle +import rospy + + +PKG = 'jsk_topic_tools' +NAME = 'test_python_log_utils' + + +class TestPythonLogUtils(unittest.TestCase): + + def setUp(self): + rospy.init_node(NAME) + self.logging_throttle = LoggingThrottle() + + def _check(self, no_logging=False): + sys.stdout = f = StringIO.StringIO() + self.logging_throttle(id='a', logging_func=print, period=3, msg='spam') + sys.stdout = sys.__stdout__ + if no_logging: + self.assertFalse(f.getvalue(), 'spam\n') + else: + self.assertEqual(f.getvalue(), 'spam\n') + + def test_LoggingThrottle(self): + self._check() + self._check(no_logging=True) + rospy.sleep(rospy.Duration(3)) + self._check() + + +if __name__ == '__main__': + import rostest + rostest.rosrun(PKG, NAME, TestPythonLogUtils) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_python_log_utils.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_python_log_utils.test new file mode 100755 index 0000000..dc902f8 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_python_log_utils.test @@ -0,0 +1,8 @@ + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_standalone_complexed_nodelet.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_standalone_complexed_nodelet.test new file mode 100755 index 0000000..8ad4406 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_standalone_complexed_nodelet.test @@ -0,0 +1,50 @@ + + + + + + + + nodelets: + - name: relay1 + type: jsk_topic_tools/Relay + remappings: + - from: ~input + to: /chatter + - name: mux1 + type: jsk_topic_tools/MUX + params: + - name: topics + value: ['/chatter'] + - name: mux2 + type: jsk_topic_tools/MUX + params: + - name: dummy + value: hogehoge + + + + mux2/topics: ['/chatter2'] + + + + + topics: + - name: /chatter + timeout: 10 + - name: /chatter2 + timeout: 10 + - name: /relay1/output + timeout: 10 + - name: /mux1/selected + timeout: 10 + - name: /mux1/output + timeout: 10 + - name: /mux2/selected + timeout: 10 + - name: /mux2/output + timeout: 10 + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_stealth_relay.py b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_stealth_relay.py new file mode 100755 index 0000000..e02e985 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_stealth_relay.py @@ -0,0 +1,62 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# Author: Furushchev + +from dynamic_reconfigure.client import Client +import rospy +import unittest +from std_msgs.msg import String + + +class TestStealthRelay(unittest.TestCase): + def out_callback(self, msg): + self.out_msg_count += 1 + + def monitor_callback(self, msg): + self.monitor_msg_count += 1 + + def test_stealth_relay(self): + self.out_msg_count = 0 + self.monitor_msg_count = 0 + sub_out = rospy.Subscriber("/stealth_relay/output", String, + self.out_callback, queue_size=1) + for i in range(5): + if sub_out.get_num_connections() == 0: + rospy.sleep(1) + self.assertTrue(sub_out.get_num_connections() > 0, + "output topic of stealth relay was not advertised") + + rospy.sleep(5) + self.assertEqual(self.out_msg_count, 0, + "stealth relay node published message unexpectedly.") + + sub_monitor = rospy.Subscriber("/original_topic/relay", String, + self.monitor_callback, queue_size=1) + rospy.loginfo("subscribed monitor topic") + rospy.sleep(5) # monitoring topic is subscribed for 5 seconds. + cnt = self.out_msg_count + sub_monitor.unregister() + rospy.loginfo("unsubscribed monitor topic") + + self.assertGreater(self.monitor_msg_count, 0, + "monitoring topic is not published") + self.assertGreater(self.out_msg_count, 0, + "output topic of stealth relay was not published even monitoring topic is published") + rospy.sleep(5) + self.assertLess(abs(cnt - self.out_msg_count), 40, + "It seems stealth relay node did not stop subscribing even if monitoring topic is not published any more") + + # FIXME: updating dynamic reconfigure never ends on travis? + # client = Client("stealth_relay", timeout=3) + # rospy.loginfo("setting 'enable_monitor' to False") + # client.update_configuration({'enable_monitor': False, 'monitor_topic': ''}) + # cnt = self.out_msg_count + # rospy.sleep(5) + # self.assertGreater(abs(self.out_msg_count - cnt), 40, + # "No output topic published even if 'enable_monitor' is set to False") + + +if __name__ == '__main__': + import rostest + rospy.init_node("test_stealth_relay") + rostest.rosrun("jsk_topic_tools", "test_stealth_relay", TestStealthRelay) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_stealth_relay.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_stealth_relay.test new file mode 100755 index 0000000..0125b1b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_stealth_relay.test @@ -0,0 +1,21 @@ + + + + + lazy: true + + + + + + + + monitoring_topic: /original_topic/relay + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_synchronized_throttle.py b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_synchronized_throttle.py new file mode 100755 index 0000000..13b7651 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_synchronized_throttle.py @@ -0,0 +1,121 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- +# Author: furushchev + +import rospy +import unittest +from geometry_msgs.msg import PoseStamped +import message_filters as MF + + +class TestSynchronizedThrottle(unittest.TestCase): + def setUp(self): + self.pub = rospy.Publisher("/baz", PoseStamped, queue_size=1) + rospy.sleep(1) + self.subs = [] + self.start = rospy.Time(0) + self.duration = rospy.Duration(5) + self.count = 0 + self.max_diff = 100000 + self.timeout = rospy.Duration(10) + self.finished = False + + def tearDown(self): + for s in self.subs: + s.unregister() + + def throttle_cb(self, *msgs): + now = rospy.Time.now() + if self.count == 0: + self.start = now + if now - self.start > self.duration: + self.finished = True + if not self.finished: + self.count += 1 + msgs = sorted(list(msgs), key=lambda m: m.header.stamp) + diff = msgs[-1].header.stamp - msgs[0].header.stamp + self.max_diff = diff.to_sec() + + def wait(self): + start = rospy.Time.now() + while True: + rospy.sleep(0.1) + if rospy.is_shutdown(): + return False + if self.finished: + return True + if rospy.Time.now() - start > self.timeout: + return False + + def sync_baz_cb(self, msg): + rospy.logdebug("baz") + self.pub.publish(msg) + + def delay_baz_cb(self, msg): + rospy.logdebug("delay") + msg.header.stamp = rospy.Time.from_sec(msg.header.stamp.to_sec() - 0.001) + self.pub.publish(msg) + + def test_sync(self): + sub = rospy.Subscriber("/foo", PoseStamped, self.sync_baz_cb) + subs = [ + MF.Subscriber("/foo/sync", PoseStamped, queue_size=1), + MF.Subscriber("/bar/sync", PoseStamped, queue_size=1), + MF.Subscriber("/baz/sync", PoseStamped, queue_size=1), + ] + sync = MF.TimeSynchronizer(subs, 5) + sync.registerCallback(self.throttle_cb) + + self.subs += [sub] + self.subs += subs + + self.assertTrue(self.wait(), "Wait for throttled topic") + self.assertAlmostEqual(self.count, 5, delta=1) + self.assertEqual(self.max_diff, 0.0) + + def test_sync_delay(self): + self.subs += [ + rospy.Subscriber("/foo", PoseStamped, self.delay_baz_cb), + rospy.Subscriber("/baz/sync", PoseStamped, self.throttle_cb), + ] + self.assertFalse(self.wait(), "Wait for throttled topic") + + def test_async(self): + sub = rospy.Subscriber("/foo", PoseStamped, self.sync_baz_cb) + subs = [ + MF.Subscriber("/foo/async", PoseStamped, queue_size=1), + MF.Subscriber("/bar/async", PoseStamped, queue_size=1), + MF.Subscriber("/baz/async", PoseStamped, queue_size=1), + ] + sync = MF.ApproximateTimeSynchronizer(subs, queue_size=10, slop=0.01) + sync.registerCallback(self.throttle_cb) + + self.subs += [sub] + self.subs += subs + + self.assertTrue(self.wait(), "Wait for throttled topic") + self.assertAlmostEqual(self.count, 5, delta=1) + self.assertEqual(self.max_diff, 0.0) + + def test_async_delay(self): + sub = rospy.Subscriber("/foo", PoseStamped, self.delay_baz_cb) + subs = [ + MF.Subscriber("/foo/async", PoseStamped, queue_size=1), + MF.Subscriber("/bar/async", PoseStamped, queue_size=1), + MF.Subscriber("/baz/async", PoseStamped, queue_size=1), + ] + sync = MF.ApproximateTimeSynchronizer(subs, queue_size=10, slop=0.01) + sync.registerCallback(self.throttle_cb) + + self.subs += [sub] + self.subs += subs + + self.assertTrue(self.wait(), "Wait for throttled topic") + self.assertAlmostEqual(self.count, 5, delta=1) + self.assertLess(self.max_diff, 0.002) + + +if __name__ == '__main__': + import rostest + rospy.init_node("test_synchronized_throttle") + rostest.rosrun("jsk_topic_tools", "test_synchronized_throttle", TestSynchronizedThrottle) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_synchronized_throttle.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_synchronized_throttle.test new file mode 100755 index 0000000..2303e19 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_synchronized_throttle.test @@ -0,0 +1,40 @@ + + + + + + + + approximate_sync: false + update_rate: 1.0 + suffix: sync + topics: + - /foo + - /bar + - /baz + + + + + + approximate_sync: true + update_rate: 1.0 + suffix: async + topics: + - /foo + - /bar + - /baz + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_tf_to_pose.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_tf_to_pose.test new file mode 100755 index 0000000..26aaa8f --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_tf_to_pose.test @@ -0,0 +1,24 @@ + + + + + + + src_frame: base_link + dst_frame: head_link + + + + + + topic_0: /tf_to_pose/output + timeout_0: 10 + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer.test new file mode 100755 index 0000000..264eba3 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer.test @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_close_wait.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_close_wait.test new file mode 100755 index 0000000..00d0571 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_close_wait.test @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_fixed_rate.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_fixed_rate.test new file mode 100755 index 0000000..82a7e55 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_fixed_rate.test @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_fixed_rate_and_update_rate.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_fixed_rate_and_update_rate.test new file mode 100755 index 0000000..7883f4e --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_fixed_rate_and_update_rate.test @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_update_rate.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_update_rate.test new file mode 100755 index 0000000..5e99bdd --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_buffer_update_rate.test @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_compare.py b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_compare.py new file mode 100755 index 0000000..bed2798 --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_compare.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python +import os +import sys + +import unittest + +try: + from jsk_topic_tools.compare import ROSTopicCompare +except ImportError: + import roslib + roslib.load_manifest('jsk_topic_tools') + from jsk_topic_tools.compare import ROSTopicCompare + +import rospy +import time + + +def eps_equal(a, b, err=0.001): + return abs(a - b) < err + + +class TestTopicCompare(unittest.TestCase): + """Subscribing three topics + * /origin + * /origin (the same topic) + * /half + """ + + def test_same_topic(self): + while not tc.isAllTopicAvailable(20): + rospy.sleep(1) + print(tc.getTotalBytes(0) / (tc.getEndTime(0) - tc.getStartTime(0))) + print(tc.getTotalBytes(1) / (tc.getEndTime(1) - tc.getStartTime(1))) + self.assertTrue(eps_equal(tc.getBandwidth(0), tc.getBandwidth(1), 20)) + + def test_half_topic(self): + while not tc.isAllTopicAvailable(20): + rospy.sleep(1) + print(tc.getTotalBytes(0) / (tc.getEndTime(0) - tc.getStartTime(0))) + print(tc.getTotalBytes(2) / (tc.getEndTime(2) - tc.getStartTime(2))) + self.assertTrue(eps_equal(tc.getBandwidth(0), 2 * tc.getBandwidth(2), 20)) + + +if __name__ == "__main__": + import rostest + rospy.init_node("test_topic_compare") + tc = ROSTopicCompare() + tc.registerTopic("/origin") + tc.registerTopic("/origin") + tc.registerTopic("/half") + rostest.rosrun("jsk_topic_tools", "test_topic_compare", TestTopicCompare) diff --git a/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_compare.test b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_compare.test new file mode 100755 index 0000000..70b355b --- /dev/null +++ b/ros_drivers/jsk_rviz/jsk_topic_tools/test/test_topic_compare.test @@ -0,0 +1,14 @@ + + + + + diff --git a/ros_drivers/jsk_rviz/people_msgs/CHANGELOG.rst b/ros_drivers/jsk_rviz/people_msgs/CHANGELOG.rst new file mode 100755 index 0000000..997e998 --- /dev/null +++ b/ros_drivers/jsk_rviz/people_msgs/CHANGELOG.rst @@ -0,0 +1,28 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package people_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.2.0 (2019-08-19) +------------------ +* Document name field in PositionMeasurement (`#75 `_) +* Cleanup (`#73 `_) + * Fill in implied packages + * Misc Whitespace cleanup +* Contributors: David V. Lu!!, Shane Loretz + +1.0.9 (2015-09-01) +------------------ + +1.0.8 (2014-12-10) +------------------ + +1.0.3 (2014-03-01) +------------------ + +1.0.2 (2014-02-28) +------------------ + +1.0.1 (2014-02-27) +------------------ +* catkinizing +* Contributors: Dan Lazewatsky diff --git a/ros_drivers/jsk_rviz/people_msgs/CMakeLists.txt b/ros_drivers/jsk_rviz/people_msgs/CMakeLists.txt new file mode 100755 index 0000000..a8fcd9c --- /dev/null +++ b/ros_drivers/jsk_rviz/people_msgs/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 2.8.3) +project(people_msgs) +find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation std_msgs) + +add_message_files( + DIRECTORY msg + FILES + People.msg + Person.msg + PersonStamped.msg + PositionMeasurement.msg + PositionMeasurementArray.msg +) + +generate_messages( + DEPENDENCIES geometry_msgs std_msgs +) + +catkin_package( + CATKIN_DEPENDS geometry_msgs message_runtime std_msgs +) diff --git a/ros_drivers/jsk_rviz/people_msgs/msg/People.msg b/ros_drivers/jsk_rviz/people_msgs/msg/People.msg new file mode 100755 index 0000000..6367800 --- /dev/null +++ b/ros_drivers/jsk_rviz/people_msgs/msg/People.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +people_msgs/Person[] people diff --git a/ros_drivers/jsk_rviz/people_msgs/msg/Person.msg b/ros_drivers/jsk_rviz/people_msgs/msg/Person.msg new file mode 100755 index 0000000..c3a4a52 --- /dev/null +++ b/ros_drivers/jsk_rviz/people_msgs/msg/Person.msg @@ -0,0 +1,7 @@ +string name +geometry_msgs/Point position +geometry_msgs/Point velocity +float64 reliability +string[] tagnames +string[] tags + diff --git a/ros_drivers/jsk_rviz/people_msgs/msg/PersonStamped.msg b/ros_drivers/jsk_rviz/people_msgs/msg/PersonStamped.msg new file mode 100755 index 0000000..bcf92ce --- /dev/null +++ b/ros_drivers/jsk_rviz/people_msgs/msg/PersonStamped.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +people_msgs/Person person + diff --git a/ros_drivers/jsk_rviz/people_msgs/msg/PositionMeasurement.msg b/ros_drivers/jsk_rviz/people_msgs/msg/PositionMeasurement.msg new file mode 100755 index 0000000..7b27515 --- /dev/null +++ b/ros_drivers/jsk_rviz/people_msgs/msg/PositionMeasurement.msg @@ -0,0 +1,9 @@ +std_msgs/Header header +# The name of the detector that detected the person (i.e frontalface, profileface) +string name +string object_id +geometry_msgs/Point pos +float64 reliability +float64[9] covariance +byte initialization + diff --git a/ros_drivers/jsk_rviz/people_msgs/msg/PositionMeasurementArray.msg b/ros_drivers/jsk_rviz/people_msgs/msg/PositionMeasurementArray.msg new file mode 100755 index 0000000..fef57bd --- /dev/null +++ b/ros_drivers/jsk_rviz/people_msgs/msg/PositionMeasurementArray.msg @@ -0,0 +1,8 @@ +std_msgs/Header header + +# All of the people found +people_msgs/PositionMeasurement[] people + +# The co-occurrence matrix between people +float32[] cooccurrence + diff --git a/ros_drivers/jsk_rviz/people_msgs/package.xml b/ros_drivers/jsk_rviz/people_msgs/package.xml new file mode 100755 index 0000000..6991559 --- /dev/null +++ b/ros_drivers/jsk_rviz/people_msgs/package.xml @@ -0,0 +1,18 @@ + + people_msgs + 1.4.0 + Messages used by nodes in the people stack. + Dan Lazewatsky + David V. Lu!! + + BSD + + http://ros.org/wiki/people_msgs + Caroline Pantofaru + catkin + geometry_msgs + std_msgs + message_generation + message_runtime + message_runtime + diff --git a/ros_drivers/jsk_rviz/view_controller_msgs/.travis.yml b/ros_drivers/jsk_rviz/view_controller_msgs/.travis.yml new file mode 100755 index 0000000..df48384 --- /dev/null +++ b/ros_drivers/jsk_rviz/view_controller_msgs/.travis.yml @@ -0,0 +1,46 @@ + +# this is .traivs.yml written by ./create_travis_settings.py + +# https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/devel_jobs.rst +# https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/prerelease_jobs.rst +# while this doesn't require sudo we don't want to run within a Docker container +sudo: true +dist: trusty +language: python +python: + - "3.4" +env: + global: + - JOB_PATH=/tmp/devel_job + - ABORT_ON_TEST_FAILURE=1 + matrix: + - ROS_DISTRO_NAME=indigo OS_NAME=ubuntu OS_CODE_NAME=trusty ARCH=amd64 + - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 + - ROS_DISTRO_NAME=lunar OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 + - ROS_DISTRO_NAME=melodic OS_NAME=ubuntu OS_CODE_NAME=bionic ARCH=amd64 +# matrix: +# allow_failures: +# - env: ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64 +install: + # either install the latest released version of ros_buildfarm + - pip install ros_buildfarm + # or checkout a specific branch + #- git clone -b master https://github.com/ros-infrastructure/ros_buildfarm /tmp/ros_buildfarm + #- pip install /tmp/ros_buildfarm + # checkout catkin for catkin_test_results script + - git clone https://github.com/ros/catkin /tmp/catkin + # run devel job for a ROS repository with the same name as this repo + - export REPOSITORY_NAME=`basename $TRAVIS_BUILD_DIR` + # use the code already checked out by Travis + - mkdir -p $JOB_PATH/catkin_workspace/src + - cp -R $TRAVIS_BUILD_DIR $JOB_PATH/catkin_workspace/src/ + # generate the script to run a pre-release job for that target and repo + - generate_prerelease_script.py https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH --output-dir $JOB_PATH + # run the actual job which involves Docker + - cd $JOB_PATH; sh ./prerelease.sh -y +script: + # get summary of test results + - /tmp/catkin/bin/catkin_test_results $JOB_PATH/catkin_workspace/test_results --all +notifications: + email: false + diff --git a/ros_drivers/jsk_rviz/view_controller_msgs/CHANGELOG.rst b/ros_drivers/jsk_rviz/view_controller_msgs/CHANGELOG.rst new file mode 100755 index 0000000..e636a3b --- /dev/null +++ b/ros_drivers/jsk_rviz/view_controller_msgs/CHANGELOG.rst @@ -0,0 +1,34 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package view_controller_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.1.3 (2018-09-05) +------------------ +* Merge pull request `#5 `_ from k-okada/lunar-devel + change maintainer to ROS Orphaned Package Maintainers +* change maintainer to ROS Orphaned Package Maintainers +* Merge pull request `#4 `_ from k-okada/add_travis + update travis.yml +* update travis.yml +* Contributors: Kei Okada + +0.1.2 (2014-05-20) +------------------ +* force correct version in package.xml +* rename scripts; install scripts +* fix test scripts +* apply catkin_lint +* catkinizing +* 0.1.1 +* more attempts 2 +* more attempts 2 +* more attempts +* still fixing release build - 3 +* still fixing release build - 2 +* still fixing release build +* trys to fix msg generation +* fixed stack.xml +* changed parameter name +* moved msgs to own repo +* Initial commit +* Contributors: Adam Leeper, Sachin Chitta diff --git a/ros_drivers/jsk_rviz/view_controller_msgs/CMakeLists.txt b/ros_drivers/jsk_rviz/view_controller_msgs/CMakeLists.txt new file mode 100755 index 0000000..a804f6b --- /dev/null +++ b/ros_drivers/jsk_rviz/view_controller_msgs/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 2.8.3) +project(view_controller_msgs) + +set(MSG_DEPS + std_msgs + geometry_msgs) + +find_package(catkin REQUIRED COMPONENTS genmsg message_generation ${MSG_DEPS}) + +set(MSG_FILES +CameraPlacement.msg +) + +add_message_files(DIRECTORY msg FILES ${MSG_FILES}) + +generate_messages(DEPENDENCIES ${MSG_DEPS}) + +catkin_package(CATKIN_DEPENDS ${MSG_DEPS} message_runtime) + +install(PROGRAMS + scripts/CameraTest + scripts/SquareTest + scripts/ControlsTest + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/ros_drivers/jsk_rviz/view_controller_msgs/README.md b/ros_drivers/jsk_rviz/view_controller_msgs/README.md new file mode 100755 index 0000000..d99eb9f --- /dev/null +++ b/ros_drivers/jsk_rviz/view_controller_msgs/README.md @@ -0,0 +1,4 @@ +view_controller_msgs [![Build Status](https://travis-ci.org/ros-visualization/view_controller_msgs.svg?branch=hydro-devel)](https://travis-ci.org/ros-visualization/view_controller_msgs) +========================================================================================================================================================================================= + +Messages for ROS view controllers. \ No newline at end of file diff --git a/ros_drivers/jsk_rviz/view_controller_msgs/msg/CameraPlacement.msg b/ros_drivers/jsk_rviz/view_controller_msgs/msg/CameraPlacement.msg new file mode 100755 index 0000000..e6c3ad5 --- /dev/null +++ b/ros_drivers/jsk_rviz/view_controller_msgs/msg/CameraPlacement.msg @@ -0,0 +1,38 @@ +# The interpolation mode to use during this step +uint8 interpolation_mode +uint8 LINEAR = 0 # Positions will be linearly interpolated +uint8 SPHERICAL = 1 # Position and orientation will be interpolated in a spherical sense. + +# Sets this as the camera attached (fixed) frame before movement. +# An empty string will leave the attached frame unchanged. +string target_frame + +# When should this pose be reached? +# A negative value will disable the pose command altogether. +duration time_from_start + +# The frame-relative point for the camera. +geometry_msgs/PointStamped eye + +# The frame-relative point for the focus (or pivot for an Orbit controller). +geometry_msgs/PointStamped focus + +# The frame-relative vector that maps to "up" in the view plane. +# The zero-vector will default to +Z in the view controller's "Target Frame". +geometry_msgs/Vector3Stamped up + +# ------------------------------------------------ +# Some paramters for interaction control +# ------------------------------------------------ +# The interaction style that should be activated when movement is done. +uint8 mouse_interaction_mode +uint8 NO_CHANGE = 0 # Leaves the control style unchanged +uint8 ORBIT = 1 # Activates the Orbit-style controller +uint8 FPS = 2 # Activates the FPS-style controller + +# A flag to enable or disable user interaction +# (defaults to false so that interaction is enabled) +bool interaction_disabled + +# A flag indicating if the camera yaw axis is fixed to +Z of the camera attached_frame +bool allow_free_yaw_axis diff --git a/ros_drivers/jsk_rviz/view_controller_msgs/package.xml b/ros_drivers/jsk_rviz/view_controller_msgs/package.xml new file mode 100755 index 0000000..fac9484 --- /dev/null +++ b/ros_drivers/jsk_rviz/view_controller_msgs/package.xml @@ -0,0 +1,25 @@ + + view_controller_msgs + 0.1.3 + Messages for (camera) view controllers + Adam Leeper + + ROS Orphaned Package Maintainers + + BSD + http://ros.org/wiki/view_controller_msgs + https://github.com/ros-visualization/view_controller_msgs/issues + https://github.com/ros-visualization/view_controller_msgs + + catkin + + genmsg + message_generation + geometry_msgs + std_msgs + + message_runtime + geometry_msgs + std_msgs + + diff --git a/ros_drivers/jsk_rviz/view_controller_msgs/scripts/CameraTest b/ros_drivers/jsk_rviz/view_controller_msgs/scripts/CameraTest new file mode 100755 index 0000000..0979b1d --- /dev/null +++ b/ros_drivers/jsk_rviz/view_controller_msgs/scripts/CameraTest @@ -0,0 +1,51 @@ +#!/usr/bin/env python + +import roslib +roslib.load_manifest("view_controller_msgs") + +import rospy +from math import * +from view_controller_msgs.msg import CameraPlacement +from geometry_msgs.msg import Point, Vector3 + +rospy.init_node("camera_test", anonymous = True) + +pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement, queue_size = 1) + +rate_float = 10 +rate = rospy.Rate(rate_float) + +while not rospy.is_shutdown(): + + #print "Top of loop!" + + t = rospy.get_time() + cp = CameraPlacement() + r = 10 + + #cp.target_frame = "rotating_frame" + cp.target_frame = "base_link" + + p = Point(r*cos(2*pi*t/10), r*sin(2*pi*t/10), 0) + #p = Point(5,5,0) + cp.eye.point = p + cp.eye.header.frame_id = "rotating_frame" + + #f = Point(0, 0, 2*cos(2*pi*t/5)) + f = Point(0, 0, 0) + cp.focus.point = f + cp.focus.header.frame_id = "base_link" + + up = Vector3(0, 0, 1) + #up = Vector3(0, sin(2*pi*t/10), cos(2*pi*t/10)) + cp.up.vector = up + cp.up.header.frame_id = "base_link" + #cp.up.header.frame_id = "rotating_frame" + + cp.time_from_start = rospy.Duration(1.0/rate_float) + print "Publishing a message!" + pub.publish(cp) + #print "Sleeping..." + rate.sleep() + #print "End of loop!" + diff --git a/ros_drivers/jsk_rviz/view_controller_msgs/scripts/ControlsTest b/ros_drivers/jsk_rviz/view_controller_msgs/scripts/ControlsTest new file mode 100755 index 0000000..6eedcc4 --- /dev/null +++ b/ros_drivers/jsk_rviz/view_controller_msgs/scripts/ControlsTest @@ -0,0 +1,50 @@ +#!/usr/bin/env python + +import roslib +roslib.load_manifest("view_controller_msgs") + +import rospy +from math import * +from view_controller_msgs.msg import CameraPlacement +from geometry_msgs.msg import Point, Vector3 + +rospy.init_node("camera_test", anonymous = True) + +pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement, queue_size = 1) + +rate_float = 0.5 +rate = rospy.Rate(rate_float) + +cp = CameraPlacement() + +while not rospy.is_shutdown(): + + #print "Top of loop!" + + t = rospy.get_time() + + cp.target_frame = "base_link" + + p = Point(5,5,0) + cp.eye.point = p + cp.eye.header.frame_id = "rotating_frame" + + f = Point(0, 0, 0) + cp.focus.point = f + cp.focus.header.frame_id = "base_link" + + up = Vector3(0, 0, 1) + cp.up.vector = up + cp.up.header.frame_id = "base_link" + + cp.time_from_start = rospy.Duration(-1.0) + cp.mouse_interaction_mode = (cp.mouse_interaction_mode + 1)%3 + cp.interaction_disabled = not cp.interaction_disabled + cp.allow_free_yaw_axis = not cp.allow_free_yaw_axis + + print "Publishing a message!" + pub.publish(cp) + #print "Sleeping..." + rate.sleep() + #print "End of loop!" + diff --git a/ros_drivers/jsk_rviz/view_controller_msgs/scripts/SquareTest b/ros_drivers/jsk_rviz/view_controller_msgs/scripts/SquareTest new file mode 100755 index 0000000..32474a5 --- /dev/null +++ b/ros_drivers/jsk_rviz/view_controller_msgs/scripts/SquareTest @@ -0,0 +1,47 @@ +#!/usr/bin/env python + +import roslib +roslib.load_manifest("view_controller_msgs") + +import rospy +from math import * +from view_controller_msgs.msg import CameraPlacement +from geometry_msgs.msg import Point, Vector3 + +rospy.init_node("camera_test", anonymous = True) + +pub = rospy.Publisher("/rviz/camera_placement", CameraPlacement, queue_size = 1) + +rate_float = 0.25 +rate = rospy.Rate(rate_float) +rospy.sleep(1) + +while not rospy.is_shutdown(): + + #print "Top of loop!" + + t = rospy.get_time() + cp = CameraPlacement() + r = 10 + + p = Point(r*cos(2*pi*t/20), r*sin(2*pi*t/20), 2) + #p = Point(5,5,0) + cp.eye.point = p + cp.eye.header.frame_id = "base_link" + + #f = Point(0, 0, 2*cos(2*pi*t/5)) + f = Point(0, 0, 0) + cp.focus.point = f + cp.focus.header.frame_id = "base_link" + + up = Vector3(0, 0, 1) + cp.up.vector = up + cp.up.header.frame_id = "base_link" + + cp.time_from_start = rospy.Duration(1.0/rate_float) + print "Publishing a message!" + pub.publish(cp) + #print "Sleeping..." + rate.sleep() + #print "End of loop!" + diff --git a/ros_drivers/sicktoolbox/AUTHORS b/ros_drivers/sicktoolbox/AUTHORS new file mode 100755 index 0000000..148ccec --- /dev/null +++ b/ros_drivers/sicktoolbox/AUTHORS @@ -0,0 +1,43 @@ +------------------------------------------------------------------- +------------------------------------------------------------------- +The Sick LIDAR Matlab/C++ Toolbox +------------------------------------------------------------------- + +The Sick LIDAR Matlab/C++ Toolbox was originally developed +and is currently maintained by Jason Derenick and Thomas Miller +at Lehigh University. It is branched from the source code used +by the Ben Franklin Racing Team, whose robot car, "Little Ben", +was only one of six to successfully finish the 2007 DARPA Urban +Grand Challenge. + +***AUTHORS + + ----------------------------------------- + Jason Derenick, Ph.D. Candidate + Computer Science and Engineering + Lehigh University + 19 Memorial Drive West + Bethlehem, PA 18015 USA + + derenick(at)lehigh(dot)edu + http://vader.cse.lehigh.edu/~derenick + ----------------------------------------- + + ----------------------------------------- + Thomas Miller + Computer Science and Engineering + Lehigh University + 19 Memorial Drive West + Bethlehem, PA 18015 USA + + thm204(at)lehigh(dot)edu + http://www.lehigh.edu/~thm204 + ----------------------------------------- + + Jason and Thomas are advised by Professor John Spletzer + in the Department of Computer Science and Engineering. + +***ACKNOWLEDGEMENTS +Please see the THANKS file :o) + +------------------------------------------------------------------- \ No newline at end of file diff --git a/ros_drivers/sicktoolbox/CMakeLists.txt b/ros_drivers/sicktoolbox/CMakeLists.txt new file mode 100755 index 0000000..6e21fca --- /dev/null +++ b/ros_drivers/sicktoolbox/CMakeLists.txt @@ -0,0 +1,121 @@ +cmake_minimum_required(VERSION 2.8.3) +project(sicktoolbox) + +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +find_package(Threads REQUIRED) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## 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 SickLD SickLMS1xx SickLMS2xx + CATKIN_DEPENDS + DEPENDS Threads +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories(include ${catkin_INCLUDE_DIRS}) + +# Driver libraries +add_library(SickLD c++/drivers/ld/sickld/SickLD.cc c++/drivers/ld/sickld/SickLDBufferMonitor.cc c++/drivers/ld/sickld/SickLDMessage.cc) +target_link_libraries(SickLD ${catkin_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) + +add_library(SickLMS1xx c++/drivers/lms1xx/sicklms1xx/SickLMS1xx.cc c++/drivers/lms1xx/sicklms1xx/SickLMS1xxBufferMonitor.cc c++/drivers/lms1xx/sicklms1xx/SickLMS1xxMessage.cc) +target_link_libraries(SickLMS1xx ${catkin_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) + +add_library(SickLMS2xx c++/drivers/lms2xx/sicklms2xx/SickLMS2xx.cc c++/drivers/lms2xx/sicklms2xx/SickLMS2xxBufferMonitor.cc c++/drivers/lms2xx/sicklms2xx/SickLMS2xxMessage.cc) +target_link_libraries(SickLMS2xx ${catkin_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) + +# Examples +add_library(LDConfigLib c++/examples/ld/ld_config/src/ConfigFile.cpp) +add_executable(ld_config c++/examples/ld/ld_config/src/main.cc) +target_link_libraries(ld_config SickLD LDConfigLib ${catkin_LIBRARIES}) + +add_executable(ld_more_config c++/examples/ld/ld_more_config/src/main.cc) +target_link_libraries(ld_more_config SickLD ${catkin_LIBRARIES}) + +add_executable(ld_multi_sector c++/examples/ld/ld_multi_sector/src/main.cc) +target_link_libraries(ld_multi_sector SickLD ${catkin_LIBRARIES}) + +add_executable(ld_single_sector c++/examples/ld/ld_single_sector/src/main.cc) +target_link_libraries(ld_single_sector SickLD ${catkin_LIBRARIES}) + +add_executable(lms1xx_simple_app c++/examples/lms1xx/lms1xx_simple_app/src/main.cc) +target_link_libraries(lms1xx_simple_app SickLMS1xx ${catkin_LIBRARIES}) + +add_executable(lms2xx_config c++/examples/lms2xx/lms2xx_config/src/main.cc) +target_link_libraries(lms2xx_config SickLMS2xx ${catkin_LIBRARIES}) + +add_executable(lms2xx_mean_values c++/examples/lms2xx/lms2xx_mean_values/src/main.cc) +target_link_libraries(lms2xx_mean_values SickLMS2xx ${catkin_LIBRARIES}) + +add_executable(lms2xx_partial_scan c++/examples/lms2xx/lms2xx_partial_scan/src/main.cc) +target_link_libraries(lms2xx_partial_scan SickLMS2xx ${catkin_LIBRARIES}) + +add_executable(lms2xx_real_time_indices c++/examples/lms2xx/lms2xx_real_time_indices/src/main.cc) +target_link_libraries(lms2xx_real_time_indices SickLMS2xx ${catkin_LIBRARIES}) + +add_executable(lms2xx_set_variant c++/examples/lms2xx/lms2xx_set_variant/src/main.cc) +target_link_libraries(lms2xx_set_variant SickLMS2xx ${catkin_LIBRARIES}) + +add_executable(lms2xx_simple_app c++/examples/lms2xx/lms2xx_simple_app/src/main.cc) +target_link_libraries(lms2xx_simple_app SickLMS2xx ${catkin_LIBRARIES}) + +add_executable(lms2xx_stream_range_and_reflect c++/examples/lms2xx/lms2xx_stream_range_and_reflect/src/main.cc) +target_link_libraries(lms2xx_stream_range_and_reflect SickLMS2xx ${catkin_LIBRARIES}) + +add_executable(lms2xx_subrange c++/examples/lms2xx/lms2xx_subrange/src/main.cc) +target_link_libraries(lms2xx_subrange SickLMS2xx ${catkin_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/groovy/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 +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +install(TARGETS SickLD SickLMS1xx SickLMS2xx LDConfigLib ld_config + ld_more_config ld_multi_sector ld_single_sector lms1xx_simple_app + lms2xx_config lms2xx_mean_values lms2xx_partial_scan lms2xx_real_time_indices + lms2xx_set_variant lms2xx_simple_app lms2xx_stream_range_and_reflect lms2xx_subrange + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## TODO Move headers that aren't needed externally back into the source +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.hh" + PATTERN ".svn" EXCLUDE +) + +## TODO There are readmes, etc, create install rules for these +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) diff --git a/ros_drivers/sicktoolbox/COPYING b/ros_drivers/sicktoolbox/COPYING new file mode 100755 index 0000000..f47c3f1 --- /dev/null +++ b/ros_drivers/sicktoolbox/COPYING @@ -0,0 +1,39 @@ +-------------------------------------------------------------------- +-------------------------------------------------------------------- +The Sick LIDAR Matlab/C++ Toolbox (BSD) License +-------------------------------------------------------------------- + +The Sick LIDAR Matlab/C++ Toolbox +Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions +are met: + + * Redistributions of source code must retain the above + copyright notice, this list of conditions and the following + disclaimer. + * Redistributions in binary form must reproduce the above + copyright notice, this list of conditions and the following + disclaimer in the documentation and/or other materials + provided with the distribution. + * Neither the name(s) of the copyright holders nor the names + of its contributors may be used to endorse or promote products + derived from this software without specific prior written + permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. + +-------------------------------------------------------------------- diff --git a/ros_drivers/sicktoolbox/README b/ros_drivers/sicktoolbox/README new file mode 100755 index 0000000..3a75269 --- /dev/null +++ b/ros_drivers/sicktoolbox/README @@ -0,0 +1,23 @@ +------------------------------------------------------------------- +------------------------------------------------------------------- +The Sick LIDAR C++ Toolbox +------------------------------------------------------------------- + +This is the ROS fork of the Sick LIDAR C++ Toolbox. If you're +looking for Matlab, please see the original at: +http://sicktoolbox.sourceforge.net/ + +*** Quick Start +To get up and running quickly with the toolbox, be sure to read +the quick start guide in the manuals directory. Additionally, to +enable 500Kbps communication via a USB-COMi-M be sure to see the +RS-422 tutorial in said directory. + +*** Other Files +Please see the following documents for additional info: + + COPYING - Information regarding the software license + AUTHORS - Information about the authors + THANKS - Acknowledgements + +------------------------------------------------------------------- diff --git a/ros_drivers/sicktoolbox/THANKS b/ros_drivers/sicktoolbox/THANKS new file mode 100755 index 0000000..f7d82c8 --- /dev/null +++ b/ros_drivers/sicktoolbox/THANKS @@ -0,0 +1,31 @@ +------------------------------------------------------------------- +------------------------------------------------------------------- +The Sick LIDAR Matlab/C++ Toolbox +------------------------------------------------------------------- + +The authors would like to express their sincere gratitude to the +following members of the Ben Franklin Racing Team for their key +insights and help in developing the toolbox: + + Aleksandr Kushleyev + Tully Foote + Alex Stewart + Jon Bohren + Brian Satterfield + Professor Daniel Lee + Professor John Spetzer + +Additionally, we'd like to thank Douglas Paul for his work on the +initial Sick LMS 2xx serial driver. + +*** Additional Acknowledgments +This software makes use of the following open-source +packages for its package configuration: + +doxample - by Oren Ben-kiki +http://www.ben-kiki.org/oren/doxample + +acx_pthread - by Steven G. Johnson +http://autoconf-archive.cryp.to/acx_pthread.html + +------------------------------------------------------------------- \ No newline at end of file diff --git a/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/.deps/SickLD.Plo b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/.deps/SickLD.Plo new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/.deps/SickLD.Plo @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/.deps/SickLDBufferMonitor.Plo b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/.deps/SickLDBufferMonitor.Plo new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/.deps/SickLDBufferMonitor.Plo @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/.deps/SickLDMessage.Plo b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/.deps/SickLDMessage.Plo new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/.deps/SickLDMessage.Plo @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/SickLD.cc b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/SickLD.cc new file mode 100755 index 0000000..9d68f83 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/SickLD.cc @@ -0,0 +1,4760 @@ +/*! + * \file SickLD.cc + * \brief Implements the SickLD driver class. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include + +/* Implementation dependencies */ +#include +#include +#include +#include +#include // for converting numerical values to strings +#include // for socket function definitions +#include // for sockaddr_in, inet_addr, and htons +#include // for using ioctl functionality for the socket input buffer +#include // for select functionality (e.g. FD_SET, etc...) +#include // for fd data types +#include // for select timeout parameter +#include // for getting file flags +#include // for POSIX threads +#include // for parsing ip addresses +#include // for returning the results of parsed strings +#include // for timing connect() + +#include +#include +#include +#include +#include + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \brief A standard constructor + * \param sick_ip_address The ip address of the Sick LD + * \param sick_tcp_port The TCP port associated w/ the Sick LD server + */ + SickLD::SickLD( const std::string sick_ip_address, const uint16_t sick_tcp_port ) : + SickLIDAR< SickLDBufferMonitor, SickLDMessage >( ), + _sick_ip_address(sick_ip_address), + _sick_tcp_port(sick_tcp_port), + _sick_sensor_mode(SICK_SENSOR_MODE_UNKNOWN), + _sick_motor_mode(SICK_MOTOR_MODE_UNKNOWN), + _sick_streaming_range_data(false), + _sick_streaming_range_and_echo_data(false) + { + /* Initialize the sick identity */ + _sick_identity.sick_part_number = + _sick_identity.sick_name = + _sick_identity.sick_version = + _sick_identity.sick_serial_number = + _sick_identity.sick_edm_serial_number = + _sick_identity.sick_firmware_part_number = + _sick_identity.sick_firmware_name = + _sick_identity.sick_firmware_version = + _sick_identity.sick_application_software_part_number = + _sick_identity.sick_application_software_name = + _sick_identity.sick_application_software_version = "UNKNOWN"; + + /* Initialize the global configuration structure */ + memset(&_sick_global_config,0,sizeof(sick_ld_config_global_t)); + + /* Initialize the Ethernet configuration structure */ + memset(&_sick_ethernet_config,0,sizeof(sick_ld_config_ethernet_t)); + + /* Initialize the sector configuration structure */ + memset(&_sick_sector_config,0,sizeof(sick_ld_config_sector_t)); + } + + /** + * A standard destructor + */ + SickLD::~SickLD( ) { } + + /** + * \brief Initializes the driver and syncs it with Sick LD unit. Uses sector config given in flash. + */ + void SickLD::Initialize( ) throw( SickIOException, SickThreadException, SickTimeoutException, SickErrorException ) { + + std::cout << "\t*** Attempting to initialize the Sick LD..." << std::endl; + + try { + + /* Attempt to connect to the Sick LD */ + std::cout << "\tAttempting to connect to Sick LD @ " << _sick_ip_address << ":" << _sick_tcp_port << std::endl; + _setupConnection(); + std::cout << "\t\tConnected to Sick LD!" << std::endl; + + /* Start the buffer monitor */ + std::cout << "\tAttempting to start buffer monitor..." << std::endl; + _startListening(); + std::cout << "\t\tBuffer monitor started!" << std::endl; + + /* Ok, lets sync the driver with the Sick */ + std::cout << "\tAttempting to sync driver with Sick LD..." << std::endl; + _syncDriverWithSick(); + + } + + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + catch(...) { + std::cerr << "SickLD::Initialize - Unknown exception!" << std::endl; + throw; + } + + std::cout << "\t\tSynchronized!" << std::endl; + + _sick_initialized = true; + _printInitFooter(); + + /* Success */ + } + + /** + * \brief Acquires the status of the Sick from the device + * \param &sick_sensor_mode The returned sensor mode of the device + * \param &sick_motor_mode The returned motor mode of the device + */ + void SickLD::GetSickStatus( unsigned int &sick_sensor_mode, unsigned int &sick_motor_mode ) + throw( SickIOException, SickTimeoutException ){ + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::GetSickStatus: Device NOT Initialized!!!"); + } + + /* Acquire the sensor and motor mode from the device */ + try { + _getSickStatus(); + } + + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch(...) { + std::cerr << "SickLD::GetSickStatus - Unknown exception!" << std::endl; + throw; + } + + /* Now that the driver is updated, assign the return values */ + sick_sensor_mode = _sick_sensor_mode; + sick_motor_mode = _sick_motor_mode; + + /* Success */ + } + + /** + * \brief Set the temporary scan areas for the Sick LD + * \param *active_sector_start_angles Angles marking the beginning of each desired active sector/area + * \param *active_sector_stop_angles Angles marking the end of each desired active sector/area + * \param num_active_sectors The number of active sectors + * + * NOTE: The active scan areas set at this point are only maintained until a device + * reset occurs. In other words, they are not written to flash. + */ + void SickLD::SetSickTempScanAreas( const double * active_sector_start_angles, const double * active_sector_stop_angles, + const unsigned int num_active_sectors ) + throw( SickTimeoutException, SickIOException, SickConfigException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLD::SetSickTempScanAreas: Device NOT Initialized!!!"); + } + + /* Do the standard initialization */ + try { + + /* Set the temporary scan configuration */ + std::cout << "\tAttempting to set desired scan config..." << std::endl; + _setSickTemporaryScanAreas(active_sector_start_angles,active_sector_stop_angles,num_active_sectors); + std::cout << "\t\tUsing desired scan area(s)!" << std::endl; + + } + + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + catch(...) { + std::cerr << "SickLD::Initialize - Unknown exception!" << std::endl; + throw; + } + + /* Success */ + } + + + /** + * \brief Set the absolute time of the Sick LD unit. + * \param absolute_clock_time The absolute clock time in milliseconds + * \param new_sick_clock_time The clock time in milliseconds returned from the device + * + * ALERT: If the Sick LD is in MEASUREMENT mode, this method will first set the device + * to ROTATE mode after killing any active data streams (as per the protocol). + */ + void SickLD::SetSickTimeAbsolute( const uint16_t absolute_clock_time, uint16_t &new_sick_clock_time ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLD::SetSickTimeAbsolute: Device NOT Initialized!!!"); + } + + /* Ensure the device is not in MEASURE mode */ + if (_sick_sensor_mode == SICK_SENSOR_MODE_MEASURE) { + + /* If it is then set it to rotate */ + try { + _setSickSensorModeToRotate(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::SetSickTimeAbsolute: Unknown exception!!!" << std::endl; + throw; + } + + } + + std::cout << "\tSetting Sick LD absolute clock time..." << std::endl; + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service codes */ + payload_buffer[0] = SICK_CONF_SERV_CODE; + payload_buffer[1] = SICK_CONF_SERV_SET_TIME_ABSOLUTE; + + /* Set the new time value */ + uint16_t temp_buffer = host_to_sick_ld_byte_order(absolute_clock_time); + memcpy(&payload_buffer[2],&temp_buffer,2); + + /* Create the Sick LD send/receive message objects */ + SickLDMessage send_message(payload_buffer,4); + SickLDMessage recv_message; + + /* Send the message and check for the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,4); + + /* Get the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract the new Sick LD clock time from the response */ + uint16_t clock_time; + memcpy(&clock_time,&payload_buffer[2],2); + new_sick_clock_time = sick_ld_to_host_byte_order(clock_time); + + std::cout << "\t\tClock time set!" << std::endl; + + /* Success */ + } + + /** + * \brief Set the relative time of the Sick LD unit. + * \param delta_time The relative clock time in milliseconds. + * \param &new_sick_clock_time The new time as reported by the Sick LD. + * + * ALERT: If the Sick LD is in MEASUREMENT mode, this method will first set the device + * to ROTATE mode after killing any active data streams (as per the protocol). + */ + void SickLD::SetSickTimeRelative( const int16_t delta_time, uint16_t &new_sick_clock_time ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLD::SetSickTimeRelative: Device NOT Initialized!!!"); + } + + /* Ensure the device is not in MEASURE mode */ + if (_sick_sensor_mode == SICK_SENSOR_MODE_MEASURE) { + + /* If it is then set it to rotate */ + try { + _setSickSensorModeToRotate(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::SetSickTimeRelative: Unknown exception!!!" << std::endl; + throw; + } + + } + + std::cout << "\tSetting Sick LD relative clock time..." << std::endl; + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service codes */ + payload_buffer[0] = SICK_CONF_SERV_CODE; + payload_buffer[1] = SICK_CONF_SERV_SET_TIME_RELATIVE; + + /* Set the new time value */ + uint16_t temp_buffer = host_to_sick_ld_byte_order((uint16_t)delta_time); + memcpy(&payload_buffer[2],&temp_buffer,2); + + /* Create the Sick LD send/receive message objects */ + SickLDMessage send_message(payload_buffer,4); + SickLDMessage recv_message; + + /* Send the message and check for the expected reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickTimeRelative: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,4); + + /* Get the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract the new Sick LD clock time from the response */ + uint16_t clock_time; + memcpy(&clock_time,&payload_buffer[2],2); + new_sick_clock_time = sick_ld_to_host_byte_order(clock_time); + + std::cout << "\t\tClock time set!" << std::endl; + + /* Success */ + } + + /** + * \brief Sets the Sick LD signal LED's and switching outputs + * \param sick_signal_flags Indicates the LEDs and switches to set/unset. + * + * NOTE: This method does not preserve the previous state of the Sick's signals. + * In other words, only the signals flagged in sick_signal_flags will be + * set - all others will be off! + */ + void SickLD::SetSickSignals( const uint8_t sick_signal_flags ) + throw( SickIOException, SickTimeoutException, SickErrorException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLD::SetSickSignals: Device NOT Initialized!!!"); + } + + /* Attempt to set the signal flags */ + try { + _setSickSignals(sick_signal_flags); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_syncDriverWithSick: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + } + + /** + * \brief Gets the Sick LD signal LED's and switching outputs. + * \param &sick_signal_flags The destination buffer to hold the returned flags. + */ + void SickLD::GetSickSignals( uint8_t &sick_signal_flags ) throw( SickIOException, SickTimeoutException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::GetSickSignals: Device NOT Initialized!!!"); + } + + /* Initialize the destination buffer */ + sick_signal_flags = 0; + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_STAT_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_STAT_SERV_GET_SIGNAL; // Requested service subtype + + /* Create the Sick message */ + SickLDMessage send_message(payload_buffer,2); + SickLDMessage recv_message; + + /* Send the message and get the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::GetSickSignals: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,2); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract the Signal flags */ + sick_signal_flags = payload_buffer[3]; + + /* Success */ + } + + /** + * \brief Gets the internal clock time of the Sick LD unit. + * \param &sick_time The sick clock time in milliseconds. + */ + void SickLD::GetSickTime( uint16_t &sick_time ) + throw( SickIOException, SickTimeoutException, SickErrorException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::GetSickTime: Device NOT Initialized!!!"); + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_CONF_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_CONF_SERV_GET_SYNC_CLOCK; // Requested service subtype + + /* Create the Sick messages */ + SickLDMessage send_message(payload_buffer,2); + SickLDMessage recv_message; + + /* Send the message and check the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::GetSickTime: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,2); + + /* Acquire the returned payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract actual time */ + uint16_t current_time; + memcpy(¤t_time,&payload_buffer[2],2); + sick_time = sick_ld_to_host_byte_order(current_time); + + /* Success */ + } + + /** + * \brief Enables nearfield suppressive filtering + * + * NOTE: This method writes this option to the Sick LD's flash, so there is no + * need to use it except when configuring the device. + */ + void SickLD::EnableNearfieldSuppression( ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Ensure the device has been initialized */ + if(!_sick_initialized) { + throw SickIOException("SickLD::EnableNearfieldSuppression: Device NOT Initialized!!!"); + } + + /* Tell the Sick LD to use nearfield suppression! */ + std::cout << "\tEnabling nearfield suppression..." << std::endl; + try { + _setSickFilter(SICK_CONF_SERV_SET_FILTER_NEARFIELD_ON); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::EnableNearfieldSuppression: Unknown exception!!!" << std::endl; + throw; + } + + std::cout << "\t\tSuppression is enabled!" << std::endl; + + /* Success */ + } + + /** + * \brief Disables nearfield suppressive filtering + * + * NOTE: This method writes this option to the Sick LD's flash, so there is no + * need to use it except when configuring the device. + */ + void SickLD::DisableNearfieldSuppression( ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::DisableNearfieldSuppression: Device NOT Initialized!!!"); + } + + /* Tell the Sick LD to use nearfield suppression! */ + std::cout << "\tDisabling nearfield suppression..." << std::endl; + try { + _setSickFilter(SICK_CONF_SERV_SET_FILTER_NEARFIELD_OFF); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::DisableNearfieldSuppression: Unknown exception!!!" << std::endl; + throw; + } + + std::cout << "\t\tSuppression is disabled!" << std::endl; + + /* Success */ + } + + /** + * \brief Acquires measurements and corresponding sector data from the Sick LD. + * \param *range_measurements A single array to hold ALL RANGE MEASUREMENTS from the current scan for all active + * sectors. Range values from each sector are stored block sequentially in this buffer. + * The respective index into the array marking the first data value returned by active + * sector i can be found by getting: range_measurement[sector_data_offsets[i]]. + * \param *echo_measurements A single array to hold ALL ECHO MEASUREMENTS from the current scan for all active sectors. + * It is indexed the same as range_measurements. This argument is optional and if it is not + * provided the driver will request a RANGE ONLY data stream as opposed to a RANGE+ECHO thereby + * reducing consumed bandwidth (Default: NULL). + * \param *num_measurements An array where the ith element denotes the number of range/echo measurements obtained from + * active sector i (Default: NULL). + * \param *sector_ids An array where the ith element corresponds to the actual sector number/id of the ith active + * sector. (Default: NULL) + * \param *sector_data_offsets The index offsets mapping the ith active sector to the position in range_measurements + * where its first measured value can be found (Default: NULL). + * \param *sector_step_angles An array where the ith element corresponds to the angle step for the ith active sector. + * (Default: NULL) + * \param *sector_start_angles An array where the ith element corresponds to the starting scan angle of the ith active + * sector. + * \param *sector_stop_angles An array where the ith element corresponds to the stop scan angle of the ith active sector. + * \param *sector_start_timestamps An array where the ith element denotes the time at which the first scan was taken for + * the ith active sector. + * \param *sector_stop_timestamps An array where the ith element denotes the time at which the last scan was taken for + * the ith active sector. + * + * ALERT: The user is responsible for ensuring that enough space is allocated for the return buffers to avoid overflow. + * See the example code for an easy way to do this. + */ + void SickLD::GetSickMeasurements( double * const range_measurements, + unsigned int * const echo_measurements, + unsigned int * const num_measurements, + unsigned int * const sector_ids, + unsigned int * const sector_data_offsets, + double * const sector_step_angles, + double * const sector_start_angles, + double * const sector_stop_angles, + unsigned int * const sector_start_timestamps, + unsigned int * const sector_stop_timestamps ) + throw( SickErrorException, SickIOException, SickTimeoutException, SickConfigException ){ + + /* Ensure the device has been initialized */ + if(!_sick_initialized) { + throw SickIOException("SickLD::GetSickMeasurements: Device NOT Initialized!!!"); + } + + /* The following conditional holds true if the user wants a RANGE+ECHO data + * stream but already has an active RANGE-ONLY stream. + */ + if (_sick_streaming_range_data && echo_measurements != NULL) { + + try { + + /* Cancel the current RANGE-ONLY data stream */ + _cancelSickScanProfiles(); + + /* Request a RANGE+ECHO data stream */ + _getSickScanProfiles(SICK_SCAN_PROFILE_RANGE_AND_ECHO); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::GetSickMeasurements: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* The following conditional holds true if the user wants a RANGE-ONLY data + * stream but already has an active RANGE+ECHO stream. + */ + if (_sick_streaming_range_and_echo_data && echo_measurements == NULL) { + + try { + + /* Cancel the current RANGE+ECHO data stream */ + _cancelSickScanProfiles(); + + /* Request a RANGE-ONLY data stream */ + _getSickScanProfiles(SICK_SCAN_PROFILE_RANGE); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::GetSickMeasurements: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* If there aren't any active data streams, setup a new one */ + if (!_sick_streaming_range_data && !_sick_streaming_range_and_echo_data) { + + try { + + /* Determine the target data stream by checking the value of echo_measurements */ + if (echo_measurements != NULL) { + + /* Request a RANGE+ECHO data stream */ + _getSickScanProfiles(SICK_SCAN_PROFILE_RANGE_AND_ECHO); + + } + else { + + /* Request a RANGE+ONLY data stream */ + _getSickScanProfiles(SICK_SCAN_PROFILE_RANGE); + + } + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* Declare the receive message object */ + SickLDMessage recv_message; + + /* Acquire the most recently buffered message */ + try { + _recvMessage(recv_message,(unsigned int)1e6); + } + + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + catch(...) { + std::cerr << "SickLD::GetSickMeasurements - Unknown exception!" << std::endl; + throw; + } + + /* A single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Get the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Define the destination Sick LD scan profile struct */ + sick_ld_scan_profile_t profile_data; + + /* Extract the scan profile */ + _parseScanProfile(&payload_buffer[2],profile_data); + + /* Update and check the returned sensor status */ + if ((_sick_sensor_mode = profile_data.sensor_status) != SICK_SENSOR_MODE_MEASURE) { + throw SickConfigException("SickLD::GetSickMeasurements: Unexpected sensor mode! " + _sickSensorModeToString(_sick_sensor_mode)); + } + + /* Update and check the returned motor status */ + if ((_sick_motor_mode = profile_data.motor_status) != SICK_MOTOR_MODE_OK) { + throw SickConfigException("SickLD::GetSickMeasurements: Unexpected motor mode! (Are you using a valid motor speed!)"); + } + + /* Everything is OK, so now populate the relevant return buffers */ + for (unsigned int i = 0, total_measurements = 0; i < _sick_sector_config.sick_num_active_sectors; i++) { + + /* Copy over the returned range values */ + memcpy(&range_measurements[total_measurements],profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].range_values, + profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].num_data_points*sizeof(double)); + + /* Copy the returned echo values if requested */ + if (echo_measurements != NULL) { + memcpy(&echo_measurements[total_measurements],profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].echo_values, + profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].num_data_points*sizeof(unsigned int)); + } + + /* Set the number of measurements */ + if (num_measurements != NULL) { + num_measurements[i] = profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].num_data_points; + } + + /* Set the associated sector's id if requested */ + if (sector_ids != NULL) { + sector_ids[i] = profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].sector_num; + } + + /* Set the associated sector's index into the range measurement buffer if requested */ + if (sector_data_offsets != NULL) { + sector_data_offsets[i] = total_measurements; + } + + /* Set the step angle if requested */ + if (sector_step_angles != NULL) { + sector_step_angles[i] = profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].angle_step; + } + + /* Set the sector start angle if requested */ + if (sector_start_angles != NULL) { + sector_start_angles[i] = profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].angle_start; + } + + /* Set the sector stop angle if requested */ + if (sector_stop_angles != NULL) { + sector_stop_angles[i] = profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].angle_stop; + } + + /* Set the sector start timestamp if requested */ + if (sector_start_timestamps != NULL) { + sector_start_timestamps[i] = profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].timestamp_start; + } + + /* Set the sector stop timestamp if requested */ + if (sector_stop_timestamps != NULL) { + sector_stop_timestamps[i] = profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].timestamp_stop; + } + + /* Update the total number of measurements */ + total_measurements += profile_data.sector_data[_sick_sector_config.sick_active_sector_ids[i]].num_data_points; + } + + /* Success */ + + } + + /** + * \brief Attempts to set a new sensor ID for the device (in flash) + * \param sick_sensor_id The desired sensor ID + */ + void SickLD::SetSickSensorID( const unsigned int sick_sensor_id ) + throw( SickErrorException, SickTimeoutException, SickIOException ){ + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLD::SetSickSensorID: Device NOT Initialized!!!"); + } + + /* Check that the given ID is valid */ + if (!_validSickSensorID(sick_sensor_id)) { + throw SickConfigException("SickLD::SetSickSensorID: Invalid sensor ID!!!"); + } + + /* Attempt to set the new sensor ID in the flash! */ + try { + _setSickGlobalConfig(sick_sensor_id,GetSickMotorSpeed(),GetSickScanResolution()); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::SetSickSensorID: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + } + + /** + * \brief Attempts to set a new motor speed for the device (in flash) + * \param sick_motor_speed The desired motor speed (Hz) + */ + void SickLD::SetSickMotorSpeed( const unsigned int sick_motor_speed ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::SetSickMotorSpeed: Device NOT Initialized!!!"); + } + + /* Check that the given motor speed is valid */ + if (!_validSickMotorSpeed(sick_motor_speed)) { + throw SickConfigException("SickLD::SetSickMotorSpeed: Invalid sick motor speed!!!"); + } + + /* Check to ensure a valid pulse frequency for the device */ + if (!_validPulseFrequency(sick_motor_speed,GetSickScanResolution())) { + throw SickConfigException("SickLD::SetSickMotorSpeed: Invalid pulse frequency!!!"); + } + + /* Attempt to set the new global config in the flash! */ + try { + _setSickGlobalConfig(GetSickSensorID(),sick_motor_speed,GetSickScanResolution()); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::SetSickMotorSpeed: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + } + + /** + * \brief Attempts to set a new scan resolution for the device (in flash) while + * retaining the previously defined active scan areas. + * \param sick_angle_step The desired scan resolution (deg) + * + * NOTE: Since the Sick determines the active sector bounds based upon the current + * scan resolution and sector stop angles, it is possible that when the scan + * resolution is changed so too are the active sector bounds. As such, we + * also write the correct sector config to flash as opposed to letting the + * Sick LD just figure it out itself. Doing so ensures the previous active + * sector definitions remain intact. + */ + void SickLD::SetSickScanResolution( const double sick_angle_step ) + throw( SickTimeoutException, SickIOException, SickConfigException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::SetSickScanResolution: Device NOT Initialized!!!"); + } + + /* Buffers to hold the active sector data */ + double active_sector_start_angles[SICK_MAX_NUM_SECTORS] = {0}; + double active_sector_stop_angles[SICK_MAX_NUM_SECTORS] = {0}; + + /* Extract the start and stop angles for the current active sectors */ + for (unsigned int i = 0; i < _sick_sector_config.sick_num_active_sectors; i++) { + active_sector_start_angles[i] = _sick_sector_config.sick_sector_start_angles[_sick_sector_config.sick_active_sector_ids[i]]; + active_sector_stop_angles[i] = _sick_sector_config.sick_sector_stop_angles[_sick_sector_config.sick_active_sector_ids[i]]; + } + + /* Set the operating parameters accordingly */ + try { + SetSickGlobalParamsAndScanAreas(GetSickMotorSpeed(),sick_angle_step, + active_sector_start_angles,active_sector_stop_angles, + _sick_sector_config.sick_num_active_sectors); + } + + catch(...) { } + + /* Success! */ + } + + /** + * \brief Attempts to set the scan resolution and active sectors/scan areas for the device (in flash) + * \param sick_motor_speed Desired sick motor speed (Hz) + * \param sick_angle_step Desired scan angular resolution (deg) + * \param active_sector_start_angles Angles marking the beginning of each desired active sector/area + * \param active_sector_stop_angles Angles marking the end of each desired active sector/area + * \param num_active_sectors The number of active sectors/scan areas are given + */ + void SickLD::SetSickGlobalParamsAndScanAreas( const unsigned int sick_motor_speed, + const double sick_angle_step, + const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) + throw( SickTimeoutException, SickIOException, SickConfigException, SickErrorException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::SetSickGlobalParamsAndScanAreas: Device NOT Initialized!!!"); + } + + /* Attempt to write both a new scan resolution and scan area config */ + try { + _setSickGlobalParamsAndScanAreas(sick_motor_speed,sick_angle_step, + active_sector_start_angles,active_sector_stop_angles,num_active_sectors); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle config exception */ + catch (SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::SetSickGlobalParamsAndScanAreas: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + + } + + /** + * \brief Attempts to set the active scan areas for the device (in flash) + * \param active_sector_start_angles Angles marking the beginning of each desired active sector/area + * \param active_sector_stop_angles Angles marking the end of each desired active sector/area + * \param num_active_sectors The number of active sectors/scan areas are given + */ + void SickLD::SetSickScanAreas( const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) + throw( SickTimeoutException, SickIOException, SickConfigException, SickErrorException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::SetSickScanAreas: Device NOT Initialized!!!"); + } + + /* Attempt to write both a new scan resolution and scan area config */ + try { + _setSickGlobalParamsAndScanAreas(GetSickMotorSpeed(),GetSickScanResolution(), + active_sector_start_angles,active_sector_stop_angles,num_active_sectors); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle config exception */ + catch (SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::SetSickScanAreas: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + + } + + /** + * \brief Resets the device according to the given reset level + * \param reset_level The desired reset level (see page 33 of the telegram listing) + */ + void SickLD::ResetSick( const unsigned int reset_level ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::ResetSick: Device NOT Initialized!!!"); + } + + /* Ensure a valid reset level was given */ + if (reset_level > SICK_WORK_SERV_RESET_HALT_APP) { + throw SickConfigException("SickLD::ResetSick: Invalid given reset level!"); + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_WORK_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_WORK_SERV_RESET; // Requested service subtype + payload_buffer[3] = (uint8_t)reset_level; // RESETLEVEL + + /* Create the Sick messages */ + SickLDMessage send_message(payload_buffer,4); + SickLDMessage recv_message; + + /* Send the message and check the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,4); + + /* Acquire the returned payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract the returned reset level */ + uint16_t current_reset_level; + memcpy(¤t_reset_level,&payload_buffer[2],2); + current_reset_level = sick_ld_to_host_byte_order(current_reset_level); + + /* Verify the returned reset level */ + if (current_reset_level != (uint16_t)reset_level) { + throw SickErrorException("SickLD::ResetSick: Unexpected returned reset level!"); + } + + /* Success */ + } + + /** + * \brief Acquire the number of sectors that are measuring + * \return The number of sectors currently measuring + */ + unsigned int SickLD::GetSickNumActiveSectors( ) const { + return _sick_sector_config.sick_num_active_sectors; + } + + /** + * \brief Acquire the Sick LD's sensor ID + * \return The Sick LD sensor ID + */ + unsigned int SickLD::GetSickSensorID( ) const { + return _sick_global_config.sick_sensor_id; + } + + /** + * \brief Acquire the Sick LD's current motor speed in Hz + * \return The Sick LD motor speed + */ + unsigned int SickLD::GetSickMotorSpeed( ) const { + return _sick_global_config.sick_motor_speed; + } + + /** + * \brief Acquire the Sick LD's current scan resolution + * \return The Sick LD scan resolution + */ + double SickLD::GetSickScanResolution( ) const { + return _sick_global_config.sick_angle_step; + } + + /** + * \brief Acquire the current IP address of the Sick + * \return The Sick LD IP (Inet4) address + */ + std::string SickLD::GetSickIPAddress( ) const { + + /* Declare the string stream */ + std::ostringstream str_stream; + + str_stream << _sick_ethernet_config.sick_ip_address[0] << "." + << _sick_ethernet_config.sick_ip_address[1] << "." + << _sick_ethernet_config.sick_ip_address[2] << "." + << _sick_ethernet_config.sick_ip_address[3]; + + /* Return the std string representation */ + return str_stream.str(); + + } + + /** + * \brief Acquire the subnet mask for the Sick + * \return The Sick LD subnet mask + */ + std::string SickLD::GetSickSubnetMask( ) const { + + /* Declare the string stream */ + std::ostringstream str_stream; + + str_stream << _sick_ethernet_config.sick_subnet_mask[0] << "." + << _sick_ethernet_config.sick_subnet_mask[1] << "." + << _sick_ethernet_config.sick_subnet_mask[2] << "." + << _sick_ethernet_config.sick_subnet_mask[3]; + + /* Return the std string representation */ + return str_stream.str(); + + } + + /** + * \brief Acquire the IP address of the Sick gateway + * \return The Sick LD gateway IP address + */ + std::string SickLD::GetSickGatewayIPAddress( ) const { + + /* Declare the string stream */ + std::ostringstream str_stream; + + str_stream << _sick_ethernet_config.sick_gateway_ip_address[0] << "." + << _sick_ethernet_config.sick_gateway_ip_address[1] << "." + << _sick_ethernet_config.sick_gateway_ip_address[2] << "." + << _sick_ethernet_config.sick_gateway_ip_address[3]; + + /* Return the std string representation */ + return str_stream.str(); + + } + + /** + * \brief Acquire the Sick LD's part number + * \return The Sick LD part number + */ + std::string SickLD::GetSickPartNumber( ) const { + return _sick_identity.sick_part_number; + } + + /** + * \brief Acquire the Sick LD's name + * \return The Sick LD sensor name + */ + std::string SickLD::GetSickName( ) const { + return _sick_identity.sick_name; + } + + /** + * \brief Acquire the Sick LD's version number + * \return The Sick LD version number + */ + std::string SickLD::GetSickVersion( ) const { + return _sick_identity.sick_version; + } + + /** + * \brief Acquire the Sick LD's serial number + * \return The Sick LD serial number + */ + std::string SickLD::GetSickSerialNumber( ) const { + return _sick_identity.sick_serial_number; + } + + /** + * \brief Acquire the Sick LD's EDM serial number + * \return The Sick LD EDM serial number + */ + std::string SickLD::GetSickEDMSerialNumber( ) const { + return _sick_identity.sick_edm_serial_number; + } + + /** + * \brief Acquire the Sick LD's firmware part number + * \return The Sick LD firmware part number + */ + std::string SickLD::GetSickFirmwarePartNumber( ) const { + return _sick_identity.sick_firmware_part_number; + } + + /** + * \brief Acquire the Sick LD's firmware number + * \return The Sick LD firmware name + */ + std::string SickLD::GetSickFirmwareName( ) const { + return _sick_identity.sick_firmware_name; + } + + /** + * \brief Acquire the Sick LD's firmware version + * \return The Sick LD firmware version + */ + std::string SickLD::GetSickFirmwareVersion( ) const { + return _sick_identity.sick_firmware_version; + } + + /** + * \brief Acquire the Sick LD's application software part number + * \return The Sick LD application software part number + */ + std::string SickLD::GetSickAppSoftwarePartNumber( ) const { + return _sick_identity.sick_application_software_part_number; + } + + /** + * \brief Acquire the Sick LD's application software name + * \return The Sick LD application software name + */ + std::string SickLD::GetSickAppSoftwareName( ) const { + return _sick_identity.sick_application_software_name; + } + + /** + * \brief Acquire the Sick LD's application software version number + * \return The Sick LD application software version number + */ + std::string SickLD::GetSickAppSoftwareVersionNumber( ) const { + return _sick_identity.sick_application_software_version; + } + + /** + * \brief Acquire the Sick LD's status as a printable string + * \return The Sick LD status as a well-formatted string + */ + std::string SickLD::GetSickStatusAsString() const { + + std::stringstream str_stream; + + str_stream << "\t============= Sick LD Status =============" << std::endl; + str_stream << "\tSensor Mode: " << _sickSensorModeToString(_sick_sensor_mode) << std::endl; + str_stream << "\tMotor Mode: " << _sickMotorModeToString(_sick_motor_mode) << std::endl; + str_stream << "\t==========================================" << std::endl; + + return str_stream.str(); + + } + + /** + * \brief Acquire the Sick LD's identity as a printable string + * \return The Sick LD identity as a well-formatted string + */ + std::string SickLD::GetSickIdentityAsString() const { + + std::ostringstream str_stream; + + str_stream << "\t============ Sick LD Identity ============" << std::endl; + str_stream << "\tSensor Part #: " << GetSickPartNumber() << std::endl; + str_stream << "\tSensor Name: " << GetSickName() << std::endl; + str_stream << "\tSensor Version: " << GetSickVersion() << std::endl; + str_stream << "\tSensor Serial #: " << GetSickSerialNumber() << std::endl; + str_stream << "\tSensor EDM Serial #: " << GetSickEDMSerialNumber() << std::endl; + str_stream << "\tFirmware Part #: " << GetSickFirmwarePartNumber() << std::endl; + str_stream << "\tFirmware Version: " << GetSickFirmwareVersion() << std::endl; + str_stream << "\tFirmware Name: " << GetSickFirmwareName() << std::endl; + str_stream << "\tApp. Software Part #: " << GetSickAppSoftwarePartNumber() << std::endl; + str_stream << "\tApp. Software Name: " << GetSickAppSoftwareName() << std::endl; + str_stream << "\tApp. Software Version: " << GetSickAppSoftwareVersionNumber() << std::endl; + str_stream << "\t==========================================" << std::endl; + + return str_stream.str(); + + } + + /** + * \brief Acquire the Sick LD's global config as a printable string + * \return The Sick LD global config as a well-formatted string + */ + std::string SickLD::GetSickGlobalConfigAsString() const { + + std::stringstream str_stream; + + str_stream << "\t=========== Sick Global Config ===========" << std::endl; + str_stream << "\tSensor ID: " << GetSickSensorID() << std::endl; + str_stream << "\tMotor Speed (5 to 20Hz): " << GetSickMotorSpeed() << std::endl; + str_stream << "\tAngle Step (deg): " << GetSickScanResolution() << std::endl; + str_stream << "\t==========================================" << std::endl; + + return str_stream.str(); + + } + + /** + * \brief Acquire the Sick LD's global config as a printable string + * \return The Sick LD Ethernet config as a well-formatted string + */ + std::string SickLD::GetSickEthernetConfigAsString() const { + + std::stringstream str_stream; + + str_stream << "\t========== Sick Ethernet Config ==========" << std::endl; + str_stream << "\tIP Address: " << GetSickIPAddress() << std::endl; + str_stream << "\tSubnet Mask: " << GetSickSubnetMask() << std::endl; + str_stream << "\tGateway IP Address: " << GetSickGatewayIPAddress() << std::endl; + str_stream << "\t==========================================" << std::endl; + + return str_stream.str(); + + } + + /** + * \brief Acquire the Sick LD's sector config as a printable string + * \return The Sick LD Sick LD's config as a well-formatted string + */ + std::string SickLD::GetSickSectorConfigAsString() const { + + std::stringstream str_stream; + + str_stream << "\t=========== Sick Sector Config ===========" << std::endl; + str_stream << "\tNum. Active Sectors: " << (int)_sick_sector_config.sick_num_active_sectors << std::endl; + str_stream << "\tNum. Initialized Sectors: " << (int)_sick_sector_config.sick_num_initialized_sectors << std::endl; + + str_stream << "\tSector Configs.:" << std::endl; + for (unsigned int i = 0; i < _sick_sector_config.sick_num_initialized_sectors; i++) { + str_stream << "\t\t" << i << " [" + << _sick_sector_config.sick_sector_start_angles[i] << "," + << _sick_sector_config.sick_sector_stop_angles[i] << "] (" + << _sickSectorFunctionToString(_sick_sector_config.sick_sector_functions[i]) << ")" << std::endl; + } + + str_stream << "\t==========================================" << std::endl; + + return str_stream.str(); + + } + + /** + * \brief Computes the active area over all measuring sectors + * \return The Sick LD active scan area + */ + double SickLD::GetSickScanArea( ) const { + + /* Some temp buffers */ + double sector_start_angles[SICK_MAX_NUM_SECTORS] = {0}; + double sector_stop_angles[SICK_MAX_NUM_SECTORS] = {0}; + + /* Sum the active areas over all sectors */ + for (unsigned int i = 0; i < _sick_sector_config.sick_num_active_sectors; i++) { + sector_start_angles[i] = _sick_sector_config.sick_sector_start_angles[_sick_sector_config.sick_active_sector_ids[i]]; + sector_stop_angles[i] = _sick_sector_config.sick_sector_stop_angles[_sick_sector_config.sick_active_sector_ids[i]]; + } + + /* Return the computed total scan area */ + return _computeScanArea(GetSickScanResolution(),sector_start_angles,sector_stop_angles,_sick_sector_config.sick_num_active_sectors); + } + + /** + * \brief Print the status of the Sick LD + */ + void SickLD::PrintSickStatus( ) const { + std::cout << GetSickStatusAsString() << std::flush; + } + + /** + * \brief Print the parameters comprising the Sick LD's identity + */ + void SickLD::PrintSickIdentity( ) const { + std::cout << GetSickIdentityAsString() << std::flush; + } + + /** + * \brief Print the Sick LD's global configuration + */ + void SickLD::PrintSickGlobalConfig( ) const { + std::cout << GetSickGlobalConfigAsString() << std::flush; + } + + /** + * \brief Print the Sick LD's Ethernet configuration + */ + void SickLD::PrintSickEthernetConfig( ) const { + std::cout << GetSickEthernetConfigAsString() << std::flush; + } + + /** + * \brief Print the Sick LD's sector configuration + */ + void SickLD::PrintSickSectorConfig( ) const { + std::cout << GetSickSectorConfigAsString() << std::flush; + } + + /** + * \brief Tear down the connection between the host and the Sick LD + */ + void SickLD::Uninitialize( ) throw( SickIOException, SickTimeoutException, SickErrorException, SickThreadException ){ + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLD::Uninitialize: Device NOT Initialized!!!"); + } + + std::cout << std::endl << "\t*** Attempting to uninitialize the Sick LD..." << std::endl; + + /* If necessary, tell the Sick LD to stop streaming data */ + try { + + std::cout << "\tSetting Sick LD to idle mode..." << std::endl; + _setSickSensorModeToIdle(); + std::cout << "\t\tSick LD is now idle!" << std::endl; + + /* Clear any signals that were set */ + SetSickSignals(); + + /* Attempt to cancel the buffer monitor */ + std::cout << "\tAttempting to cancel buffer monitor..." << std::endl; + _stopListening(); + std::cout << "\t\tBuffer monitor canceled!" << std::endl; + + /* Attempt to close the tcp connection */ + std::cout << "\tClosing connection to Sick LD..." << std::endl; + _teardownConnection(); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + std::cout << "\t\tConnection closed!" << std::endl; + + std::cout << "\t*** Uninit. complete - Sick LD is now offline!" << std::endl; + + /* Mark the device as uninitialized */ + _sick_initialized = false; + + /* Success! */ + } + + /** + * \brief Establish a TCP connection to the unit + */ + void SickLD::_setupConnection( ) throw( SickIOException, SickTimeoutException ) { + + /* Create the TCP socket */ + if ((_sick_fd = socket(PF_INET,SOCK_STREAM,IPPROTO_TCP)) < 0) { + throw SickIOException("SickLD::_setupConnection: socket() failed!"); + } + + /* Initialize the buffer */ + memset(&_sick_inet_address_info,0,sizeof(struct sockaddr_in)); + + /* Setup the Sick LD inet address structure */ + _sick_inet_address_info.sin_family = AF_INET; // Internet protocol address family + _sick_inet_address_info.sin_port = htons(_sick_tcp_port); // TCP port number + _sick_inet_address_info.sin_addr.s_addr = inet_addr(_sick_ip_address.c_str()); // Convert ip string to numerical address + + try { + + /* Set to non-blocking so we can time connect */ + _setNonBlockingIO(); + + /* Try to connect to the Sick LD */ + int conn_return; + if ((conn_return = connect(_sick_fd,(struct sockaddr *)&_sick_inet_address_info,sizeof(struct sockaddr_in))) < 0) { + + /* Check whether it is b/c it would block */ + if (errno != EINPROGRESS) { + throw SickIOException("SickLD::_setupConnection: connect() failed!"); + } + + /* Use select to wait on the socket */ + int valid_opt = 0; + int num_active_files = 0; + struct timeval timeout_val; // This structure will be used for setting our timeout values + fd_set file_desc_set; // File descriptor set for monitoring I/O + + /* Initialize and set the file descriptor set for select */ + FD_ZERO(&file_desc_set); + FD_SET(_sick_fd,&file_desc_set); + + /* Setup the timeout structure */ + memset(&timeout_val,0,sizeof(timeout_val)); // Initialize the buffer + timeout_val.tv_usec = DEFAULT_SICK_CONNECT_TIMEOUT; // Wait for specified time before throwing a timeout + + /* Wait for the OS to tell us that the connection is established! */ + num_active_files = select(getdtablesize(),0,&file_desc_set,0,&timeout_val); + + /* Figure out what to do based on the output of select */ + if (num_active_files > 0) { + + /* This is just a sanity check */ + if (!FD_ISSET(_sick_fd,&file_desc_set)) { + throw SickIOException("SickLD::_setupConnection: Unexpected file descriptor!"); + } + + /* Check for any errors on the socket - just to be sure */ + socklen_t len = sizeof(int); + if (getsockopt(_sick_fd,SOL_SOCKET,SO_ERROR,(void*)(&valid_opt),&len) < 0) { + throw SickIOException("SickLD::_setupConnection: getsockopt() failed!"); + } + + /* Check whether the opt value indicates error */ + if (valid_opt) { + throw SickIOException("SickLD::_setupConnection: socket error on connect()!"); + } + + } + else if (num_active_files == 0) { + + /* A timeout has occurred! */ + throw SickTimeoutException("SickLD::_setupConnection: select() timeout!"); + + } + else { + + /* An error has occurred! */ + throw SickIOException("SickLD::_setupConnection: select() failed!"); + + } + + } + + /* Restore blocking IO */ + _setBlockingIO(); + + } + + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + catch(...) { + std::cerr << "SickLD::_setupConnection - Unknown exception occurred!" << std::endl; + throw; + } + + /* Success */ + } + + /** + * \brief Synchronizes buffer driver parameters with those of the Sick LD. + * + * \todo Add support in this method for acquiring RS-232/RS-422, and CAN configurations + */ + void SickLD::_syncDriverWithSick( ) throw( SickIOException, SickTimeoutException, SickErrorException ) { + + try { + + /* Acquire current configuration */ + _getSickStatus(); + _getSickIdentity(); + _getSickEthernetConfig(); + _getSickGlobalConfig(); + _getSickSectorConfig(); + + /* Reset Sick signals */ + _setSickSignals(); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_syncDriverWithSick: Unknown exception!!!" << std::endl; + throw; + } + + /* Success */ + } + + /** \brief Sets the function for a particular scan sector. + * \param sector_number The number of the sector (should be in [0,7]) + * \param sector_function The function of the sector (e.g. no measurement, reserved, normal measurement, ...) + * \param sector_stop_angle The last angle of the sector (in odometer ticks) + * \param write_to_flash Indicates whether the sector configuration should be written to flash + */ + void SickLD::_setSickSectorFunction ( const uint8_t sector_number, const uint8_t sector_function, + const double sector_stop_angle, const bool write_to_flash ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ) { + + /* Ensure the device is not measuring */ + if (_sick_sensor_mode == SICK_SENSOR_MODE_MEASURE) { + + /* Set the Sick LD to rotate mode */ + try { + _setSickSensorModeToRotate(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSectorFunction: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* Ensure a valid sector number */ + if (sector_number >= SICK_MAX_NUM_SECTORS) { + throw SickConfigException("SickLD::_setSickSectorFunction: Invalid sector number!"); + } + + /* Check that a valid sector_function was given */ + if (sector_function != SICK_CONF_SECTOR_NOT_INITIALIZED && + sector_function != SICK_CONF_SECTOR_NO_MEASUREMENT && + sector_function != SICK_CONF_SECTOR_RESERVED && + sector_function != SICK_CONF_SECTOR_NORMAL_MEASUREMENT && + sector_function != SICK_CONF_SECTOR_REFERENCE_MEASUREMENT) { + + throw SickConfigException("SickLD::_setSickSectorFunction: Invalid sector function code!"); + } + + /* Check that a valid stop angle was given */ + if (sector_stop_angle > SICK_MAX_SCAN_AREA) { + throw SickConfigException("SickLD::_setSickSectorFunction: Invalid sector stop angle!"); + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* A temporary buffer for byte order conversion */ + uint16_t temp_buff = 0; + + /* Set the service IDs */ + payload_buffer[0] = SICK_CONF_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_CONF_SERV_SET_FUNCTION; // Requested service subtype + + /* Assign the payload data */ + payload_buffer[3] = sector_number; // SECTORNUM + payload_buffer[5] = sector_function; // SECTORFUNC + + /* Set the sector stop value */ + temp_buff = host_to_sick_ld_byte_order(_angleToTicks(sector_stop_angle)); + memcpy(&payload_buffer[6],&temp_buff,2); // SECTORSTOP + + /* Include the flash flag */ + payload_buffer[9] = (uint8_t)write_to_flash; // FLASHFLAG + + /* Create the Sick LD messages */ + SickLDMessage send_message(payload_buffer,10); + SickLDMessage recv_message; + + /* Send the message and get the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSectorFunction: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer (not necessary, but it doesn't hurt to be careful) */ + memset(payload_buffer,0,10); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Check the response for an error */ + if (payload_buffer[2] == 0xFF && payload_buffer[3] == 0xFF) { + throw SickConfigException("SickLD::_setSickSectorFunction: Invalid request!"); + } + + /* Success! */ + } + + /** + * \brief Acquires the function of the given sector + * \param sector_num The target sector number + * \param §or_config The configuration word returned by the Sick LD + * \param §or_stop The stop angle of the given sector + */ + void SickLD::_getSickSectorFunction( const uint8_t sector_num, uint8_t §or_function, double §or_stop_angle ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Ensure the device is not measuring */ + if (_sick_sensor_mode == SICK_SENSOR_MODE_MEASURE) { + + /* Set the Sick LD to rotate mode */ + try { + _setSickSensorModeToRotate(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSickSectorFunction: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* Declare the message payload buffer */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_CONF_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_CONF_SERV_GET_FUNCTION; // Requested service subtype + payload_buffer[3] = sector_num; // Sector number + + /* Declare the send/recv Sick LD message objects */ + SickLDMessage send_message(payload_buffer,4); + SickLDMessage recv_message; + + /* Send the message and get a response */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSickSectorFunction: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,4); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract the returned sector number */ + uint16_t temp_buffer = 0; + memcpy(&temp_buffer,&payload_buffer[2],2); + temp_buffer = sick_ld_to_host_byte_order(temp_buffer); + + /* Check to make sure the returned sector number matches + * the requested sector number. + */ + if (temp_buffer != sector_num) { + throw SickConfigException("SickLD::_getSickSectorFunction: Unexpected sector number returned by Sick LD!"); + } + + /* Extract the sector function */ + memcpy(&temp_buffer,&payload_buffer[4],2); + sector_function = sick_ld_to_host_byte_order(temp_buffer); + + /* Extract the sector stop angle (in ticks) */ + memcpy(&temp_buffer,&payload_buffer[6],2); + sector_stop_angle = _ticksToAngle(sick_ld_to_host_byte_order(temp_buffer)); + + /* S'ok */ + } + + /** + * \brief Sets the Sick LD sensor mode to IDLE + */ + void SickLD::_setSickSensorModeToIdle( ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* If necessary adjust the operating mode of the sensor */ + if (_sick_sensor_mode != SICK_SENSOR_MODE_IDLE) { + + /* Switch the sensor's operating mode to IDLE */ + try { + _setSickSensorMode(SICK_SENSOR_MODE_IDLE); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorModeToIdle: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* Success */ + } + + /** + * \brief Sets the Sick LD sensor mode to ROTATE + */ + void SickLD::_setSickSensorModeToRotate( ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* If necessary adjust the operating mode of the sensor */ + if (_sick_sensor_mode != SICK_SENSOR_MODE_ROTATE) { + + /* Switch the sensor's operating mode to ROTATE */ + try { + _setSickSensorMode(SICK_SENSOR_MODE_ROTATE); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorModeToRotate: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* Success */ + } + + /** + * \brief Sets the Sick LD sensor mode to ROTATE + */ + void SickLD::_setSickSensorModeToMeasure( ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* If necessary adjust the operating mode of the sensor */ + if (_sick_sensor_mode != SICK_SENSOR_MODE_MEASURE) { + + /* Switch the sensor's operating mode to MEASURE */ + try { + _setSickSensorMode(SICK_SENSOR_MODE_MEASURE); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorModeToMeasure: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* Success */ + } + + /** + * \brief Sets the Sick LD to the requested sensor mode + * \param new_sick_sensor_mode The desired sensor mode + */ + void SickLD::_setSickSensorMode( const uint8_t new_sick_sensor_mode ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* If the new mode matches the current mode then just return */ + if (_sick_sensor_mode == new_sick_sensor_mode) { + return; + } + + try { + + /* If the current sensor mode is MEASURE and streaming data */ + if ((_sick_sensor_mode == SICK_SENSOR_MODE_MEASURE) && + (_sick_streaming_range_data || _sick_streaming_range_and_echo_data)) { + + /* Cancel the current stream */ + _cancelSickScanProfiles(); + + } + + /* The Sick LD must be in rotate mode before: going from IDLE to MEASURE or going from MEASURE to IDLE */ + if ((_sick_sensor_mode == SICK_SENSOR_MODE_IDLE && new_sick_sensor_mode == SICK_SENSOR_MODE_MEASURE) || + (_sick_sensor_mode == SICK_SENSOR_MODE_MEASURE && new_sick_sensor_mode == SICK_SENSOR_MODE_IDLE)) { + + /* Set to rotate mode */ + _setSickSensorModeToRotate(); + + } + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* The payload length */ + uint32_t payload_length = 2; + + /* Set the service IDs */ + payload_buffer[0] = SICK_WORK_SERV_CODE; // Requested service type + payload_buffer[1] = _sickSensorModeToWorkServiceSubcode(new_sick_sensor_mode); // Requested service subtype + + /* If the target sensor mode is rotate then we add two more bytes + * to the payload length. Doing so adds two zero values to the payload + * which tells it to use the angular step and scan freqeuncy values + * stored in its flash. + */ + if (new_sick_sensor_mode == SICK_SENSOR_MODE_ROTATE) { + payload_length += 2; + } + + /* Define the send/receive message objects */ + SickLDMessage send_message(payload_buffer,payload_length); + SickLDMessage recv_message; + + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,payload_length); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Ensure the returned mode matches the requested mode */ + if ((_sick_sensor_mode = (payload_buffer[5] & 0x0F)) != new_sick_sensor_mode) { + + /* Check whether there is an error code we can use */ + if (new_sick_sensor_mode == SICK_SENSOR_MODE_MEASURE) { + + uint16_t return_code = 0; + std::string errMsg = "SickLD::_setSickSensorMode: Unexpected sensor mode returned from Sick LD!"; + memcpy(&return_code,&payload_buffer[6],2); + return_code = sick_ld_to_host_byte_order(return_code); + + /* Print the error code associated with the TRANS_MEASURE request */ + errMsg = errMsg + " (TRANS_MEAS Error Code: " + _sickTransMeasureReturnToString(return_code) + ")"; + throw SickErrorException(errMsg.c_str()); + + } + + } + + /* Make sure the motor is Ok */ + if ((_sick_motor_mode = ((payload_buffer[5] >> 4) & 0x0F)) != SICK_MOTOR_MODE_OK) { + throw SickErrorException("SickLD::_setSickSensorMode: Unexpected motor mode returned from Sick LD!"); + } + + /* Success */ + + } + + /** + * \brief Request n scan profiles from the Sick LD unit + * \param profile_format The format for the requested scan profiles + * \param num_profiles The number of profiles to request from Sick LD. (Default: 0) + * (NOTE: When num_profiles = 0, the Sick LD continuously streams profile data) + */ + void SickLD::_getSickScanProfiles( const uint16_t profile_format, const uint16_t num_profiles ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ) { + + /* Ensure the device is in measurement mode */ + try { + _setSickSensorModeToMeasure(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + /* A quick check to ensure the requested format is supported by the driver */ + if (!_supportedScanProfileFormat(profile_format)) { + throw SickConfigException("SickLD::_getSickScanProfiles: Unsupported profile format!"); + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service code and subcode */ + payload_buffer[0] = SICK_MEAS_SERV_CODE; + payload_buffer[1] = SICK_MEAS_SERV_GET_PROFILE; + + /* Write the number of profiles to request to the payload buffer */ + uint16_t temp_buffer = host_to_sick_ld_byte_order(num_profiles); + memcpy(&payload_buffer[2],&temp_buffer,2); + + /* Set the profile format mask (for now, we request everything from the Sick LD) */ + temp_buffer = profile_format; + temp_buffer = host_to_sick_ld_byte_order(temp_buffer); + memcpy(&payload_buffer[4],&temp_buffer,2); + + /* Define the send message object */ + SickLDMessage send_message(payload_buffer,6); + SickLDMessage recv_message; + + /* Send the request */ + if (num_profiles == 0) { + std::cout << "\tRequesting " << _sickProfileFormatToString(profile_format) << " data stream from Sick LD..." << std::endl; + } else { + std::cout << "\tRequesting " << num_profiles << " " << _sickProfileFormatToString(profile_format) << " profiles from Sick LD..." << std::endl; + } + + /* Request scan profiles from the Sick (empirically it can take the Sick up to a few seconds to respond) */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,6); + + /* Acquire the payload of the response */ + recv_message.GetPayload(payload_buffer); + + /* Check to make sure the returned format is correct and there were no errors */ + memcpy(&temp_buffer,&payload_buffer[2],2); + temp_buffer = sick_ld_to_host_byte_order(temp_buffer); + + /* Another sanity check */ + if (temp_buffer != profile_format) { + throw SickErrorException("SickLD::_getSickScanProfiles: Incorrect profile format was returned by the Sick LD!"); + } + + /* Check if the data stream flags need to be set */ + if (num_profiles == 0 && profile_format == SICK_SCAN_PROFILE_RANGE) { + _sick_streaming_range_data = true; + } + else if (num_profiles == 0 && profile_format == SICK_SCAN_PROFILE_RANGE_AND_ECHO) { + _sick_streaming_range_and_echo_data = true; + } + + /* Show some output */ + if (num_profiles == 0) { + std::cout << "\t\tData stream started!" << std::endl; + } else { + std::cout << "\t\tSick LD sending " << num_profiles << " scan profiles!" << std::endl; + } + + /* Success */ + } + + /** + * \brief Parses a well-formed sequence of bytes into a corresponding scan profile + * \param *src_buffer The source data buffer + * \param &profile_data The destination data structure + */ + void SickLD::_parseScanProfile( uint8_t * const src_buffer, sick_ld_scan_profile_t &profile_data ) const { + + uint16_t profile_format = 0; + unsigned int data_offset = 0; + + /* Extract the scan profile format from the buffer */ + memcpy(&profile_format,&src_buffer[data_offset],2); + profile_format = sick_ld_to_host_byte_order(profile_format); + data_offset += 2; + + /* Extract the number of sectors in the scan area */ + profile_data.num_sectors = src_buffer[data_offset+1]; + data_offset += 2; + + /* NOTE: For the following field definitions see page 32 of the + * Sick LD telegram listing. + */ + uint16_t temp_buffer; // A temporary buffer + + /* Check if PROFILESENT is included */ + if (profile_format & 0x0001) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.profile_number = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + } + + /* Check if PROFILECOUNT is included */ + if (profile_format & 0x0002) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.profile_counter = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + } + + /* Check if LAYERNUM is included */ + if (profile_format & 0x0004) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.layer_num = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + } + + /* The extraneous stuff is out of the way, now extract the data + * for each of the sectors in the scan area... + */ + for (unsigned int i=0; i < profile_data.num_sectors; i++) { + + /* Check if SECTORNUM is included */ + if (profile_format & 0x0008) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].sector_num = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + } + else { + profile_data.sector_data[i].sector_num = 0; + } + + /* Check if DIRSTEP is included */ + if (profile_format & 0x0010) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].angle_step = ((double)sick_ld_to_host_byte_order(temp_buffer))/16; + data_offset += 2; + } + else { + profile_data.sector_data[i].angle_step = 0; + } + + /* Check if POINTNUM is included */ + if (profile_format & 0x0020) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].num_data_points = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + } + else { + profile_data.sector_data[i].num_data_points = 0; + } + + /* Check if TSTART is included */ + if (profile_format & 0x0040) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].timestamp_start = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + } + else { + profile_data.sector_data[i].timestamp_start = 0; + } + + /* Check if STARTDIR is included */ + if (profile_format & 0x0080) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].angle_start = ((double)sick_ld_to_host_byte_order(temp_buffer))/16; + data_offset += 2; + } + else { + profile_data.sector_data[i].angle_start = 0; + } + + /* Acquire the range and echo values for the sector */ + for (unsigned int j=0; j < profile_data.sector_data[i].num_data_points; j++) { + + /* Check if DISTANCE-n is included */ + if (profile_format & 0x0100) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].range_values[j] = ((double)sick_ld_to_host_byte_order(temp_buffer))/256; + data_offset += 2; + } + else { + profile_data.sector_data[i].range_values[j] = 0; + } + + /* Check if DIRECTION-n is included */ + if (profile_format & 0x0200) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].scan_angles[j] = ((double)sick_ld_to_host_byte_order(temp_buffer))/16; + data_offset += 2; + } + else { + profile_data.sector_data[i].scan_angles[j] = 0; + } + + /* Check if ECHO-n is included */ + if (profile_format & 0x0400) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].echo_values[j] = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + } + else { + profile_data.sector_data[i].echo_values[j] = 0; + } + + } + + /* Check if TEND is included */ + if (profile_format & 0x0800) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].timestamp_stop = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + } + else { + profile_data.sector_data[i].timestamp_stop = 0; + } + + /* Check if ENDDIR is included */ + if (profile_format & 0x1000) { + memcpy(&temp_buffer,&src_buffer[data_offset],2); + profile_data.sector_data[i].angle_stop = ((double)sick_ld_to_host_byte_order(temp_buffer))/16; + data_offset += 2; + } + else { + profile_data.sector_data[i].angle_stop = 0; + } + + } + + /* Check if SENSTAT is included */ + if (profile_format & 0x2000) { + profile_data.sensor_status = src_buffer[data_offset+3] & 0x0F; + profile_data.motor_status = (src_buffer[data_offset+3] >> 4) & 0x0F; + } + else { + profile_data.sensor_status = SICK_SENSOR_MODE_UNKNOWN; + profile_data.motor_status = SICK_MOTOR_MODE_UNKNOWN; + } + + } + + /** + * \brief Kills the current data stream + */ + void SickLD::_cancelSickScanProfiles( ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Ensure the device is in measurement mode */ + try { + _setSickSensorModeToMeasure(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_cancelSickScanProfiles: Unknown exception!!!" << std::endl; + throw; + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_MEAS_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_MEAS_SERV_CANCEL_PROFILE; // Requested service subtype + + /* Create the Sick messages */ + SickLDMessage send_message(payload_buffer,2); + SickLDMessage recv_message; + + std::cout << "\tStopping the data stream..." << std::endl; + + /* Send the message and check the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getFirmwareName: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,2); + + /* Update the status of ths Sick LD */ + recv_message.GetPayload(payload_buffer); + + /* Extract and assign the sensor and motor status */ + _sick_sensor_mode = payload_buffer[5] & 0x0F; + _sick_motor_mode = (payload_buffer[5] >> 4) & 0x0F; + + /* Since we just updated them, let's make sure everything s'ok */ + if (_sick_sensor_mode == SICK_SENSOR_MODE_ERROR) { + throw SickErrorException("SickLD::_cancelSickScanProfiles: Sick LD returned sensor mode ERROR!"); + } + + /* Check the motor mode */ + if (_sick_motor_mode == SICK_MOTOR_MODE_ERROR) { + throw SickErrorException("SickLD::_cancelSickScanProfiles: Sick LD returned motor mode ERROR!"); + } + + /* Set the stream flag for the driver */ + if (_sick_streaming_range_data) { + _sick_streaming_range_data = false; + } + else { + _sick_streaming_range_and_echo_data = false; + } + + std::cout << "\t\tStream stopped!" << std::endl; + } + + /** + * \brief Enables/disables nearfield suppression on the Sick LD + * \param suppress_code Code indicating whether to enable or diable the nearfield suppression + */ + void SickLD::_setSickFilter( const uint8_t suppress_code ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Ensure the device is not measuring */ + if (_sick_sensor_mode == SICK_SENSOR_MODE_MEASURE) { + + /* Set the Sick LD to rotate mode */ + try { + _setSickSensorModeToRotate(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickFilter: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_CONF_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_CONF_SERV_SET_FILTER; // Requested service subtype + payload_buffer[3] = SICK_CONF_SERV_SET_FILTER_NEARFIELD; // Setting nearfield suppression filter + payload_buffer[5] = suppress_code; // Code telling whether to turn it on or off + + /* Create the Sick messages */ + SickLDMessage send_message(payload_buffer,6); + SickLDMessage recv_message; + + /* Send the message and check the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickFilter: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,6); + + /* Acquire the returned payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract FILTERITEM */ + uint16_t filter_item; + memcpy(&filter_item,&payload_buffer[2],2); + filter_item = sick_ld_to_host_byte_order(filter_item); + + /* Check that the returned filter item matches nearfiled suppression */ + if (filter_item != SICK_CONF_SERV_SET_FILTER_NEARFIELD) { + throw SickErrorException("SickLD::_setSickFilter: Unexpected filter item returned from Sick LD!"); + } + + /* Success */ + } + + /** + * \brief Get the parameters that define the Sick LD's identity + */ + void SickLD::_getSickIdentity( ) throw( SickTimeoutException, SickIOException ) { + + try { + + _getSensorPartNumber(); + _getSensorName(); + _getSensorVersion(); + _getSensorSerialNumber(); + _getSensorEDMSerialNumber(); + _getFirmwarePartNumber(); + _getFirmwareName(); + _getFirmwareVersion(); + _getApplicationSoftwarePartNumber(); + _getApplicationSoftwareName(); + _getApplicationSoftwareVersion(); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSickIdentity: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + } + + /** + * \brief Get the status of the Sick LD + */ + void SickLD::_getSickStatus( ) throw( SickTimeoutException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_STAT_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_STAT_SERV_GET_STATUS; // Requested service subtype + + /* Create the Sick messages */ + SickLDMessage send_message(payload_buffer,2); + SickLDMessage recv_message; + + /* Send the message and check the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch(...) { + std::cerr << "SickLD::_getSickStatus - Unknown exception!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,2); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract the Sick LD's current sensor mode */ + _sick_sensor_mode = payload_buffer[5] & 0x0F; + + /* Extract the Sick LD's current motor mode */ + _sick_motor_mode = (payload_buffer[5] >> 4) & 0x0F; + + /* Success */ + } + + /** + * \brief Sets the Sick LD's global parameters (sensor id, motor speed, and angular step) in flash. + * \param sick_sensor_id The sensor id to be assigned to the unit. + * \param sick_motor_speed The speed of the motor in Hz (must be in [5,20]) + * \param sick_angular_step The difference between two laser pulses in 1/16 degrees (e.g. sick_angular_step = 4 => 0.25 deg step). + * Also, this value must evenly divide into 5760 and be greater than 1 (see telegram listing page 21). + * + * ALERT: This method writes the parameters to the Sick LD's flash, so there is no + * need to use it except when configuring the device. + * + * ALERT: This method DOES NOT DO ERROR CHECKING on the given parameter values. It is the responsibility + * of the caller function to do error checking beforehand. + */ + void SickLD::_setSickGlobalConfig( const uint8_t sick_sensor_id, const uint8_t sick_motor_speed, const double sick_angle_step ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Ensure the device is in IDLE mode */ + try { + _setSickSensorModeToIdle(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickGlobalConfig: Unknown exception!!!" << std::endl; + throw; + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_CONF_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_CONF_SERV_SET_CONFIGURATION; // Requested service subtype + + /* Set the configuration key */ + payload_buffer[3] = SICK_CONF_KEY_GLOBAL; // Use the global configuration key + + /* Set the message parameters */ + payload_buffer[5] = sick_sensor_id; // Include the given sensor ID + payload_buffer[7] = sick_motor_speed; // Include the new Sick Motor speed value + + /* Set the angular step */ + uint16_t temp_buffer = _angleToTicks(sick_angle_step); + temp_buffer = host_to_sick_ld_byte_order(temp_buffer); + memcpy(&payload_buffer[8],&temp_buffer,2); + + /* Create the Sick messages */ + SickLDMessage send_message(payload_buffer,10); + SickLDMessage recv_message; + + /* Send the message and check the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickGlobalConfig: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,10); + + /* Extract the response payload */ + recv_message.GetPayload(payload_buffer); + + /* Check to make sure there wasn't an error */ + if (payload_buffer[2] != 0 || payload_buffer[3] != 0) { + throw SickErrorException("SickLD::_setSickGlobalConfig: Configuration setting was NOT sucessful!"); + } + + /* Update the device driver with the new values */ + _sick_global_config.sick_sensor_id = sick_sensor_id; + _sick_global_config.sick_motor_speed = sick_motor_speed; + _sick_global_config.sick_angle_step = sick_angle_step; + + /* Success! */ + } + + /** + * \brief Get the global configuration of the Sick LD. + */ + void SickLD::_getSickGlobalConfig( ) throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Ensure the device is in IDLE mode */ + try { + _setSickSensorModeToIdle(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSickGlobalConfig: Unknown exception!!!" << std::endl; + throw; + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_CONF_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_CONF_SERV_GET_CONFIGURATION; // Requested service subtype + payload_buffer[3] = SICK_CONF_KEY_GLOBAL; // Configuration key + + /* Create the Sick messages */ + SickLDMessage send_message(payload_buffer,4); + SickLDMessage recv_message; + + /* Send the message and check the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSickGlobalConfig: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,4); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract the configuration key */ + uint16_t temp_buffer = 0; + unsigned int data_offset = 2; + memcpy(&temp_buffer,&payload_buffer[data_offset],2); + temp_buffer = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + + /* A quick sanity check */ + if (temp_buffer != SICK_CONF_KEY_GLOBAL) { + throw SickErrorException("SickLD::_getSickGlobalConfig: Unexpected message contents!"); + } + + /* Extract the global sensor ID */ + memcpy(&_sick_global_config.sick_sensor_id,&payload_buffer[data_offset],2); + _sick_global_config.sick_sensor_id = sick_ld_to_host_byte_order(_sick_global_config.sick_sensor_id); + data_offset += 2; + + /* Extract the nominal motor speed */ + memcpy(&_sick_global_config.sick_motor_speed,&payload_buffer[data_offset],2); + _sick_global_config.sick_motor_speed = sick_ld_to_host_byte_order(_sick_global_config.sick_motor_speed); + data_offset += 2; + + /* Extract the angular step */ + memcpy(&temp_buffer,&payload_buffer[data_offset],2); + _sick_global_config.sick_angle_step = _ticksToAngle(sick_ld_to_host_byte_order(temp_buffer)); + + /* Success */ + } + + /** + * \brief Get the Sick LD's Ethernet configuration. + */ + void SickLD::_getSickEthernetConfig( ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Ensure the device is in IDLE mode */ + try { + _setSickSensorModeToIdle(); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_CONF_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_CONF_SERV_GET_CONFIGURATION; // Requested service subtype + payload_buffer[3] = SICK_CONF_KEY_ETHERNET; // Configuration key + + /* Create the Sick messages */ + SickLDMessage send_message(payload_buffer,4); + SickLDMessage recv_message; + + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,4); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Extract the configuration key */ + uint16_t temp_buffer = 0; + unsigned int data_offset = 2; + memcpy(&temp_buffer,&payload_buffer[data_offset],2); + temp_buffer = sick_ld_to_host_byte_order(temp_buffer); + data_offset += 2; + + /* A quick sanity check */ + if (temp_buffer != SICK_CONF_KEY_ETHERNET) { + throw SickErrorException("SickLD::_getSickEthernetConfig: Unexpected message contents!"); + } + + /* Extract the IP address of the Sick LD */ + for(unsigned int i=0; i < 4; i++,data_offset+=2) { + memcpy(&_sick_ethernet_config.sick_ip_address[i],&payload_buffer[data_offset],2); + _sick_ethernet_config.sick_ip_address[i] = sick_ld_to_host_byte_order(_sick_ethernet_config.sick_ip_address[i]); + } + + /* Extract the associated subnet mask */ + for(unsigned int i=0; i < 4; i++,data_offset+=2) { + memcpy(&_sick_ethernet_config.sick_subnet_mask[i],&payload_buffer[data_offset],2); + _sick_ethernet_config.sick_subnet_mask[i] = sick_ld_to_host_byte_order(_sick_ethernet_config.sick_subnet_mask[i]); + } + + /* Extract the default gateway */ + for(unsigned int i=0; i < 4; i++,data_offset+=2) { + memcpy(&_sick_ethernet_config.sick_gateway_ip_address[i],&payload_buffer[data_offset],2); + _sick_ethernet_config.sick_gateway_ip_address[i] = sick_ld_to_host_byte_order(_sick_ethernet_config.sick_gateway_ip_address[i]); + } + + /* Extract the sick node ID (NOTE: This value doesn't matter, but we buffer it anyways) */ + memcpy(&_sick_ethernet_config.sick_node_id,&payload_buffer[data_offset],2); + _sick_ethernet_config.sick_node_id = sick_ld_to_host_byte_order(_sick_ethernet_config.sick_node_id); + data_offset += 2; + + /* Extract the transparent TCP port (NOTE: The significance of this value is unclear as + * it doesn't affect the actual TCP port number that the Sick server is operating at. + * But, we buffer it anyways as it is included in the configuration.) + */ + memcpy(&_sick_ethernet_config.sick_transparent_tcp_port,&payload_buffer[data_offset],2); + _sick_ethernet_config.sick_transparent_tcp_port = sick_ld_to_host_byte_order(_sick_ethernet_config.sick_transparent_tcp_port); + data_offset += 2; + + /* Success */ + } + + /** + * \brief Query the Sick for its current sector configuration. + * + * NOTE: Here we only buffer the sector stop angle as this is the + * only value returned by the GET_FUNCTION command. Using the + * stop angle does not give enough information to extract the + * start angle of sectors that aren't "normal measurement". + */ + void SickLD::_getSickSectorConfig( ) + throw( SickErrorException, SickTimeoutException, SickIOException ) { + + /* Reset the sector config struct */ + memset(&_sick_sector_config,0,sizeof(sick_ld_config_sector_t)); + + /* Get the configuration for all initialized sectors */ + for (unsigned int i = 0; i < SICK_MAX_NUM_SECTORS; i++) { + + /* Query the Sick for the function of the ith sector */ + try { + _getSickSectorFunction(i,_sick_sector_config.sick_sector_functions[i],_sick_sector_config.sick_sector_stop_angles[i]); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSickSectorConfig: Unknown exception!!!" << std::endl; + throw; + } + + /* Check if the sector is initialized */ + if (_sick_sector_config.sick_sector_functions[i] != SICK_CONF_SECTOR_NOT_INITIALIZED) { + + /* Check whether the sector is active (i.e. measuring) */ + if (_sick_sector_config.sick_sector_functions[i] == SICK_CONF_SECTOR_NORMAL_MEASUREMENT) { + _sick_sector_config.sick_active_sector_ids[_sick_sector_config.sick_num_active_sectors] = i; + _sick_sector_config.sick_num_active_sectors++; + } + + /* Update the number of initialized sectors */ + _sick_sector_config.sick_num_initialized_sectors++; + } + else { + + /* An uninitialized sector marks the end of the sector configuration */ + break; + } + + } + + /* Compute the starting angle for each of the initialized sectors */ + for (unsigned int i = 1; i < _sick_sector_config.sick_num_initialized_sectors; i++) { + _sick_sector_config.sick_sector_start_angles[i] = fmod(_sick_sector_config.sick_sector_stop_angles[i-1]+_sick_global_config.sick_angle_step,360); + } + + /* Determine the starting angle for the first sector */ + if (_sick_sector_config.sick_num_initialized_sectors > 1) { + _sick_sector_config.sick_sector_start_angles[0] = + fmod(_sick_sector_config.sick_sector_stop_angles[_sick_sector_config.sick_num_initialized_sectors-1]+_sick_global_config.sick_angle_step,360); + } + + /* Success! */ + } + + /** + * \brief Query the Sick LD for a particular ID string. + * \param id_request_code The code indicating what ID string is being requested. + * \param &id_return_string A reference to hold the string returned from the Sick LD.x + */ + void SickLD::_getIdentificationString( const uint8_t id_request_code, std::string &id_return_string ) + throw( SickTimeoutException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_STAT_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_STAT_SERV_GET_ID; // Requested service subtype + payload_buffer[3] = id_request_code; // ID information that is being requested + + /* Create the Sick LD messages */ + SickLDMessage send_message(payload_buffer,4); + SickLDMessage recv_message; + + /* Send the message and get the reply */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getIdentificationString: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer (not necessary, but it doesn't hurt to be careful) */ + memset(payload_buffer,0,4); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Assign the string */ + id_return_string = (char *) &payload_buffer[2]; + + /* Success, woohooo! */ + } + + /** + * \brief Get the Sick LD's part number + */ + void SickLD::_getSensorPartNumber( ) throw( SickTimeoutException, SickIOException ) { + + /* Query the Sick LD */ + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_SENSOR_PART_NUM,_sick_identity.sick_part_number); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSensorPartNumber: Unknown exception!!!" << std::endl; + throw; + } + + /* Success, woohooo! */ + } + + /** + * \brief Get the Sick LD's assigned sensor name + */ + void SickLD::_getSensorName( ) throw( SickTimeoutException, SickIOException ) { + + /* Query the Sick LD */ + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_SENSOR_NAME,_sick_identity.sick_name); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSensorName: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Get the Sick LD's sensor version + */ + void SickLD::_getSensorVersion( ) throw( SickTimeoutException, SickIOException ) { + + /* Get the id info */ + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_SENSOR_VERSION,_sick_identity.sick_version); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSensorVersion: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Get the Sick LD's serial number + */ + void SickLD::_getSensorSerialNumber( ) throw( SickTimeoutException, SickIOException ) { + + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_SENSOR_SERIAL_NUM,_sick_identity.sick_serial_number); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSensorSerialNumber: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Get sensor EDM serial number + */ + void SickLD::_getSensorEDMSerialNumber( ) throw( SickTimeoutException, SickIOException ) { + + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_SENSOR_EDM_SERIAL_NUM,_sick_identity.sick_edm_serial_number); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getSensorEDMSerialNumber: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Get firmware part number + */ + void SickLD::_getFirmwarePartNumber( ) throw( SickTimeoutException, SickIOException ) { + + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_FIRMWARE_PART_NUM,_sick_identity.sick_firmware_part_number); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getFirmwarePartNumber: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Get firmware name + */ + void SickLD::_getFirmwareName( ) throw( SickTimeoutException, SickIOException ) { + + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_FIRMWARE_NAME,_sick_identity.sick_firmware_name); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getFirmwareName: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Get firmware version number + */ + void SickLD::_getFirmwareVersion( ) throw( SickTimeoutException, SickIOException ){ + + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_FIRMWARE_VERSION,_sick_identity.sick_firmware_version); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getFirmwareVersion: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Get application software part number + */ + void SickLD::_getApplicationSoftwarePartNumber( ) throw( SickTimeoutException, SickIOException ) { + + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_APP_PART_NUM,_sick_identity.sick_application_software_part_number); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getApplicationSoftwarePartNumber: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Get application software name + */ + void SickLD::_getApplicationSoftwareName( ) throw( SickTimeoutException, SickIOException ) { + + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_APP_NAME,_sick_identity.sick_application_software_name); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getApplication Software Name: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Get application software part number + */ + void SickLD::_getApplicationSoftwareVersion( ) throw( SickTimeoutException, SickIOException ) { + + try { + _getIdentificationString(SICK_STAT_SERV_GET_ID_APP_VERSION,_sick_identity.sick_application_software_version); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_getApplicationSoftwareVersion: Unknown exception!!!" << std::endl; + throw; + } + + /* Ok */ + } + + /** + * \brief Attempts to set the "permanent" (by writing flash) operating values for the device + * \param sick_motor_speed Desired motor speed for the device (hz) + * \param sick_angle_step Desired scan angular resolution (deg) + * \param active_sector_start_angles Angles marking the beginning of each desired active sector/area + * \param active_sector_stop_angles Angles marking the end of each desired active sector/area + * \param num_active_sectors The number of active sectors + */ + void SickLD::_setSickGlobalParamsAndScanAreas( const unsigned int sick_motor_speed, const double sick_angle_step, + const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) + throw( SickTimeoutException, SickIOException, SickConfigException, SickErrorException ) { + + /* Define buffers to hold the device-ready configuration */ + unsigned int num_sectors = 0; + unsigned int sector_functions[SICK_MAX_NUM_SECTORS] = {0}; + double sector_stop_angles[SICK_MAX_NUM_SECTORS] = {0}; + + /* A few dummy buffers */ + double sorted_active_sector_start_angles[SICK_MAX_NUM_SECTORS] = {0}; + double sorted_active_sector_stop_angles[SICK_MAX_NUM_SECTORS] = {0}; + + /* Begin by checking the num of active sectors */ + if (num_active_sectors > SICK_MAX_NUM_SECTORS/2) { + throw SickConfigException("SickLD::_setSickGlobalParamsAndScanAreas: Invalid number of active scan sectors!"); + } + + /* Ensure the given motor speed is valid (within proper bounds, etc...) */ + if (!_validSickMotorSpeed(sick_motor_speed)) { + throw SickConfigException("SickLD::_setSickGlobalParamsAndScanAreas: Invalid motor speed!"); + } + + /* Ensure the scan resolution is valid (within proper bounds, etc...) */ + if (!_validSickScanResolution(sick_angle_step,active_sector_start_angles,active_sector_stop_angles,num_active_sectors)) { + throw SickConfigException("SickLD::_setSickGlobalParamsAndScanAreas: Invalid scan resolution!"); + } + + /* Copy the input arguments */ + memcpy(sorted_active_sector_start_angles,active_sector_start_angles,sizeof(sorted_active_sector_start_angles)); + memcpy(sorted_active_sector_stop_angles,active_sector_stop_angles,sizeof(sorted_active_sector_stop_angles)); + + /* Ensure a proper ordering of the given sector angle sets */ + _sortScanAreas(sorted_active_sector_start_angles,sorted_active_sector_stop_angles,num_active_sectors); + + /* Check for an invalid configuration */ + if (!_validActiveSectors(sorted_active_sector_start_angles,sorted_active_sector_stop_angles,num_active_sectors)) { + throw SickConfigException("SickLD::_setSickGlobalParamsAndScanAreas: Invalid sector configuration!"); + } + + /* Ensure the resulting pulse frequency is valid for the device */ + if (!_validPulseFrequency(sick_motor_speed,sick_angle_step,sorted_active_sector_start_angles, sorted_active_sector_stop_angles,num_active_sectors)) { + throw SickConfigException("SickLD::_setSickGlobalParamsAndScanAreas: Invalid pulse frequency!"); + } + + /* Generate the corresponding device-ready sector config */ + _generateSickSectorConfig(sorted_active_sector_start_angles,sorted_active_sector_stop_angles,num_active_sectors,sick_angle_step, + sector_functions,sector_stop_angles,num_sectors); + + try { + + /* Set the new sector configuration */ + _setSickSectorConfig(sector_functions,sector_stop_angles,num_sectors,false); + + /* Assign the new configuration in the flash + * + * NOTE: The following function must be called, even if the global parameters (motor speed, + * and angular resolution) are the same, in order to write the sector configuration. + * Why this is the case isn't exactly clear as the manual does not explain. + */ + _setSickGlobalConfig(GetSickSensorID(),sick_motor_speed,sick_angle_step); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickGlobalParamsAndScanAreas: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + } + + /** + * \brief Attempts to set the "temporary" (until a device reset) scan area config for the device + * \param active_sector_start_angles Angles marking the beginning of each desired active sector/area + * \param active_sector_stop_angles Angles marking the end of each desired active sector/area + * \param num_active_sectors The number of active sectors + */ + void SickLD::_setSickTemporaryScanAreas( const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) throw( SickTimeoutException, SickIOException, SickConfigException ) { + + /* Define buffers to hold the device-ready configuration */ + unsigned int num_sectors = 0; + unsigned int sector_functions[SICK_MAX_NUM_SECTORS] = {0}; + double sector_stop_angles[SICK_MAX_NUM_SECTORS] = {0}; + + /* A few dummy buffers */ + double sorted_active_sector_start_angles[SICK_MAX_NUM_SECTORS] = {0}; + double sorted_active_sector_stop_angles[SICK_MAX_NUM_SECTORS] = {0}; + + /* Begin by checking the num of active sectors */ + if (num_active_sectors > SICK_MAX_NUM_SECTORS/2) + throw SickConfigException("_setSickTemporaryScanAreas: Invalid number of active scan sectors!"); + + /* Copy the input arguments */ + memcpy(sorted_active_sector_start_angles,active_sector_start_angles,sizeof(sorted_active_sector_start_angles)); + memcpy(sorted_active_sector_stop_angles,active_sector_stop_angles,sizeof(sorted_active_sector_stop_angles)); + + /* Ensure a proper ordering of the given sector angle sets */ + _sortScanAreas(sorted_active_sector_start_angles,sorted_active_sector_stop_angles,num_active_sectors); + + /* Check for an invalid configuration */ + if (!_validActiveSectors(sorted_active_sector_start_angles,sorted_active_sector_stop_angles,num_active_sectors)) { + throw SickConfigException("SickLD::_setSickGlobalParamsAndScanAreas: Invalid sector configuration!"); + } + + /* Ensure the resulting pulse frequency is valid for the device */ + if (!_validPulseFrequency(GetSickMotorSpeed(),GetSickScanResolution(),sorted_active_sector_start_angles, + sorted_active_sector_stop_angles,num_active_sectors)) { + throw SickConfigException("SickLD::_setSickGlobalParamsAndScanAreas: Invalid pulse frequency!"); + } + + /* Generate the corresponding device-ready sector config */ + _generateSickSectorConfig(sorted_active_sector_start_angles,sorted_active_sector_stop_angles,num_active_sectors,GetSickScanResolution(), + sector_functions,sector_stop_angles,num_sectors); + + /* Set the new sector configuration */ + try { + _setSickSectorConfig(sector_functions,sector_stop_angles,num_sectors); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickTemporaryScanAreas: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + } + + /** + * \brief Sets the sector configuration for the device + * \param sector_functions Angles marking the beginning of each desired active sector/area + * \param sector_stop_angles Angles marking the end of each desired active sector/area + * \param num_sectors The total number of sectors in the configuration + * \param set_flash_flag Indicates whether to mark the sectors for writing to flash w/ the next SET_CONFIG (global) + */ + void SickLD::_setSickSectorConfig( const unsigned int * const sector_functions, const double * const sector_stop_angles, + const unsigned int num_sectors, const bool write_to_flash ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ) { + + /* Assign the new sector configuration to the device */ + for (unsigned int sector_id = 0; sector_id < num_sectors; sector_id++) { + + try { + + /* Set the corresponding sector function */ + _setSickSectorFunction(sector_id,sector_functions[sector_id],sector_stop_angles[sector_id],write_to_flash); + + /* Resync the driver with the new sector configuration */ + _getSickSectorConfig(); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSectorConfig: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* Success */ + } + + /** + * \brief Sets the Sick LEDs and switching outputs + * \param sick_signal_flags Flags indicating which LEDs and SWITCHES to activate + * + * NOTE: This method does not preserve the previous state of the Sick's signals. + * In other words, only the signals flagged in sick_signal_flags will be + * set - all others will be off! + */ + void SickLD::_setSickSignals( const uint8_t sick_signal_flags ) throw( SickIOException, SickTimeoutException, SickErrorException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLDMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the service IDs */ + payload_buffer[0] = SICK_STAT_SERV_CODE; // Requested service type + payload_buffer[1] = SICK_STAT_SERV_SET_SIGNAL; // Requested service subtype + payload_buffer[3] = sick_signal_flags; // PORTVAL + + /* Create the Sick message */ + SickLDMessage send_message(payload_buffer,4); + SickLDMessage recv_message; + + /* Send the message and get a response */ + try { + _sendMessageAndGetReply(send_message,recv_message); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::_setSickSensorMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the payload buffer */ + memset(payload_buffer,0,4); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Check to see if there was an error */ + if (payload_buffer[2] != 0) { + throw SickErrorException("SickLD::_setSickSignals: Command failed!"); + } + + /* Success */ + } + + /** + * \brief Send a message to the Sick LD and get its reply. + * \param &send_message A reference to the well-formed message object that is to be sent. + * \param &recv_message The destination message object for the received reply. + * \param timeout_value The maximum time to allow for a response in seconds + * + * NOTE: This method also verifies the correct reply to the given send_message + * object is received. So, if it fails, it may be due to an unexpected reply. + */ + void SickLD::_sendMessageAndGetReply( const SickLDMessage &send_message, + SickLDMessage &recv_message, + const unsigned int timeout_value ) throw( SickIOException, SickTimeoutException ) { + + uint8_t byte_sequence[2] = {0}; + + byte_sequence[0] = send_message.GetServiceCode() | 0x80; + byte_sequence[1] = send_message.GetServiceSubcode(); + + /* Send message and get reply using parent's method */ + try { + SickLIDAR< SickLDBufferMonitor, SickLDMessage >::_sendMessageAndGetReply(send_message,recv_message,byte_sequence,2,0,DEFAULT_SICK_MESSAGE_TIMEOUT,1); + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLD::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Flushes TCP receive buffer contents + */ + void SickLD::_flushTCPRecvBuffer( ) throw( SickIOException, SickThreadException ) { + + uint8_t null_byte; + int num_bytes_waiting = 0; + + try { + + /* Acquire access to the data stream */ + _sick_buffer_monitor->AcquireDataStream(); + + /* Acquire the number of the bytes awaiting read */ + if (ioctl(_sick_fd,FIONREAD,&num_bytes_waiting)) { + throw SickIOException("SickLD::_flushTCPRecvBuffer: ioctl() failed! (Couldn't get the number of bytes awaiting read!)"); + } + + /* Read off the bytes awaiting in the buffer */ + for (int i = 0; i < num_bytes_waiting; i++) { + read(_sick_fd,&null_byte,1); + } + + /* Release the stream */ + _sick_buffer_monitor->ReleaseDataStream(); + + } + + /* Catch any serious IO exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* A sanity check */ + catch(...) { + std::cerr << "SickLMS::_flushTerminalBuffer: Unknown exception!" << std::endl; + throw; + } + + } + + /** + * \brief Teardown TCP connection to Sick LD + */ + void SickLD::_teardownConnection( ) throw( SickIOException ) { + + /* Close the socket! */ + if (close(_sick_fd) < 0) { + throw SickIOException("SickLD::_teardownConnection: close() failed!"); + } + + } + + /** + * \brief Generates a device-ready sector set given only an active sector spec. + * \param *active_sector_start_angles Start angles for the active (measuring) sectors + * \param *active_sector_stop_angles Stop angles for the active sectors + * \param num_active_sectors The number of active sectors given + * \param sick_angle_step The step angle (angular resolution) to be used in generating the config + * \param *sector_functions An output buffer to hold the function assigned to each sector + * \param *sector_stop_angles An output buffer to hold the stop angles associated w/ the generated sector set + * \param &num_sectors The number of sectors in the final device-ready configuration + */ + void SickLD::_generateSickSectorConfig( const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors, + const double sick_angle_step, + unsigned int * const sector_functions, + double * const sector_stop_angles, + unsigned int &num_sectors ) const { + + num_sectors = 0; + + /* Generate the sector configuration for multiple sectors */ + double final_diff = 0; + if (num_active_sectors > 1) { + + /* Generate the actual sector configuration for the device */ + for (unsigned int i = 0; i < num_active_sectors; i++) { + + /* Insert the measurement sector for the active area */ + sector_functions[num_sectors] = SICK_CONF_SECTOR_NORMAL_MEASUREMENT; + sector_stop_angles[num_sectors] = active_sector_stop_angles[i]; + num_sectors++; + + /* Check whether to insert a non-measurement sector */ + if ((i < num_active_sectors - 1) && (active_sector_start_angles[i+1]-active_sector_stop_angles[i] >= 2*sick_angle_step)) { + + /* Set the next sector function as non-measurement */ + sector_functions[num_sectors] = SICK_CONF_SECTOR_NO_MEASUREMENT; + sector_stop_angles[num_sectors] = active_sector_start_angles[i+1] - sick_angle_step; + num_sectors++; + + } + + } + + /* Compute the difference between the final stop angle and the first start angle*/ + if (active_sector_stop_angles[num_active_sectors-1] < active_sector_start_angles[0]) { + final_diff = active_sector_start_angles[0] - active_sector_stop_angles[num_active_sectors-1]; + } + else { + final_diff = active_sector_start_angles[0] + (360 - active_sector_stop_angles[num_active_sectors-1]); + } + + } + else { + + /* Insert the measurement sector for the active area */ + sector_functions[num_sectors] = SICK_CONF_SECTOR_NORMAL_MEASUREMENT; + sector_stop_angles[num_sectors] = active_sector_stop_angles[0]; + num_sectors++; + + /* Compute the difference between the final stop angle and the first start angle*/ + if (active_sector_stop_angles[0] <= active_sector_start_angles[0]) { + final_diff = active_sector_start_angles[0] - active_sector_stop_angles[num_active_sectors-1]; + } + else { + final_diff = active_sector_start_angles[0] + (360 - active_sector_stop_angles[num_active_sectors-1]); + } + + } + + /* Check whether to add a final non-measurement sector */ + if (final_diff >= 2*sick_angle_step) { + + /* Include the final non-measurement sector */ + sector_functions[num_sectors] = SICK_CONF_SECTOR_NO_MEASUREMENT; + sector_stop_angles[num_sectors] = active_sector_start_angles[0]-sick_angle_step + + 360*(sick_angle_step > active_sector_start_angles[0]); + num_sectors++; + + } + + /* If necessary insert the non-initialized sector */ + if (num_sectors < SICK_MAX_NUM_SECTORS) { + + /* Include the uninitialized sector */ + sector_functions[num_sectors] = SICK_CONF_SECTOR_NOT_INITIALIZED; + sector_stop_angles[num_sectors] = 0; + num_sectors++; + + } + + } + + /** + * \brief Converts encoder ticks to equivalent angle representation. + * \param ticks The tick value to be converted + * \return The corresponding angle value + */ + double SickLD::_ticksToAngle( const uint16_t ticks ) const { + return (((double)ticks)/16); + } + + /** + * \brief Converts encoder ticks to equivalent angle representation. + * \param ticks The tick value to be converted + * \return The corresponding ticks value + * + * NOTE: This function assumes that the angle value it receives is + * a multiple of 1/16 degree (which is the resolution of the + * encoder) + */ + uint16_t SickLD::_angleToTicks( const double angle ) const { + return (uint16_t)(angle*16); + } + + /** + * \brief Compute the mean pulse frequency (see page 22 of the operator's manual) + * \param active_scan_area The total area where the Sick is actively scanning (in deg) (i.e. total area where the laser isn't blanked) + * \param curr_motor_speed The current motor speed (in Hz) + * \param curr_angular_resolution The current angular resolution of the Sick (in deg) + * \return The mean pulse frequency for the given configuration parameters + */ + double SickLD::_computeMeanPulseFrequency( const double active_scan_area, const double curr_motor_speed, + const double curr_angular_resolution ) const { + /* Compute the mean pulse frequency */ + return _computeMaxPulseFrequency(SICK_MAX_SCAN_AREA,curr_motor_speed,curr_angular_resolution)*(active_scan_area/((double)SICK_MAX_SCAN_AREA)); + } + + /** + * \brief Compute the mean pulse frequency (see page 22 of the operator's manual) + * \param active_scan_area The total scan area that can be covered by the Sick + * \param curr_motor_speed The current motor speed (in Hz) + * \param curr_angular_resolution The current angular resolution of the Sick (in deg) + * \return The maximum pulse frequency for the given configuration parameters + */ + double SickLD::_computeMaxPulseFrequency( const double total_scan_area, const double curr_motor_speed, + const double curr_angular_resolution ) const { + /* Compute the maximum pulse frequency */ + return total_scan_area*curr_motor_speed*(1/curr_angular_resolution); + } + + /** + * \brief Checks whether the given senor id is valid for the device. + * \param sick_sensor_id Sick sensor ID + */ + bool SickLD::_validSickSensorID( const unsigned int sick_sensor_id ) const { + + /* Ensure the sensor ID is valid */ + if (sick_sensor_id < SICK_MIN_VALID_SENSOR_ID || sick_sensor_id > SICK_MAX_VALID_SENSOR_ID) { + return false; + } + + /* Success */ + return true; + } + + /** + * \brief Checks whether the given sick motor speed is valid for the device. + * \param sick_motor_speed The sick motor speed (Hz) + */ + bool SickLD::_validSickMotorSpeed( const unsigned int sick_motor_speed ) const { + + /* Check the validity of the new Sick LD motor speed */ + if (sick_motor_speed < SICK_MIN_MOTOR_SPEED || sick_motor_speed > SICK_MAX_MOTOR_SPEED) { + return false; + } + + /* Success */ + return true; + } + + /** + * \brief Checks whether the given scan resolution is valid + * \param sick_scan_resolution Scan resolution of the device + * \param sector_start_angles An array of the sector start angles + * \param sector_stop_angles An array of the sector stop angles + */ + bool SickLD::_validSickScanResolution( const double sick_angle_step, const double * const sector_start_angles, + const double * const sector_stop_angles, const unsigned int num_sectors ) const { + + /* Check the validity of the new Sick LD angular step */ + if (sick_angle_step < SICK_MAX_SCAN_ANGULAR_RESOLUTION || fmod(sick_angle_step,SICK_MAX_SCAN_ANGULAR_RESOLUTION) != 0) { + std::cerr << "Invalid scan resolution! (should be a positive multiple of " << SICK_MAX_SCAN_ANGULAR_RESOLUTION << ")" << std::endl; + return false; + } + + /* Ensure that the sector boundaries are divisible by the desired step angle */ + for(unsigned int i = 0; i < num_sectors; i++) { + + /* Check both the sector start and stop angles */ + if (fmod(sector_start_angles[i],sick_angle_step) != 0 || fmod(sector_stop_angles[i],sick_angle_step) != 0) { + std::cerr << "Invalid scan resolution! (sector boundaries must be evenly divisible by the step angle)" << std::endl; + return false; + } + + } + + /* Success */ + return true; + } + + /** + * \brief Checks whether the given configuration yields a valid mean and max pulse frequency (uses current sector config) + * \param sick_motor_speed Desired sick motor speed (Hz) + * \param sick_angle_step Desired scan angular resolution (deg) + */ + bool SickLD::_validPulseFrequency( const unsigned int sick_motor_speed, const double sick_angle_step ) const { + + /* Simply call the other function w/ the current sector config and the given motor and step angle values */ + if(!_validPulseFrequency(sick_motor_speed,sick_angle_step,_sick_sector_config.sick_sector_start_angles, + _sick_sector_config.sick_sector_stop_angles,_sick_sector_config.sick_num_active_sectors)) { + return false; + } + + /* Valid! */ + return true; + } + + /** + * \brief Checks whether the given configuration yields a valid mean and max pulse frequency (uses given sector config) + * \param sick_motor_speed Desired sick motor speed (Hz) + * \param sick_angle_step Desired scan angular resolution (deg) + * \param active_sector_start_angles Angles marking the beginning of each desired active sector/area + * \param active_sector_stop_angles Angles marking the end of each desired active sector/area + * \param num_active_sectors The number of active sectors/scan areas are given + */ + bool SickLD::_validPulseFrequency( const unsigned int sick_motor_speed, const double sick_angle_step, + const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) const { + + /* Compute the scan area */ + double scan_area = _computeScanArea(sick_angle_step,active_sector_start_angles,active_sector_stop_angles,num_active_sectors); + + /* Check the mean pulse rate of the desired configuration */ + if (_computeMeanPulseFrequency(scan_area,sick_motor_speed,sick_angle_step) > SICK_MAX_MEAN_PULSE_FREQUENCY) { + std::cerr << "Max mean pulse frequency exceeded! (try a slower motor speed, a larger step angle and/or a smaller active scan area)" << std::endl; + return false; + } + + /* Check the maximum pulse rate of the desired configuration */ + if (_computeMaxPulseFrequency(SICK_MAX_SCAN_AREA,sick_motor_speed,sick_angle_step) > SICK_MAX_PULSE_FREQUENCY) { + std::cerr << "Max pulse frequency exceeded! (try a slower motor speed, a larger step angle and/or a smaller active scan area)" << std::endl; + return false; + } + + /* Valid! */ + return true; + } + + /** + * \brief Computes the active scan area for the Sick given the current + * sector configuration + * \param sick_angle_step The angular resolution of the Sick LD + * \param active_sector_start_angles The start angles for the active scan sectors + * \param active_sector_stop_angles The stop angles for the active scan sectors + * \param num_active_sectors The number of active sectors + * \return The Sick LD scan area corresponding to the given bounds + * + * NOTE: The Sick LD computes scan area by subtracting the end of the + * previous sector from the end of the current sector. As such, we have + * to add a single step angle to our computation in order to get the scan + * area that is used by the Sick LD. Unfortunately, this is how the device + * does its computation (as opposed to using the angle at which the first + * scan in the given sector is taken) so this is how we do it. + * + */ + double SickLD::_computeScanArea( const double sick_angle_step, const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, const unsigned int num_active_sectors ) const { + + /* Define the current scan area */ + double total_scan_area = 0; + double curr_sector_scan_area = 0; + + /* For each sector given sum the absolute scan area for it */ + for (unsigned int i = 0; i < num_active_sectors; i++) { + + /* Compute the total scan area for this sector */ + curr_sector_scan_area = fabs(active_sector_start_angles[i]-active_sector_stop_angles[i]); + + /* Update the total scan area */ + total_scan_area += curr_sector_scan_area + sick_angle_step; + } + + /* Return the computed area */ + return total_scan_area; + + } + + /** + * \brief Sort the scan areas based on the given angles to place them in device "scan" order + * \param sector_start_angles Array of angles (deg) defining the starting position of each active sector + * \param sector_stop_angles Array of angles (deg) defining the stopping position of each active sector + * \param num_active_sectors Number of active sectors + */ + void SickLD::_sortScanAreas( double * const sector_start_angles, double * const sector_stop_angles, + const unsigned int num_sectors ) const { + + /* A dummy temp variable */ + double temp = 0; + + /* Employ a simple bubblesort (NOTE: Only at most a handful of values will have to be sorted) */ + for (unsigned int i = 0; i < num_sectors; i++) { + for (unsigned int j = (num_sectors-1); j > i; j--) { + if (sector_start_angles[j] < sector_start_angles[j-1]) { + SWAP_VALUES(sector_start_angles[j],sector_start_angles[j-1],temp); + SWAP_VALUES(sector_stop_angles[j],sector_stop_angles[j-1],temp); + } + } + } + + } + + /** + * \brief Determines wheter a given set of sector bounds are valid. + * \param sector_start_angles Array of angles (deg) defining the starting position of each active sector + * \param sector_stop_angles Array of angles (deg) defining the stopping position of each active sector + * \param num_active_sectors Number of active sectors + */ + bool SickLD::_validActiveSectors( const double * const sector_start_angles, const double * const sector_stop_angles, + const unsigned int num_sectors ) const { + + /* A sanity check to make sure all are in [0,360) */ + for (unsigned int i = 0; i < num_sectors; i++) { + + if (sector_start_angles[i] < 0 || sector_stop_angles[i] < 0 || + sector_start_angles[i] >= 360 || sector_stop_angles[i] >= 360) { + + std::cerr << "Invalid sector config! (all degree values must be in [0,360))" << std::endl; + return false; + } + + } + + /* If multiple sectors are defined */ + if (num_sectors > 1) { + + /* Check whether the given sector arrangement is overlapping */ + for (unsigned int i = 0; i < (num_sectors - 1); i++) { + if (sector_start_angles[i] > sector_stop_angles[i] || sector_stop_angles[i] >= sector_start_angles[i+1]) { + std::cerr << "Invalid sector definitions! (check sector bounds)" << std::endl; + return false; + } + } + + /* Check the last sector against the first */ + if (sector_stop_angles[num_sectors-1] <= sector_start_angles[num_sectors-1] && + sector_stop_angles[num_sectors-1] >= sector_start_angles[0]) { + std::cerr << "Invalid sector definitions! (check sector bounds)" << std::endl; + return false; + } + + } + + /* Valid! */ + return true; + } + + /** + * \brief Check that the given profile format is supported by the current driver version. + * \param profile_format The requested profile format. + * \return True if the given scan profile is supported by the driver + */ + bool SickLD::_supportedScanProfileFormat( const uint16_t profile_format ) const { + + /* Check the supplied scan profile format */ + switch(profile_format) { + case SICK_SCAN_PROFILE_RANGE: + return true; + case SICK_SCAN_PROFILE_RANGE_AND_ECHO: + return true; + default: + return false; + } + } + + /** + * \brief Print data corresponding to the referenced sector data structure. + * \param §or_data The sector configuration to be printed + */ + void SickLD::_printSectorProfileData( const sick_ld_sector_data_t §or_data ) const { + + std::cout << "\t---- Sector Data " << sector_data.sector_num << " ----" << std::endl; + std::cout << "\tSector Num.: " << sector_data.sector_num << std::endl; + std::cout << "\tSector Angle Step (deg): " << sector_data.angle_step<< std::endl; + std::cout << "\tSector Num. Data Points: " << sector_data.num_data_points << std::endl; + std::cout << "\tSector Start Timestamp (ms): " << sector_data.timestamp_start << std::endl; + std::cout << "\tSector Stop Timestamp (ms): " << sector_data.timestamp_stop << std::endl; + std::cout << "\tSector Start Angle (deg): " << sector_data.angle_start << std::endl; + std::cout << "\tSector Stop Angle (deg): " << sector_data.angle_stop << std::endl; + std::cout << std::flush; + } + + /** + * \brief Prints data fields of the given scan profile. + * \param profile_data The scan profile to be printed. + * \param print_sector_data Indicates whether to print the sector data fields associated + * with the given profile. + */ + void SickLD::_printSickScanProfile( const sick_ld_scan_profile_t profile_data, const bool print_sector_data ) const { + + std::cout << "\t========= Sick Scan Prof. =========" << std::endl; + std::cout << "\tProfile Num.: " << profile_data.profile_number << std::endl; + std::cout << "\tProfile Counter: " << profile_data.profile_counter << std::endl; + std::cout << "\tLayer Num.: " << profile_data.layer_num << std::endl; + std::cout << "\tSensor Status: " << _sickSensorModeToString(profile_data.sensor_status) << std::endl; + std::cout << "\tMotor Status: " << _sickMotorModeToString(profile_data.motor_status) << std::endl; + std::cout << "\tNum. Sectors: " << profile_data.num_sectors << std::endl; + + // Print the corresponding active and non-active sector data + for (unsigned int i=0; i < profile_data.num_sectors && print_sector_data; i++) { + _printSectorProfileData(profile_data.sector_data[i]); + } + + std::cout << "\t====================================" << std::endl; + std::cout << std::flush; + } + + /** + * \brief Map Sick LD sensor modes to their equivalent service subcode representations + * \param sick_sensor_mode The sensor mode to be converted + * \return The corresponding work service subcode + */ + uint8_t SickLD::_sickSensorModeToWorkServiceSubcode( const uint8_t sick_sensor_mode ) const { + + switch(sick_sensor_mode) { + case SICK_SENSOR_MODE_IDLE: + return SICK_WORK_SERV_TRANS_IDLE; + case SICK_SENSOR_MODE_ROTATE: + return SICK_WORK_SERV_TRANS_ROTATE; + case SICK_SENSOR_MODE_MEASURE: + return SICK_WORK_SERV_TRANS_MEASURE; + default: + std::cerr << "SickLD::_sickSensorModeToWorkServiceSubcode: Invalid sensor mode! (Returning 0)" << std::endl; + return 0; //Something is seriously wrong if we end up here! + } + } + + /** + * \brief Converts the Sick LD numerical sensor mode to a representative string + * \param sick_sensor_mode The sensor mode to be converted + * \return The corresponding sensor_mode string + */ + std::string SickLD::_sickSensorModeToString( const uint8_t sick_sensor_mode ) const { + + switch(sick_sensor_mode) { + case SICK_SENSOR_MODE_IDLE: + return "IDLE"; + case SICK_SENSOR_MODE_ROTATE: + return "ROTATE (laser is off)"; + case SICK_SENSOR_MODE_MEASURE: + return "MEASURE (laser is on)"; + case SICK_SENSOR_MODE_ERROR: + return "ERROR"; + case SICK_SENSOR_MODE_UNKNOWN: + return "UNKNOWN"; + default: + return "UNRECOGNIZED!!!"; + } + } + + /** + * \brief Converts the Sick LD numerical motor mode to a representative string + * \param sick_motor_mode The sick motor mode code to be converted + * \return The corresponding string + */ + std::string SickLD::_sickMotorModeToString( const uint8_t sick_motor_mode ) const { + + switch(sick_motor_mode) { + case SICK_MOTOR_MODE_OK: + return "OK"; + case SICK_MOTOR_MODE_SPIN_TOO_HIGH: + return "SPIN TOO HIGH"; + case SICK_MOTOR_MODE_SPIN_TOO_LOW: + return "SPIN TOO LOW"; + case SICK_MOTOR_MODE_ERROR: + return "ERROR"; + case SICK_MOTOR_MODE_UNKNOWN: + return "UNKNOWN"; + default: + return "UNRECOGNIZED!!!"; + } + } + + /** + * \brief Converts return value from TRANS_MEASURE to a representative string + * \param return_value The TRANS_MEASURE numeric return code + * \return The corresponding string + */ + std::string SickLD::_sickTransMeasureReturnToString( const uint8_t return_value ) const { + + switch(return_value) { + case SICK_WORK_SERV_TRANS_MEASURE_RET_OK: + return "LD-OEM/LD-LRS Measures"; + case SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_MAX_PULSE: + return "Max Pulse Frequency Too High"; + case SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_MEAN_PULSE: + return "Mean Pulse Frequency Too High"; + case SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_SECT_BORDER: + return "Sector Borders Not Configured Correctly"; + case SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_SECT_BORDER_MULT: + return "Sector Borders Not Multiple of Angle Step"; + default: + return "UNRECOGNIZED!!!"; + } + + } + + /** + * \brief Converts the Sick LD numerical reset level to a representative string + * \param The numeric reset level code + * \return The corresponding string + */ + std::string SickLD::_sickResetLevelToString( const uint16_t reset_level ) const { + + switch(reset_level) { + case SICK_WORK_SERV_RESET_INIT_CPU: + return "RESET (CPU Reinitialized)"; + case SICK_WORK_SERV_RESET_KEEP_CPU: + return "RESET (CPU Not Reinitialized)"; + case SICK_WORK_SERV_RESET_HALT_APP: + return "RESET (Halt App. and Enter IDLE)"; + default: + return "UNRECOGNIZED!!!"; + } + + } + + /** + * \brief Converts the Sick LD numerical sector config to a representative string + * \param sick_sector_function The numeric sector function to be converted + * \return The corresponding string + */ + std::string SickLD::_sickSectorFunctionToString( const uint16_t sick_sector_function ) const { + + switch(sick_sector_function) { + case SICK_CONF_SECTOR_NOT_INITIALIZED: + return "NOT INITIALIZED"; + case SICK_CONF_SECTOR_NO_MEASUREMENT: + return "NOT MEASURING"; + case SICK_CONF_SECTOR_RESERVED: + return "RESERVED"; + case SICK_CONF_SECTOR_NORMAL_MEASUREMENT: + return "MEASURING"; + case SICK_CONF_SECTOR_REFERENCE_MEASUREMENT: + return "REFERENCE"; + default: + return "UNRECOGNIZED!!!"; + } + + } + + /** + * \brief Converts the Sick LD numerical motor mode to a representative string + * \param profile_format The profile format to be converted + * \return The corresponding string + */ + std::string SickLD::_sickProfileFormatToString( const uint16_t profile_format ) const { + + switch(profile_format) { + case SICK_SCAN_PROFILE_RANGE: + return "RANGE ONLY"; + case SICK_SCAN_PROFILE_RANGE_AND_ECHO: + return "RANGE + ECHO"; + default: + return "UNRECOGNIZED!!!"; + } + + } + + /** + * \brief Prints the initialization footer. + */ + void SickLD::_printInitFooter( ) const { + + std::cout << "\t*** Init. complete: Sick LD is online and ready!" << std::endl; + std::cout << "\tNum. Active Sectors: " << (int)_sick_sector_config.sick_num_active_sectors << std::endl; + std::cout << "\tMotor Speed: " << _sick_global_config.sick_motor_speed << " (Hz)" << std::endl; + std::cout << "\tScan Resolution: " << _sick_global_config.sick_angle_step << " (deg)" << std::endl; + std::cout << std::endl; + + } + +} //namespace SickToolbox diff --git a/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/SickLDBufferMonitor.cc b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/SickLDBufferMonitor.cc new file mode 100755 index 0000000..ea93bb9 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/SickLDBufferMonitor.cc @@ -0,0 +1,132 @@ +/*! + * \file SickLDBufferMonitor.cc + * \brief Implements a class for monitoring the receive + * buffer when interfacing w/ a Sick LD LIDAR. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include + +/* Implementation dependencies */ +#include +#include + +#include +#include +#include +#include + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \brief A standard constructor + */ + SickLDBufferMonitor::SickLDBufferMonitor( ) : SickBufferMonitor< SickLDBufferMonitor, SickLDMessage >(this) { } + + /** + * \brief Acquires the next message from the SickLD byte stream + * \param &sick_message The returned message object + */ + void SickLDBufferMonitor::GetNextMessageFromDataStream( SickLDMessage &sick_message ) throw( SickIOException ) { + + /* Flush the input buffer */ + uint8_t byte_buffer; + + /* A buffer to hold the current byte out of the stream */ + const uint8_t sick_response_header[4] = {0x02,'U','S','P'}; + + uint8_t checksum = 0; + uint8_t message_buffer[SickLDMessage::MESSAGE_MAX_LENGTH] = {0}; + uint32_t payload_length = 0; + + try { + + /* Search for the header in the byte stream */ + for (unsigned int i = 0; i < sizeof(sick_response_header);) { + + /* Acquire the next byte from the stream */ + _readBytes(&byte_buffer,1,DEFAULT_SICK_BYTE_TIMEOUT); + + /* Check if the current byte matches the expected header byte */ + if (byte_buffer == sick_response_header[i]) { + i++; + } + else { + i = 0; + } + + } + + /* Populate message buffer w/ response header */ + memcpy(message_buffer,sick_response_header,4); + + /* Acquire the payload length! */ + _readBytes(&message_buffer[4],4,DEFAULT_SICK_BYTE_TIMEOUT); + + /* Extract the payload size and adjust the byte order */ + memcpy(&payload_length,&message_buffer[4],4); + payload_length = sick_ld_to_host_byte_order(payload_length); + + /* Read the packet payload */ + _readBytes(&message_buffer[8],payload_length,DEFAULT_SICK_BYTE_TIMEOUT); + + /* Read the checksum */ + _readBytes(&checksum,1,DEFAULT_SICK_BYTE_TIMEOUT); + + /* Build the return message object based upon the received payload + * and compute the associated checksum. + * + * NOTE: In constructing this message we ignore the header bytes + * buffered since the BuildMessage routine will insert the + * correct header automatically and compute the payload's + * checksum for us. We could probably get away with using + * just ParseMessage here and not computing the checksum as + * we are using TCP. However, its safer this way. + */ + sick_message.BuildMessage(&message_buffer[SickLDMessage::MESSAGE_HEADER_LENGTH],payload_length); + + /* Verify the checksum is correct (this is probably unnecessary since we are using TCP/IP) */ + if (sick_message.GetChecksum() != checksum) { + throw SickBadChecksumException("SickLD::GetNextMessageFromDataStream: BAD CHECKSUM!!!"); + } + + /* Success */ + + } + + catch(SickTimeoutException &sick_timeout) { /* This is ok! */ } + + /* Catch a bad checksum! */ + catch(SickBadChecksumException &sick_checksum_exception) { + sick_message.Clear(); // Clear the message container + } + + /* Catch any serious IO buffer exceptions */ + catch(SickIOException &sick_io_exception) { + throw; + } + + /* A sanity check */ + catch (...) { + throw; + } + + } + + /** + * \brief A standard destructor + */ + SickLDBufferMonitor::~SickLDBufferMonitor( ) { } + +} /* namespace SickToolbox */ diff --git a/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/SickLDMessage.cc b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/SickLDMessage.cc new file mode 100755 index 0000000..17c9e11 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/ld/sickld/SickLDMessage.cc @@ -0,0 +1,153 @@ +/*! + * \file SickLDMessage.cc + * \brief Implements the class SickLDMessage. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include + +/* Implementation dependencies */ +#include +#include +#include + +#include +#include // for byye-order conversions where necessary + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \brief A default constructor + */ + SickLDMessage::SickLDMessage( ) : + SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >() { + + /* Initialize the object */ + Clear(); + } + + /** + * \brief Another constructor. + * \param *payload_buffer The payload for the packet as an array of bytes (including the header) + * \param payload_length The length of the payload array in bytes + */ + SickLDMessage::SickLDMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ) : + SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >() { + + /* Build the message object (implicit initialization) */ + BuildMessage(payload_buffer,payload_length); + } + + /** + * \brief Another constructor. + * \param *message_buffer A well-formed message to be parsed into the class' fields + */ + SickLDMessage::SickLDMessage( const uint8_t * const message_buffer ) : + SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >() { + + /* Parse the message into the container (implicit initialization) */ + ParseMessage(message_buffer); + } + + /** + * \brief Constructs a Sick LD message given parameter values + * \param *payload_buffer An address of the first byte to be copied into the message's payload + * \param payload_length The number of bytes to be copied into the message buffer + */ + void SickLDMessage::BuildMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ) { + + /* Call the parent method + * NOTE: The parent method resets the object and assigns _message_length, _payload_length, + * _populated and copies the payload into the message buffer at the correct position + */ + SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN > + ::BuildMessage(payload_buffer,payload_length); + + /* + * Set the message header! + */ + _message_buffer[0] = 0x02; // STX + _message_buffer[1] = 'U'; // User + _message_buffer[2] = 'S'; // Service + _message_buffer[3] = 'P'; // Protocol + + /* Include the payload length in the header */ + uint32_t payload_length_32 = host_to_sick_ld_byte_order((uint32_t)_payload_length); + memcpy(&_message_buffer[4],&payload_length_32,4); + + /* + * Set the message trailer (just a checksum)! + */ + _message_buffer[_message_length-1] = _computeXOR(&_message_buffer[8],(uint32_t)_payload_length); + } + + /** + * \brief Parses a sequence of bytes into a SickLDMessage object + * \param *message_buffer A well-formed message to be parsed into the class' fields + */ + void SickLDMessage::ParseMessage( const uint8_t * const message_buffer ) { + + /* Call the parent method + * NOTE: This method resets the object and assigns _populated as true + */ + SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN > + ::ParseMessage(message_buffer); + + /* Extract the payload length */ + uint32_t payload_length_32 = 0; + memcpy(&payload_length_32,&message_buffer[4],4); + _payload_length = (unsigned int)sick_ld_to_host_byte_order(payload_length_32); + + /* Compute the total message length */ + _message_length = MESSAGE_HEADER_LENGTH + MESSAGE_TRAILER_LENGTH + _payload_length; + + /* Copy the given packet into the buffer */ + memcpy(_message_buffer,message_buffer,_message_length); + } + + /** + * \brief Print the message contents. + */ + void SickLDMessage::Print( ) const { + + std::cout.setf(std::ios::hex,std::ios::basefield); + std::cout << "Checksum: " << (unsigned int) GetChecksum() << std::endl; + std::cout << "Service code: " << (unsigned int) GetServiceCode() << std::endl; + std::cout << "Service subcode: " << (unsigned int) GetServiceSubcode() << std::endl; + std::cout << std::flush; + + /* Call parent's print function */ + SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN >::Print(); + } + + /** + * \brief Compute the message checksum (single-byte XOR). + * \param data The address of the first data element in a sequence of bytes to be included in the sum + * \param length The number of byte in the data sequence + */ + uint8_t SickLDMessage::_computeXOR( const uint8_t * const data, const uint32_t length ) { + + /* Compute the XOR by summing all of the bytes */ + uint8_t checksum = 0; + for (uint32_t i = 0; i < length; i++) { + checksum ^= data[i]; // NOTE: this is equivalent to simply summing all of the bytes + } + + /* done */ + return checksum; + } + + SickLDMessage::~SickLDMessage( ) { } + +} /* namespace SickToolbox */ diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/.deps/SickLMS1xx.Plo b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/.deps/SickLMS1xx.Plo new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/.deps/SickLMS1xx.Plo @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/.deps/SickLMS1xxBufferMonitor.Plo b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/.deps/SickLMS1xxBufferMonitor.Plo new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/.deps/SickLMS1xxBufferMonitor.Plo @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/.deps/SickLMS1xxMessage.Plo b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/.deps/SickLMS1xxMessage.Plo new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/.deps/SickLMS1xxMessage.Plo @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/SickLMS1xx.cc b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/SickLMS1xx.cc new file mode 100755 index 0000000..f8a96d7 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/SickLMS1xx.cc @@ -0,0 +1,2294 @@ +/*! + * \file SickLMS1xx.cc + * \brief Implements the SickLMS1xx driver class. + * + * Code by Jason C. Derenick and Christopher R. Mansley. + * Contact jasonder(at)seas(dot)upenn(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2009, Jason C. Derenick and Christopher R. Mansley + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include + +/* Implementation dependencies */ +#include +#include +#include +#include +#include +#include // for socket function definitions +#include // for sockaddr_in, inet_addr, and htons +#include // for using ioctl functionality for the socket input buffer +#include // for select functionality (e.g. FD_SET, etc...) +#include // for fd data types +#include // for select timeout parameter +#include // for getting file flags +#include // for POSIX threads +#include // for parsing ip addresses +#include // for returning the results of parsed strings +#include // for timing connect() +#include + +#include +#include +#include +#include +#include + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \brief A standard constructor + * \param sick_ip_address The ip address of the Sick LD + * \param sick_tcp_port The TCP port associated w/ the Sick LD server + */ + SickLMS1xx::SickLMS1xx( const std::string sick_ip_address, const uint16_t sick_tcp_port ) : + SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage >( ), + _sick_ip_address(sick_ip_address), + _sick_tcp_port(sick_tcp_port), + _sick_scan_format(SICK_LMS_1XX_SCAN_FORMAT_UNKNOWN), + _sick_device_status(SICK_LMS_1XX_STATUS_UNKNOWN), + _sick_temp_safe(false), + _sick_streaming(false) + { + memset(&_sick_scan_config,0,sizeof(sick_lms_1xx_scan_config_t)); + } + + /** + * A standard destructor + */ + SickLMS1xx::~SickLMS1xx( ) { } + + /** + * \brief Initializes the driver and syncs it with Sick LMS 1xx unit. Uses flash params. + */ + void SickLMS1xx::Initialize( const bool disp_banner ) throw( SickIOException, SickThreadException, SickTimeoutException, SickErrorException ) { + + if (disp_banner) { + std::cout << "\t*** Attempting to initialize the Sick LMS 1xx..." << std::endl; + } + + try { + + /* Attempt to connect to the Sick LD */ + if (disp_banner) { + std::cout << "\tAttempting to connect to Sick LMS 1xx @ " << _sick_ip_address << ":" << _sick_tcp_port << std::endl; + } + _setupConnection(); + if (disp_banner) { + std::cout << "\t\tConnected to Sick LMS 1xx!" << std::endl; + } + + /* Start the buffer monitor */ + if (disp_banner) { + std::cout << "\tAttempting to start buffer monitor..." << std::endl; + } + _startListening(); + if (disp_banner) { + std::cout << "\t\tBuffer monitor started!" << std::endl; + } + + /* Ok, lets sync the driver with the Sick */ + if (disp_banner) { + std::cout << "\tSyncing driver with Sick..." << std::endl; + } + _getSickScanConfig(); + _setAuthorizedClientAccessMode(); + if (disp_banner) { + std::cout << "\t\tSuccess!" << std::endl; + _printInitFooter(); + } + + } + + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch(SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + catch(...) { + std::cerr << "SickLMS1xx::Initialize - Unknown exception!" << std::endl; + throw; + } + + //std::cout << "\t\tSynchronized!" << std::endl; + _sick_initialized = true; + + /* Success */ + } + + /** + * \brief Sets the Sick LMS 1xx scan frequency and resolution + * \param scan_freq Desired scan frequency (e.g. SickLMS1xx::SICK_LMS_1XX_SCAN_FREQ_50) + * \param scan_res Desired scan angular resolution (e.g. SickLMS1xx::SICK_LMS_1XX_SCAN_RES_50) + * \param write_to_eeprom Write the configuration to EEPROM + */ + void SickLMS1xx::SetSickScanFreqAndRes( const sick_lms_1xx_scan_freq_t scan_freq, + const sick_lms_1xx_scan_res_t scan_res ) throw( SickTimeoutException, SickIOException, SickErrorException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLMS1xx::SetSickScanFreqAndRes: Device NOT Initialized!!!"); + } + + try { + + /* Is the device streaming? */ + if (_sick_streaming) { + _stopStreamingMeasurements(); + } + + /* Set the desired configuration */ + _setSickScanConfig(scan_freq, + scan_res, + _sick_scan_config.sick_start_angle, + _sick_scan_config.sick_stop_angle); + + } + + /* Handle config exceptions */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::SetSickScanFreqAndRes: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Gets the Sick LMS 1xx scan frequency + * \returns Sick LMS 1xx scan frequency {25,50} Hz + */ + sick_lms_1xx_scan_freq_t SickLMS1xx::GetSickScanFreq( ) const throw( SickIOException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLMS1xx::GetSickScanFreq: Device NOT Initialized!!!"); + } + + return IntToSickScanFreq(_convertSickFreqUnitsToHz(_sick_scan_config.sick_scan_freq)); + + } + + /** + * \brief Gets the Sick LMS 1xx scan resolution + * \returns Sick LMS 1xx scan resolution {0.25 or 0.5} deg + */ + sick_lms_1xx_scan_res_t SickLMS1xx::GetSickScanRes( ) const throw( SickIOException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLMS1xx::GetSickScanRes: Device NOT Initialized!!!"); + } + + return DoubleToSickScanRes(_convertSickAngleUnitsToDegs(_sick_scan_config.sick_scan_res)); + + } + + /** + * \brief Gets the Sick LMS 1xx scan area start angle [-45,270] deg + * \returns Sick LMS 1xx start angle as double + */ + double SickLMS1xx::GetSickStartAngle( ) const throw( SickIOException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLMS1xx::GetSickStartAngle: Device NOT Initialized!!!"); + } + + return _convertSickAngleUnitsToDegs(_sick_scan_config.sick_start_angle); + + } + + /** + * \brief Gets the Sick LMS 1xx scan area start angle [-45,270] deg + * \returns Sick LMS 1xx start angle as double + */ + double SickLMS1xx::GetSickStopAngle( ) const throw( SickIOException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLMS1xx::GetSickStopAngle: Device NOT Initialized!!!"); + } + + return _convertSickAngleUnitsToDegs(_sick_scan_config.sick_stop_angle); + + } + + /** + * Set device to output only range values + */ + void SickLMS1xx::SetSickScanDataFormat( const sick_lms_1xx_scan_format_t scan_format ) throw( SickTimeoutException, SickIOException, SickThreadException, SickErrorException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLMS1xx::SetSickScanDataFormat: Device NOT Initialized!!!"); + } + + /* If scan data format matches current format ignore it (perhaps a warning is in order?) */ + if (scan_format == _sick_scan_format) { + return; + } + + try { + + /* Is the device streaming? */ + if (_sick_streaming ) { + _stopStreamingMeasurements(); + } + + std::cout << "\t*** Setting scan format " << _sickScanDataFormatToString(scan_format) << "..." << std::endl; + + /* Set the desired data format! */ + _setSickScanDataFormat(scan_format); + + std::cout << "\t\tSuccess!" << std::endl; + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch (...) { + std::cerr << "SickLMS1xx::SetSickScanDataFormat: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + + } + + /** + * \brief Acquire multi-pulse sick range measurements + * \param range_1_vals A buffer to hold the range measurements + * \param range_2_vals A buffer to hold the second pulse range measurements + * \param refelct_1_vals A buffer to hold the frist pulse reflectivity + * \param reflect_2_vals A buffer to hold the second pulse reflectivity + */ + void SickLMS1xx::GetSickMeasurements( unsigned int * const range_1_vals, + unsigned int * const range_2_vals, + unsigned int * const reflect_1_vals, + unsigned int * const reflect_2_vals, + unsigned int & num_measurements, + unsigned int * const dev_status ) throw ( SickIOException, SickConfigException, SickTimeoutException ) { + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLMS1xx::GetSickMeasurements: Device NOT Initialized!!!"); + } + + try { + + /* Is the device already streaming? */ + if (!_sick_streaming) { + _requestDataStream(); + } + + } + + /* Handle config exceptions */ + catch (SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch (...) { + std::cerr << "SickLMS1xx::GetSickMeasurements: Unknown exception!!!" << std::endl; + throw; + } + + /* Allocate receive message */ + SickLMS1xxMessage recv_message; + + try { + + /* Grab the next message from the stream */ + _recvMessage(recv_message); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + catch (...) { + std::cerr << "SickLMS1xx::GetSickMeasurements: Unknown exception!!!" << std::endl; + throw; + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH+1] = {0}; + + recv_message.GetPayloadAsCStr((char *)payload_buffer); + + char * payload_str = NULL; + unsigned int null_int = 0; + + /* + * Acquire status + */ + if (dev_status != NULL) { + + payload_str = (char *)&payload_buffer[16]; + for (unsigned int i = 0; i < 3; i++) { + payload_str = _convertNextTokenToUInt(payload_str,null_int); + } + + /* Grab the contaimination value */ + _convertNextTokenToUInt(payload_str,*dev_status); + + } + + /* + * Process DIST1 + */ + unsigned int num_dist_1_vals = 0; + unsigned int num_dist_2_vals = 0; + unsigned int num_rssi_1_vals = 0; + unsigned int num_rssi_2_vals = 0; + + /* Locate DIST1 Section */ + if (range_1_vals != NULL) { + + const char * substr_dist_1 = "DIST1"; + unsigned int substr_dist_1_pos = 0; + if (!_findSubString((char *)payload_buffer,substr_dist_1,recv_message.GetPayloadLength()+1,5,substr_dist_1_pos)) { + throw SickIOException("SickLMS1xx::GetSickMeasurements: _findSubString() failed!"); + } + + /* Extract Num DIST1 Values */ + payload_str = (char *)&payload_buffer[substr_dist_1_pos+6]; + for (unsigned int i = 0; i < 4; i++) { + payload_str = _convertNextTokenToUInt(payload_str,null_int); + } + + payload_str = _convertNextTokenToUInt(payload_str,num_dist_1_vals); + + /* Grab the DIST1 values */ + for (unsigned int i = 0; i < num_dist_1_vals; i++) { + payload_str = _convertNextTokenToUInt(payload_str,range_1_vals[i]); + } + + } + + /* + * Process DIST2 + */ + + /* Locate DIST2 Section */ + if (range_2_vals != NULL) { + + const char * substr_dist_2 = "DIST2"; + unsigned int substr_dist_2_pos = 0; + if (_findSubString((char *)payload_buffer,substr_dist_2,recv_message.GetPayloadLength()+1,5,substr_dist_2_pos)) { + + /* Extract Num DIST2 Values */ + payload_str = (char *)&payload_buffer[substr_dist_2_pos+6]; + for (unsigned int i = 0; i < 4; i++) { + payload_str = _convertNextTokenToUInt(payload_str,null_int); + } + + payload_str = _convertNextTokenToUInt(payload_str,num_dist_2_vals); + + /* Acquire the DIST2 values */ + for (unsigned int i = 0; i < num_dist_2_vals; i++) { + payload_str = _convertNextTokenToUInt(payload_str,range_2_vals[i]); + } + } + else { + std::cerr << "SickLMS1xx::GetSickMeasurements: WARNING! It seems you are expecting double-pulse range values, which are not being streamed! "; + std::cerr << "Use SetSickScanDataFormat to configure the LMS 1xx to stream these values - or - set the corresponding buffer input to NULL to avoid this warning." << std::endl; + } + + } + + /* + * Process RSSI1 + */ + + if (reflect_1_vals != NULL) { + + /* Locate RSSI1 Section */ + const char * substr_rssi_1 = "RSSI1"; + unsigned int substr_rssi_1_pos = 0; + if (_findSubString((char *)payload_buffer,substr_rssi_1,recv_message.GetPayloadLength()+1,5,substr_rssi_1_pos)) { + + /* Extract Num RSSI1 Values */ + payload_str = (char *)&payload_buffer[substr_rssi_1_pos+6]; + for (unsigned int i = 0; i < 4; i++) { + payload_str = _convertNextTokenToUInt(payload_str,null_int); + } + + payload_str = _convertNextTokenToUInt(payload_str,num_rssi_1_vals); + + /* Grab the RSSI1 values */ + for (unsigned int i = 0; i < num_rssi_1_vals; i++) { + payload_str = _convertNextTokenToUInt(payload_str,reflect_1_vals[i]); + } + } + else { + std::cerr << "SickLMS1xx::GetSickMeasurements: WARNING! It seems you are expecting single-pulse reflectivity values, which are not being streamed! "; + std::cerr << "Use SetSickScanDataFormat to configure the LMS 1xx to stream these values - or - set the corresponding buffer input to NULL to avoid this warning." << std::endl; + } + + } + + /* + * Process RSSI2 + */ + + if (reflect_2_vals != NULL) { + + /* Locate RSSI2 Section */ + const char * substr_rssi_2 = "RSSI2"; + unsigned int substr_rssi_2_pos = 0; + if (_findSubString((char *)payload_buffer,substr_rssi_2,recv_message.GetPayloadLength()+1,5,substr_rssi_2_pos)) { + + /* Extract Num RSSI1 Values */ + payload_str = (char *)&payload_buffer[substr_rssi_2_pos+6]; + for (unsigned int i = 0; i < 4; i++) { + payload_str = _convertNextTokenToUInt(payload_str,null_int); + } + + payload_str = _convertNextTokenToUInt(payload_str,num_rssi_2_vals); + + /* Grab the RSSI1 values */ + for (unsigned int i = 0; i < num_rssi_2_vals; i++) { + payload_str = _convertNextTokenToUInt(payload_str,reflect_2_vals[i]); + } + } + else { + std::cerr << "SickLMS1xx::GetSickMeasurements: WARNING! It seems you are expecting double-pulse reflectivity values, which are not being streamed! "; + std::cerr << "Use SetSickScanDataFormat to configure the LMS 1xx to stream these values - or - set the corresponding buffer input to NULL to avoid this warning." << std::endl; + } + + } + + /* Assign number of measurements */ + num_measurements = num_dist_1_vals; + + /* Success! */ + + } + + /** + * \brief Tear down the connection between the host and the Sick LD + */ + void SickLMS1xx::Uninitialize( const bool disp_banner ) throw( SickIOException, SickTimeoutException, SickErrorException, SickThreadException ){ + + /* Ensure the device has been initialized */ + if (!_sick_initialized) { + throw SickIOException("SickLMS1xx::Uninitialize: Device NOT Initialized!!!"); + } + + if (disp_banner) { + std::cout << std::endl << "\t*** Attempting to uninitialize the Sick LMS 1xx..." << std::endl; + } + + /* If necessary, tell the Sick LD to stop streaming data */ + try { + + /* Is the device streaming? */ + if (_sick_streaming) { + _stopStreamingMeasurements(disp_banner); + } + + /* Attempt to cancel the buffer monitor */ + if (disp_banner) { + std::cout << "\tAttempting to cancel buffer monitor..." << std::endl; + } + _stopListening(); + if (disp_banner) { + std::cout << "\t\tBuffer monitor canceled!" << std::endl; + } + + /* Attempt to close the tcp connection */ + if (disp_banner) { + std::cout << "\tClosing connection to Sick LMS 1xx..." << std::endl; + } + _teardownConnection(); + + if (disp_banner) { + std::cout << "\t\tConnection closed!" << std::endl; + std::cout << "\t*** Uninit. complete - Sick LMS 1xx is now offline!" << std::endl; + } + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle I/O exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + /* Handle a returned error code */ + catch (SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS::Uninitialize: Unknown exception!!!" << std::endl; + throw; + } + + /* Mark the device as uninitialized */ + _sick_initialized = false; + + /* Success! */ + } + + /** + * \brief Convert integer to corresponding sick_lms_1xx_scan_freq_t + */ + SickLMS1xx::sick_lms_1xx_scan_freq_t SickLMS1xx::IntToSickScanFreq( const int scan_freq ) const { + + if (scan_freq == 25) { + return SICK_LMS_1XX_SCAN_FREQ_25; + } + else if (scan_freq == 50) { + return SICK_LMS_1XX_SCAN_FREQ_50; + } + + return SICK_LMS_1XX_SCAN_FREQ_UNKNOWN; + + } + + /** + * \brief Convert sick_lms_1xx_scan_freq_t to corresponding integer + */ + int SickLMS1xx::SickScanFreqToInt( const sick_lms_1xx_scan_freq_t scan_freq ) const { + + switch(scan_freq) { + case SICK_LMS_1XX_SCAN_FREQ_25: + return 25; + case SICK_LMS_1XX_SCAN_FREQ_50: + return 50; + default: + return -1; + } + + } + + /** + * \brief Convert double to corresponding sick_lms_1xx_scan_res_t + */ + SickLMS1xx::sick_lms_1xx_scan_res_t SickLMS1xx::DoubleToSickScanRes( const double scan_res ) const { + + if (scan_res == 0.25) { + return SICK_LMS_1XX_SCAN_RES_25; + } + else if (scan_res == 0.50) { + return SICK_LMS_1XX_SCAN_RES_50; + } + + return SICK_LMS_1XX_SCAN_RES_UNKNOWN; + + } + + /** + * \brief Convert sick_lms_1xx_scan_res_t to corresponding double + */ + double SickLMS1xx::SickScanResToDouble( const sick_lms_1xx_scan_res_t scan_res ) const { + + switch(scan_res) { + case SICK_LMS_1XX_SCAN_RES_25: + return 0.25; + case SICK_LMS_1XX_SCAN_RES_50: + return 0.50; + default: + return -1; + } + + } + + /** + * \brief Establish a TCP connection to the unit + */ + void SickLMS1xx::_setupConnection( ) throw( SickIOException, SickTimeoutException ) { + + /* Create the TCP socket */ + if ((_sick_fd = socket(PF_INET,SOCK_STREAM,IPPROTO_TCP)) < 0) { + throw SickIOException("SickLMS1xx::_setupConnection: socket() failed!"); + } + + /* Initialize the buffer */ + memset(&_sick_inet_address_info,0,sizeof(struct sockaddr_in)); + + /* Setup the Sick LD inet address structure */ + _sick_inet_address_info.sin_family = AF_INET; // Internet protocol address family + _sick_inet_address_info.sin_port = htons(_sick_tcp_port); // TCP port number + _sick_inet_address_info.sin_addr.s_addr = inet_addr(_sick_ip_address.c_str()); // Convert ip string to numerical address + + try { + + /* Set to non-blocking so we can time connect */ + _setNonBlockingIO(); + + /* Try to connect to the Sick LD */ + int conn_return; + if ((conn_return = connect(_sick_fd,(struct sockaddr *)&_sick_inet_address_info,sizeof(struct sockaddr_in))) < 0) { + + /* Check whether it is b/c it would block */ + if (errno != EINPROGRESS) { + throw SickIOException("SickLMS1xx::_setupConnection: connect() failed!"); + } + + /* Use select to wait on the socket */ + int valid_opt = 0; + int num_active_files = 0; + struct timeval timeout_val; // This structure will be used for setting our timeout values + fd_set file_desc_set; // File descriptor set for monitoring I/O + + /* Initialize and set the file descriptor set for select */ + FD_ZERO(&file_desc_set); + FD_SET(_sick_fd,&file_desc_set); + + /* Setup the timeout structure */ + memset(&timeout_val,0,sizeof(timeout_val)); // Initialize the buffer + timeout_val.tv_usec = DEFAULT_SICK_LMS_1XX_CONNECT_TIMEOUT; // Wait for specified time before throwing a timeout + + /* Wait for the OS to tell us that the connection is established! */ + num_active_files = select(getdtablesize(),0,&file_desc_set,0,&timeout_val); + + /* Figure out what to do based on the output of select */ + if (num_active_files > 0) { + + /* This is just a sanity check */ + if (!FD_ISSET(_sick_fd,&file_desc_set)) { + throw SickIOException("SickLMS1xx::_setupConnection: Unexpected file descriptor!"); + } + + /* Check for any errors on the socket - just to be sure */ + socklen_t len = sizeof(int); + if (getsockopt(_sick_fd,SOL_SOCKET,SO_ERROR,(void*)(&valid_opt),&len) < 0) { + throw SickIOException("SickLMS1xx::_setupConnection: getsockopt() failed!"); + } + + /* Check whether the opt value indicates error */ + if (valid_opt) { + throw SickIOException("SickLMS1xx::_setupConnection: socket error on connect()!"); + } + + } + else if (num_active_files == 0) { + + /* A timeout has occurred! */ + throw SickTimeoutException("SickLMS1xx::_setupConnection: select() timeout!"); + + } + else { + + /* An error has occurred! */ + throw SickIOException("SickLMS1xx::_setupConnection: select() failed!"); + + } + + } + + /* Restore blocking IO */ + _setBlockingIO(); + + } + + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + catch(...) { + std::cerr << "SickLMS1xx::_setupConnection - Unknown exception occurred!" << std::endl; + throw; + } + + /* Success */ + } + + /** + * \brief Re-initializes the Sick LMS 1xx + */ + void SickLMS1xx::_reinitialize( ) throw( SickIOException, SickThreadException, SickTimeoutException, SickErrorException ) { + + try { + + //std::cout << "\t*** Reinitializing Sick LMS 1xx..." << std::endl; + + /* Uninitialize the device */ + Uninitialize(false); + + /* Initialize the device */ + Initialize(false); + + //std::cout << "\t\tSuccess!" << std::endl; + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle a timeout! */ + catch (SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle a timeout! */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + catch (...) { + std::cerr << "SickLMS1xx::_reinitialize: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Teardown TCP connection to Sick LMS 1xx + */ + void SickLMS1xx::_teardownConnection( ) throw( SickIOException ) { + + /* Close the socket! */ + if (close(_sick_fd) < 0) { + throw SickIOException("SickLMS1xx::_teardownConnection: close() failed!"); + } + + } + + /** + * \brief Get the status of the Sick LMS 1xx + */ + void SickLMS1xx::_updateSickStatus( ) throw( SickTimeoutException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'R'; + payload_buffer[2] = 'N'; + + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'S'; + payload_buffer[5] = 'T'; + payload_buffer[6] = 'l'; + payload_buffer[7] = 'm'; + payload_buffer[8] = 's'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,9); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + /* Send message and get reply using parent's method */ + try { + + _sendMessageAndGetReply(send_message, recv_message, "sRA", "STlms"); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,9); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + _sick_device_status = _intToSickStatus(atoi((char *)&payload_buffer[10])); + _sick_temp_safe = (bool)atoi((char *)&payload_buffer[12]); + + /* Success */ + + } + + /** + * \brief Get the scan configuration of the Sick LMS 1xx + */ + void SickLMS1xx::_getSickScanConfig( ) throw( SickTimeoutException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'R'; + payload_buffer[2] = 'N'; + + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'L'; + payload_buffer[5] = 'M'; + payload_buffer[6] = 'P'; + payload_buffer[7] = 's'; + payload_buffer[8] = 'c'; + payload_buffer[9] = 'a'; + payload_buffer[10] = 'n'; + payload_buffer[11] = 'c'; + payload_buffer[12] = 'f'; + payload_buffer[13] = 'g'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,14); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + /* Send message and get reply using parent's method */ + try { + + _sendMessageAndGetReply(send_message, recv_message, "sRA", "LMPscancfg"); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,14); + + /* Extract the message payload */ + recv_message.GetPayloadAsCStr((char *)payload_buffer); + + /* Utility variables */ + uint32_t scan_freq = 0, scan_res = 0; + uint32_t sick_start_angle = 0, sick_stop_angle = 0; + + /* + * Grab the scanning frequency + */ + const char * token = NULL; + if ((token = strtok((char *)&payload_buffer[15]," ")) == NULL) { + throw SickIOException("SickLMS1xx::_getSickConfig: strtok() failed!"); + } + + if (sscanf(token,"%x",&scan_freq) == EOF) { + throw SickIOException("SickLMS1xx::_getSickConfig: sscanf() failed!"); + } + + sick_lms_1xx_scan_freq_t sick_scan_freq; + sick_scan_freq = (sick_lms_1xx_scan_freq_t)sick_lms_1xx_to_host_byte_order(scan_freq); + + /* Ignore the number of segments value (its always 1 for the LMS 1xx) */ + if ((token = strtok(NULL," ")) == NULL) { + throw SickIOException("SickLMS1xx::_getSickConfig: strtok() failed!"); + } + + /* + * Grab the angular resolution + */ + if ((token = strtok(NULL," ")) == NULL) { + throw SickIOException("SickLMS1xx::_getSickConfig: strtok() failed!"); + } + + if (sscanf(token,"%x",&scan_res) == EOF) { + throw SickIOException("SickLMS1xx::_getSickConfig: sscanf() failed!"); + } + + sick_lms_1xx_scan_res_t sick_scan_res; + sick_scan_res = (sick_lms_1xx_scan_res_t)sick_lms_1xx_to_host_byte_order(scan_res); + + /* + * Grab the start angle + */ + if ((token = strtok(NULL," ")) == NULL) { + throw SickIOException("SickLMS1xx::_getSickConfig: strtok() failed!"); + } + + if (sscanf(token,"%x",&sick_start_angle) == EOF) { + throw SickIOException("SickLMS1xx::_getSickConfig: sscanf() failed!"); + } + + sick_start_angle = sick_lms_1xx_to_host_byte_order(sick_start_angle); + + /* + * Grab the stop angle + */ + if ((token = strtok(NULL," ")) == NULL) { + throw SickIOException("SickLMS1xx::_getSickConfig: strtok() failed!"); + } + + if (sscanf(token,"%x",&sick_stop_angle) == EOF) { + throw SickIOException("SickLMS1xx::_getSickConfig: sscanf() failed!"); + } + + sick_stop_angle = sick_lms_1xx_to_host_byte_order(sick_stop_angle); + + /* + * Assign the config values! + */ + _sick_scan_config.sick_scan_freq = sick_scan_freq; + _sick_scan_config.sick_scan_res = sick_scan_res; + _sick_scan_config.sick_start_angle = sick_start_angle; + _sick_scan_config.sick_stop_angle = sick_stop_angle; + + /* Success */ + + } + + /** + * \brief Set the Sick LMS 1xx scan configuration (volatile, does not write to EEPROM) + * \param scan_freq Desired scan frequency (Either SickLMS1xx::SICK_LMS_1XX_SCAN_FREQ_25 or SickLMS1xx::SICK_LMS_1XX_SCAN_FREQ_50) + * \param scan_res Desired angular resolution (SickLMS1xx::SICK_LMS_1XX_SCAN_RES_25 or SickLMS1xx::SICK_LMS_1XX_SCAN_RES_50) + * \param start_angle Desired start angle in (1/10000) deg (-450000 to 2250000) + * \param stop_angle Desired stop angle in (1/10000) deg (-450000 to 2250000) + * \param write_to_eeprom Indicates whether the value should be written to EEPROM + */ + void SickLMS1xx::_setSickScanConfig( const sick_lms_1xx_scan_freq_t scan_freq, + const sick_lms_1xx_scan_res_t scan_res, + const int start_angle, const int stop_angle ) throw( SickTimeoutException, SickIOException, SickErrorException ) { + + /* Verify valid inputs */ + if (!_validScanArea(start_angle, stop_angle)) { + throw SickConfigException("SickLMS1xx::_setSickScanConfig - Invalid Sick LMS 1xx Scan Area!"); + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + std::cout << std::endl << "\t*** Attempting to configure device..." << std::endl; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'M'; + payload_buffer[2] = 'N'; + + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'm'; + payload_buffer[5] = 'L'; + payload_buffer[6] = 'M'; + payload_buffer[7] = 'P'; + payload_buffer[8] = 's'; + payload_buffer[9] = 'e'; + payload_buffer[10] = 't'; + payload_buffer[11] = 's'; + payload_buffer[12] = 'c'; + payload_buffer[13] = 'a'; + payload_buffer[14] = 'n'; + payload_buffer[15] = 'c'; + payload_buffer[16] = 'f'; + payload_buffer[17] = 'g'; + + payload_buffer[18] = ' '; + + /* Desired scanning frequency */ + std::string freq_str = int_to_str((int)scan_freq); + + payload_buffer[19] = '+'; + + for (int i = 0; i < 4; i++) { + payload_buffer[20+i] = (uint8_t)((freq_str.c_str())[i]); + } + + payload_buffer[24] = ' '; + + /* Desired number of segments (always 1) */ + payload_buffer[25] = '+'; + payload_buffer[26] = '1'; + + payload_buffer[27] = ' '; + + /* Desired angular resolution */ + std::string res_str = int_to_str((int)scan_res); + + payload_buffer[28] = '+'; + + for (int i = 0; i < 4; i++) { + payload_buffer[29+i] = (uint8_t)((res_str.c_str())[i]); + } + + payload_buffer[33] = ' '; + + /* Desired starting angle */ + std::string start_angle_str = int_to_str(start_angle); + + unsigned int idx = 34; + if (start_angle >= 0) { + payload_buffer[idx] = '+'; + idx++; + } + + for (int i = 0; i < start_angle_str.length(); idx++, i++) { + payload_buffer[idx] = (uint8_t)(start_angle_str.c_str())[i]; + } + + payload_buffer[idx] = ' '; + idx++; + + /* Desired stopping angle */ + std::string stop_angle_str = int_to_str(stop_angle); + + if (stop_angle >= 0) { + payload_buffer[idx] = '+'; + idx++; + } + + for (int i = 0; i < stop_angle_str.length(); idx++, i++) { + payload_buffer[idx] = (uint8_t)(stop_angle_str.c_str())[i]; + } + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,idx); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + try { + + /* Send message and get reply */ + _sendMessageAndGetReply(send_message, recv_message, "sAN", "mLMPsetscancfg"); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Check if it worked... */ + if (payload_buffer[19] != '0') { + throw SickErrorException("SickLMS1xx::_setSickScanConfig: " + _intToSickConfigErrorStr(atoi((char *)&payload_buffer[19]))); + } + + std::cout << "\t\tDevice configured!" << std::endl << std::endl; + + /* Update the scan configuration! */ + try { + + _getSickScanConfig(); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_setSickScanConfig: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + _printSickScanConfig(); + + } + + + /** + * \brief Login as an authorized client + */ + void SickLMS1xx::_setAuthorizedClientAccessMode() throw( SickTimeoutException, SickErrorException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'M'; + payload_buffer[2] = 'N'; + + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'S'; + payload_buffer[5] = 'e'; + payload_buffer[6] = 't'; + payload_buffer[7] = 'A'; + payload_buffer[8] = 'c'; + payload_buffer[9] = 'c'; + payload_buffer[10] = 'e'; + payload_buffer[11] = 's'; + payload_buffer[12] = 's'; + payload_buffer[13] = 'M'; + payload_buffer[14] = 'o'; + payload_buffer[15] = 'd'; + payload_buffer[16] = 'e'; + + payload_buffer[17] = ' '; + + /* Set as authorized client */ + payload_buffer[18] = '0'; + payload_buffer[19] = '3'; + + payload_buffer[20] = ' '; + + /* Encoded value for client */ + payload_buffer[21] = 'F'; + payload_buffer[22] = '4'; + payload_buffer[23] = '7'; + payload_buffer[24] = '2'; + payload_buffer[25] = '4'; + payload_buffer[26] = '7'; + payload_buffer[27] = '4'; + payload_buffer[28] = '4'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,29); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + /* Send message and get reply using parent's method */ + try { + + _sendMessageAndGetReply(send_message, recv_message, "sAN", "SetAccessMode"); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_setAuthorizedClientAccessMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,29); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Check Response */ + if (payload_buffer[18] != '1') { + throw SickErrorException("SickLMS1xx::_setAuthorizedClientAccessMode: Setting Access Mode Failed!"); + } + + /* Success! Woohoo! */ + + } + + /** + * \brief Login as an authorized client + */ + void SickLMS1xx::_writeToEEPROM( ) throw( SickTimeoutException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'M'; + payload_buffer[2] = 'N'; + + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'm'; + payload_buffer[5] = 'E'; + payload_buffer[6] = 'E'; + payload_buffer[7] = 'w'; + payload_buffer[8] = 'r'; + payload_buffer[9] = 'i'; + payload_buffer[10] = 't'; + payload_buffer[11] = 'e'; + payload_buffer[12] = 'a'; + payload_buffer[13] = 'l'; + payload_buffer[14] = 'l'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,15); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + try { + + /* Send message and get reply */ + _sendMessageAndGetReply(send_message, recv_message, "sAN", "mEEwriteall"); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_writeToEEPROM: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,15); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Check Response */ + if (payload_buffer[13] != '1') { + throw SickIOException("SickLMS1xx::_writeToEEPROM: Failed to Write Data!"); + } + + /* Success! Woohoo! */ + + } + + /** + * \brief Tell the device to start measuring + */ + void SickLMS1xx::_startMeasuring( ) throw( SickTimeoutException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'M'; + payload_buffer[2] = 'N'; + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'L'; + payload_buffer[5] = 'M'; + payload_buffer[6] = 'C'; + payload_buffer[7] = 's'; + payload_buffer[8] = 't'; + payload_buffer[9] = 'a'; + payload_buffer[10] = 'r'; + payload_buffer[11] = 't'; + payload_buffer[12] = 'm'; + payload_buffer[13] = 'e'; + payload_buffer[14] = 'a'; + payload_buffer[15] = 's'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,16); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + try { + + /* Send message and get reply */ + _sendMessageAndGetReply(send_message, recv_message, "sAN", "LMCstartmeas"); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_startMeasuring: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,16); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Check if it worked... */ + if (payload_buffer[17] != '0') { + throw SickConfigException("SickLMS1xx::_startMeasuring: Unable to start measuring!"); + } + + } + + /** + * \brief Tell the device to start measuring + */ + void SickLMS1xx::_stopMeasuring( ) throw( SickTimeoutException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'M'; + payload_buffer[2] = 'N'; + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'L'; + payload_buffer[5] = 'M'; + payload_buffer[6] = 'C'; + payload_buffer[7] = 's'; + payload_buffer[8] = 't'; + payload_buffer[9] = 'o'; + payload_buffer[10] = 'p'; + payload_buffer[11] = 'm'; + payload_buffer[12] = 'e'; + payload_buffer[13] = 'a'; + payload_buffer[14] = 's'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,15); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + try { + + /* Send message and get reply */ + _sendMessageAndGetReply(send_message, recv_message, "sAN", "LMCstopmeas"); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_stopMeasuring: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer (not necessary, but its better to do so just in case) */ + memset(payload_buffer,0,15); + + /* Extract the message payload */ + recv_message.GetPayload(payload_buffer); + + /* Check if it worked... */ + if (payload_buffer[16] != '0') { + throw SickConfigException("SickLMS1xx::_stopMeasuring: Unable to start measuring!"); + } + + } + + /** + * \brief Request a data data stream type + * \param dist_opt Desired distance returns (single-pulse or multi-pulse) + * \param reflect_opt Desired reflectivity returns (none, 8-bit or 16-bit) + */ + void SickLMS1xx::_requestDataStream( ) throw( SickTimeoutException, SickConfigException, SickIOException ) { + + std::cout << std::endl << "\tRequesting data stream..." << std::endl; + + try { + + /* Wait for device to be measuring */ + _checkForMeasuringStatus(); + + /* Request the data stream... */ + _startStreamingMeasurements(); + + } + + /* Handle config exceptions */ + catch (SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + catch (...) { + std::cerr << "SickLMS1xx::SetSickScanArea: Unknown exception!!!" << std::endl; + throw; + } + + std::cout << "\t\tStream started!" << std::endl; + + } + + /* + * \brief Start Streaming Values + */ + void SickLMS1xx::_startStreamingMeasurements( ) throw( SickTimeoutException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'E'; + payload_buffer[2] = 'N'; + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'L'; + payload_buffer[5] = 'M'; + payload_buffer[6] = 'D'; + payload_buffer[7] = 's'; + payload_buffer[8] = 'c'; + payload_buffer[9] = 'a'; + payload_buffer[10] = 'n'; + payload_buffer[11] = 'd'; + payload_buffer[12] = 'a'; + payload_buffer[13] = 't'; + payload_buffer[14] = 'a'; + payload_buffer[15] = ' '; + + /* Start streaming! */ + payload_buffer[16] = '1'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,17); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + try { + + /* Send message and get reply */ + _sendMessageAndGetReply(send_message, recv_message, "sSN", "LMDscandata"); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_startStreamingMeasurements: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + _sick_streaming = true; + + } + + /** + * \brief Stop Measurment Stream + */ + void SickLMS1xx::_stopStreamingMeasurements( const bool disp_banner ) throw( SickTimeoutException, SickIOException ) { + + if (disp_banner) { + std::cout << "\tStopping data stream..." << std::endl; + } + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'E'; + payload_buffer[2] = 'N'; + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'L'; + payload_buffer[5] = 'M'; + payload_buffer[6] = 'D'; + payload_buffer[7] = 's'; + payload_buffer[8] = 'c'; + payload_buffer[9] = 'a'; + payload_buffer[10] = 'n'; + payload_buffer[11] = 'd'; + payload_buffer[12] = 'a'; + payload_buffer[13] = 't'; + payload_buffer[14] = 'a'; + payload_buffer[15] = ' '; + + /* Start streaming! */ + payload_buffer[16] = '0'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,17); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + try { + + /* Send message and get reply */ + _sendMessage(send_message); + + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_stopStreamingMeasurements: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + if (disp_banner) { + std::cout << "\t\tStream stopped!" << std::endl; + } + + _sick_streaming = false; + + } + + /** + * \brief Attempts to set and waits until device has in measuring status + * \param timeout_value Timeout value in usecs + */ + void SickLMS1xx::_checkForMeasuringStatus( unsigned int timeout_value ) throw( SickTimeoutException, SickIOException ) { + + /* Timeval structs for handling timeouts */ + struct timeval beg_time, end_time; + + /* Acquire the elapsed time since epoch */ + gettimeofday(&beg_time,NULL); + + /* Get device status */ + _updateSickStatus( ); + + /* Check the shared object */ + bool first_pass = true; + while( _sick_device_status != SICK_LMS_1XX_STATUS_READY_FOR_MEASUREMENT ) { + + if (first_pass) { + + try { + + /* Tell the device to start measuring ! */ + _startMeasuring(); + first_pass = false; + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_checkForMeasuringStatus: Unknown exception!!!" << std::endl; + throw; + } + + } + + /* Sleep a little bit */ + usleep(1000); + + /* Check whether the allowed time has expired */ + gettimeofday(&end_time,NULL); + if (_computeElapsedTime(beg_time,end_time) > timeout_value) { + throw SickTimeoutException("SickLMS1xx::_checkForMeasuringStatus: Timeout occurred!"); + } + + /* Grab the latest device status */ + _updateSickStatus(); + + } + + } + + /** + * Set device to output only range values + */ + void SickLMS1xx::_setSickScanDataFormat( const sick_lms_1xx_scan_format_t scan_format ) throw( SickTimeoutException, SickIOException, SickThreadException, SickErrorException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'W'; + payload_buffer[2] = 'N'; + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'L'; + payload_buffer[5] = 'M'; + payload_buffer[6] = 'D'; + payload_buffer[7] = 's'; + payload_buffer[8] = 'c'; + payload_buffer[9] = 'a'; + payload_buffer[10] = 'n'; + payload_buffer[11] = 'd'; + payload_buffer[12] = 'a'; + payload_buffer[13] = 't'; + payload_buffer[14] = 'a'; + payload_buffer[15] = 'c'; + payload_buffer[16] = 'f'; + payload_buffer[17] = 'g'; + payload_buffer[18] = ' '; + + /* Specify the channel */ + payload_buffer[19] = '0'; + + if (scan_format == SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_NONE || + scan_format == SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_8BIT || + scan_format == SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_16BIT) { + payload_buffer[20] = '1'; + } + else { + payload_buffer[20] = '3'; + } + + payload_buffer[21] = ' '; + + /* Values should be 0 */ + payload_buffer[22] = '0'; + payload_buffer[23] = '0'; + payload_buffer[24] = ' '; + + /* Send remission values? */ + if (scan_format == SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_NONE || + scan_format == SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_NONE) { + payload_buffer[25] = '0'; // 0 = no, 1 = yes + } + else { + payload_buffer[25] = '1'; // 0 = no, 1 = yes + } + payload_buffer[26] = ' '; + + /* Remission resolution */ + if (scan_format == SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_16BIT || + scan_format == SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_16BIT) { + payload_buffer[27] = '1'; // 0 = 8bit, 1 = 16bit + } + else { + payload_buffer[27] = '0'; // 0 = 8bit, 1 = 16bit + } + payload_buffer[28] = ' '; + + /* Units (always 0) */ + payload_buffer[29] = '0'; + payload_buffer[30] = ' '; + + /* Encoder data? */ + payload_buffer[31] = '0'; // (00 = no encode data, 01 = channel 1 encoder) + payload_buffer[32] = '0'; + payload_buffer[33] = ' '; + + /* These values should be 0 */ + payload_buffer[34] = '0'; + payload_buffer[35] = '0'; + payload_buffer[36] = ' '; + + /* Send position values? */ + payload_buffer[37] = '0'; // (0 = no position, 1 = send position) + payload_buffer[38] = ' '; + + /* Send device name? */ + payload_buffer[39] = '0'; // (0 = no, 1 = yes) + payload_buffer[40] = ' '; + + /* Send comment? */ + payload_buffer[41] = '0'; // (0 = no, 1 = yes) + payload_buffer[42] = ' '; + + /* Send time info? */ + payload_buffer[43] = '0'; // (0 = no, 1 = yes) + payload_buffer[44] = ' '; + + /* Send time info? */ + payload_buffer[45] = '+'; // +1 = send all scans, +2 every second scan, etc + payload_buffer[46] = '1'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,47); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + try { + + /* Send message and get reply */ + _sendMessageAndGetReply(send_message, recv_message, "sWA", "LMDscandatacfg"); + + /* Reinitialize the Sick so it uses the requested format */ + _reinitialize(); + + /* Set the sick scan data format */ + _sick_scan_format = scan_format; + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle thread exception */ + catch (SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle Sick error */ + catch (SickErrorException &sick_error_exception) { + std::cerr << sick_error_exception.what() << std::endl; + throw; + } + + catch (...) { + std::cerr << "SickLMS1xx::_setSickScanDataFormat: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + + } + + /** + * Set device to output only range values + */ + void SickLMS1xx::_restoreMeasuringMode( ) throw( SickTimeoutException, SickIOException ) { + + /* Allocate a single buffer for payload contents */ + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Set the command type */ + payload_buffer[0] = 's'; + payload_buffer[1] = 'M'; + payload_buffer[2] = 'N'; + payload_buffer[3] = ' '; + + /* Set the command */ + payload_buffer[4] = 'R'; + payload_buffer[5] = 'u'; + payload_buffer[6] = 'n'; + + /* Construct command message */ + SickLMS1xxMessage send_message(payload_buffer,7); + + /* Setup container for recv message */ + SickLMS1xxMessage recv_message; + + try { + + /* Send message and get reply */ + _sendMessageAndGetReply(send_message, recv_message, "sWA", "LMDscandatacfg"); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_restoreMeasuringMode: Unknown exception!!!" << std::endl; + throw; + } + + memset(payload_buffer,0,7); + recv_message.GetPayload(payload_buffer); + + /* Check return value */ + if (payload_buffer[8] != '0') { + std::cerr << "SickLMS1xx::_restoreMeasuringMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + + } + + /** + * \brief Utility function to ensure valid scan area + */ + bool SickLMS1xx::_validScanArea( const int start_angle, const int stop_angle ) const { + + /* Ensure stop is greater than start */ + if (start_angle >= stop_angle) { + return false; + } + + /* Check angular bounds */ + if (start_angle < SICK_LMS_1XX_SCAN_AREA_MIN_ANGLE || start_angle > SICK_LMS_1XX_SCAN_AREA_MAX_ANGLE) { + return false; + } + + /* Check angular bounds */ + if (stop_angle < SICK_LMS_1XX_SCAN_AREA_MIN_ANGLE || stop_angle > SICK_LMS_1XX_SCAN_AREA_MAX_ANGLE) { + return false; + } + + /* Valid! */ + return true; + + } + + /** + * \brief Sends a message without waiting for reply + */ + void SickLMS1xx::_sendMessage( const SickLMS1xxMessage &send_message ) const throw( SickIOException ) { + + try { + + /* Send a message using parent's method */ + SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage >::_sendMessage(send_message,DEFAULT_SICK_LMS_1XX_BYTE_TIMEOUT); + + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_error) { + std::cerr << sick_io_error.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + /* Success */ + + } + + /** + * \brief Sends a message and searches for the reply with given command type and command + * \param &send_message The message to be sent to the Sick LMS 2xx unit + * \param &recv_message The expected message reply from the Sick LMS + * \param reply_command_code The expected command code for the recv_message + * \param reply_command The expected command for the recv_message + * \param timeout_value The epoch to wait before considering a sent frame lost (in usecs) + * \param num_tries The number of times to send the message in the event the LMS fails to reply + */ + void SickLMS1xx::_sendMessageAndGetReply( const SickLMS1xxMessage &send_message, + SickLMS1xxMessage &recv_message, + const std::string reply_command_type, + const std::string reply_command, + const unsigned int timeout_value, + const unsigned int num_tries ) throw( SickIOException, SickTimeoutException ) { + + /* Construct the expected string */ + std::string expected_str = reply_command_type + " " + reply_command; + + try { + + /* Send a message and get reply using parent's method */ + SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage >::_sendMessageAndGetReply(send_message,recv_message,(uint8_t *)expected_str.c_str(),expected_str.length(),DEFAULT_SICK_LMS_1XX_BYTE_TIMEOUT,timeout_value,num_tries); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout) { + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_error) { + std::cerr << sick_io_error.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + + } + + /** \brief Receive a message + * \param sick_message Reference to container to hold received message + */ + void SickLMS1xx::_recvMessage( SickLMS1xxMessage &sick_message ) const throw ( SickTimeoutException ) { + + try { + + /* Receive message using parent's method */ + SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage >::_recvMessage(sick_message,DEFAULT_SICK_LMS_1XX_MESSAGE_TIMEOUT); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout) { + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS1xx::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Converts int to status + * \param status integer corresponding to sick status + */ + sick_lms_1xx_status_t SickLMS1xx::_intToSickStatus( const int status ) const + { + switch(status) { + case 1: + return SICK_LMS_1XX_STATUS_INITIALIZATION; + case 2: + return SICK_LMS_1XX_STATUS_CONFIGURATION; + case 3: + return SICK_LMS_1XX_STATUS_IDLE; + case 4: + return SICK_LMS_1XX_STATUS_ROTATED; + case 5: + return SICK_LMS_1XX_STATUS_IN_PREP; + case 6: + return SICK_LMS_1XX_STATUS_READY; + case 7: + return SICK_LMS_1XX_STATUS_READY_FOR_MEASUREMENT; + default: + return SICK_LMS_1XX_STATUS_UNKNOWN; + } + } + + /** Utility function to convert config error int to str */ + std::string SickLMS1xx::_intToSickConfigErrorStr( const int error ) const { + + switch(error) { + case 1: + return "Invalid Scan Frequency"; + case 2: + return "Invalid Scan Resolution"; + case 3: + return "Invalid Scan Frequency and Scan Resolution"; + case 4: + return "Invalid Scan Area"; + default: + return "Other Error"; + } + + } + + /** + * \brief Prints Sick LMS 1xx scan configuration + */ + void SickLMS1xx::_printSickScanConfig( ) const { + + std::cout << "\t========= Sick Scan Config =========" << std::endl; + std::cout << "\tScan Frequency: " << ((double)_sick_scan_config.sick_scan_freq)/100 << "(Hz)" << std::endl; + std::cout << "\tScan Resolution: " << ((double)_sick_scan_config.sick_scan_res)/10000 << " (deg)" << std::endl; + std::cout << "\tScan Area: " << "[" << ((double)_sick_scan_config.sick_start_angle)/10000 << "," << ((double)_sick_scan_config.sick_stop_angle)/10000 << "]" << std::endl; + std::cout << "\t====================================" << std::endl; + std::cout << std::endl << std::flush; + } + + /** + * \brief Prints the initialization footer. + */ + void SickLMS1xx::_printInitFooter( ) const { + + std::cout << "\t*** Init. complete: Sick LMS 1xx is online and ready!" << std::endl; + std::cout << "\tScan Frequency: " << _convertSickFreqUnitsToHz(_sick_scan_config.sick_scan_freq) << "(Hz)" << std::endl; + std::cout << "\tScan Resolution: " << _convertSickAngleUnitsToDegs(_sick_scan_config.sick_scan_res) << " (deg)" << std::endl; + std::cout << "\tScan Area: " << "[" << _convertSickAngleUnitsToDegs(_sick_scan_config.sick_start_angle) << "," << _convertSickAngleUnitsToDegs(_sick_scan_config.sick_stop_angle) << "]" << std::endl; + std::cout << std::endl; + + } + + /** + * \brief Utility function for returning scan format as string + * \param dist_opt Distance option corresponding to scan format + * \param reflect_opt Reflectivity option corresponding to + */ + std::string SickLMS1xx::_sickScanDataFormatToString( const sick_lms_1xx_scan_format_t scan_format ) const { + + /* Determine the type of distance measurements */ + switch (scan_format) { + case SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_NONE: + return "(single-pulse dist, no reflect)"; + case SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_8BIT: + return "(single-pulse dist, 8Bit reflect)"; + case SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_16BIT: + return "(single-pulse dist, 16Bit reflect)"; + case SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_NONE: + return "(double-pulse dist, no reflect)"; + case SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_8BIT: + return "(double-pulse dist, 8Bit reflect)"; + case SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_16BIT: + return "(double-pulse dist, 16Bit reflect)"; + default: + return "Unknown"; + } + + } + + /** + * \brief Searches a string for a substring + * \param str String to be searched + * \param substr Substring being sought + * \param str_length String's length + * \param substr_length Substring's length + * \param substr_pos Reference holding the location in the main string where substr was found + * \param start_pos Index into main string to indicate where to start searching + * \return True if substring found, false otherwise + */ + bool SickLMS1xx::_findSubString( const char * const str, const char * const substr, + const unsigned int str_length, const unsigned int substr_length, + unsigned int &substr_pos, unsigned int start_pos ) const { + + /* Init substring position */ + substr_pos = 0; + + /* Look for the substring */ + bool substr_found = false; + for (unsigned int i = start_pos; !substr_found && (i < (str_length - substr_length) + 1); i++) { + + unsigned int j = 0; + for (unsigned int k = i; (str[k] == substr[j]) && (j < substr_length); k++, j++); + + if (j == substr_length) { + substr_found = true; + substr_pos = i; + } + + } + + /* Found! */ + return substr_found; + + } + + /** + * \brief Utility function for converting next token into unsigned int + * \param str_buffer Source (c-string) buffer + * \param next_token Pointer to the next string token + * \param delimeter Token delimiter (default is " ") + * \returns Unsigned integer corresponding to numeric string token value + */ + char * SickLMS1xx::_convertNextTokenToUInt( char * const str_buffer, unsigned int & num_val, + const char * const delimeter ) const { + + const char * token = NULL; + uint32_t curr_val = 0; + if ((token = strtok(str_buffer,delimeter)) == NULL) { + throw SickIOException("SickLMS1xx::_getextTokenAsUInt: strtok() failed!"); + } + + if (sscanf(token,"%x",&curr_val) == EOF) { + throw SickIOException("SickLMS1xx::_getNextTokenAsUInt: sscanf() failed!"); + } + + num_val = (unsigned int)sick_lms_1xx_to_host_byte_order(curr_val); + + return str_buffer + strlen(token) + 1; + + } + +} //namespace SickToolbox diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/SickLMS1xxBufferMonitor.cc b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/SickLMS1xxBufferMonitor.cc new file mode 100755 index 0000000..0586d0b --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/SickLMS1xxBufferMonitor.cc @@ -0,0 +1,127 @@ +/*! + * \file SickLMS1xxBufferMonitor.cc + * \brief Implements a class for monitoring the receive + * buffer when interfacing w/ a Sick LMS 1xx LIDAR. + * + * Code by Jason C. Derenick and Christopher R. Mansley. + * Contact jasonder(at)seas(dot)upenn(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2009, Jason C. Derenick and Christopher R. Mansley + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include + +/* Implementation dependencies */ +#include +#include + +#include +#include +#include +#include + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \brief A standard constructor + */ + SickLMS1xxBufferMonitor::SickLMS1xxBufferMonitor( ) : SickBufferMonitor< SickLMS1xxBufferMonitor, SickLMS1xxMessage >(this) { } + + /** + * \brief Acquires the next message from the SickLMS1xx byte stream + * \param &sick_message The returned message object + */ + void SickLMS1xxBufferMonitor::GetNextMessageFromDataStream( SickLMS1xxMessage &sick_message ) throw( SickIOException ) { + + /* Flush the input buffer */ + uint8_t byte_buffer = 0; + uint8_t payload_buffer[SickLMS1xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + try { + + /* Flush the TCP receive buffer */ + _flushTCPRecvBuffer(); + + /* Search for STX in the byte stream */ + do { + + /* Grab the next byte from the stream */ + _readBytes(&byte_buffer,1,DEFAULT_SICK_LMS_1XX_BYTE_TIMEOUT); + + } + while (byte_buffer != 0x02); + + /* Ok, now acquire the payload! (until ETX) */ + int payload_length = 0; + do { + + payload_length++; + _readBytes(&payload_buffer[payload_length-1],1,DEFAULT_SICK_LMS_1XX_BYTE_TIMEOUT); + + } + while (payload_buffer[payload_length-1] != 0x03); + payload_length--; + + /* Build the return message object based upon the received payload + * NOTE: In constructing this message we ignore the header bytes + * buffered since the BuildMessage routine will insert the + * correct header automatically and verify the message size + */ + sick_message.BuildMessage(payload_buffer,payload_length); + + /* Success */ + + } + + catch(SickTimeoutException &sick_timeout) { /* This is ok! */ } + + /* Catch any serious IO buffer exceptions */ + catch(SickIOException &sick_io_exception) { + throw; + } + + /* A sanity check */ + catch (...) { + throw; + } + + } + + /** + * \brief Flushes TCP receive buffer contents + */ + void SickLMS1xxBufferMonitor::_flushTCPRecvBuffer( ) const throw (SickIOException) { + + char null_byte; + int num_bytes_waiting = 0; + + /* Acquire number of awaiting bytes */ + if (ioctl(_sick_fd,FIONREAD,&num_bytes_waiting)) { + throw SickIOException("SickLMS1xxBufferMonitor::_flushTCPRecvBuffer: ioctl() failed!"); + } + + /* Flush awaiting bytes */ + for (int i = 0; i < num_bytes_waiting; i++) { + + /* Capture a single byte from the stream! */ + if (read(_sick_fd,&null_byte,1) != 1) { + throw SickIOException("SickLMS1xxBufferMonitor::_flushTCPRecvBuffer: ioctl() failed!"); + } + + } + + } + + /** + * \brief A standard destructor + */ + SickLMS1xxBufferMonitor::~SickLMS1xxBufferMonitor( ) { } + +} /* namespace SickToolbox */ diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/SickLMS1xxMessage.cc b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/SickLMS1xxMessage.cc new file mode 100755 index 0000000..1f8da11 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms1xx/sicklms1xx/SickLMS1xxMessage.cc @@ -0,0 +1,201 @@ +/*! + * \file SickLMS1xxMessage.cc + * \brief Implements the class SickLMS1xxMessage. + * + * Code by Jason C. Derenick and Christopher R. Mansley. + * Contact jasonder(at)seas(dot)upenn(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2009, Jason C. Derenick and Christopher R. Mansley + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include + +/* Implementation dependencies */ +#include +#include +#include + +#include +#include // for byye-order conversions where necessary + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \brief A default constructor + */ + SickLMS1xxMessage::SickLMS1xxMessage( ) : + SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN >(), + _command_type(""), + _command("") + { + + /* Initialize the object */ + Clear(); + + } + + /** + * \brief Another constructor. + * \param *payload_buffer The payload for the packet as an array of bytes (including the header) + * \param payload_length The length of the payload array in bytes + */ + SickLMS1xxMessage::SickLMS1xxMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ) : + SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN >(), + _command_type("Unknown"), + _command("Unknown") + { + + /* Build the message object (implicit initialization) */ + BuildMessage(payload_buffer,payload_length); + + } + + /** + * \brief Another constructor. + * \param *message_buffer A well-formed message to be parsed into the class' fields + */ + SickLMS1xxMessage::SickLMS1xxMessage( const uint8_t * const message_buffer ) : + SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN >(), + _command_type("Unknown"), + _command("Unknown") + { + + /* Parse the message into the container (implicit initialization) */ + ParseMessage(message_buffer); + + } + + /** + * \brief Constructs a well-formed Sick LMS 1xx message + * \param *payload_buffer An address of the first byte to be copied into the message's payload + * \param payload_length The number of bytes to be copied into the message buffer + */ + void SickLMS1xxMessage::BuildMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ) { + + /* Call the parent method + * NOTE: The parent method resets the object and assigns _message_length, _payload_length, + * _populated and copies the payload into the message buffer at the correct position + */ + SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN > + ::BuildMessage(payload_buffer,payload_length); + + /* + * Set the message header! + */ + _message_buffer[0] = 0x02; // STX + + /* + * Set the message trailer! + */ + _message_buffer[_message_length-1] = 0x03; // ETX + + /* Grab the (3-byte) command type */ + char command_type[4] = {0}; + for (int i = 0; i < 3; i++) { + command_type[i] = _message_buffer[i+1]; + } + command_type[4] = '\0'; + _command_type = command_type; + + /* Grab the command (max length is 14 bytes) */ + char command[15] = {0}; + int i = 0; + for (; (i < 14) && (_message_buffer[5+i] != 0x20); i++) { + command[i] = _message_buffer[5+i]; + } + command[i] = '\0'; + _command = command; + + } + + /** + * \brief Parses a sequence of bytes into a SickLMS1xxMessage object + * \param *message_buffer A well-formed message to be parsed into the class' fields + */ + void SickLMS1xxMessage::ParseMessage( const uint8_t * const message_buffer ) throw (SickIOException) { + + /* Call the parent method + * NOTE: This method resets the object and assigns _populated as true + */ + SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN > + ::ParseMessage(message_buffer); + + /* Compute the message length */ + int i = 1; + const char * token = NULL; + while (message_buffer[i-1] != 0x03) { + + if (i == 1) { + + /* Grab the command type */ + if ((token = strtok((char *)&_message_buffer[1]," ")) == NULL) { + throw SickIOException("SickLMS1xxMessage::ParseMessage: strtok() failed!"); + } + + _command_type = token; + + /* Grab the Command Code */ + if ((token = strtok(NULL," ")) == NULL) { + throw SickIOException("SickLMS1xxMessage::ParseMessage: strtok() failed!"); + } + + _command = token; + + } + + i++; // Update message length + + /* A sanity check */ + if (i > SickLMS1xxMessage::MESSAGE_MAX_LENGTH) { + throw SickIOException("SickLMS1xxMessage::ParseMessage: Message Exceeds Max Message Length!"); + } + + } + + /* Compute the total message length */ + _payload_length = _message_length - MESSAGE_HEADER_LENGTH - MESSAGE_TRAILER_LENGTH; + + /* Copy the given packet into the buffer */ + memcpy(_message_buffer,message_buffer,_message_length); + + } + + /** + * \brief Reset all internal fields and buffers associated with the object. + */ + void SickLMS1xxMessage::Clear( ) { + + /* Call the parent method and clear out class' protected members */ + SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN >::Clear(); + + /* Reset the class' additional fields */ + _command_type = "Unknown"; + _command = "Unknown"; + + } + + /** + * \brief Print the message contents. + */ + void SickLMS1xxMessage::Print( ) const { + + //std::cout.setf(std::ios::hex,std::ios::basefield); + std::cout << "Command Type: " << GetCommandType() << std::endl; + std::cout << "Command Code: " << GetCommand() << std::endl; + std::cout << std::flush; + + /* Call parent's print function */ + SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN >::Print(); + + } + + SickLMS1xxMessage::~SickLMS1xxMessage( ) { } + +} /* namespace SickToolbox */ diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/.deps/SickLMS2xx.Plo b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/.deps/SickLMS2xx.Plo new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/.deps/SickLMS2xx.Plo @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/.deps/SickLMS2xxBufferMonitor.Plo b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/.deps/SickLMS2xxBufferMonitor.Plo new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/.deps/SickLMS2xxBufferMonitor.Plo @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/.deps/SickLMS2xxMessage.Plo b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/.deps/SickLMS2xxMessage.Plo new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/.deps/SickLMS2xxMessage.Plo @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/SickLMS2xx.cc b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/SickLMS2xx.cc new file mode 100755 index 0000000..9dc7470 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/SickLMS2xx.cc @@ -0,0 +1,5203 @@ +/*! + * \file SickLMS2xx.cc + * \brief Definition of the class SickLMS2xx + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include + +/* Implementation dependencies */ +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#ifdef HAVE_LINUX_SERIAL_H +#include +#else +#define B500000 0010005 +#endif + +/* Associate the namespace */ +namespace SickToolbox { + + /*! + * \brief Primary constructor + * \param sick_device_path The path of the device + */ + SickLMS2xx::SickLMS2xx( const std::string sick_device_path ): SickLIDAR< SickLMS2xxBufferMonitor, SickLMS2xxMessage >( ), + _sick_device_path(sick_device_path), + _curr_session_baud(SICK_BAUD_UNKNOWN), + _desired_session_baud(SICK_BAUD_UNKNOWN), + _sick_type(SICK_LMS_TYPE_UNKNOWN), + _sick_mean_value_sample_size(0), + _sick_values_subrange_start_index(0), + _sick_values_subrange_stop_index(0) + { + + /* Initialize the protected/private structs */ + memset(&_sick_operating_status,0,sizeof(sick_lms_2xx_operating_status_t)); + memset(&_sick_software_status,0,sizeof(sick_lms_2xx_software_status_t)); + memset(&_sick_restart_status,0,sizeof(sick_lms_2xx_restart_status_t)); + memset(&_sick_pollution_status,0,sizeof(sick_lms_2xx_pollution_status_t)); + memset(&_sick_signal_status,0,sizeof(sick_lms_2xx_signal_status_t)); + memset(&_sick_field_status,0,sizeof(sick_lms_2xx_field_status_t)); + memset(&_sick_baud_status,0,sizeof(sick_lms_2xx_baud_status_t)); + memset(&_sick_device_config,0,sizeof(sick_lms_2xx_device_config_t)); + memset(&_old_term,0,sizeof(struct termios)); + + } + + /** + * \brief Destructor + */ + SickLMS2xx::~SickLMS2xx() { + + try { + + /* Attempt to uninitialize the device */ + _teardownConnection(); + + } + + /* Catch an I/O exception */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + } + + /* Catch anything else */ + catch(...) { + std::cerr << "SickLMS2xx::~SickLMS2xx: Unknown exception!" << std::endl; + } + + } + + /** + * \brief Attempts to initialize the Sick LMS 2xx and then sets communication at + * at the given baud rate. + * \param desired_baud_rate Desired session baud rate + * \param delay Delay to wait for SICK to power on (in seconds) + */ + void SickLMS2xx::Initialize( const sick_lms_2xx_baud_t desired_baud_rate, const uint32_t delay ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + /* Buffer the desired baud rate in case we have to reset */ + _desired_session_baud = desired_baud_rate; + + try { + + std::cout << std::endl << "\t*** Attempting to initialize the Sick LMS..." << std::endl << std::flush; + + /* Initialize the serial term for communication */ + std::cout << "\tAttempting to open device @ " << _sick_device_path << std::endl << std::flush; + _setupConnection(delay); + std::cout << "\t\tDevice opened!" << std::endl << std::flush; + + /* Start/reset the buffer monitor */ + if (!_sick_monitor_running) { + std::cout << "\tAttempting to start buffer monitor..." << std::endl; + _startListening(); + std::cout << "\t\tBuffer monitor started!" << std::endl; + } + else { + std::cout << "\tAttempting to reset buffer monitor..." << std::endl; + _sick_buffer_monitor->SetDataStream(_sick_fd); + std::cout << "\t\tBuffer monitor reset!" << std::endl; + } + + try { + + std::cout << "\tAttempting to set requested baud rate..." << std::endl; + _setSessionBaud(_desired_session_baud); + + } + + /* Assume a timeout is due to a misconfigured terminal baud */ + catch(SickTimeoutException &sick_timeout) { + + /* Check whether to do an autodetect */ + sick_lms_2xx_baud_t default_baud = _baudToSickBaud(DEFAULT_SICK_LMS_2XX_SICK_BAUD); + std::cout << "\tFailed to set requested baud rate..." << std::endl << std::flush; + std::cout << "\tAttempting to detect LMS baud rate..." << std::endl << std::flush; + if((default_baud != SICK_BAUD_9600) && _testSickBaud(SICK_BAUD_9600)) { + std::cout << "\t\tDetected LMS baud @ " << SickBaudToString(SICK_BAUD_9600) << "!" << std::endl; + } else if((default_baud != SICK_BAUD_19200) && _testSickBaud(SICK_BAUD_19200)) { + std::cout << "\t\tDetected LMS baud @ " << SickBaudToString(SICK_BAUD_19200) << "!" << std::endl; + } else if((default_baud != SICK_BAUD_38400) && _testSickBaud(SICK_BAUD_38400)) { + std::cout << "\t\tDetected LMS baud @ " << SickBaudToString(SICK_BAUD_38400) << "!" << std::endl; + } else if((default_baud) != SICK_BAUD_500K && _testSickBaud(SICK_BAUD_500K)) { + std::cout << "\t\tDetected LMS baud @ " << SickBaudToString(SICK_BAUD_500K) << "!" << std::endl; + } else { + _stopListening(); + throw SickIOException("SickLMS2xx::Initialize: failed to detect baud rate!"); + } + std::cout << std::flush; + + /* Try again! */ + if (_curr_session_baud != _desired_session_baud) { + std::cout << "\tAttempting to setup desired baud (again)..." << std::endl << std::flush; + _setSessionBaud(_desired_session_baud); + } + + } + + /* Catch anything else */ + catch(...) { + std::cerr << "SickLMS2xx::Initialize: Unknown exception!" << std::endl; + throw; + } + + std::cout << "\t\tOperating @ " << SickBaudToString(_curr_session_baud) << std::endl; + + /* Set the device to request range mode */ + _setSickOpModeMonitorRequestValues(); + + /* Acquire the type of device that we are working with */ + std::cout << "\tAttempting to sync driver..." << std::endl << std::flush; + _getSickType(); // Get the Sick device type string + _getSickStatus(); // Get the Sick device status + _getSickConfig(); // Get the Sick current config + std::cout << "\t\tDriver synchronized!" << std::endl << std::flush; + + /* Set the flag */ + _sick_initialized = true; + + } + + /* Handle a config exception */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::Initialize: Unknown exception!" << std::endl; + throw; + } + + /* Initialization was successful! */ + std::cout << "\t*** Init. complete: Sick LMS is online and ready!" << std::endl; + std::cout << "\tSick Type: " << SickTypeToString(GetSickType()) << std::endl; + std::cout << "\tScan Angle: " << GetSickScanAngle() << " (deg)" << std::endl; + std::cout << "\tScan Resolution: " << GetSickScanResolution() << " (deg)" << std::endl; + std::cout << "\tMeasuring Mode: " << SickMeasuringModeToString(GetSickMeasuringMode()) << std::endl; + std::cout << "\tMeasuring Units: " << SickMeasuringUnitsToString(GetSickMeasuringUnits()) << std::endl; + std::cout << std::endl << std::flush; + + } + + /** + * \brief Uninitializes the LMS by putting it in a mode where it stops streaming data, + * and returns it to the default baud rate (specified in the header). + */ + void SickLMS2xx::Uninitialize( ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + if (_sick_initialized) { + + std::cout << std::endl << "\t*** Attempting to uninitialize the Sick LMS..." << std::endl; + + try { + + /* Restore original operating mode */ + _setSickOpModeMonitorRequestValues(); + + /* Restore original baud rate settings */ + _setSessionBaud(_baudToSickBaud(DEFAULT_SICK_LMS_2XX_SICK_BAUD)); + + /* Attempt to cancel the buffer monitor */ + if (_sick_monitor_running) { + std::cout << "\tAttempting to stop buffer monitor..." << std::endl; + _stopListening(); + std::cout << "\t\tBuffer monitor stopped!" << std::endl; + } + + std::cout << "\t*** Uninit. complete - Sick LMS is now offline!" << std::endl << std::flush; + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << " (attempting to kill connection anyways)" << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << " (attempting to kill connection anyways)" << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << " (attempting to kill connection anyways)" << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << " (attempting to kill connection anyways)" << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::Unintialize: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the flag */ + _sick_initialized = false; + + } + + } + + /** + * \brief Gets the Sick LMS 2xx device path + * \return The device path as a std::string + */ + std::string SickLMS2xx::GetSickDevicePath( ) const { + return _sick_device_path; + } + + /** + * \brief Gets the Sick LMS 2xx type + * \return The device type + */ + sick_lms_2xx_type_t SickLMS2xx::GetSickType( ) const throw( SickConfigException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickType: Sick LMS is not initialized!"); + } + + /* Return the Sick LMS type */ + return _sick_type; + + } + + /** + * \brief Gets the current scan angle of the device + * \return Scan angle of the device (sick_lms_2xx_scan_angle_t) + */ + double SickLMS2xx::GetSickScanAngle( ) const throw( SickConfigException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickScanAngle: Sick LMS is not initialized!"); + } + + /* Return the Sick scan angle */ + return (double)_sick_operating_status.sick_scan_angle; + + } + + /** + * \brief Gets the current angular resolution + * \return Angular resolution of the Sick LMS 2xx (sick_lms_2xx_scan_resolution_t) + */ + double SickLMS2xx::GetSickScanResolution( ) const throw( SickConfigException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickScanResolution: Sick LMS is not initialized!"); + } + + /* Return the scan resolution */ + return _sick_operating_status.sick_scan_resolution*(0.01); + + } + + /** + * \brief Sets the measurement units for the device + * \param sick_units Desired measurement units for the device + */ + void SickLMS2xx::SetSickMeasuringUnits( const sick_lms_2xx_measuring_units_t sick_units ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::SetSickMeasuringUnits: Sick LMS is not initialized!"); + } + + /* Ensure a valid units type was given */ + if (!_validSickMeasuringUnits(sick_units)) { + throw SickConfigException("SickLMS2xx::SetSickMeasuringUnits: Undefined measurement units!"); + } + + /* Make sure the write is necessary */ + if (sick_units != _sick_device_config.sick_measuring_units) { + + /* Setup a local copy of the config */ + sick_lms_2xx_device_config_t sick_device_config; + + /* Copy the configuration locally */ + sick_device_config = _sick_device_config; + + /* Set the units value */ + sick_device_config.sick_measuring_units = sick_units; + + try { + + /* Attempt to set the new configuration */ + _setSickConfig(sick_device_config); + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::SetSickMeasuringUnits: Unknown exception!!!" << std::endl; + throw; + } + + } + else { + std::cerr << "\tSickLMS2xx::SetSickMeasuringUnits - Device is already configured w/ these units. (skipping write)" << std::endl; + } + + } + + /** + * \brief Gets the current Sick LMS 2xx measuring units + * \return Measuring units (sick_lms_2xx_measuring_units_t) + */ + sick_lms_2xx_measuring_units_t SickLMS2xx::GetSickMeasuringUnits( ) const throw( SickConfigException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickMeasuringUnits: Sick LMS is not initialized!"); + } + + /* Return the measurement units */ + return (sick_lms_2xx_measuring_units_t)_sick_operating_status.sick_measuring_units; + + } + + /** + * \brief Sets the Sick LMS sensitivity level + * \param sick_sensitivity Desired sensitivity level + */ + void SickLMS2xx::SetSickSensitivity( const sick_lms_2xx_sensitivity_t sick_sensitivity ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::SetSickSensitivity: Sick LMS is not initialized!"); + } + + /* Ensure the command is supported by the given Sick model */ + if (!_isSickLMS211() && !_isSickLMS221() && !_isSickLMS291()) { + throw SickConfigException("SickLMS2xx::SetSickSensitivity: This command is not supported by this Sick model!"); + } + + /* Ensure this is a valid sick sensitivity value*/ + if (!_validSickSensitivity(sick_sensitivity)) { + throw SickConfigException("SickLMS2xx::SetSickSensitivity: Undefined sensitivity level!"); + } + + /* Make sure the write is necessary */ + if (sick_sensitivity != _sick_device_config.sick_peak_threshold) { + + /* Setup a local copy of the config */ + sick_lms_2xx_device_config_t sick_device_config; + + /* Copy the configuration locally */ + sick_device_config = _sick_device_config; + + /* Set the units value */ + sick_device_config.sick_peak_threshold = sick_sensitivity; + + try { + + /* Attempt to set the new configuration */ + _setSickConfig(sick_device_config); + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::SetSickSensitivity: Unknown exception!!!" << std::endl; + throw; + } + + } + else { + std::cerr << "\tSickLMS2xx::SetSickSensitivity - Sick is already operating at this sensitivity level! (skipping write)" << std::endl; + } + + } + + /** + * \brief Sets the Sick LMS sensitivity level + * \param sick_sensitivity Desired sensitivity level + */ + void SickLMS2xx::SetSickPeakThreshold( const sick_lms_2xx_peak_threshold_t sick_peak_threshold ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::SetSickPeakThreshold: Sick LMS is not initialized!"); + } + + /* Ensure the command is supported by the given Sick model */ + if (!_isSickLMS200() && !_isSickLMS220()) { + throw SickConfigException("SickLMS2xx::SetSickPeakThreshold: This command is not supported by this Sick model!"); + } + + /* Ensure this is a valid sick sensitivity value*/ + if (!_validSickPeakThreshold(sick_peak_threshold)) { + throw SickConfigException("SickLMS2xx::SetSickPeakThreshold: Undefined peak threshold!"); + } + + /* Make sure the write is necessary */ + if (sick_peak_threshold != _sick_device_config.sick_peak_threshold) { + + /* Setup a local copy of the config */ + sick_lms_2xx_device_config_t sick_device_config; + + /* Copy the configuration locally */ + sick_device_config = _sick_device_config; + + /* Set the units value */ + sick_device_config.sick_peak_threshold = sick_peak_threshold; + + try { + + /* Attempt to set the new configuration */ + _setSickConfig(sick_device_config); + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::SetSickPeakThreshold: Unknown exception!!!" << std::endl; + throw; + } + + } + else { + std::cerr << "\tSickLMS2xx::SetSickPeakThreshold - Sick is already operating w/ given threshold! (skipping write)" << std::endl; + } + + } + + /** + * \brief Gets the current Sick LMS 2xx sensitivity level + * \return Sensitivity level (sick_lms_2xx_sensitivity_t) + */ + sick_lms_2xx_sensitivity_t SickLMS2xx::GetSickSensitivity( ) const throw( SickConfigException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickSensitivity: Sick LMS is not initialized!"); + } + + /* Make sure sensitivity is something that is defined for this model */ + if(!_isSickLMS211() && !_isSickLMS221() && !_isSickLMS291()) { + std::cerr << "Sensitivity is undefined for model: " << SickTypeToString(GetSickType()) << " (returning \"Unknown\")" << std::endl; + return SICK_SENSITIVITY_UNKNOWN; + } + + /* If its supported than return the actual value */ + return (sick_lms_2xx_sensitivity_t)_sick_device_config.sick_peak_threshold; //If the device is 211/221/291 then this value is sensitivity + + } + + /** + * \brief Gets the current Sick LMS 2xx sensitivity level + * \return Sensitivity level (sick_lms_2xx_sensitivity_t) + */ + sick_lms_2xx_peak_threshold_t SickLMS2xx::GetSickPeakThreshold( ) const throw( SickConfigException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickPeakThreshold: Sick LMS is not initialized!"); + } + + /* Make sure sensitivity is something that is defined for this model */ + if(!_isSickLMS200() && !_isSickLMS220()) { + std::cerr << "Peak threshold is undefined for model: " << SickTypeToString(GetSickType()) << " (returning \"Unknown\")" << std::endl; + return SICK_PEAK_THRESHOLD_UNKNOWN; + } + + /* If its supported than return the actual value */ + return (sick_lms_2xx_peak_threshold_t)_sick_device_config.sick_peak_threshold; //If the device is 211/221/291 then this value is sensitivity + + } + + /** + * \brief Sets the measuring mode for the device + * \param sick_measuring_mode Desired measuring mode + */ + void SickLMS2xx::SetSickMeasuringMode( const sick_lms_2xx_measuring_mode_t sick_measuring_mode ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::SetSickMeasuringUnits: Sick LMS is not initialized!"); + } + + /* Ensure this is a valid sick sensitivity value*/ + if (!_validSickMeasuringMode(sick_measuring_mode)) { + throw SickConfigException("SickLMS2xx::SetSickMeasuringMode: Undefined measuring mode!"); + } + + /* Make sure the write is necessary */ + if (sick_measuring_mode != _sick_device_config.sick_measuring_mode) { + + /* Setup a local copy of the config */ + sick_lms_2xx_device_config_t sick_device_config; + + /* Copy the configuration locally */ + sick_device_config = _sick_device_config; + + /* Set the units value */ + sick_device_config.sick_measuring_mode = sick_measuring_mode; + + try { + + /* Attempt to set the new configuration */ + _setSickConfig(sick_device_config); + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::SetSickMeasuringMode: Unknown exception!!!" << std::endl; + throw; + } + + } + else { + std::cerr << "\tSickLMS2xx::SetSickMeasuringMode - Sick is already operating w/ this measuring mode! (skipping write)" << std::endl; + } + + } + + /** + * \brief Gets the current Sick LMS 2xx measuring mode + * \return Measuring mode (sick_lms_2xx_measuring_mode_t) + */ + sick_lms_2xx_measuring_mode_t SickLMS2xx::GetSickMeasuringMode( ) const throw( SickConfigException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickMeasuringMode: Sick LMS is not initialized!"); + } + + /* Return the determined measuring mode */ + return (sick_lms_2xx_measuring_mode_t)_sick_operating_status.sick_measuring_mode; + + } + + /** + * \brief Gets the current Sick LMS 2xx operating mode + * \return Operating mode (sick_lms_2xx_operating_mode_t) + */ + sick_lms_2xx_operating_mode_t SickLMS2xx::GetSickOperatingMode( ) const throw( SickConfigException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickScanAngle: Sick LMS is not initialized!"); + } + + /* Return the current operating mode of the device */ + return (sick_lms_2xx_operating_mode_t)_sick_operating_status.sick_operating_mode; + + } + + /** + * \brief Sets the availability level of the device + * \param sick_availability_level Desired availability of the Sick LMS + */ + void SickLMS2xx::SetSickAvailability( const uint8_t sick_availability_flags ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::SetSickAvailabilityFlags: Sick LMS is not initialized!"); + } + + /* Ensure this is a valid sick sensitivity value*/ + if ( sick_availability_flags > 7 ) { + throw SickConfigException("SickLMS2xx::SetSickAvailabilityFlags: Invalid availability!"); + } + + /* Setup a local copy of the config */ + sick_lms_2xx_device_config_t sick_device_config; + + /* Copy the configuration locally */ + sick_device_config = _sick_device_config; + + /* Maintain the higher level bits */ + sick_device_config.sick_availability_level &= 0xF8; + + /* Set the new availability flags */ + sick_device_config.sick_availability_level |= sick_availability_flags; + + /* Make sure the write is necessary */ + if (sick_device_config.sick_availability_level != _sick_device_config.sick_availability_level) { + + try { + + /* Attempt to set the new configuration */ + _setSickConfig(sick_device_config); + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::SetSickAvailabilityFlags: Unknown exception!!!" << std::endl; + throw; + } + + } + else { + std::cerr << "\tSickLMS2xx::SetSickAvailability - Device is already operating w/ given availability. (skipping write)" << std::endl; + } + + } + + /** + * \brief Gets the current Sick LMS 2xx availability level flags + * \return Sick LMS 2xx Availability level flags + */ + uint8_t SickLMS2xx::GetSickAvailability( ) const throw( SickConfigException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickAvailabilityFlags: Sick LMS is not initialized!"); + } + + /* Return the availability flags */ + return _sick_device_config.sick_availability_level; + + } + + /*! + * \brief Sets the variant of the Sick LMS 2xx (scan angle and scan resolution) + * \param scan_angle The desired scan angle of the Sick LMS 2xx + * \param scan_resolution The desired angular resolution of the Sick LMS 2xx + */ + void SickLMS2xx::SetSickVariant( const sick_lms_2xx_scan_angle_t scan_angle, const sick_lms_2xx_scan_resolution_t scan_resolution ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::SetSickVariant: Sick LMS is not initialized!"); + } + + /* A sanity check to make sure that the command is supported */ + if (_sick_type == SICK_LMS_TYPE_211_S14 || _sick_type == SICK_LMS_TYPE_221_S14 ||_sick_type == SICK_LMS_TYPE_291_S14) { + throw SickConfigException("SickLMS2xx::SetSickVariant: Command not supported on this model!"); + } + + /* Ensure the given scan angle is defined */ + if (!_validSickScanAngle(scan_angle)) { + throw SickConfigException("SickLMS2xx::SetSickVariant: Undefined scan angle!"); + } + + /* Ensure the given scan resolution is defined */ + if (!_validSickScanResolution(scan_resolution)) { + throw SickConfigException("SickLMS2xx::SetSickMeasuringUnits: Undefined scan resolution!"); + } + + SickLMS2xxMessage message, response; + uint8_t payload_buffer[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + payload_buffer[0] = 0x3B; // Command to set sick variant + + /* Map the scan angle */ + switch(scan_angle) { + case SICK_SCAN_ANGLE_100: + payload_buffer[1] = 0x64; + break; + case SICK_SCAN_ANGLE_180: + payload_buffer[1] = 0xB4; + break; + default: + throw SickConfigException("SickLMS2xx::SetSickVariant: Given scan angle is invalid!"); + } + + /* Map the resolution */ + switch(scan_resolution) { + case SICK_SCAN_RESOLUTION_100: + payload_buffer[3] = 0x64; + break; + case SICK_SCAN_RESOLUTION_50: + payload_buffer[3] = 0x32; + break; + case SICK_SCAN_RESOLUTION_25: + payload_buffer[3] = 0x19; + break; + default: + throw SickConfigException("SickLMS2xx::SetSickVariant: Given scan resolution is invalid!"); + } + + /* Build the request message */ + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,5); + + try { + + /* + * Set the device to request measured mode + * + * NOTE: This is done since the Sick stops sending + * data if the variant is reset midstream. + */ + _setSickOpModeMonitorRequestValues(); + + /* Send the variant request and get a reply */ + _sendMessageAndGetReply(message,response,DEFAULT_SICK_LMS_2XX_SICK_MESSAGE_TIMEOUT,DEFAULT_SICK_LMS_2XX_NUM_TRIES); + + } + + /* Handle a config exception */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::SetSickVariant: Unknown exception!!!" << std::endl; + throw; + } + + /* Extract the payload length */ + response.GetPayload(payload_buffer); + + /* Check if the configuration was successful */ + if(payload_buffer[1] != 0x01) { + throw SickConfigException("SickLMS2xx::SetSickVariant: Configuration was unsuccessful!"); + } + + /* Update the scan angle of the device */ + memcpy(&_sick_operating_status.sick_scan_angle,&payload_buffer[2],2); + _sick_operating_status.sick_scan_angle = + sick_lms_2xx_to_host_byte_order(_sick_operating_status.sick_scan_angle); + + /* Update the angular resolution of the device */ + memcpy(&_sick_operating_status.sick_scan_resolution,&payload_buffer[4],2); + _sick_operating_status.sick_scan_resolution = + sick_lms_2xx_to_host_byte_order(_sick_operating_status.sick_scan_resolution); + + } + + /** + * \brief Returns the most recent measured values obtained by the Sick LMS 2xx + * \param *measurement_values Destination buffer for holding the current round of measured values + * \param &num_measurement_values Number of values stored in measurement_values + * \param *sick_field_a_values Stores the Field A values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_field_b_values Stores the Field B values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_field_c_values Stores the Field C values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_telegram_index The telegram index assigned to the message (modulo: 256) (Default: NULL => Not wanted) + * \param *sick_real_time_scan_index The real time scan index for the latest message (module 256) (Default: NULL => Not wanted) + * + * NOTE: Calling this function will return either range or reflectivity measurements + * depending upon the current measuring mode of the device. + * + * NOTE: Real-time scan indices must be enabled by setting the corresponding availability + * of the Sick LMS 2xx for this value to be populated. + */ + void SickLMS2xx::GetSickScan( unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int * const sick_field_a_values, + unsigned int * const sick_field_b_values, + unsigned int * const sick_field_c_values, + unsigned int * const sick_telegram_index, + unsigned int * const sick_real_time_scan_index ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickScan: Sick LMS is not initialized!"); + } + + /* Declare message objects */ + SickLMS2xxMessage response; + + /* Declare some useful variables and a buffer */ + uint8_t payload_buffer[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + try { + + /* Restore original operating mode */ + _setSickOpModeMonitorStreamValues(); + + /* Receive a data frame from the stream. */ + _recvMessage(response,DEFAULT_SICK_LMS_2XX_SICK_MESSAGE_TIMEOUT); + + /* Check that our payload has the proper command byte of 0xB0 */ + if(response.GetCommandCode() != 0xB0) { + throw SickIOException("SickLMS2xx::GetSickScan: Unexpected message!"); + } + + /* Acquire the payload buffer and length*/ + response.GetPayload(payload_buffer); + + /* Define a local scan profile object */ + sick_lms_2xx_scan_profile_b0_t sick_scan_profile; + + /* Initialize the profile */ + memset(&sick_scan_profile,0,sizeof(sick_lms_2xx_scan_profile_b0_t)); + + /* Parse the message payload */ + _parseSickScanProfileB0(&payload_buffer[1],sick_scan_profile); + + /* Return the request values! */ + num_measurement_values = sick_scan_profile.sick_num_measurements; + + for (unsigned int i = 0; i < num_measurement_values; i++) { + + /* Copy the measurement value */ + measurement_values[i] = sick_scan_profile.sick_measurements[i]; + + /* If requested, copy field A values */ + if(sick_field_a_values) { + sick_field_a_values[i] = sick_scan_profile.sick_field_a_values[i]; + } + + /* If requested, copy field B values */ + if(sick_field_b_values) { + sick_field_b_values[i] = sick_scan_profile.sick_field_b_values[i]; + } + + /* If requested, copy field C values */ + if(sick_field_c_values) { + sick_field_c_values[i] = sick_scan_profile.sick_field_c_values[i]; + } + + } + + /* If requested, copy the real time scan index */ + if(sick_real_time_scan_index) { + *sick_real_time_scan_index = sick_scan_profile.sick_real_time_scan_index; + } + + /* If requested, copy the telegram index */ + if(sick_telegram_index) { + *sick_telegram_index = sick_scan_profile.sick_telegram_index; + } + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::GetSickScan: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Acquires both range and reflectivity values from the Sick LMS 211/221/291-S14 (LMS-FAST) + * \param *range_values The buffer in which range measurements will be stored + * \param *reflect_values The buffer in which reflectivity measurements will be stored + * \param reflect_subrange_start_index The starting index of the desired measured reflectivity subrange + * \param relfect_subrange_stop_index The stopping index of the desired measured relfectivity subrange + * \param &num_range_measurements The number of range measurements stored in range_values + * \param &num_reflectivity_measurements The number of reflectivity measurements stored in reflect_values + * \param *sick_field_a_values Stores the Field A values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_field_b_values Stores the Field B values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_field_c_values Stores the Field C values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_telegram_index The telegram index assigned to the message (modulo: 256) (Default: NULL => Not wanted) + * \param *sick_real_time_scan_index The real time scan index for the latest message (module 256) (Default: NULL => Not wanted) + * + * NOTE: Real-time scan indices must be enabled by setting the corresponding availability + * of the Sick LMS 2xx for this value to be populated. + */ + void SickLMS2xx::GetSickScan( unsigned int * const range_values, + unsigned int * const reflect_values, + unsigned int & num_range_measurements, + unsigned int & num_reflect_measurements, + unsigned int * const sick_field_a_values, + unsigned int * const sick_field_b_values, + unsigned int * const sick_field_c_values, + unsigned int * const sick_telegram_index, + unsigned int * const sick_real_time_scan_index ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickScan: Sick LMS is not initialized!"); + } + + /* Declare message objects */ + SickLMS2xxMessage response; + + /* Declare some useful variables and a buffer */ + uint8_t payload_buffer[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + try { + + /* Restore original operating mode */ + _setSickOpModeMonitorStreamRangeAndReflectivity(); + + /* Receive a data frame from the stream. */ + _recvMessage(response,DEFAULT_SICK_LMS_2XX_SICK_MESSAGE_TIMEOUT); + + /* Check that our payload has the proper command byte of 0xB0 */ + if(response.GetCommandCode() != 0xC4) { + throw SickIOException("SickLMS2xx::GetSickScan: Unexpected message!"); + } + + /* Acquire the payload buffer and length*/ + response.GetPayload(payload_buffer); + + /* Define a local scan profile object */ + sick_lms_2xx_scan_profile_c4_t sick_scan_profile; + + /* Initialize the profile */ + memset(&sick_scan_profile,0,sizeof(sick_lms_2xx_scan_profile_c4_t)); + + /* Parse the message payload */ + _parseSickScanProfileC4(&payload_buffer[1],sick_scan_profile); + + /* Return the requested values! */ + num_range_measurements = sick_scan_profile.sick_num_range_measurements; + num_reflect_measurements = sick_scan_profile.sick_num_reflect_measurements; + + for (unsigned int i = 0; i < sick_scan_profile.sick_num_range_measurements; i++) { + + /* Copy the measurement value */ + range_values[i] = sick_scan_profile.sick_range_measurements[i]; + + /* If requested, copy field A values */ + if(sick_field_a_values) { + sick_field_a_values[i] = sick_scan_profile.sick_field_a_values[i]; + } + + /* If requested, copy field B values */ + if(sick_field_b_values) { + sick_field_b_values[i] = sick_scan_profile.sick_field_b_values[i]; + } + + /* If requested, copy field C values */ + if(sick_field_c_values) { + sick_field_c_values[i] = sick_scan_profile.sick_field_c_values[i]; + } + + } + + /* Copy the reflectivity measurements */ + for( unsigned int i = 0; i < num_reflect_measurements; i++) { + reflect_values[i] = sick_scan_profile.sick_reflect_measurements[i]; + } + + /* If requested, copy the telegram index */ + if(sick_telegram_index) { + *sick_telegram_index = sick_scan_profile.sick_telegram_index; + } + + /* If requested, copy the real time scan index */ + if(sick_real_time_scan_index) { + *sick_real_time_scan_index = sick_scan_profile.sick_real_time_scan_index; + } + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::GetSickScan: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Returns the most recent measured values from the corresponding subrange + * \param sick_subrange_start_index The starting index of the desired subrange (See below for example) + * \param sick_subrange_stop_index The stopping index of the desired subrange (See below for example) + * \param *measurement_values Destination buffer for holding the current round of measured value + * \param &num_measurement_values Number of values stored in measurement_values + * \param *sick_field_a_values Stores the Field A values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_field_b_values Stores the Field B values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_field_c_values Stores the Field C values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_telegram_index The telegram index assigned to the message (modulo: 256) (Default: NULL => Not wanted) + * \param *sick_real_time_scan_index The real time scan index for the latest message (module 256) (Default: NULL => Not wanted)* + * + * NOTE: Calling this function will return either range or reflectivity measurements + * depending upon the current measuring mode of the device. + * + * NOTE: Real-time scan indices must be enabled by setting the corresponding availability + * of the Sick LMS 2xx for this value to be populated. + * + * EXAMPLE: Using a 180/0.5 Sick LMS variant, a subrange over the scan area [0,10.5] would + * correspond to setting the index arguments as follows: sick_subrange_start = 1, + * sick_subrange_stop = 22 + */ + void SickLMS2xx::GetSickScanSubrange( const uint16_t sick_subrange_start_index, + const uint16_t sick_subrange_stop_index, + unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int * const sick_field_a_values, + unsigned int * const sick_field_b_values, + unsigned int * const sick_field_c_values, + unsigned int * const sick_telegram_index, + unsigned int * const sick_real_time_scan_index ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickScanSubrange: Sick LMS is not initialized!"); + } + + /* Declare message object */ + SickLMS2xxMessage response; + + /* Declare some useful variables and a buffer */ + uint8_t payload_buffer[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + try { + + /* Restore original operating mode */ + _setSickOpModeMonitorStreamValuesSubrange(sick_subrange_start_index,sick_subrange_stop_index); + + /* Receive a data frame from the stream. */ + _recvMessage(response,DEFAULT_SICK_LMS_2XX_SICK_MESSAGE_TIMEOUT); + + /* Check that our payload has the proper command byte of 0xB0 */ + if(response.GetCommandCode() != 0xB7) { + throw SickIOException("SickLMS2xx::GetSickScanSubrange: Unexpected message!"); + } + + /* Acquire the payload buffer and length*/ + response.GetPayload(payload_buffer); + + /* Define a local scan profile object */ + sick_lms_2xx_scan_profile_b7_t sick_scan_profile; + + /* Initialize the profile */ + memset(&sick_scan_profile,0,sizeof(sick_lms_2xx_scan_profile_b7_t)); + + /* Parse the message payload */ + _parseSickScanProfileB7(&payload_buffer[1],sick_scan_profile); + + /* Return the request values! */ + num_measurement_values = sick_scan_profile.sick_num_measurements; + + for (unsigned int i = 0; i < num_measurement_values; i++) { + + /* Copy the measurement value */ + measurement_values[i] = sick_scan_profile.sick_measurements[i]; + + /* If requested, copy field A values */ + if(sick_field_a_values) { + sick_field_a_values[i] = sick_scan_profile.sick_field_a_values[i]; + } + + /* If requested, copy field B values */ + if(sick_field_b_values) { + sick_field_b_values[i] = sick_scan_profile.sick_field_b_values[i]; + } + + /* If requested, copy field C values */ + if(sick_field_c_values) { + sick_field_c_values[i] = sick_scan_profile.sick_field_c_values[i]; + } + + } + + /* If requested, copy the real time scan index */ + if(sick_real_time_scan_index) { + *sick_real_time_scan_index = sick_scan_profile.sick_real_time_scan_index; + } + + /* If requested, copy the telegram index */ + if(sick_telegram_index) { + *sick_telegram_index = sick_scan_profile.sick_telegram_index; + } + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::GetSickScanSubrange: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Returns the most recent partial scan obtained by Sick LMS 2xx + * \param *measurement_values Destination buffer for holding the current round of measured value + * \param &num_measurement_values Number of values stored in measurement_values + * \param *sick_partial_scan_index Partial scan index associated w/ returned values (0 = 0.00 deg, 1 = 0.25 deg, 2 = 0.50 deg, 3 = 0.75 deg) + * \param *sick_field_a_values Stores the Field A values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_field_b_values Stores the Field B values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_field_c_values Stores the Field C values associated with the given scan (Default: NULL => Not wanted) + * \param *sick_telegram_index The telegram index assigned to the message (modulo: 256) (Default: NULL => Not wanted) + * \param *sick_real_time_scan_index The real time scan index for the latest message (module 256) (Default: NULL => Not wanted) + * + * NOTE: This function will set the device to interlaced mode. + * + * NOTE: The current angular resolution defines the minimum step size in the partial + * scan sequence. To obtain a high resolution partial scan you must set the + * Sick LMS 2xx variant to use a 0.25 degrees scan resolution. + * + * NOTE: Calling this function will return either range or reflectivity measurements + * depending upon the current measuring mode of the device. + * + * NOTE: Real-time scan indices must be enabled by setting the corresponding availability + * of the Sick LMS 2xx for this value to be populated. + */ + void SickLMS2xx::GetSickPartialScan( unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int & partial_scan_index, + unsigned int * const sick_field_a_values, + unsigned int * const sick_field_b_values, + unsigned int * const sick_field_c_values, + unsigned int * const sick_telegram_index, + unsigned int * const sick_real_time_scan_index ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickPartialScan: Sick LMS is not initialized!"); + } + + /* Declare message objects */ + SickLMS2xxMessage response; + + /* Declare some useful variables and a buffer */ + uint8_t payload_buffer[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + try { + + /* Restore original operating mode */ + _setSickOpModeMonitorStreamValuesFromPartialScan(); + + /* Receive a data frame from the stream. */ + _recvMessage(response,DEFAULT_SICK_LMS_2XX_SICK_MESSAGE_TIMEOUT); + + /* Check that our payload has the proper command byte of 0xB0 */ + if(response.GetCommandCode() != 0xB0) { + throw SickIOException("SickLMS2xx::GetSickPartialScan: Unexpected message!"); + } + + /* Acquire the payload buffer and length*/ + response.GetPayload(payload_buffer); + + /* Define a local scan profile object */ + sick_lms_2xx_scan_profile_b0_t sick_scan_profile; + + /* Initialize the profile */ + memset(&sick_scan_profile,0,sizeof(sick_lms_2xx_scan_profile_b0_t)); + + /* Parse the message payload */ + _parseSickScanProfileB0(&payload_buffer[1],sick_scan_profile); + + /* Return the request values! */ + num_measurement_values = sick_scan_profile.sick_num_measurements; + + /* Assign the partial scan index */ + partial_scan_index = sick_scan_profile.sick_partial_scan_index; + + for (unsigned int i = 0; i < num_measurement_values; i++) { + + /* Copy the measurement value */ + measurement_values[i] = sick_scan_profile.sick_measurements[i]; + + /* If requested, copy field A values */ + if(sick_field_a_values) { + sick_field_a_values[i] = sick_scan_profile.sick_field_a_values[i]; + } + + /* If requested, copy field B values */ + if(sick_field_b_values) { + sick_field_b_values[i] = sick_scan_profile.sick_field_b_values[i]; + } + + /* If requested, copy field C values */ + if(sick_field_c_values) { + sick_field_c_values[i] = sick_scan_profile.sick_field_c_values[i]; + } + + } + + /* If requested, copy the real time scan index */ + if(sick_real_time_scan_index) { + *sick_real_time_scan_index = sick_scan_profile.sick_real_time_scan_index; + } + + /* If requested, copy the telegram index */ + if(sick_telegram_index) { + *sick_telegram_index = sick_scan_profile.sick_telegram_index; + } + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::GetSickPartialScan: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Returns the most recent mean measured values from the Sick LMS 2xx. + * \param sick_sample_size Number of scans to consider in computing the mean measured values (NOTE: 2 <= sick_sample_size <= 250) + * \param *measurement_values Destination buffer for holding the current round of measured value + * \param &num_measurement_values Number of values stored in measurement_values + * \param *sick_telegram_index The telegram index assigned to the message (modulo: 256) (Default: NULL => Not wanted) + * \param *sick_real_time_scan_index The real time scan index for the latest message (module 256) (Default: NULL => Not wanted) + * + * NOTE: Calling this function will return either range or reflectivity measurements + * depending upon the current measuring mode of the device. + * + * NOTE: Real-time scan indices must be enabled by setting the corresponding availability + * of the Sick LMS 2xx for this value to be populated. + */ + void SickLMS2xx::GetSickMeanValues( const uint8_t sick_sample_size, + unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int * const sick_telegram_index, + unsigned int * const sick_real_time_scan_index ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickMeanValues: Sick LMS is not initialized!"); + } + + /* Declare message objects */ + SickLMS2xxMessage response; + + /* Declare some useful variables and a buffer */ + uint8_t payload_buffer[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + try { + + /* Restore original operating mode */ + _setSickOpModeMonitorStreamMeanValues(sick_sample_size); + + /* Receive a data frame from the stream. (NOTE: Can take 10+ seconds for a reply) */ + _recvMessage(response,DEFAULT_SICK_LMS_2XX_SICK_MEAN_VALUES_MESSAGE_TIMEOUT); + + /* Check that our payload has the proper command byte of 0xB0 */ + if(response.GetCommandCode() != 0xB6) { + throw SickIOException("SickLMS2xx::GetSickMeanValues: Unexpected message!"); + } + + /* Acquire the payload buffer and length*/ + response.GetPayload(payload_buffer); + + /* Define a local scan profile object */ + sick_lms_2xx_scan_profile_b6_t sick_scan_profile; + + /* Initialize the profile */ + memset(&sick_scan_profile,0,sizeof(sick_lms_2xx_scan_profile_b6_t)); + + /* Parse the message payload */ + _parseSickScanProfileB6(&payload_buffer[1],sick_scan_profile); + + /* Return the request values! */ + num_measurement_values = sick_scan_profile.sick_num_measurements; + + for (unsigned int i = 0; i < num_measurement_values; i++) { + /* Copy the measurement value */ + measurement_values[i] = sick_scan_profile.sick_measurements[i]; + } + + /* If requested, copy the real time scan index */ + if(sick_real_time_scan_index) { + *sick_real_time_scan_index = sick_scan_profile.sick_real_time_scan_index; + } + + /* If requested, copy the telegram index */ + if(sick_telegram_index) { + *sick_telegram_index = sick_scan_profile.sick_telegram_index; + } + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::GetSickMeanValues: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Returns the most recent mean measured values from the specified subrange + * \param sick_sample_size Number of consecutive scans used to compute the mean values + * \param sick_subrange_start_index The starting index of the desired subrange (See below for example) + * \param sick_subrange_stop_index The stopping index of the desired subrange (See below for example) + * \param *measurement_values Destination buffer for holding the current round of measured value + * \param &num_measurement_values Number of values stored in measurement_values + * \param *sick_telegram_index The telegram index assigned to the message (modulo: 256) (Default: NULL => Not wanted) + * \param *sick_real_time_scan_index The real time scan index for the latest message (module 256) (Default: NULL => Not wanted) + * + * NOTE: Calling this function will return either range or reflectivity measurements + * depending upon the current measuring mode of the device. + * + * NOTE: Real-time scan indices must be enabled by setting the corresponding availability + * of the Sick LMS 2xx for this value to be populated. + * + * EXAMPLE: Using a 180/0.5 Sick LMS variant, a subrange over the scan area [0,10.5] would + * correspond to setting the index arguments as follows: sick_subrange_start = 1, + * sick_subrange_stop = 22 + */ + void SickLMS2xx::GetSickMeanValuesSubrange( const uint8_t sick_sample_size, + const uint16_t sick_subrange_start_index, + const uint16_t sick_subrange_stop_index, + unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int * const sick_telegram_index, + unsigned int * const sick_real_time_scan_index ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickMeanValuesSubrange: Sick LMS is not initialized!"); + } + + /* Declare message objects */ + SickLMS2xxMessage response; + + /* Declare some useful variables and a buffer */ + uint8_t payload_buffer[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + try { + + /* Restore original operating mode */ + _setSickOpModeMonitorStreamMeanValuesSubrange(sick_sample_size,sick_subrange_start_index,sick_subrange_stop_index); + + /* Receive a data frame from the stream. */ + _recvMessage(response,DEFAULT_SICK_LMS_2XX_SICK_MEAN_VALUES_MESSAGE_TIMEOUT); + + /* Check that our payload has the proper command byte of 0xB0 */ + if(response.GetCommandCode() != 0xBF) { + throw SickIOException("SickLMS2xx::GetSickMeanValuesSubrange: Unexpected message!"); + } + + /* Acquire the payload buffer and length*/ + response.GetPayload(payload_buffer); + + /* Define a local scan profile object */ + sick_lms_2xx_scan_profile_bf_t sick_scan_profile; + + /* Initialize the profile */ + memset(&sick_scan_profile,0,sizeof(sick_lms_2xx_scan_profile_bf_t)); + + /* Parse the message payload */ + _parseSickScanProfileBF(&payload_buffer[1],sick_scan_profile); + + /* Return the request values! */ + num_measurement_values = sick_scan_profile.sick_num_measurements; + + for (unsigned int i = 0; i < num_measurement_values; i++) { + + /* Copy the measurement value */ + measurement_values[i] = sick_scan_profile.sick_measurements[i]; + + } + + /* If requested, copy the real time scan index */ + if(sick_real_time_scan_index) { + *sick_real_time_scan_index = sick_scan_profile.sick_real_time_scan_index; + } + + /* If requested, copy the telegram index */ + if(sick_telegram_index) { + *sick_telegram_index = sick_scan_profile.sick_telegram_index; + } + + } + + /* Handle any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Handle a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle anything else */ + catch(...) { + std::cerr << "SickLMS2xx::GetMeanValuesSubrange: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Acquire the Sick LMS 2xx status + * \return The status of the device + * + * NOTE: This method also updated the local view of all other information + * returned with a status request. + */ + sick_lms_2xx_status_t SickLMS2xx::GetSickStatus( ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::GetSickStatus: Sick LMS is not initialized!"); + } + + try { + + /* Refresh the status info! */ + _getSickStatus(); + + } + + /* Catch any timeout exceptions */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Catch any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Catch any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Catch anything else */ + catch(...) { + std::cerr << "SickLMS2xx::GetSickStatus: Unknown exception!" << std::endl; + throw; + } + + /* Return the latest Sick status */ + return (sick_lms_2xx_status_t)_sick_operating_status.sick_device_status; + } + + /** + * \brief Indicates whether the device is an LMS Fast + */ + bool SickLMS2xx::IsSickLMS2xxFast() const throw(SickConfigException) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::IsSickLMS2xxFast: Sick LMS is not initialized!"); + } + + return (_sick_type == SICK_LMS_TYPE_211_S14 || + _sick_type == SICK_LMS_TYPE_221_S14 || + _sick_type == SICK_LMS_TYPE_291_S14); + + } + + /** + * \brief Reset the Sick LMS 2xx active field values + * NOTE: Considered successful if the LMS ready message is received. + */ + void SickLMS2xx::ResetSick( ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ) { + + /* Ensure the device is initialized */ + if (!_sick_initialized) { + throw SickConfigException("SickLMS2xx::ResetSick: Sick LMS is not initialized!"); + } + + SickLMS2xxMessage message,response; + uint8_t payload[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Construct the reset command */ + payload[0] = 0x10; // Request field reset + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload,1); + + std::cout << "\tResetting the device..." << std::endl; + std::cout << "\tWaiting for Power on message..." << std::endl; + + try { + + /* Send the reset command and wait for the reply */ + _sendMessageAndGetReply(message,response,0x91,(unsigned int)60e6,DEFAULT_SICK_LMS_2XX_NUM_TRIES); + + std::cout << "\t\tPower on message received!" << std::endl; + std::cout << "\tWaiting for LMS Ready message..." << std::endl; + + /* Set terminal baud to the detected rate to get the LMS ready message */ + _setTerminalBaud(_baudToSickBaud(DEFAULT_SICK_LMS_2XX_SICK_BAUD)); + + /* Receive the LMS ready message after power on */ + _recvMessage(response,(unsigned int)30e6); + + /* Verify the response */ + if(response.GetCommandCode() != 0x90) { + std::cerr << "SickLMS2xx::ResetSick: Unexpected reply! (assuming device has been reset!)" << std::endl; + } else { + std::cout << "\t\tLMS Ready message received!" << std::endl; + } + std::cout << std::endl; + + /* Reinitialize and sync the device */ + Initialize(_desired_session_baud); + + } + + /* Catch any timeout exceptions */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Catch any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Catch any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Catch anything else */ + catch(...) { + std::cerr << "SickLMS2xx::ResetSick: Unknown exception!!!" << std::endl; + throw; + } + + std::cout << "\tRe-initialization sucessful. LMS is ready to go!" << std::endl; + + } + + /** + * \brief Acquire the Sick LMS's status as a printable string + * \return The Sick LMS status as a well-formatted string + */ + std::string SickLMS2xx::GetSickStatusAsString( ) const { + + std::stringstream str_stream; + + str_stream << "\t=============== Sick LMS Status ===============" << std::endl; + + /* If Sick is initialized then print the status! */ + if (_sick_initialized) { + + str_stream << "\tVariant: " << _sickVariantToString(_sick_operating_status.sick_variant) << std::endl; + str_stream << "\tSensor Status: " << SickStatusToString((sick_lms_2xx_status_t)_sick_operating_status.sick_device_status) << std::endl; + str_stream << "\tScan Angle: " << GetSickScanAngle() << " (deg)" << std::endl; + str_stream << "\tScan Resolution: " << GetSickScanResolution() << " (deg)" << std::endl; + str_stream << "\tOperating Mode: " << SickOperatingModeToString(GetSickOperatingMode()) << std::endl; + str_stream << "\tMeasuring Mode: " << SickMeasuringModeToString(GetSickMeasuringMode()) << std::endl; + str_stream << "\tMeasuring Units: " << SickMeasuringUnitsToString(GetSickMeasuringUnits()) << std::endl; + + } + else { + + str_stream << "\t Unknown (Device is not initialized)" << std::endl; + + } + + str_stream << "\t===============================================" << std::endl; + + return str_stream.str(); + } + + /** + * \brief Acquire the Sick LMS's operating params as a printable string + * \return The Sick LMS operating params as a well-formatted string + */ + std::string SickLMS2xx::GetSickSoftwareVersionAsString( ) const { + + std::stringstream str_stream; + + str_stream << "\t============== Sick LMS Software ==============" << std::endl; + + if (_sick_initialized) { + + str_stream << "\tSystem Software: " << std::string((char *)_sick_software_status.sick_system_software_version) << std::endl; + str_stream << "\tSystem Boot PROM Software: " << std::string((char *)_sick_software_status.sick_prom_software_version) << std::endl; + + } + else { + + str_stream << "\t Unknown (Device is not initialized)" << std::endl; + + } + + str_stream << "\t===============================================" << std::endl; + + return str_stream.str(); + } + + /** + * \brief Acquire the Sick LMS's config as a printable string + * \return The Sick LMS config as a well-formatted string + */ + std::string SickLMS2xx::GetSickConfigAsString( ) const { + + std::stringstream str_stream; + + str_stream<< "\t=============== Sick LMS Config ===============" << std::endl; + + if (_sick_initialized) { + + str_stream << "\tBlanking Value: " << _sick_device_config.sick_blanking << std::endl; + + if(_isSickLMS211() || _isSickLMS221() || _isSickLMS291()) { + str_stream << "\tSensitivity: " << SickSensitivityToString(GetSickSensitivity()) << std::endl; + } + else { + str_stream << "\tPeak Thresh: " << SickPeakThresholdToString((sick_lms_2xx_peak_threshold_t)_sick_device_config.sick_peak_threshold) << std::endl; + str_stream << "\tStop Thresh: " << (unsigned int)_sick_device_config.sick_stop_threshold << std::endl; + } + + str_stream << "\tAvailability: " << _sickAvailabilityToString(_sick_device_config.sick_availability_level) << std::endl; + str_stream << "\tMeasuring Mode: " << SickMeasuringModeToString((sick_lms_2xx_measuring_mode_t)_sick_device_config.sick_measuring_mode) << std::endl; + str_stream << "\tMeasuring Units: " << SickMeasuringUnitsToString((sick_lms_2xx_measuring_units_t)_sick_device_config.sick_measuring_units) << std::endl; + str_stream << "\tTemporary Field: " << _sickTemporaryFieldToString(_sick_device_config.sick_temporary_field) << std::endl; + str_stream << "\tSubtractive Fields: " << _sickSubtractiveFieldsToString(_sick_device_config.sick_subtractive_fields) << std::endl; + str_stream << "\tMultiple Evaluation: " << (unsigned int)_sick_device_config.sick_multiple_evaluation << std::endl; + str_stream << "\tSuppressed Objects Multiple Evaluation: " << (unsigned int)_sick_device_config.sick_multiple_evaluation_suppressed_objects << std::endl; + str_stream << "\tDazzling Multiple Evaluation: " << (unsigned int)_sick_device_config.sick_dazzling_multiple_evaluation << std::endl; + str_stream << "\tRestart Mode: " << _sickRestartToString(_sick_device_config.sick_restart) << std::endl; + str_stream << "\tRestart Time: " << (unsigned int)_sick_device_config.sick_restart_time << std::endl; + str_stream << "\tFields B,C Restart Time: " << (unsigned int)_sick_device_config.sick_fields_b_c_restart_times << std::endl; + str_stream << "\tContour Function A: " << _sickContourFunctionToString(_sick_device_config.sick_contour_a_reference) << std::endl; + str_stream << "\tContour Function B: " << _sickContourFunctionToString(_sick_device_config.sick_contour_b_reference) << std::endl; + str_stream << "\tContour Function C: " << _sickContourFunctionToString(_sick_device_config.sick_contour_c_reference) << std::endl; + str_stream << "\tPixel Oriented Evaluation: " << (unsigned int)_sick_device_config.sick_pixel_oriented_evaluation << std::endl; + str_stream << "\tSingle Measured Value Eval. Mode: " << (unsigned int)_sick_device_config.sick_single_measured_value_evaluation_mode << std::endl; + + } + else { + + str_stream << "\t Unknown (Device is not initialized)" << std::endl; + + } + + str_stream << "\t===============================================" << std::endl; + + return str_stream.str(); + } + + /** + * \brief Prints ths status of the Sick LMS 2xx unit + */ + void SickLMS2xx::PrintSickStatus() const { + std::cout << GetSickStatusAsString() << std::endl; + } + + /** + * \brief Prints out relevant software versioning information + */ + void SickLMS2xx::PrintSickSoftwareVersion() const { + std::cout << GetSickSoftwareVersionAsString() << std::endl; + } + + /** + * \brief Prints out the Sick LMS configurations parameters + */ + void SickLMS2xx::PrintSickConfig() const { + std::cout << GetSickConfigAsString() << std::endl; + } + + /** + * \brief Converts the Sick LMS type to a corresponding string + * \param sick_type The device type + * \return Sick LMS type as a string + */ + std::string SickLMS2xx::SickTypeToString( const sick_lms_2xx_type_t sick_type ) { + + switch(sick_type) { + case SICK_LMS_TYPE_200_30106: + return "Sick LMS 200-30106"; + case SICK_LMS_TYPE_211_30106: + return "Sick LMS 211-30106"; + case SICK_LMS_TYPE_211_30206: + return "Sick LMS 211-30206"; + case SICK_LMS_TYPE_211_S07: + return "Sick LMS 211-S07"; + case SICK_LMS_TYPE_211_S14: + return "Sick LMS 211-S14"; + case SICK_LMS_TYPE_211_S15: + return "Sick LMS 211-S15"; + case SICK_LMS_TYPE_211_S19: + return "Sick LMS 211-S19"; + case SICK_LMS_TYPE_211_S20: + return "Sick LMS 211-S20"; + case SICK_LMS_TYPE_220_30106: + return "Sick LMS 220-30106"; + case SICK_LMS_TYPE_221_30106: + return "Sick LMS 221-30106"; + case SICK_LMS_TYPE_221_30206: + return "Sick LMS 221-30206"; + case SICK_LMS_TYPE_221_S07: + return "Sick LMS 221-S07"; + case SICK_LMS_TYPE_221_S14: + return "Sick LMS 221-S14"; + case SICK_LMS_TYPE_221_S15: + return "Sick LMS 221-S15"; + case SICK_LMS_TYPE_221_S16: + return "Sick LMS 221-S16"; + case SICK_LMS_TYPE_221_S19: + return "Sick LMS 221-S19"; + case SICK_LMS_TYPE_221_S20: + return "Sick LMS 221-S20"; + case SICK_LMS_TYPE_291_S05: + return "Sick LMS 291-S05"; + case SICK_LMS_TYPE_291_S14: + return "Sick LMS 291-S14"; + case SICK_LMS_TYPE_291_S15: + return "Sick LMS 291-S15"; + default: + return "Unknown!"; + } + + } + + /** + * \brief Converts integer to corresponding Sick LMS scan angle + * \param scan_angle_int Scan angle (FOV) as an integer (e.g. 90,100,180) + */ + sick_lms_2xx_scan_angle_t SickLMS2xx::IntToSickScanAngle( const int scan_angle_int ) { + + switch(scan_angle_int) { + case 90: + return SICK_SCAN_ANGLE_90; + case 100: + return SICK_SCAN_ANGLE_100; + case 180: + return SICK_SCAN_ANGLE_180; + default: + return SICK_SCAN_ANGLE_UNKNOWN; + } + + } + + /** + * \brief Converts integer to corresponding Sick LMS scan resolution + * \param scan_resolution_int Scan resolution as an integer (e.g. 25,50,100) + */ + sick_lms_2xx_scan_resolution_t SickLMS2xx::IntToSickScanResolution( const int scan_resolution_int ) { + + switch(scan_resolution_int) { + case 25: + return SICK_SCAN_RESOLUTION_25; + case 50: + return SICK_SCAN_RESOLUTION_50; + case 100: + return SICK_SCAN_RESOLUTION_100; + default: + return SICK_SCAN_RESOLUTION_UNKNOWN; + } + + } + + /** + * \brief Converts double to corresponding Sick LMS scan resolution + * \param scan_resolution_double Scan resolution as a double (e.g. 0.25,0.5,1.0) + */ + sick_lms_2xx_scan_resolution_t SickLMS2xx::DoubleToSickScanResolution( const double scan_resolution_double ) { + return IntToSickScanResolution((const int)(scan_resolution_double*100)); + } + + /** + * \brief Converts Sick LMS baud to a corresponding string + * \param baud_rate The baud rate to be represented as a string + * \return The string representation of the baud rate + */ + std::string SickLMS2xx::SickBaudToString( const sick_lms_2xx_baud_t baud_rate ) { + + switch(baud_rate) { + case SICK_BAUD_9600: + return "9600bps"; + case SICK_BAUD_19200: + return "19200bps"; + case SICK_BAUD_38400: + return "38400bps"; + case SICK_BAUD_500K: + return "500Kbps"; + default: + return "Unknown!"; + } + + } + + /** + * \brief Converts integer to corresponding Sick LMS baud + * \param baud_str Baud rate as integer (e.g. 9600,19200,38400,500000) + */ + sick_lms_2xx_baud_t SickLMS2xx::IntToSickBaud( const int baud_int ) { + + switch(baud_int) { + case 9600: + return SICK_BAUD_9600; + case 19200: + return SICK_BAUD_19200; + case 38400: + return SICK_BAUD_38400; + case 500000: + return SICK_BAUD_500K; + default: + return SICK_BAUD_UNKNOWN; + } + + } + + /** + * \brief Converts string to corresponding Sick LMS baud + * \param baud_str Baud rate as string (e.g. "9600","19200","38400","500000") + */ + sick_lms_2xx_baud_t SickLMS2xx::StringToSickBaud( const std::string baud_str ) { + + int baud_int; + std::istringstream input_stream(baud_str); + input_stream >> baud_int; + + return IntToSickBaud(baud_int); + + } + + /** + * \brief Converts the Sick LMS 2xx status code to a string + * \param sick_status The device status + * \return A string corresponding to the given status code + */ + std::string SickLMS2xx::SickStatusToString( const sick_lms_2xx_status_t sick_status ) { + + /* Return a string */ + if(sick_status != SICK_STATUS_OK) { + return "Error (possibly fatal)"; + } + return "OK!"; + + } + + /** + * \brief Converts the Sick measuring mode to a corresponding string + * \param sick_measuring_mode The Sick measuring mode + * \return The corresponding string + */ + std::string SickLMS2xx::SickMeasuringModeToString( const sick_lms_2xx_measuring_mode_t sick_measuring_mode ) { + + switch(sick_measuring_mode) { + case SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE: + return "8m/80m; fields A,B,Dazzle"; + case SICK_MS_MODE_8_OR_80_REFLECTOR: + return "8m/80m; 3 reflector bits"; + case SICK_MS_MODE_8_OR_80_FA_FB_FC: + return "8m/80m; fields A,B,C"; + case SICK_MS_MODE_16_REFLECTOR: + return "16m; 4 reflector bits"; + case SICK_MS_MODE_16_FA_FB: + return "16m; fields A & B"; + case SICK_MS_MODE_32_REFLECTOR: + return "32m; 2 reflector bits"; + case SICK_MS_MODE_32_FA: + return "32m; field A"; + case SICK_MS_MODE_32_IMMEDIATE: + return "32m; immediate"; + case SICK_MS_MODE_REFLECTIVITY: + return "Reflectivity"; + default: + return "Unknown"; + } + } + + /** + * \brief Converts the Sick operating mode to a corresponding string + * \param sick_operating_mode The Sick operating mode + * \return The corresponding string + */ + std::string SickLMS2xx::SickOperatingModeToString( const sick_lms_2xx_operating_mode_t sick_operating_mode ) { + + switch(sick_operating_mode) { + case SICK_OP_MODE_INSTALLATION: + return "Installation Mode"; + case SICK_OP_MODE_DIAGNOSTIC: + return "Diagnostic Mode"; + case SICK_OP_MODE_MONITOR_STREAM_MIN_VALUE_FOR_EACH_SEGMENT: + return "Stream mim measured values for each segment"; + case SICK_OP_MODE_MONITOR_TRIGGER_MIN_VALUE_ON_OBJECT: + return "Min measured value for each segment when object detected"; + case SICK_OP_MODE_MONITOR_STREAM_MIN_VERT_DIST_TO_OBJECT: + return "Min vertical distance"; + case SICK_OP_MODE_MONITOR_TRIGGER_MIN_VERT_DIST_TO_OBJECT: + return "Min vertical distance when object detected"; + case SICK_OP_MODE_MONITOR_STREAM_VALUES: + return "Stream all measured values"; + case SICK_OP_MODE_MONITOR_REQUEST_VALUES: + return "Request measured values"; + case SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES: + return "Stream mean measured values"; + case SICK_OP_MODE_MONITOR_STREAM_VALUES_SUBRANGE: + return "Stream measured value subrange"; + case SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES_SUBRANGE: + return "Stream mean measured value subrange"; + case SICK_OP_MODE_MONITOR_STREAM_VALUES_WITH_FIELDS: + return "Stream measured and field values"; + case SICK_OP_MODE_MONITOR_STREAM_VALUES_FROM_PARTIAL_SCAN: + return "Stream measured values from partial scan"; + case SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT_FROM_PARTIAL_SCAN: + return "Stream range w/ reflectivity from partial scan"; + case SICK_OP_MODE_MONITOR_STREAM_MIN_VALUES_FOR_EACH_SEGMENT_SUBRANGE: + return "Stream min measured values for each segment over a subrange"; + case SICK_OP_MODE_MONITOR_NAVIGATION: + return "Output navigation data records"; + case SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT: + return "Stream range w/ reflectivity values"; + default: + return "Unknown!"; + }; + + } + + /** + * \brief Converts Sick LMS 2xx sensitivity level to a corresponding string + * \param sick_sensitivity Sick sensitivity level + * \return The corresponding string + */ + std::string SickLMS2xx::SickSensitivityToString( const sick_lms_2xx_sensitivity_t sick_sensitivity ) { + + switch(sick_sensitivity) { + case SICK_SENSITIVITY_STANDARD: + return "Standard (~30m @ 10% reflectivity)"; + case SICK_SENSITIVITY_MEDIUM: + return "Medium (~25m @ 10% reflectivity)"; + case SICK_SENSITIVITY_LOW: + return "Low (~20m @ 10% relfectivity)"; + case SICK_SENSITIVITY_HIGH: + return "High (~42m @ 10% reflectivity)"; + default: + return "Unknown!"; + } + + } + + /** + * \brief Converts Sick LMS 2xx peak threshold to a corresponding string + * \param sick_peak_threshold Sick sensitivity level + * \return The corresponding string + */ + std::string SickLMS2xx::SickPeakThresholdToString( const sick_lms_2xx_peak_threshold_t sick_peak_threshold ) { + + switch(sick_peak_threshold) { + case SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION: + return "Peak detection, no black extension"; + case SICK_PEAK_THRESHOLD_DETECTION_WITH_BLACK_EXTENSION: + return "Peak detection w/ black extension"; + case SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_NO_BLACK_EXTENSION: + return "No peak detection, no black extension"; + case SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_BLACK_EXTENSION: + return "No peak detection w/ black extension"; + default: + return "Unknown!"; + } + + } + + /** + * \brief Converts the Sick LMS measurement units to a corresponding string + * \param sick_units The measuring units + * \return The corresponding string + */ + std::string SickLMS2xx::SickMeasuringUnitsToString( const sick_lms_2xx_measuring_units_t sick_units ) { + + /* Return the proper string */ + switch(sick_units) { + case SICK_MEASURING_UNITS_CM: + return "Centimeters (cm)"; + case SICK_MEASURING_UNITS_MM: + return "Millimeters (mm)"; + default: + return "Unknown!"; + } + + } + + /** + * \brief Attempts to open a I/O stream using the device path given at object instantiation. + */ + void SickLMS2xx::_setupConnection() throw ( SickIOException, SickThreadException ) { + SickLMS2xx::_setupConnection(0); + } + + /** + * \brief Attempts to open a I/O stream using the device path given at object instantiation + * \param delay Delay to wait for SICK to power on. (In seconds) + */ + void SickLMS2xx::_setupConnection( const uint32_t delay ) throw ( SickIOException, SickThreadException ) { + + try { + + /* Open the device */ + if((_sick_fd = open(_sick_device_path.c_str(), O_RDWR | O_NOCTTY | O_NDELAY)) < 0) { + throw SickIOException("SickLMS2xx::_setupConnection: - Unable to open serial port"); + } + + // Sleep to allow the SICK to power on for some applications + sleep(delay); + + /* Backup the original term settings */ + if(tcgetattr(_sick_fd,&_old_term) < 0) { + throw SickIOException("SickLMS2xx::_setupConnection: tcgetattr() failed!"); + } + + /* Set the host terminal baud rate to the new speed */ + _setTerminalBaud(_baudToSickBaud(DEFAULT_SICK_LMS_2XX_SICK_BAUD)); + + } + + /* Handle any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle unknown exceptions */ + catch(...) { + std::cerr << "SickLMS2xx::_setupConnection: Unknown exception!" << std::endl; + throw; + } + + } + + /** + * \brief Closes the data connection associated with the device + */ + void SickLMS2xx::_teardownConnection( ) throw( SickIOException ) { + + /* Check whether device was initialized */ + if(!_sick_initialized) { + return; + } + + /* Restore old terminal settings */ + if (tcsetattr(_sick_fd,TCSANOW,&_old_term) < 0) { + throw SickIOException("SickLMS2xx::_teardownConnection: tcsetattr() failed!"); + } + + /* Actually close the device */ + if(close(_sick_fd) != 0) { + throw SickIOException("SickLMS2xx::_teardownConnection: close() failed!"); + } + + } + + /** + * \brief Flushes terminal I/O buffers + */ + void SickLMS2xx::_flushTerminalBuffer( ) throw ( SickThreadException ) { + + try { + + /* Acquire access to the data stream */ + _sick_buffer_monitor->AcquireDataStream(); + + /* Nobody is reading a message, so safely flush! */ + if (tcflush(_sick_fd,TCIOFLUSH) != 0) { + throw SickThreadException("SickLMS2xx::_flushTerminalBuffer: tcflush() failed!"); + } + + /* Attempt to release the data stream */ + _sick_buffer_monitor->ReleaseDataStream(); + + } + + /* Handle thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* A sanity check */ + catch(...) { + std::cerr << "SickLMS2xx::_flushTerminalBuffer: Unknown exception!" << std::endl; + throw; + } + + } + + /** + * \brief Sends a message and searches for the corresponding reply + * \param &send_message The message to be sent to the Sick LMS 2xx unit + * \param &recv_message The expected message reply from the Sick LMS + * \param timeout_value The epoch to wait before considering a sent frame lost (in usecs) + * \param num_tries The number of times to try and transmit the message + * before quitting + * + * NOTE: Uses the 0x80 response code rule for looking for the response message + */ + void SickLMS2xx::_sendMessageAndGetReply( const SickLMS2xxMessage &send_message, + SickLMS2xxMessage &recv_message, + const unsigned int timeout_value, + const unsigned int num_tries ) throw( SickIOException, SickThreadException, SickTimeoutException ) { + + uint8_t sick_reply_code = send_message.GetCommandCode() + 0x80; + + try { + + /* Send a message and get reply using a reply code */ + _sendMessageAndGetReply(send_message,recv_message,sick_reply_code,timeout_value,num_tries); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout) { + /* For now just rethrow it */ + throw; + } + + /* Handle a thread exception */ + catch (SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_error) { + std::cerr << sick_io_error.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS2xx::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Sends a message and searches for the reply with given reply code + * \param &send_message The message to be sent to the Sick LMS 2xx unit + * \param &recv_message The expected message reply from the Sick LMS + * \param reply_code The reply code associated with the expected messgage + * \param timeout_value The epoch to wait before considering a sent frame lost (in usecs) + * \param num_tries The number of times to send the message in the event the LMS fails to reply + */ + void SickLMS2xx::_sendMessageAndGetReply( const SickLMS2xxMessage &send_message, + SickLMS2xxMessage &recv_message, + const uint8_t reply_code, + const unsigned int timeout_value, + const unsigned int num_tries ) throw( SickIOException, SickThreadException, SickTimeoutException ) { + + try { + + /* Attempt to flush the terminal buffer */ + _flushTerminalBuffer(); + + /* Send a message and get reply using parent's method */ + SickLIDAR< SickLMS2xxBufferMonitor, SickLMS2xxMessage >::_sendMessageAndGetReply(send_message,recv_message,&reply_code,1,DEFAULT_SICK_LMS_2XX_BYTE_INTERVAL,timeout_value,num_tries); + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout) { + throw; + } + + /* Handle a thread exception */ + catch (SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_error) { + std::cerr << sick_io_error.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLMS2xx::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Sets the baud rate for the current communication session + * \param baud_rate The desired baud rate + */ + void SickLMS2xx::_setSessionBaud(const sick_lms_2xx_baud_t baud_rate) throw ( SickIOException, SickThreadException, SickTimeoutException ){ + + SickLMS2xxMessage message, response; + + uint8_t payload[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + + /* Another sanity check */ + if(baud_rate == SICK_BAUD_UNKNOWN) { + throw SickIOException("SickLMS2xx::_setSessionBaud: Undefined baud rate!"); + } + + /* Construct the command telegram */ + payload[0] = 0x20; + payload[1] = baud_rate; + + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload,2); + + try { + + /* Send the status request and get a reply */ + _sendMessageAndGetReply(message,response,DEFAULT_SICK_LMS_2XX_SICK_MESSAGE_TIMEOUT,DEFAULT_SICK_LMS_2XX_NUM_TRIES); + + /* Set the host terminal baud rate to the new speed */ + _setTerminalBaud(baud_rate); + + /* Sick likes a sleep here */ + usleep(250000); + + } + + /* Catch a timeout */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Catch any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Catch any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Catch anything else */ + catch(...) { + std::cerr << "SickLMS2xx::_getSickErrors: Unknown exception!!!" << std::endl; + throw; + } + + } + + /** + * \brief Attempts to detect whether the LMS is operating at the given baud rate + * \param baud_rate The baud rate to use when "pinging" the Sick LMS 2xx + */ + bool SickLMS2xx::_testSickBaud(const sick_lms_2xx_baud_t baud_rate) throw( SickIOException, SickThreadException ) { + + try { + + /* Another sanity check */ + if(baud_rate == SICK_BAUD_UNKNOWN) { + throw SickIOException("SickLMS2xx::_testBaudRate: Undefined baud rate!"); + } + + /* Attempt to get status information at the current baud */ + std::cout << "\t\tChecking " << SickBaudToString(baud_rate) << "..." << std::endl; + + /* Set the host terminal baud rate to the test speed */ + _setTerminalBaud(baud_rate); + + try { + + /* Check to see if the Sick replies! */ + _getSickErrors(); + + } + + /* Catch a timeout exception */ + catch(SickTimeoutException &sick_timeout_exception) { + /* This means that the current baud rate timed out! */ + return false; + } + + /* Catch anything else and throw it away */ + catch(...) { + std::cerr << "SickLMS2xx::_testBaudRate: Unknown exception!" << std::endl; + throw; + } + + } + + /* Handle any IO exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Handle thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* A safety net */ + catch(...) { + std::cerr << "SickLMS2xx::_testBaudRate: Unknown exception!!!" << std::endl; + throw; + } + + /* Success! */ + return true; + + } + + /** + * \brief Sets the local terminal baud rate + * \param baud_rate The desired terminal baud rate + */ + void SickLMS2xx::_setTerminalBaud( const sick_lms_2xx_baud_t baud_rate ) throw( SickIOException, SickThreadException ) { + + struct termios term; + +#ifdef HAVE_LINUX_SERIAL_H + struct serial_struct serial; +#endif + + try { + + /* If seeting baud to 500k */ + if (baud_rate == SICK_BAUD_500K) { + +#ifdef HAVE_LINUX_SERIAL_H + + /* Get serial attributes */ + if(ioctl(_sick_fd,TIOCGSERIAL,&serial) < 0) { + throw SickIOException("SickLMS2xx::_setTerminalBaud: ioctl() failed!"); + } + + /* Set the custom devisor */ + serial.flags |= ASYNC_SPD_CUST; + serial.custom_divisor = 48; // for FTDI USB/serial converter divisor is 240/5 + + /* Set the new attibute values */ + if(ioctl(_sick_fd,TIOCSSERIAL,&serial) < 0) { + throw SickIOException("SickLMS2xx::_setTerminalBaud: ioctl() failed!"); + } + +#else + throw SickIOException("SickLMS2xx::_setTerminalBaud - 500K baud is only supported under Linux!"); +#endif + + } + +#ifdef HAVE_LINUX_SERIAL_H + + else { /* Using a standard baud rate */ + + /* We let the next few errors slide in case USB adapter is being used */ + if(ioctl(_sick_fd,TIOCGSERIAL,&serial) < 0) { + std::cerr << "SickLMS2xx::_setTermSpeed: ioctl() failed while trying to get serial port info!" << std::endl; + std::cerr << "\tNOTE: This is normal when connected via USB!" < 250) { + throw SickConfigException("SickLMS2xx::_setSickOpModeMonitorStreamMeanValues: Invalid sample size!"); + } + + std::cout << "\tRequesting mean value data stream (sample size = " << (int)sample_size << ")..." << std::endl; + + try { + + /* Attempt to switch modes */ + _switchSickOperatingMode(SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES,&sample_size); + + } + + /* Catch any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Catch any timeout exceptions */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Catch any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Catch any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Catch anything else */ + catch(...) { + std::cerr << "SickLMS2xx::_setSickOpModeStreamRangeFromPartialScan: Unknown exception!!!" << std::endl; + throw; + } + + /* Assign the new operating mode */ + _sick_operating_status.sick_operating_mode = SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES; + + /* Buffer the current sample size! */ + _sick_mean_value_sample_size = sample_size; + + /* Reset these parameters */ + _sick_values_subrange_start_index = _sick_values_subrange_stop_index = 0; + + std::cout << "\t\tData stream started!" << std::endl; + + } + + } + + /** + * \brief Sets the device to monitor mode and tells it to send a measured value subrange + * \param subrange_start_index The starting index of the desired subrange + * \param subrange_stop_index The stopping index of the desired subrange + */ + void SickLMS2xx::_setSickOpModeMonitorStreamValuesSubrange( const uint16_t subrange_start_index, const uint16_t subrange_stop_index ) + throw( SickConfigException, SickIOException, SickThreadException, SickTimeoutException) { + + /* Check if mode should be changed */ + if (_sick_operating_status.sick_operating_mode != SICK_OP_MODE_MONITOR_STREAM_VALUES_SUBRANGE || + _sick_values_subrange_start_index != subrange_start_index || + _sick_values_subrange_stop_index != subrange_stop_index ) { + + /* Compute the maximum subregion bound */ + unsigned int max_subrange_stop_index = (unsigned int)((_sick_operating_status.sick_scan_angle*100)/_sick_operating_status.sick_scan_resolution + 1) ; + + /* Ensure the subregion is properly defined for the given variant */ + if(subrange_start_index > subrange_stop_index || subrange_start_index == 0 || subrange_stop_index > max_subrange_stop_index) { + throw SickConfigException("SickLMS2xx::_setSickOpMonitorStreamValuesSubrange: Invalid subregion bounds!"); + } + + /* Setup a few buffers */ + uint8_t mode_params[4] = {0}; + uint16_t temp_buffer = 0; + + /* Assign the subrange start index */ + temp_buffer = host_to_sick_lms_2xx_byte_order(subrange_start_index); + memcpy(mode_params,&temp_buffer,2); + + /* Assign the subrange stop index */ + temp_buffer = host_to_sick_lms_2xx_byte_order(subrange_stop_index); + memcpy(&mode_params[2],&temp_buffer,2); + + std::cout << "\tRequesting measured value stream... (subrange = [" << subrange_start_index << "," << subrange_stop_index << "])" << std::endl; + + try { + + /* Attempt to switch modes */ + _switchSickOperatingMode(SICK_OP_MODE_MONITOR_STREAM_VALUES_SUBRANGE,mode_params); + + } + + /* Catch any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Catch any timeout exceptions */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Catch any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Catch any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Catch anything else */ + catch(...) { + std::cerr << "SickLMS2xx::_setSickOpModeInstallation: Unknown exception!!!" << std::endl; + throw; + } + + /* Assign the new operating mode */ + _sick_operating_status.sick_operating_mode = SICK_OP_MODE_MONITOR_STREAM_VALUES_SUBRANGE; + + /* Reset this parameter */ + _sick_mean_value_sample_size = 0; + + /* Buffer the starting/stopping indices */ + _sick_values_subrange_start_index = subrange_start_index; + _sick_values_subrange_stop_index = subrange_stop_index; + + std::cout << "\t\tData stream started!" << std::endl; + + } + + } + + /** + * \brief Sets the device to monitor mode and tells it to send a mean value subrange + * \param sample_size The number of scans to consider in computing the mean measured values + * \param subrange_start_index The starting index of the desired subrange + * \param subrange_stop_index The stopping index of the desired subrange + */ + void SickLMS2xx::_setSickOpModeMonitorStreamMeanValuesSubrange( const uint16_t sample_size, const uint16_t subrange_start_index, const uint16_t subrange_stop_index ) + throw( SickConfigException, SickIOException, SickThreadException, SickTimeoutException) { + + /* Check if mode should be changed */ + if (_sick_operating_status.sick_operating_mode != SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES_SUBRANGE || + _sick_values_subrange_start_index != subrange_start_index || + _sick_values_subrange_stop_index != subrange_stop_index || + _sick_mean_value_sample_size != sample_size ) { + + /* Make sure the sample size is legit */ + if(sample_size < 2 || sample_size > 250) { + throw SickConfigException("SickLMS2xx::_setSickOpModeMonitorStreamMeanValuesSubrange: Invalid sample size!"); + } + + /* Compute the maximum subregion bound */ + unsigned int max_subrange_stop_index = (unsigned int)((_sick_operating_status.sick_scan_angle*100)/_sick_operating_status.sick_scan_resolution + 1) ; + + /* Ensure the subregion is properly defined for the given variant */ + if(subrange_start_index > subrange_stop_index || subrange_start_index == 0 || subrange_stop_index > max_subrange_stop_index) { + throw SickConfigException("SickLMS2xx::_setSickOpMonitorStreamMeanValuesSubrange: Invalid subregion bounds!"); + } + + /* Setup a few buffers */ + uint8_t mode_params[5] = {0}; + uint16_t temp_buffer = 0; + + /* Assign the sample size */ + mode_params[0] = sample_size; + + /* Assign the subrange start index */ + temp_buffer = host_to_sick_lms_2xx_byte_order(subrange_start_index); + memcpy(&mode_params[1],&temp_buffer,2); + + /* Assign the subrange stop index */ + temp_buffer = host_to_sick_lms_2xx_byte_order(subrange_stop_index); + memcpy(&mode_params[3],&temp_buffer,2); + + std::cout << "\tRequesting mean value stream... (subrange = [" << subrange_start_index << "," << subrange_stop_index << "])" << std::endl; + + try { + + /* Attempt to switch modes */ + _switchSickOperatingMode(SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES_SUBRANGE,mode_params); + + } + + /* Catch any config exceptions */ + catch(SickConfigException &sick_config_exception) { + std::cerr << sick_config_exception.what() << std::endl; + throw; + } + + /* Catch any timeout exceptions */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Catch any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Catch any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Catch anything else */ + catch(...) { + std::cerr << "SickLMS2xx::_setSickOpModeInstallation: Unknown exception!!!" << std::endl; + throw; + } + + /* Assign the new operating mode */ + _sick_operating_status.sick_operating_mode = SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES_SUBRANGE; + + /* Buffer the sample size */ + _sick_mean_value_sample_size = sample_size; + + /* Buffer the starting/stopping indices */ + _sick_values_subrange_start_index = subrange_start_index; + _sick_values_subrange_stop_index = subrange_stop_index; + + std::cout << "\t\tData stream started!" << std::endl; + + } + + } + + /** + * \brief Attempts to switch the operating mode of the Sick LMS 2xx + * \param sick_mode The desired operating mode + * \param mode_params Additional parameters required to set the new operating mode + */ + void SickLMS2xx::_switchSickOperatingMode( const uint8_t sick_mode, const uint8_t * const mode_params ) + throw( SickConfigException, SickIOException, SickThreadException, SickTimeoutException) { + + SickLMS2xxMessage message,response; + + uint8_t payload_buffer[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + uint16_t num_partial_scans = 0; + + /* Construct the correct switch mode packet */ + payload_buffer[0] = 0x20; + payload_buffer[1] = sick_mode; + + switch(sick_mode) { + + case SICK_OP_MODE_INSTALLATION: + + /* Make sure the params are defined */ + if(mode_params == NULL) { + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode - Requested mode requires parameters!"); + } + + memcpy(&payload_buffer[2],mode_params,8); //Copy password + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,10); + break; + + case SICK_OP_MODE_DIAGNOSTIC: + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,2); + break; + + case SICK_OP_MODE_MONITOR_STREAM_MIN_VALUE_FOR_EACH_SEGMENT: + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,2); + break; + + case SICK_OP_MODE_MONITOR_TRIGGER_MIN_VALUE_ON_OBJECT: + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,2); + break; + + case SICK_OP_MODE_MONITOR_STREAM_MIN_VERT_DIST_TO_OBJECT: + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,2); + break; + + case SICK_OP_MODE_MONITOR_TRIGGER_MIN_VERT_DIST_TO_OBJECT: + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,2); + break; + + case SICK_OP_MODE_MONITOR_STREAM_VALUES: + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,2); + break; + + case SICK_OP_MODE_MONITOR_REQUEST_VALUES: + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,2); + break; + + case SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES: + + /* Make sure the params are defined */ + if(mode_params == NULL) { + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode - Requested mode requires parameters!"); + } + + payload_buffer[2] = *mode_params; + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,3); + break; + + case SICK_OP_MODE_MONITOR_STREAM_VALUES_SUBRANGE: + + /* Make sure the params are defined */ + if(mode_params == NULL) { + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode - Requested mode requires parameters!"); + } + + memcpy(&payload_buffer[2],mode_params,2); //Begin range + memcpy(&payload_buffer[4],&mode_params[2],2); //End range + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,6); + break; + + case SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES_SUBRANGE: + + /* Make sure the params are defined */ + if(mode_params == NULL) { + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode - Requested mode requires parameters!"); + } + + payload_buffer[2] = mode_params[0]; //Sample size + memcpy(&payload_buffer[3],&mode_params[1],2); //Begin mean range + memcpy(&payload_buffer[5],&mode_params[3],2); //End mean range + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,7); + break; + + case SICK_OP_MODE_MONITOR_STREAM_VALUES_WITH_FIELDS: + + /* Make sure the params are defined */ + if(mode_params == NULL) { + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode - Requested mode requires parameters!"); + } + + memcpy(&payload_buffer[2],mode_params,2); //Start + memcpy(&payload_buffer[4],&mode_params[2],2); //End + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,6); + break; + + case SICK_OP_MODE_MONITOR_STREAM_VALUES_FROM_PARTIAL_SCAN: + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,2); + break; + + case SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT_FROM_PARTIAL_SCAN: + + /* Make sure the params are defined */ + if(mode_params == NULL) { + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode - Requested mode requires parameters!"); + } + + /* Get the number of partial scans (between 1 and 5) */ + memcpy(&num_partial_scans,mode_params,2); + + /* Setup the command packet */ + memcpy(&payload_buffer[2],mode_params,num_partial_scans*4+2); + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,num_partial_scans*4+4); + break; + + case SICK_OP_MODE_MONITOR_STREAM_MIN_VALUES_FOR_EACH_SEGMENT_SUBRANGE: + + /* Make sure the params are defined */ + if(mode_params == NULL) { + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode - Requested mode requires parameters!"); + } + + /* Get the number of partial scans (between 1 and 5) */ + memcpy(&num_partial_scans,mode_params,2); + + /* Setup the command packet */ + memcpy(&payload_buffer[2],mode_params,num_partial_scans*4+2); + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,num_partial_scans*4+4); + break; + + case SICK_OP_MODE_MONITOR_NAVIGATION: + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,2); + break; + + case SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT: + + /* Make sure the params are defined */ + if(mode_params == NULL) { + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode - Requested mode requires parameters!"); + } + + memcpy(&payload_buffer[2],mode_params,2); //Start + memcpy(&payload_buffer[4],&mode_params[2],2); //End + message.BuildMessage(DEFAULT_SICK_LMS_2XX_SICK_ADDRESS,payload_buffer,6); + break; + + case SICK_OP_MODE_UNKNOWN: + //Let this case go straight to default + + default: + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode: Unrecognized operating mode!"); + } + + try { + + /* Attempt to send the message and get the reply */ + _sendMessageAndGetReply(message,response,DEFAULT_SICK_LMS_2XX_SICK_SWITCH_MODE_TIMEOUT,DEFAULT_SICK_LMS_2XX_NUM_TRIES); + + } + + /* Catch any timeout exceptions */ + catch(SickTimeoutException &sick_timeout_exception) { + std::cerr << sick_timeout_exception.what() << std::endl; + throw; + } + + /* Catch any I/O exceptions */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + throw; + } + + /* Catch any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Catch anything else */ + catch(...) { + std::cerr << "SickLMS2xx::_switchSickOperatingMode: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the buffer */ + memset(payload_buffer,0,sizeof(payload_buffer)); + + /* Obtain the response payload */ + response.GetPayload(payload_buffer); + + /* Make sure the reply was expected */ + if(payload_buffer[1] != 0x00) { + throw SickConfigException("SickLMS2xx::_switchSickOperatingMode: configuration request failed!"); + } + + } + + /** + * \brief Parses a byte sequence into a scan profile corresponding to message B0 + * \param *src_buffer The byte sequence to be parsed + * \param &sick_scan_profile The returned scan profile for the current round of measurements + */ + void SickLMS2xx::_parseSickScanProfileB0( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_b0_t &sick_scan_profile ) const { + + /* Read block A, the number of measurments */ + sick_scan_profile.sick_num_measurements = src_buffer[0] + 256*(src_buffer[1] & 0x03); + + /* Check whether this is a partial scan */ + sick_scan_profile.sick_partial_scan_index = ((src_buffer[1] & 0x18) >> 3); + + /* Extract the measurements and Field values (if there are any) */ + _extractSickMeasurementValues(&src_buffer[2], + sick_scan_profile.sick_num_measurements, + sick_scan_profile.sick_measurements, + sick_scan_profile.sick_field_a_values, + sick_scan_profile.sick_field_b_values, + sick_scan_profile.sick_field_c_values); + + /* If the Sick is pulling real-time indices then pull them too */ + unsigned int data_offset = 2 + 2*sick_scan_profile.sick_num_measurements; + if (_returningRealTimeIndices()) { + sick_scan_profile.sick_real_time_scan_index = src_buffer[data_offset]; + data_offset++; + } + + /* Buffer the Sick telegram index */ + sick_scan_profile.sick_telegram_index = src_buffer[data_offset]; + + } + + /** + * \brief Parses a byte sequence into a scan profile corresponding to message B6 + * \param *src_buffer The byte sequence to be parsed + * \param &sick_scan_profile The returned scan profile for the current round of mean measurements + */ + void SickLMS2xx::_parseSickScanProfileB6( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_b6_t &sick_scan_profile ) const { + + /* Read Block A, the sample size used in computing the mean return */ + sick_scan_profile.sick_sample_size = src_buffer[0]; + + /* Read Block B, the number of measured values sent */ + sick_scan_profile.sick_num_measurements = src_buffer[1] + 256*(src_buffer[2] & 0x03); + + /* Read Block C, extract the range measurements and Field values (if there are any) */ + _extractSickMeasurementValues(&src_buffer[3], + sick_scan_profile.sick_num_measurements, + sick_scan_profile.sick_measurements); + + /* Read Block D, if the Sick is pulling real-time indices then pull them too */ + unsigned int data_offset = 3 + 2*sick_scan_profile.sick_num_measurements; + if (_returningRealTimeIndices()) { + sick_scan_profile.sick_real_time_scan_index = src_buffer[data_offset]; + data_offset++; + } + + /* Read Block E, buffer the Sick telegram index */ + sick_scan_profile.sick_telegram_index = src_buffer[data_offset]; + + } + + /** + * \brief Parses a byte sequence into a scan profile corresponding to message B7 + * \param *src_buffer The byte sequence to be parsed + * \param &sick_scan_profile The returned scan profile for the current round of mean measurements + */ + void SickLMS2xx::_parseSickScanProfileB7( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_b7_t &sick_scan_profile ) const { + + /* Read Block A, Sick LMS measured value subrange start index */ + sick_scan_profile.sick_subrange_start_index = src_buffer[0] + 256*src_buffer[1]; + + /* Read Block B, Sick LMS measured value subrange stop index */ + sick_scan_profile.sick_subrange_stop_index = src_buffer[2] + 256*src_buffer[3]; + + /* Read block C, the number of measurements */ + sick_scan_profile.sick_num_measurements = src_buffer[4] + 256*(src_buffer[5] & 0x03); + + /* Acquire the partial scan index (also in Block C) */ + sick_scan_profile.sick_partial_scan_index = ((src_buffer[5] & 0x18) >> 3); + + /* Read Block D, extract the range measurements and Field values (if there are any) */ + _extractSickMeasurementValues(&src_buffer[6], + sick_scan_profile.sick_num_measurements, + sick_scan_profile.sick_measurements, + sick_scan_profile.sick_field_a_values, + sick_scan_profile.sick_field_b_values, + sick_scan_profile.sick_field_c_values); + + /* Read Block E, if the Sick is pulling real-time indices then pull them too */ + unsigned int data_offset = 6 + 2*sick_scan_profile.sick_num_measurements; + if (_returningRealTimeIndices()) { + sick_scan_profile.sick_real_time_scan_index = src_buffer[data_offset]; + data_offset++; + } + + /* Read Block F, buffer the Sick telegram index */ + sick_scan_profile.sick_telegram_index = src_buffer[data_offset]; + + } + + /** + * \brief Parses a byte sequence into a scan profile corresponding to message B6 + * \param *src_buffer The byte sequence to be parsed + * \param &sick_scan_profile The returned scan profile for the current round of mean measurements + */ + void SickLMS2xx::_parseSickScanProfileBF( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_bf_t &sick_scan_profile ) const { + + /* Read Block A, the sample size used in computing the mean return */ + sick_scan_profile.sick_sample_size = src_buffer[0]; + + /* Read Block B, Sick LMS measured value subrange start index */ + sick_scan_profile.sick_subrange_start_index = src_buffer[1] + 256*src_buffer[2]; + + /* Read Block C, Sick LMS measured value subrange stop index */ + sick_scan_profile.sick_subrange_stop_index = src_buffer[3] + 256*src_buffer[4]; + + /* Read Block D, the number of measured values sent */ + sick_scan_profile.sick_num_measurements = src_buffer[5] + 256*(src_buffer[6] & 0x3F); + + /* Read Block E, extract the mean measurements */ + _extractSickMeasurementValues(&src_buffer[7], + sick_scan_profile.sick_num_measurements, + sick_scan_profile.sick_measurements); + + /* Read Block D, if the Sick is pulling real-time indices then pull them too */ + unsigned int data_offset = 7 + 2*sick_scan_profile.sick_num_measurements; + if (_returningRealTimeIndices()) { + sick_scan_profile.sick_real_time_scan_index = src_buffer[data_offset]; + data_offset++; + } + + /* Read Block E, buffer the Sick telegram index */ + sick_scan_profile.sick_telegram_index = src_buffer[data_offset]; + + } + + /** + * \brief Parses a byte sequence into a scan profile corresponding to message C4 + * \param *src_buffer The byte sequence to be parsed + * \param &sick_scan_profile The returned scan profile for the current round of measurements + */ + void SickLMS2xx::_parseSickScanProfileC4( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_c4_t &sick_scan_profile ) const { + + /* Read block A - the number of range measurments. We need the low two bits + * of the most significant byte. */ + sick_scan_profile.sick_num_range_measurements = src_buffer[0] + 256*(src_buffer[1] & 0x03); + + /* Read Block B - Extract the range measurements and Field values (if there are any) */ + _extractSickMeasurementValues(&src_buffer[2], + sick_scan_profile.sick_num_range_measurements, + sick_scan_profile.sick_range_measurements, + sick_scan_profile.sick_field_a_values, + sick_scan_profile.sick_field_b_values, + sick_scan_profile.sick_field_c_values); + + /* Read Block D - Extract the number of range measurements */ + unsigned int data_offset = 2 + 2*sick_scan_profile.sick_num_range_measurements; + sick_scan_profile.sick_num_reflect_measurements = src_buffer[data_offset] + 256*(src_buffer[data_offset+1] & 0x03); + data_offset += 2; + + /* Read Block E - Extract the reflectivity value subrange start index */ + sick_scan_profile.sick_reflect_subrange_start_index = src_buffer[data_offset] + 256*src_buffer[data_offset+1]; + data_offset += 2; + + /* Read Block F - Extract the reflectivity value subrange stop index */ + sick_scan_profile.sick_reflect_subrange_stop_index = src_buffer[data_offset] + 256*src_buffer[data_offset+1]; + data_offset += 2; + + /* Read blocks G...H. Mask out the reflectivity values and store in provided buffer. */ + for(unsigned int i=0; i < sick_scan_profile.sick_num_reflect_measurements; i++,data_offset++) { + sick_scan_profile.sick_reflect_measurements[i] = src_buffer[data_offset]; + } + + /* Read Block I - real-time scan indices */ + if (_returningRealTimeIndices()) { + sick_scan_profile.sick_real_time_scan_index = src_buffer[data_offset]; + data_offset++; + } + + /* Read Block J - the telegram scan index */ + sick_scan_profile.sick_telegram_index = src_buffer[data_offset]; + + } + + /** + * \brief Parses a byte sequence into a Sick config structure + * \param *src_buffer The byte sequence to be parsed + * \param &sick_device_config The device configuration + */ + void SickLMS2xx::_parseSickConfigProfile( const uint8_t * const src_buffer, sick_lms_2xx_device_config_t &sick_device_config ) const { + + /* Buffer Block A */ + memcpy(&sick_device_config.sick_blanking,&src_buffer[0],2); + sick_device_config.sick_blanking = sick_lms_2xx_to_host_byte_order(sick_device_config.sick_blanking); + + /* Buffer Block B */ + sick_device_config.sick_peak_threshold = src_buffer[3]; // NOTE: This value represent sensitivity for LMS 211/221/291 + sick_device_config.sick_stop_threshold = src_buffer[2]; // NOTE: This value will be 0 for LMS 211/221/291 + + /* Buffer Block C */ + sick_device_config.sick_availability_level = src_buffer[4]; + + /* Buffer Block D */ + sick_device_config.sick_measuring_mode = src_buffer[5]; + + /* Buffer Block E */ + sick_device_config.sick_measuring_units = src_buffer[6]; + + /* Buffer Block F */ + sick_device_config.sick_temporary_field = src_buffer[7]; + + /* Buffer Block G */ + sick_device_config.sick_subtractive_fields = src_buffer[8]; + + /* Buffer Block H */ + sick_device_config.sick_multiple_evaluation = src_buffer[9]; + + /* Buffer Block I */ + sick_device_config.sick_restart = src_buffer[10]; + + /* Buffer Block J */ + sick_device_config.sick_restart_time = src_buffer[11]; + + /* Buffer Block K */ + sick_device_config.sick_multiple_evaluation_suppressed_objects = src_buffer[12]; + + /* Buffer Block L */ + sick_device_config.sick_contour_a_reference = src_buffer[13]; + + /* Buffer Block M */ + sick_device_config.sick_contour_a_positive_tolerance_band = src_buffer[14]; + + /* Buffer Block N */ + sick_device_config.sick_contour_a_negative_tolerance_band = src_buffer[15]; + + /* Buffer Block O */ + sick_device_config.sick_contour_a_start_angle = src_buffer[16]; + + /* Buffer Block P */ + sick_device_config.sick_contour_a_stop_angle = src_buffer[17]; + + /* Buffer Block Q */ + sick_device_config.sick_contour_b_reference = src_buffer[18]; + + /* Buffer Block R */ + sick_device_config.sick_contour_b_positive_tolerance_band = src_buffer[19]; + + /* Buffer Block S */ + sick_device_config.sick_contour_b_negative_tolerance_band = src_buffer[20]; + + /* Buffer Block T */ + sick_device_config.sick_contour_b_start_angle = src_buffer[21]; + + /* Buffer Block U */ + sick_device_config.sick_contour_b_stop_angle = src_buffer[22]; + + /* Buffer Block V */ + sick_device_config.sick_contour_c_reference = src_buffer[23]; + + /* Buffer Block W */ + sick_device_config.sick_contour_c_positive_tolerance_band = src_buffer[24]; + + /* Buffer Block X */ + sick_device_config.sick_contour_c_negative_tolerance_band = src_buffer[25]; + + /* Buffer Block Y */ + sick_device_config.sick_contour_c_start_angle = src_buffer[26]; + + /* Buffer Block Z */ + sick_device_config.sick_contour_c_stop_angle = src_buffer[27]; + + /* Buffer Block A1 */ + sick_device_config.sick_pixel_oriented_evaluation = src_buffer[28]; + + /* Buffer Block A2 */ + sick_device_config.sick_single_measured_value_evaluation_mode = src_buffer[29]; + + /* Buffer Block A3 */ + memcpy(&sick_device_config.sick_fields_b_c_restart_times,&src_buffer[30],2); + sick_device_config.sick_fields_b_c_restart_times = + sick_lms_2xx_to_host_byte_order(sick_device_config.sick_fields_b_c_restart_times); + + /* Buffer Block A4 */ + memcpy(&sick_device_config.sick_dazzling_multiple_evaluation,&src_buffer[32],2); + sick_device_config.sick_dazzling_multiple_evaluation = + sick_lms_2xx_to_host_byte_order(sick_device_config.sick_dazzling_multiple_evaluation); + + } + + /** + * \brief Extracts the measured values (w/ flags) that were returned by the device. + * \param *byte_sequence The byte sequence holding the current measured values + * \param num_measurements The number of measurements given in the byte sequence + * \param *measured_values A buffer to hold the extracted measured values + * \param *field_a_values Stores the Field A values associated with the given measurements (Default: NULL => Not wanted) + * \param *field_b_values Stores the Field B values associated with the given measurements (Default: NULL => Not wanted) + * \param *field_c_values Stores the Field C values associated with the given measurements (Default: NULL => Not wanted) + */ + void SickLMS2xx::_extractSickMeasurementValues( const uint8_t * const byte_sequence, const uint16_t num_measurements, uint16_t * const measured_values, + uint8_t * const field_a_values, uint8_t * const field_b_values, uint8_t * const field_c_values ) const { + + /* Parse the byte sequence and fill the return buffer with range measurements... */ + switch(_sick_device_config.sick_measuring_mode) { + case SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE: + { + + /* Extract the range and Field values */ + for(unsigned int i = 0; i < num_measurements; i++) { + measured_values[i] = byte_sequence[i*2] + 256*(byte_sequence[i*2+1] & 0x1F); + + if(field_a_values) { + field_a_values[i] = byte_sequence[i*2+1] & 0x20; + } + + if(field_b_values) { + field_b_values[i] = byte_sequence[i*2+1] & 0x40; + } + + if(field_c_values) { + field_c_values[i] = byte_sequence[i*2+1] & 0x80; + } + + } + + break; + } + case SICK_MS_MODE_8_OR_80_REFLECTOR: + { + + /* Extract the range and Field A */ + for(unsigned int i = 0; i < num_measurements; i++) { + measured_values[i] = byte_sequence[i*2] + 256*(byte_sequence[i*2+1] & 0x1F); + + if(field_a_values) { + field_a_values[i] = byte_sequence[i*2+1] & 0xE0; + } + + } + + break; + } + case SICK_MS_MODE_8_OR_80_FA_FB_FC: + { + + /* Extract the range and Fields A,B and C */ + for(unsigned int i = 0; i < num_measurements; i++) { + measured_values[i] = byte_sequence[i*2] + 256*(byte_sequence[i*2+1] & 0x1F); + + if(field_a_values) { + field_a_values[i] = byte_sequence[i*2+1] & 0x20; + } + + if(field_b_values) { + field_b_values[i] = byte_sequence[i*2+1] & 0x40; + } + + if(field_c_values) { + field_c_values[i] = byte_sequence[i*2+1] & 0x80; + } + + } + + break; + } + case SICK_MS_MODE_16_REFLECTOR: + { + + /* Extract the range and reflector values */ + for(unsigned int i = 0; i < num_measurements; i++) { + measured_values[i] = byte_sequence[i*2] + 256*(byte_sequence[i*2+1] & 0x3F); + + if (field_a_values) { + field_a_values[i] = byte_sequence[i*2+1] & 0xC0; + } + + } + + break; + } + case SICK_MS_MODE_16_FA_FB: + { + + /* Extract the range and Fields A and B values */ + for(unsigned int i = 0; i < num_measurements; i++) { + measured_values[i] = byte_sequence[i*2] + 256*(byte_sequence[i*2+1] & 0x3F); + + if(field_a_values) { + field_a_values[i] = byte_sequence[i*2+1] & 0x40; + } + + if(field_b_values) { + field_b_values[i] = byte_sequence[i*2+1] & 0x80; + } + + } + + break; + } + case SICK_MS_MODE_32_REFLECTOR: + { + + /* Extract the range and reflector values */ + for(unsigned int i = 0; i < num_measurements; i++) { + measured_values[i] = byte_sequence[i*2] + 256*(byte_sequence[i*2+1] & 0x7F); + + if(field_a_values) { + field_a_values[i] = byte_sequence[i*2+1] & 0x80; + } + + } + + break; + } + case SICK_MS_MODE_32_FA: + { + + /* Extract the range and Field A values */ + for(unsigned int i = 0; i < num_measurements; i++) { + measured_values[i] = byte_sequence[i*2] + 256*(byte_sequence[i*2+1] & 0x7F); + + if(field_a_values) { + field_a_values[i] = byte_sequence[i*2+1] & 0x80; + } + + } + + break; + } + case SICK_MS_MODE_32_IMMEDIATE: + { + + /* Extract the range measurements (no flags for this mode */ + for(unsigned int i = 0; i < num_measurements; i++) { + measured_values[i] = byte_sequence[i*2] + 256*(byte_sequence[i*2+1]); + } + + break; + } + case SICK_MS_MODE_REFLECTIVITY: + { + + /* Extract the reflectivity values */ + for(unsigned int i = 0; i < num_measurements; i++) { + measured_values[i] = byte_sequence[i*2] + 256*(byte_sequence[i*2+1]); + } + + break; + } + default: + break; + } + + } + + /** + * \brief Indicates whether the given measuring units are valid/defined + * \param sick_units The units in question + */ + bool SickLMS2xx::_validSickMeasuringUnits( const sick_lms_2xx_measuring_units_t sick_units ) const { + + /* Check the given units value */ + if (sick_units != SICK_MEASURING_UNITS_CM && sick_units != SICK_MEASURING_UNITS_MM) { + return false; + } + + /* Valid */ + return true; + } + + /** + * \brief Indicates whether the Sick is an LMS 200 + * \return True if the device is a Sick LMS 200, False otherwise + */ + bool SickLMS2xx::_isSickLMS200( ) const { + + /* Check the given Sick type value */ + switch(_sick_type) { + case SICK_LMS_TYPE_200_30106: + return true; + default: + return false; + } + + } + + /** + * \brief Indicates whether the Sick is an LMS 211 + * \return True if the device is a Sick LMS 211, False otherwise + */ + bool SickLMS2xx::_isSickLMS211( ) const { + + /* Check the given Sick type value */ + switch(_sick_type) { + case SICK_LMS_TYPE_211_30106: + return true; + case SICK_LMS_TYPE_211_30206: + return true; + case SICK_LMS_TYPE_211_S07: + return true; + case SICK_LMS_TYPE_211_S14: + return true; + case SICK_LMS_TYPE_211_S15: + return true; + case SICK_LMS_TYPE_211_S19: + return true; + case SICK_LMS_TYPE_211_S20: + return true; + default: + return false; + } + + } + + /** + * \brief Indicates whether the Sick is an LMS 220 + * \return True if the device is a Sick LMS 220, False otherwise + */ + bool SickLMS2xx::_isSickLMS220( ) const { + + /* Check the given Sick type value */ + switch(_sick_type) { + case SICK_LMS_TYPE_220_30106: + return true; + default: + return false; + } + + } + + /** + * \brief Indicates whether the Sick is an LMS 221 + * \return True if the device is a Sick LMS 221, False otherwise + */ + bool SickLMS2xx::_isSickLMS221( ) const { + + /* Check the given Sick type value */ + switch(_sick_type) { + case SICK_LMS_TYPE_221_30106: + return true; + case SICK_LMS_TYPE_221_30206: + return true; + case SICK_LMS_TYPE_221_S07: + return true; + case SICK_LMS_TYPE_221_S14: + return true; + case SICK_LMS_TYPE_221_S15: + return true; + case SICK_LMS_TYPE_221_S16: + return true; + case SICK_LMS_TYPE_221_S19: + return true; + case SICK_LMS_TYPE_221_S20: + return true; + default: + return false; + } + + } + + /** + * \brief Indicates whether the Sick is an LMS 291 + * \return True if the device is a Sick LMS 291, False otherwise + */ + bool SickLMS2xx::_isSickLMS291( ) const { + + /* Check the given Sick type value */ + switch(_sick_type) { + case SICK_LMS_TYPE_291_S05: + return true; + case SICK_LMS_TYPE_291_S14: + return true; + case SICK_LMS_TYPE_291_S15: + return true; + default: + return false; + } + + } + + /** + * \brief Indicates whether the Sick type is unknown + * \return True if the device is unknown, False otherwise + */ + bool SickLMS2xx::_isSickUnknown( ) const { + return _sick_type == SICK_LMS_TYPE_UNKNOWN; + } + + /** + * \brief Indicates whether the given scan angle is defined + * \param sick_scan_angle The scan angle in question + */ + bool SickLMS2xx::_validSickScanAngle( const sick_lms_2xx_scan_angle_t sick_scan_angle ) const { + + /* Check the given Sick scan angle */ + if (sick_scan_angle != SICK_SCAN_ANGLE_90 && + sick_scan_angle != SICK_SCAN_ANGLE_100 && + sick_scan_angle != SICK_SCAN_ANGLE_180 ) { + + return false; + } + + /* Valid */ + return true; + } + + /** + * \brief Indicates whether the given scan resolution is defined + * \param sick_scan_resolution The scan resolution in question + */ + bool SickLMS2xx::_validSickScanResolution( const sick_lms_2xx_scan_resolution_t sick_scan_resolution ) const { + + /* Check the given Sick scan resolution value */ + if (sick_scan_resolution != SICK_SCAN_RESOLUTION_25 && + sick_scan_resolution != SICK_SCAN_RESOLUTION_50 && + sick_scan_resolution != SICK_SCAN_RESOLUTION_100 ) { + + return false; + } + + /* Valid */ + return true; + } + + /** + * \brief Indicates whether the given sensitivity is defined + * \param sick_sensitivity The sick sensitivity in question + */ + bool SickLMS2xx::_validSickSensitivity( const sick_lms_2xx_sensitivity_t sick_sensitivity ) const { + + /* Check the given Sick sensitivity value */ + if (sick_sensitivity != SICK_SENSITIVITY_STANDARD && + sick_sensitivity != SICK_SENSITIVITY_MEDIUM && + sick_sensitivity != SICK_SENSITIVITY_LOW && + sick_sensitivity != SICK_SENSITIVITY_HIGH ) { + + return false; + } + + /* Valid */ + return true; + } + + /** + * \brief Indicates whether the given peak threshold is valid + * \param sick_peak_threshold Peak threshold definition for Sick LMS 2xx + */ + bool SickLMS2xx::_validSickPeakThreshold( const sick_lms_2xx_peak_threshold_t sick_peak_threshold ) const { + + /* Check the given Sick scan angle */ + if (sick_peak_threshold != SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION && + sick_peak_threshold != SICK_PEAK_THRESHOLD_DETECTION_WITH_BLACK_EXTENSION && + sick_peak_threshold != SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_NO_BLACK_EXTENSION && + sick_peak_threshold != SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_BLACK_EXTENSION) { + + return false; + } + + /* Valid */ + return true; + } + + /** + * \brief Indicates whether the given measuring mode is defined + * \param sick_measuring_mode The sick measuring mode in question + */ + bool SickLMS2xx::_validSickMeasuringMode( const sick_lms_2xx_measuring_mode_t sick_measuring_mode ) const { + + /* Check the given measuring mode */ + if (sick_measuring_mode != SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE && + sick_measuring_mode != SICK_MS_MODE_8_OR_80_REFLECTOR && + sick_measuring_mode != SICK_MS_MODE_8_OR_80_FA_FB_FC && + sick_measuring_mode != SICK_MS_MODE_16_REFLECTOR && + sick_measuring_mode != SICK_MS_MODE_16_FA_FB && + sick_measuring_mode != SICK_MS_MODE_32_REFLECTOR && + sick_measuring_mode != SICK_MS_MODE_32_FA && + sick_measuring_mode != SICK_MS_MODE_32_IMMEDIATE && + sick_measuring_mode != SICK_MS_MODE_REFLECTIVITY ) { + + return false; + } + + /* Valid */ + return true; + } + + /** + * \brief Converts a termios baud to an equivalent Sick baud + * \param baud_rate The baud rate to be converted to a Sick LMS baud + * \return The Sick LMS 2xx equivalent of the given baud rate + */ + sick_lms_2xx_baud_t SickLMS2xx::_baudToSickBaud( const int baud_rate ) const { + + switch(baud_rate) { + case B9600: + return SICK_BAUD_9600; + case B19200: + return SICK_BAUD_19200; + case B38400: + return SICK_BAUD_38400; + case B500000: + return SICK_BAUD_500K; + default: + std::cerr << "Unexpected baud rate!" << std::endl; + return SICK_BAUD_9600; + } + + } + + /** + * \brief Converts given restart level to a corresponding string + * \param availability_flags The availability level of the Sick LMS 2xx + * \return The corresponding string + */ + std::string SickLMS2xx::_sickAvailabilityToString( const uint8_t availability_flags ) const { + + /* Check if availability is specified */ + if (availability_flags == 0) { + return "Default (Unspecified)"; + } + + std::string availability_str; + + /* Check if set to highest possible availability */ + if (0x01 & availability_flags) { + availability_str += "Highest"; + } + + /* Check for real-time indices */ + if (0x02 & availability_flags) { + + /* Check whether to add a spacer */ + if (availability_str.length() > 0) { + availability_str += ", "; + } + + availability_str += "Real-time indices"; + } + + /* Check for real-time indices */ + if (0x04 & availability_flags) { + + /* Check whether to add a spacer */ + if (availability_str.length() > 0) { + availability_str += ", "; + } + + availability_str += "No effect dazzle"; + } + + /* Return the string */ + return availability_str; + + } + + /** + * \brief Converts restart code to a corresponding string + * \param restart_code Restart code + * \return The corresponding string + */ + std::string SickLMS2xx::_sickRestartToString( const uint8_t restart_code ) const { + + std::string restart_str; + + /* Identify restart mode */ + switch(restart_code) { + case 0x00: + restart_str += "Restart when button actuated"; + break; + case 0x01: + restart_str += "Restart after set time"; + break; + case 0x02: + restart_str += "No restart block"; + break; + case 0x03: + restart_str += "Button switches field set, restart after set time"; + break; + case 0x04: + restart_str += "Button switches field set, no restart block"; + break; + case 0x05: + restart_str += "LMS2xx operates as a slave, restart after set time"; + break; + case 0x06: + restart_str += "LMS2xx operates as a slave, immediate restart"; + break; + default: + restart_str += "Unknown!"; + } + + /* Return the restart code */ + return restart_str; + + } + + /** + * \brief Converts Sick LMS temporary field code to a corresponding string + * \param temp_field_code The temporary field code + * \return The corresponding string + */ + std::string SickLMS2xx::_sickTemporaryFieldToString( const uint8_t temp_field_code ) const { + + switch(temp_field_code) { + case 0: + return "Not used"; + case 1: + return "Belongs to field set no. 1"; + case 2: + return "Belongs to field set no. 2"; + default: + return "Unknown!"; + } + + } + + /** + * \brief Converts Sick LMS subtractive fields code to a corresponding string + * \param subt_field_code The subtractive fields code + * \return The corresponding string + */ + std::string SickLMS2xx::_sickSubtractiveFieldsToString( const uint8_t subt_field_code ) const { + + switch(subt_field_code) { + case 0: + return "Not active"; + case 1: + return "Active"; + default: + return "Unknown!"; + } + + } + + /*! + * \brief Converts Sick LMS contour function code to a corresponding string + * \param contour_function_code The subtractive fields code + * \return The corresponding string + */ + std::string SickLMS2xx::_sickContourFunctionToString( const uint8_t contour_function_code ) const { + + switch(contour_function_code) { + case 0: + return "Not active"; + default: { + + /* For converting an int to string */ + std::ostringstream output_str; + + /* Indicate its active and include min object size */ + output_str << "Active, Min object size: " << (int)contour_function_code << " (cm)"; + return output_str.str(); + + } + } + + } + + /** + * \brief Converts the Sick LMS variant to a corresponding string + * \param sick_variant The Sick LMS variant + * \return The corresponding string + */ + std::string SickLMS2xx::_sickVariantToString( const unsigned int sick_variant ) const { + + /* Return the correct string */ + if(sick_variant == SICK_LMS_VARIANT_2XX_TYPE_6) { + return "Standard device (LMS2xx,type 6)"; + } + else if (sick_variant == SICK_LMS_VARIANT_SPECIAL) { + return "Special device (LMS211-/221-S19/-S20)"; + } + else { + return "Unknown"; + } + + } + +} //namespace SickToolbox diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/SickLMS2xxBufferMonitor.cc b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/SickLMS2xxBufferMonitor.cc new file mode 100755 index 0000000..a710af1 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/SickLMS2xxBufferMonitor.cc @@ -0,0 +1,133 @@ +/*! + * \file SickLMS2xxBufferMonitor.cc + * \brief Implements a class for monitoring the receive + * buffer when interfacing w/ a Sick LMS 2xx LIDAR. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include + +/* Implementation dependencies */ +#include +#include + +#include +#include +#include +#include +#include + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \brief A standard constructor + */ + SickLMS2xxBufferMonitor::SickLMS2xxBufferMonitor( ) : SickBufferMonitor(this) { } + + /** + * \brief Acquires the next message from the SickLMS2xx byte stream + * \param &sick_message The returned message object + */ + void SickLMS2xxBufferMonitor::GetNextMessageFromDataStream( SickLMS2xxMessage &sick_message ) throw( SickIOException ) { + + uint8_t search_buffer[2] = {0}; + uint8_t payload_length_buffer[2] = {0}; + uint8_t payload_buffer[SickLMS2xxMessage::MESSAGE_PAYLOAD_MAX_LENGTH] = {0}; + uint8_t checksum_buffer[2] = {0}; + uint16_t payload_length, checksum; + + try { + + /* Drain the I/O buffers! */ + if (tcdrain(_sick_fd) != 0) { + throw SickIOException("SickLMS2xxBufferMonitor::GetNextMessageFromDataStream: tcdrain failed!"); + } + + /* Read until we get a valid message header */ + unsigned int bytes_searched = 0; + while(search_buffer[0] != 0x02 || search_buffer[1] != DEFAULT_SICK_LMS_2XX_HOST_ADDRESS) { + + /* Slide the search window */ + search_buffer[0] = search_buffer[1]; + + /* Attempt to read in another byte */ + _readBytes(&search_buffer[1],1,DEFAULT_SICK_LMS_2XX_SICK_BYTE_TIMEOUT); + + /* Header should be no more than max message length + header length bytes away */ + if (bytes_searched > SickLMS2xxMessage::MESSAGE_MAX_LENGTH + SickLMS2xxMessage::MESSAGE_HEADER_LENGTH) { + throw SickTimeoutException("SickLMS2xxBufferMonitor::GetNextMessageFromDataStream: header timeout!"); + } + + /* Increment the number of bytes searched */ + bytes_searched++; + + } + + /* Read until we receive the payload length or we timeout */ + _readBytes(payload_length_buffer,2,DEFAULT_SICK_LMS_2XX_SICK_BYTE_TIMEOUT); + + /* Extract the payload length */ + memcpy(&payload_length,payload_length_buffer,2); + payload_length = sick_lms_2xx_to_host_byte_order(payload_length); + + /* Make sure the payload length is legitimate, otherwise disregard */ + if (payload_length <= SickLMS2xxMessage::MESSAGE_MAX_LENGTH) { + + /* Read until we receive the payload or we timeout */ + _readBytes(payload_buffer,payload_length,DEFAULT_SICK_LMS_2XX_SICK_BYTE_TIMEOUT); + + /* Read until we receive the checksum or we timeout */ + _readBytes(checksum_buffer,2,DEFAULT_SICK_LMS_2XX_SICK_BYTE_TIMEOUT); + + /* Copy into uint16_t so it can be used */ + memcpy(&checksum,checksum_buffer,2); + checksum = sick_lms_2xx_to_host_byte_order(checksum); + + /* Build a frame and compute the crc */ + sick_message.BuildMessage(DEFAULT_SICK_LMS_2XX_HOST_ADDRESS,payload_buffer,payload_length); + + /* See if the checksums match */ + if(sick_message.GetChecksum() != checksum) { + throw SickBadChecksumException("SickLMS2xx::GetNextMessageFromDataStream: CRC16 failed!"); + } + + } + + } + + catch(SickTimeoutException &sick_timeout_exception) { /* This is ok! */ } + + /* Handle a bad checksum! */ + catch(SickBadChecksumException &sick_checksum_exception) { + sick_message.Clear(); // Clear the message container + } + + /* Handle any serious IO exceptions */ + catch(SickIOException &sick_io_exception) { + throw; + } + + /* A sanity check */ + catch (...) { + throw; + } + + } + + /** + * \brief A standard destructor + */ + SickLMS2xxBufferMonitor::~SickLMS2xxBufferMonitor( ) { } + +} /* namespace SickToolbox */ diff --git a/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/SickLMS2xxMessage.cc b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/SickLMS2xxMessage.cc new file mode 100755 index 0000000..3106c02 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/drivers/lms2xx/sicklms2xx/SickLMS2xxMessage.cc @@ -0,0 +1,181 @@ +/*! + * \file SickLMS2xxMessage.cc + * \brief Implementation of class SickFrame. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include + +/* Implementation dependencies */ +#include +#include + +#include +#include + +/* Associate the namespace */ +namespace SickToolbox { + + /*! + * \brief A default constructor + */ + SickLMS2xxMessage::SickLMS2xxMessage( ) { + + /* Initialize the object */ + Clear(); + } + + /*! + * \brief A constructor for building a message from the given parameter values + * \param dest_address The source address of the message + * \param payload_buffer The payload of the message as an array of bytes (including the command code) + * \param payload_length The length of the payload array in bytes + */ + SickLMS2xxMessage::SickLMS2xxMessage( const uint8_t dest_address, const uint8_t * const payload_buffer, const unsigned int payload_length ) : + SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >() { + + /* Build the message */ + BuildMessage(dest_address,payload_buffer,payload_length); + } + + /*! + * \brief A constructor for parsing a byte sequence into a message object + * \param message_buffer A well-formed message to be parsed into the class' fields + */ + SickLMS2xxMessage::SickLMS2xxMessage( uint8_t * const message_buffer ) : + SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >() { + + /* Parse the byte sequence into a message object */ + ParseMessage(message_buffer); + } + + /*! + * \brief Consructs a message object from given parameter values + * \param dest_address The destination address of the frame + * \param *payload_buffer The payload for the frame as an array of bytes (including the command code) + * \param payload_length The length of the payload array in bytes + */ + void SickLMS2xxMessage::BuildMessage( const uint8_t dest_address, const uint8_t * const payload_buffer, + const unsigned int payload_length ) { + + /* Call the parent method! + * NOTE: The parent method resets the object and assigns _message_length, _payload_length, + * _populated and copies the payload into the message buffer at the correct position + */ + SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN > + ::BuildMessage(payload_buffer,payload_length); + + /* + * Set the message header! + */ + _message_buffer[0] = 0x02; // Start of transmission (stx) + _message_buffer[1] = dest_address; // Sick LMS address + + /* Include the payload length in the header */ + uint16_t payload_length_16 = host_to_sick_lms_2xx_byte_order((uint16_t)_payload_length); + memcpy(&_message_buffer[2],&payload_length_16,2); + + /* + * Set the message trailer! + */ + _checksum = host_to_sick_lms_2xx_byte_order(_computeCRC(_message_buffer,_payload_length+4)); + memcpy(&_message_buffer[_payload_length+4],&_checksum,2); + + } + + /*! + * \brief Parses a sequence of bytes into a well-formed message + * \param *message_buffer The buffer containing the source message + */ + void SickLMS2xxMessage::ParseMessage( const uint8_t * const message_buffer ) { + + /* Call the parent method! + * NOTE: This method resets the object and assigns _populated as true + */ + SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN > + ::ParseMessage(message_buffer); + + /* Extract the payload length */ + uint16_t payload_length_16 = 0; + memcpy(&payload_length_16,&message_buffer[2],2); + _payload_length = (unsigned int)sick_lms_2xx_to_host_byte_order(payload_length_16); + + /* Compute the total message length */ + _message_length = MESSAGE_HEADER_LENGTH + MESSAGE_TRAILER_LENGTH + _payload_length; + + /* Copy the give message into the buffer */ + memcpy(_message_buffer, message_buffer,_message_length); + + /* Extract the checksum from the frame */ + memcpy(&_checksum,&_message_buffer[_payload_length+MESSAGE_HEADER_LENGTH],2); + _checksum = sick_lms_2xx_to_host_byte_order(_checksum); + + } + + /*! + * \brief Reset all internal fields and buffers associated with the object. + */ + void SickLMS2xxMessage::Clear( ) { + + /* Call the parent method and clear out class' protected members */ + SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >::Clear(); + + /* Reset the class' additional fields */ + _checksum = 0; + + } + + /*! + * \brief Print the message contents. + */ + void SickLMS2xxMessage::Print( ) const { + + std::cout.setf(std::ios::hex,std::ios::basefield); + std::cout << "Checksum: " << (unsigned int) GetChecksum() << std::endl; + std::cout << "Dest. Addr.: " << (unsigned int) GetDestAddress() << std::endl; + std::cout << "Command Code: " << (unsigned int) GetCommandCode() << std::endl; + std::cout << std::flush; + + /* Call parent's print function */ + SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN >::Print(); + } + + /*! + * \brief Computes the CRC16 of the given data buffer + * \param data An array of bytes whose checksum to compute + * \param len The length of the data array + * \return CRC16 computed over given data buffer + */ + uint16_t SickLMS2xxMessage::_computeCRC( uint8_t * data, unsigned int data_length ) const { + + uint16_t uCrc16; + uint8_t abData[2]; + uCrc16 = abData[0] = 0; + while (data_length-- ) { + abData[1] = abData[0]; + abData[0] = *data++; + if(uCrc16 & 0x8000) { + uCrc16 = (uCrc16 & 0x7fff) << 1; + uCrc16 ^= CRC16_GEN_POL; + } + else { + uCrc16 <<= 1; + } + uCrc16 ^= MKSHORT(abData[0],abData[1]); + } + return uCrc16; + } + + SickLMS2xxMessage::~SickLMS2xxMessage( ) { } + +} /* namespace SickToolbox */ diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/Doxyfile b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/Doxyfile new file mode 100755 index 0000000..5ba2cb8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/Doxyfile @@ -0,0 +1,1227 @@ +# Doxyfile 1.4.4 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. + +PROJECT_NAME = ld_config + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = doc + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, +# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese, +# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian, +# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, +# Swedish, and Ukrainian. + +OUTPUT_LANGUAGE = English + +# This tag can be used to specify the encoding used in the generated output. +# The encoding is not always determined by the language that is chosen, +# but also whether or not the output is meant for Windows or non-Windows users. +# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES +# forces the Windows encoding (this is the default for the Windows binary), +# whereas setting the tag to NO uses a Unix-style encoding (the default for +# all platforms other than Windows). + +USE_WINDOWS_ENCODING = NO + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = YES + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = src + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = include + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful is your file systems +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like the Qt-style comments (thus requiring an +# explicit @brief command for a brief description. + +JAVADOC_AUTOBRIEF = YES + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the DETAILS_AT_TOP tag is set to YES then Doxygen +# will output the detailed description near the top, like JavaDoc. +# If set to NO, the detailed description appears after the member +# documentation. + +DETAILS_AT_TOP = NO + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources +# only. Doxygen will then generate output that is more tailored for Java. +# For instance, namespaces will be presented as packages, qualified scopes +# will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or define consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and defines in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is YES. + +SHOW_DIRECTORIES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from the +# version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the progam writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be abled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = src + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx +# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm + +FILE_PATTERNS = + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix filesystem feature) are excluded +# from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. If FILTER_PATTERNS is specified, this tag will be +# ignored. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER +# is applied to all files. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES (the default) +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = YES + +# If the REFERENCES_RELATION tag is set to YES (the default) +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = YES + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = NO + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. + +HTML_HEADER = doxygen-html-header + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# This tag can be used to set the number of enum values (range [1..20]) +# that doxygen will group on one line in the generated HTML documentation. + +ENUM_VALUES_PER_LINE = 4 + +# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be +# generated containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, +# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are +# probably better off using the HTML help feature. + +GENERATE_TREEVIEW = NO + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, a4wide, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4wide + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = NO + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_PREDEFINED tags. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# in the INCLUDE_PATH (see below) will be search if a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all function-like macros that are alone +# on a line, have an all uppercase name, and do not end with a semicolon. Such +# function macros are typically used for boiler-plate code, and will confuse +# the parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option is superseded by the HAVE_DOT option below. This is only a +# fallback. It is recommended to install and use dot, since it yields more +# powerful graphs. + +CLASS_DIAGRAMS = YES + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = YES + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# the CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will +# generate a call dependency graph for every global function or class method. +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable call graphs for selected +# functions only using the \callgraph command. + +CALL_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are png, jpg, or gif +# If left blank png will be used. + +DOT_IMAGE_FORMAT = png + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width +# (in pixels) of the graphs generated by dot. If a graph becomes larger than +# this value, doxygen will try to truncate the graph, so that it fits within +# the specified constraint. Beware that most browsers cannot cope with very +# large images. + +MAX_DOT_GRAPH_WIDTH = 1024 + +# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height +# (in pixels) of the graphs generated by dot. If a graph becomes larger than +# this value, doxygen will try to truncate the graph, so that it fits within +# the specified constraint. Beware that most browsers cannot cope with very +# large images. + +MAX_DOT_GRAPH_HEIGHT = 1024 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that a graph may be further truncated if the graph's +# image dimensions are not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH +# and MAX_DOT_GRAPH_HEIGHT). If 0 is used for the depth value (the default), +# the graph is not depth-constrained. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, which results in a white background. +# Warning: Depending on the platform used, enabling this option may lead to +# badly anti-aliased labels on the edges of a graph (i.e. they become hard to +# read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = YES + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to the search engine +#--------------------------------------------------------------------------- + +# The SEARCHENGINE tag specifies whether or not a search engine should be +# used. If set to NO the values of all tags below this one will be ignored. + +SEARCHENGINE = NO diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/conf/sickld.conf b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/conf/sickld.conf new file mode 100755 index 0000000..453863a --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/conf/sickld.conf @@ -0,0 +1,21 @@ +############################################################### +# +# The Sick LIDAR Matlab/C++ Toolbox +# +# File: sickld.conf +# Auth: Jason Derenick and Thomas Miller at Lehigh University +# Cont: derenick(at)lehigh(dot)edu +# Date: 20 July 2007 +# +# Desc: Sample config file for ld_config utility. +# +############################################################### + +# Define the Sick LD motor speed (Hz) +SICK_LD_MOTOR_SPEED = 10 + +# Define the Sick LD scan res. (angle step) in degrees +SICK_LD_SCAN_RESOLUTION = 0.5 + +# Define the active scan areas for the device +SICK_LD_SCAN_AREAS = [90 270] [315 45] diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/doxygen-html-header b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/doxygen-html-header new file mode 100755 index 0000000..c773c29 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/doxygen-html-header @@ -0,0 +1,3 @@ + + + diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/.deps/ConfigFile.Po b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/.deps/ConfigFile.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/.deps/ConfigFile.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/ConfigFile.cpp b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/ConfigFile.cpp new file mode 100755 index 0000000..f041064 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/ConfigFile.cpp @@ -0,0 +1,142 @@ +// ConfigFile.cpp + +#include "ConfigFile.h" + +using std::string; + +ConfigFile::ConfigFile( string filename, string delimiter, + string comment, string sentry ) + : myDelimiter(delimiter), myComment(comment), mySentry(sentry) +{ + // Construct a ConfigFile, getting keys and values from given file + + std::ifstream in( filename.c_str() ); + + if( !in ) throw file_not_found( filename ); + + in >> (*this); +} + + +ConfigFile::ConfigFile() + : myDelimiter( string(1,'=') ), myComment( string(1,'#') ) +{ + // Construct a ConfigFile without a file; empty +} + + +void ConfigFile::remove( const string& key ) +{ + // Remove key and its value + myContents.erase( myContents.find( key ) ); + return; +} + + +bool ConfigFile::keyExists( const string& key ) const +{ + // Indicate whether key is found + mapci p = myContents.find( key ); + return ( p != myContents.end() ); +} + + +/* static */ +void ConfigFile::trim( string& s ) +{ + // Remove leading and trailing whitespace + static const char whitespace[] = " \n\t\v\r\f"; + s.erase( 0, s.find_first_not_of(whitespace) ); + s.erase( s.find_last_not_of(whitespace) + 1U ); +} + + +std::ostream& operator<<( std::ostream& os, const ConfigFile& cf ) +{ + // Save a ConfigFile to os + for( ConfigFile::mapci p = cf.myContents.begin(); + p != cf.myContents.end(); + ++p ) + { + os << p->first << " " << cf.myDelimiter << " "; + os << p->second << std::endl; + } + return os; +} + + +std::istream& operator>>( std::istream& is, ConfigFile& cf ) +{ + // Load a ConfigFile from is + // Read in keys and values, keeping internal whitespace + typedef string::size_type pos; + const string& delim = cf.myDelimiter; // separator + const string& comm = cf.myComment; // comment + const string& sentry = cf.mySentry; // end of file sentry + const pos skip = delim.length(); // length of separator + + string nextline = ""; // might need to read ahead to see where value ends + + while( is || nextline.length() > 0 ) + { + // Read an entire line at a time + string line; + if( nextline.length() > 0 ) + { + line = nextline; // we read ahead; use it now + nextline = ""; + } + else + { + std::getline( is, line ); + } + + // Ignore comments + line = line.substr( 0, line.find(comm) ); + + // Check for end of file sentry + if( sentry != "" && line.find(sentry) != string::npos ) return is; + + // Parse the line if it contains a delimiter + pos delimPos = line.find( delim ); + if( delimPos < string::npos ) + { + // Extract the key + string key = line.substr( 0, delimPos ); + line.replace( 0, delimPos+skip, "" ); + + // See if value continues on the next line + // Stop at blank line, next line with a key, end of stream, + // or end of file sentry + bool terminate = false; + while( !terminate && is ) + { + std::getline( is, nextline ); + terminate = true; + + string nlcopy = nextline; + ConfigFile::trim(nlcopy); + if( nlcopy == "" ) continue; + + nextline = nextline.substr( 0, nextline.find(comm) ); + if( nextline.find(delim) != string::npos ) + continue; + if( sentry != "" && nextline.find(sentry) != string::npos ) + continue; + + nlcopy = nextline; + ConfigFile::trim(nlcopy); + if( nlcopy != "" ) line += "\n"; + line += nextline; + terminate = false; + } + + // Store key and value + ConfigFile::trim(key); + ConfigFile::trim(line); + cf.myContents[key] = line; // overwrites if key is repeated + } + } + + return is; +} diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/ConfigFile.h b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/ConfigFile.h new file mode 100755 index 0000000..c2f0024 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/ConfigFile.h @@ -0,0 +1,253 @@ +// ConfigFile.h +// Class for reading named values from configuration files +// Richard J. Wagner v2.1 24 May 2004 wagnerr@umich.edu + +// Copyright (c) 2004 Richard J. Wagner +// +// Permission is hereby granted, free of charge, to any person obtaining a copy +// of this software and associated documentation files (the "Software"), to +// deal in the Software without restriction, including without limitation the +// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or +// sell copies of the Software, and to permit persons to whom the Software is +// furnished to do so, subject to the following conditions: +// +// The above copyright notice and this permission notice shall be included in +// all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS +// IN THE SOFTWARE. + +// Typical usage +// ------------- +// +// Given a configuration file "settings.inp": +// atoms = 25 +// length = 8.0 # nanometers +// name = Reece Surcher +// +// Named values are read in various ways, with or without default values: +// ConfigFile config( "settings.inp" ); +// int atoms = config.read( "atoms" ); +// double length = config.read( "length", 10.0 ); +// string author, title; +// config.readInto( author, "name" ); +// config.readInto( title, "title", string("Untitled") ); +// +// See file example.cpp for more examples. + +#ifndef CONFIGFILE_H +#define CONFIGFILE_H + +#include +#include +#include +#include +#include + +using std::string; + +class ConfigFile { +// Data +protected: + string myDelimiter; // separator between key and value + string myComment; // separator between value and comments + string mySentry; // optional string to signal end of file + std::map myContents; // extracted keys and values + + typedef std::map::iterator mapi; + typedef std::map::const_iterator mapci; + +// Methods +public: + ConfigFile( string filename, + string delimiter = "=", + string comment = "#", + string sentry = "EndConfigFile" ); + ConfigFile(); + + // Search for key and read value or optional default value + template T read( const string& key ) const; // call as read + template T read( const string& key, const T& value ) const; + template bool readInto( T& var, const string& key ) const; + template + bool readInto( T& var, const string& key, const T& value ) const; + + // Modify keys and values + template void add( string key, const T& value ); + void remove( const string& key ); + + // Check whether key exists in configuration + bool keyExists( const string& key ) const; + + // Check or change configuration syntax + string getDelimiter() const { return myDelimiter; } + string getComment() const { return myComment; } + string getSentry() const { return mySentry; } + string setDelimiter( const string& s ) + { string old = myDelimiter; myDelimiter = s; return old; } + string setComment( const string& s ) + { string old = myComment; myComment = s; return old; } + + // Write or read configuration + friend std::ostream& operator<<( std::ostream& os, const ConfigFile& cf ); + friend std::istream& operator>>( std::istream& is, ConfigFile& cf ); + +protected: + template static string T_as_string( const T& t ); + template static T string_as_T( const string& s ); + static void trim( string& s ); + + +// Exception types +public: + struct file_not_found { + string filename; + file_not_found( const string& filename_ = string() ) + : filename(filename_) {} }; + struct key_not_found { // thrown only by T read(key) variant of read() + string key; + key_not_found( const string& key_ = string() ) + : key(key_) {} }; +}; + + +/* static */ +template +string ConfigFile::T_as_string( const T& t ) +{ + // Convert from a T to a string + // Type T must support << operator + std::ostringstream ost; + ost << t; + return ost.str(); +} + + +/* static */ +template +T ConfigFile::string_as_T( const string& s ) +{ + // Convert from a string to a T + // Type T must support >> operator + T t; + std::istringstream ist(s); + ist >> t; + return t; +} + + +/* static */ +template<> +inline string ConfigFile::string_as_T( const string& s ) +{ + // Convert from a string to a string + // In other words, do nothing + return s; +} + + +/* static */ +template<> +inline bool ConfigFile::string_as_T( const string& s ) +{ + // Convert from a string to a bool + // Interpret "false", "F", "no", "n", "0" as false + // Interpret "true", "T", "yes", "y", "1", "-1", or anything else as true + bool b = true; + string sup = s; + for( string::iterator p = sup.begin(); p != sup.end(); ++p ) + *p = toupper(*p); // make string all caps + if( sup==string("FALSE") || sup==string("F") || + sup==string("NO") || sup==string("N") || + sup==string("0") || sup==string("NONE") ) + b = false; + return b; +} + + +template +T ConfigFile::read( const string& key ) const +{ + // Read the value corresponding to key + mapci p = myContents.find(key); + if( p == myContents.end() ) throw key_not_found(key); + return string_as_T( p->second ); +} + + +template +T ConfigFile::read( const string& key, const T& value ) const +{ + // Return the value corresponding to key or given default value + // if key is not found + mapci p = myContents.find(key); + if( p == myContents.end() ) return value; + return string_as_T( p->second ); +} + + +template +bool ConfigFile::readInto( T& var, const string& key ) const +{ + // Get the value corresponding to key and store in var + // Return true if key is found + // Otherwise leave var untouched + mapci p = myContents.find(key); + bool found = ( p != myContents.end() ); + if( found ) var = string_as_T( p->second ); + return found; +} + + +template +bool ConfigFile::readInto( T& var, const string& key, const T& value ) const +{ + // Get the value corresponding to key and store in var + // Return true if key is found + // Otherwise set var to given default + mapci p = myContents.find(key); + bool found = ( p != myContents.end() ); + if( found ) + var = string_as_T( p->second ); + else + var = value; + return found; +} + + +template +void ConfigFile::add( string key, const T& value ) +{ + // Add a key with given value + string v = T_as_string( value ); + trim(key); + trim(v); + myContents[key] = v; + return; +} + +#endif // CONFIGFILE_H + +// Release notes: +// v1.0 21 May 1999 +// + First release +// + Template read() access only through non-member readConfigFile() +// + ConfigurationFileBool is only built-in helper class +// +// v2.0 3 May 2002 +// + Shortened name from ConfigurationFile to ConfigFile +// + Implemented template member functions +// + Changed default comment separator from % to # +// + Enabled reading of multiple-line values +// +// v2.1 24 May 2004 +// + Made template specializations inline to avoid compiler-dependent linkage +// + Allowed comments within multiple-line values +// + Enabled blank line termination for multiple-line values +// + Added optional sentry to detect end of configuration file +// + Rewrote messy trimWhitespace() function as elegant trim() diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/main.cc new file mode 100755 index 0000000..237b04b --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_config/src/main.cc @@ -0,0 +1,430 @@ +/*! + * \file main.cc + * \brief A simple configuration utility for Sick LD LIDARs. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * ConfigFile was written by Richard J. Wagner + * Download at http://www-personal.umich.edu/~wagnerr/ChE.html + * + * LDConfig is a simple utility to make configuring the SICK LD-LRS + * easier. By editing the configuration file, one can set up the LD-LRS + * in different configurations, without mucking about in source code. + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include +#include +#include +#include "ConfigFile.h" + +#define INVALID_OPTION_STRING " Invalid option!!! :o(" +#define PROMPT_STRING "ld?> " + +/* Config file parameters */ +#define CONFIG_OPT_MOTOR_SPD_STR "SICK_LD_MOTOR_SPEED" +#define CONFIG_OPT_SCAN_AREA_STR "SICK_LD_SCAN_AREAS" +#define CONFIG_OPT_SCAN_RES_STR "SICK_LD_SCAN_RESOLUTION" + +using namespace std; +using namespace SickToolbox; + +/** + * \fn sigintHandler + * \brief Callback for SIGINT interrupt. Used for uninitialization. + * \param signal Signal ID + */ +void sigintHandler(int signal); + +/** + * \fn getUserOption + * \brief A utility function for capturing input from the user + * \param is_null_input Indicates whether the user entered null input + * \return User option as an integer + */ +int getUserOption(bool &is_null_input); + +/** + * \fn getFilename + * \brief Prompts the user for config filename + * \return Configuration file path + */ +string getFilename(); + +/** + * \fn setConfig + * \brief Attempts to set the desired config via the driver. + * Parses configuration file as well. + */ +void setConfig(); + +/** + * \fn printConfig + * \brief Prints the current Sick status/config + */ +void printConfig(); + +/** + * \fn parseScanAreasStr + * \brief Parses the scan areas input string. + * \param start_angs Array of angles to begin a sector + * \param stop_angs Array of angles to end a sector + * \param areas String of sectors (e.g. "[0 10.75] [40.5 60.0] [85 100]") + * \param num_pairs Number of angle pairs found + * \return true on success, false otherwise + * + * pre: all parameters != NULL + * post: start_angs and stop_angs hold num_pairs values; + * 0 < num_pairs < SickLD::SICK_MAX_NUM_MEASURING_SECTORS + * + * This function separates the scan areas found in the config file + * into two arrays - one with angles that the scan areas begin at, + * and another with the angles that the scan areas end at. Uses + * setAngle() + */ +bool parseScanAreasStr(string& scan_areas_str, double *start_angs, double *stop_angs, int& num_sectors); + +/** + * \fn parseNumStr + * \param entry String to be converted to a number + * \param num Variable to receive converted string + * \return true on success, false otherwise + * + * Parses entry string into a double, and saves it in num. + */ +bool parseNumStr(const string& entry, double& num); + +/* A pointer to the current driver instance */ +SickLD *sick_ld = NULL; + +int main(int argc, char* argv[]) +{ + + string sick_ip_addr(DEFAULT_SICK_IP_ADDRESS); // IP address of the Sick LD unit + + /* Check the num args */ + if(argc > 2 || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cerr << "Usage: ld_config [SICK IP ADDRESS]" << endl + << "Ex. ld_config 192.168.1.11" << endl; + return -1; + } + + /* Assign the IP address */ + if(argc == 2) { + sick_ip_addr = argv[1]; + } + + /* Instantiate the SickLD driver */ + sick_ld = new SickLD(sick_ip_addr); + + cout << endl; + cout << "The Sick LIDAR C++/Matlab Toolbox " << endl; + cout << "Sick LD Config Utility " << endl; + cout << endl; + + /* Initialize the Sick LD */ + try { + sick_ld->Initialize(); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct IP address?" << endl; + return -1; + } + + /* Register the signal handler */ + signal(SIGINT,sigintHandler); + + do { + + cout << "Enter your choice: (Ctrl-c to exit)" << endl; + cout << " [1] Set new configuration"<< endl; + cout << " [2] Show current settings"<< endl; + cout << PROMPT_STRING; + + bool is_null_input; + switch(getUserOption(is_null_input)) { + + case 1: + setConfig(); + break; + case 2: + printConfig(); + break; + default: + if(!is_null_input) { + cerr << INVALID_OPTION_STRING << endl; + } + + } + + cout << endl; + + } while(true); + + /* Success */ + return 0; + +} + +/** + * Handles the SIGINT signal + */ +void sigintHandler(int signal) { + + cout << endl; + cout << "Quitting..." << endl; + + /* Unitialize the device */ + try { + + sick_ld->Uninitialize(); + delete sick_ld; + + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + exit(-1); + } + + cout << endl; + cout << "Thanks for using the Sick LIDAR Matlab/C++ Toolbox!" << endl; + cout << "Bye Bye :o)" << endl; + + exit(0); + +} + +/** + * Reads user input string and returns numeric representation. + */ +int getUserOption(bool &is_null_input) { + + string user_input_str; + getline(cin,user_input_str); + + // Check whether its null input + is_null_input = true; + if (user_input_str.length() > 0) { + is_null_input = false; + } + + int int_val = 0; + istringstream input_stream(user_input_str); + input_stream >> int_val; + + return int_val; + +} + +/** + * Prompts the user for the filename + */ +string getFilename() { + + string filename; + + cout << "config file: "; + getline(cin,filename); + + return filename; + +} + +/** + * Parses config file and loads new configuration + */ +void setConfig() { + + int motor_spd; + int num_sectors; + double scan_res; + double start_angs[SickLD::SICK_MAX_NUM_MEASURING_SECTORS] = {0}; + double stop_angs[SickLD::SICK_MAX_NUM_MEASURING_SECTORS] = {0}; + string scan_areas_str; + + ConfigFile sick_config_file; // Extracts values from config file + string config_path; + + /* Prompt the user for the filename */ + config_path = getFilename(); + + /* Instantiate the parser */ + if(!ifstream(config_path.c_str())) { + sick_config_file = ConfigFile(config_path); + } + else { + cerr << "Invalid filename!" << endl; + return; + } + + /* Use the ConfigFile class to extract the various parameters for + * the sick configuration. + * + * NOTE: The third parameter specifies the value to use, if the second + * parameter is not found in the file. + */ + if(!sick_config_file.readInto(motor_spd,CONFIG_OPT_MOTOR_SPD_STR)) { + cerr << "ERROR: Invalid config file - " << CONFIG_OPT_MOTOR_SPD_STR << " needs to be specified!" << endl; + return; + } + + if(!sick_config_file.readInto(scan_res,CONFIG_OPT_SCAN_RES_STR)) { + cerr << "ERROR: Invalid config file - " << CONFIG_OPT_SCAN_RES_STR << " needs to be specified!" << endl; + return; + } + + if(!sick_config_file.readInto(scan_areas_str,CONFIG_OPT_SCAN_AREA_STR)) { + cerr << "ERROR: Invalid config file - " << CONFIG_OPT_SCAN_AREA_STR << " needs to be specified!" << endl; + return; + } + + /* Extract the start/stop pairs and angle res for the scanning sectors */ + if (!parseScanAreasStr(scan_areas_str,start_angs,stop_angs,num_sectors)) { + cerr << "ERROR: Parser failed to extract scan areas!" << endl; + return; + } + + /* Set the global parameters - we pass them all at once to ensure a feasible config */ + cout << endl << "\tAttempting to configure the Sick LD..." << endl; + + try { + sick_ld->SetSickGlobalParamsAndScanAreas(motor_spd,scan_res,start_angs,stop_angs,num_sectors); + } + + catch(SickConfigException &sick_config_exception) { + cerr << "ERROR: Couldn't set requested configuration!" << endl; + return; + } + + catch(...) { + exit(-1); + } + + cout << "\t\tConfiguration Successfull!!!" << endl; + +} + +/** + * Print the current Sick LD configuration + */ +void printConfig() { + + cout << endl; + sick_ld->PrintSickStatus(); + sick_ld->PrintSickIdentity(); + sick_ld->PrintSickGlobalConfig(); + sick_ld->PrintSickEthernetConfig(); + sick_ld->PrintSickSectorConfig(); + +} + +/** + * Parses scan areas string in order extract desired sector configuration + */ +bool parseScanAreasStr(string& areas, double * start_angs, double * stop_angs, int& num_pairs) { + + unsigned long i; // number of sectors found so far + unsigned int start_pos = 0; // starting position of a sector in 'areas' + unsigned int end_pos = 0; // ending position of a sector in 'areas' + unsigned int split = 0; // position of the delimiter inside a sector + string pair; // a string of 'areas' that contains one start and one stop angle + + /* Get the beginning and end of the first scan sector */ + start_pos = areas.find('[',start_pos); // Find the next [, starting at start_pos + end_pos = areas.find(']',start_pos); + + /* Keep getting sectors until we either run out of open + * brackets or we exceed the number of allowed sectors + */ + for(i=0; (start_pos != (unsigned int)string::npos) && (i <= SickLD::SICK_MAX_NUM_MEASURING_SECTORS); i++) { + + pair = areas.substr(start_pos+1,end_pos-(start_pos+1)); + + /* Eliminate any padding before first value */ + try { + pair = pair.substr(pair.find_first_not_of(' ')); + } + + catch(...) { + cerr << "ERROR: There was an problem parsing your scan areas! Check your config file." << endl; + return false; + } + + split = pair.find(' '); + + /* Catch a lack of ' ' inside the sector definition; + * alternative is to let it fail at pair.substr(split) + */ + if(split == (unsigned int)string::npos) { + cerr << "ERROR: Invalid sector definition." << endl; + return false; + } + + /* Get the number from the beginning to the delimiter */ + if(!parseNumStr(pair.substr(0,split),start_angs[i])) { + cerr << "ERROR: Invalid start angle found." << endl; + return false; + } + + /* Get the number from the delimiter to the end */ + if(!parseNumStr(pair.substr(split),stop_angs[i])) { + cerr << "ERROR: Invalid stop angle found." << endl; + return false; + } + + start_pos = end_pos; // Shift to the end of the current sector + + /* Try to find another sector */ + start_pos = areas.find("[", start_pos); + end_pos = areas.find("]", start_pos); + + } + + num_pairs = i; + + /* Check if we broke out because of too many loops */ + if(num_pairs > SickLD::SICK_MAX_NUM_MEASURING_SECTORS) { + cerr << "ERROR: Too many scan areas found (max " << SickLD::SICK_MAX_NUM_MEASURING_SECTORS << ")" << endl; + return false; + } + + /* Or, we might not have even entered the loop */ + if(num_pairs == 0) { + cerr << "ERROR: No scan areas found! Check brackets in your config file." << endl; + return false; + } + + /* Success! */ + return true; + +} + +/** + * Parses entry string into a double, and saves it in num. + */ +bool parseNumStr(const string& entry, double& num) +{ + + string num_str = entry.substr(entry.find_first_not_of(' ')); + istringstream input_stream(num_str.c_str()); + if(!(input_stream >> num)) { + cerr << "ERROR: Invalid angle value: " + num_str << endl; + return false; + } + + /* Success! */ + return true; + +} diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_more_config/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/ld/ld_more_config/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_more_config/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_more_config/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/ld/ld_more_config/src/main.cc new file mode 100755 index 0000000..fea4e7b --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_more_config/src/main.cc @@ -0,0 +1,113 @@ + +/*! + * \file main.cc + * \brief Illustrates a variety of ways to configure the flash + * parameters on the Sick LD device as well as how to set + * the unit's clock. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include + +using namespace std; +using namespace SickToolbox; + +int main (int argc, char *argv[]) { + + /* A string for the IP address */ + string sick_ip_addr(DEFAULT_SICK_IP_ADDRESS); + + /* Check the num of args */ + if(argc > 2 || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cerr << "Usage: ld_more_config [SICK IP ADDRESS]" << endl + << "Ex. ld_more_config 192.168.1.11" << endl; + return -1; + } + + /* Assign the IP address */ + if(argc == 2) { + sick_ip_addr = argv[1]; + } + + /* Define the object */ + SickLD sick_ld(sick_ip_addr); + + /* + * Initialize the Sick LD + */ + try { + sick_ld.Initialize(); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct IP address?" << endl; + return -1; + } + + try { + + /* Assign absolute and then relative time */ + //uint16_t new_sick_time = 0; + //sick_ld.SetSickTimeAbsolute(1500,new_sick_time); + //cout << "\tNew sick time: " << new_sick_time << endl; + //sick_ld.SetSickTimeRelative(-500,new_sick_time); + //cout << "\tNew sick time: " << new_sick_time << endl; + + /* Configure the Sick LD sensor ID */ + //sick_ld.PrintSickGlobalConfig(); + //sick_ld.SetSickSensorID(16); + //sick_ld.PrintSickGlobalConfig(); + + /* Configure the sick motor speed */ + //sick_ld.PrintSickGlobalConfig(); + //sick_ld.SetSickMotorSpeed(10); + //sick_ld.PrintSickGlobalConfig(); + + /* Configure the sick scan resolution */ + //sick_ld.PrintSickGlobalConfig(); + //sick_ld.SetSickScanResolution(0.5); + //sick_ld.PrintSickGlobalConfig(); + + /* Configure all the global parameters */ + //double start_angle = 45; + //double stop_angle = 315; + //sick_ld.PrintSickGlobalConfig(); + //sick_ld.PrintSickSectorConfig(); + //sick_ld.SetSickGlobalParamsAndScanAreas(10,0.5,&start_angle,&stop_angle,1); + //sick_ld.PrintSickGlobalConfig(); + //sick_ld.PrintSickSectorConfig(); + + } + + catch(...) { + cerr << "An error occurred!" << endl; + } + + /* + * Uninitialize the device + */ + try { + sick_ld.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success! */ + return 0; + +} diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_multi_sector/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/ld/ld_multi_sector/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_multi_sector/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_multi_sector/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/ld/ld_multi_sector/src/main.cc new file mode 100755 index 0000000..9865b2e --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_multi_sector/src/main.cc @@ -0,0 +1,124 @@ +/*! + * \file main.cc + * \brief Illustrates how to work with the Sick LD + * using multiple scan areas/sectors. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include + +/* Define the number of active sectors */ +#define NUM_ACTIVE_SECTORS (3) + +using namespace std; +using namespace SickToolbox; + +int main (int argc, char *argv[]) { + + /* A string for the IP address */ + string sick_ip_addr(DEFAULT_SICK_IP_ADDRESS); + + /* Check the num of args */ + if(argc > 2 || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cerr << "Usage: ld_multi_sector [SICK IP ADDRESS]" << endl + << "Ex. ld_multi_sector 192.168.1.11" << endl; + return -1; + } + + /* Assign the IP address */ + if(argc == 2) { + sick_ip_addr = argv[1]; + } + + /* Define the temporal scan area (3 active sectors/scan areas) + * NOTE: This scan configuration will persist until the power + * is cycled or until it is reset w/ different params. + */ + double sector_start_angs[NUM_ACTIVE_SECTORS] = {45,270,345}; + double sector_stop_angs[NUM_ACTIVE_SECTORS] = {90,315,15}; + + /* Define the destination buffers */ + double range_values[SickLD::SICK_MAX_NUM_MEASUREMENTS] = {0}; + unsigned int reflect_values[SickLD::SICK_MAX_NUM_MEASUREMENTS] = {0}; + + /* Some buffer for additional info we can get from the Sick LD */ + unsigned int num_values[NUM_ACTIVE_SECTORS] = {0}; + unsigned int data_offsets[NUM_ACTIVE_SECTORS] = {0}; + unsigned int sector_ids[NUM_ACTIVE_SECTORS] = {0}; + + /* Define the object */ + SickLD sick_ld(sick_ip_addr); + + /* Initialize the Sick LD */ + try { + sick_ld.Initialize(); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct IP address?" << endl; + return -1; + } + + try { + + /* Set the temporary scan areas */ + sick_ld.SetSickTempScanAreas(sector_start_angs,sector_stop_angs,NUM_ACTIVE_SECTORS); + + /* Print the sector configuration */ + sick_ld.PrintSickSectorConfig(); + + /* Request some measurements */ + for (unsigned int i = 0; i < 10; i++) { + + /* Acquire the most recent range and reflectivity (echo amplitude) values */ + sick_ld.GetSickMeasurements(range_values,reflect_values,num_values,sector_ids,data_offsets); + + /* Print out some data for each sector */ + for (unsigned int i = 0; i < NUM_ACTIVE_SECTORS; i++) { + + cout << "\t[Sector ID: " << sector_ids[i] + << ", Num Meas: " << num_values[i] + << ", 1st Range Val: " << range_values[data_offsets[i]] + << ", 1st Reflect Val: " << reflect_values[data_offsets[i]] + << "]" << endl; + + } + cout << endl; + + } + + } + + /* Catch any exception! */ + catch(...) { + cerr << "An error occurred!" << endl; + } + + /* + * Uninitialize the device + */ + try { + sick_ld.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success !*/ + return 0; + +} diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_single_sector/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/ld/ld_single_sector/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_single_sector/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/ld/ld_single_sector/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/ld/ld_single_sector/src/main.cc new file mode 100755 index 0000000..8edc7f0 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/ld/ld_single_sector/src/main.cc @@ -0,0 +1,105 @@ +/*! + * \file main.cc + * \brief A simple application illustrating the use of + * the Sick LD C++ driver using a single sector. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include + +/* Use the namespace */ +using namespace std; +using namespace SickToolbox; + +int main (int argc, char *argv[]) { + + /* A string for the IP address */ + string sick_ip_addr(DEFAULT_SICK_IP_ADDRESS); + + /* Check the num of args */ + if(argc > 2 || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cerr << "Usage: ld_single_sector [SICK IP ADDRESS]" << endl + << "Ex. ld_single_sector 192.168.1.11" << endl; + return -1; + } + + /* Assign the IP address */ + if(argc == 2) { + sick_ip_addr = argv[1]; + } + + /* Define the data buffers */ + double values[SickLD::SICK_MAX_NUM_MEASUREMENTS] = {0}; + unsigned int num_values = 0; + + /* Define the bounds for a single sector */ + double sector_start_ang = 90; + double sector_stop_ang = 270; + + /* Define the object */ + SickLD sick_ld(sick_ip_addr); + + /* + * Initialize the Sick LD + */ + try { + sick_ld.Initialize(); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct IP address?" << endl; + return -1; + } + + try { + + /* Set the desired sector configuration */ + sick_ld.SetSickTempScanAreas(§or_start_ang,§or_stop_ang,1); + + /* Print the sector configuration */ + sick_ld.PrintSickSectorConfig(); + + /* Acquire some range measurements */ + for (unsigned int i = 0; i < 10; i++) { + + /* Here we only want the range values so the second arg is NULL */ + sick_ld.GetSickMeasurements(values,NULL,&num_values); + cout << "\t Num. Values: " << num_values << endl; + + } + + } + + /* Catch any exceptions */ + catch(...) { + cerr << "An error occurred!" << endl; + } + + /* + * Uninitialize the device + */ + try { + sick_ld.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success !*/ + return 0; + +} diff --git a/ros_drivers/sicktoolbox/c++/examples/lms1xx/lms1xx_simple_app/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/lms1xx/lms1xx_simple_app/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms1xx/lms1xx_simple_app/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/lms1xx/lms1xx_simple_app/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/lms1xx/lms1xx_simple_app/src/main.cc new file mode 100755 index 0000000..6c1ca51 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms1xx/lms1xx_simple_app/src/main.cc @@ -0,0 +1,94 @@ +/*! + * \file main.cc + * \brief A simple application using the Sick LMS 1xx driver. + * + * Code by Jason C. Derenick and Christopher R. Mansley. + * Contact jasonder(at)seas(dot)upenn(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2009, Jason C. Derenick and Christopher R. Mansley + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include + +using namespace std; +using namespace SickToolbox; + +int main(int argc, char* argv[]) +{ + + /* + * Instantiate an instance + */ + SickLMS1xx sick_lms_1xx; + + /* + * Initialize the Sick LMS 2xx + */ + try { + sick_lms_1xx.Initialize(); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct IP address?" << endl; + return -1; + } + + try { + unsigned int status = 1; + unsigned int num_measurements = 0; + unsigned int range_1_vals[SickLMS1xx::SICK_LMS_1XX_MAX_NUM_MEASUREMENTS]; + unsigned int range_2_vals[SickLMS1xx::SICK_LMS_1XX_MAX_NUM_MEASUREMENTS]; + //sick_lms_1xx.SetSickScanFreqAndRes(SickLMS1xx::SICK_LMS_1XX_SCAN_FREQ_25, + //SickLMS1xx::SICK_LMS_1XX_SCAN_RES_25); + //sick_lms_1xx.SetSickScanDataFormat(SickLMS1xx::SICK_LMS_1XX_DIST_DOUBLE_PULSE, + // SickLMS1xx::SICK_LMS_1XX_REFLECT_NONE); + sick_lms_1xx.SetSickScanDataFormat(SickLMS1xx::SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_16BIT); + for (int i = 0; i < 1000; i++) { + sick_lms_1xx.GetSickMeasurements(range_1_vals,range_2_vals,range_1_vals,range_2_vals,num_measurements,&status); + std::cout << i << ": " << num_measurements << " " << status << std::endl; + } + } + + catch(SickConfigException sick_exception) { + std::cout << sick_exception.what() << std::endl; + } + + catch(SickIOException sick_exception) { + std::cout << sick_exception.what() << std::endl; + } + + catch(SickTimeoutException sick_exception) { + std::cout << sick_exception.what() << std::endl; + } + + catch(...) { + cerr << "An Error Occurred!" << endl; + return -1; + } + + + /* + * Uninitialize the device + */ + try { + sick_lms_1xx.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success! */ + return 0; + +} + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_config/README b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_config/README new file mode 100755 index 0000000..31bf922 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_config/README @@ -0,0 +1,14 @@ +================================================= +Sick LIDAR Matlab/C++ Toolbox +================================================= + +Example: lms_config +Note: This example is COMPATIBLE w/ ALL Sick 2xx LIDAR units! :o) + +Desc: This example provides a simple shell-like configuration + utility for working w/ Sick LMS 2xx LIDARs. It can be + used for setting measuring units, measuring mode, and + sensitivity. It can also display the current LMS config. + +Example call (from build dir): ./lms_config /dev/ttyUSB0 9600 + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_config/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_config/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_config/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_config/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_config/src/main.cc new file mode 100755 index 0000000..36a1f28 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_config/src/main.cc @@ -0,0 +1,627 @@ +/*! + * \file main.cc + * \brief A simple config utility for Sick LMS 2xx LIDARs. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Implementation dependencies */ +#include +#include +#include +#include +#include +#include +#include + +#define INVALID_OPTION_STRING " Invalid option!!! :o(" +#define PROMPT_STRING "lms2xx?> " + +using namespace std; +using namespace SickToolbox; + +/** + * \fn sigintHandler + * \brief Callback for SIGINT interrupt. Used for uninitialization. + * \param signal Signal ID + */ +void sigintHandler(int signal); + +/** + * \fn strToInt + * \brief Utility function for converting string to int + * \param input_str Input string to convert + */ +int strToInt(string input_str); + +/** + * \fn getUserOption + * \brief Utility function for grabbing user input + * \param is_null_input Output parameter indicating whether + * user entered NULL input + */ +int getUserOption(bool &is_null_input); + +/** + * \fn writeToEEPROM + * \brief Confirms the user actually wants to perform write + */ +bool writeToEEPROM(); + +/** + * \fn setMeasuringUnits + * \brief Prompts the user and sets the desired measuring + * units via the driver interface. + */ +void setMeasuringUnits(); + +/** + * \fn setMeasuringMode + * \brief Prompts the user and sets the desired measuring + * mode via the driver interface. + */ +void setMeasuringMode(); + +/** + * \fn setAvailabilityLevel + * \brief Prompts the user and sets the desired availability + * level via the driver interface. + */ +void setAvailabilityLevel(); + +/** + * \fn setSensitivityLevel + * \brief Prompts the user and sets the desired sensitivity + * level via the driver interface. + */ +void setSensitivityLevel(); + +/* A pointer to the Sick obj */ +SickLMS2xx *sick_lms_2xx = NULL; + +int main(int argc, char * argv[]) { + + string device_str; // Device path of the Sick LMS 2xx + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::SICK_BAUD_38400; + + /* Check for a device path. If it's not present, print a usage statement. */ + if ((argc != 2 && argc != 3) || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cout << "Usage: lms2xx_config PATH [BAUD RATE]" << endl + << "Ex: lms2xx_config /dev/ttyUSB0 9600" << endl; + return -1; + } + + /* Only device path is given */ + if (argc == 2) { + device_str = argv[1]; + } + + /* Device path and baud are given */ + if (argc == 3) { + device_str = argv[1]; + if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) { + cerr << "Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl; + return -1; + } + } + + /* Instantiate the SickLMS2xx class with the device path string. */ + sick_lms_2xx = new SickLMS2xx(device_str); + + cout << endl; + cout << "The Sick LIDAR C++/Matlab Toolbox " << endl; + cout << "Sick LMS 2xx Config Utility " << endl; + + /* Initialize the device */ + try { + sick_lms_2xx->Initialize(desired_baud); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct device path?" << endl; + return -1; + } + + /* Register the signal handler */ + signal(SIGINT,sigintHandler); + + cout << "NOTE - Configuring the Sick LMS - REQUIRES - writing to the device's EEPROM." << endl; + cout << " The number of times this can be done is finite (a few thousand)." << endl; + cout << " Thus, you should configure sparingly." << endl; + cout << endl; + + do { + + cout << "Enter your choice: (Ctrl-c to exit)" << endl; + cout << " [1] Set measuring units"<< endl; + cout << " [2] Set measuring mode"<< endl; + cout << " [3] Set availability level" << endl; + cout << " [4] Set sensitivity level" << endl; + cout << " [5] Show detailed configuration" << endl; + cout << PROMPT_STRING; + + bool is_null_input; + switch(getUserOption(is_null_input)) { + + case 1: + setMeasuringUnits(); + break; + case 2: + setMeasuringMode(); + break; + case 3: + setAvailabilityLevel(); + break; + case 4: + setSensitivityLevel(); + break; + case 5: + sick_lms_2xx->PrintSickConfig(); + break; + default: + if (!is_null_input) { + cerr << INVALID_OPTION_STRING << endl; + } + } + + cout << endl; + + } while(true); + + /* Success! */ + return 0; + +} + +/** + * Handle the SIGINT signal + */ +void sigintHandler( int signal ) { + + cout << endl; + cout << "Quitting..." << endl; + + /* Unitialize the device */ + try { + + sick_lms_2xx->Uninitialize(); + delete sick_lms_2xx; + + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + exit(-1); + } + + cout << endl; + cout << "Thanks for using the Sick LIDAR Matlab/C++ Toolbox!" << endl; + cout << "Bye Bye :o)" << endl; + + exit(0); + +} + +/** + * Converts ascii string to an integer + */ +int strToInt( string input_str ) { + int int_val; + istringstream input_stream(input_str); + input_stream >> int_val; + return int_val; +} + +/** + * Reads in user input string and returns numeric + * representation + */ +int getUserOption( bool &is_null_input ) { + + string user_input_str; + getline(cin,user_input_str); + + // Check whether its null input + is_null_input = true; + if (user_input_str.length() > 0) { + is_null_input = false; + } + + return strToInt(user_input_str); + +} + +/** + * Prompts the user to confirm requested operation + */ +bool writeToEEPROM( ) { + + string user_input_str; + + do { + + cout << "This will attempt to write to EEPROM. Continue [y/n]? "; + getline(cin,user_input_str); + + // Check whether its null input + if (user_input_str == "Y" || user_input_str == "y") { + return true; + } + else if (user_input_str == "N" || user_input_str == "n") { + return false; + } + else { + cerr << "Please answer [y/n]!" << endl; + } + + } while (true); + +} + +/** + * Sets the measuring units of the device + */ +void setMeasuringUnits() { + + bool keep_running = true; + + do { + + cout << endl; + cout << "Select the desired units:" << endl; + cout << " [1] Centimeters (cm)"<< endl; + cout << " [2] Millimeters (mm)"<< endl; + cout << " [3] Back to main"<< endl; + cout << PROMPT_STRING; + + try { + + bool is_null_input; + switch(getUserOption(is_null_input)) { + + case 1: + if (writeToEEPROM()) { + cout << " Setting Sick LMS units to (cm)" << endl; + sick_lms_2xx->SetSickMeasuringUnits(SickLMS2xx::SICK_MEASURING_UNITS_CM); + cout << " Done!" << endl; + } + break; + case 2: + if (writeToEEPROM()) { + cout << " Setting Sick LMS units to (mm)" << endl; + sick_lms_2xx->SetSickMeasuringUnits(SickLMS2xx::SICK_MEASURING_UNITS_MM); + cout << " Done!" << endl; + } + break; + case 3: + keep_running = !keep_running; + break; + default: + if (!is_null_input) { + cerr << INVALID_OPTION_STRING << endl; + } + } + + } + + catch( SickException &sick_exception ) { + cerr << "A Sick exception occurred!" << endl; + exit(-1); + } + + catch(...) { + cerr << "An unknown exception occurred!" << endl; + exit(-1); + } + + } while (keep_running); + +} + +/** + * Sets the measuring mode of the device + */ +void setMeasuringMode() { + + bool keep_running = true; + + do { + + cout << endl; + cout << "Select the desired measuring mode (see telegram listing for descriptions):" << endl; + cout << " [1] Measurement range 8m/80m; field A, field B, and dazzle" << endl; + cout << " [2] Measurement range 8m/80m; reflector bits in 8 levels" << endl; + cout << " [3] Measurement range 8m/80m; field A, field B and field C" << endl; + cout << " [4] Measurement range 16m/theoretically 160m; reflector bits in 4 levels" << endl; + cout << " [5] Measurement range 16m/theoretically 160m; field A and field B" << endl; + cout << " [6] Measurement range 32m/theoretically 320m; reflector bits in 2 levels" << endl; + cout << " [7] Measurement range 32m/theoretically 320m; field A" << endl; + cout << " [8] Measurement range 32m/theoretically 320m; Immediate" << endl; + cout << " [9] Reflectivity/Intensity values" << endl; + cout << " [10] Back to main" << endl; + cout << PROMPT_STRING; + + try { + + bool is_null_input; + switch(getUserOption(is_null_input)) { + + case 1: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Meas. Mode to: Measurement range 8m/80m; field A, field B, and dazzle" << endl; + sick_lms_2xx->SetSickMeasuringMode(SickLMS2xx::SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE); + cout << " Done!" << endl; + } + break; + case 2: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Meas. Mode to: Measurement range 8m/80m; reflector bits in 8 levels" << endl; + sick_lms_2xx->SetSickMeasuringMode(SickLMS2xx::SICK_MS_MODE_8_OR_80_REFLECTOR); + cout << " Done!" << endl; + } + break; + case 3: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Meas. Mode to: Measurement range 8m/80m; field A, field B and field C" << endl; + sick_lms_2xx->SetSickMeasuringMode(SickLMS2xx::SICK_MS_MODE_8_OR_80_FA_FB_FC); + cout << " Done!" << endl; + } + break; + case 4: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Meas. Mode to: Measurement range 16m/theoretically 160m; reflector bits in 4 levels" << endl; + sick_lms_2xx->SetSickMeasuringMode(SickLMS2xx::SICK_MS_MODE_16_REFLECTOR); + cout << " Done!" << endl; + } + break; + case 5: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Meas. Mode to: Measurement range 16m/theoretically 160m; field A and field B" << endl; + sick_lms_2xx->SetSickMeasuringMode(SickLMS2xx::SICK_MS_MODE_16_FA_FB); + cout << " Done!" << endl; + } + break; + case 6: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Meas. Mode to: Measurement range 32m/theoretically 320m; reflector bit in 2 levels" << endl; + sick_lms_2xx->SetSickMeasuringMode(SickLMS2xx::SICK_MS_MODE_32_REFLECTOR); + cout << " Done!" << endl; + } + break; + case 7: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Meas. Mode to: Measurement range 32m/theoretically 320m; field A" << endl; + sick_lms_2xx->SetSickMeasuringMode(SickLMS2xx::SICK_MS_MODE_32_FA); + cout << " Done!" << endl; + } + break; + case 8: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Meas. Mode to: Measurement range 32m/theoretically 320m; Immediate" << endl; + sick_lms_2xx->SetSickMeasuringMode(SickLMS2xx::SICK_MS_MODE_32_IMMEDIATE); + cout << " Done!" << endl; + } + break; + case 9: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Meas. Mode to: Reflectivity/Intensity" << endl; + sick_lms_2xx->SetSickMeasuringMode(SickLMS2xx::SICK_MS_MODE_REFLECTIVITY); + cout << " Done!" << endl; + } + break; + case 10: + keep_running = !keep_running; + break; + default: + if (!is_null_input) { + cerr << INVALID_OPTION_STRING << endl; + } + } + + } + + catch( SickException &sick_exception ) { + cerr << "A Sick exception occurred!" << endl; + exit(-1); + } + + catch(...) { + cerr << "An unknown exception occurred!" << endl; + exit(-1); + } + + } while (keep_running); + +} + +/** + * Sets the measuring mode of the device + */ +void setAvailabilityLevel() { + + bool keep_running = true; + + do { + + cout << endl; + cout << "Select the desired availability (see telegram listing for descriptions):" << endl; + cout << " [1] Restore to factory default" << endl; + cout << " [2] High" << endl; + cout << " [3] High w/ Real-time indices" << endl; + cout << " [4] High w/ No effect dazzle" << endl; + cout << " [5] High w/ Real-time indices and No effect dazzle" << endl; + cout << " [6] Real-time indices" << endl; + cout << " [7] Real-time indices w/ No effect dazzle" << endl; + cout << " [8] No effect dazzle" << endl; + cout << " [9] Back to main" << endl; + cout << PROMPT_STRING; + + try { + + bool is_null_input; + switch(getUserOption(is_null_input)) { + + case 1: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Availability to: Factory settings" << endl; + sick_lms_2xx->SetSickAvailability(); + cout << " Done!" << endl; + } + break; + case 2: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Availability to: High" << endl; + sick_lms_2xx->SetSickAvailability(SickLMS2xx::SICK_FLAG_AVAILABILITY_HIGH); + cout << " Done!" << endl; + } + break; + case 3: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Availability to: High w/ Real-time indices" << endl; + sick_lms_2xx->SetSickAvailability(SickLMS2xx::SICK_FLAG_AVAILABILITY_HIGH | SickLMS2xx::SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES); + cout << " Done!" << endl; + } + break; + case 4: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Availability to: High w/ No effect dazzle" << endl; + sick_lms_2xx->SetSickAvailability(SickLMS2xx::SICK_FLAG_AVAILABILITY_HIGH | SickLMS2xx::SICK_FLAG_AVAILABILITY_DAZZLE_NO_EFFECT); + cout << " Done!" << endl; + } + break; + case 5: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Availability to: High w/ Real-time indices and No effect dazzle" << endl; + sick_lms_2xx->SetSickAvailability(SickLMS2xx::SICK_FLAG_AVAILABILITY_HIGH | SickLMS2xx::SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES | SickLMS2xx::SICK_FLAG_AVAILABILITY_DAZZLE_NO_EFFECT); + cout << " Done!" << endl; + } + break; + case 6: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Availability to: Real-time indices" << endl; + sick_lms_2xx->SetSickAvailability(SickLMS2xx::SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES); + cout << " Done!" << endl; + } + break; + case 7: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Availability to: Real-time indices w/ No effect dazzle" << endl; + sick_lms_2xx->SetSickAvailability(SickLMS2xx::SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES | SickLMS2xx::SICK_FLAG_AVAILABILITY_DAZZLE_NO_EFFECT); + cout << " Done!" << endl; + } + break; + case 8: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Availability to: No effect dazzle" << endl; + sick_lms_2xx->SetSickAvailability(SickLMS2xx::SICK_FLAG_AVAILABILITY_DAZZLE_NO_EFFECT); + cout << " Done!" << endl; + } + break; + case 9: + keep_running = !keep_running; + break; + default: + if (!is_null_input) { + cerr << INVALID_OPTION_STRING << endl; + } + } + + } + + catch( SickException &sick_exception ) { + cerr << "A Sick exception occurred!" << endl; + exit(-1); + } + + catch(...) { + cerr << "An unknown exception occurred!" << endl; + exit(-1); + } + + } while (keep_running); + +} + +/** + * Sets the Sick LMS sensitivity level + */ +void setSensitivityLevel() { + + bool keep_running = true; + + do { + + cout << endl; + cout << "Select the desired sensitivity level:" << endl; + cout << " [1] High (42m @ 10% reflectivity)"<< endl; + cout << " [2] Standard (30m @ 10% reflectivity, factory setting)"<< endl; + cout << " [3] Medium (25m @ 10% reflectivity)"<< endl; + cout << " [4] Low (20m @ 10% reflectivity)"<< endl; + cout << " [5] Back to main"<< endl; + cout << PROMPT_STRING; + + try { + + bool is_null_input; + switch(getUserOption(is_null_input)) { + + case 1: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Sensitivity to: High" << endl; + sick_lms_2xx->SetSickSensitivity(SickLMS2xx::SICK_SENSITIVITY_HIGH); + cout << " Done!" << endl; + } + break; + case 2: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Sensitivity to: Standard (Factory setting)" << endl; + sick_lms_2xx->SetSickSensitivity(); + cout << " Done!" << endl; + } + break; + case 3: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Sensitivity to: Medium" << endl; + sick_lms_2xx->SetSickSensitivity(SickLMS2xx::SICK_SENSITIVITY_MEDIUM); + cout << " Done!" << endl; + } + break; + case 4: + if (writeToEEPROM()) { + cout << " Setting Sick LMS Sensitivity to: Low" << endl; + sick_lms_2xx->SetSickSensitivity(SickLMS2xx::SICK_SENSITIVITY_LOW); + cout << " Done!" << endl; + } + break; + case 5: + keep_running = !keep_running; + break; + default: + if (!is_null_input) { + cerr << INVALID_OPTION_STRING << endl; + } + } + + } + + catch( SickException &sick_exception ) { + cerr << "A Sick exception occurred!" << endl; + exit(-1); + } + + catch(...) { + cerr << "An unknown exception occurred!" << endl; + exit(-1); + } + + } while (keep_running); + +} diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_mean_values/README b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_mean_values/README new file mode 100755 index 0000000..780f865 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_mean_values/README @@ -0,0 +1,11 @@ +================================================= +Sick LIDAR Matlab/C++ Toolbox +================================================= + +Example: lms_mean_values +Note: This example is COMPATIBLE w/ ALL Sick 2xx LIDAR units! :o) + +Desc: This example illustrates grabbing mean values from the Sick LMS. + +Example call (from build dir): ./lms_mean_values /dev/ttyUSB0 9600 + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_mean_values/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_mean_values/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_mean_values/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_mean_values/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_mean_values/src/main.cc new file mode 100755 index 0000000..a003605 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_mean_values/src/main.cc @@ -0,0 +1,114 @@ +/*! + * \file main.cc + * \brief A simple example illustrating how to acquire + * mean values from the Sick LMS 2xx. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include + +using namespace std; +using namespace SickToolbox; + +int main(int argc, char* argv[]) +{ + + string device_str; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::SICK_BAUD_38400; + + unsigned int values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; // Uses macro defined in SickLMS2xx.hh + unsigned int num_values; // Holds the number of measurements returned + + /* Check for a device path. If it's not present, print a usage statement. */ + if ((argc != 2 && argc != 3) || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cout << "Usage: lms2xx_mean_values PATH [BAUD RATE]" << endl + << "Ex: lms2xx_mean_values /dev/ttyUSB0 9600" << endl; + return -1; + } + + /* Only device path is given */ + if (argc == 2) { + device_str = argv[1]; + } + + /* Device path and baud are given */ + if (argc == 3) { + device_str = argv[1]; + if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) { + cerr << "Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl; + return -1; + } + } + + /* + * Instantiate an instance + */ + SickLMS2xx sick_lms_2xx(device_str); + + /* + * Initialize the Sick LMS 2xx + */ + try { + sick_lms_2xx.Initialize(desired_baud); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct device path?" << endl; + return -1; + } + + /* + * Acquire a few scans from the Sick LMS + */ + try { + + for (unsigned int i=0; i < 10; i++) { + + /* + * The first argument is an input to the driver + * telling it the number of raw scans over which + * the Sick should average. (i.e. here, the Sick + * will average over 5 scans before returning + * the resulting mean values) + */ + sick_lms_2xx.GetSickMeanValues(5,values,num_values); + cout << "\t Num. Values: " << num_values << endl; + + } + + } + + /* Catch anything else and exit */ + catch(...) { + cerr << "An error occurred!" << endl; + } + + /* + * Uninitialize the device + */ + try { + sick_lms_2xx.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success! */ + return 0; + +} + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_partial_scan/README b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_partial_scan/README new file mode 100755 index 0000000..3528b96 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_partial_scan/README @@ -0,0 +1,12 @@ +================================================= +Sick LIDAR Matlab/C++ Toolbox +================================================= + +Example: lms_partial_scan +Note: This example is NOT COMPATIBLE w/ LMS {211,221,291}-S14 LIDARs! + +Desc: This example illustrates grabbing partial scans using the + Sick LMS driver. + +Example call (from build dir): ./lms_partial_scan /dev/ttyUSB0 9600 + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_partial_scan/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_partial_scan/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_partial_scan/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_partial_scan/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_partial_scan/src/main.cc new file mode 100755 index 0000000..9fe6feb --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_partial_scan/src/main.cc @@ -0,0 +1,140 @@ +/*! + * \file main.cc + * \brief Illustrates how to acquire partial scans + * from the Sick LMS as well as telegram indices. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include +#include + +using namespace std; +using namespace SickToolbox; + +int main(int argc, char* argv[]) { + + string device_str; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::SICK_BAUD_38400; + + unsigned int values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; // Uses macro defined in SickLMS2xx.hh + unsigned int num_values = 0; // Holds the number of measurements returned + unsigned int scan_idx = 0; // Holds the idx for the returned partial scan + unsigned int telegram_idx = 0; // Holds the idx of the telegram associated w/ scan + + /* Check for a device path. If it's not present, print a usage statement. */ + if ((argc != 2 && argc != 3) || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cout << "Usage: lms2xx_partial_scan PATH [BAUD RATE]" << endl + << "Ex: lms2xx_partial_scan /dev/ttyUSB0 9600" << endl; + return -1; + } + + /* Only device path is given */ + if (argc == 2) { + device_str = argv[1]; + } + + /* Device path and baud are given */ + if (argc == 3) { + device_str = argv[1]; + if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) { + cerr << "Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl; + return -1; + } + } + + /* + * Instantiate an instance + */ + SickLMS2xx sick_lms_2xx(device_str); + + /* + * Initialize the Sick LMS 2xx + */ + try { + sick_lms_2xx.Initialize(desired_baud); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct device path?" << endl; + return -1; + } + + /* + * Ensure real-time indices are set + */ + if (sick_lms_2xx.GetSickAvailability() & SickLMS2xx::SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES) { + + try { + + /* + * Set the device variant to 100/0.25 + * + * NOTE: Setting the variant this way ensures that the + * partial scans will start at angles that are a + * multiple of 0.25 deg. + * + */ + sick_lms_2xx.SetSickVariant(SickLMS2xx::SICK_SCAN_ANGLE_100,SickLMS2xx::SICK_SCAN_RESOLUTION_25); + + /* + * Acquire some partial scans from Sick + */ + for (unsigned int i=0; i < 12; i++) { + + /* + * NOTE: Notice that here we are also obtaining the telegram idx. In a + * proper implementation, this value would be used to ensure the + * temporal consistency (acting as a sequence number) of the newly + * obtained partial scan. Here we simply just print it out. + * + * Also, we don't want Field A,B, or C outputs... so we pass in + * NULL for these params. + */ + sick_lms_2xx.GetSickPartialScan(values,num_values,scan_idx,NULL,NULL,NULL,&telegram_idx); + cout << "\t Start angle: " << setw(4) << 0.25*scan_idx << ", Num. Values: " << num_values << ", Msg Idx: " << telegram_idx << endl; + + } + + } + + /* Catch anything else and exit */ + catch(...) { + cerr << "An error occurred!" << endl; + } + + } + + else { + cout << "Please set the Sick LMS to an availability w/ real-time indices..." << endl; + cout << "Hint: Use the lms_config utility/example! :o)"<< endl; + } + + /* + * Uninitialize the device + */ + try { + sick_lms_2xx.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success! */ + return 0; + +} + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_real_time_indices/README b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_real_time_indices/README new file mode 100755 index 0000000..8ff0e16 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_real_time_indices/README @@ -0,0 +1,12 @@ +================================================= +Sick LIDAR Matlab/C++ Toolbox +================================================= + +Example: lms_real_time_indices +Note: This example is COMPATIBLE w/ ALL Sick 2xx LIDAR units! :o) + +Desc: This example provides a simple program template for grabbing + data as well as real-time indices from a Sick LMS 2xx LIDAR. + +Example call (from build dir): ./lms_real_time_indices /dev/ttyUSB0 9600 + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_real_time_indices/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_real_time_indices/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_real_time_indices/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_real_time_indices/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_real_time_indices/src/main.cc new file mode 100755 index 0000000..c94d446 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_real_time_indices/src/main.cc @@ -0,0 +1,125 @@ +/*! + * \file main.cc + * \brief Illustrates how to use the Sick Toolbox C++ interface + * to acquire scan data along with real-time indices from + * a Sick LMS 2xx. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include + +using namespace std; +using namespace SickToolbox; + +int main(int argc, char* argv[]) +{ + + string device_str; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::SICK_BAUD_38400; + + unsigned int values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; // Uses macro defined in SickLMS2xx.hh + unsigned int num_values = 0; // Holds the number of measurements returned + unsigned int telegram_idx = 0; + unsigned int real_time_idx = 0; + + /* Check for a device path. If it's not present, print a usage statement. */ + if ((argc != 2 && argc != 3) || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cout << "Usage: lms2xx_real_time_indices PATH [BAUD RATE]" << endl + << "Ex: lms2xx_real_time_indices /dev/ttyUSB0 9600" << endl; + return -1; + } + + /* Only device path is given */ + if (argc == 2) { + device_str = argv[1]; + } + + /* Device path and baud are given */ + if (argc == 3) { + device_str = argv[1]; + if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) { + cerr << "Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl; + return -1; + } + } + + /* + * Instantiate an instance + */ + SickLMS2xx sick_lms_2xx(device_str); + + /* + * Initialize the Sick LMS 2xx + */ + try { + sick_lms_2xx.Initialize(desired_baud); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct device path?" << endl; + return -1; + } + + /* + * Ensure real-time indices are enabled + */ + if (sick_lms_2xx.GetSickAvailability() & SickLMS2xx::SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES) { + + try { + + /* + * Acquire a few scans from the Sick LMS + */ + for (unsigned int i=0; i < 10; i++) { + + /* We don't want Fields A,B, or C, so we pass NULL */ + sick_lms_2xx.GetSickScan(values,num_values,NULL,NULL,NULL,&telegram_idx,&real_time_idx); + cout << "\t Num. Values: " << num_values << ", Msg Idx: " << telegram_idx + << ", Real-time Idx: " << real_time_idx << endl; + + } + + } + + /* Catch anything else and exit */ + catch(...) { + cerr << "An error occurred!" << endl; + return -1; + } + + } + + else { + cout << "Please set the Sick LMS to an availability w/ real-time indices..." << endl; + cout << "Hint: Use the lms_config utility/example! :o)"<< endl; + } + + /* + * Uninitialize the device + */ + try { + sick_lms_2xx.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success! */ + return 0; + +} + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_set_variant/README b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_set_variant/README new file mode 100755 index 0000000..465d1e5 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_set_variant/README @@ -0,0 +1,12 @@ +================================================= +Sick LIDAR Matlab/C++ Toolbox +================================================= + +Example: lms_set_variant +Note: This example is NOT COMPATIBLE w/ LMS {211,221,291}-S14 LIDARs! + +Desc: This example illustrates the proper way to switch the Sick LMS + variant (i.e. the Sick's FOV and scan resolution). + +Example call (from build dir): ./lms_set_variant /dev/ttyUSB0 9600 + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_set_variant/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_set_variant/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_set_variant/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_set_variant/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_set_variant/src/main.cc new file mode 100755 index 0000000..7c9af5a --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_set_variant/src/main.cc @@ -0,0 +1,155 @@ +/*! + * \file main.cc + * \brief Illustrates how to set the device variant and then + * acquire measured values + * + * Note: This example WILL NOT WORK for LMS 211-S14, 221-S14, + * 291-S14 models as they do not support variant switching. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Implementation dependencies */ +#include +#include +#include +#include + +/* Use the namespace */ +using namespace std; +using namespace SickToolbox; + +int main(int argc, char * argv[]) { + + string device_str; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::SICK_BAUD_38400; + + /* Check for a device path. If it's not present, print a usage statement. */ + if ((argc != 2 && argc != 3) || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cout << "Usage: lms2xx_set_variant PATH [BAUD RATE]" << endl + << "Ex: lms2xx_set_variant /dev/ttyUSB0 9600" << endl; + return -1; + } + + /* Only device path is given */ + if (argc == 2) { + device_str = argv[1]; + } + + /* Device path and baud are given */ + if (argc == 3) { + device_str = argv[1]; + if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) { + cerr << "Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl; + return -1; + } + } + + /* Instantiate the SickLMS2xx class with the device path string. */ + SickLMS2xx sick_lms_2xx(device_str); + + /* Define some buffers to hold the returned measurements */ + unsigned int values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; + unsigned int num_values = 0; + + /* + * Initialize the Sick LMS 2xx + */ + try { + sick_lms_2xx.Initialize(desired_baud); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct device path?" << endl; + return -1; + } + + /* + * Check whether device is LMS Fast + */ + if (!sick_lms_2xx.IsSickLMS2xxFast()) { + + try { + + /* + * Set the device variant to 100/0.25 + * + * NOTE: If an invalid variant definition is + * given a SickConfigException will be + * thrown stating so. + * + */ + cout << "\tSetting variant to 100/0.25" << std::endl << flush; + sick_lms_2xx.SetSickVariant(SickLMS2xx::SICK_SCAN_ANGLE_100,SickLMS2xx::SICK_SCAN_RESOLUTION_25); + + /* + * Acquire some measurements from Sick LMS 2xx using 100/0.25 + */ + cout << "\tAcquiring some measurements..." << endl; + for(unsigned int i = 0; i < 10; i++) { + + /* Acquire the most recent scan from the Sick */ + sick_lms_2xx.GetSickScan(values,num_values); + + /* Display the number of measurements */ + cout << "\t Num. Values: " << num_values << endl; + + } + + /* + * Set the device variant to 180/0.5 + */ + cout << std::endl << "\tSetting variant to 180/0.50" << endl; + sick_lms_2xx.SetSickVariant(SickLMS2xx::SICK_SCAN_ANGLE_180,SickLMS2xx::SICK_SCAN_RESOLUTION_50); + + /* + * Acquire some measurements from Sick LMS 2xx using 180/0.50 + */ + cout << "\tAcquiring some measurements..." << endl; + for(unsigned int i = 0; i < 10; i++) { + + /* Acquire the most recent scan from the Sick */ + sick_lms_2xx.GetSickScan(values,num_values); + + /* Display the number of measured values */ + cout << "\t Num. Values: " << num_values << endl; + + } + + } + + catch(...) { + cerr << "An error occurred!" << endl; + } + + } + + else { + cerr << "Oops... Your Sick is an LMS Fast!" << endl; + cerr << "It doesn't support the variant command." << endl; + } + + /* + * Uninitialize the device + */ + try { + sick_lms_2xx.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success! */ + return 0; + +} diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_simple_app/README b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_simple_app/README new file mode 100755 index 0000000..a58aaa0 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_simple_app/README @@ -0,0 +1,13 @@ +================================================= +Sick LIDAR Matlab/C++ Toolbox +================================================= + +Example: lms_simple_app +Note: This example is COMPATIBLE w/ ALL Sick 2xx LIDAR units! :o) + +Desc: This example provides a simple program template for grabbing + data from a Sick LMS 2xx LIDAR. It illustrates the simplest + use of the Sick LIDAR Toolkit w/ C++. + +Example call (from build dir): ./lms_simple_app /dev/ttyUSB0 9600 + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_simple_app/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_simple_app/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_simple_app/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_simple_app/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_simple_app/src/main.cc new file mode 100755 index 0000000..4ee2fbe --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_simple_app/src/main.cc @@ -0,0 +1,104 @@ +/*! + * \file main.cc + * \brief A simple application using the Sick LMS 2xx driver. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include + +using namespace std; +using namespace SickToolbox; + +int main(int argc, char* argv[]) +{ + + string device_str; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::SICK_BAUD_38400; + + unsigned int values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; // Uses macro defined in SickLMS2xx.hh + unsigned int num_values = 0; // Holds the number of measurements returned + + /* Check for a device path. If it's not present, print a usage statement. */ + if ((argc != 2 && argc != 3) || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cout << "Usage: lms2xx_simple_app PATH [BAUD RATE]" << endl + << "Ex: lms2xx_simple_app /dev/ttyUSB0 9600" << endl; + return -1; + } + + /* Only device path is given */ + if (argc == 2) { + device_str = argv[1]; + } + + /* Device path and baud are given */ + if (argc == 3) { + device_str = argv[1]; + if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) { + cerr << "Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl; + return -1; + } + } + + /* + * Instantiate an instance + */ + SickLMS2xx sick_lms_2xx(device_str); + + /* + * Initialize the Sick LMS 2xx + */ + try { + sick_lms_2xx.Initialize(desired_baud); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct device path?" << endl; + return -1; + } + + /* + * Acquire a few scans from the Sick LMS + */ + try { + + for (unsigned int i=0; i < 10; i++) { + sick_lms_2xx.GetSickScan(values,num_values); + cout << "\t Num. Values: " << num_values << endl; + } + + } + + /* Catch anything else and exit */ + catch(...) { + cerr << "An error occurred!" << endl; + } + + /* + * Uninitialize the device + */ + try { + sick_lms_2xx.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success! */ + return 0; + +} + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_stream_range_and_reflect/README b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_stream_range_and_reflect/README new file mode 100755 index 0000000..62ba5c1 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_stream_range_and_reflect/README @@ -0,0 +1,12 @@ +================================================= +Sick LIDAR Matlab/C++ Toolbox +================================================= + +Example: lms_stream_range_and_reflect +Note: This example is COMPATIBLE w/ ONLY Sick 291-S14 (LMS FAST) LIDAR units! + +Desc: This example provides a simple program template for streaming + range and reflectivity data from a Sick LMS 291-S14 LIDAR. + +Example call (from build dir): ./lms_stream_range_and_reflect /dev/ttyUSB0 9600 + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_stream_range_and_reflect/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_stream_range_and_reflect/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_stream_range_and_reflect/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_stream_range_and_reflect/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_stream_range_and_reflect/src/main.cc new file mode 100755 index 0000000..ce29638 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_stream_range_and_reflect/src/main.cc @@ -0,0 +1,117 @@ +/*! + * \file main.cc + * \brief A simple program illustrating how to stream range + * and reflectivity returns from a Sick LMS 291-S14. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include + +using namespace std; +using namespace SickToolbox; + +int main(int argc, char* argv[]) { + + string device_str; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::SICK_BAUD_38400; + + unsigned int num_range_values; + unsigned int num_reflect_values; + unsigned int range_values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; + unsigned int reflect_values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; + + /* Check for a device path. If it's not present, print a usage statement. */ + if ((argc != 2 && argc != 3) || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) { + cout << "Usage: lms2xx_stream_range_and_reflect PATH [BAUD RATE]" << endl + << "Ex: lms2xx_stream_range_and_reflect /dev/ttyUSB0 9600" << endl; + return -1; + } + + /* Only device path is given */ + if (argc == 2) { + device_str = argv[1]; + } + + /* Device path and baud are given */ + if (argc == 3) { + device_str = argv[1]; + if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) { + cerr << "Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl; + return -1; + } + } + + /* + * Instantiate driver instance + */ + SickLMS2xx sick_lms_2xx(device_str); + + /* + * Initialize the Sick LMS 2xx + */ + try { + sick_lms_2xx.Initialize(desired_baud); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct device path?" << endl; + return -1; + } + + /* + * Ensure it is an LMS Fast model + */ + if (sick_lms_2xx.IsSickLMS2xxFast()) { + + /* + * Grab range and reflectivity data from the Sick LMS Fast + */ + try { + + for (unsigned int i=0; i < 10; i++) { + sick_lms_2xx.GetSickScan(range_values,reflect_values,num_range_values,num_reflect_values); + cout << "Num. Range Vals: " << num_range_values << " Num. Reflect Vals: " << num_reflect_values << endl; + } + + } + + catch (...) { + cerr << "An error occurred!" << endl; + } + + } + + else { + cerr << "Oops... Your Sick is NOT an LMS Fast!" << endl; + cerr << "It doesn't support this kind of stream." << endl; + } + + /* + * Uninitialize the device + */ + try { + sick_lms_2xx.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success! */ + return 0; + +} + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_subrange/README b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_subrange/README new file mode 100755 index 0000000..dc4d8d3 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_subrange/README @@ -0,0 +1,12 @@ +================================================= +Sick LIDAR Matlab/C++ Toolbox +================================================= + +Example: lms_subrange +Note: This example is COMPATIBLE w/ ALL Sick 2xx LIDAR units! :o) + +Desc: This example illustrates how to acquire a scan subrange from + the Sick LMS. + +Example call (from build dir): ./lms_subrange /dev/ttyUSB0 9600 + diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_subrange/src/.deps/main.Po b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_subrange/src/.deps/main.Po new file mode 100755 index 0000000..9ce06a8 --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_subrange/src/.deps/main.Po @@ -0,0 +1 @@ +# dummy diff --git a/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_subrange/src/main.cc b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_subrange/src/main.cc new file mode 100755 index 0000000..99ac49b --- /dev/null +++ b/ros_drivers/sicktoolbox/c++/examples/lms2xx/lms2xx_subrange/src/main.cc @@ -0,0 +1,109 @@ +/*! + * \file main.cc + * \brief A simple program illustrating how to acquire a scan + * subrange from a Sick LMS 2xx. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#include +#include +#include +#include + +using namespace std; +using namespace SickToolbox; + +int main(int argc, char* argv[]) +{ + + string device_str; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::SICK_BAUD_38400; + + unsigned int values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; // Uses macro defined in SickLMS2xx.hh + unsigned int num_values; // Holds the number of measurements returned + + /* Check for a device path. If it's not present, print a usage statement. */ + if ((argc != 2 && argc != 3) || (strcasecmp(argv[1],"--help") == 0)) { + cout << "Usage: lms2xx_subrange PATH [BAUD RATE]" << endl + << "Ex: lms2xx_subrange /dev/ttyUSB0 9600" << endl; + return -1; + } + + /* Only device path is given */ + if (argc == 2) { + device_str = argv[1]; + } + + /* Device path and baud are given */ + if (argc == 3) { + device_str = argv[1]; + if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) { + cerr << "Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl; + return -1; + } + } + + /* + * Instantiate an instance + */ + SickLMS2xx sick_lms_2xx(device_str); + + /* + * Initialize the Sick LMS 2xx + */ + try { + sick_lms_2xx.Initialize(desired_baud); + } + + catch(...) { + cerr << "Initialize failed! Are you using the correct device path?" << endl; + return -1; + } + + try { + + /* + * Acquire a few scans from the Sick LMS + */ + for (unsigned int i=0; i < 10; i++) { + + /* + * Acquire the first ten measurements of a scan from the Sick + */ + sick_lms_2xx.GetSickScanSubrange(1,10,values,num_values); + cout << "\t Num. Values: " << num_values << endl; + + } + + } + + catch(...) { + cerr << "An error occurred!" << endl; + } + + /* + * Uninitialize the device + */ + try { + sick_lms_2xx.Uninitialize(); + } + + catch(...) { + cerr << "Uninitialize failed!" << endl; + return -1; + } + + /* Success! */ + return 0; + +} + diff --git a/ros_drivers/sicktoolbox/doxygen.cfg b/ros_drivers/sicktoolbox/doxygen.cfg new file mode 100755 index 0000000..023bc37 --- /dev/null +++ b/ros_drivers/sicktoolbox/doxygen.cfg @@ -0,0 +1,241 @@ +# Doxygen 1.5.1 + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- +PROJECT_NAME = $(PROJECT)-$(VERSION) +PROJECT_NUMBER = +OUTPUT_DIRECTORY = $(DOCDIR) +CREATE_SUBDIRS = NO +OUTPUT_LANGUAGE = English +USE_WINDOWS_ENCODING = NO +BRIEF_MEMBER_DESC = YES +REPEAT_BRIEF = YES +ABBREVIATE_BRIEF = +ALWAYS_DETAILED_SEC = NO +INLINE_INHERITED_MEMB = NO +FULL_PATH_NAMES = YES +STRIP_FROM_PATH = $(SRCDIR) +STRIP_FROM_INC_PATH = $(SRCDIR) +SHORT_NAMES = YES +JAVADOC_AUTOBRIEF = NO +MULTILINE_CPP_IS_BRIEF = NO +DETAILS_AT_TOP = NO +INHERIT_DOCS = YES +SEPARATE_MEMBER_PAGES = NO +TAB_SIZE = 8 +ALIASES = +OPTIMIZE_OUTPUT_FOR_C = NO +OPTIMIZE_OUTPUT_JAVA = NO +BUILTIN_STL_SUPPORT = NO +DISTRIBUTE_GROUP_DOC = NO +SUBGROUPING = YES + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- +EXTRACT_ALL = YES +EXTRACT_PRIVATE = NO +EXTRACT_STATIC = NO +EXTRACT_LOCAL_CLASSES = YES +EXTRACT_LOCAL_METHODS = NO +HIDE_UNDOC_MEMBERS = NO +HIDE_UNDOC_CLASSES = NO +HIDE_FRIEND_COMPOUNDS = NO +HIDE_IN_BODY_DOCS = NO +INTERNAL_DOCS = NO +CASE_SENSE_NAMES = YES +HIDE_SCOPE_NAMES = NO +SHOW_INCLUDE_FILES = YES +INLINE_INFO = YES +SORT_MEMBER_DOCS = YES +SORT_BRIEF_DOCS = NO +SORT_BY_SCOPE_NAME = NO +GENERATE_TODOLIST = YES +GENERATE_TESTLIST = YES +GENERATE_BUGLIST = YES +GENERATE_DEPRECATEDLIST= YES +ENABLED_SECTIONS = +MAX_INITIALIZER_LINES = 30 +SHOW_USED_FILES = YES +SHOW_DIRECTORIES = NO +FILE_VERSION_FILTER = + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- +QUIET = NO +WARNINGS = YES +WARN_IF_UNDOCUMENTED = YES +WARN_IF_DOC_ERROR = YES +WARN_NO_PARAMDOC = NO +WARN_FORMAT = "$file:$line: $text" +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- +INPUT = $(SRCDIR) +FILE_PATTERNS = *.cc *.hh +RECURSIVE = YES +EXCLUDE = $(SRCDIR)/c++/examples +EXCLUDE_SYMLINKS = NO +EXCLUDE_PATTERNS = +EXAMPLE_PATH = +EXAMPLE_PATTERNS = +EXAMPLE_RECURSIVE = NO +IMAGE_PATH = +INPUT_FILTER = +FILTER_PATTERNS = +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- +SOURCE_BROWSER = NO +INLINE_SOURCES = NO +STRIP_CODE_COMMENTS = NO +REFERENCED_BY_RELATION = YES +REFERENCES_RELATION = YES +REFERENCES_LINK_SOURCE = YES +USE_HTAGS = NO +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- +ALPHABETICAL_INDEX = YES +COLS_IN_ALPHA_INDEX = 5 +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- +GENERATE_HTML = $(GENERATE_HTML) +HTML_OUTPUT = html +HTML_FILE_EXTENSION = .html +HTML_HEADER = +HTML_FOOTER = +HTML_STYLESHEET = +HTML_ALIGN_MEMBERS = YES +GENERATE_HTMLHELP = $(GENERATE_CHM) +CHM_FILE = ../$(PROJECT).chm +HHC_LOCATION = $(HHC_PATH) +GENERATE_CHI = $(GENERATE_CHI) +BINARY_TOC = NO +TOC_EXPAND = NO +DISABLE_INDEX = NO +ENUM_VALUES_PER_LINE = 4 +GENERATE_TREEVIEW = YES +TREEVIEW_WIDTH = 250 + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- +GENERATE_LATEX = $(GENERATE_LATEX) +LATEX_OUTPUT = latex +LATEX_CMD_NAME = latex +MAKEINDEX_CMD_NAME = makeindex +COMPACT_LATEX = NO +PAPER_TYPE = $(PAPER_SIZE) +EXTRA_PACKAGES = +LATEX_HEADER = +PDF_HYPERLINKS = NO +USE_PDFLATEX = NO +LATEX_BATCHMODE = YES +LATEX_HIDE_INDICES = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- +GENERATE_RTF = $(GENERATE_RTF) +RTF_OUTPUT = rtf +COMPACT_RTF = NO +RTF_HYPERLINKS = NO +RTF_STYLESHEET_FILE = +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- +GENERATE_MAN = $(GENERATE_MAN) +MAN_OUTPUT = man +MAN_EXTENSION = .1 +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- +GENERATE_XML = $(GENERATE_XML) +XML_OUTPUT = xml +XML_SCHEMA = +XML_DTD = +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- +GENERATE_PERLMOD = NO +PERLMOD_LATEX = NO +PERLMOD_PRETTY = YES +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- +ENABLE_PREPROCESSING = YES +MACRO_EXPANSION = NO +EXPAND_ONLY_PREDEF = NO +SEARCH_INCLUDES = YES +INCLUDE_PATH = +INCLUDE_FILE_PATTERNS = +PREDEFINED = +EXPAND_AS_DEFINED = +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- +TAGFILES = +GENERATE_TAGFILE = $(DOCDIR)/$(PROJECT).tag +ALLEXTERNALS = NO +EXTERNAL_GROUPS = YES +PERL_PATH = $(PERL_PATH) + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- +CLASS_DIAGRAMS = YES +HIDE_UNDOC_RELATIONS = YES +HAVE_DOT = $(HAVE_DOT) +CLASS_GRAPH = YES +COLLABORATION_GRAPH = YES +GROUP_GRAPHS = YES +UML_LOOK = NO +TEMPLATE_RELATIONS = NO +INCLUDE_GRAPH = YES +INCLUDED_BY_GRAPH = YES +CALL_GRAPH = NO +CALLER_GRAPH = NO +GRAPHICAL_HIERARCHY = YES +DIRECTORY_GRAPH = YES +DOT_IMAGE_FORMAT = png +DOT_PATH = $(DOT_PATH) +DOTFILE_DIRS = +MAX_DOT_GRAPH_WIDTH = 1024 +MAX_DOT_GRAPH_HEIGHT = 1024 +MAX_DOT_GRAPH_DEPTH = 0 +DOT_TRANSPARENT = NO +DOT_MULTI_TARGETS = NO +GENERATE_LEGEND = YES +DOT_CLEANUP = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to the search engine +#--------------------------------------------------------------------------- +SEARCHENGINE = NO diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickBufferMonitor.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickBufferMonitor.hh new file mode 100755 index 0000000..b2ec539 --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickBufferMonitor.hh @@ -0,0 +1,471 @@ +/*! + * \file SickBufferMonitor.hh + * \brief Defines an abstract class for interfacing with a Sick LIDAR. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_BUFFER_MONITOR +#define SICK_BUFFER_MONITOR + +/* Dependencies */ +#include +#include +#include +#include "SickException.hh" + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \class SickBufferMonitor + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + class SickBufferMonitor { + + public: + + /** A standard constructor */ + SickBufferMonitor( SICK_MONITOR_CLASS * const monitor_instance ) throw( SickThreadException ); + + /** A method for setting the target data stream */ + void SetDataStream( const unsigned int sick_fd ) throw( SickThreadException ); + + /** Start the buffer monitor for the device */ + void StartMonitor( const unsigned int sick_fd ) throw( SickThreadException ); + + /** Acquire the most recent message buffered by the monitor */ + bool GetNextMessageFromMonitor( SICK_MSG_CLASS &sick_message ) throw( SickThreadException ); + + /** Stop the buffer monitor for the device */ + void StopMonitor( ) throw( SickThreadException ); + + /** Locks access to the data stream */ + void AcquireDataStream( ) throw( SickThreadException ); + + /** Acquire the next message from raw byte stream */ + void GetNextMessageFromDataStream( SICK_MSG_CLASS &sick_message ); + + /** Unlock access to the data stream */ + void ReleaseDataStream( ) throw( SickThreadException ); + + /** A standard destructor */ + ~SickBufferMonitor( ) throw( SickThreadException ); + + protected: + + /** Sick data stream file descriptor */ + unsigned int _sick_fd; + + /** Reads n bytes into the destination buffer */ + void _readBytes( uint8_t * const dest_buffer, const int num_bytes_to_read, const unsigned int timeout_value = 0 ) const throw ( SickTimeoutException, SickIOException ); + + private: + + /** The current monitor instance */ + SICK_MONITOR_CLASS *_sick_monitor_instance; + + /** A flag to indicate the monitor should continue running */ + bool _continue_grabbing; + + /** Buffer monitor thread ID */ + pthread_t _monitor_thread_id; + + /** A mutex for guarding the message container */ + pthread_mutex_t _container_mutex; + + /** A mutex for locking the data stream */ + pthread_mutex_t _stream_mutex; + + /** A container to hold the most recent message */ + SICK_MSG_CLASS _recv_msg_container; + + /** Locks access to the message container */ + void _acquireMessageContainer( ) throw( SickThreadException ); + + /** Unlocks access to the message container */ + void _releaseMessageContainer( ) throw( SickThreadException ); + + /** Entry point for the monitor thread */ + static void * _bufferMonitorThread( void * thread_args ); + + }; + + /** + * \brief Primary constructor + * \param device_instance A pointer to the current driver instance + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::SickBufferMonitor( SICK_MONITOR_CLASS * const monitor_instance ) throw( SickThreadException ) : + _sick_monitor_instance(monitor_instance), _continue_grabbing(true), _monitor_thread_id(0) { + + /* Initialize the shared message buffer mutex */ + if (pthread_mutex_init(&_container_mutex,NULL) != 0) { + throw SickThreadException("SickBufferMonitor::SickBufferMonitor: pthread_mutex_init() failed!"); + } + + /* Initialize the shared data stream mutex */ + if (pthread_mutex_init(&_stream_mutex,NULL) != 0) { + throw SickThreadException("SickBufferMonitor::SickBufferMonitor: pthread_mutex_init() failed!"); + } + + } + + /** + * \brief A method for setting/changing the current data stream + * \param sick_fd The data stream file descriptor + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::SetDataStream( const unsigned int sick_fd ) throw ( SickThreadException ) { + + try { + + /* Attempt to acquire the data stream */ + AcquireDataStream(); + + /* Assign the data stream fd */ + _sick_fd = sick_fd; + + /* Attempt to release the data stream */ + ReleaseDataStream(); + + } + + /* Handle thread exception */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + } + + /* A safety net */ + catch(...) { + std::cerr << "SickBufferMonitor::SetDataStream: Unknown exception!" << std::endl; + throw; + } + + } + + /** + * \brief Creates and starts the buffer monitor thread + * \return True upon success, False otherwise + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::StartMonitor( const unsigned int sick_fd ) throw ( SickThreadException ) { + + /* Assign the fd associated with the data stream */ + _sick_fd = sick_fd; + + /* Start the buffer monitor */ + if (pthread_create(&_monitor_thread_id,NULL,SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_bufferMonitorThread,_sick_monitor_instance) != 0) { + throw SickThreadException("SickBufferMonitor::StartMonitor: pthread_create() failed!"); + } + + /* Set the flag to continue grabbing data */ + _continue_grabbing = true; + + } + + /** + * \brief Checks the message container for the next available Sick message + * \param &sick_message The message object that is to be populated with the results + * \return True if the current contents were acquired, false otherwise + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + bool SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::GetNextMessageFromMonitor( SICK_MSG_CLASS &sick_message ) throw( SickThreadException ) { + + bool acquired_message = false; + + try { + + /* Acquire a lock on the message buffer */ + _acquireMessageContainer(); + + /* Check whether the object is populated */ + if (_recv_msg_container.IsPopulated()) { + + /* Copy the shared message */ + sick_message = _recv_msg_container; + _recv_msg_container.Clear(); + + /* Set the flag indicating success */ + acquired_message = true; + } + + /* Release message container */ + _releaseMessageContainer(); + + } + + /* Handle a thread exception */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle an unknown exception */ + catch(...) { + std::cerr << "SickBufferMonitor::CheckMessageContainer: Unknown exception!" << std::endl; + throw; + } + + /* Return the flag */ + return acquired_message; + } + + /** + * \brief Cancels the buffer monitor thread + * \return True if the thread was properly canceled, false otherwise + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::StopMonitor( ) throw ( SickThreadException ) { + + try { + + /* Return results from the thread */ + void *monitor_result = NULL; + + /* Tell the thread to quit working */ + AcquireDataStream(); + _continue_grabbing = false; + ReleaseDataStream(); + + /* Wait for the buffer monitor to exit */ + if (pthread_join(_monitor_thread_id,&monitor_result) != 0) { + throw SickThreadException("SickBufferMonitor::StopMonitor: pthread_join() failed!"); + } + + } + + /* Handle thread exception */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + } + + /* A safety net */ + catch(...) { + std::cerr << "SickBufferMonitor::StopMonitor: Unknown exception!" << std::endl; + throw; + } + + } + + /** + * \brief Acquires a lock on the data stream + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::AcquireDataStream( ) throw( SickThreadException ) { + + /* Attempt to lock the stream mutex */ + if (pthread_mutex_lock(&_stream_mutex) != 0) { + throw SickThreadException("SickBufferMonitor::AcquireDataStream: pthread_mutex_lock() failed!"); + } + + } + + /** + * \brief Releases a lock on the data stream + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::ReleaseDataStream( ) throw( SickThreadException ) { + + /* Attempt to lock the stream mutex */ + if (pthread_mutex_unlock(&_stream_mutex) != 0) { + throw SickThreadException("SickBufferMonitor::ReleaseDataStream: pthread_mutex_unlock() failed!"); + } + + } + + /** + * \brief The destructor (kills the mutex) + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::~SickBufferMonitor( ) throw( SickThreadException ) { + + /* Destroy the message container mutex */ + if (pthread_mutex_destroy(&_container_mutex) != 0) { + throw SickThreadException("SickBufferMonitor::~SickBufferMonitor: pthread_mutex_destroy() failed!"); + } + + /* Destroy the data stream container mutex */ + if (pthread_mutex_destroy(&_stream_mutex) != 0) { + throw SickThreadException("SickBufferMonitor::~SickBufferMonitor: pthread_mutex_destroy() failed!"); + } + + } + + /** + * \brief Locks access to the message container + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_acquireMessageContainer( ) throw( SickThreadException ) { + + /* Lock the mutex */ + if (pthread_mutex_lock(&_container_mutex) != 0) { + throw SickThreadException("SickBufferMonitor::_acquireMessageContainer: pthread_mutex_lock() failed!"); + } + + } + + /** + * \brief Unlocks access to the message container + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_releaseMessageContainer( ) throw( SickThreadException ) { + + /* Unlock the mutex */ + if (pthread_mutex_unlock(&_container_mutex) != 0) { + throw SickThreadException("SickBufferMonitor::_releaseMessageContainer: pthread_mutex_unlock() failed!"); + } + + } + + /** + * \brief Attempt to read a certain number of bytes from the stream + * \param *dest_buffer A pointer to the destination buffer + * \param num_bytes_to_read The number of bytes to read into the buffer + * \param timeout_value The number of microseconds allowed between subsequent bytes in a message + * \return True if the number of requested bytes were successfully read + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_readBytes( uint8_t * const dest_buffer, const int num_bytes_to_read, const unsigned int timeout_value ) const + throw ( SickTimeoutException, SickIOException ) { + + /* Some helpful variables */ + int num_bytes_read = 0; + int total_num_bytes_read = 0; + int num_active_files = 0; + + struct timeval timeout_val; // This structure will be used for setting our timeout values + fd_set file_desc_set; // File descriptor set for monitoring I/O + + /* Attempt to fetch the bytes */ + while ( total_num_bytes_read < num_bytes_to_read ) { + + /* Initialize and set the file descriptor set for select */ + FD_ZERO(&file_desc_set); + FD_SET(_sick_fd,&file_desc_set); + + /* Setup the timeout structure */ + memset(&timeout_val,0,sizeof(timeout_val)); // Initialize the buffer + timeout_val.tv_usec = timeout_value; // Wait for specified time before throwing a timeout + + /* Wait for the OS to tell us that data is waiting! */ + num_active_files = select(getdtablesize(),&file_desc_set,0,0,(timeout_value > 0) ? &timeout_val : 0); + + /* Figure out what to do based on the output of select */ + if (num_active_files > 0) { + + /* A file is ready for reading! + * + * NOTE: The following conditional is just a sanity check. Since + * the file descriptor set only contains the sick device fd, + * it likely unnecessary to use FD_ISSET + */ + if (FD_ISSET(_sick_fd,&file_desc_set)) { + + /* Read a single byte from the stream! */ + num_bytes_read = read(_sick_fd,&dest_buffer[total_num_bytes_read],1); + + /* Decide what to do based on the output of read */ + if (num_bytes_read > 0) { //Update the number of bytes read so far + total_num_bytes_read += num_bytes_read; + } + else { + /* If this happens, something is wrong */ + throw SickIOException("SickBufferMonitor::_readBytes: read() failed!"); + } + + } + + } + else if (num_active_files == 0) { + + /* A timeout has occurred! */ + throw SickTimeoutException("SickBufferMonitor::_readBytes: select() timeout!"); + + } + else { + + /* An error has occurred! */ + throw SickIOException("SickBufferMonitor::_readBytes: select() failed!"); + + } + + } + + } + + /** + * \brief The monitor thread + * \param *args The thread arguments + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void * SickBufferMonitor< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_bufferMonitorThread( void * thread_args ) { + + /* Declare a Sick LD receive object */ + SICK_MSG_CLASS curr_message; + + /* Acquire the Sick device instance */ + SICK_MONITOR_CLASS *buffer_monitor = (SICK_MONITOR_CLASS *)thread_args; + + /* The main thread control loop */ + for (;;) { + + try { + + /* Reset the sick message object */ + curr_message.Clear(); + + /* Acquire the most recent message */ + buffer_monitor->AcquireDataStream(); + + if (!buffer_monitor->_continue_grabbing) { // should the thread continue grabbing + buffer_monitor->ReleaseDataStream(); + break; + } + + buffer_monitor->GetNextMessageFromDataStream(curr_message); + buffer_monitor->ReleaseDataStream(); + + /* Update message container contents */ + buffer_monitor->_acquireMessageContainer(); + buffer_monitor->_recv_msg_container = curr_message; + buffer_monitor->_releaseMessageContainer(); + + } + + /* Make sure there wasn't a serious error reading from the buffer */ + catch(SickIOException &sick_io_exception) { + std::cerr << sick_io_exception.what() << std::endl; + } + + /* Catch any thread exceptions */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + } + + /* A failsafe */ + catch(...) { + std::cerr << "SickBufferMonitor::_bufferMonitorThread: Unknown exception!" << std::endl; + } + + /* sleep a bit! */ + usleep(1000); + + } + + /* Thread is done */ + return NULL; + + } + +} /* namespace SickToolbox */ + +#endif /* SICK_BUFFER_MONITOR */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickConfig.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickConfig.hh new file mode 100755 index 0000000..ac4436c --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickConfig.hh @@ -0,0 +1,186 @@ +/* c++/drivers/base/src/SickConfig.hh. Generated from SickConfig.hh.in by configure. */ +/* c++/drivers/base/src/SickConfig.hh.in. Generated from configure.ac by autoheader. */ + +/* Define if building universal (internal helper macro) */ +/* #undef AC_APPLE_UNIVERSAL_BUILD */ + +/* Define to 1 if you have the header file. */ +#define HAVE_ARPA_INET_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_DLFCN_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_FCNTL_H 1 + +/* Define to 1 if you have the `gettimeofday' function. */ +#define HAVE_GETTIMEOFDAY 1 + +/* Define if you have gnuplot */ +/* #undef HAVE_GNUPLOT */ + +/* Define to 1 if you have the header file. */ +#define HAVE_INTTYPES_H 1 + +/* Define if you have linux/serial.h */ +#define HAVE_LINUX_SERIAL_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_MEMORY_H 1 + +/* Define to 1 if you have the `memset' function. */ +#define HAVE_MEMSET 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_NETINET_IN_H 1 + +/* Define if you have POSIX threads libraries and header files. */ +#define HAVE_PTHREAD 1 + +/* Define to 1 if you have the `select' function. */ +#define HAVE_SELECT 1 + +/* Define to 1 if you have the `socket' function. */ +#define HAVE_SOCKET 1 + +/* Define to 1 if stdbool.h conforms to C99. */ +#define HAVE_STDBOOL_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_STDINT_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_STDLIB_H 1 + +/* Define to 1 if you have the `strcasecmp' function. */ +#define HAVE_STRCASECMP 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_STRINGS_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_STRING_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_SYS_IOCTL_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_SYS_SELECT_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_SYS_SOCKET_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_SYS_STAT_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_SYS_TIME_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_SYS_TYPES_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_TERMIOS_H 1 + +/* Define to 1 if you have the header file. */ +#define HAVE_UNISTD_H 1 + +/* Define to 1 if the system has the type `_Bool'. */ +#define HAVE__BOOL 1 + +/* Define to the sub-directory in which libtool stores uninstalled libraries. + */ +#define LT_OBJDIR ".libs/" + +/* Name of package */ +#define PACKAGE "sicktoolbox" + +/* Define to the address where bug reports for this package should be sent. */ +#define PACKAGE_BUGREPORT "jasonder@seas.upenn.edu" + +/* Define to the full name of this package. */ +#define PACKAGE_NAME "SickToolbox" + +/* Define to the full name and version of this package. */ +#define PACKAGE_STRING "SickToolbox 1.1" + +/* Define to the one symbol short name of this package. */ +#define PACKAGE_TARNAME "sicktoolbox" + +/* Define to the home page for this package. */ +#define PACKAGE_URL "" + +/* Define to the version of this package. */ +#define PACKAGE_VERSION "1.1" + +/* Define to necessary symbol if this constant uses a non-standard name on + your system. */ +/* #undef PTHREAD_CREATE_JOINABLE */ + +/* Define as the return type of signal handlers (`int' or `void'). */ +#define RETSIGTYPE void + +/* Define to the type of arg 1 for `select'. */ +#define SELECT_TYPE_ARG1 int + +/* Define to the type of args 2, 3 and 4 for `select'. */ +#define SELECT_TYPE_ARG234 (fd_set *) + +/* Define to the type of arg 5 for `select'. */ +#define SELECT_TYPE_ARG5 (struct timeval *) + +/* Define to 1 if you have the ANSI C header files. */ +#define STDC_HEADERS 1 + +/* Define to 1 if you can safely include both and . */ +#define TIME_WITH_SYS_TIME 1 + +/* Version number of package */ +#define VERSION "1.1" + +/* Define WORDS_BIGENDIAN to 1 if your processor stores words with the most + significant byte first (like Motorola and SPARC, unlike Intel). */ +#if defined AC_APPLE_UNIVERSAL_BUILD +# if defined __BIG_ENDIAN__ +# define WORDS_BIGENDIAN 1 +# endif +#else +# ifndef WORDS_BIGENDIAN +/* # undef WORDS_BIGENDIAN */ +# endif +#endif + +/* Define for Solaris 2.5.1 so the uint32_t typedef from , + , or is not used. If the typedef were allowed, the + #define below would cause a syntax error. */ +/* #undef _UINT32_T */ + +/* Define for Solaris 2.5.1 so the uint8_t typedef from , + , or is not used. If the typedef were allowed, the + #define below would cause a syntax error. */ +/* #undef _UINT8_T */ + +/* Define to empty if `const' does not conform to ANSI C. */ +/* #undef const */ + +/* Define to `__inline__' or `__inline' if that's what the C compiler + calls it, or to nothing if 'inline' is not supported under any name. */ +#ifndef __cplusplus +/* #undef inline */ +#endif + +/* Define to the type of a signed integer type of width exactly 16 bits if + such a type exists and the standard includes do not define it. */ +/* #undef int16_t */ + +/* Define to the type of an unsigned integer type of width exactly 16 bits if + such a type exists and the standard includes do not define it. */ +/* #undef uint16_t */ + +/* Define to the type of an unsigned integer type of width exactly 32 bits if + such a type exists and the standard includes do not define it. */ +/* #undef uint32_t */ + +/* Define to the type of an unsigned integer type of width exactly 8 bits if + such a type exists and the standard includes do not define it. */ +/* #undef uint8_t */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickException.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickException.hh new file mode 100755 index 0000000..c4efda2 --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickException.hh @@ -0,0 +1,244 @@ +/*! + * \file SickException.hh + * \brief Contains some simple exception classes. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_EXCEPTION +#define SICK_EXCEPTION + +/* Definition dependencies */ +#include +#include + +/* Associate the namespace */ +namespace SickToolbox { + + /** \class SickException + * \brief Provides a base exception class from + * which to derive other Sick exceptions + */ + class SickException : std::exception { + + public: + + /** + * \brief A standard constructor + * \param general_str A descriptive "general" string + */ + SickException( const std::string general_str ) { + _detailed_msg = general_str; + } + + /** + * \brief A standard constructor + * \param general_str A descriptive "general" string + * \param detailed_str A more detailed description + */ + SickException( const std::string general_str, const std::string detailed_str ) { + _detailed_msg = general_str + " " + detailed_str; + } + + /** + * \brief From the standard exception library + */ + virtual const char* what( ) const throw() { + return _detailed_msg.c_str(); + } + + /** + * \brief A destructor + */ + ~SickException() throw() {} + + private: + + /** The string identifier */ + std::string _detailed_msg; + + }; + + /** + * \class SickTimeoutException + * \brief Makes handling timeouts much easier + */ + class SickTimeoutException : public SickException { + + public: + + /** + * \brief A constructor + */ + SickTimeoutException() : + SickException("A Timeout Occurred!") { } + + /** + * \brief A constructor + * \param detailed_str A more detailed description + */ + SickTimeoutException( const std::string detailed_str ) : + SickException("A Timeout Occurred -",detailed_str) { } + + /** + * \brief A destructor + */ + ~SickTimeoutException() throw() { } + + }; + + /** + * \class SickIOException + * \brief Thrown instance where the driver can't + * read,write,drain,flush,... the buffers + */ + class SickIOException : public SickException { + + public: + + /** + * \brief A constructor + */ + SickIOException() : + SickException("ERROR: I/O exception!") { } + + /** + * \brief Another constructor + * \param detailed_str A more detailed description + */ + SickIOException( const std::string detailed_str ) : + SickException("ERROR: I/O exception -",detailed_str) { } + + /** + * \brief A destructor + */ + ~SickIOException() throw() { } + + }; + + /** + * \class SickBadChecksumException + * \brief Thrown when a received message has an + * invalid checksum + */ + class SickBadChecksumException : public SickException { + + public: + + /** + * \brief A constructor + */ + SickBadChecksumException() : + SickException("ERROR: Bad Checksum!") { } + + /** + * \brief Another constructor + * \param detailed_str A more detailed description + */ + SickBadChecksumException( const std::string detailed_str ) : + SickException("ERROR: Bad Checksum -",detailed_str) { } + + /** + * \brief A destructor + */ + ~SickBadChecksumException() throw() { } + + }; + + /** + * \class SickThreadException + * \brief Thrown when error occurs during thread + * initialization, and uninitialization + */ + class SickThreadException : public SickException { + + public: + + /** + * \brief A constructor + */ + SickThreadException() : + SickException("ERROR: Sick thread exception!") { } + + /** + * \brief Another constructor + * \param detailed_str A more detailed description + */ + SickThreadException( const std::string detailed_str ) : + SickException("ERROR: Sick thread exception -",detailed_str) { } + + /** + * \brief A destructor + */ + ~SickThreadException() throw() { } + + }; + + /** + * \class SickConfigException + * \brief Thrown when the driver detects (or the Sick reports) + * an invalid config + */ + class SickConfigException : public SickException { + + public: + + /** + * \brief A constructor + */ + SickConfigException() : + SickException("ERROR: Config exception!") { } + + /** + * \brief Another constructor + * \param detailed_str A more detailed description + */ + SickConfigException( const std::string detailed_str ) : + SickException("ERROR: Config exception -",detailed_str) { } + + /** + * \brief A destructor + */ + ~SickConfigException() throw() { } + + }; + + /** + * \class SickErrorException + * \brief Thrown when Sick returns an error code + * or an unexpected response. + */ + class SickErrorException : public SickException { + + public: + + /** + * \brief A constructor + */ + SickErrorException() : + SickException("ERROR: Sick returned error code!") { }; + + /** + * \brief Another constructor + * \param detailed_str A more detailed description + */ + SickErrorException( const std::string detailed_str ) : + SickException("ERROR: Sick error -", detailed_str) { } + + /** + * \brief A destructor + */ + ~SickErrorException() throw() { } + + }; +} /* namespace SickToolbox */ + +#endif /* SICK_EXCEPTION */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLD.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLD.hh new file mode 100755 index 0000000..53c429c --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLD.hh @@ -0,0 +1,805 @@ +/*! + * \file SickLD.hh + * \brief Defines the SickLD class for working with the + * Sick LD-OEM/LD-LRS long range LIDARs. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LD_HH +#define SICK_LD_HH + +/* Macros */ +#define DEFAULT_SICK_IP_ADDRESS "192.168.1.10" ///< Default Sick LD INet 4 address +#define DEFAULT_SICK_TCP_PORT (49152) ///< Default TCP port +#define DEFAULT_SICK_MESSAGE_TIMEOUT (unsigned int)(5e6) ///< The max time to wait for a message reply (usecs) +#define DEFAULT_SICK_CONNECT_TIMEOUT (unsigned int)(1e6) ///< The max time to wait before considering a connection attempt as failed (usecs) +#define DEFAULT_SICK_NUM_SCAN_PROFILES (0) ///< Setting this value to 0 will tell the Sick LD to stream measurements when measurement data is requested (NOTE: A profile is a single scans worth of range measurements) +#define DEFAULT_SICK_SIGNAL_SET (0) ///< Default Sick signal configuration + +/** + * \def SWAP_VALUES(x,y,t) + * \brief A simple macro for swapping two values. + */ +#define SWAP_VALUES(x,y,t) (t=x,x=y,y=t); + +/* Definition dependencies */ +#include +#include +#include +#include + +#include "SickLIDAR.hh" +#include "SickLDBufferMonitor.hh" +#include "SickLDMessage.hh" +#include "SickException.hh" + +/** + * \namespace SickToolbox + * \brief Encapsulates the Sick LIDAR Matlab/C++ toolbox + */ +namespace SickToolbox { + + /** + * \class SickLD + * \brief Provides a simple driver interface for working with the + * Sick LD-OEM/Sick LD-LRS long-range models via Ethernet. + */ + class SickLD : public SickLIDAR< SickLDBufferMonitor, SickLDMessage > { + + public: + + /* Some constants for the developer/end-user */ + static const uint16_t SICK_MAX_NUM_MEASUREMENTS = 2881; ///< Maximum number of measurements per sector + static const uint16_t SICK_MAX_NUM_SECTORS = 8; ///< Maximum number of scan sectors (NOTE: This value must be even) + static const uint16_t SICK_MAX_NUM_MEASURING_SECTORS = 4; ///< Maximum number of active/measuring scan sectors + static const uint16_t SICK_MAX_SCAN_AREA = 360; ///< Maximum area that can be covered in a single scan (deg) + static const uint16_t SICK_MIN_MOTOR_SPEED = 5; ///< Minimum motor speed in Hz + static const uint16_t SICK_MAX_MOTOR_SPEED = 20; ///< Maximum motor speed in Hz + static const uint16_t SICK_MIN_VALID_SENSOR_ID = 1; ///< The lowest value the Sick will accept as a Sensor ID + static const uint16_t SICK_MAX_VALID_SENSOR_ID = 254; ///< The largest value the Sick will accept as a Sensor ID + static const uint16_t SICK_MAX_MEAN_PULSE_FREQUENCY = 10800; ///< Max mean pulse frequence of the current device configuration (in Hz) (see page 22 of the operator's manual) + static const uint16_t SICK_MAX_PULSE_FREQUENCY = 14400; ///< Max pulse frequency of the device (in Hz) (see page 22 of the operator's manual) + static const uint16_t SICK_NUM_TICKS_PER_MOTOR_REV = 5760; ///< Odometer ticks per revolution of the Sick LD scan head + static constexpr double SICK_MAX_SCAN_ANGULAR_RESOLUTION = 0.125; ///< Minimum valid separation between laser pulses in active scan ares (deg) + static constexpr double SICK_DEGREES_PER_MOTOR_STEP = 0.0625; ///< Each odometer tick is equivalent to rotating the scan head this many degrees + + /* Sick LD sensor modes of operation */ + static const uint8_t SICK_SENSOR_MODE_IDLE = 0x01; ///< The Sick LD is powered but idle + static const uint8_t SICK_SENSOR_MODE_ROTATE = 0x02; ///< The Sick LD prism is rotating, but laser is off + static const uint8_t SICK_SENSOR_MODE_MEASURE = 0x03; ///< The Sick LD prism is rotating, and the laser is on + static const uint8_t SICK_SENSOR_MODE_ERROR = 0x04; ///< The Sick LD is in error mode + static const uint8_t SICK_SENSOR_MODE_UNKNOWN = 0xFF; ///< The Sick LD is in an unknown state + + /* Sick LD motor modes */ + static const uint8_t SICK_MOTOR_MODE_OK = 0x00; ///< Motor is functioning properly + static const uint8_t SICK_MOTOR_MODE_SPIN_TOO_HIGH = 0x09; ///< Motor spin too low (i.e. rotational velocity too low) + static const uint8_t SICK_MOTOR_MODE_SPIN_TOO_LOW = 0x04; ///< Motor spin too high (i.e. rotational velocity too fast) + static const uint8_t SICK_MOTOR_MODE_ERROR = 0x0B; ///< Motor stops or coder error + static const uint8_t SICK_MOTOR_MODE_UNKNOWN = 0xFF; ///< Motor is in an unknown state + + /* Sick LD service codes */ + static const uint8_t SICK_STAT_SERV_CODE = 0x01; ///< Status service code + static const uint8_t SICK_CONF_SERV_CODE = 0x02; ///< Configuration service code + static const uint8_t SICK_MEAS_SERV_CODE = 0x03; ///< Measurement service code + static const uint8_t SICK_WORK_SERV_CODE = 0x04; ///< Working service code + static const uint8_t SICK_ROUT_SERV_CODE = 0x06; ///< Routing service code + static const uint8_t SICK_FILE_SERV_CODE = 0x07; ///< File service code + static const uint8_t SICK_MONR_SERV_CODE = 0x08; ///< Monitor service code + + /* Sick LD status services (service code 0x01) */ + static const uint8_t SICK_STAT_SERV_GET_ID = 0x01; ///< Request the Sick LD ID + static const uint8_t SICK_STAT_SERV_GET_STATUS = 0x02; ///< Request status information + static const uint8_t SICK_STAT_SERV_GET_SIGNAL = 0x04; ///< Reads the value of the switch and LED port + static const uint8_t SICK_STAT_SERV_SET_SIGNAL = 0x05; ///< Sets the switches and LEDs + static const uint8_t SICK_STAT_SERV_LD_REGISTER_APPLICATION = 0x06; ///< Registers the ID data for the application firmware + + /* Sick LD status service GET_IDENTIFICATION request codes */ + static const uint8_t SICK_STAT_SERV_GET_ID_SENSOR_PART_NUM = 0x00; ///< Request the sensor's part number + static const uint8_t SICK_STAT_SERV_GET_ID_SENSOR_NAME = 0x01; ///< Request the sensor's name + static const uint8_t SICK_STAT_SERV_GET_ID_SENSOR_VERSION = 0x02; ///< Request the sensor's version + static const uint8_t SICK_STAT_SERV_GET_ID_SENSOR_SERIAL_NUM = 0x03; ///< Request the sensor's serial number + static const uint8_t SICK_STAT_SERV_GET_ID_SENSOR_EDM_SERIAL_NUM = 0x04; ///< Request the edm??? serial number + static const uint8_t SICK_STAT_SERV_GET_ID_FIRMWARE_PART_NUM = 0x10; ///< Requess the firmware's part number + static const uint8_t SICK_STAT_SERV_GET_ID_FIRMWARE_NAME = 0x11; ///< Request the firmware's name + static const uint8_t SICK_STAT_SERV_GET_ID_FIRMWARE_VERSION = 0x12; ///< Request the firmware's version + static const uint8_t SICK_STAT_SERV_GET_ID_APP_PART_NUM = 0x20; ///< Request the application part number + static const uint8_t SICK_STAT_SERV_GET_ID_APP_NAME = 0x21; ///< Request the application name + static const uint8_t SICK_STAT_SERV_GET_ID_APP_VERSION = 0x22; ///< Request the application version + + /* Sick LD configuration services (service code 0x02) */ + static const uint8_t SICK_CONF_SERV_SET_CONFIGURATION = 0x01; ///< Set the Sick LD configuration + static const uint8_t SICK_CONF_SERV_GET_CONFIGURATION = 0x02; ///< Read the Sick LD configuration information + static const uint8_t SICK_CONF_SERV_SET_TIME_ABSOLUTE = 0x03; ///< Set the internal clock to a timestamp value + static const uint8_t SICK_CONF_SERV_SET_TIME_RELATIVE = 0x04; ///< Correct the internal clock by some value + static const uint8_t SICK_CONF_SERV_GET_SYNC_CLOCK = 0x05; ///< Read the internal time of the LD-OEM/LD-LRS + static const uint8_t SICK_CONF_SERV_SET_FILTER = 0x09; ///< Set the filter configuration + static const uint8_t SICK_CONF_SERV_SET_FUNCTION = 0x0A; ///< Assigns a measurement function to an angle range + static const uint8_t SICK_CONF_SERV_GET_FUNCTION = 0x0B; ///< Returns the configuration of the given sector + + /* Sick LD configuration filter codes */ + static const uint8_t SICK_CONF_SERV_SET_FILTER_NEARFIELD = 0x01; ///< Code for identifying filter type: nearfield suppression + + /* Sick LD nearfield suppression configuration codes */ + static const uint8_t SICK_CONF_SERV_SET_FILTER_NEARFIELD_OFF = 0x00; ///< Used to set nearfield suppression off + static const uint8_t SICK_CONF_SERV_SET_FILTER_NEARFIELD_ON = 0x01; ///< Used to set nearfield suppression on + + /* Sick LD measurement services (service code 0x03) */ + static const uint8_t SICK_MEAS_SERV_GET_PROFILE = 0x01; ///< Requests n profiles of a defined format + static const uint8_t SICK_MEAS_SERV_CANCEL_PROFILE = 0x02; ///< Stops profile output + + /* Sick LD working services (service code 0x04) */ + static const uint8_t SICK_WORK_SERV_RESET = 0x01; ///< Sick LD enters a reset sequence + static const uint8_t SICK_WORK_SERV_TRANS_IDLE = 0x02; ///< Sick LD enters IDLE mode (motor stops and laser is turned off) + static const uint8_t SICK_WORK_SERV_TRANS_ROTATE = 0x03; ///< Sick LD enters ROTATE mode (motor starts and rotates with a specified speed in Hz, laser is off) + static const uint8_t SICK_WORK_SERV_TRANS_MEASURE = 0x04; ///< Sick LD enters MEASURE mode (laser starts with next revolution) + + /* Sick LD working service DO_RESET request codes */ + static const uint8_t SICK_WORK_SERV_RESET_INIT_CPU = 0x00; ///< Sick LD does a complete reset (Reinitializes the CPU) + static const uint8_t SICK_WORK_SERV_RESET_KEEP_CPU = 0x01; ///< Sick LD does a partial reset (CPU is not reinitialized) + static const uint8_t SICK_WORK_SERV_RESET_HALT_APP = 0x02; ///< Sick LD does a minimal reset (Application is halted and device enters IDLE state) + + /* Sick LD working service TRANS_MEASURE return codes */ + static const uint8_t SICK_WORK_SERV_TRANS_MEASURE_RET_OK = 0x00; ///< Sick LD is ready to stream/obtain scan profiles + static const uint8_t SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_MAX_PULSE = 0x01; ///< Sick LD reports config yields a max laser pulse frequency that is too high + static const uint8_t SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_MEAN_PULSE = 0x02; ///< Sick LD reports config yields a max mean pulse frequency that is too high + static const uint8_t SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_SECT_BORDER = 0x03; ///< Sick LD reports sector borders are not configured correctly + static const uint8_t SICK_WORK_SERV_TRANS_MEASURE_RET_ERR_SECT_BORDER_MULT = 0x04; ///< Sick LD reports sector borders are not a multiple of the step angle + + /* Sick LD interface routing services (service code 0x06) */ + static const uint8_t SICK_ROUT_SERV_COM_ATTACH = 0x01; ///< Attach a master (host) communications interface + static const uint8_t SICK_ROUT_SERV_COM_DETACH = 0x02; ///< Detach a master (host) communications interface + static const uint8_t SICK_ROUT_SERV_COM_INITIALIZE = 0x03; ///< Initialize the interface (Note: using this may not be necessary for some interfaces, e.g. Ethernet) + static const uint8_t SICK_ROUT_SERV_COM_OUTPUT = 0x04; ///< Output data to the interface + static const uint8_t SICK_ROUT_SERV_COM_DATA = 0x05; ///< Forward data received on specified interface to master interface + + /* Sick LD file services (service code 0x07) */ + static const uint8_t SICK_FILE_SERV_DIR = 0x01; ///< List the stored files in flash memory + static const uint8_t SICK_FILE_SERV_SAVE = 0x02; ///< Saves the data into flash memory + static const uint8_t SICK_FILE_SERV_LOAD = 0x03; ///< Recalls a file from the flash + static const uint8_t SICK_FILE_SERV_DELETE = 0x04; ///< Deletes a file from the flash + + /* Sick LD monitor services (service code 0x08) */ + static const uint8_t SICK_MONR_SERV_MONITOR_RUN = 0x01; ///< Enable/disable monitor services + static const uint8_t SICK_MONR_SERV_MONITOR_PROFILE_LOG = 0x02; ///< Enable/disable profile logging + + /* Sick LD configuration keys */ + static const uint8_t SICK_CONF_KEY_RS232_RS422 = 0x01; ///< Key for configuring RS-232/RS-422 + static const uint8_t SICK_CONF_KEY_CAN = 0x02; ///< Key for configuring CAN + static const uint8_t SICK_CONF_KEY_ETHERNET = 0x05; ///< Key for configuring Ethernet + static const uint8_t SICK_CONF_KEY_GLOBAL = 0x10; ///< Key for global configuration + + /* Sick LD sector configuration codes */ + static const uint8_t SICK_CONF_SECTOR_NOT_INITIALIZED = 0x00; ///< Sector is uninitialized + static const uint8_t SICK_CONF_SECTOR_NO_MEASUREMENT = 0x01; ///< Sector has no measurements + static const uint8_t SICK_CONF_SECTOR_RESERVED = 0x02; ///< Sector is reserved by Sick LD + static const uint8_t SICK_CONF_SECTOR_NORMAL_MEASUREMENT = 0x03; ///< Sector is returning measurements + static const uint8_t SICK_CONF_SECTOR_REFERENCE_MEASUREMENT = 0x04; ///< Sector can be used as reference measurement + + /* Sick LD profile formats */ + static const uint16_t SICK_SCAN_PROFILE_RANGE = 0x39FF; ///< Request sector scan data w/o any echo data + /* + * SICK_SCAN_PROFILE_RANGE format (0x39FF) interpretation: + * (See page 32 of telegram listing for fieldname definitions) + * + * Field Name | Send + * -------------------- + * PROFILESENT | YES + * PROFILECOUNT | YES + * LAYERNUM | YES + * SECTORNUM | YES + * DIRSTEP | YES + * POINTNUM | YES + * TSTART | YES + * STARTDIR | YES + * DISTANCE-n | YES + * DIRECTION-n | NO + * ECHO-n | NO + * TEND | YES + * ENDDIR | YES + * SENSTAT | YES + */ + + /* Sick LD profile formats */ + static const uint16_t SICK_SCAN_PROFILE_RANGE_AND_ECHO = 0x3DFF; ///< Request sector scan data w/ echo data + /* + * SICK_SCAN_PROFILE_RANGE format (0x3DFF) interpretation: + * (See page 32 of telegram listing for fieldname definitions) + * + * Field Name | Send + * -------------------- + * PROFILESENT | YES + * PROFILECOUNT | YES + * LAYERNUM | YES + * SECTORNUM | YES + * DIRSTEP | YES + * POINTNUM | YES + * TSTART | YES + * STARTDIR | YES + * DISTANCE-n | YES + * DIRECTION-n | NO + * ECHO-n | YES + * TEND | YES + * ENDDIR | YES + * SENSTAT | YES + */ + + /* Masks for working with the Sick LD signals + * + * NOTE: Although the Sick LD manual defines the flag + * values for red and green LEDs the operation + * of these LEDs are reserved. So they can't + * be set by the device driver. + */ + static const uint8_t SICK_SIGNAL_LED_YELLOW_A = 0x01; ///< Mask for first yellow LED + static const uint8_t SICK_SIGNAL_LED_YELLOW_B = 0x02; ///< Mask for second yellow LED + static const uint8_t SICK_SIGNAL_LED_GREEN = 0x04; ///< Mask for green LED + static const uint8_t SICK_SIGNAL_LED_RED = 0x08; ///< Mask for red LED + static const uint8_t SICK_SIGNAL_SWITCH_0 = 0x10; ///< Mask for signal switch 0 + static const uint8_t SICK_SIGNAL_SWITCH_1 = 0x20; ///< Mask for signal switch 1 + static const uint8_t SICK_SIGNAL_SWITCH_2 = 0x40; ///< Mask for signal switch 2 + static const uint8_t SICK_SIGNAL_SWITCH_3 = 0x80; ///< Mask for signal switch 3 + + /** + * \struct sick_ld_config_global_tag + * \brief A structure to aggregate the data used to configure the + * Sick LD global parameter values. + */ + /** + * \typedef sick_ld_config_global_t + * \brief Adopt c-style convention + */ + typedef struct sick_ld_config_global_tag { + uint16_t sick_sensor_id; ///< The single word sensor ID for the Sick unit + uint16_t sick_motor_speed; ///< Nominal motor speed value: 0x0005 to 0x0014 (5 to 20) + double sick_angle_step; ///< Difference between two laser pulse positions in 1/16th deg. (NOTE: this value must be a divisor of 5760 and be greater than 1) + } sick_ld_config_global_t; + + /** + * \struct sick_ld_config_ethernet_tag + * \brief A structure to aggregate the data used to configure + * the Sick LD unit for Ethernet. + * + * \todo Eventually add similar config structures for the other protocols. + */ + /** + * \typedef sick_ld_config_ethernet_t + * \brief Adopt c-style convention + */ + typedef struct sick_ld_config_ethernet_tag { + uint16_t sick_ip_address[4]; ///< IP address in numerical form w/ leftmost part at sick_ip_address[0] + uint16_t sick_subnet_mask[4]; ///< Subnet mask for the network to which the Sick LD is assigned + uint16_t sick_gateway_ip_address[4]; ///< The address of the local gateway + uint16_t sick_node_id; ///< Single word address of the Sick LD + uint16_t sick_transparent_tcp_port; ///< The TCP/IP transparent port associated with the Sick LD + } sick_ld_config_ethernet_t; + + /** + * \struct sick_ld_config_sector_tag + * \brief A structure to aggregate data used to define the + * Sick LD's sector configuration. + */ + /** + * \typedef sick_ld_config_sector_t + * \brief Adopt c-style convention + */ + typedef struct sick_ld_config_sector_tag { + uint8_t sick_num_active_sectors; ///< Number of active sectors (sectors that are actually being scanned) + uint8_t sick_num_initialized_sectors; ///< Number of sectors configured w/ a function other than "not initialized" + uint8_t sick_active_sector_ids[SICK_MAX_NUM_SECTORS]; ///< IDs of all active sectors + uint8_t sick_sector_functions[SICK_MAX_NUM_SECTORS]; ///< Function values associated w/ each of the Sick LD's sectors + double sick_sector_start_angles[SICK_MAX_NUM_SECTORS]; ///< Start angles for each initialized sector (deg) + double sick_sector_stop_angles[SICK_MAX_NUM_SECTORS]; ///< Stop angles for each sector (deg) + } sick_ld_config_sector_t; + + /** + * \struct sick_ld_identity_tag + * \brief A structure to aggregate the fields that collectively + * define the identity of a Sick LD unit. + */ + /** + * \typedef sick_ld_identity_t + * \brief Adopt c-style convention + */ + typedef struct sick_ld_identity_tag { + std::string sick_part_number; ///< The Sick LD's part number + std::string sick_name; ///< The name assigned to the Sick + std::string sick_version; ///< The Sick LD's version number + std::string sick_serial_number; ///< The Sick LD's serial number + std::string sick_edm_serial_number; ///< The Sick LD's edm??? serial number + std::string sick_firmware_part_number; ///< The Sick LD's firmware part number + std::string sick_firmware_name; ///< The Sick LD's firmware name + std::string sick_firmware_version; ///< The Sick LD's firmware version + std::string sick_application_software_part_number; ///< The Sick LD's app. software part number + std::string sick_application_software_name; ///< The Sick LD's app. software name + std::string sick_application_software_version; ///< The Sick LD's app. software version + } sick_ld_identity_t; + + /** + * \struct sick_ld_sector_data_tag + * \brief A structure to aggregate the fields that collectively + * define a sector in the scan area of the Sick LD unit. + */ + /** + * \typedef sick_ld_sector_data_t + * \brief Adopt c-style convention + */ + typedef struct sick_ld_sector_data_tag { + unsigned int sector_num; ///< The sector number in the scan area + unsigned int num_data_points; ///< The number of data points in the scan area + unsigned int timestamp_start; ///< The timestamp (in ms) corresponding to the time the first measurement in the sector was taken + unsigned int timestamp_stop; ///< The timestamp (in ms) corresponding to the time the last measurement in the sector was taken + unsigned int echo_values[SICK_MAX_NUM_MEASUREMENTS]; ///< The corresponding echo/reflectivity values + double angle_step; ///< The angle step used for the given sector (this should be the same for all sectors) + double angle_start; ///< The angle at which the first measurement in the sector was acquired + double angle_stop; ///< The angle at which the last measurement in the sector was acquired + double range_values[SICK_MAX_NUM_MEASUREMENTS]; ///< The corresponding range values (NOTE: The size of this array is intended to be large enough to accomodate various sector configs.) + double scan_angles[SICK_MAX_NUM_MEASUREMENTS]; ///< The scan angles corresponding to the respective measurements + } sick_ld_sector_data_t; + + /** + * \struct sick_ld_scan_profile_tag + * \brief A structure to aggregate the fields that collectively + * define the profile of a single scan acquired from the + * Sick LD unit. + */ + /** + * \typedef sick_ld_scan_profile_t + * \brief Adopt c-style convention + */ + typedef struct sick_ld_scan_profile_tag { + unsigned int profile_number; ///< The number of profiles sent to the host (i.e. the current profile number) + unsigned int profile_counter; ///< The number of profiles gathered by the Sick LD + unsigned int layer_num; ///< The layer number associated with a scan (this will always be 0) + unsigned int sensor_status; ///< The status of the Sick LD sensor + unsigned int motor_status; ///< The status of the Sick LD motor + unsigned int num_sectors; ///< The number of sectors returned in the profile + sick_ld_sector_data_t sector_data[SICK_MAX_NUM_SECTORS]; ///< The sectors associated with the scan profile + } sick_ld_scan_profile_t; + + /** Primary constructor */ + SickLD( const std::string sick_ip_address = DEFAULT_SICK_IP_ADDRESS, + const uint16_t sick_tcp_port = DEFAULT_SICK_TCP_PORT ); + + /** Initializes the Sick LD unit (use scan areas defined in flash) */ + void Initialize( ) throw( SickIOException, SickThreadException, SickTimeoutException, SickErrorException ); + + /** Gets the sensor and motor mode of the unit */ + void GetSickStatus( unsigned int &sick_sensor_mode, unsigned int &sick_motor_mode ) + throw( SickIOException, SickTimeoutException ); + + /** Sets the temporal scan configuration (until power is cycled) */ + void SetSickTempScanAreas( const double * active_sector_start_angles, const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) + throw( SickTimeoutException, SickIOException, SickConfigException ); + + /** Sets the internal clock of the Sick LD unit */ + void SetSickTimeAbsolute( const uint16_t absolute_clock_time, uint16_t &new_sick_clock_time ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ); + + /** Sets the internal clock of the Sick LD using the relative given time value */ + void SetSickTimeRelative( const int16_t time_delta, uint16_t &new_sick_clock_time ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ); + + /** Gets the internal clock time of the Sick LD unit */ + void GetSickTime( uint16_t &sick_time ) + throw( SickIOException, SickTimeoutException, SickErrorException ); + + /** Sets the signal LEDs and switches */ + void SetSickSignals( const uint8_t sick_signal_flags = DEFAULT_SICK_SIGNAL_SET ) + throw( SickIOException, SickTimeoutException, SickErrorException ); + + /** Query the Sick for its current signal settings */ + void GetSickSignals( uint8_t &sick_signal_flags ) throw( SickIOException, SickTimeoutException ); + + /** Enables nearfield suppressive filtering (in flash) */ + void EnableNearfieldSuppression( ) throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Disables nearfield suppressive filtering (in flash) */ + void DisableNearfieldSuppression( ) throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Acquires measurements and related data for all active sectors */ + void GetSickMeasurements( double * const range_measurements, + unsigned int * const echo_measurements = NULL, + unsigned int * const num_measurements = NULL, + unsigned int * const sector_ids = NULL, + unsigned int * const sector_data_offsets = NULL, + double * const sector_step_angles = NULL, + double * const sector_start_angles = NULL, + double * const sector_stop_angles = NULL, + unsigned int * const sector_start_timestamps = NULL, + unsigned int * const sector_stop_timestamps = NULL ) + throw( SickErrorException, SickIOException, SickTimeoutException, SickConfigException ); + + /** Attempts to set a new senor ID for the device (in flash) */ + void SetSickSensorID( const unsigned int sick_sensor_id ) + throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Attempts to set a new motor speed for the device (in flash) */ + void SetSickMotorSpeed( const unsigned int sick_motor_speed ) + throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Attempts to set a new scan resolution for the device (in flash) */ + void SetSickScanResolution( const double sick_step_angle ) + throw( SickTimeoutException, SickIOException, SickConfigException ); + + /** Attempts to set the global params and the active scan sectors for the device (in flash) */ + void SetSickGlobalParamsAndScanAreas( const unsigned int sick_motor_speed, + const double sick_step_angle, + const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) + throw( SickTimeoutException, SickIOException, SickConfigException, SickErrorException ); + + /** Attempts to set the active scan sectors for the device (in flash) */ + void SetSickScanAreas( const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) + throw( SickTimeoutException, SickIOException, SickConfigException, SickErrorException ); + + /** Resets the Sick LD using the given reset level */ + void ResetSick( const unsigned int reset_level = SICK_WORK_SERV_RESET_INIT_CPU ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ); + + /** Returns the number of active/measuring sectors */ + unsigned int GetSickNumActiveSectors( ) const; + + /** Acquire the Sick LD's sensor ID */ + unsigned int GetSickSensorID( ) const; + + /** Acquire the Sick LD's current motor speed in Hz */ + unsigned int GetSickMotorSpeed( ) const; + + /** Acquire the Sick LD's current scan resolution */ + double GetSickScanResolution( ) const; + + /** Acquire the current IP address of the Sick */ + std::string GetSickIPAddress( ) const; + + /** Acquire the subnet mask for the Sick */ + std::string GetSickSubnetMask( ) const; + + /** Acquire the IP address of the Sick gateway */ + std::string GetSickGatewayIPAddress( ) const; + + /** Acquire the Sick LD's part number */ + std::string GetSickPartNumber( ) const; + + /** Acquire the Sick LD's name */ + std::string GetSickName( ) const; + + /** Acquire the Sick LD's version number */ + std::string GetSickVersion( ) const; + + /** Acquire the Sick LD's serial number */ + std::string GetSickSerialNumber( ) const; + + /** Acquire the Sick LD's EDM serial number */ + std::string GetSickEDMSerialNumber( ) const; + + /** Acquire the Sick LD's firmware part number */ + std::string GetSickFirmwarePartNumber( ) const; + + /** Acquire the Sick LD's firmware number */ + std::string GetSickFirmwareName( ) const; + + /** Acquire the Sick LD's firmware version */ + std::string GetSickFirmwareVersion( ) const; + + /** Acquire the Sick LD's application software part number */ + std::string GetSickAppSoftwarePartNumber( ) const; + + /** Acquire the Sick LD's application software name */ + std::string GetSickAppSoftwareName( ) const; + + /** Acquire the Sick LD's application software version number */ + std::string GetSickAppSoftwareVersionNumber( ) const; + + /** Acquire the Sick LD's status as a printable string */ + std::string GetSickStatusAsString() const; + + /** Acquire the Sick LD's identity as a printable string */ + std::string GetSickIdentityAsString() const; + + /** Acquire the Sick LD's global config as a printable string */ + std::string GetSickGlobalConfigAsString() const; + + /** Acquire the Sick LD's Ethernet config as a printable string */ + std::string GetSickEthernetConfigAsString() const; + + /** Acquire the Sick LD's sector config as a printable string */ + std::string GetSickSectorConfigAsString() const; + + /** Acquire the total scan area (in degrees) being scanned by the Sick LD */ + double GetSickScanArea( ) const; + + /** Prints the Sick LD's status information */ + void PrintSickStatus( ) const; + + /** Prints the Sick LD's identity information */ + void PrintSickIdentity( ) const; + + /** Prints the global configuration parameter values */ + void PrintSickGlobalConfig( ) const; + + /** Prints the Ethernet configuration parameter values */ + void PrintSickEthernetConfig( ) const; + + /** Prints the Sick Sector configuration */ + void PrintSickSectorConfig( ) const; + + /** Uninitializes the Sick LD unit */ + void Uninitialize( ) throw( SickIOException, SickTimeoutException, SickErrorException, SickThreadException ); + + /** Destructor */ + ~SickLD(); + + private: + + /** The Sick LD IP address */ + std::string _sick_ip_address; + + /** The Sick LD TCP port number */ + uint16_t _sick_tcp_port; + + /** Sick LD socket structure */ + unsigned int _socket; + + /** Sick LD socket address structure */ + struct sockaddr_in _sick_inet_address_info; + + /** The current sensor mode */ + uint8_t _sick_sensor_mode; + + /** The mode of the motor */ + uint8_t _sick_motor_mode; + + /** Indicates whether the Sick LD is currently streaming range data */ + bool _sick_streaming_range_data; + + /** Indicates whether the Sick LD is currently streaming range and echo data */ + bool _sick_streaming_range_and_echo_data; + + /** The identity structure for the Sick */ + sick_ld_identity_t _sick_identity; + + /** The current global configuration for the unit */ + sick_ld_config_global_t _sick_global_config; + + /** The current Ethernet configuration for the unit */ + sick_ld_config_ethernet_t _sick_ethernet_config; + + /** The current sector configuration for the unit */ + sick_ld_config_sector_t _sick_sector_config; + + /** Setup the connection parameters and establish TCP connection! */ + void _setupConnection( ) throw( SickIOException, SickTimeoutException ); + + /** Synchronizes the driver state with the Sick LD (used for initialization) */ + void _syncDriverWithSick( ) throw( SickIOException, SickTimeoutException, SickErrorException ); + + /** Set the function for a particular scan secto */ + void _setSickSectorFunction( const uint8_t sector_number, const uint8_t sector_function, + const double sector_angle_stop, const bool write_to_flash = false ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ); + + /** Acquires the given Sector's function (i.e. current config) */ + void _getSickSectorFunction( const uint8_t sector_num, uint8_t §or_function, double §or_stop_angle ) + throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Sets the Sick LD to IDLE mode */ + void _setSickSensorModeToIdle( ) throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Sets the Sick LD to ROTATE mode */ + void _setSickSensorModeToRotate( ) throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Sets the Sick LD to MEASURE mode */ + void _setSickSensorModeToMeasure( ) throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Sets the Sick LD's sensor mode to IDLE (laser off, motor off) */ + void _setSickSensorMode( const uint8_t new_sick_sensor_mode ) + throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Requests n range measurement profiles from the Sick LD */ + void _getSickScanProfiles( const uint16_t profile_format, const uint16_t num_profiles = DEFAULT_SICK_NUM_SCAN_PROFILES ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ); + + /** Parses a sequence of bytes and populates the profile_data struct w/ the results */ + void _parseScanProfile( uint8_t * const src_buffer, sick_ld_scan_profile_t &profile_data ) const; + + /** Cancels the active data stream */ + void _cancelSickScanProfiles( ) throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Turns nearfield suppression on/off */ + void _setSickFilter( const uint8_t suppress_code ) + throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Stores an image of the Sick LD's identity locally */ + void _getSickIdentity( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for its sensor and motor status */ + void _getSickStatus( ) throw( SickTimeoutException, SickIOException ); + + /** Sets the Sick LD's global configuration (in flash) */ + void _setSickGlobalConfig( const uint8_t sick_sensor_id, const uint8_t sick_motor_speed, const double sick_angle_step ) + throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Query the Sick for its global configuration parameters */ + void _getSickGlobalConfig( ) throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Query the Sick for its Ethernet configuration parameters */ + void _getSickEthernetConfig( ) throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Acquires the configuration (function and stop angle) for each sector */ + void _getSickSectorConfig( ) throw( SickErrorException, SickTimeoutException, SickIOException ); + + /** Query the Sick for ID information */ + void _getIdentificationString( const uint8_t id_request_code, std::string &id_return_string ) + throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for its sensor part number */ + void _getSensorPartNumber( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for its assigned name */ + void _getSensorName( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for its version number */ + void _getSensorVersion( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for its serial number */ + void _getSensorSerialNumber( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for its EDM unit's serial number */ + void _getSensorEDMSerialNumber( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for the part number of its firmware */ + void _getFirmwarePartNumber( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for the name of its firmware */ + void _getFirmwareName( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for the version of the firmware */ + void _getFirmwareVersion( ) throw( SickTimeoutException, SickIOException ); + + /** Query the part number of the application software */ + void _getApplicationSoftwarePartNumber( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for the application name */ + void _getApplicationSoftwareName( ) throw( SickTimeoutException, SickIOException ); + + /** Query the Sick for the application software version */ + void _getApplicationSoftwareVersion( ) throw( SickTimeoutException, SickIOException ); + + /** Allows setting the global parameters and scan area definition (in flash) */ + void _setSickGlobalParamsAndScanAreas( const unsigned int sick_motor_speed, const double sick_step_angle, + const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) + throw( SickTimeoutException, SickIOException, SickConfigException, SickErrorException ); + + /** Allows setting a temporary (until a device reset) sector configuration on the device */ + void _setSickTemporaryScanAreas( const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) + throw( SickTimeoutException, SickIOException, SickConfigException ); + + /** Sets the sick sector configuration */ + void _setSickSectorConfig( const unsigned int * const sector_functions, const double * const sector_stop_angles, + const unsigned int num_sectors, const bool write_to_flash = false ) + throw( SickErrorException, SickTimeoutException, SickIOException, SickConfigException ); + + /** Sets the signals for the device */ + void _setSickSignals( const uint8_t sick_signal_flags = DEFAULT_SICK_SIGNAL_SET ) + throw( SickIOException, SickTimeoutException, SickErrorException ); + + /** Send a message, get the reply from the Sick LD and check it */ + void _sendMessageAndGetReply( const SickLDMessage &send_message, SickLDMessage &recv_message, + const unsigned int timeout_value = DEFAULT_SICK_MESSAGE_TIMEOUT ) + throw( SickIOException, SickTimeoutException ); + + /** Flushed the TCP receive buffer */ + void _flushTCPRecvBuffer( ) throw ( SickIOException, SickThreadException ); + + /** Teardown the connection to the Sick LD */ + void _teardownConnection( ) throw( SickIOException ); + + /** Generates a device-ready sector set given only an active sector spec. */ + void _generateSickSectorConfig( const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors, + const double sick_step_angle, + unsigned int * const sector_functions, + double * const sector_stop_angles, + unsigned int &num_sectors ) const; + + /** Converts odometry ticks to an equivalent angle */ + double _ticksToAngle( const uint16_t ticks ) const; + + /** Converts angle to an equivalent representation in odometer ticks */ + uint16_t _angleToTicks( const double angle ) const; + + /** Computes the mean pulse frequency for the given config */ + double _computeMeanPulseFrequency( const double active_scan_area, const double curr_motor_speed, + const double curr_angular_resolution ) const; + + /** Computes the total pulse frequency for the given config */ + double _computeMaxPulseFrequency( const double total_scan_area, const double curr_motor_speed, + const double curr_angular_resolution ) const; + + /** Indicates whether a given sensor ID is valid for the device */ + bool _validSickSensorID( const unsigned int sick_sensor_id ) const; + + /** Indicates whether a given motor speed is valid for the device */ + bool _validSickMotorSpeed( const unsigned int sick_motor_speed ) const; + + /** Indicates whether a given motor speed is valid for the device */ + bool _validSickScanResolution( const double sick_step_angle, const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, const unsigned int num_active_sectors ) const; + + /** Indicates whether the given configuration yields a valid max and mean pulse frequency */ + bool _validPulseFrequency( const unsigned int sick_motor_speed, const double sick_step_angle ) const; + + /** Indicates whether the given configuration yields a valid max and mean pulse frequency */ + bool _validPulseFrequency( const unsigned int sick_motor_speed, const double sick_step_angle, + const double * const active_sector_start_angles, + const double * const active_sector_stop_angles, + const unsigned int num_active_sectors ) const; + + /** Returns the scanning area for the device given the current sector configuration */ + double _computeScanArea( const double sick_step_angle, const double * const sector_start_angles, + const double * const sector_stop_angles, const unsigned int num_sectors ) const; + + /** Reorders given sector angle sets */ + void _sortScanAreas( double * const sector_start_angles, double * const sector_stop_angles, + const unsigned int num_sectors ) const; + + /** Checks the given sector arguments for overlapping regions yielding an invalid configuration */ + bool _validActiveSectors( const double * const sector_start_angles, const double * const sector_stop_angles, + const unsigned int num_active_sectors ) const; + + /** Indicates whether the supplied profile format is currently supported by the driver */ + bool _supportedScanProfileFormat( const uint16_t profile_format ) const; + + /** Prints data corresponding to a single scan sector (data obtained using GET_PROFILE) */ + void _printSectorProfileData( const sick_ld_sector_data_t §or_data ) const; + + /** Prints the data corresponding to the given scan profile (for debugging purposes) */ + void _printSickScanProfile( const sick_ld_scan_profile_t profile_data, const bool print_sector_data = true ) const; + + /** Returns the corresponding work service subcode required to transition the Sick LD to the given sensor mode. */ + uint8_t _sickSensorModeToWorkServiceSubcode( const uint8_t sick_sensor_mode ) const; + + /** Converts _sick_sensor_mode to a representative string */ + std::string _sickSensorModeToString( const uint8_t sick_sensor_mode ) const; + + /** Converts _sick_motor_mode to a representative string */ + std::string _sickMotorModeToString( const uint8_t sick_motor_mode ) const; + + /** Converts the specified trans measurement mode return value to a string */ + std::string _sickTransMeasureReturnToString( const uint8_t return_value ) const; + + /** Converts the specified reset level to a representative string */ + std::string _sickResetLevelToString( const uint16_t reset_level ) const; + + /** Converts Sick LD sector configuration word to a representative string */ + std::string _sickSectorFunctionToString( const uint16_t sick_sector_function ) const; + + /** Converts a given scan profile format to a string for friendlier output */ + std::string _sickProfileFormatToString( const uint16_t profile_format ) const; + + /** Prints the initialization footer */ + void _printInitFooter( ) const; + + }; + +} //namespace SickToolbox + +#endif /* SICK_LD_HH */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLDBufferMonitor.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLDBufferMonitor.hh new file mode 100755 index 0000000..c86fdee --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLDBufferMonitor.hh @@ -0,0 +1,50 @@ +/*! + * \file SickLDBufferMonitor.hh + * \brief Defines a class for monitoring the receive + * buffer when interfacing w/ a Sick LMS LIDAR. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LD_BUFFER_MONITOR_HH +#define SICK_LD_BUFFER_MONITOR_HH + +#define DEFAULT_SICK_BYTE_TIMEOUT (35000) ///< Max allowable time between consecutive bytes + +/* Definition dependencies */ +#include "SickLDMessage.hh" +#include "SickBufferMonitor.hh" +#include "SickException.hh" + +/* Associate the namespace */ +namespace SickToolbox { + + /*! + * \brief A class for monitoring the receive buffer when interfacing with a Sick LD LIDAR + */ + class SickLDBufferMonitor : public SickBufferMonitor< SickLDBufferMonitor, SickLDMessage > { + + public: + + /** A standard constructor */ + SickLDBufferMonitor( ); + + /** A method for extracting a single message from the stream */ + void GetNextMessageFromDataStream( SickLDMessage &sick_message ) throw( SickIOException ); + + /** A standard destructor */ + ~SickLDBufferMonitor( ); + + }; + +} /* namespace SickToolbox */ + +#endif /* SICK_LD_BUFFER_MONITOR_HH */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLDMessage.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLDMessage.hh new file mode 100755 index 0000000..43a482a --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLDMessage.hh @@ -0,0 +1,80 @@ +/*! + * \file SickLDMessage.hh + * \brief Defines the class SickLDMessage. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LD_MESSAGE_HH +#define SICK_LD_MESSAGE_HH + +/* Definition dependencies */ +#include +#include +#include "SickMessage.hh" + +#define SICK_LD_MSG_HEADER_LEN (8) ///< Sick LD message header length in bytes +#define SICK_LD_MSG_PAYLOAD_MAX_LEN (5816) ///< Sick LD maximum payload length +#define SICK_LD_MSG_TRAILER_LEN (1) ///< Sick LD length of the message trailer + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \class SickLDMessage + * \brief A class to represent all messages sent to and from the Sick LD unit. + */ + class SickLDMessage : public SickMessage< SICK_LD_MSG_HEADER_LEN, SICK_LD_MSG_PAYLOAD_MAX_LEN, SICK_LD_MSG_TRAILER_LEN > { + + public: + + /** A standard constructor */ + SickLDMessage( ); + + /** Constructs a packet by using BuildMessage */ + SickLDMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ); + + /** Constructs a packet using ParseMessage() */ + SickLDMessage( const uint8_t * const message_buffer ); + + /** Construct a well-formed raw packet */ + void BuildMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ); + + /** Populates fields from a (well-formed) raw packet */ + void ParseMessage( const uint8_t * const message_buffer ); + + /** Get the length of the service code associated with the message */ + uint8_t GetServiceCode( ) const { return _message_buffer[8]; } + + /** Get the service sub-code associated with the message */ + uint8_t GetServiceSubcode( ) const { return _message_buffer[9]; } + + /** Get the checksum for the packet */ + uint8_t GetChecksum( ) const { return _message_buffer[_message_length-1]; } + + /** A debugging function that prints the contents of the frame. */ + void Print( ) const; + + /** Destructor */ + ~SickLDMessage( ); + + private: + + /** Computes the checksum of the frame. + * NOTE: Uses XOR of single bytes over packet payload data. + */ + uint8_t _computeXOR( const uint8_t * const data, const uint32_t length ); + + }; + +} /* namespace SickToolbox */ + +#endif /* SICK_LD_MESSAGE_HH */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLDUtility.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLDUtility.hh new file mode 100755 index 0000000..e971a1b --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLDUtility.hh @@ -0,0 +1,120 @@ +/*! + * \file SickLDUtility.hh + * \brief Defines simple utility functions for working with the Sick LD. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include "SickConfig.hh" + +/** + * \def REVERSE_BYTE_ORDER_16 + * \brief Reverses the byte order of the given 16 bit unsigned integer + */ +#define REVERSE_BYTE_ORDER_16( y ) ( ( ( y & 0x00FF ) << 8 ) | ( ( y & 0xFF00 ) >> 8 ) ) + +/** + * \def REVERSE_BYTE_ORDER_32 + * \brief Reverses the byte order of the given 32 bit unsigned integer + */ +#define REVERSE_BYTE_ORDER_32( y ) ( ( ( y & 0x000000FF ) << 24 ) | ( ( y & 0x0000FF00 ) << 8 ) | ( ( y & 0x00FF0000 ) >> 8 ) | ( ( y & 0xFF000000 ) >> 24 ) ) + +/* Associate the namespace */ +namespace SickToolbox { + +#ifndef WORDS_BIGENDIAN + +/* NOTE: The following functions are necessary since the Sick LD doesn't adopt the + * convention of converting from network byte order. + */ + +/** + * \brief Converts host byte order (little-endian) to Sick LD byte order (big-endian) + * \param value The 2-byte value to convert to big-endian + * \return Value in Sick LD byte order (big-endian) + */ +inline uint16_t host_to_sick_ld_byte_order( uint16_t value ) { + return REVERSE_BYTE_ORDER_16(value); +} + +/** + * \brief Converts host byte order (little-endian) to Sick LD byte order (big-endian) + * \param value The 4-byte value to convert to big-endian + * \return Value in Sick LD byte order (big-endian) + */ +inline uint32_t host_to_sick_ld_byte_order( uint32_t value ) { + return REVERSE_BYTE_ORDER_32(value); +} + +/** + * \brief Converts Sick LD byte order (big-endian) to host byte order (little-endian) + * \param value The 2-byte value to convert to little-endian + * \return Value in host byte order (little-endian) + */ +inline uint16_t sick_ld_to_host_byte_order( uint16_t value ) { + return REVERSE_BYTE_ORDER_16(value); +} + +/** + * \brief Converts Sick LD byte order (big-endian) to host byte order (little-endian) + * \param value The 4-byte value to convert to little-endian + * \return Value in host byte order (little-endian) + */ +inline uint32_t sick_ld_to_host_byte_order( uint32_t value ) { + return REVERSE_BYTE_ORDER_32(value); +} + +#else // The host has a big-endian architecture + +/** + * \brief Converts host byte order (big-endian) to Sick LD byte order (big-endian) + * \param value The 2-byte value to convert to big-endian + * \return Value in Sick LD byte order (big-endian) + */ +inline uint16_t host_to_sick_ld_byte_order( uint16_t value ) { + return value; +} + +/** + * \brief Converts host byte order (big-endian) to Sick LD byte order (big-endian) + * \param value The 4-byte value to convert to big-endian + * \return Value in Sick LD byte order (big-endian) + */ +inline uint32_t host_to_sick_ld_byte_order( uint32_t value ) { + return value; +} + +/** + * \brief Converts Sick LD byte order (big-endian) to host byte order (big-endian) + * \param value The 2-byte value to convert to big-endian + * \return Value in host byte order (big-endian) + */ +inline uint16_t sick_ld_to_host_byte_order( uint16_t value ) { + return value; +} + +/** + * \brief Converts Sick LD byte order (big-endian) to host byte order (big-endian) + * \param value The 4-byte value to convert to big-endian + * \return Value in host byte order (big-endian) + */ +inline uint32_t sick_ld_to_host_byte_order( uint32_t value ) { + return value; +} + +#endif /* _LITTLE_ENDIAN_HOST */ + +/* + * NOTE: Other utility functions can be defined here + */ + +} //namespace SickToolbox diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLIDAR.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLIDAR.hh new file mode 100755 index 0000000..b21a2a5 --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLIDAR.hh @@ -0,0 +1,452 @@ +/*! + * \file SickLIDAR.hh + * \brief Defines the abstract parent class for defining + * a Sick LIDAR device driver. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/** + * \mainpage The Sick LIDAR Matlab/C++ Toolbox + * \author Jason C. Derenick and Thomas H. Miller. + * \version 1.0 + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LIDAR +#define SICK_LIDAR + +/* Definition dependencies */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "SickException.hh" + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \class SickLIDAR + * \brief Provides an abstract parent for all Sick LIDAR devices + */ + template < class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + class SickLIDAR { + + public: + + /** The primary constructor */ + SickLIDAR( ); + + /** Indicates whether device is initialized */ + bool IsInitialized() { return _sick_initialized; } + + /** A virtual destructor */ + virtual ~SickLIDAR( ); + + protected: + + /** Sick device file descriptor */ + int _sick_fd; + + /** A flag to indicated whether the device is properly initialized */ + bool _sick_initialized; + + /** A pointer to the driver's buffer monitor */ + SICK_MONITOR_CLASS *_sick_buffer_monitor; + + /** Indicates whether the Sick buffer monitor is running */ + bool _sick_monitor_running; + + /** A method for setting up a general connection */ + virtual void _setupConnection( ) = 0; + + /** A method for tearing down a connection to the Sick */ + virtual void _teardownConnection( ) = 0; + + /** Starts the driver listening for messages */ + void _startListening( ) throw( SickThreadException ); + + /** Stops the driver from listening */ + void _stopListening( ) throw( SickThreadException ); + + /** Indicates whether there is a monitor currently running */ + bool _monitorRunning( ) const { return _sick_monitor_running; } + + /** Make the associated file descriptor non blocking */ + void _setBlockingIO( ) const throw ( SickIOException ); + + /** Make the associated file descriptor non blocking */ + void _setNonBlockingIO( ) const throw ( SickIOException ); + + /** Send a message to the Sick LD (allows specifying min time between transmitted bytes) */ + void _sendMessage( const SICK_MSG_CLASS &sick_message, const unsigned int byte_interval ) const + throw( SickIOException ); + + /** Acquire the next message from the message container */ + void _recvMessage( SICK_MSG_CLASS &sick_message, const unsigned int timeout_value ) const throw ( SickTimeoutException ); + + /** Search the stream for a payload with a particular "header" byte string */ + void _recvMessage( SICK_MSG_CLASS &sick_message, + const uint8_t * const byte_sequence, + const unsigned int byte_sequence_length, + const unsigned int timeout_value ) const throw ( SickTimeoutException ); + + /** An inline function for computing elapsed time */ + double _computeElapsedTime( const struct timeval &beg_time, const struct timeval &end_time ) const { return ((end_time.tv_sec*1e6)+(end_time.tv_usec))-((beg_time.tv_sec*1e6)+beg_time.tv_usec); } + + /** Sends a request to the Sick and acquires looks for the reply */ + virtual void _sendMessageAndGetReply( const SICK_MSG_CLASS &send_message, + SICK_MSG_CLASS &recv_message, + const uint8_t * const byte_sequence, + const unsigned int byte_sequence_length, + const unsigned int byte_interval, + const unsigned int timeout_value, + const unsigned int num_tries ) throw( SickTimeoutException, SickIOException); + + }; + + /** + * \brief Initializes the buffer monitor + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::SickLIDAR( ) : + _sick_fd(0), _sick_initialized(false), _sick_buffer_monitor(NULL), _sick_monitor_running(false) { + + try { + /* Attempt to instantiate a new SickBufferMonitor for the device */ + _sick_buffer_monitor = new SICK_MONITOR_CLASS; + } + catch ( std::bad_alloc &allocation_exception ) { + std::cerr << "SickLIDAR::SickLIDAR: Allocation error - " << allocation_exception.what() << std::endl; + } + + } + + /** + * \brief Destructor tears down buffer monitor + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::~SickLIDAR( ) { + + /* Deallocate the buffer monitor */ + if (_sick_buffer_monitor) { + delete _sick_buffer_monitor; + } + + } + + /** + * \brief Activates the buffer monitor for the driver + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_startListening( ) throw( SickThreadException ) { + + /* Try to start the monitor */ + try { + _sick_buffer_monitor->StartMonitor(_sick_fd); + } + + /* Handle a thread exception */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle a thread exception */ + catch(...) { + std::cerr << "SickLIDAR::_startListening: Unknown exception!!!" << std::endl; + throw; + } + + /* Set the flag */ + _sick_monitor_running = true; + + } + + /** + * \brief Activates the buffer monitor for the driver + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_stopListening( ) throw( SickThreadException ) { + + /* Try to start the monitor */ + try { + _sick_buffer_monitor->StopMonitor(); + } + + /* Handle a thread exception */ + catch(SickThreadException &sick_thread_exception) { + std::cerr << sick_thread_exception.what() << std::endl; + throw; + } + + /* Handle a thread exception */ + catch(...) { + std::cerr << "SickLIDAR::_stopListening: Unknown exception!!!" << std::endl; + throw; + } + + /* Reset the flag */ + _sick_monitor_running = false; + + } + + /** + * \brief A simple method for setting blocking I/O + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_setBlockingIO( ) const throw( SickIOException ) { + + /* Read the flags */ + int fd_flags = 0; + if((fd_flags = fcntl(_sick_fd,F_GETFL)) < 0) { + throw SickIOException("SickLIDAR::_setNonBlocking: fcntl failed!"); + } + + /* Set the new flags */ + if(fcntl(_sick_fd,F_SETFL,fd_flags & (~O_NONBLOCK)) < 0) { + throw SickIOException("SickLIDAR::_setNonBlocking: fcntl failed!"); + } + + } + + /** + * \brief A simple method for setting non-blocking I/O + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_setNonBlockingIO( ) const throw ( SickIOException ) { + + /* Read the flags */ + int fd_flags = 0; + if((fd_flags = fcntl(_sick_fd,F_GETFL)) < 0) { + throw SickIOException("SickLIDAR::_setNonBlockingIO: fcntl failed!"); + } + + /* Set the new flags */ + if(fcntl(_sick_fd,F_SETFL,fd_flags | O_NONBLOCK) < 0) { + throw SickIOException("SickLIDAR::_setNonBlockingIO: fcntl failed!"); + } + + } + + /** + * \brief Sends a message to the Sick device + * \param &sick_message A reference to the well-formed message that is to be sent to the Sick + * \param byte_interval Minimum time in microseconds between transmitted bytes + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sendMessage( const SICK_MSG_CLASS &sick_message, const unsigned int byte_interval ) const + throw( SickIOException ) { + + uint8_t message_buffer[SICK_MSG_CLASS::MESSAGE_MAX_LENGTH] = {0}; + + /* Copy the given message and get the message length */ + sick_message.GetMessage(message_buffer); + unsigned int message_length = sick_message.GetMessageLength(); + + /* Check whether a transmission delay between bytes is requested */ + if (byte_interval == 0) { + + /* Write the message to the stream */ + if ((unsigned int)write(_sick_fd,message_buffer,message_length) != message_length) { + throw SickIOException("SickLIDAR::_sendMessage: write() failed!"); + } + + } + else { + + /* Write the message to the unit one byte at a time */ + for (unsigned int i = 0; i < message_length; i++) { + + /* Write a single byte to the stream */ + if (write(_sick_fd,&message_buffer[i],1) != 1) { + throw SickIOException("SickLIDAR::_sendMessage: write() failed!"); + } + + /* Some time between bytes (Sick LMS 2xx likes this) */ + usleep(byte_interval); + } + + } + + } + + /** + * \brief Attempt to acquire the latest available message from the device + * \param &sick_message A reference to the container that will hold the most recent message + * \param timeout_value The time in secs to wait before throwing a timeout error + * \return True if a new message was received, False otherwise + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_recvMessage( SICK_MSG_CLASS &sick_message, + const unsigned int timeout_value ) const throw ( SickTimeoutException ) { + + /* Timeval structs for handling timeouts */ + struct timeval beg_time, end_time; + + /* Acquire the elapsed time since epoch */ + gettimeofday(&beg_time,NULL); + + /* Check the shared object */ + while(!_sick_buffer_monitor->GetNextMessageFromMonitor(sick_message)) { + + /* Sleep a little bit */ + usleep(1000); + + /* Check whether the allowed time has expired */ + gettimeofday(&end_time,NULL); + if (_computeElapsedTime(beg_time,end_time) > timeout_value) { + throw SickTimeoutException("SickLIDAR::_recvMessage: Timeout occurred!"); + } + + } + + } + + /** + * \brief Attempt to acquire a message having a payload beginning w/ the given byte sequence + * \param &sick_message A reference to the container that will hold the most recent message + * \param *byte_sequence The byte sequence that is expected to lead off the payload in the packet (e.g. service codes, etc...) + * \param byte_sequence_length The number of bytes in the given byte_sequence + * \param timeout_value The time in usecs to wait before throwing a timeout error + * \return True if a new message was received, False otherwise + * + * NOTE: This method is intended to be a helper for _sendMessageAndGetReply + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_recvMessage( SICK_MSG_CLASS &sick_message, + const uint8_t * const byte_sequence, + const unsigned int byte_sequence_length, + const unsigned int timeout_value ) const throw( SickTimeoutException ) { + + /* Define a buffer */ + uint8_t payload_buffer[SICK_MSG_CLASS::MESSAGE_PAYLOAD_MAX_LENGTH]; + + /* Timeval structs for handling timeouts */ + struct timeval beg_time, end_time; + + /* A container for the message */ + SICK_MSG_CLASS curr_message; + + /* Get the elapsed time since epoch */ + gettimeofday(&beg_time,NULL); + + /* Check until it is found or a timeout */ + for(;;) { + + /* Attempt to acquire the message */ + unsigned int i = 0; + if (_sick_buffer_monitor->GetNextMessageFromMonitor(curr_message)) { + + /* Extract the payload subregion */ + curr_message.GetPayloadSubregion(payload_buffer,0,byte_sequence_length-1); + + /* Match the byte sequence */ + for (i=0; (i < byte_sequence_length) && (payload_buffer[i] == byte_sequence[i]); i++); + + /* Our message was found! */ + if (i == byte_sequence_length) { + sick_message = curr_message; + break; + } + + } + + /* Sleep a little bit */ + usleep(1000); + + /* Check whether the allowed time has expired */ + gettimeofday(&end_time,NULL); + if (_computeElapsedTime(beg_time,end_time) > timeout_value) { + throw SickTimeoutException(); + } + + } + + } + + /** + * \param sick_send_frame A sick frame to be sent to the LMS + * \param sick_receive_frame A sick frame to hold the response (expected or unexpected) of the LMS + * \param num_tries The number of times to send the frame in the event the LMS fails to reply + * \param timeout The epoch to wait before considering a sent frame lost + * \return True if the message was sent and the expected reply was received + */ + template< class SICK_MONITOR_CLASS, class SICK_MSG_CLASS > + void SickLIDAR< SICK_MONITOR_CLASS, SICK_MSG_CLASS >::_sendMessageAndGetReply( const SICK_MSG_CLASS &send_message, + SICK_MSG_CLASS &recv_message, + const uint8_t * const byte_sequence, + const unsigned int byte_sequence_length, + const unsigned int byte_interval, + const unsigned int timeout_value, + const unsigned int num_tries ) + throw( SickTimeoutException, SickIOException ) { + + /* Send the message for at most num_tries number of times */ + for(unsigned int i = 0; i < num_tries; i++) { + + try { + + /* Send the frame to the unit */ + _sendMessage(send_message,byte_interval); + + /* Wait for the reply! */ + _recvMessage(recv_message,byte_sequence,byte_sequence_length,timeout_value); + + /* message was found! */ + break; + + } + + /* Handle a timeout! */ + catch (SickTimeoutException &sick_timeout) { + + /* Check if it was found! */ + if (i == num_tries - 1) { + throw SickTimeoutException("SickLIDAR::_sendMessageAndGetReply: Attempted max number of tries w/o success!"); + } + + /* Display the number of tries remaining! */ + std::cerr << sick_timeout.what() << " " << num_tries - i - 1 << " tries remaining" << std::endl; + + } + + /* Handle write buffer exceptions */ + catch (SickIOException &sick_io_error) { + std::cerr << sick_io_error.what() << std::endl; + throw; + } + + /* A safety net */ + catch (...) { + std::cerr << "SickLIDAR::_sendMessageAndGetReply: Unknown exception!!!" << std::endl; + throw; + } + + } + + } + +} /* namespace SickToolbox */ + +#endif /* SICK_LIDAR */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xx.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xx.hh new file mode 100755 index 0000000..0af0d16 --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xx.hh @@ -0,0 +1,335 @@ +/*! + * \file SickLMS1xx.hh + * \brief Defines the SickLMS1xx class for working with the + * Sick LMS1xx laser range finders. + * + * Code by Jason C. Derenick and Christopher R. Mansley. + * Contact jasonder(at)seas(dot)upenn(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LMS_1XX_HH +#define SICK_LMS_1XX_HH + +/* Macros */ +#define DEFAULT_SICK_LMS_1XX_IP_ADDRESS "192.168.0.1" ///< Default IP Address +#define DEFAULT_SICK_LMS_1XX_TCP_PORT (2111) ///< Sick LMS 1xx TCP/IP Port +#define DEFAULT_SICK_LMS_1XX_CONNECT_TIMEOUT (1000000) ///< Max time for establishing connection (usecs) +#define DEFAULT_SICK_LMS_1XX_MESSAGE_TIMEOUT (5000000) ///< Max time for reply (usecs) +#define DEFAULT_SICK_LMS_1XX_STATUS_TIMEOUT (60000000) ///< Max time it should take to change status + +#define SICK_LMS_1XX_SCAN_AREA_MIN_ANGLE (-450000) ///< -45 degrees (1/10000) degree +#define SICK_LMS_1XX_SCAN_AREA_MAX_ANGLE (2250000) ///< 225 degrees (1/10000) degree + +/* Definition dependencies */ +#include +#include + +#include "SickLIDAR.hh" +#include "SickLMS1xxBufferMonitor.hh" +#include "SickLMS1xxMessage.hh" +#include "SickException.hh" + +/** + * \namespace SickToolbox + * \brief Encapsulates the Sick LIDAR Matlab/C++ toolbox + */ +namespace SickToolbox { + + /** + * \class SickLMS1xx + * \brief Provides a simple driver interface for working with the + * Sick LD-OEM/Sick LD-LRS long-range models via Ethernet. + */ + class SickLMS1xx : public SickLIDAR< SickLMS1xxBufferMonitor, SickLMS1xxMessage > { + + public: + + static const int SICK_LMS_1XX_MAX_NUM_MEASUREMENTS = 1082; ///< LMS 1xx max number of measurements + + /*! + * \enum sick_lms_1xx_status_t + * \brief Defines the Sick LMS 1xx status. + * This enum lists all of the Sick LMS 1xx status. + */ + enum sick_lms_1xx_status_t { + + SICK_LMS_1XX_STATUS_UNKNOWN = 0x00, ///< LMS 1xx status undefined + SICK_LMS_1XX_STATUS_INITIALIZATION = 0x01, ///< LMS 1xx initializing + SICK_LMS_1XX_STATUS_CONFIGURATION = 0x02, ///< LMS 1xx configuration + SICK_LMS_1XX_STATUS_IDLE = 0x03, ///< LMS 1xx is idle + SICK_LMS_1XX_STATUS_ROTATED = 0x04, ///< LMS 1xx mirror rotating + SICK_LMS_1XX_STATUS_IN_PREP = 0x05, ///< LMS 1xx in preparation + SICK_LMS_1XX_STATUS_READY = 0x06, ///< LMS 1xx is ready + SICK_LMS_1XX_STATUS_READY_FOR_MEASUREMENT = 0x07 ///< LMS 1xx is ready to give measurements + + }; + + /*! + * \enum sick_lms_1xx_scan_format_t + * \brief Defines the Sick LMS 1xx scan types + * This enum is for specifiying the desired scan returns. + */ + enum sick_lms_1xx_scan_format_t { + + SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_NONE = 0x00, ///< Single-pulse dist, no reflect + SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_8BIT = 0x01, ///< Single-pulse dist, 8bit reflect + SICK_LMS_1XX_SCAN_FORMAT_DIST_SINGLE_PULSE_REFLECT_16BIT = 0x02, ///< Single-pulse dist, 16bit reflect + SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_NONE = 0x03, ///< Double-pulse dist, no reflect + SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_8BIT = 0x04, ///< Double-pulse dist, 8bit reflect + SICK_LMS_1XX_SCAN_FORMAT_DIST_DOUBLE_PULSE_REFLECT_16BIT = 0x05, ///< Double-pulse dist, 16bit reflect + SICK_LMS_1XX_SCAN_FORMAT_UNKNOWN = 0xFF ///< Unknown format + + }; + + /*! + * \enum sick_lms_1xx_scan_freq_t + * \brief Defines the Sick LMS 1xx scan frequency. + * This enum lists all of the Sick LMS 1xx scan frequencies. + */ + enum sick_lms_1xx_scan_freq_t { + + SICK_LMS_1XX_SCAN_FREQ_UNKNOWN = 0x00, ///< LMS 1xx scan freq unknown + SICK_LMS_1XX_SCAN_FREQ_25 = 0x09C4, ///< LMS 1xx scan freq 25Hz + SICK_LMS_1XX_SCAN_FREQ_50 = 0X1388 ///< LMS 1xx scan freq 50Hz + + }; + + /*! + * \enum sick_lms_1xx_scan_res_t + * \brief Defines the Sick LMS 1xx scan resolution. + * This enum lists all of the Sick LMS 1xx scan resolutions. + */ + enum sick_lms_1xx_scan_res_t { + + SICK_LMS_1XX_SCAN_RES_UNKNOWN = 0x00, ///< LMS 1xx scab res unknown + SICK_LMS_1XX_SCAN_RES_25 = 0x09C4, ///< LMS 1xx scan res 0.25 deg + SICK_LMS_1XX_SCAN_RES_50 = 0x1388 ///< LMS 1xx scan res 0.50 deg + + }; + + /** Primary constructor */ + SickLMS1xx( const std::string sick_ip_address = DEFAULT_SICK_LMS_1XX_IP_ADDRESS, + const uint16_t sick_tcp_port = DEFAULT_SICK_LMS_1XX_TCP_PORT ); + + /** Initializes the Sick LD unit (use scan areas defined in flash) */ + void Initialize( const bool disp_banner = true ) throw( SickIOException, SickThreadException, SickTimeoutException, SickErrorException ); + + /** Sets the Sick LMS 1xx scan frequency and scan resolution */ + void SetSickScanFreqAndRes( const sick_lms_1xx_scan_freq_t scan_freq, + const sick_lms_1xx_scan_res_t scan_res ) throw( SickTimeoutException, SickIOException, SickErrorException ); + + /** Get the Sick LMS 1xx scan frequency */ + sick_lms_1xx_scan_freq_t GetSickScanFreq( ) const throw ( SickIOException ); + + /** Get the Sick LMS 1xx scan resolution */ + sick_lms_1xx_scan_res_t GetSickScanRes( ) const throw ( SickIOException ); + + /** Get the Sick LMS 1xx scan start angle */ + double GetSickStartAngle( ) const throw ( SickIOException ); + + /** Get the Sick LMS 1xx scan stop angle */ + double GetSickStopAngle( ) const throw ( SickIOException ); + + /** Sets the sick scan data format */ + void SetSickScanDataFormat( const sick_lms_1xx_scan_format_t scan_format ) throw( SickTimeoutException, SickIOException, SickThreadException, SickErrorException ); + + /** Get the Sick Range Measurements */ + void GetSickMeasurements( unsigned int * const range_1_vals, + unsigned int * const range_2_vals, + unsigned int * const reflect_1_vals, + unsigned int * const reflect_2_vals, + unsigned int & num_measurements, + unsigned int * const dev_status = NULL ) throw ( SickIOException, SickConfigException, SickTimeoutException ); + + /** Uninitializes the Sick LD unit */ + void Uninitialize( const bool disp_banner = true ) throw( SickIOException, SickTimeoutException, SickErrorException, SickThreadException ); + + /** Utility function for converting integer to scan frequency */ + sick_lms_1xx_scan_freq_t IntToSickScanFreq( const int scan_freq ) const; + + /** Utility function for converting scan frequency to integer */ + int SickScanFreqToInt( const sick_lms_1xx_scan_freq_t scan_freq ) const; + + /** Utility function for converting double to scan resolution */ + sick_lms_1xx_scan_res_t DoubleToSickScanRes( const double scan_res ) const; + + /** Utility function for converting scan resolution to double */ + double SickScanResToDouble( const sick_lms_1xx_scan_res_t scan_res ) const; + + /** Destructor */ + ~SickLMS1xx(); + + private: + + /*! + * \struct sick_lms_1xx_scan_config_tag + * \brief A structure for aggregrating the + * Sick LMS 1xx configuration params. + */ + /*! + * \typedef sick_lms_1xx_scan_config_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_1xx_scan_config_tag { + sick_lms_1xx_scan_freq_t sick_scan_freq; ///< Sick scan frequency + sick_lms_1xx_scan_res_t sick_scan_res; ///< Sick scan resolution + int32_t sick_start_angle; ///< Sick scan area start angle + int32_t sick_stop_angle; ///< Sick scan area stop angle + } sick_lms_1xx_scan_config_t; + + /** The Sick LMS 1xx IP address */ + std::string _sick_ip_address; + + /** The Sick LMS 1xx TCP port number */ + uint16_t _sick_tcp_port; + + /** Sick LMS 1xx socket address struct */ + struct sockaddr_in _sick_inet_address_info; + + /** Sick LMS 1xx configuration struct */ + sick_lms_1xx_scan_config_t _sick_scan_config; + + /** Sick LMS 1xx current scan data format */ + sick_lms_1xx_scan_format_t _sick_scan_format; + + /** Sick LMS 1xx configuration struct */ + sick_lms_1xx_status_t _sick_device_status; + + /** Sick LMS 1xx temperature status */ + bool _sick_temp_safe; + + /** Sick LMS 1xx streaming status */ + bool _sick_streaming; + + /** Setup the connection parameters and establish TCP connection! */ + void _setupConnection( ) throw( SickIOException, SickTimeoutException ); + + /** Re-initialized the device */ + void _reinitialize( ) throw( SickIOException, SickThreadException, SickTimeoutException, SickErrorException ); + + /** Teardown the connection to the Sick LD */ + void _teardownConnection( ) throw( SickIOException ); + + /** Acquire the latest Sick LMS's status */ + void _updateSickStatus( ) throw( SickTimeoutException, SickIOException ); + + /** Acquire the Sick LMS's scan config */ + void _getSickScanConfig( ) throw( SickTimeoutException, SickIOException ); + + /** Sets the scan configuration (volatile, does not write to EEPROM) */ + void _setSickScanConfig( const sick_lms_1xx_scan_freq_t scan_freq, + const sick_lms_1xx_scan_res_t scan_res, + const int start_angle, const int stop_angle ) throw( SickTimeoutException, SickIOException, SickErrorException ); + + /** Set access mode for configuring device */ + void _setAuthorizedClientAccessMode( ) throw( SickTimeoutException, SickErrorException, SickIOException ); + + /** Save configuration parameters to EEPROM */ + void _writeToEEPROM( ) throw( SickTimeoutException, SickIOException ); + + /** Send the message w/o waiting for a reply */ + void _sendMessage( const SickLMS1xxMessage &send_message ) const throw ( SickIOException ); + + /** Send the message and grab expected reply */ + void _sendMessageAndGetReply( const SickLMS1xxMessage &send_message, + SickLMS1xxMessage &recv_message, + const std::string reply_command_code, + const std::string reply_command, + const unsigned int timeout_value = DEFAULT_SICK_LMS_1XX_MESSAGE_TIMEOUT, + const unsigned int num_tries = 1 ) throw( SickIOException, SickTimeoutException ); + + /** Receive a message */ + void _recvMessage( SickLMS1xxMessage &sick_message ) const throw ( SickTimeoutException ); + + /** Start device measuring */ + void _startMeasuring( ) throw ( SickTimeoutException, SickIOException ); + + /** Stop device measuring */ + void _stopMeasuring( ) throw ( SickTimeoutException, SickIOException ); + + /** Request a data data stream type */ + void _requestDataStream( ) throw ( SickTimeoutException, SickConfigException, SickIOException ); + + /** Start streaming measurements */ + void _startStreamingMeasurements( )throw( SickTimeoutException, SickIOException ); + + /** Stop streaming measurements */ + void _stopStreamingMeasurements( const bool disp_banner = true ) throw( SickTimeoutException, SickIOException ); + + /** Set device to measuring mode */ + void _checkForMeasuringStatus( unsigned int timeout_value = DEFAULT_SICK_LMS_1XX_STATUS_TIMEOUT ) throw( SickTimeoutException, SickIOException ); + + /** Sets the sick scan data format */ + void _setSickScanDataFormat( const sick_lms_1xx_scan_format_t scan_format ) throw( SickTimeoutException, SickIOException, SickThreadException, SickErrorException ); + + /** Restore device to measuring mode */ + void _restoreMeasuringMode( ) throw( SickTimeoutException, SickIOException ); + + /** Ensures a feasible scan area */ + bool _validScanArea( const int start_angle, const int stop_angle ) const; + + /** Utility function to convert int to status */ + sick_lms_1xx_status_t _intToSickStatus( const int status ) const; + + /** Utility function for printing Sick scan config */ + void _printSickScanConfig( ) const; + + /** Utility function for printing footer after initialization */ + void _printInitFooter( ) const; + + /** Utility function for returning scan format as string */ + std::string _sickScanDataFormatToString( const sick_lms_1xx_scan_format_t scan_format ) const; + + /** Utility function for converting sick freq to doubles */ + double _convertSickAngleUnitsToDegs( const int sick_angle ) const { return ((double)sick_angle)/10000; } + + /** Utility function for converting sick Hz values ints */ + unsigned int _convertSickFreqUnitsToHz( const unsigned int sick_freq ) const { return (unsigned int)(((double)sick_freq)/100); } + + /** Utility function to convert config error int to str */ + std::string _intToSickConfigErrorStr( const int error ) const; + + /** Utility function to locate substring in string */ + bool _findSubString( const char * const str, const char * const substr, const unsigned int str_length, const unsigned int substr_length, + unsigned int &substr_pos, unsigned int start_pos = 0 ) const; + + /** Utility function for extracting next integer from tokenized string */ + char * _convertNextTokenToUInt( char * const str_buffer, unsigned int & num_val, const char * const delimeter = " " ) const; + + }; + + /*! + * \typedef sick_lms_1xx_status_t + * \brief Makes working w/ SickLMS1xx::sick_lms_1xx_status_t a bit easier + */ + typedef SickLMS1xx::sick_lms_1xx_status_t sick_lms_1xx_status_t; + + /*! + * \typedef sick_lms_1xx_scan_format_t + * \brief Makes working w/ SickLMS1xx::sick_lms_1xx_scan_format_t a bit easier + */ + typedef SickLMS1xx::sick_lms_1xx_scan_format_t sick_lms_1xx_scan_format_t; + + /*! + * \typedef sick_lms_1xx_scan_freq_t + * \brief Makes working w/ SickLMS1xx::sick_lms_1xx_scan_freq_t a bit easier + */ + typedef SickLMS1xx::sick_lms_1xx_scan_freq_t sick_lms_1xx_scan_freq_t; + + /*! + * \typedef sick_lms_1xx_scan_res_t + * \brief Makes working w/ SickLMS1xx::sick_lms_1xx_scan_res_t a bit easier + */ + typedef SickLMS1xx::sick_lms_1xx_scan_res_t sick_lms_1xx_scan_res_t; + + +} //namespace SickToolbox + +#endif /* SICK_LMS_1XX_HH */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xxBufferMonitor.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xxBufferMonitor.hh new file mode 100755 index 0000000..cd52857 --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xxBufferMonitor.hh @@ -0,0 +1,56 @@ +/*! + * \file SickLMS1xxBufferMonitor.hh + * \brief Defines a class for monitoring the receive + * buffer when interfacing w/ a Sick LMS 1xx + * laser range finder unit. + * + * Code by Jason C. Derenick and Christopher R. Mansley. + * Contact jasonder(at)seas(dot)upenn(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2009, Jason C. Derenick and Christopher R. Mansley + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LMS_1XX_BUFFER_MONITOR_HH +#define SICK_LMS_1XX_BUFFER_MONITOR_HH + +#define DEFAULT_SICK_LMS_1XX_BYTE_TIMEOUT (100000) ///< Max allowable time between consecutive bytes + +/* Definition dependencies */ +#include "SickLMS1xxMessage.hh" +#include "SickBufferMonitor.hh" +#include "SickException.hh" + +/* Associate the namespace */ +namespace SickToolbox { + + /*! + * \brief A class for monitoring the receive buffer when interfacing with a Sick LD LIDAR + */ + class SickLMS1xxBufferMonitor : public SickBufferMonitor< SickLMS1xxBufferMonitor, SickLMS1xxMessage > { + + public: + + /** A standard constructor */ + SickLMS1xxBufferMonitor( ); + + /** A method for extracting a single message from the stream */ + void GetNextMessageFromDataStream( SickLMS1xxMessage &sick_message ) throw( SickIOException ); + + /** A standard destructor */ + ~SickLMS1xxBufferMonitor( ); + + private: + + /* A utility function for flushing the receive buffer */ + void _flushTCPRecvBuffer( ) const throw ( SickIOException ); + + }; + +} /* namespace SickToolbox */ + +#endif /* SICK_LMS_1XX_BUFFER_MONITOR_HH */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xxMessage.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xxMessage.hh new file mode 100755 index 0000000..c8ae6f9 --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xxMessage.hh @@ -0,0 +1,83 @@ +/*! + * \file SickLMS1xx Message.hh + * \brief Defines the class SickLMS1xxMessage. + * + * Code by Jason C. Derenick and Christopher R. Mansley. + * Contact jasonder(at)seas(dot)upenn(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2009, Jason C. Derenick and Christoper R. Mansley + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LMS_1XX_MESSAGE_HH +#define SICK_LMS_1XX_MESSAGE_HH + +/* Macros */ +#define SICK_LMS_1XX_MSG_HEADER_LEN (1) ///< Sick LMS 1xx message header length in bytes +#define SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN (30000) ///< Sick LMS 1xx maximum payload length +#define SICK_LMS_1XX_MSG_TRAILER_LEN (1) ///< Sick LMS 1xx length of the message trailer + +/* Definition dependencies */ +#include +#include +#include "SickMessage.hh" +#include "SickException.hh" + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \class SickLMS1xxMessage + * \brief A class to represent all messages sent to and from the Sick LMS 1xx unit. + */ + class SickLMS1xxMessage : public SickMessage< SICK_LMS_1XX_MSG_HEADER_LEN, SICK_LMS_1XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_1XX_MSG_TRAILER_LEN > { + + public: + + /** A standard constructor */ + SickLMS1xxMessage( ); + + /** Constructs a packet by using BuildMessage */ + SickLMS1xxMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ); + + /** Constructs a packet using ParseMessage() */ + SickLMS1xxMessage( const uint8_t * const message_buffer ); + + /** Construct a well-formed raw packet */ + void BuildMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ); + + /** Populates fields from a (well-formed) raw packet */ + void ParseMessage( const uint8_t * const message_buffer ) throw ( SickIOException ); + + /** Get the length of the service code associated with the message */ + std::string GetCommandType( ) const { return _command_type; } + + /** Get the service sub-code associated with the message */ + std::string GetCommand( ) const { return _command; } + + /** Reset the data associated with this message (for initialization purposes) */ + void Clear( ); + + /** A debugging function that prints the contents of the frame. */ + void Print( ) const; + + /** Destructor */ + ~SickLMS1xxMessage( ); + + private: + + /** Command type associated w/ message */ + std::string _command_type; + + /** Command associated w/ message */ + std::string _command; + + }; + +} /* namespace SickToolbox */ + +#endif /* SICK_LMS_1XX_MESSAGE_HH */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xxUtility.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xxUtility.hh new file mode 100755 index 0000000..250506c --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS1xxUtility.hh @@ -0,0 +1,137 @@ +/*! + * \file SickLMS1xxUtility.hh + * \brief Defines simple utility functions for working with the + * Sick LMS 1xx laser range finder units. + * + * Code by Jason C. Derenick and Christopher R. Mansley. + * Contact jasonder(at)seas(dot)upenn(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2009, Jason C. Derenick and Christopher R. Mansley + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include "SickConfig.hh" + +/* Implementation Dependencies */ +#include + +/** + * \def REVERSE_BYTE_ORDER_16 + * \brief Reverses the byte order of the given 16 bit unsigned integer + */ +#define REVERSE_BYTE_ORDER_16( y ) ( ( ( y & 0x00FF ) << 8 ) | ( ( y & 0xFF00 ) >> 8 ) ) + +/** + * \def REVERSE_BYTE_ORDER_32 + * \brief Reverses the byte order of the given 32 bit unsigned integer + */ +#define REVERSE_BYTE_ORDER_32( y ) ( ( ( y & 0x000000FF ) << 24 ) | ( ( y & 0x0000FF00 ) << 8 ) | ( ( y & 0x00FF0000 ) >> 8 ) | ( ( y & 0xFF000000 ) >> 24 ) ) + +/* Associate the namespace */ +namespace SickToolbox { + +#ifndef WORDS_BIGENDIAN + + /* NOTE: The following functions are necessary since the Sick LD doesn't adopt the + * convention of converting from network byte order. + */ + + /** + * \brief Converts host byte order (little-endian) to Sick LMS byte order (little-endian) + * \param value The 2-byte value to convert to little-endian + * \return Value in Sick LMS byte order (little-endian) + */ + inline uint16_t host_to_sick_lms_1xx_byte_order( uint16_t value ) { + return value; + } + + /** + * \brief Converts host byte order (little-endian) to Sick LMS byte order (little-endian) + * \param value The 4-byte value to convert to little-endian + * \return Value in Sick LMS byte order (little-endian) + */ + inline uint32_t host_to_sick_lms_1xx_byte_order( uint32_t value ) { + return value; + } + + /** + * \brief Converts Sick LMS byte order (little-endian) to host byte order (little-endian) + * \param value The 2-byte value to convert to little-endian + * \return Value in host byte order (little-endian) + */ + inline uint16_t sick_lms_1xx_to_host_byte_order( uint16_t value ) { + return value; + } + + /** + * \brief Converts Sick LMS byte order (little-endian) to host byte order (little-endian) + * \param value The 4-byte value to convert to little-endian + * \return Value in host byte order (little-endian) + */ + inline uint32_t sick_lms_1xx_to_host_byte_order( uint32_t value ) { + return value; + } + +#else // The host has a big-endian architecture + + /** + * \brief Converts host byte order (big-endian) to Sick LMS byte order (little-endian) + * \param value The 2-byte value to convert to little-endian + * \return Value in Sick LMS byte order (little-endian) + */ + inline uint16_t host_to_sick_lms_1xx_byte_order( uint16_t value ) { + return REVERSE_BYTE_ORDER_16(value); + } + + /** + * \brief Converts host byte order (big-endian) to Sick LMS byte order (little-endian) + * \param value The 4-byte value to convertto little-endian + * \return Value in Sick LMS byte order (little-endian) + */ + inline uint32_t host_to_sick_lms_1xx_byte_order( uint32_t value ) { + return REVERSE_BYTE_ORDER_32(value); + } + + /** + * \brief Converts Sick LMS byte order (little-endian) to host byte order (big-endian) + * \param value The 2-byte value to convert to big-endian + * \return Value in host byte order (big-endian) + */ + inline uint16_t sick_lms_1xx_to_host_byte_order( uint16_t value ) { + return REVERSE_BYTE_ORDER_16(value); + } + + /** + * \brief Converts Sick LMS byte order (little-endian) to host byte order (big-endian) + * \param value The 4-byte value to convert to big-endian + * \return Value in host byte order (big-endian) + */ + inline uint32_t sick_lms_1xx_to_host_byte_order( uint32_t value ) { + return REVERSE_BYTE_ORDER_32(value); + } + +#endif /* _LITTLE_ENDIAN_HOST */ + + /* + * NOTE: Other utility functions can be defined here + */ + + /** + * \brief Utility function for converting int to standard string + * \param value Integer to be converted + * \return String representing the given integer + */ + inline std::string int_to_str( const int value ) { + std::stringstream ss; + ss << value; + return ss.str(); + } + + + +} //namespace SickToolbox diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xx.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xx.hh new file mode 100755 index 0000000..f75a3e4 --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xx.hh @@ -0,0 +1,996 @@ +/*! + * \file SickLMS2xx.hh + * \brief Definition of class SickLMS2xx. + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LMS_2XX_HH +#define SICK_LMS_2XX_HH + +/* Implementation dependencies */ +#include +#include +#include + +#include "SickLIDAR.hh" +#include "SickException.hh" + +#include "SickLMS2xxBufferMonitor.hh" +#include "SickLMS2xxMessage.hh" + +/* Macro definitions */ +#define DEFAULT_SICK_LMS_2XX_SICK_BAUD (B9600) ///< Initial baud rate of the LMS (whatever is set in flash) +#define DEFAULT_SICK_LMS_2XX_HOST_ADDRESS (0x80) ///< Client/host default serial address +#define DEFAULT_SICK_LMS_2XX_SICK_ADDRESS (0x00) ///< Sick LMS default serial address +#define DEFAULT_SICK_LMS_2XX_SICK_PASSWORD "SICK_LMS" ///< Password for entering installation mode +#define DEFAULT_SICK_LMS_2XX_SICK_MESSAGE_TIMEOUT (unsigned int)(1e6) ///< The max time to wait for a message reply (usecs) +#define DEFAULT_SICK_LMS_2XX_SICK_SWITCH_MODE_TIMEOUT (unsigned int)(3e6) ///< Can take the Sick LD up to 3 seconds to reply (usecs) +#define DEFAULT_SICK_LMS_2XX_SICK_MEAN_VALUES_MESSAGE_TIMEOUT (unsigned int)(15e6) ///< When using mean values, the Sick can sometimes take more than 10s to respond +#define DEFAULT_SICK_LMS_2XX_SICK_CONFIG_MESSAGE_TIMEOUT (unsigned int)(15e6) ///< The sick can take some time to respond to config commands (usecs) +#define DEFAULT_SICK_LMS_2XX_BYTE_INTERVAL (55) ///< Minimum time in microseconds between transmitted bytes +#define DEFAULT_SICK_LMS_2XX_NUM_TRIES (3) ///< The max number of tries before giving up on a request + +/* Associate the namespace */ +namespace SickToolbox { + + /*! + * \brief A general class for interfacing w/ SickLMS2xx2xx laser range finders + * + * This class implements the basic telegram protocol for SickLMS2xx2xx range finders. + * It allows the setting of such parameters as angular resolution, fov, etc... + */ + class SickLMS2xx : public SickLIDAR< SickLMS2xxBufferMonitor, SickLMS2xxMessage > + { + + public: + + /** Define the maximum number of measurements */ + static const uint16_t SICK_MAX_NUM_MEASUREMENTS = 721; ///< Maximum number of measurements returned by the Sick LMS + + /*! + * \enum sick_lms_2xx_type_t + * \brief Defines the Sick LMS 2xx types. + * This enum lists all of the supported Sick LMS models. + */ + enum sick_lms_2xx_type_t { + + /* Supported 200 models */ + SICK_LMS_TYPE_200_30106, ///< Sick LMS type 200-30106 + + /* Supported 211 models */ + SICK_LMS_TYPE_211_30106, ///< Sick LMS type 211-30106 + SICK_LMS_TYPE_211_30206, ///< Sick LMS type 211-30206 + SICK_LMS_TYPE_211_S07, ///< Sick LMS type 211-S07 + SICK_LMS_TYPE_211_S14, ///< Sick LMS type 211-S14 + SICK_LMS_TYPE_211_S15, ///< Sick LMS type 211-S15 + SICK_LMS_TYPE_211_S19, ///< Sick LMS type 211-S19 + SICK_LMS_TYPE_211_S20, ///< Sick LMS type 211-S20 + + /* Supported 220 models */ + SICK_LMS_TYPE_220_30106, ///< Sick LMS type 220-30106 + + /* Supported 221 models */ + SICK_LMS_TYPE_221_30106, ///< Sick LMS type 221-30106 + SICK_LMS_TYPE_221_30206, ///< Sick LMS type 221-30206 + SICK_LMS_TYPE_221_S07, ///< Sick LMS type 221-S07 + SICK_LMS_TYPE_221_S14, ///< Sick LMS type 221-S14 + SICK_LMS_TYPE_221_S15, ///< Sick LMS type 221-S15 + SICK_LMS_TYPE_221_S16, ///< Sick LMS type 221-S16 + SICK_LMS_TYPE_221_S19, ///< Sick LMS type 221-S19 + SICK_LMS_TYPE_221_S20, ///< Sick LMS type 221-S20 + + /* Supported 291 models */ + SICK_LMS_TYPE_291_S05, ///< Sick LMS type 291-S05 + SICK_LMS_TYPE_291_S14, ///< Sick LMS type 291-S14 (LMS Fast) + SICK_LMS_TYPE_291_S15, ///< Sick LMS type 291-S15 + + /* Any unknown model */ + SICK_LMS_TYPE_UNKNOWN = 0xFF ///< Unknown sick type + + }; + + /*! + * \enum sick_lms_2xx_variant_t + * \brief Defines the Sick LMS 2xx variant type. + */ + enum sick_lms_2xx_variant_t { + SICK_LMS_VARIANT_2XX_TYPE_6 = 0x00, ///< Standard LMS 2xx type 6 models + SICK_LMS_VARIANT_SPECIAL = 0x01, ///< Special models (i.e. LMS211-/221-S19/-S20 + SICK_LMS_VARIANT_UNKNOWN = 0xFF ///< Unknown LMS variant + }; + + /*! + * \enum sick_lms_2xx_scan_angle_t + * \brief Defines the scan angle for the Sick LMS 2xx. + */ + enum sick_lms_2xx_scan_angle_t { + SICK_SCAN_ANGLE_90 = 90, ///< Scanning angle of 90 degrees + SICK_SCAN_ANGLE_100 = 100, ///< Scanning angle of 100 degrees + SICK_SCAN_ANGLE_180 = 180, ///< Scanning angle of 180 degrees + SICK_SCAN_ANGLE_UNKNOWN = 0xFF ///< Unknown scanning angle + }; + + /*! + * \enum sick_lms_2xx_scan_resolution_t + * \brief Defines the available resolution settings for the Sick LMS 2xx. + */ + enum sick_lms_2xx_scan_resolution_t { + SICK_SCAN_RESOLUTION_25 = 25, ///< 0.25 degree angular resolution + SICK_SCAN_RESOLUTION_50 = 50, ///< 0.50 degree angular resolution + SICK_SCAN_RESOLUTION_100 = 100, ///< 1.00 degree angular resolution + SICK_SCAN_RESOLUTION_UNKNOWN = 0xFF ///< Unknown angular resolution + }; + + /*! + * \enum sick_lms_2xx_measuring_units_t + * \brief Defines the available Sick LMS 2xx measured value units. + */ + enum sick_lms_2xx_measuring_units_t { + SICK_MEASURING_UNITS_CM = 0x00, ///< Measured values are in centimeters + SICK_MEASURING_UNITS_MM = 0x01, ///< Measured values are in milimeters + SICK_MEASURING_UNITS_UNKNOWN = 0xFF ///< Unknown units + }; + + /*! + * \enum sick_lms_2xx_sensitivity_t + * \brief Sick sensitivities. Only valid for Sick LMS 211/221/291! + */ + enum sick_lms_2xx_sensitivity_t { + SICK_SENSITIVITY_STANDARD = 0x00, ///< Standard sensitivity: 30m @ 10% reflectivity + SICK_SENSITIVITY_MEDIUM = 0x01, ///< Medium sensitivity: 25m @ 10% reflectivity + SICK_SENSITIVITY_LOW = 0x02, ///< Low sensitivity: 20m @ 10% reflectivity + SICK_SENSITIVITY_HIGH = 0x03, ///< High sensitivity: 42m @ 10% reflectivity + SICK_SENSITIVITY_UNKNOWN = 0xFF ///< Sensitivity unknown + }; + + /*! + * \enum sick_lms_2xx_peak_threshold_t + * \brief Sick peak threshold. Only valid for Sick LMS 200/220! + */ + enum sick_lms_2xx_peak_threshold_t { + SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION = 0x00, ///< Standard: peak threshold detection, no black extension + SICK_PEAK_THRESHOLD_DETECTION_WITH_BLACK_EXTENSION = 0x01, ///< Peak threshold detection, active black extension + SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_NO_BLACK_EXTENSION = 0x02, ///< No peak threshold detection, no black extension + SICK_PEAK_THRESHOLD_NO_DETECTION_WITH_BLACK_EXTENSION = 0x03, ///< No peak threshold detection, active black extension + SICK_PEAK_THRESHOLD_UNKNOWN = 0xFF ///< Peak threshold unknown + }; + + /*! + * \enum sick_lms_2xx_status_t + * \brief Defines the status of the Sick LMS 2xx unit. + */ + enum sick_lms_2xx_status_t { + SICK_STATUS_OK = 0x00, ///< LMS is OK + SICK_STATUS_ERROR = 0x01, ///< LMS has encountered an error + SICK_STATUS_UNKNOWN = 0xFF ///< Unknown LMS status + }; + + /*! + * \enum sick_lms_2xx_measuring_mode_t + * \brief Defines the measurment modes supported by Sick LMS 2xx. + */ + enum sick_lms_2xx_measuring_mode_t { + SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE = 0x00, ///< Measurement range 8m/80m; fields A,B and Dazzle (Default) + SICK_MS_MODE_8_OR_80_REFLECTOR = 0x01, ///< Measurement range 8/80m; reflector bits in 8 levels + SICK_MS_MODE_8_OR_80_FA_FB_FC = 0x02, ///< Measurement range 8/80m; fields A,B, and C + SICK_MS_MODE_16_REFLECTOR = 0x03, ///< Measurement range 16m; reflector bits in 4 levels + SICK_MS_MODE_16_FA_FB = 0x04, ///< Measurement range 16m; fields A and B + SICK_MS_MODE_32_REFLECTOR = 0x05, ///< Measurement range 32m; reflector bit in 2 levels + SICK_MS_MODE_32_FA = 0x06, ///< Measurement range 32m; field A + SICK_MS_MODE_32_IMMEDIATE = 0x0F, ///< Measurement range 32m; immediate data transmission, no flags + SICK_MS_MODE_REFLECTIVITY = 0x3F, ///< Sick LMS 2xx returns reflectivity (echo amplitude) values instead of range measurements + SICK_MS_MODE_UNKNOWN = 0xFF ///< Unknown range + }; + + /*! + * \enum sick_lms_2xx_operating_mode_t + * \brief Defines the operating modes supported by Sick LMS 2xx. + * See page 41 of the LMS 2xx telegram manual for additional descriptions of these modes. + */ + enum sick_lms_2xx_operating_mode_t { + SICK_OP_MODE_INSTALLATION = 0x00, ///< Installation mode for writing EEPROM + SICK_OP_MODE_DIAGNOSTIC = 0x10, ///< Diagnostic mode for testing purposes + SICK_OP_MODE_MONITOR_STREAM_MIN_VALUE_FOR_EACH_SEGMENT = 0x20, ///< Streams minimum measured values for each segement + SICK_OP_MODE_MONITOR_TRIGGER_MIN_VALUE_ON_OBJECT = 0x21, ///< Sends the min measured values when object is detected + SICK_OP_MODE_MONITOR_STREAM_MIN_VERT_DIST_TO_OBJECT = 0x22, ///< Streams min "vertical distance" to objects + SICK_OP_MODE_MONITOR_TRIGGER_MIN_VERT_DIST_TO_OBJECT = 0x23, ///< Sends min vertical distance to object when detected + SICK_OP_MODE_MONITOR_STREAM_VALUES = 0x24, ///< Streams all measured values in a scan + SICK_OP_MODE_MONITOR_REQUEST_VALUES = 0x25, ///< Sends measured range values on request (i.e. when polled) + SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES = 0x26, ///< Streams mean values from a sample size of n consecutive scans + SICK_OP_MODE_MONITOR_STREAM_VALUES_SUBRANGE = 0x27, ///< Streams data from given subrange + SICK_OP_MODE_MONITOR_STREAM_MEAN_VALUES_SUBRANGE = 0x28, ///< Streams mean values over requested subrange + SICK_OP_MODE_MONITOR_STREAM_VALUES_WITH_FIELDS = 0x29, ///< Streams measured values with associated flags + SICK_OP_MODE_MONITOR_STREAM_VALUES_FROM_PARTIAL_SCAN = 0x2A, ///< Streams measured values of partial scan directly after measurement + SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT_FROM_PARTIAL_SCAN = 0x2B, ///< Streams range and intensity from n partial scans + SICK_OP_MODE_MONITOR_STREAM_MIN_VALUES_FOR_EACH_SEGMENT_SUBRANGE = 0x2C, ///< Streams minimum measured values for each segment in a sub-range + SICK_OP_MODE_MONITOR_NAVIGATION = 0x2E, ///< Sick outputs navigation data records + SICK_OP_MODE_MONITOR_STREAM_RANGE_AND_REFLECT = 0x50, ///< Streams measured range from a scan and sub-range of reflectivity values + SICK_OP_MODE_UNKNOWN = 0xFF ///< Unknown operating mode + }; + + /*! + * \enum sick_lms_2xx_baud_t + * \brief Defines available Sick LMS 2xx baud rates + */ + enum sick_lms_2xx_baud_t { + SICK_BAUD_9600 = 0x42, ///< 9600 baud + SICK_BAUD_19200 = 0x41, ///< 19200 baud + SICK_BAUD_38400 = 0x40, ///< 38400 baud + SICK_BAUD_500K = 0x48, ///< 500000 baud + SICK_BAUD_UNKNOWN = 0xFF ///< Unknown baud rate + }; + + /** Define Sick LMS 2xx availability levels */ + static const uint8_t SICK_FLAG_AVAILABILITY_DEFAULT = 0x00; ///< Availability unspecified + static const uint8_t SICK_FLAG_AVAILABILITY_HIGH = 0x01; ///< Highest availability (comparable to LMS types 1 to 5) + static const uint8_t SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES = 0x02; ///< Send real-time indices + static const uint8_t SICK_FLAG_AVAILABILITY_DAZZLE_NO_EFFECT = 0x04; ///< Dazzle evalutation has no effect on switching outputs + + /*! + * \struct sick_lms_2xx_operating_status_tag + * \brief A structure for aggregating the data that + * collectively defines the operating status + * of the device. + */ + /*! + * \typedef sick_lms_2xx_operating_status_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_operating_status_tag { + uint16_t sick_scan_angle; ///< Sick scanning angle (deg) + uint16_t sick_scan_resolution; ///< Sick angular resolution (1/100 deg) + uint16_t sick_num_motor_revs; ///< Sick number of motor revs + uint8_t sick_operating_mode; ///< Sick operating mode + uint8_t sick_measuring_mode; ///< Sick measuring mode + uint8_t sick_laser_mode; ///< Sick laser is on/off + uint8_t sick_device_status; ///< Sick device status {ok,error} + uint8_t sick_measuring_units; ///< Sick measuring units {cm,mm} + uint8_t sick_address; ///< Sick device address + uint8_t sick_variant; ///< Sick variant {special,standard} + } sick_lms_2xx_operating_status_t; + + /*! + * \struct sick_lms_2xx_software_status_tag + * \brief A structure for aggregating the data that + * collectively defines the system software + * for the Sick LMS 2xx unit. + */ + /*! + * \typedef sick_lms_2xx_software_status_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_software_status_tag { + uint8_t sick_system_software_version[8]; ///< Sick system software version + uint8_t sick_prom_software_version[8]; ///< Sick boot prom software version + } sick_lms_2xx_software_status_t; + + /*! + * \struct sick_lms_2xx_restart_status_tag + * \brief A structure for aggregating the data that + * collectively defines the system restart + * config for the Sick LMS 2xx unit + */ + typedef struct sick_lms_2xx_restart_status_tag { + uint16_t sick_restart_time; ///< Sick restart time + uint8_t sick_restart_mode; ///< Sick restart mode + } sick_lms_2xx_restart_status_t; + + /*! + * \struct sick_lms_2xx_pollution_status_tag + * \brief A structure for aggregating the data that + * collectively defines the pollution values + * and settings for the device + */ + /*! + * \typedef sick_lms_2xx_pollution_status_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_pollution_status_tag { + uint16_t sick_pollution_vals[8]; ///< Calibrating the pollution channels + uint16_t sick_pollution_calibration_vals[8]; ///< Calibrating the pollution channel values + uint16_t sick_reference_pollution_vals[4]; ///< Reference pollution values + uint16_t sick_reference_pollution_calibration_vals[4]; ///< Reference pollution calibration values + } sick_lms_2xx_pollution_status_t; + + /*! + * \struct sick_lms_2xx_signal_status_tag + * \brief A structure for aggregating the data that + * collectively define the signal config and + * status. + */ + /*! + * \typedef sick_lms_2xx_signal_status_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_signal_status_tag { + uint16_t sick_reference_scale_1_dark_100; ///< Receive signal amplitude in ADC incs when reference signal is switched off (Signal 1, Dark 100%) + uint16_t sick_reference_scale_2_dark_100; ///< Receive signal amplitude in ADC incs when reference signal is switched off (Signal 2, Dark 100%) + uint16_t sick_reference_scale_1_dark_66; ///< Receive signal amplitude in ADC incs when reference signal is switched off (Signal 1, Dark 66%) + uint16_t sick_reference_scale_2_dark_66; ///< Receive signal amplitude in ADC incs when reference signal is switched off (Signal 2, Dark 66%) + uint16_t sick_signal_amplitude; ///< Laser power in % of calibration value + uint16_t sick_current_angle; ///< Angle used for power measurement + uint16_t sick_peak_threshold; ///< Peak threshold in ADC incs for power measurement + uint16_t sick_angle_of_measurement; ///< Angles used to reference target for power measurement + uint16_t sick_signal_amplitude_calibration_val; ///< Calibration of the laser power + uint16_t sick_stop_threshold_target_value; ///< Target value of the stop threshold in ADC incs + uint16_t sick_peak_threshold_target_value; ///< Target value of the peak threshold in ADC incs + uint16_t sick_stop_threshold_actual_value; ///< Actual value of the stop threshold in ADC incs + uint16_t sick_peak_threshold_actual_value; ///< Actual value of the peak threshold in ADC incs + uint16_t sick_reference_target_single_measured_vals; ///< Reference target "single measured values." Low byte: Current number of filtered single measured values. High byte: Max num filtered single measured value since power-on. + uint16_t sick_reference_target_mean_measured_vals; ///< Reference target "mean measured values." Low byte: Current number of filtered mean measured values. High byte: Max num filtered mean measured value since power-on. + } sick_lms_2xx_signal_status_t; + + /*! + * \struct sick_lms_2xx_field_status_tag + * \brief A structure for aggregating the data that + * collectively define the signal config and + * status. + */ + /*! + * \typedef sick_lms_2xx_field_status_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_field_status_tag { + uint8_t sick_field_evaluation_number; ///< Number of evaluations when the field is infirnged (lies in [1,125]) + uint8_t sick_field_set_number; ///< Active field set number + uint8_t sick_multiple_evaluation_offset_field_2; ///< Offset for multiple evaluation of field set 2 (see page 105 of telegram listing) + } sick_lms_2xx_field_status_t; + + /*! + * \struct sick_lms_2xx_baud_status_tag + * \brief A structure for aggregating the data that + * collectively define the baud config. + */ + /*! + * \typedef sick_lms_2xx_baud_status_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_baud_status_tag { + uint16_t sick_baud_rate; ///< Sick baud as reported by the device + uint8_t sick_permanent_baud_rate; ///< 0 - When power is switched on baud rate is 9600/1 - configured transmission rate is used + } sick_lms_2xx_baud_status_t; + + /*! + * \struct sick_lms_2xx_device_config_tag + * \brief A structure for aggregating the data that + * collectively defines the Sick's config. + */ + /*! + * \typedef sick_lms_2xx_device_config_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_device_config_tag { + uint16_t sick_blanking; ///< Maximum diameter of objects that are not to be detected (units cm) + uint16_t sick_fields_b_c_restart_times; ///< Restart times for fields B and C + uint16_t sick_dazzling_multiple_evaluation; ///< Number of scans that take place before LMS switches the outputs (only applies to availability level 1) + uint8_t sick_peak_threshold; ///< Peak threshold/black correction (This applies to Sick LMS 200/220 models, when Sick LMS 211/221/291 models are used, this value is sensitivity) + uint8_t sick_stop_threshold; ///< Stop threshold in mV (This only applies to Sick LMS 200/220 models) + uint8_t sick_availability_level; ///< Availability level of the Sick LMS + uint8_t sick_measuring_mode; ///< Measuring mode of the device + uint8_t sick_measuring_units; ///< Measured value and field value units + uint8_t sick_temporary_field; ///< Indicates whether the temporary field is being used + uint8_t sick_subtractive_fields; ///< Indicates whether fields A and B are subtractive + uint8_t sick_multiple_evaluation; ///< Multiple evalutation of scan data + uint8_t sick_restart; ///< Indicates the restart level of the device + uint8_t sick_restart_time; ///< Inidicates the restart time of the device + uint8_t sick_multiple_evaluation_suppressed_objects; ///< Multiple evaluation for objects less than the blanking size + uint8_t sick_contour_a_reference; ///< Contour function A + uint8_t sick_contour_a_positive_tolerance_band; ///< When contour function is active the positive tolerance is defined in (cm) + uint8_t sick_contour_a_negative_tolerance_band; ///< When contour function is active the negative tolerance is defined in (cm) + uint8_t sick_contour_a_start_angle; ///< When contour function is active the start angle of area to be monitored is defined (deg) + uint8_t sick_contour_a_stop_angle; ///< When contour function is active the stop angle of area to be monitored is defined (deg) + uint8_t sick_contour_b_reference; ///< Contour function B + uint8_t sick_contour_b_positive_tolerance_band; ///< When contour function is active the positive tolerance is defined in (cm) + uint8_t sick_contour_b_negative_tolerance_band; ///< When contour function is active the negative tolerance is defined in (cm) uint8_t sick_contour_b_start_angle; ///< When contour function is active the start angle of area to be monitored is defined (deg) + uint8_t sick_contour_b_start_angle; ///< When contour function is active the start angle of area to be monitored is defined (deg) + uint8_t sick_contour_b_stop_angle; ///< When contour function is active the stop angle of area to be monitored is defined (deg) + uint8_t sick_contour_c_reference; ///< Contour function C + uint8_t sick_contour_c_positive_tolerance_band; ///< When contour function is active the positive tolerance is defined in (cm) + uint8_t sick_contour_c_negative_tolerance_band; ///< When contour function is active the negative tolerance is defined in (cm) + uint8_t sick_contour_c_start_angle; ///< When contour function is active the start angle of area to be monitored is defined (deg) + uint8_t sick_contour_c_stop_angle; ///< When contour function is active the stop angle of area to be monitored is defined (deg) + uint8_t sick_pixel_oriented_evaluation; ///< Pixel oriented evaluation + uint8_t sick_single_measured_value_evaluation_mode; ///< Multiple evaluation (min: 1, max: 125) + } sick_lms_2xx_device_config_t; + + /*! + * \struct sick_lms_2xx_scan_profile_b0_tag + * \brief A structure for aggregating the data that + * define a scan profile obtained from reply + * B0 (See page 49 Telegram listing) + */ + /*! + * \typedef sick_lms_2xx_scan_profile_b0_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_scan_profile_b0_tag { + uint16_t sick_num_measurements; ///< Number of measurements + uint16_t sick_measurements[SICK_MAX_NUM_MEASUREMENTS]; ///< Range/reflectivity measurement buffer + uint8_t sick_field_a_values[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflects the Field A bit value returned w/ range measurement + uint8_t sick_field_b_values[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflects the Field B but value returned w/ range measurement + uint8_t sick_field_c_values[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflects the Field C (or dazzle - depending upon sensor mode) value returned w/ range measurement + uint8_t sick_telegram_index; ///< Telegram index modulo 256 + uint8_t sick_real_time_scan_index; ///< If real-time scan indices are requested, this value is set (modulo 256) + uint8_t sick_partial_scan_index; ///< Indicates the start angle of the scan (This is useful for partial scans) + } sick_lms_2xx_scan_profile_b0_t; + + /*! + * \struct sick_lms_2xx_scan_profile_b6_tag + * \brief A structure for aggregating the data that + * define a scan profile obtained from reply + * B6 (See page 61 Telegram listing) + */ + /*! + * \typedef sick_lms_2xx_scan_profile_b6_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_scan_profile_b6_tag { + uint16_t sick_num_measurements; ///< Number of measurements + uint16_t sick_measurements[SICK_MAX_NUM_MEASUREMENTS]; ///< Range/reflectivity measurement buffer + uint8_t sick_sample_size; ///< Number of scans used in computing the returned mean + uint8_t sick_telegram_index; ///< Telegram index modulo 256 + uint8_t sick_real_time_scan_index; ///< If real-time scan indices are requested, this value is set (modulo 256) + } sick_lms_2xx_scan_profile_b6_t; + + /*! + * \struct sick_lms_2xx_scan_profile_b7_tag + * \brief A structure for aggregating the data that + * define a scan profile obtained from reply + * B7 (See page 63 Telegram listing) + */ + /*! + * \typedef sick_lms_2xx_scan_profile_b7_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_scan_profile_b7_tag { + uint16_t sick_subrange_start_index; ///< Measurement subrange start index + uint16_t sick_subrange_stop_index; ///< Measurement subrange stop index + uint16_t sick_num_measurements; ///< Number of measurements + uint16_t sick_measurements[SICK_MAX_NUM_MEASUREMENTS]; ///< Range/reflectivity measurement buffer + uint8_t sick_field_a_values[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflects the Field A bit value returned w/ range measurement + uint8_t sick_field_b_values[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflects the Field B but value returned w/ range measurement + uint8_t sick_field_c_values[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflects the Field C (or dazzle - depending upon sensor mode) value returned w/ range measurement + uint8_t sick_telegram_index; ///< Telegram index modulo 256 + uint8_t sick_real_time_scan_index; ///< If real-time scan indices are requested, this value is set (modulo 256) + uint8_t sick_partial_scan_index; ///< Indicates the start angle of the scan (This is useful for partial scans) + } sick_lms_2xx_scan_profile_b7_t; + + /*! + * \struct sick_lms_2xx_scan_profile_bf_tag + * \brief A structure for aggregating the data that + * define a scan profile obtained from reply + * BF (See page 71 Telegram listing) + */ + /*! + * \typedef sick_lms_2xx_scan_profile_bf_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_scan_profile_bf_tag { + uint16_t sick_subrange_start_index; ///< Measurement subrange start index + uint16_t sick_subrange_stop_index; ///< Measurement subrange stop index + uint16_t sick_num_measurements; ///< Number of measurements + uint16_t sick_measurements[SICK_MAX_NUM_MEASUREMENTS]; ///< Range/reflectivity measurement buffer + uint8_t sick_sample_size; ///< Number of scans used in computing the returned mean + uint8_t sick_telegram_index; ///< Telegram index modulo 256 + uint8_t sick_real_time_scan_index; ///< If real-time scan indices are requested, this value is set (modulo 256) + } sick_lms_2xx_scan_profile_bf_t; + + /*! + * \struct sick_lms_2xx_scan_profile_c4_tag + * \brief A structure for aggregating the data that + * define a scan profile obtained from reply + * B4 (See page 79 Telegram listing) + */ + /*! + * \typedef sick_lms_2xx_scan_profile_c4_t + * \brief Adopt c-style convention + */ + typedef struct sick_lms_2xx_scan_profile_c4_tag { + uint16_t sick_num_range_measurements; ///< Number of range measurements + uint16_t sick_num_reflect_measurements; ///< Number of reflectivity measurements + uint16_t sick_range_measurements[SICK_MAX_NUM_MEASUREMENTS]; ///< Range measurement buffer + uint16_t sick_reflect_measurements[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflect measurements buffer + uint16_t sick_reflect_subrange_start_index; ///< Start index of the measured reflectivity value subrange + uint16_t sick_reflect_subrange_stop_index; ///< Stop index of the measured reflectivity value subrange + uint8_t sick_field_a_values[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflects the Field A bit value returned w/ range measurement + uint8_t sick_field_b_values[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflects the Field B but value returned w/ range measurement + uint8_t sick_field_c_values[SICK_MAX_NUM_MEASUREMENTS]; ///< Reflects the Field C (or dazzle - depending upon sensor mode) value returned w/ range measurement + uint8_t sick_telegram_index; ///< Telegram index modulo 256 + uint8_t sick_real_time_scan_index; ///< If real-time scan indices are requested, this value is set (modulo 256) + } sick_lms_2xx_scan_profile_c4_t; + + /** Constructor */ + SickLMS2xx( const std::string sick_device_path ); + + /** Destructor */ + ~SickLMS2xx( ); + + /** Initializes the Sick */ + void Initialize( const sick_lms_2xx_baud_t desired_baud_rate, const uint32_t delay = 0 ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Uninitializes the Sick */ + void Uninitialize( ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Gets the Sick LMS 2xx device path */ + std::string GetSickDevicePath( ) const; + + /** Gets the Sick LMS 2xx device type */ + sick_lms_2xx_type_t GetSickType( ) const throw( SickConfigException ); + + /** Gets the scan angle currently being used by the device */ + double GetSickScanAngle( ) const throw( SickConfigException ); + + /** Gets the scan resolution currently being used by the device */ + double GetSickScanResolution( ) const throw( SickConfigException ); + + /** Set the measurement units of the device (in EEPROM) */ + void SetSickMeasuringUnits( const sick_lms_2xx_measuring_units_t sick_units = SICK_MEASURING_UNITS_MM ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Get the current measurement units of the device */ + SickLMS2xx::sick_lms_2xx_measuring_units_t GetSickMeasuringUnits( ) const throw( SickConfigException ); + + /** Sets the sensitivity value for the device (in EEPROM). NOTE: Only applies to LMS 211/221/291 models. */ + void SetSickSensitivity( const sick_lms_2xx_sensitivity_t sick_sensitivity = SICK_SENSITIVITY_STANDARD ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Get the current Sick LMS 2xx sensitivity level. NOTE: Only applies to LMS 211/221/291 models. */ + sick_lms_2xx_sensitivity_t GetSickSensitivity( ) const throw( SickConfigException ); + + /** Sets the peak threshold mode for the device (in EEPROM). NOTE: Only applies to LMS 200/220 models */ + void SetSickPeakThreshold( const sick_lms_2xx_peak_threshold_t sick_peak_threshold = SICK_PEAK_THRESHOLD_DETECTION_WITH_NO_BLACK_EXTENSION ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Get the current Sick LMS 2xx sensitivity level. NOTE: Only applies to LMS 211/221/291 models. */ + sick_lms_2xx_peak_threshold_t GetSickPeakThreshold( ) const throw( SickConfigException );; + + /** Sets the measuring mode for the device (in EEPROM). See page 98 of the telegram listing for more details. */ + void SetSickMeasuringMode( const sick_lms_2xx_measuring_mode_t sick_measuring_mode = SICK_MS_MODE_8_OR_80_FA_FB_DAZZLE ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Get the current Sick LMS 2xx measuring mode */ + sick_lms_2xx_measuring_mode_t GetSickMeasuringMode( ) const throw( SickConfigException ); + + /** Get the current Sick LMS 2xx operating mode */ + sick_lms_2xx_operating_mode_t GetSickOperatingMode( ) const throw( SickConfigException ); + + /** Sets the availability of the device (in EEPROM). See page 98 of the telegram listing for more details. */ + void SetSickAvailability( const uint8_t sick_availability_flags = SICK_FLAG_AVAILABILITY_DEFAULT ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Gets the current availability flags for the device */ + uint8_t GetSickAvailability( ) const throw( SickConfigException ); + + /** Sets the variant type for the device (in EEPROM) */ + void SetSickVariant( const sick_lms_2xx_scan_angle_t scan_angle, const sick_lms_2xx_scan_resolution_t scan_resolution ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Gets measurement data from the Sick. NOTE: Data can be either range or reflectivity given the Sick mode. */ + void GetSickScan( unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int * const sick_field_a_values = NULL, + unsigned int * const sick_field_b_values = NULL, + unsigned int * const sick_field_c_values = NULL, + unsigned int * const sick_telegram_index = NULL, + unsigned int * const sick_real_time_scan_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Gets range and reflectivity data from the Sick. NOTE: This only applies to Sick LMS 211/221/291-S14! */ + void GetSickScan( unsigned int * const range_values, + unsigned int * const reflect_values, + unsigned int & num_range_measurements, + unsigned int & num_reflect_measurements, + unsigned int * const sick_field_a_values = NULL, + unsigned int * const sick_field_b_values = NULL, + unsigned int * const sick_field_c_values = NULL, + unsigned int * const sick_telegram_index = NULL, + unsigned int * const sick_real_time_scan_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Gets measurement data from the Sick. NOTE: Data can be either range or reflectivity given the Sick mode. */ + void GetSickScanSubrange( const uint16_t sick_subrange_start_index, + const uint16_t sick_subrange_stop_index, + unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int * const sick_field_a_values = NULL, + unsigned int * const sick_field_b_values = NULL, + unsigned int * const sick_field_c_values = NULL, + unsigned int * const sick_telegram_index = NULL, + unsigned int * const sick_real_time_scan_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Gets partial scan measurements from the Sick LMS 2xx. NOTE: Data can be either range or reflectivity depending upon the given Sick mode. */ + void GetSickPartialScan( unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int & partial_scan_index, + unsigned int * const sick_field_a_values = NULL, + unsigned int * const sick_field_b_values = NULL, + unsigned int * const sick_field_c_values = NULL, + unsigned int * const sick_telegram_index = NULL, + unsigned int * const sick_real_time_scan_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Gets mean measured values from the Sick LMS */ + void GetSickMeanValues( const uint8_t sick_sample_size, + unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int * const sick_telegram_index = NULL, + unsigned int * const sick_real_time_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Gets mean measured values from the Sick LMS */ + void GetSickMeanValuesSubrange( const uint8_t sick_sample_size, + const uint16_t sick_subrange_start_index, + const uint16_t sick_subrange_stop_index, + unsigned int * const measurement_values, + unsigned int & num_measurement_values, + unsigned int * const sick_telegram_index = NULL, + unsigned int * const sick_real_time_index = NULL ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Acquire the Sick LMS status */ + sick_lms_2xx_status_t GetSickStatus( ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Indicates whether the Sick is an LMS Fast */ + bool IsSickLMS2xxFast( ) const throw( SickConfigException ); + + /** Resets Sick LMS field values */ + void ResetSick( ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Get Sick status as a string */ + std::string GetSickStatusAsString( ) const; + + /** Get Sick software info as a string */ + std::string GetSickSoftwareVersionAsString( ) const; + + /** Get Sick config as a string */ + std::string GetSickConfigAsString( ) const; + + /** Print the Sick LMS status */ + void PrintSickStatus( ) const; + + /** Print the Sick LMS software versions */ + void PrintSickSoftwareVersion( ) const; + + /** Print the Sick LMS configuration */ + void PrintSickConfig( ) const; + + /* + * NOTE: The following methods are given to make working with our + * predefined types a bit more manageable. + */ + + /** Converts the LMS's type to a corresponding string */ + static std::string SickTypeToString( const sick_lms_2xx_type_t sick_type ); + + /** A utility function for converting integers to lms_sick_scan_angle_t */ + static sick_lms_2xx_scan_angle_t IntToSickScanAngle( const int scan_angle_int ); + + /** A utility function for converting ints to lms_sick_scan_resolution_t */ + static sick_lms_2xx_scan_resolution_t IntToSickScanResolution( const int scan_resolution_int ); + + /** A utility function for converting doubles to lms_sick_scan_resolution_t */ + static sick_lms_2xx_scan_resolution_t DoubleToSickScanResolution( const double scan_resolution_double ); + + /** Converts the given bad, returns a string representing that baud rate. */ + static std::string SickBaudToString( const sick_lms_2xx_baud_t baud_rate ); + + /** A utility function for converting integers to lms_baud_t */ + static sick_lms_2xx_baud_t IntToSickBaud( const int baud_int ); + + /** A utility function for converting baud strings to lms_baud_t */ + static sick_lms_2xx_baud_t StringToSickBaud( const std::string baud_str ); + + /** Converts the LMS's status to a corresponding string */ + static std::string SickStatusToString( const sick_lms_2xx_status_t sick_status ); + + /** Converts the LMS's measuring mode to a corresponding string */ + static std::string SickMeasuringModeToString( const sick_lms_2xx_measuring_mode_t sick_measuring_mode ); + + /** Converts the LMS's measuring mode to a corresponding string */ + static std::string SickOperatingModeToString( const sick_lms_2xx_operating_mode_t sick_operating_mode ); + + /** Converts the LMS's sensitivity to string */ + static std::string SickSensitivityToString( const sick_lms_2xx_sensitivity_t sick_sensitivity ); + + /** Converts the LMS's peak threshold to string */ + static std::string SickPeakThresholdToString( const sick_lms_2xx_peak_threshold_t sick_peak_threshold ); + + /** Converts the LMS's measuring units to a corresponding string */ + static std::string SickMeasuringUnitsToString( const sick_lms_2xx_measuring_units_t sick_units ); + + protected: + + /** A path to the device at which the sick can be accessed. */ + std::string _sick_device_path; + + /** The baud rate at which to communicate with the Sick */ + sick_lms_2xx_baud_t _curr_session_baud; + + /** The desired baud rate for communicating w/ the Sick */ + sick_lms_2xx_baud_t _desired_session_baud; + + /** A string representing the type of device */ + sick_lms_2xx_type_t _sick_type; + + /** The operating parameters of the device */ + sick_lms_2xx_operating_status_t _sick_operating_status; + + /** The current software version being run on the device */ + sick_lms_2xx_software_status_t _sick_software_status; + + /** The restart configuration of the device */ + sick_lms_2xx_restart_status_t _sick_restart_status; + + /** The pollution measurement status */ + sick_lms_2xx_pollution_status_t _sick_pollution_status; + + /** The signal status of the device */ + sick_lms_2xx_signal_status_t _sick_signal_status; + + /** The field configuration for the device */ + sick_lms_2xx_field_status_t _sick_field_status; + + /** The baud configuration of the device */ + sick_lms_2xx_baud_status_t _sick_baud_status; + + /** The device configuration for the Sick */ + sick_lms_2xx_device_config_t _sick_device_config; + + /** Used when the device is streaming mean values */ + uint8_t _sick_mean_value_sample_size; + + /** Used when the device is streaming a scan subrange */ + uint16_t _sick_values_subrange_start_index; + + /** Used when the device is streaming a scan subrange */ + uint16_t _sick_values_subrange_stop_index; + + /** Stores information about the original terminal settings */ + struct termios _old_term; + + /** Opens the terminal for serial communication. */ + void _setupConnection() throw( SickIOException, SickThreadException ); + void _setupConnection(const uint32_t delay ) throw( SickIOException, SickThreadException ); + + /** Closes the serial communication terminal. */ + void _teardownConnection( ) throw( SickIOException ); + + /** Sends a message to the LMS and get the expected reply using th 0x80 rule. @todo Check difference in comments? */ + void _sendMessageAndGetReply( const SickLMS2xxMessage &sick_send_message, + SickLMS2xxMessage &sick_recv_message, + const unsigned int timeout_value, + const unsigned int num_tries ) throw( SickIOException, SickThreadException, SickTimeoutException ); + + /** Sends a message to the LMS and get the expected reply using th 0x80 rule. @todo Check difference in comments? */ + void _sendMessageAndGetReply( const SickLMS2xxMessage &sick_send_message, + SickLMS2xxMessage &sick_recv_message, + const uint8_t reply_code, + const unsigned int timeout_value, + const unsigned int num_tries ) throw( SickIOException, SickThreadException, SickTimeoutException ); + + /** Flushes the terminal I/O buffers */ + void _flushTerminalBuffer( ) throw ( SickThreadException ); + + /** Sets the baud rate for communication with the LMS. */ + void _setSessionBaud( const sick_lms_2xx_baud_t baud_rate ) throw( SickIOException, SickThreadException, SickTimeoutException ); + + /** Tests communication wit the LMS at a particular baud rate. */ + bool _testSickBaud( const sick_lms_2xx_baud_t baud_rate ) throw( SickIOException, SickThreadException ); + + /** Changes the terminal's baud rate. */ + void _setTerminalBaud( const sick_lms_2xx_baud_t sick_baud ) throw( SickIOException, SickThreadException ); + + /** Gets the type of Sick LMS */ + void _getSickType( ) throw( SickTimeoutException, SickIOException, SickThreadException ); + + /** Gets the current Sick configuration settings */ + void _getSickConfig( ) throw( SickTimeoutException, SickIOException, SickThreadException ); + + /** Sets the Sick configuration in flash */ + void _setSickConfig( const sick_lms_2xx_device_config_t &sick_config ) throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException ); + + /** Gets the status of the LMS */ + void _getSickStatus( ) throw( SickTimeoutException, SickIOException, SickThreadException ); + + /** Gets the error status of the Sick LMS */ + void _getSickErrors( unsigned int * const num_sick_errors = NULL, + uint8_t * const error_type_buffer = NULL, + uint8_t * const error_num_buffer = NULL ) throw( SickTimeoutException, SickIOException, SickThreadException ); + + /** Switch Sick LMS to installation mode */ + void _setSickOpModeInstallation( ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Switch Sick LMS to diagnostic mode */ + void _setSickOpModeDiagnostic( ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Switch Sick LMS to monitor mode (request range data) */ + void _setSickOpModeMonitorRequestValues( ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Switch Sick LMS to monitor mode (stream range) */ + void _setSickOpModeMonitorStreamValues( ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Switch Sick LMS to monitor mode (stream range and reflectivity) */ + void _setSickOpModeMonitorStreamRangeAndReflectivity( ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Switch Sick LMS to monitor mode (stream range from a partial scan) */ + void _setSickOpModeMonitorStreamValuesFromPartialScan( ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Switch Sick LMS to monitor mode (stream mean measured values) */ + void _setSickOpModeMonitorStreamMeanValues( const uint8_t sample_size ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Switch Sick LMS to monitor mode (stream mean measured values) */ + void _setSickOpModeMonitorStreamValuesSubrange( const uint16_t subrange_start_index, const uint16_t subrange_stop_index ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Switch Sick LMS to monitor mode (stream mean measured values subrange) */ + void _setSickOpModeMonitorStreamMeanValuesSubrange( const uint16_t sample_size, const uint16_t subrange_start_index, const uint16_t subrange_stop_index ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Switches the operating mode of the LMS. */ + void _switchSickOperatingMode( const uint8_t sick_mode, const uint8_t * const mode_params = NULL ) + throw( SickConfigException, SickTimeoutException, SickIOException, SickThreadException); + + /** Parses the scan profile returned w/ message B0 */ + void _parseSickScanProfileB0( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_b0_t &sick_scan_profile ) const; + + /** Parses the scan profile returned w/ message B6 */ + void _parseSickScanProfileB6( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_b6_t &sick_scan_profile ) const; + + /** Parses the scan profile returned w/ message B6 */ + void _parseSickScanProfileB7( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_b7_t &sick_scan_profile ) const; + + /** Parses the scan profile returned w/ message BF */ + void _parseSickScanProfileBF( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_bf_t &sick_scan_profile ) const; + + /** Parses the scan profile returned w/ message C4 */ + void _parseSickScanProfileC4( const uint8_t * const src_buffer, sick_lms_2xx_scan_profile_c4_t &sick_scan_profile ) const; + + /** A function for parsing a byte sequence into a device config structure */ + void _parseSickConfigProfile( const uint8_t * const src_buffer, sick_lms_2xx_device_config_t &sick_device_config ) const; + + /** Acquires the bit mask to extract the field bit values returned with each range measurement */ + void _extractSickMeasurementValues( const uint8_t * const byte_sequence, const uint16_t num_measurements, uint16_t * const measured_values, + uint8_t * const field_a_values = NULL, uint8_t * const field_b_values = NULL, uint8_t * const field_c_values = NULL ) const; + + /** Tells whether the device is returning real-time indices */ + bool _returningRealTimeIndices( ) const { return _sick_device_config.sick_availability_level & SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES; } + + /** Indicates whether the given unit value is defined */ + bool _validSickMeasuringUnits( const sick_lms_2xx_measuring_units_t sick_units ) const; + + /** Indicates whether the given scan angle is defined */ + bool _validSickScanAngle( const sick_lms_2xx_scan_angle_t sick_scan_angle ) const; + + /** Indicates whether the given scan resolution is defined */ + bool _validSickScanResolution( const sick_lms_2xx_scan_resolution_t sick_scan_resolution ) const; + + /** Indicates whether the given sensitivity is defined */ + bool _validSickSensitivity( const sick_lms_2xx_sensitivity_t sick_sensitivity ) const; + + /** Indicates whether the given peak threshold is defined */ + bool _validSickPeakThreshold( const sick_lms_2xx_peak_threshold_t sick_peak_threshold ) const; + + /** Indicates whether the given sensitivity is defined */ + bool _validSickMeasuringMode( const sick_lms_2xx_measuring_mode_t sick_measuring_mode ) const; + + /** Indicates whether the Sick LMS is type 200 */ + bool _isSickLMS200( ) const; + + /** Indicates whether the Sick LMS is type 211 */ + bool _isSickLMS211( ) const; + + /** Indicates whether the Sick LMS is type 220 */ + bool _isSickLMS220( ) const; + + /** Indicates whether the Sick LMS is type 221 */ + bool _isSickLMS221( ) const; + + /** Indicates whether the Sick LMS is type 291 */ + bool _isSickLMS291( ) const; + + /** Indicates whether the Sick LMS type is unknown */ + bool _isSickUnknown( ) const; + + /** Given a baud rate as an integer, gets a LMS baud rate command. */ + sick_lms_2xx_baud_t _baudToSickBaud( const int baud_rate ) const; + + /** Given a bytecode representing Sick LMS availability, returns a corresponding string */ + std::string _sickAvailabilityToString( const uint8_t availability_code ) const; + + /** Given a bytecode representing Sick LMS restart mode, returns a corresponding string */ + std::string _sickRestartToString( const uint8_t restart_code ) const; + + /** Converts the LMS's temporary field value to a string */ + std::string _sickTemporaryFieldToString( const uint8_t temp_field_code ) const; + + /** Converts the LMS's subtractive field value to a string */ + std::string _sickSubtractiveFieldsToString( const uint8_t subt_field_code ) const; + + /** Converts the LMS's contour function status code to a string */ + std::string _sickContourFunctionToString( const uint8_t contour_function_code ) const; + + /** Converts the LMS's variant to a corresponding string */ + std::string _sickVariantToString( const unsigned int sick_variant ) const; + + }; + + /*! + * \typedef sick_lms_2xx_type_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_type_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_type_t sick_lms_2xx_type_t; + + /*! + * \typedef sick_lms_2xx_variant_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_variant_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_variant_t sick_lms_2xx_variant_t; + + /*! + * \typedef sick_lms_2xx_scan_angle_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_scan_angle_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_scan_angle_t sick_lms_2xx_scan_angle_t; + + /*! + * \typedef sick_lms_2xx_scan_resolution_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_scan_resolution_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_scan_resolution_t sick_lms_2xx_scan_resolution_t; + + /*! + * \typedef sick_lms_2xx_measuring_units_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_measuring_units_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_measuring_units_t sick_lms_2xx_measuring_units_t; + + /*! + * \typedef sick_lms_2xx_sensitivity_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_sensitivity_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_sensitivity_t sick_lms_2xx_sensitivity_t; + + /*! + * \typedef sick_lms_2xx_peak_threshold_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_peak_threshold_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_peak_threshold_t sick_lms_2xx_peak_threshold_t; + + /*! + * \typedef sick_lms_2xx_status_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_status_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_status_t sick_lms_2xx_status_t; + + /*! + * \typedef sick_lms_2xx_measuring_mode_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_measuring_mode_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_measuring_mode_t sick_lms_2xx_measuring_mode_t; + + /*! + * \typedef sick_lms_2xx_operating_mode_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_operating_mode_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_operating_mode_t sick_lms_2xx_operating_mode_t; + + /*! + * \typedef sick_lms_2xx_baud_t + * \brief Makes working w/ SickLMS2xx::sick_lms_2xx_baud_t a bit easier + */ + typedef SickLMS2xx::sick_lms_2xx_baud_t sick_lms_2xx_baud_t; + +} //namespace SickToolbox + +#endif //SICK_LMS_2XX_HH diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xxBufferMonitor.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xxBufferMonitor.hh new file mode 100755 index 0000000..ee816de --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xxBufferMonitor.hh @@ -0,0 +1,51 @@ +/*! + * \file SickLMS2xxBufferMonitor.hh + * \brief Defines a class for monitoring the receive + * buffer when interfacing w/ a Sick LMS 2xx + * laser range finder. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LMS_2XX_BUFFER_MONITOR_HH +#define SICK_LMS_2XX_BUFFER_MONITOR_HH + +#define DEFAULT_SICK_LMS_2XX_SICK_BYTE_TIMEOUT (35000) ///< Max allowable time between consecutive bytes + +/* Definition dependencies */ +#include "SickLMS2xxMessage.hh" +#include "SickBufferMonitor.hh" +#include "SickException.hh" + +/* Associate the namespace */ +namespace SickToolbox { + + /*! + * \brief A class for monitoring the receive buffer when interfacing with a Sick LMS LIDAR + */ + class SickLMS2xxBufferMonitor : public SickBufferMonitor< SickLMS2xxBufferMonitor, SickLMS2xxMessage > { + + public: + + /** A standard constructor */ + SickLMS2xxBufferMonitor( ); + + /** A method for extracting a single message from the stream */ + void GetNextMessageFromDataStream( SickLMS2xxMessage &sick_message ) throw( SickIOException ); + + /** A standard destructor */ + ~SickLMS2xxBufferMonitor( ); + + }; + +} /* namespace SickToolbox */ + +#endif /* SICK_LMS_2XX_BUFFER_MONITOR_HH */ diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xxMessage.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xxMessage.hh new file mode 100755 index 0000000..92056d5 --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xxMessage.hh @@ -0,0 +1,99 @@ +/*! + * \file SickLMS2xxMessage.hh + * \brief Definition of class SickLMS2xxMessage. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_LMS_2XX_MESSAGE_HH +#define SICK_LMS_2XX_MESSAGE_HH + +/* Definition dependencies */ +#include +#include +#include "SickMessage.hh" +#include "SickException.hh" + +#define CRC16_GEN_POL 0x8005 ///< Used to compute CRCs + +/** Makes a "short" in little endian */ +#define MKSHORT(a,b) ((unsigned short) (a) | ((unsigned short)(b) << 8)) + +#define SICK_LMS_2XX_MSG_HEADER_LEN (4) ///< Sick LMS message length in bytes +#define SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN (812) ///< Sick LMS max payload length in bytes +#define SICK_LMS_2XX_MSG_TRAILER_LEN (2) ///< Sick LMS message trailer length in bytes + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \brief A class to represent all messages sent to and from the Sick LMS 2xx + * + * This class helps to construct messages to be sent to the Sick. It also + * provides a container for received messages to be parsed into. + */ + class SickLMS2xxMessage : public SickMessage< SICK_LMS_2XX_MSG_HEADER_LEN, SICK_LMS_2XX_MSG_PAYLOAD_MAX_LEN, SICK_LMS_2XX_MSG_TRAILER_LEN > + { + + public: + + /** Default constructor. Constructs an empty message (not well-formed!). */ + SickLMS2xxMessage( ); + + /** Constructs a frame by using BuildMessage(). */ + SickLMS2xxMessage( const uint8_t dest_address, const uint8_t * const payload_buffer, const unsigned int payload_length ); + + /** Constructs a frame using ParseMessage(). */ + SickLMS2xxMessage( uint8_t * const message_buffer ); + + /** Constructs a well-formed raw frame from input fields. */ + void BuildMessage( uint8_t dest_address, const uint8_t * const payload_buffer, + const unsigned int payload_length ); + + /** Populates fields from a (well-formed) raw frame. */ + void ParseMessage( const uint8_t * const message_buffer ); + + /** Gets the address of the frame. */ + uint8_t GetDestAddress( ) const { return _message_buffer[1]; } + + /** Gets the command code associated with the message */ + uint8_t GetCommandCode( ) const { return _message_buffer[MESSAGE_HEADER_LENGTH]; } + + /** Gets the status byte from an LMS response message (NOTE: only applies to Sick LMS response telegrams!) */ + uint8_t GetStatusByte( ) const { return _message_buffer[MESSAGE_HEADER_LENGTH+_payload_length-1]; } + + /** Gets the checksum for the message. */ + uint16_t GetChecksum( ) const { return _checksum; } + + /** Reset the data associated with this message (for initialization purposes) */ + void Clear( ); + + /** A debugging function that prints the contents of the message. */ + void Print( ) const; + + /** Destructor */ + ~SickLMS2xxMessage(); + + protected: + + /** The checksum (CRC16) */ + uint16_t _checksum; + + private: + + /** Computes the checksum of the frame. */ + uint16_t _computeCRC( uint8_t * data, unsigned int data_length ) const; + + }; + +} /* namespace SickToolbox */ + +#endif //SICK_LMS_2XX_MESSAGE_HH diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xxUtility.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xxUtility.hh new file mode 100755 index 0000000..f440ebc --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickLMS2xxUtility.hh @@ -0,0 +1,121 @@ +/*! + * \file SickLMS2xxUtility.hh + * \brief Defines simple utility functions for working with the + * Sick LMS 2xx laser range finder units. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +/* Auto-generated header */ +#include "SickConfig.hh" + +/** + * \def REVERSE_BYTE_ORDER_16 + * \brief Reverses the byte order of the given 16 bit unsigned integer + */ +#define REVERSE_BYTE_ORDER_16( y ) ( ( ( y & 0x00FF ) << 8 ) | ( ( y & 0xFF00 ) >> 8 ) ) + +/** + * \def REVERSE_BYTE_ORDER_32 + * \brief Reverses the byte order of the given 32 bit unsigned integer + */ +#define REVERSE_BYTE_ORDER_32( y ) ( ( ( y & 0x000000FF ) << 24 ) | ( ( y & 0x0000FF00 ) << 8 ) | ( ( y & 0x00FF0000 ) >> 8 ) | ( ( y & 0xFF000000 ) >> 24 ) ) + +/* Associate the namespace */ +namespace SickToolbox { + +#ifndef WORDS_BIGENDIAN + +/* NOTE: The following functions are necessary since the Sick LD doesn't adopt the + * convention of converting from network byte order. + */ + +/** + * \brief Converts host byte order (little-endian) to Sick LMS byte order (little-endian) + * \param value The 2-byte value to convert to little-endian + * \return Value in Sick LMS byte order (little-endian) + */ +inline uint16_t host_to_sick_lms_2xx_byte_order( uint16_t value ) { + return value; +} + +/** + * \brief Converts host byte order (little-endian) to Sick LMS byte order (little-endian) + * \param value The 4-byte value to convert to little-endian + * \return Value in Sick LMS byte order (little-endian) + */ +inline uint32_t host_to_sick_lms_2xx_byte_order( uint32_t value ) { + return value; +} + +/** + * \brief Converts Sick LMS byte order (little-endian) to host byte order (little-endian) + * \param value The 2-byte value to convert to little-endian + * \return Value in host byte order (little-endian) + */ +inline uint16_t sick_lms_2xx_to_host_byte_order( uint16_t value ) { + return value; +} + +/** + * \brief Converts Sick LMS byte order (little-endian) to host byte order (little-endian) + * \param value The 4-byte value to convert to little-endian + * \return Value in host byte order (little-endian) + */ +inline uint32_t sick_lms_2xx_to_host_byte_order( uint32_t value ) { + return value; +} + +#else // The host has a big-endian architecture + +/** + * \brief Converts host byte order (big-endian) to Sick LMS byte order (little-endian) + * \param value The 2-byte value to convert to little-endian + * \return Value in Sick LMS byte order (little-endian) + */ +inline uint16_t host_to_sick_lms_2xx_byte_order( uint16_t value ) { + return REVERSE_BYTE_ORDER_16(value); +} + +/** + * \brief Converts host byte order (big-endian) to Sick LMS byte order (little-endian) + * \param value The 4-byte value to convertto little-endian + * \return Value in Sick LMS byte order (little-endian) + */ +inline uint32_t host_to_sick_lms_2xx_byte_order( uint32_t value ) { + return REVERSE_BYTE_ORDER_32(value); +} + +/** + * \brief Converts Sick LMS byte order (little-endian) to host byte order (big-endian) + * \param value The 2-byte value to convert to big-endian + * \return Value in host byte order (big-endian) + */ +inline uint16_t sick_lms_2xx_to_host_byte_order( uint16_t value ) { + return REVERSE_BYTE_ORDER_16(value); +} + +/** + * \brief Converts Sick LMS byte order (little-endian) to host byte order (big-endian) + * \param value The 4-byte value to convert to big-endian + * \return Value in host byte order (big-endian) + */ +inline uint32_t sick_lms_2xx_to_host_byte_order( uint32_t value ) { + return REVERSE_BYTE_ORDER_32(value); +} + +#endif /* _LITTLE_ENDIAN_HOST */ + +/* + * NOTE: Other utility functions can be defined here + */ + +} //namespace SickToolbox diff --git a/ros_drivers/sicktoolbox/include/sicktoolbox/SickMessage.hh b/ros_drivers/sicktoolbox/include/sicktoolbox/SickMessage.hh new file mode 100755 index 0000000..617a306 --- /dev/null +++ b/ros_drivers/sicktoolbox/include/sicktoolbox/SickMessage.hh @@ -0,0 +1,230 @@ +/*! + * \file SickMessage.hh + * \brief Defines the abstract parent class for all Sick messages. + * + * Code by Jason C. Derenick and Thomas H. Miller. + * Contact derenick(at)lehigh(dot)edu + * + * The Sick LIDAR Matlab/C++ Toolbox + * Copyright (c) 2008, Jason C. Derenick and Thomas H. Miller + * All rights reserved. + * + * This software is released under a BSD Open-Source License. + * See http://sicktoolbox.sourceforge.net + */ + +#ifndef SICK_MESSAGE +#define SICK_MESSAGE + +/* Dependencies */ +#include +#include +#include + +/* Associate the namespace */ +namespace SickToolbox { + + /** + * \class SickMessage + * \brief Provides an abstract parent for all Sick messages + */ + template < unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + class SickMessage { + + public: + + /** Some constants to make things more manageable */ + static const unsigned int MESSAGE_HEADER_LENGTH = MSG_HEADER_LENGTH; + static const unsigned int MESSAGE_TRAILER_LENGTH = MSG_TRAILER_LENGTH; + static const unsigned int MESSAGE_PAYLOAD_MAX_LENGTH = MSG_PAYLOAD_MAX_LENGTH; + static const unsigned int MESSAGE_MAX_LENGTH = MESSAGE_HEADER_LENGTH + MESSAGE_PAYLOAD_MAX_LENGTH + MESSAGE_TRAILER_LENGTH; + + /** A standard constructor */ + SickMessage( ); + + /** Construct a well-formed Sick message */ + void BuildMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ); + + /** Populates fields given a sequence of bytes representing a raw message */ + virtual void ParseMessage( const uint8_t * const message_buffer ) = 0; + + /** Returns a copy of the raw message buffer */ + void GetMessage( uint8_t * const message_buffer ) const; + + /** Resturns the total message length in bytes */ + unsigned int GetMessageLength( ) const { return _message_length; } + + /** Returns a copy of the raw message payload */ + void GetPayload( uint8_t * const payload_buffer ) const; + + /** Returns a copy of the payload as a C String */ + void GetPayloadAsCStr( char * const payload_str ) const; + + /** Returns a subregion of the payload specified by indices */ + void GetPayloadSubregion( uint8_t * const payload_sub_buffer, const unsigned int start_idx, + const unsigned int stop_idx ) const; + + /** Returns the total payload length in bytes */ + unsigned int GetPayloadLength( ) const { return _payload_length; } + + /** Indicates whether the message container is populated */ + bool IsPopulated( ) const { return _populated; }; + + /** Clear the contents of the message container/object */ + virtual void Clear( ); + + /** Print the contents of the message */ + virtual void Print( ) const; + + /** A virtual destructor */ + virtual ~SickMessage( ); + + protected: + + /** The length of the message payload in bytes */ + unsigned int _payload_length; + + /** The length of the message in bytes */ + unsigned int _message_length; + + /** The message as a raw sequence of bytes */ + uint8_t _message_buffer[MESSAGE_MAX_LENGTH]; + + /** Indicates whether the message container/object is populated */ + bool _populated; + + }; + + + /** + * \brief A default constructor + */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::SickMessage( ) { } + + /** + * \brief Constructs a Sick message given the parameter values + * \param *payload_buffer The payload of the message as an array of bytes + * \param payload_length The length of the payload in bytes + */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + void SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::BuildMessage( const uint8_t * const payload_buffer, const unsigned int payload_length ) { + + /* Clear the object */ + Clear(); + + /* Assign the payload and message lengths */ + _payload_length = payload_length; + _message_length = MESSAGE_HEADER_LENGTH + MESSAGE_TRAILER_LENGTH + _payload_length; + + /* Copy the payload into the message buffer */ + memcpy(&_message_buffer[MESSAGE_HEADER_LENGTH],payload_buffer,_payload_length); + + /* Mark the object container as being populated */ + _populated = true; + + } + + /** + * \brief Parses a sequence of bytes into a Sick message + * \param *message_buffer A well-formed message to be parsed into the class' fields + */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + void SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::ParseMessage( const uint8_t * const message_buffer ) { + + /* Clear the message container/object */ + Clear(); + + /* Mark the object as populated */ + _populated = true; + } + + /** + * \brief Get the message as a sequence of well-formed bytes + * \param *message_buffer Destination buffer for message contents + */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + void SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetMessage( uint8_t * const message_buffer ) const { + memcpy(message_buffer,_message_buffer,_message_length); + } + + /** + * \brief Get the payload contents as a sequence of well-formed bytes + * \param *payload_buffer Destination buffer for message payload contents + */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + void SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayload( uint8_t * const payload_buffer ) const { + memcpy(payload_buffer,&_message_buffer[MESSAGE_HEADER_LENGTH],_payload_length); + } + + /** Returns a copy of the payload as a C String */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + void SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayloadAsCStr( char * const payload_buffer ) const { + memcpy(payload_buffer,&_message_buffer[MESSAGE_HEADER_LENGTH],_payload_length); + payload_buffer[_payload_length] = '\0'; + } + + /** + * \brief Get a specified sub-region of the payload buffer + * \param *payload_sub_buffer Destination buffer for message payload contents + * \param *start_idx The 0-indexed starting location for copying + * \param *stop_idx The 0-indexed stopping location for copying + */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + void SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::GetPayloadSubregion( uint8_t * const payload_sub_buffer, + const unsigned int start_idx, + const unsigned int stop_idx ) const { + /* Extract the subregion */ + memcpy(payload_sub_buffer,&_message_buffer[MESSAGE_HEADER_LENGTH+start_idx],stop_idx+1); + } + + /** + * \brief Reset all internal fields and buffers + */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + void SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::Clear( ) { + + /* Reset the parent integer variables */ + _message_length = _payload_length = 0; + + /* Clear the message buffer */ + memset(_message_buffer,0,MESSAGE_MAX_LENGTH); + + /* Set the flag indicating this message object/container is empty */ + _populated = false; + } + + /** + * \brief Print data about this object + */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + void SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::Print( ) const { + + std::cout << "Payload length: " << GetPayloadLength() << std::endl; + std::cout << "Message length: " << GetMessageLength() << std::endl; + std::cout << std::flush; + + std::cout << "Message (hex):" << std::endl; + std::cout.setf(std::ios::hex,std::ios::basefield); + for (unsigned int i = 0; i < _message_length; i++) { + std::cout << (int)_message_buffer[i] << " "; + } + std::cout << std::endl << std::flush; + + std::cout << "Message (ASCII):" << std::endl; + std::cout.setf(std::ios::dec,std::ios::basefield); + for (unsigned int i = 0; i < _message_length; i++) { + std::cout << _message_buffer[i] << " "; + } + std::cout << std::endl << std::flush; + } + + /** + * \brief A destructor + */ + template< unsigned int MSG_HEADER_LENGTH, unsigned int MSG_PAYLOAD_MAX_LENGTH, unsigned int MSG_TRAILER_LENGTH > + SickMessage< MSG_HEADER_LENGTH, MSG_PAYLOAD_MAX_LENGTH, MSG_TRAILER_LENGTH >::~SickMessage() { } + +} /* namespace SickToolbox */ + +#endif /* SICK_MESSAGE */ diff --git a/ros_drivers/sicktoolbox/manuals/sicktoolbox-RS-422.pdf b/ros_drivers/sicktoolbox/manuals/sicktoolbox-RS-422.pdf new file mode 100755 index 0000000..99132b0 Binary files /dev/null and b/ros_drivers/sicktoolbox/manuals/sicktoolbox-RS-422.pdf differ diff --git a/ros_drivers/sicktoolbox/manuals/sicktoolbox-quickstart.pdf b/ros_drivers/sicktoolbox/manuals/sicktoolbox-quickstart.pdf new file mode 100755 index 0000000..449dce6 Binary files /dev/null and b/ros_drivers/sicktoolbox/manuals/sicktoolbox-quickstart.pdf differ diff --git a/ros_drivers/sicktoolbox/package.xml b/ros_drivers/sicktoolbox/package.xml new file mode 100755 index 0000000..13ed044 --- /dev/null +++ b/ros_drivers/sicktoolbox/package.xml @@ -0,0 +1,27 @@ + + + sicktoolbox + 1.0.103 + SICK Toolbox drivers for SICK laser rangefinders + + This package contains the ROS fork of the SICK LIDAR Matlab/C++ Toolbox, available from http://sicktoolbox.sourceforge.net/. + + The SICK LIDAR Matlab/C++ Toolbox offers stable and easy-to-use C++ drivers for SICK LMS 2xx and SICK LD LIDARs. Also included are config utilities, examples, and tutorials. + + + Chad Rockey + + BSD + + http://sicktoolbox.sourceforge.net/ + https://github.com/ros-drivers/sicktoolbox/issues + https://github.com/ros-drivers/sicktoolbox + + Jason Derenick + Thomas Miller + + catkin + + + + diff --git a/ros_drivers/sicktoolbox_wrapper/CMakeLists.txt b/ros_drivers/sicktoolbox_wrapper/CMakeLists.txt new file mode 100755 index 0000000..c94f27c --- /dev/null +++ b/ros_drivers/sicktoolbox_wrapper/CMakeLists.txt @@ -0,0 +1,79 @@ +cmake_minimum_required(VERSION 2.8.3) +project(sicktoolbox_wrapper) + +find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs sicktoolbox rosconsole diagnostic_updater) + +## System dependencies are found with CMake's conventions +#find_package(Threads) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## 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 + LIBRARIES + CATKIN_DEPENDS roscpp sensor_msgs sicktoolbox rosconsole diagnostic_updater + DEPENDS +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories(${catkin_INCLUDE_DIRS}) + +add_executable(sickld ros/sickld/sickld.cpp) +target_link_libraries(sickld ${catkin_LIBRARIES}) + +add_executable(sicklms ros/sicklms/sicklms.cpp) +target_link_libraries(sicklms ${catkin_LIBRARIES}) + +add_executable(print_scans standalone/print_scans.cpp) +target_link_libraries(print_scans ${catkin_LIBRARIES}) + +add_executable(time_scans standalone/time_scans.cpp) +target_link_libraries(time_scans ${catkin_LIBRARIES}) + +add_executable(log_scans standalone/log_scans.cpp) +target_link_libraries(log_scans ${catkin_LIBRARIES}) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/groovy/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 +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +install(TARGETS sickld sicklms print_scans time_scans + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark cpp header files for installation +#install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.hh" +# PATTERN ".svn" EXCLUDE +#) + +## Mark other files for installation (e.g. launch and bag files, etc.) +install(FILES + sick_test.vcg + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) \ No newline at end of file diff --git a/ros_drivers/sicktoolbox_wrapper/README.md b/ros_drivers/sicktoolbox_wrapper/README.md new file mode 100755 index 0000000..f2f06a1 --- /dev/null +++ b/ros_drivers/sicktoolbox_wrapper/README.md @@ -0,0 +1,54 @@ +# sicktoolbox_wrapper +sicktoolbox_wrapper is a ROS wrapper for the outstanding sicktoolbox library for interfacing with the SICK LMS2XX lasers. + +For this package to work on ROS-KINETIC, follow the instructions below: + +1. change the working directory to catkin workspace +``` +cd ~/catkin_ws/src +``` + +2. Clone the two required repositories +``` +git clone (https://github.com/SantoshBanisetty/sicktoolbox.git) +git clone +``` + +3. Make the project +``` +cd ~/catkin_ws +catkin_make +``` + +4. Make the required connections as shown in datasheet. + +5. Connect the USBtoRS232 and make sure the premissions are set properly. +``` +ls -l /dev/ttyUSB0 +``` +You will see something similar to: +``` +crw-rw-XX- +``` +XX should be rw if not, so the following: +``` +sudo chmod a+rw /dev/ttyUSB0 +``` + +6. Now that the laser is configured properly, run a ros master like +``` +roscore +``` + +7. Run the node as follows:(make sure you source the workspace) +``` +rosrun sicktoolbox_wrapper sicklms _port:=/dev/ttyUSB0 _baud:=38400 +``` + +8. You may use RVIZ to visualize or simply rostopic will suffice to confirm the working +``` +rosrun rviz rviz +``` + + + diff --git a/ros_drivers/sicktoolbox_wrapper/package.xml b/ros_drivers/sicktoolbox_wrapper/package.xml new file mode 100755 index 0000000..1f77072 --- /dev/null +++ b/ros_drivers/sicktoolbox_wrapper/package.xml @@ -0,0 +1,35 @@ + + + sicktoolbox_wrapper + 2.5.3 + sicktoolbox_wrapper is a ROS wrapper for the outstanding sicktoolbox + library for interfacing with the SICK LMS2xx lasers. + + + Chad Rockey + + BSD + + http://ros.org/wiki/sicktoolbox_wrapper + https://github.com/ros-drivers/sicktoolbox_wrapper/issues + https://github.com/ros-drivers/sicktoolbox_wrapper + + Morgan Quigley + + catkin + + roscpp + rosconsole + sensor_msgs + sicktoolbox + diagnostic_updater + + roscpp + rosconsole + sensor_msgs + sicktoolbox + diagnostic_updater + + + + diff --git a/ros_drivers/sicktoolbox_wrapper/ros/sickld/sickld.cpp b/ros_drivers/sicktoolbox_wrapper/ros/sickld/sickld.cpp new file mode 100755 index 0000000..bef614d --- /dev/null +++ b/ros_drivers/sicktoolbox_wrapper/ros/sickld/sickld.cpp @@ -0,0 +1,234 @@ +/* + * Authors: Nick Hillier and Fred Pauling (CSIRO, 2011) + * + * Based on the sicklms.cpp from the sicktoolbox_wrapper ROS package + * and the sample code from the sicktoolbox manual. + * + * Released under BSD license. + */ + +#include +#include +#include "ros/ros.h" +#include "sensor_msgs/LaserScan.h" +#include + +#define DEG2RAD(x) ((x)*M_PI/180.) + +using namespace std; +using namespace SickToolbox; + +// TODO: refactor these functions into a common util lib (similar to code in sicklms.cpp) +void publish_scan(ros::Publisher *pub, double *range_values, + uint32_t n_range_values, unsigned int *intensity_values, + uint32_t n_intensity_values, ros::Time start, + double scan_time, bool inverted, float angle_min, + float angle_max, std::string frame_id) +{ + static int scan_count = 0; + sensor_msgs::LaserScan scan_msg; + scan_msg.header.frame_id = frame_id; + scan_count++; + if (inverted) { // assumes scan window at the bottom + scan_msg.angle_min = angle_max; + scan_msg.angle_max = angle_min; + } else { + scan_msg.angle_min = angle_min; + scan_msg.angle_max = angle_max; + } + scan_msg.angle_increment = (scan_msg.angle_max - scan_msg.angle_min) / (double)(n_range_values-1); + scan_msg.scan_time = scan_time; + scan_msg.time_increment = scan_time / n_range_values; + scan_msg.range_min = 0.5; + scan_msg.range_max = 250.; + scan_msg.ranges.resize(n_range_values); + scan_msg.header.stamp = start; + for (size_t i = 0; i < n_range_values; i++) { + scan_msg.ranges[i] = (float)range_values[i]; + } + scan_msg.intensities.resize(n_intensity_values); + for (size_t i = 0; i < n_intensity_values; i++) { + scan_msg.intensities[i] = (float)intensity_values[i]; + } + pub->publish(scan_msg); +} + +// A complimentary filter to get a (much) better time estimate, does not +// calibrate out constant network latency delays, but does get rid of +// timming jitter to get better timing estimates than the +// communicated clock resolution (which is only 1ms) +class smoothtime { + protected: + ros::Time smoothtime_prev, smoothed_timestamp; + double time_smoothing_factor; + double error_threshold; + public: + //! + smoothtime(){ + time_smoothing_factor = 0.95; /// slowly skew the clocks into sync + error_threshold = .50; /// 50% jitter is acceptable for , discard data otherwise. + } + //! Between 0 and 1, bigger is smoother + void set_smoothing_factor(double smoothing_factor){ + time_smoothing_factor = smoothing_factor; + } + //! Between 0 and 1, threshold on jitter acceptability, higher accepts more jitter before discarding + void set_error_threshold(double err_threshold){ + error_threshold = err_threshold; + } + ros::Time smooth_timestamp(ros::Time recv_timestamp, ros::Duration expctd_dur) { + if (smoothtime_prev.is_zero() == true) { + smoothed_timestamp = recv_timestamp; + } else { + smoothed_timestamp = smoothtime_prev + expctd_dur; + double err = (recv_timestamp - smoothed_timestamp).toSec(); + double time_error_threshold = expctd_dur.toSec() * error_threshold; + if ((time_smoothing_factor > 0) && (fabs(err) < time_error_threshold)){ + ros::Duration correction = ros::Duration(err * (1 - time_smoothing_factor)); + smoothed_timestamp += correction; + } else { + // error too high, or smoothing disabled - set smoothtime to last timestamp + smoothed_timestamp = recv_timestamp; + } + } + smoothtime_prev = smoothed_timestamp; + return smoothed_timestamp; + } +}; + +class averager { + protected: + std::deque deq; + unsigned int max_len; + double sum; + public: + averager(int max_len = 50){ + this->max_len = max_len; + } + void add_new(double data) { + deq.push_back(data); + sum += data; + if (deq.size() > max_len) { + sum -= deq.front(); + deq.pop_front(); + } + } + double get_mean() { + return sum/deq.size(); + } +}; + + +int main(int argc, char *argv[]) { + ros::init(argc, argv, "sickld"); + int port; + std::string ipaddress; + std::string frame_id; + bool inverted; + int sick_motor_speed = 5;//10; // Hz + double sick_step_angle = 1.5;//0.5;//0.25; // deg (0.125 = no gaps between spots) + double active_sector_start_angle = 0; + double active_sector_stop_angle = 300;//269.75; + double smoothing_factor, error_threshold; + ros::NodeHandle nh; + ros::NodeHandle nh_ns("~"); + ros::Publisher scan_pub = nh.advertise("scan", 1); + nh_ns.param("port", port, DEFAULT_SICK_TCP_PORT); + nh_ns.param("ipaddress", ipaddress, (std::string)DEFAULT_SICK_IP_ADDRESS); + nh_ns.param("inverted", inverted, false); + nh_ns.param("frame_id", frame_id, "laser"); + nh_ns.param("timer_smoothing_factor", smoothing_factor, 0.97); + nh_ns.param("timer_error_threshold", error_threshold, 0.5); + nh_ns.param("resolution", sick_step_angle, 1.0); + nh_ns.param("start_angle", active_sector_start_angle, 0.); + nh_ns.param("stop_angle", active_sector_stop_angle, 300.); + nh_ns.param("scan_rate", sick_motor_speed, 10); + /* Define buffers for return values */ + double range_values[SickLD::SICK_MAX_NUM_MEASUREMENTS] = {0}; + unsigned int intensity_values[SickLD::SICK_MAX_NUM_MEASUREMENTS] = {0}; + /* Define buffers to hold sector specific data */ + unsigned int num_measurements = {0}; + unsigned int sector_start_timestamp = {0}; + unsigned int sector_stop_timestamp = {0}; + double sector_step_angle = {0}; + double sector_start_angle = {0}; + double sector_stop_angle = {0}; + /* Instantiate the object */ + SickLD sick_ld(ipaddress.c_str(),port); + try { + /* Initialize the device */ + sick_ld.Initialize(); + // TODO: do some calls to setup the device - e.g. scan rate. + try { + sick_ld.SetSickGlobalParamsAndScanAreas((unsigned int)sick_motor_speed, + sick_step_angle, + &active_sector_start_angle, + &active_sector_stop_angle, + (unsigned int)1); + } catch (...) { + ROS_ERROR("Configuration error"); + return -1; + } + smoothtime smoothtimer; + averager avg_fulldur, avg_scandur; + smoothtimer.set_smoothing_factor(smoothing_factor); + smoothtimer.set_error_threshold(error_threshold); + ros::Time last_start_scan_time; + unsigned int last_sector_stop_timestamp = 0; + double full_duration; + while (ros::ok()) { + /* Grab the measurements (from all sectors) */ + sick_ld.GetSickMeasurements(range_values, + intensity_values, + &num_measurements, + NULL, + NULL, + §or_step_angle, + §or_start_angle, + §or_stop_angle, + §or_start_timestamp, + §or_stop_timestamp + ); + ros::Time end_scan_time = ros::Time::now(); + + double scan_duration = (sector_stop_timestamp - sector_start_timestamp) * 1e-3; + avg_scandur.add_new(scan_duration); + scan_duration = avg_scandur.get_mean(); + + if (last_sector_stop_timestamp == 0) { + full_duration = 1./((double)sick_motor_speed); + } else { + full_duration = (sector_stop_timestamp - last_sector_stop_timestamp) * 1e-3; + } + avg_fulldur.add_new(full_duration); + full_duration = avg_fulldur.get_mean(); + + ros::Time smoothed_end_scan_time = smoothtimer.smooth_timestamp(end_scan_time, ros::Duration(full_duration)); + ros::Time start_scan_time = smoothed_end_scan_time - ros::Duration(scan_duration); + + publish_scan(&scan_pub, range_values, num_measurements, intensity_values, + num_measurements, start_scan_time, scan_duration, inverted, + DEG2RAD((float)sector_start_angle), DEG2RAD((float)sector_stop_angle), frame_id); + + ROS_DEBUG_STREAM("Num meas: " << num_measurements + << " smoothed start T: " << start_scan_time + << " smoothed rate: " << 1./(start_scan_time - last_start_scan_time).toSec() + << " raw start T: " << sector_start_timestamp + << " raw stop T: " << sector_stop_timestamp + << " dur: " << full_duration + << " step A: " << sector_step_angle + << " start A: " << sector_start_angle + << " stop A: " << sector_stop_angle); + last_start_scan_time = start_scan_time; + last_sector_stop_timestamp = sector_stop_timestamp; + ros::spinOnce(); + } + /* Uninitialize the device */ + sick_ld.Uninitialize(); + } + catch(...) { + ROS_ERROR("Error"); + return -1; + } + return 0; +} diff --git a/ros_drivers/sicktoolbox_wrapper/ros/sicklms/sicklms.cpp b/ros_drivers/sicktoolbox_wrapper/ros/sicklms/sicklms.cpp new file mode 100755 index 0000000..1dff2b8 --- /dev/null +++ b/ros_drivers/sicktoolbox_wrapper/ros/sicklms/sicklms.cpp @@ -0,0 +1,420 @@ +/////////////////////////////////////////////////////////////////////////////// +// this program just uses sicktoolbox to get laser scans, and then publishes +// them as ROS messages +// +// Copyright (C) 2008, Morgan Quigley +// +// I am distributing this code under the BSD license: +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of Stanford University nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +#include +#include +#include +#include +#include +#include "ros/ros.h" +#include "sensor_msgs/LaserScan.h" +#include // Publishing over the diagnostics channels. +#include +using namespace SickToolbox; +using namespace std; + +void publish_scan(diagnostic_updater::DiagnosedPublisher *pub, uint32_t *range_values, + uint32_t n_range_values, uint32_t *intensity_values, + uint32_t n_intensity_values, double scale, ros::Time start, + double scan_time, bool inverted, float angle_min, + float angle_max, std::string frame_id) +{ + static int scan_count = 0; + sensor_msgs::LaserScan scan_msg; + scan_msg.header.frame_id = frame_id; + scan_count++; + if (inverted) { + scan_msg.angle_min = angle_max; + scan_msg.angle_max = angle_min; + } else { + scan_msg.angle_min = angle_min; + scan_msg.angle_max = angle_max; + } + scan_msg.angle_increment = (scan_msg.angle_max - scan_msg.angle_min) / (double)(n_range_values-1); + scan_msg.scan_time = scan_time; + scan_msg.time_increment = scan_time / (2*M_PI) * scan_msg.angle_increment; + scan_msg.range_min = 0; + if (scale == 0.01) { + scan_msg.range_max = 81; + } + else if (scale == 0.001) { + scan_msg.range_max = 8.1; + } + scan_msg.ranges.resize(n_range_values); + scan_msg.header.stamp = start; + for (size_t i = 0; i < n_range_values; i++) { + // Check for overflow values, see pg 124 of the Sick LMS telegram listing + switch (range_values[i]) + { + // 8m or 80m operation + case 8191: // Measurement not valid + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 8190: // Dazzling + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 8189: // Operation Overflow + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 8187: // Signal to Noise ratio too small + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 8186: // Erorr when reading channel 1 + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 8183: // Measured value > maximum Value + scan_msg.ranges[i] = numeric_limits::infinity(); + break; + ///< The following are commented out until I verify if 16m and 32m operation are used. + /*// 16m operation + case 16383: // Measurement not valid + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 16382: // Dazzling + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 16381: // Operation Overflow + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 16379: // Signal to Noise ratio too small + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 16378: // Erorr when reading channel 1 + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 16385: // Measured value > maximum Value + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + // 32m operation + case 32767: // Measurement not valid + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 32766 // Dazzling + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 32765: // Operation Overflow + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 32763: // Signal to Noise ratio too small + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 32762: // Erorr when reading channel 1 + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break; + case 32759: // Measured value > maximum Value + scan_msg.ranges[i] = numeric_limits::quiet_NaN(); + break;*/ + default: + scan_msg.ranges[i] = (float)range_values[i] * (float)scale; + } + } + scan_msg.intensities.resize(n_intensity_values); + for (size_t i = 0; i < n_intensity_values; i++) { + scan_msg.intensities[i] = (float)intensity_values[i]; + } + + + pub->publish(scan_msg); +} + +SickLMS2xx::sick_lms_2xx_measuring_units_t StringToLmsMeasuringUnits(string units) +{ + if (units.compare("mm") == 0) + return SickLMS2xx::SICK_MEASURING_UNITS_MM; + else if (units.compare("cm") == 0) + return SickLMS2xx::SICK_MEASURING_UNITS_CM; + + return SickLMS2xx::SICK_MEASURING_UNITS_UNKNOWN; +} + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "sicklms"); + ros::NodeHandle nh; + ros::NodeHandle nh_ns("~"); + string port; + int baud; + int delay; + bool inverted; + int angle; + double resolution; + std::string measuring_units; + std::string frame_id; + double scan_time = 0; + double angle_increment = 0; + float angle_min = 0.0; + float angle_max = 0.0; + + // Diagnostic publisher parameters + double desired_freq; + nh_ns.param("desired_frequency", desired_freq, 75.0); + double min_freq; + nh_ns.param("min_frequency", min_freq, desired_freq); + double max_freq; + nh_ns.param("max_frequency", max_freq, desired_freq); + double freq_tolerance; // Tolerance before error, fractional percent of frequency. + nh_ns.param("frequency_tolerance", freq_tolerance, 0.3); + int window_size; // Number of samples to consider in frequency + nh_ns.param("window_size", window_size, 30); + double min_delay; // The minimum publishing delay (in seconds) before error. Negative values mean future dated messages. + nh_ns.param("min_acceptable_delay", min_delay, 0.0); + double max_delay; // The maximum publishing delay (in seconds) before error. + nh_ns.param("max_acceptable_delay", max_delay, 0.2); + std::string hardware_id; + nh_ns.param("hardware_id", hardware_id, "SICK LMS"); + double time_offset_sec; + nh_ns.param("time_offset", time_offset_sec, 0.0); + ros::Duration time_offset(time_offset_sec); + + // Set up diagnostics + diagnostic_updater::Updater updater; + updater.setHardwareID(hardware_id); + diagnostic_updater::DiagnosedPublisher scan_pub(nh.advertise("scan", 10), updater, + diagnostic_updater::FrequencyStatusParam(&min_freq, &max_freq, freq_tolerance, window_size), + diagnostic_updater::TimeStampStatusParam(min_delay, max_delay)); + + nh_ns.param("port", port, string("/dev/lms200")); + nh_ns.param("baud", baud, 38400); + nh_ns.param("connect_delay", delay, 0); + nh_ns.param("inverted", inverted, false); + nh_ns.param("angle", angle, 0); + nh_ns.param("resolution", resolution, 0.0); + nh_ns.param("units", measuring_units, string()); + nh_ns.param("frame_id", frame_id, "laser"); + + // Check if use_rep_117 is set. + std::string key; + if (nh.searchParam("use_rep_117", key)) + { + ROS_ERROR("The use_rep_117 parameter has not been specified and is now ignored. This parameter was removed in Hydromedusa. Please see: http://ros.org/wiki/rep_117/migration"); + } + + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::IntToSickBaud(baud); + if (desired_baud == SickLMS2xx::SICK_BAUD_UNKNOWN) + { + ROS_ERROR("Baud rate must be in {9600, 19200, 38400, 500000}"); + return 1; + } + uint32_t range_values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; + uint32_t intensity_values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; + uint32_t n_range_values = 0; + uint32_t n_intensity_values = 0; + SickLMS2xx sick_lms(port); + double scale = 0; + double angle_offset; + uint32_t partial_scan_index; + + try + { + uint32_t on_delay = 0; + if(delay > 0){ + on_delay = delay; + } + sick_lms.Initialize(desired_baud, on_delay); + + // Set the angle and resolution if possible (not an LMSFast) and + // the user specifies a setting. + int actual_angle = sick_lms.GetSickScanAngle(); + double actual_resolution = sick_lms.GetSickScanResolution(); + SickLMS2xx::sick_lms_2xx_measuring_units_t actual_units = sick_lms.GetSickMeasuringUnits(); + + // Attempt to set measurement angles and angular resolution + try { + if ((angle && actual_angle != angle) || (resolution && actual_resolution != resolution)) { + ROS_INFO("Setting variant to (%i, %f)", angle, resolution); + sick_lms.SetSickVariant(sick_lms.IntToSickScanAngle(angle), + sick_lms.DoubleToSickScanResolution(resolution)); + } else { + ROS_INFO("Variant setup not requested or identical to actual (%i, %f)", actual_angle, + actual_resolution); + angle = actual_angle; + resolution = actual_resolution; + } + } catch (SickConfigException e) { + actual_angle = sick_lms.GetSickScanAngle(); + actual_resolution = sick_lms.GetSickScanResolution(); + if (angle != actual_angle) { + ROS_WARN("Unable to set scan angle. Using %i instead of %i.", actual_angle, angle); + angle = actual_angle; + } + if (resolution != actual_resolution) { + ROS_WARN("Unable to set resolution. Using %e instead of %e.", actual_resolution, resolution); + resolution = actual_resolution; + } + } + + // Attempt to set measurement output mode to cm or mm + try { + if (!measuring_units.empty() && (actual_units != StringToLmsMeasuringUnits(measuring_units))) { + ROS_INFO("Setting measuring units to '%s'", measuring_units.c_str()); + actual_units = StringToLmsMeasuringUnits(measuring_units); + sick_lms.SetSickMeasuringUnits(actual_units); + } else { + ROS_INFO("Measuring units setup not requested or identical to actual ('%s')", + sick_lms.SickMeasuringUnitsToString(actual_units).c_str()); + } + } catch (SickConfigException e) { + actual_units = sick_lms.GetSickMeasuringUnits(); + if (StringToLmsMeasuringUnits(measuring_units) != actual_units) { + ROS_WARN("Unable to set measuring units. Using '%s' instead of '%s'.", + sick_lms.SickMeasuringUnitsToString(actual_units).c_str(), measuring_units.c_str()); + measuring_units = sick_lms.SickMeasuringUnitsToString(actual_units); + } + } + + if (actual_units == SickLMS2xx::SICK_MEASURING_UNITS_CM) + scale = 0.01; + else if (actual_units == SickLMS2xx::SICK_MEASURING_UNITS_MM) + scale = 0.001; + else + { + ROS_ERROR("Invalid measuring unit."); + return 1; + } + + // The scan time is always 1/75 because that's how long it takes + // for the mirror to rotate. If we have a higher resolution, the + // SICKs interleave the readings, so the net result is we just + // shift the measurements. + if (angle == 180 || sick_lms.IsSickLMS2xxFast()) { + scan_time = 1.0 / 75; + } + else { + SickLMS2xx::sick_lms_2xx_scan_resolution_t scan_resolution = + SickLMS2xx::DoubleToSickScanResolution(resolution); + if ( scan_resolution == SickLMS2xx::SICK_SCAN_RESOLUTION_25) { + // 0.25 degrees + scan_time = 4.0 / 75; // 53.33 ms + } + else if ( scan_resolution == SickLMS2xx::SICK_SCAN_RESOLUTION_50) { + // 0.5 degrees + scan_time = 2.0 / 75; // 26.66 ms + } + else if ( scan_resolution == SickLMS2xx::SICK_SCAN_RESOLUTION_100) { + // 1 degree + scan_time = 1.0 / 75; // 13.33 ms + } + else { + ROS_ERROR("Bogus scan resolution."); + return 1; + } + if ( scan_resolution != SickLMS2xx::SICK_SCAN_RESOLUTION_100) { + ROS_WARN("You are using an angle smaller than 180 degrees and a " + "scan resolution less than 1 degree per scan. Thus, " + "you are in inteleaved mode and the returns will not " + "arrive sequentially how you read them. So, the " + "time_increment field will be misleading. If you need to " + "know when the measurement was made at a time resolution " + "better than the scan_time, use the whole 180 degree " + "field of view."); + } + } + + // The increment for the slower LMS is still 1.0 even if its set to + // 0.5 or 0.25 degrees resolution because it is interleaved. So for + // 0.5 degrees, two scans are needed, offset by 0.5 degrees. These + // show up as two seperate LaserScan messages. + angle_increment = sick_lms.IsSickLMS2xxFast() ? 0.5 : 1.0; + + angle_offset = (180.0-angle)/2; + } + catch (...) + { + ROS_ERROR("Initialize failed! are you using the correct device path?"); + return 2; + } + try + { + while (ros::ok()) + { + if (sick_lms.IsSickLMS2xxFast()) { + // There's no inteleaving, but we can capture both the range + // and intensity simultaneously + sick_lms.GetSickScan(range_values, intensity_values, + n_range_values, n_intensity_values); + angle_min = -M_PI/4; + angle_max = M_PI/4; + } + else if (angle != 180) { + // If the angle is not 180, we can't get partial scans as they + // arrive. So, we have to wait for a full scan to get + // there. + sick_lms.GetSickScan(range_values, n_range_values); + angle_min = (-90.0 + angle_offset) * M_PI / 180.0; + angle_max = (90.0 - angle_offset) * M_PI / 180.0; + } + else { + // We get scans that could be potentially interleaved + // depending on the mode. We want to stream out the data as + // soon as we get it otherwise the timing won't work right to + // reconstruct the data if the sensor is moving. + sick_lms.GetSickPartialScan(range_values, n_range_values, + partial_scan_index); + double partialScanOffset = 0.25 * partial_scan_index; + angle_min = (-90.0 + angle_offset + partialScanOffset) * M_PI / 180.0; + angle_max = (90.0 - angle_offset - fmod(1.0 - partialScanOffset, 1.0)) + * M_PI / 180.0; + } + // Figure out the time that the scan started. Since we just + // fished receiving the data, we'll assume that the mirror is at + // 180 degrees now, or half a scan time. + // Add user provided time offset to handle constant latency. + ros::Time end_of_scan = ros::Time::now(); + ros::Time start = end_of_scan - ros::Duration(scan_time / 2.0) + time_offset; + + publish_scan(&scan_pub, range_values, n_range_values, intensity_values, + n_intensity_values, scale, start, scan_time, inverted, + angle_min, angle_max, frame_id); + ros::spinOnce(); + // Update diagnostics + updater.update(); + } + } + catch (...) + { + ROS_ERROR("Unknown error."); + return 1; + } + try + { + sick_lms.Uninitialize(); + } + catch (...) + { + ROS_ERROR("Error during uninitialize"); + return 1; + } + ROS_INFO("Success.\n"); + + return 0; +} + diff --git a/ros_drivers/sicktoolbox_wrapper/sick_test.vcg b/ros_drivers/sicktoolbox_wrapper/sick_test.vcg new file mode 100755 index 0000000..48ead8b --- /dev/null +++ b/ros_drivers/sicktoolbox_wrapper/sick_test.vcg @@ -0,0 +1,50 @@ +Background\ ColorR=0 +Background\ ColorG=0 +Background\ ColorB=0 +Fixed\ Frame=/laser +Target\ Frame=/laser +Floor\ Scan.Alpha=1 +Floor\ Scan.Autocompute\ Intensity\ Bounds=0 +Floor\ Scan.Billboard\ Size=0.01 +Floor\ Scan.Channel=-1 +Floor\ Scan.Decay\ Time=1 +Floor\ Scan.Enabled=1 +Floor\ Scan.Max\ ColorR=0 +Floor\ Scan.Max\ ColorG=1 +Floor\ Scan.Max\ ColorB=0 +Floor\ Scan.Max\ Intensity=5000 +Floor\ Scan.Min\ ColorR=0.878431 +Floor\ Scan.Min\ ColorG=0.172549 +Floor\ Scan.Min\ ColorB=0.321569 +Floor\ Scan.Min\ Intensity=2000 +Floor\ Scan.Selectable=1 +Floor\ Scan.Style=1 +Floor\ Scan.Topic=/scan +Grid.Alpha=0.5 +Grid.Cell\ Size=1 +Grid.ColorR=0.5 +Grid.ColorG=0.5 +Grid.ColorB=0.5 +Grid.Enabled=1 +Grid.Line\ Style=0 +Grid.Line\ Width=0.03 +Grid.Normal\ Cell\ Count=0 +Grid.OffsetX=0 +Grid.OffsetY=0 +Grid.OffsetZ=0 +Grid.Plane=0 +Grid.Plane\ Cell\ Count=10 +Grid.Reference\ Frame= +Tool\ 2D\ Nav\ GoalTopic=goal +Tool\ 2D\ Pose\ EstimateTopic=initialpose +Camera\ Type=rviz::FixedOrientationOrthoViewController +Camera\ Config=110.208 -0.155586 11.3941 -0.921298 -0.707107 4.73992e-09 -4.49562e-09 0.707107 +Property\ Grid\ State=selection=Floor Scan.Enabled.Floor Scan.Topic;expanded=.Global Options,Floor Scan.Enabled;scrollpos=0,0;splitterpos=141,283;ispageselected=1 +[Display0] +Name=Floor Scan +Package=rviz +ClassName=rviz::LaserScanDisplay +[Display1] +Name=Grid +Package=rviz +ClassName=rviz::GridDisplay diff --git a/ros_drivers/sicktoolbox_wrapper/standalone/log_scans.cpp b/ros_drivers/sicktoolbox_wrapper/standalone/log_scans.cpp new file mode 100755 index 0000000..9a353f7 --- /dev/null +++ b/ros_drivers/sicktoolbox_wrapper/standalone/log_scans.cpp @@ -0,0 +1,118 @@ +/////////////////////////////////////////////////////////////////////////////// +// a little program that dumps LMS scans to disk in ASCII. +// +// Copyright (C) 2010, Morgan Quigley +// +// I am distributing this code under the BSD license: +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of Stanford University nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +#include +extern "C" { +// not everyone has +#include +} +#include +#include +#include +using namespace SickToolbox; +using namespace std; + +bool got_ctrlc = false; +void ctrlc_handler(int) +{ + got_ctrlc = true; +} + +int main(int argc, char **argv) +{ + if (argc != 4) + { + printf("Usage: log_scans DEVICE BAUD_RATE FILENAME\n"); + return 1; + } + FILE *log = fopen(argv[3],"w"); + if (!log) + { + fprintf(stderr, "couldn't open logfile %s\n", argv[3]); + return 1; + } + string lms_dev = argv[1]; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::StringToSickBaud(argv[2]); + if (desired_baud == SickLMS2xx::SICK_BAUD_UNKNOWN) + { + printf("bad baud rate. must be one of {9600, 19200, 38400, 500000}\n"); + return 1; + } + signal(SIGINT, ctrlc_handler); + uint32_t values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; + uint32_t num_values = 0; + SickLMS2xx sick_lms(lms_dev); + try + { + sick_lms.Initialize(desired_baud); + } + catch (...) + { + printf("initialize failed! are you using the correct device path?\n"); + } + try + { + while (!got_ctrlc) + { + sick_lms.GetSickScan(values, num_values); + // print 12 ranges to the console + int inc = num_values / 11; + printf("%5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d\n", + values[0], values[inc], + values[2*inc], values[3*inc], + values[4*inc], values[5*inc], + values[6*inc], values[7*inc], + values[8*inc], values[9*inc], + values[10*inc], values[num_values-1]); + // dump all these guys to disk + fprintf(log, "%.6f ", ros::Time::now().toSec()); + for (unsigned i = 0; i < num_values; i++) + fprintf(log, "%d ", values[i]); + fprintf(log, "\n"); + } + } + catch (...) + { + printf("woah! error!\n"); + } + try + { + sick_lms.Uninitialize(); + } + catch (...) + { + printf("error during uninitialize\n"); + return 1; + } + fclose(log); + printf("success.\n"); + return 0; +} + diff --git a/ros_drivers/sicktoolbox_wrapper/standalone/print_scans.cpp b/ros_drivers/sicktoolbox_wrapper/standalone/print_scans.cpp new file mode 100755 index 0000000..8ba5a8c --- /dev/null +++ b/ros_drivers/sicktoolbox_wrapper/standalone/print_scans.cpp @@ -0,0 +1,107 @@ +/////////////////////////////////////////////////////////////////////////////// +// this program is just a little test to make sure the laser is working. +// it's mostly just to familiarize myself with the sicktoolbox library. +// it's heavily lifted from the sicktoolbox lms_simple_app program. +// +// Copyright (C) 2008, Morgan Quigley +// +// I am distributing this code under the BSD license: +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of Stanford University nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +#include +extern "C" { +// not everyone has +#include +} +#include +#include +using namespace SickToolbox; +using namespace std; + +bool got_ctrlc = false; +void ctrlc_handler(int) +{ + got_ctrlc = true; +} + +int main(int argc, char **argv) +{ + if (argc != 3) + { + printf("Usage: print_scans DEVICE BAUD_RATE\n"); + return 1; + } + string lms_dev = argv[1]; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::StringToSickBaud(argv[2]); + if (desired_baud == SickLMS2xx::SICK_BAUD_UNKNOWN) + { + printf("bad baud rate. must be one of {9600, 19200, 38400, 500000}\n"); + return 1; + } + signal(SIGINT, ctrlc_handler); + uint32_t values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; + uint32_t num_values = 0; + SickLMS2xx sick_lms(lms_dev); + try + { + sick_lms.Initialize(desired_baud); + } + catch (...) + { + printf("initialize failed! are you using the correct device path?\n"); + } + try + { + while (!got_ctrlc) + { + sick_lms.GetSickScan(values, num_values); + // print 12 ranges to the console + int inc = num_values / 11; + printf("%5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d\n", + values[0], values[inc], + values[2*inc], values[3*inc], + values[4*inc], values[5*inc], + values[6*inc], values[7*inc], + values[8*inc], values[9*inc], + values[10*inc], values[num_values-1]); + } + } + catch (...) + { + printf("woah! error!\n"); + } + try + { + sick_lms.Uninitialize(); + } + catch (...) + { + printf("error during uninitialize\n"); + return 1; + } + printf("success.\n"); + return 0; +} + diff --git a/ros_drivers/sicktoolbox_wrapper/standalone/time_scans.cpp b/ros_drivers/sicktoolbox_wrapper/standalone/time_scans.cpp new file mode 100755 index 0000000..3612ee9 --- /dev/null +++ b/ros_drivers/sicktoolbox_wrapper/standalone/time_scans.cpp @@ -0,0 +1,102 @@ +/////////////////////////////////////////////////////////////////////////////// +// this program is just a little test to make sure the laser is working. +// it's mostly just to familiarize myself with the sicktoolbox library. +// it's heavily lifted from the sicktoolbox lms_simple_app program. +// +// Copyright (C) 2008, Morgan Quigley +// +// I am distributing this code under the BSD license: +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of Stanford University nor the names of its +// contributors may be used to endorse or promote products derived from +// this software without specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. + +#include +#include +#include +#include +#include +#include "ros/time.h" +using namespace SickToolbox; +using namespace std; + +bool got_ctrlc = false; +void ctrlc_handler(int) +{ + got_ctrlc = true; +} + +int main(int argc, char **argv) +{ + if (argc != 3) + { + printf("Usage: print_scans DEVICE BAUD_RATE\n"); + return 1; + } + string lms_dev = argv[1]; + SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::StringToSickBaud(argv[2]); + if (desired_baud == SickLMS2xx::SICK_BAUD_UNKNOWN) + { + printf("bad baud rate. must be one of {9600, 19200, 38400, 500000}\n"); + return 1; + } + signal(SIGINT, ctrlc_handler); + uint32_t values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; + uint32_t num_values = 0; + SickLMS2xx sick_lms(lms_dev); + try + { + sick_lms.Initialize(desired_baud); + } + catch (...) + { + printf("initialize failed! are you using the correct device path?\n"); + } + try + { + ros::Time prev_scan_time = ros::Time::now(); + while (!got_ctrlc) + { + sick_lms.GetSickScan(values, num_values); + ros::Time t = ros::Time::now(); + double delta = t.toSec() - prev_scan_time.toSec(); + printf("%f (%f)\n", delta, 1.0 / delta); + prev_scan_time = t; + } + } + catch (...) + { + printf("woah! error!\n"); + } + try + { + sick_lms.Uninitialize(); + } + catch (...) + { + printf("error during uninitialize\n"); + return 1; + } + printf("success.\n"); + return 0; +} + diff --git a/ros_drivers/velodyne_simulator/LICENSE b/ros_drivers/velodyne_simulator/LICENSE new file mode 100755 index 0000000..9bd97f8 --- /dev/null +++ b/ros_drivers/velodyne_simulator/LICENSE @@ -0,0 +1,27 @@ +Software License Agreement (BSD License) + +Copyright (c) 2015-2018, Dataspeed Inc. +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + * Neither the name of Dataspeed Inc. nor the names of its + contributors may be used to endorse or promote products derived from this + software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/ros_drivers/velodyne_simulator/README.md b/ros_drivers/velodyne_simulator/README.md new file mode 100755 index 0000000..8771ba7 --- /dev/null +++ b/ros_drivers/velodyne_simulator/README.md @@ -0,0 +1,50 @@ +# Velodyne Simulator +URDF description and Gazebo plugins to simulate Velodyne laser scanners + +![rviz screenshot](img/rviz.png) + +# Features +* URDF with colored meshes +* Gazebo plugin based on [gazebo_plugins/gazebo_ros_block_laser](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/kinetic-devel/gazebo_plugins/src/gazebo_ros_block_laser.cpp) +* Publishes PointCloud2 with same structure (x, y, z, intensity, ring) +* Simulated Gaussian noise +* GPU acceleration ([with a modern Gazebo build](gazebo_upgrade.md)) +* Supported models: + * [VLP-16](velodyne_description/urdf/VLP-16.urdf.xacro) + * [HDL-32E](velodyne_description/urdf/HDL-32E.urdf.xacro) + * Pull requests for other models are welcome +* Experimental support for clipping low-intensity returns + +# Parameters +* ```*origin``` URDF transform from parent link. +* ```parent``` URDF parent link name. Default ```base_link``` +* ```name``` URDF model name. Also used as tf frame_id for PointCloud2 output. Default ```velodyne``` +* ```topic``` PointCloud2 output topic name. Default ```/velodyne_points``` +* ```hz``` Update rate in hz. Default ```10``` +* ```lasers``` Number of vertical spinning lasers. Default ```VLP-16: 16, HDL-32E: 32``` +* ```samples``` Nuber of horizontal rotating samples. Default ```VLP-16: 1875, HDL-32E: 2187``` +* ```min_range``` Minimum range value in meters. Default ```0.9``` +* ```max_range``` Maximum range value in meters. Default ```130.0``` +* ```noise``` Gausian noise value in meters. Default ```0.008``` +* ```min_angle``` Minimum horizontal angle in radians. Default ```-3.14``` +* ```max_angle``` Maximum horizontal angle in radians. Default ```3.14``` +* ```gpu``` Use gpu_ray sensor instead of the standard ray sensor. Default ```false``` +* ```min_intensity``` The minimum intensity beneath which returns will be clipped. Can be used to remove low-intensity objects. + +# Known Issues +* At full sample resolution, Gazebo can take up to 30 seconds to load the VLP-16 pluggin, 60 seconds for the HDL-32E +* With the default Gazebo version shipped with ROS, ranges are incorrect when accelerated with the GPU option ([issue](https://bitbucket.org/osrf/gazebo/issues/946/),[image](img/gpu.png)) + * Solution: Upgrade to a [modern Gazebo version](gazebo_upgrade.md) +* Gazebo cannot maintain 10Hz with large pointclouds + * Solution: User can reduce number of points (samples) or frequency (hz) in the urdf parameters, see [example.urdf.xacro](velodyne_description/urdf/example.urdf.xacro) +* Gazebo crashes when updating HDL-32E sensors with default number of points. "Took over 1.0 seconds to update a sensor." + * Solution: User can reduce number of points in urdf (same as above) +* Gazebo versions in indigo and jade have different z orientations + * Solution: Maintain separate branches for urdf changes (gazebo2 and master) + +# Example Gazebo Robot +```roslaunch velodyne_description example.launch``` + +# Example Gazebo Robot (with GPU) +```roslaunch velodyne_description example.launch gpu:=true``` + diff --git a/ros_drivers/velodyne_simulator/bitbucket-pipelines.yml b/ros_drivers/velodyne_simulator/bitbucket-pipelines.yml new file mode 100755 index 0000000..bf4b086 --- /dev/null +++ b/ros_drivers/velodyne_simulator/bitbucket-pipelines.yml @@ -0,0 +1,52 @@ +# Docker image from Docker Hub +image: osrf/ros:kinetic-desktop-full + +pipelines: + default: + - parallel: + - step: + name: kinetic + image: osrf/ros:kinetic-desktop-full + script: + - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd` # Move everything into the src directory + - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment + - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1 + - catkin_test_results build_isolated + - step: + name: lunar + image: osrf/ros:lunar-desktop-full + script: + - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd` # Move everything into the src directory + - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment + - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1 + - catkin_test_results build_isolated + - step: + name: melodic + image: osrf/ros:melodic-desktop-full + script: + - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd` # Move everything into the src directory + - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment + - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1 + - catkin_test_results build_isolated + branches: + gazebo2: + - step: + name: indigo + image: osrf/ros:indigo-desktop-full + script: + - mkdir -p /tmp/src/repo && mv `pwd`/* /tmp/src/repo && mv /tmp/src `pwd` # Move everything into the src directory + - source `find /opt/ros -name setup.bash | sort | head -1` && echo $ROS_DISTRO # Source ROS environment + - apt update && rosdep install --from-paths src --ignore-src -y # Install dependencies missing from the docker image + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args tests + - catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --make-args run_tests -j1 + - catkin_test_results build_isolated diff --git a/ros_drivers/velodyne_simulator/gazebo_upgrade.md b/ros_drivers/velodyne_simulator/gazebo_upgrade.md new file mode 100755 index 0000000..cf947b1 --- /dev/null +++ b/ros_drivers/velodyne_simulator/gazebo_upgrade.md @@ -0,0 +1,14 @@ +# GPU issues +The GPU problems reported in this [issue](https://bitbucket.org/osrf/gazebo/issues/946/) have been solved with this [pull request](https://bitbucket.org/osrf/gazebo/pull-requests/2955/) for the ```gazebo7``` branch. The Gazebo versions from the ROS apt repository (7.0.0 for Kinetic, 9.0.0 for Melodic) do not have this fix. One solution is to pull up-to-date packages from the OSRF Gazebo apt repository. Another solution is to compile from source: http://gazebosim.org/tutorials?tut=install_from_source + +* The GPU fix was added to ```gazebo7``` in version 7.14.0 +* The GPU fix was added to ```gazebo9``` in version 9.4.0 + +# Use up-to-date packages from the OSRF Gazebo apt repository +``` +sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list' +sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743 +sudo apt update +sudo apt upgrade +``` + diff --git a/ros_drivers/velodyne_simulator/img/gpu.png b/ros_drivers/velodyne_simulator/img/gpu.png new file mode 100755 index 0000000..127e037 Binary files /dev/null and b/ros_drivers/velodyne_simulator/img/gpu.png differ diff --git a/ros_drivers/velodyne_simulator/img/rviz.png b/ros_drivers/velodyne_simulator/img/rviz.png new file mode 100755 index 0000000..941fac6 Binary files /dev/null and b/ros_drivers/velodyne_simulator/img/rviz.png differ diff --git a/ros_drivers/velodyne_simulator/velodyne_description/CHANGELOG.rst b/ros_drivers/velodyne_simulator/velodyne_description/CHANGELOG.rst new file mode 100755 index 0000000..fea9b0a --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_description/CHANGELOG.rst @@ -0,0 +1,47 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package velodyne_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.9 (2019-03-08) +------------------ + +1.0.8 (2018-09-08) +------------------ + +1.0.7 (2018-07-03) +------------------ +* Added GPU support +* Updated inertia tensors for VLP-16 and HDL-32E to realistic values +* Removed unnecessary file extraction code in cmake +* Contributors: Kevin Hallenbeck, Max Schwarz + +1.0.6 (2017-10-17) +------------------ +* Use robotNamespace as prefix for PointCloud2 topic frame_id by default +* Contributors: Micho Radovnikovich + +1.0.5 (2017-09-05) +------------------ +* Increased minimum collision range to prevent self-clipping when in motion +* Added many URDF parameters, and set example sample count to reasonable values +* Launch rviz with gazebo +* Contributors: Kevin Hallenbeck + +1.0.4 (2017-04-24) +------------------ +* Updated package.xml format to version 2 +* Contributors: Kevin Hallenbeck + +1.0.3 (2016-08-13) +------------------ +* Contributors: Kevin Hallenbeck + +1.0.2 (2016-02-03) +------------------ +* Moved M_PI property out of macro to support multiple instances +* Materials caused problems with more than one sensors. Removed. +* Added example urdf and gazebo +* Changed to DAE meshes +* Added meshes. Added HDL-32E. +* Start from block laser +* Contributors: Kevin Hallenbeck diff --git a/ros_drivers/velodyne_simulator/velodyne_description/CMakeLists.txt b/ros_drivers/velodyne_simulator/velodyne_description/CMakeLists.txt new file mode 100755 index 0000000..ef8c4bf --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_description/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(velodyne_description) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch meshes rviz urdf world + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/ros_drivers/velodyne_simulator/velodyne_description/launch/example.launch b/ros_drivers/velodyne_simulator/velodyne_description/launch/example.launch new file mode 100755 index 0000000..89e680b --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_description/launch/example.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + diff --git a/ros_drivers/velodyne_simulator/velodyne_description/meshes/VLP16_scan.stl b/ros_drivers/velodyne_simulator/velodyne_description/meshes/VLP16_scan.stl new file mode 100755 index 0000000..a14755d Binary files /dev/null and b/ros_drivers/velodyne_simulator/velodyne_description/meshes/VLP16_scan.stl differ diff --git a/ros_drivers/velodyne_simulator/velodyne_description/package.xml b/ros_drivers/velodyne_simulator/velodyne_description/package.xml new file mode 100755 index 0000000..c7d4730 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_description/package.xml @@ -0,0 +1,21 @@ + + + velodyne_description + 1.0.9 + + URDF and meshes describing Velodyne laser scanners. + + + BSD + Kevin Hallenbeck + Kevin Hallenbeck + http://wiki.ros.org/velodyne_description + https://bitbucket.org/dataspeedinc/velodyne_simulator + https://bitbucket.org/dataspeedinc/velodyne_simulator/issues + + catkin + + urdf + xacro + + diff --git a/ros_drivers/velodyne_simulator/velodyne_description/rviz/example.rviz b/ros_drivers/velodyne_simulator/velodyne_description/rviz/example.rviz new file mode 100755 index 0000000..0a41515 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_description/rviz/example.rviz @@ -0,0 +1,250 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 565 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: VLP-16 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_link: + Value: true + velodyne: + Value: true + velodyne2: + Value: true + velodyne2_base_link: + Value: true + velodyne_base_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_footprint: + base_link: + velodyne2_base_link: + velodyne2: + {} + velodyne_base_link: + velodyne: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne2_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: ring + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 7 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VLP-16 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /velodyne_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: ring + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 22 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: HDL-32E + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Flat Squares + Topic: /velodyne_points2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 2.07834911 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.370399028 + Target Frame: + Value: XYOrbit (rviz) + Yaw: 5.54361677 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1200 + X: 2457 + Y: 75 diff --git a/ros_drivers/velodyne_simulator/velodyne_description/urdf/HDL-32E.urdf.xacro b/ros_drivers/velodyne_simulator/velodyne_description/urdf/HDL-32E.urdf.xacro new file mode 100755 index 0000000..caa5e94 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_description/urdf/HDL-32E.urdf.xacro @@ -0,0 +1,138 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + ${hz} + + + + ${samples} + 1 + ${min_angle} + ${max_angle} + + + ${lasers} + 1 + -${30.67*M_PI/180.0} + ${10.67*M_PI/180.0} + + + + ${collision_range} + ${max_range+1} + 0.001 + + + gaussian + 0.0 + 0.0 + + + + ${topic} + ${name} + ${min_range} + ${max_range} + ${noise} + + + + + + 0 0 0 0 0 0 + false + ${hz} + + + + ${samples} + 1 + ${min_angle} + ${max_angle} + + + ${lasers} + 1 + -${30.67*M_PI/180.0} + ${10.67*M_PI/180.0} + + + + ${collision_range} + ${max_range+1} + 0.001 + + + gaussian + 0.0 + 0.0 + + + + ${topic} + ${name} + ${min_range} + ${max_range} + ${noise} + + + + + + + diff --git a/ros_drivers/velodyne_simulator/velodyne_description/urdf/VLP-16.urdf.xacro b/ros_drivers/velodyne_simulator/velodyne_description/urdf/VLP-16.urdf.xacro new file mode 100755 index 0000000..34f23e3 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_description/urdf/VLP-16.urdf.xacro @@ -0,0 +1,145 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + ${hz} + + + + ${samples} + 1 + ${min_angle} + ${max_angle} + + + ${lasers} + 1 + -${15.0*M_PI/180.0} + ${15.0*M_PI/180.0} + + + + ${collision_range} + ${max_range+1} + 0.001 + + + gaussian + 0.0 + 0.0 + + + + ${topic} + ${name} + ${min_range} + ${max_range} + ${noise} + + + + + + 0 0 0 0 0 0 + false + ${hz} + + + + ${samples} + 1 + ${min_angle} + ${max_angle} + + + ${lasers} + 1 + -${15.0*M_PI/180.0} + ${15.0*M_PI/180.0} + + + + ${collision_range} + ${max_range+1} + 0.001 + + + gaussian + 0.0 + 0.0 + + + + ${topic} + ${name} + ${min_range} + ${max_range} + ${noise} + + + + + + + diff --git a/ros_drivers/velodyne_simulator/velodyne_description/urdf/example.urdf.xacro b/ros_drivers/velodyne_simulator/velodyne_description/urdf/example.urdf.xacro new file mode 100755 index 0000000..7521c30 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_description/urdf/example.urdf.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros_drivers/velodyne_simulator/velodyne_description/world/example.world b/ros_drivers/velodyne_simulator/velodyne_description/world/example.world new file mode 100755 index 0000000..c8b9326 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_description/world/example.world @@ -0,0 +1,66 @@ + + + + + + model://sun + + + + model://ground_plane + + + + -1.5 2.5 0.5 0 -0 0 + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + + + + + 1 1 1 + + + 10 + + + + + + + + + + + + + + + + + 1 1 1 + + + + + + + 0 + 0 + 1 + + + + diff --git a/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/CHANGELOG.rst b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/CHANGELOG.rst new file mode 100755 index 0000000..c1a20c1 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/CHANGELOG.rst @@ -0,0 +1,54 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package velodyne_gazebo_plugins +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.9 (2019-03-08) +------------------ +* Added min_intensity parameter to support cliping of low intensity returns +* Contributors: Jonathan Wheare, Kevin Hallenbeck + +1.0.8 (2018-09-08) +------------------ +* Changed iteration order to more closely represent the live velodyne driver +* Contributors: Kevin Hallenbeck + +1.0.7 (2018-07-03) +------------------ +* Added GPU support +* Added support for Gazebo 9 +* Improved behavior of max range calculation +* Removed trailing slashes in robot namespace +* Fixed resolution of 1 not supported +* Fixed issue with only 1 vert or horiz ray +* Fixed cmake exports and warning +* Contributors: Kevin Hallenbeck, Jacob Seibert, Naoki Mizuno + +1.0.6 (2017-10-17) +------------------ +* Use robotNamespace as prefix for PointCloud2 topic frame_id by default +* Use Gazebo LaserScan message instead of direct LaserShape access, fixes timestamp issue +* Contributors: Kevin Hallenbeck, Max Schwarz, Micho Radovnikovich + +1.0.5 (2017-09-05) +------------------ +* Fixed ground plane projection by removing interpolation +* Contributors: Kevin Hallenbeck, Micho Radovnikovich + +1.0.4 (2017-04-24) +------------------ +* Updated package.xml format to version 2 +* Removed gazebo_plugins dependency +* Contributors: Kevin Hallenbeck + +1.0.3 (2016-08-13) +------------------ +* Gazebo7 integration +* Contributors: Kevin Hallenbeck, Konstantin Sorokin + +1.0.2 (2016-02-03) +------------------ +* Display laser count when loading gazebo plugin +* Don't reverse ring for newer gazebo versions +* Changed to PointCloud2. Handle min and max range. Noise. General cleanup. +* Start from block laser +* Contributors: Kevin Hallenbeck diff --git a/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/CMakeLists.txt b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/CMakeLists.txt new file mode 100755 index 0000000..92776c7 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/CMakeLists.txt @@ -0,0 +1,50 @@ +cmake_minimum_required(VERSION 2.8.3) +project(velodyne_gazebo_plugins) + +find_package(catkin REQUIRED COMPONENTS + roscpp + sensor_msgs + tf + gazebo_ros +) +find_package(gazebo REQUIRED) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}") + +catkin_package( + INCLUDE_DIRS include ${GAZEBO_INCLUDE_DIRS} + LIBRARIES gazebo_ros_velodyne_laser gazebo_ros_velodyne_gpu_laser + CATKIN_DEPENDS roscpp sensor_msgs gazebo_ros +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} +) + +link_directories( + ${GAZEBO_LIBRARY_DIRS} +) + +add_library(gazebo_ros_velodyne_laser src/GazeboRosVelodyneLaser.cpp) +target_link_libraries(gazebo_ros_velodyne_laser + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} + RayPlugin +) + +add_library(gazebo_ros_velodyne_gpu_laser src/GazeboRosVelodyneLaser.cpp) +target_link_libraries(gazebo_ros_velodyne_gpu_laser + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} + GpuRayPlugin +) +target_compile_definitions(gazebo_ros_velodyne_gpu_laser PRIVATE GAZEBO_GPU_RAY=1) + +install(TARGETS gazebo_ros_velodyne_laser gazebo_ros_velodyne_gpu_laser + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/include/velodyne_gazebo_plugins/GazeboRosVelodyneLaser.h b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/include/velodyne_gazebo_plugins/GazeboRosVelodyneLaser.h new file mode 100755 index 0000000..df3f780 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/include/velodyne_gazebo_plugins/GazeboRosVelodyneLaser.h @@ -0,0 +1,151 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015-2018, Dataspeed Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Dataspeed Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef GAZEBO_ROS_VELODYNE_LASER_H_ +#define GAZEBO_ROS_VELODYNE_LASER_H_ + +// Use the same source code for CPU and GPU plugins +#ifndef GAZEBO_GPU_RAY +#define GAZEBO_GPU_RAY 0 +#endif + +// Custom Callback Queue +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#if GAZEBO_GPU_RAY +#include +#else +#include +#endif + +#include +#include +#include +#include +#include + +#if GAZEBO_GPU_RAY +#define GazeboRosVelodyneLaser GazeboRosVelodyneGpuLaser +#define RayPlugin GpuRayPlugin +#define RaySensorPtr GpuRaySensorPtr +#endif + +namespace gazebo +{ + + class GazeboRosVelodyneLaser : public RayPlugin + { + /// \brief Constructor + /// \param parent The parent entity, must be a Model or a Sensor + public: GazeboRosVelodyneLaser(); + + /// \brief Destructor + public: ~GazeboRosVelodyneLaser(); + + /// \brief Load the plugin + /// \param take in SDF root element + public: void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf); + + /// \brief Subscribe on-demand + private: void ConnectCb(); + + /// \brief The parent ray sensor + private: sensors::RaySensorPtr parent_ray_sensor_; + + /// \brief Pointer to ROS node + private: ros::NodeHandle* nh_; + + /// \brief ROS publisher + private: ros::Publisher pub_; + + /// \brief topic name + private: std::string topic_name_; + + /// \brief frame transform name, should match link name + private: std::string frame_name_; + + /// \brief the intensity beneath which points will be filtered + private: double min_intensity_; + + /// \brief Minimum range to publish + private: double min_range_; + + /// \brief Maximum range to publish + private: double max_range_; + + /// \brief Gaussian noise + private: double gaussian_noise_; + + /// \brief Gaussian noise generator + private: static double gaussianKernel(double mu, double sigma) + { + // using Box-Muller transform to generate two independent standard normally distributed normal variables + // see wikipedia + double U = (double)rand() / (double)RAND_MAX; // normalized uniform random variable + double V = (double)rand() / (double)RAND_MAX; // normalized uniform random variable + return sigma * (sqrt(-2.0 * ::log(U)) * cos(2.0 * M_PI * V)) + mu; + } + + /// \brief A mutex to lock access + private: boost::mutex lock_; + + /// \brief For setting ROS name space + private: std::string robot_namespace_; + + // Custom Callback Queue + private: ros::CallbackQueue laser_queue_; + private: void laserQueueThread(); + private: boost::thread callback_laser_queue_thread_; + + // Subscribe to gazebo laserscan + private: gazebo::transport::NodePtr gazebo_node_; + private: gazebo::transport::SubscriberPtr sub_; + private: void OnScan(const ConstLaserScanStampedPtr &_msg); + + }; + +} // namespace gazebo + +#endif /* GAZEBO_ROS_VELODYNE_LASER_H_ */ + diff --git a/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/package.xml b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/package.xml new file mode 100755 index 0000000..db07a0b --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/package.xml @@ -0,0 +1,26 @@ + + + velodyne_gazebo_plugins + 1.0.9 + + Gazebo plugin to provide simulated data from Velodyne laser scanners. + + + BSD + Kevin Hallenbeck + Kevin Hallenbeck + http://wiki.ros.org/velodyne_gazebo_plugins + https://bitbucket.org/dataspeedinc/velodyne_simulator + https://bitbucket.org/dataspeedinc/velodyne_simulator/issues + + catkin + + roscpp + sensor_msgs + tf + gazebo_ros + + + + + diff --git a/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/src/GazeboRosVelodyneLaser.cpp b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/src/GazeboRosVelodyneLaser.cpp new file mode 100755 index 0000000..4b675c8 --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_gazebo_plugins/src/GazeboRosVelodyneLaser.cpp @@ -0,0 +1,385 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2015-2018, Dataspeed Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Dataspeed Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include + +#include +#include + +#include +#include +#include +#include +#include +#if GAZEBO_GPU_RAY +#include +#else +#include +#endif +#include +#include + +#include + +#include + +#if GAZEBO_GPU_RAY +#define RaySensor GpuRaySensor +#define STR_Gpu "Gpu" +#define STR_GPU_ "GPU " +#else +#define STR_Gpu "" +#define STR_GPU_ "" +#endif + +namespace gazebo +{ +// Register this plugin with the simulator +GZ_REGISTER_SENSOR_PLUGIN(GazeboRosVelodyneLaser) + +//////////////////////////////////////////////////////////////////////////////// +// Constructor +GazeboRosVelodyneLaser::GazeboRosVelodyneLaser() : nh_(NULL), gaussian_noise_(0), min_range_(0), max_range_(0) +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosVelodyneLaser::~GazeboRosVelodyneLaser() +{ + //////////////////////////////////////////////////////////////////////////////// + // Finalize the controller / Custom Callback Queue + laser_queue_.clear(); + laser_queue_.disable(); + if (nh_) { + nh_->shutdown(); + delete nh_; + nh_ = NULL; + } + callback_laser_queue_thread_.join(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosVelodyneLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) +{ + // Load plugin + RayPlugin::Load(_parent, _sdf); + + // Initialize Gazebo node + gazebo_node_ = gazebo::transport::NodePtr(new gazebo::transport::Node()); + gazebo_node_->Init(); + + // Get the parent ray sensor +#if GAZEBO_MAJOR_VERSION >= 7 + parent_ray_sensor_ = std::dynamic_pointer_cast(_parent); +#else + parent_ray_sensor_ = boost::dynamic_pointer_cast(_parent); +#endif + if (!parent_ray_sensor_) { + gzthrow("GazeboRosVelodyne" << STR_Gpu << "Laser controller requires a " << STR_Gpu << "Ray Sensor as its parent"); + } + + robot_namespace_ = "/"; + if (_sdf->HasElement("robotNamespace")) { + robot_namespace_ = _sdf->GetElement("robotNamespace")->Get(); + } + + if (!_sdf->HasElement("frameName")) { + ROS_INFO("Velodyne laser plugin missing , defaults to /world"); + frame_name_ = "/world"; + } else { + frame_name_ = _sdf->GetElement("frameName")->Get(); + } + + if (!_sdf->HasElement("min_range")) { + ROS_INFO("Velodyne laser plugin missing , defaults to 0"); + min_range_ = 0; + } else { + min_range_ = _sdf->GetElement("min_range")->Get(); + } + + if (!_sdf->HasElement("max_range")) { + ROS_INFO("Velodyne laser plugin missing , defaults to infinity"); + max_range_ = INFINITY; + } else { + max_range_ = _sdf->GetElement("max_range")->Get(); + } + + min_intensity_ = std::numeric_limits::lowest(); + if (!_sdf->HasElement("min_intensity")) { + ROS_INFO("Velodyne laser plugin missing , defaults to no clipping"); + } else { + min_intensity_ = _sdf->GetElement("min_intensity")->Get(); + } + + if (!_sdf->HasElement("topicName")) { + ROS_INFO("Velodyne laser plugin missing , defaults to /points"); + topic_name_ = "/points"; + } else { + topic_name_ = _sdf->GetElement("topicName")->Get(); + } + + if (!_sdf->HasElement("gaussianNoise")) { + ROS_INFO("Velodyne laser plugin missing , defaults to 0.0"); + gaussian_noise_ = 0; + } else { + gaussian_noise_ = _sdf->GetElement("gaussianNoise")->Get(); + } + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) { + ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + + // Create node handle + nh_ = new ros::NodeHandle(robot_namespace_); + + // Resolve tf prefix + std::string prefix; + nh_->getParam(std::string("tf_prefix"), prefix); + if (robot_namespace_ != "/") { + prefix = robot_namespace_; + } + boost::trim_right_if(prefix, boost::is_any_of("/")); + frame_name_ = tf::resolve(prefix, frame_name_); + + // Advertise publisher with a custom callback queue + if (topic_name_ != "") { + ros::AdvertiseOptions ao = ros::AdvertiseOptions::create( + topic_name_, 1, + boost::bind(&GazeboRosVelodyneLaser::ConnectCb, this), + boost::bind(&GazeboRosVelodyneLaser::ConnectCb, this), + ros::VoidPtr(), &laser_queue_); + pub_ = nh_->advertise(ao); + } + + // Sensor generation off by default + parent_ray_sensor_->SetActive(false); + + // Start custom queue for laser + callback_laser_queue_thread_ = boost::thread( boost::bind( &GazeboRosVelodyneLaser::laserQueueThread,this ) ); + +#if GAZEBO_MAJOR_VERSION >= 7 + ROS_INFO("Velodyne %slaser plugin ready, %i lasers", STR_GPU_, parent_ray_sensor_->VerticalRangeCount()); +#else + ROS_INFO("Velodyne %slaser plugin ready, %i lasers", STR_GPU_, parent_ray_sensor_->GetVerticalRangeCount()); +#endif +} + +//////////////////////////////////////////////////////////////////////////////// +// Subscribe on-demand +void GazeboRosVelodyneLaser::ConnectCb() +{ + boost::lock_guard lock(lock_); + if (pub_.getNumSubscribers()) { + if (!sub_) { + +#if GAZEBO_MAJOR_VERSION >= 7 + sub_ = gazebo_node_->Subscribe(this->parent_ray_sensor_->Topic(), &GazeboRosVelodyneLaser::OnScan, this); +#else + sub_ = gazebo_node_->Subscribe(this->parent_ray_sensor_->GetTopic(), &GazeboRosVelodyneLaser::OnScan, this); +#endif + } + parent_ray_sensor_->SetActive(true); + } else { + +#if GAZEBO_MAJOR_VERSION >= 7 + if (sub_) { + sub_->Unsubscribe(); + sub_.reset(); + } +#endif + parent_ray_sensor_->SetActive(false); + + } +} + +void GazeboRosVelodyneLaser::OnScan(ConstLaserScanStampedPtr& _msg) +{ +#if GAZEBO_MAJOR_VERSION >= 7 + const ignition::math::Angle maxAngle = parent_ray_sensor_->AngleMax(); + const ignition::math::Angle minAngle = parent_ray_sensor_->AngleMin(); + + const double maxRange = parent_ray_sensor_->RangeMax(); + const double minRange = parent_ray_sensor_->RangeMin(); + + const int rayCount = parent_ray_sensor_->RayCount(); + const int rangeCount = parent_ray_sensor_->RangeCount(); + + const int verticalRayCount = parent_ray_sensor_->VerticalRayCount(); + const int verticalRangeCount = parent_ray_sensor_->VerticalRangeCount(); + + const ignition::math::Angle verticalMaxAngle = parent_ray_sensor_->VerticalAngleMax(); + const ignition::math::Angle verticalMinAngle = parent_ray_sensor_->VerticalAngleMin(); +#else + math::Angle maxAngle = parent_ray_sensor_->GetAngleMax(); + math::Angle minAngle = parent_ray_sensor_->GetAngleMin(); + + const double maxRange = parent_ray_sensor_->GetRangeMax(); + const double minRange = parent_ray_sensor_->GetRangeMin(); + + const int rayCount = parent_ray_sensor_->GetRayCount(); + const int rangeCount = parent_ray_sensor_->GetRangeCount(); + + const int verticalRayCount = parent_ray_sensor_->GetVerticalRayCount(); + const int verticalRangeCount = parent_ray_sensor_->GetVerticalRangeCount(); + + const math::Angle verticalMaxAngle = parent_ray_sensor_->GetVerticalAngleMax(); + const math::Angle verticalMinAngle = parent_ray_sensor_->GetVerticalAngleMin(); +#endif + + const double yDiff = maxAngle.Radian() - minAngle.Radian(); + const double pDiff = verticalMaxAngle.Radian() - verticalMinAngle.Radian(); + + const double MIN_RANGE = std::max(min_range_, minRange); + const double MAX_RANGE = std::min(max_range_, maxRange); + const double MIN_INTENSITY = min_intensity_; + + // Populate message fields + const uint32_t POINT_STEP = 32; + sensor_msgs::PointCloud2 msg; + msg.header.frame_id = frame_name_; + msg.header.stamp = ros::Time(_msg->time().sec(), _msg->time().nsec()); + msg.fields.resize(5); + msg.fields[0].name = "x"; + msg.fields[0].offset = 0; + msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[0].count = 1; + msg.fields[1].name = "y"; + msg.fields[1].offset = 4; + msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[1].count = 1; + msg.fields[2].name = "z"; + msg.fields[2].offset = 8; + msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[2].count = 1; + msg.fields[3].name = "intensity"; + msg.fields[3].offset = 16; + msg.fields[3].datatype = sensor_msgs::PointField::FLOAT32; + msg.fields[3].count = 1; + msg.fields[4].name = "ring"; + msg.fields[4].offset = 20; + msg.fields[4].datatype = sensor_msgs::PointField::UINT16; + msg.fields[4].count = 1; + msg.data.resize(verticalRangeCount * rangeCount * POINT_STEP); + + int i, j; + uint8_t *ptr = msg.data.data(); + for (i = 0; i < rangeCount; i++) { + for (j = 0; j < verticalRangeCount; j++) { + + // Range + double r = _msg->scan().ranges(i + j * rangeCount); + + // Intensity + double intensity = _msg->scan().intensities(i + j * rangeCount); + + // Ignore points that lay outside range bands or optionally, beneath a + // minimum intensity level. + if ((MIN_RANGE >= r) || (r >= MAX_RANGE) || (intensity < MIN_INTENSITY) ) { + continue; + } + + // Noise + if (gaussian_noise_ != 0.0) { + r += gaussianKernel(0,gaussian_noise_); + } + + // Get angles of ray to get xyz for point + double yAngle; + double pAngle; + + if (rangeCount > 1) { + yAngle = i * yDiff / (rangeCount -1) + minAngle.Radian(); + } else { + yAngle = minAngle.Radian(); + } + + if (verticalRayCount > 1) { + pAngle = j * pDiff / (verticalRangeCount -1) + verticalMinAngle.Radian(); + } else { + pAngle = verticalMinAngle.Radian(); + } + + // pAngle is rotated by yAngle: + if ((MIN_RANGE < r) && (r < MAX_RANGE)) { + *((float*)(ptr + 0)) = r * cos(pAngle) * cos(yAngle); + *((float*)(ptr + 4)) = r * cos(pAngle) * sin(yAngle); + +#if GAZEBO_MAJOR_VERSION > 2 + *((float*)(ptr + 8)) = r * sin(pAngle); +#else + *((float*)(ptr + 8)) = -r * sin(pAngle); +#endif + + *((float*)(ptr + 16)) = intensity; + +#if GAZEBO_MAJOR_VERSION > 2 + *((uint16_t*)(ptr + 20)) = j; // ring +#else + *((uint16_t*)(ptr + 20)) = verticalRangeCount - 1 - j; // ring +#endif + ptr += POINT_STEP; + } + } + } + + // Populate message with number of valid points + msg.point_step = POINT_STEP; + msg.row_step = ptr - msg.data.data(); + msg.height = 1; + msg.width = msg.row_step / POINT_STEP; + msg.is_bigendian = false; + msg.is_dense = true; + msg.data.resize(msg.row_step); // Shrink to actual size + + // Publish output + pub_.publish(msg); +} + +// Custom Callback Queue +//////////////////////////////////////////////////////////////////////////////// +// Custom callback queue thread +void GazeboRosVelodyneLaser::laserQueueThread() +{ + while (nh_->ok()) { + laser_queue_.callAvailable(ros::WallDuration(0.01)); + } +} + +} // namespace gazebo + diff --git a/ros_drivers/velodyne_simulator/velodyne_simulator/CHANGELOG.rst b/ros_drivers/velodyne_simulator/velodyne_simulator/CHANGELOG.rst new file mode 100755 index 0000000..2aadb0e --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_simulator/CHANGELOG.rst @@ -0,0 +1,31 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package velodyne_simulator +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.9 (2019-03-08) +------------------ + +1.0.8 (2018-09-08) +------------------ + +1.0.7 (2018-07-03) +------------------ + +1.0.6 (2017-10-17) +------------------ + +1.0.5 (2017-09-05) +------------------ + +1.0.4 (2017-04-24) +------------------ +* Updated package.xml format to version 2 +* Contributors: Kevin Hallenbeck + +1.0.3 (2016-08-13) +------------------ +* Contributors: Kevin Hallenbeck + +1.0.2 (2016-02-03) +------------------ +* Contributors: Kevin Hallenbeck diff --git a/ros_drivers/velodyne_simulator/velodyne_simulator/CMakeLists.txt b/ros_drivers/velodyne_simulator/velodyne_simulator/CMakeLists.txt new file mode 100755 index 0000000..7daf8ed --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_simulator/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(velodyne_simulator) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/ros_drivers/velodyne_simulator/velodyne_simulator/package.xml b/ros_drivers/velodyne_simulator/velodyne_simulator/package.xml new file mode 100755 index 0000000..4309bac --- /dev/null +++ b/ros_drivers/velodyne_simulator/velodyne_simulator/package.xml @@ -0,0 +1,25 @@ + + + velodyne_simulator + 1.0.9 + + Metapackage allowing easy installation of Velodyne simulation components. + + + BSD + Kevin Hallenbeck + Kevin Hallenbeck + http://wiki.ros.org/velodyne_simulator + https://bitbucket.org/dataspeedinc/velodyne_simulator + https://bitbucket.org/dataspeedinc/velodyne_simulator/issues + + catkin + + velodyne_description + velodyne_gazebo_plugins + + + + + + diff --git a/ros_drivers/waypoint_logger/CMakeLists.txt b/ros_drivers/waypoint_logger/CMakeLists.txt new file mode 100755 index 0000000..6fc23b0 --- /dev/null +++ b/ros_drivers/waypoint_logger/CMakeLists.txt @@ -0,0 +1,199 @@ +cmake_minimum_required(VERSION 2.8.3) +project(waypoint_logger) + +## 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 + nav_msgs + rospy + tf +) + +## 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 +# nav_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 waypoint_logger +# CATKIN_DEPENDS nav_msgs rospy tf +# 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/${PROJECT_NAME}/waypoint_logger.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/waypoint_logger_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 +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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_waypoint_logger.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) diff --git a/ros_drivers/waypoint_logger/package.xml b/ros_drivers/waypoint_logger/package.xml new file mode 100755 index 0000000..8c2b096 --- /dev/null +++ b/ros_drivers/waypoint_logger/package.xml @@ -0,0 +1,71 @@ + + + waypoint_logger + 0.0.0 + The waypoint_logger package + + + + + Matthew O'Kelly + + + + + + MIT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + nav_msgs + rospy + roscpp + tf + nav_msgs + rospy + roscpp + tf + nav_msgs + rospy + tf + roscpp + + + + + + + + diff --git a/ros_drivers/waypoint_logger/scripts/waypoint_logger.py b/ros_drivers/waypoint_logger/scripts/waypoint_logger.py new file mode 100755 index 0000000..40f70f7 --- /dev/null +++ b/ros_drivers/waypoint_logger/scripts/waypoint_logger.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python3 + +import rospy +import numpy as np +import atexit +import tf +from os.path import expanduser +from time import gmtime, strftime +from numpy import linalg as LA +from tf.transformations import euler_from_quaternion +from nav_msgs.msg import Odometry + +home = expanduser('~') +file = open(strftime(home+'/wp-%Y-%m-%d-%H-%M-%S',gmtime())+'.csv', 'w') + +def save_waypoint(data): + + quaternion = np.array([data.pose.pose.orientation.x, + data.pose.pose.orientation.y, + data.pose.pose.orientation.z, + data.pose.pose.orientation.w]) + + # roll, pitch, yaw + euler = tf.transformations.euler_from_quaternion(quaternion) + + speed = LA.norm(np.array([data.twist.twist.linear.x, + data.twist.twist.linear.y, + data.twist.twist.linear.z]),2) + + if (data.twist.twist.linear.x>0.0): + print (data.twist.twist.linear.x) + + file.write('%f, %f, %f, %f, %f\n' % (data.pose.pose.position.x, + data.pose.pose.position.y, + euler[2], + data.twist.twist.linear.x, + speed)) + +def shutdown(): + file.close() + print('Goodbye') + +def listener(): + rospy.init_node('waypoints_logger', anonymous=True) + rospy.Subscriber('/gem/odom', Odometry, save_waypoint) + rospy.spin() + +if __name__ == '__main__': + atexit.register(shutdown) + print('Saving waypoints...') + try: + listener() + except rospy.ROSInterruptException: + pass diff --git a/vehicle_drivers/gem_pure_pursuit_sim/CMakeLists.txt b/vehicle_drivers/gem_pure_pursuit_sim/CMakeLists.txt new file mode 100755 index 0000000..db95352 --- /dev/null +++ b/vehicle_drivers/gem_pure_pursuit_sim/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gem_pure_pursuit_sim) + +find_package(catkin REQUIRED COMPONENTS + cv_bridge + roscpp + rospy + nav_msgs + sensor_msgs + geometry_msgs + std_msgs + ackermann_msgs + visualization_msgs +) + +catkin_package( +) + +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + + diff --git a/vehicle_drivers/gem_pure_pursuit_sim/LICENSE b/vehicle_drivers/gem_pure_pursuit_sim/LICENSE new file mode 100755 index 0000000..237c676 --- /dev/null +++ b/vehicle_drivers/gem_pure_pursuit_sim/LICENSE @@ -0,0 +1,27 @@ +Software License Agreement (BSD License) + +Copyright (c) 2018-2025, Center for Autonomy (University of Illinois at Urbana-Champaign). +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + * Neither the name of Dataspeed Inc. nor the names of its + contributors may be used to endorse or promote products derived from this + software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/vehicle_drivers/gem_pure_pursuit_sim/package.xml b/vehicle_drivers/gem_pure_pursuit_sim/package.xml new file mode 100755 index 0000000..6b93a79 --- /dev/null +++ b/vehicle_drivers/gem_pure_pursuit_sim/package.xml @@ -0,0 +1,38 @@ + + + gem_pure_pursuit_sim + 1.0.0 + The gem_pure_pursuit_sim package + Hang Cui + Hang Cui + https://github.com/hangcui1201/POLARIS_GEM_e2_Simulator.git + BSD + catkin + cv_bridge + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + ackermann_msgs + nav_msgs + visualization_msgs + cv_bridge + roscpp + rospy + sensor_msgs + geometry_msgs + std_msgs + ackermann_msgs + nav_msgs + visualization_msgs + cv_bridge + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + ackermann_msgs + nav_msgs + visualization_msgs + diff --git a/vehicle_drivers/gem_pure_pursuit_sim/scripts/pure_pursuit_sim.py b/vehicle_drivers/gem_pure_pursuit_sim/scripts/pure_pursuit_sim.py new file mode 100755 index 0000000..4336b43 --- /dev/null +++ b/vehicle_drivers/gem_pure_pursuit_sim/scripts/pure_pursuit_sim.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python3 + +#================================================================ +# File name: pure_pursuit_sim.py +# Description: pure pursuit controller for GEM vehicle in Gazebo +# Author: Hang Cui +# Email: hangcui3@illinois.edu +# Date created: 07/10/2021 +# Date last modified: 07/15/2021 +# Version: 0.1 +# Usage: rosrun gem_pure_pursuit_sim pure_pursuit_sim.py +# Python version: 3.8 +#================================================================ + +# Python Headers +import os +import csv +import math +import numpy as np +from numpy import linalg as la + +# ROS Headers +import rospy +from ackermann_msgs.msg import AckermannDrive +from geometry_msgs.msg import Twist, Vector3 +from geometry_msgs.msg import PoseStamped +from sensor_msgs.msg import LaserScan +from tf.transformations import euler_from_quaternion, quaternion_from_euler + +# Gazebo Headers +from gazebo_msgs.srv import GetModelState +from gazebo_msgs.msg import ModelState + +class PurePursuit(object): + + def __init__(self): + + self.rate = rospy.Rate(20) + + self.look_ahead = 6 # meters + self.wheelbase = 1.75 # meters + self.goal = 0 + + self.read_waypoints() # read waypoints + + self.ackermann_msg = AckermannDrive() + self.ackermann_msg.steering_angle_velocity = 0.0 + self.ackermann_msg.acceleration = 0.0 + self.ackermann_msg.jerk = 0.0 + self.ackermann_msg.speed = 0.0 + self.ackermann_msg.steering_angle = 0.0 + + self.ackermann_pub = rospy.Publisher('/ackermann_cmd', AckermannDrive, queue_size=1) + + + # import waypoints.csv into a list (path_points) + def read_waypoints(self): + + dirname = os.path.dirname(__file__) + filename = os.path.join(dirname, '../waypoints/wps.csv') + + with open(filename) as f: + path_points = [tuple(line) for line in csv.reader(f)] + + # turn path_points into a list of floats to eliminate the need for casts + self.path_points_x = [float(point[0]) for point in path_points] + self.path_points_y = [float(point[1]) for point in path_points] + self.path_points_yaw = [float(point[2]) for point in path_points] + self.dist_arr = np.zeros(len(self.path_points_x)) + + # computes the Euclidean distance between two 2D points + def dist(self, p1, p2): + return round(np.sqrt((p1[0] - p2[0]) ** 2 + (p1[1] - p2[1]) ** 2), 3) + + # find the angle bewtween two vectors + def find_angle(self, v1, v2): + cosang = np.dot(v1, v2) + sinang = la.norm(np.cross(v1, v2)) + # [-pi, pi] + return np.arctan2(sinang, cosang) + + def get_gem_pose(self): + + rospy.wait_for_service('/gazebo/get_model_state') + + try: + service_response = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState) + model_state = service_response(model_name='gem') + except rospy.ServiceException as exc: + rospy.loginfo("Service did not process request: " + str(exc)) + + x = model_state.pose.position.x + y = model_state.pose.position.y + + orientation_q = model_state.pose.orientation + orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] + (roll, pitch, yaw) = euler_from_quaternion(orientation_list) + + return round(x,4), round(y,4), round(yaw,4) + + + def start_pp(self): + + while not rospy.is_shutdown(): + + # get current position and orientation in the world frame + curr_x, curr_y, curr_yaw = self.get_gem_pose() + + self.path_points_x = np.array(self.path_points_x) + self.path_points_y = np.array(self.path_points_y) + + # finding the distance of each way point from the current position + for i in range(len(self.path_points_x)): + self.dist_arr[i] = self.dist((self.path_points_x[i], self.path_points_y[i]), (curr_x, curr_y)) + + # finding those points which are less than the look ahead distance (will be behind and ahead of the vehicle) + goal_arr = np.where( (self.dist_arr < self.look_ahead + 0.3) & (self.dist_arr > self.look_ahead - 0.3) )[0] + + # finding the goal point which is the last in the set of points less than the lookahead distance + for idx in goal_arr: + v1 = [self.path_points_x[idx]-curr_x , self.path_points_y[idx]-curr_y] + v2 = [np.cos(curr_yaw), np.sin(curr_yaw)] + temp_angle = self.find_angle(v1,v2) + if abs(temp_angle) < np.pi/2: + self.goal = idx + break + + # finding the distance between the goal point and the vehicle + # true look-ahead distance between a waypoint and current position + L = self.dist_arr[self.goal] + + # transforming the goal point into the vehicle coordinate frame + gvcx = self.path_points_x[self.goal] - curr_x + gvcy = self.path_points_y[self.goal] - curr_y + goal_x_veh_coord = gvcx*np.cos(curr_yaw) + gvcy*np.sin(curr_yaw) + goal_y_veh_coord = gvcy*np.cos(curr_yaw) - gvcx*np.sin(curr_yaw) + + # find the curvature and the angle + alpha = self.path_points_yaw[self.goal] - (curr_yaw) + k = 0.285 + angle_i = math.atan((2 * k * self.wheelbase * math.sin(alpha)) / L) + angle = angle_i*2 + angle = round(np.clip(angle, -0.61, 0.61), 3) + + ct_error = round(np.sin(alpha) * L, 3) + + print("Crosstrack Error: " + str(ct_error)) + + # implement constant pure pursuit controller + self.ackermann_msg.speed = 2.8 + self.ackermann_msg.steering_angle = angle + self.ackermann_pub.publish(self.ackermann_msg) + + self.rate.sleep() + +def pure_pursuit(): + + rospy.init_node('pure_pursuit_sim_node', anonymous=True) + pp = PurePursuit() + + try: + pp.start_pp() + except rospy.ROSInterruptException: + pass + +if __name__ == '__main__': + pure_pursuit() + diff --git a/vehicle_drivers/gem_pure_pursuit_sim/waypoints/recored_wps.png b/vehicle_drivers/gem_pure_pursuit_sim/waypoints/recored_wps.png new file mode 100755 index 0000000..f604b4c Binary files /dev/null and b/vehicle_drivers/gem_pure_pursuit_sim/waypoints/recored_wps.png differ diff --git a/vehicle_drivers/gem_pure_pursuit_sim/waypoints/wps.csv b/vehicle_drivers/gem_pure_pursuit_sim/waypoints/wps.csv new file mode 100755 index 0000000..cc30b9d --- /dev/null +++ b/vehicle_drivers/gem_pure_pursuit_sim/waypoints/wps.csv @@ -0,0 +1,3822 @@ +-0.014336,-1.999994,-0.000003,0.000228,0.00788 +-0.014375,-1.999994,-0.000003,0.000229,0.00788 +-0.014414,-1.999994,-0.000003,0.000229,0.00788 +-0.014456,-1.999993,-0.000003,0.000229,0.00788 +-0.014493,-1.999993,-0.000003,0.000229,0.00788 +-0.014532,-1.999993,-0.000003,0.000229,0.00788 +-0.014571,-1.999993,-0.000003,0.000229,0.00788 +-0.01461,-1.999993,-0.000004,0.000229,0.00788 +-0.01465,-1.999993,-0.000004,0.00023,0.00788 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0000000..e5f77b0 --- /dev/null +++ b/vehicle_drivers/gem_stanley_sim/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gem_stanley_sim) + +find_package(catkin REQUIRED COMPONENTS + cv_bridge + roscpp + rospy + nav_msgs + sensor_msgs + geometry_msgs + std_msgs + ackermann_msgs + visualization_msgs +) + +catkin_package( +) + +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + + diff --git a/vehicle_drivers/gem_stanley_sim/LICENSE b/vehicle_drivers/gem_stanley_sim/LICENSE new file mode 100755 index 0000000..237c676 --- /dev/null +++ b/vehicle_drivers/gem_stanley_sim/LICENSE @@ -0,0 +1,27 @@ +Software License Agreement (BSD License) + +Copyright (c) 2018-2025, Center for Autonomy (University of Illinois at Urbana-Champaign). +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + * Neither the name of Dataspeed Inc. nor the names of its + contributors may be used to endorse or promote products derived from this + software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/vehicle_drivers/gem_stanley_sim/package.xml b/vehicle_drivers/gem_stanley_sim/package.xml new file mode 100755 index 0000000..ba02bbb --- /dev/null +++ b/vehicle_drivers/gem_stanley_sim/package.xml @@ -0,0 +1,38 @@ + + + gem_stanley_sim + 1.0.0 + The gem_stanley_sim package + Hang Cui + Hang Cui + https://github.com/hangcui1201/POLARIS_GEM_e2_Simulator.git + BSD + catkin + cv_bridge + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + ackermann_msgs + nav_msgs + visualization_msgs + cv_bridge + roscpp + rospy + sensor_msgs + geometry_msgs + std_msgs + ackermann_msgs + nav_msgs + visualization_msgs + cv_bridge + roscpp + rospy + sensor_msgs + std_msgs + geometry_msgs + ackermann_msgs + nav_msgs + visualization_msgs + diff --git a/vehicle_drivers/gem_stanley_sim/scripts/stanley_sim.py b/vehicle_drivers/gem_stanley_sim/scripts/stanley_sim.py new file mode 100755 index 0000000..7b90939 --- /dev/null +++ b/vehicle_drivers/gem_stanley_sim/scripts/stanley_sim.py @@ -0,0 +1,171 @@ +#!/usr/bin/env python3 + +#================================================================ +# File name: stanley_sim.py +# Description: stanley controller for GEM vehicle in Gazebo +# Author: Hang Cui +# Email: hangcui3@illinois.edu +# Date created: 07/10/2021 +# Date last modified: 07/15/2021 +# Version: 0.1 +# Usage: rosrun gem_stanley_sim stanley_sim.py +# Python version: 3.8 +#================================================================ + +# Python Headers +import os +import csv +import math +import numpy as np +from numpy import linalg as la + +# ROS Headers +import rospy +from ackermann_msgs.msg import AckermannDrive +from geometry_msgs.msg import Twist, Vector3 +from geometry_msgs.msg import PoseStamped +from sensor_msgs.msg import LaserScan +from tf.transformations import euler_from_quaternion, quaternion_from_euler + +# Gazebo Headers +from gazebo_msgs.srv import GetModelState +from gazebo_msgs.msg import ModelState + + +class Stanley(object): + + def __init__(self): + + self.rate = rospy.Rate(20) + self.wheelbase = 1.75 # meters + + self.read_waypoints() # read waypoints + + self.ackermann_msg = AckermannDrive() + self.ackermann_msg.steering_angle_velocity = 0.0 + self.ackermann_msg.acceleration = 0.0 + self.ackermann_msg.jerk = 0.0 + self.ackermann_msg.speed = 0.0 + self.ackermann_msg.steering_angle = 0.0 + + self.ackermann_pub = rospy.Publisher('/ackermann_cmd', AckermannDrive, queue_size=1) + + def read_waypoints(self): + + dirname = os.path.dirname(__file__) + filename = os.path.join(dirname, '../waypoints/wps.csv') + + with open(filename) as f: + path_points = [tuple(line) for line in csv.reader(f)] + + self.path_points_x = [float(point[0]) for point in path_points] + self.path_points_y = [float(point[1]) for point in path_points] + self.path_points_yaw = [float(point[2]) for point in path_points] + self.dist_arr = np.zeros(len(self.path_points_x)) + + + def get_gem_state(self): + + rospy.wait_for_service('/gazebo/get_model_state') + + try: + service_response = rospy.ServiceProxy('/gazebo/get_model_state', GetModelState) + model_state = service_response(model_name='gem') + except rospy.ServiceException as exc: + rospy.loginfo("Service did not process request: " + str(exc)) + + x = model_state.pose.position.x + y = model_state.pose.position.y + + orientation_q = model_state.pose.orientation + orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w] + (roll, pitch, yaw) = euler_from_quaternion(orientation_list) + + x_dot = model_state.twist.linear.x + y_dot = model_state.twist.linear.y + + return round(x,4), round(y,4), round(x_dot,4), round(y_dot,4), round(yaw,4) + + + def pi_2_pi(self, angle): + + if angle > math.pi: + return angle - 2.0 * math.pi + if angle < -math.pi: + return angle + 2.0 * math.pi + + return angle + + + def start_stanley(self): + + while not rospy.is_shutdown(): + + # get current position and orientation in the world frame + # reference point is located at the center of rear axle + curr_x, curr_y, curr_x_dot, curr_y_dot, curr_yaw = self.get_gem_state() + + # reference point is located at the center of frontal axle + front_x = self.wheelbase*np.cos(curr_yaw) + curr_x + front_y = self.wheelbase*np.sin(curr_yaw) + curr_y + + # find the closest point + dx = [front_x - x for x in self.path_points_x] + dy = [front_y - y for y in self.path_points_y] + + # find the index of closest point + target_index = int(np.argmin(np.hypot(dx, dy))) + + front_axle_vec_rot_90 = np.array([[math.cos(curr_yaw - math.pi / 2.0)], + [math.sin(curr_yaw - math.pi / 2.0)]]) + + vec_target_2_front = np.array([[dx[target_index]], [dy[target_index]]]) + + # crosstrack error + ef = np.dot(vec_target_2_front.T, front_axle_vec_rot_90) + ef = float(np.squeeze(ef)) + + # vehicle heading + theta = curr_yaw + + # approximate heading of path at (path_x, path_y) + path_x = self.path_points_x[target_index] + path_y = self.path_points_y[target_index] + path_x_next = self.path_points_x[target_index+1] + path_y_next = self.path_points_y[target_index+1] + theta_p = np.arctan2(path_y_next-path_y, path_x_next-path_x) + + # theta_e is the heading error + theta_e = self.pi_2_pi(theta_p-theta) + + f_vel = round(np.sqrt(curr_x_dot**2 + curr_y_dot**2), 3) + + delta = round(theta_e + math.atan2(0.45 * ef, f_vel), 3) + + theta_e = round(np.degrees(theta_e), 1) + + ef = round(ef,3) + print("Crosstrack Error: " + str(ef) + ", Heading Error: " + str(theta_e)) + + # implement constant pure pursuit controller + self.ackermann_msg.speed = 2.8 + self.ackermann_msg.steering_angle = delta + self.ackermann_pub.publish(self.ackermann_msg) + + self.rate.sleep() + + +def stanley(): + + rospy.init_node('stanley_sim_node', anonymous=True) + sl = Stanley() + + try: + sl.start_stanley() + except rospy.ROSInterruptException: + pass + + +if __name__ == '__main__': + stanley() + diff --git a/vehicle_drivers/gem_stanley_sim/waypoints/recored_wps.png b/vehicle_drivers/gem_stanley_sim/waypoints/recored_wps.png new file mode 100755 index 0000000..f604b4c Binary files /dev/null and b/vehicle_drivers/gem_stanley_sim/waypoints/recored_wps.png differ diff --git a/vehicle_drivers/gem_stanley_sim/waypoints/wps.csv b/vehicle_drivers/gem_stanley_sim/waypoints/wps.csv new file mode 100755 index 0000000..cc30b9d --- /dev/null +++ b/vehicle_drivers/gem_stanley_sim/waypoints/wps.csv @@ -0,0 +1,3822 @@ +-0.014336,-1.999994,-0.000003,0.000228,0.00788 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