diff --git a/.github/workflows/package.yml b/.github/workflows/package.yml new file mode 100644 index 00000000..c4222008 --- /dev/null +++ b/.github/workflows/package.yml @@ -0,0 +1,38 @@ +name: Release Candidate +on: + pull_request: + branches: + - master +jobs: + package: + runs-on: ubuntu-16.04 + steps: + - uses: actions/checkout@v1 + - name: Generate build number + id: buildnumber + uses: einaregilsson/build-number@v2 + with: + token: ${{secrets.github_token}} + - name: Package + id: package + uses: AutoModality/action-package-debian-ros@v1.2.0 + with: + branch: ${{ github.event.pull_request.head.ref }} + pull-request-number: ${{ github.event.number }} + build-number: ${{ steps.buildnumber.outputs.build_number }} + dev-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_DEV_ENTITLEMENT }} + release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }} + - name: The generated package + run: echo "The artifact is ${{ steps.package.outputs.artifact-path }}" + - name: Deploy + id: deploy + uses: AutoModality/action-cloudsmith@0.2.0 + with: + api-key: ${{ secrets.CLOUDSMITH_API_KEY }} + command: 'push' + format: 'deb' + owner: 'automodality' + repo: 'dev' + distro: 'ubuntu' + release: 'xenial' + file: '${{ steps.package.outputs.artifact-path }}' diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml new file mode 100644 index 00000000..8ec6d3a1 --- /dev/null +++ b/.github/workflows/release.yml @@ -0,0 +1,48 @@ +name: Release +on: + push: + branches: + - master +jobs: + package: + runs-on: ubuntu-16.04 + steps: + - uses: actions/checkout@v1 + - name: Determine the Release Version + uses: cycjimmy/semantic-release-action@v2 + id: semantic # `id` for output variables + with: + semantic_version: 15.14.0 + dry_run: true + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + - name: Package + if: steps.semantic.outputs.new_release_published == 'true' + id: package + uses: AutoModality/action-package-debian-ros@v1.2.1 + with: + version: ${{ steps.semantic.outputs.new_release_version }} + release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }} + # no dev repo in master!!! + - name: Deploy + if: steps.semantic.outputs.new_release_published == 'true' + id: deploy + uses: AutoModality/action-cloudsmith@0.2.0 + with: + api-key: ${{ secrets.CLOUDSMITH_API_KEY }} + command: 'push' + format: 'deb' + owner: 'automodality' + repo: 'release' + distro: 'ubuntu' + release: 'xenial' + file: '${{ steps.package.outputs.artifact-path }}' + - name: Publish Release to Github + if: steps.semantic.outputs.new_release_published == 'true' + uses: cycjimmy/semantic-release-action@v2 + with: + semantic_version: 15.14.0 + extra_plugins: | + @semantic-release/changelog@3.0.0 + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/story.yml b/.github/workflows/story.yml new file mode 100644 index 00000000..080c0afb --- /dev/null +++ b/.github/workflows/story.yml @@ -0,0 +1,36 @@ +name: Story Development + +on: + push: + branches-ignore: + - master +jobs: + build: + runs-on: ubuntu-16.04 + steps: + - uses: actions/checkout@v1 + - name: Package + id: package + uses: AutoModality/action-package-debian-ros@v1.2.0 + with: + dev-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_DEV_ENTITLEMENT }} + release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }} + + # - name: build_depends + # run: | + # echo "Test" + # - name: install_build_deps + # run: | + # sudo apt-get install -y devscripts equivs + + # - name: force_amutils + # run: | + # sudo apt-get install ros-kinetic-am-utils + + # - name: install_depends + # run: | + # sudo mk-build-deps --install --tool='apt-get -o Debug::pkgProblemResolver=yes --no-install-recommends --yes' debian/control + +# - name: make +# uses: AutoModality/action-make-ros@v1.0.0 + diff --git a/.gitignore b/.gitignore index 54f35a4b..3818bb2b 100644 --- a/.gitignore +++ b/.gitignore @@ -5,3 +5,9 @@ devel/ logs/ install/ doc/ +debian/ros-kinetic-am-ouster* +debian/source +debian/*-stamp +debian/files +catkin_ws +*~ \ No newline at end of file diff --git a/Makefile b/Makefile new file mode 100644 index 00000000..c8192867 --- /dev/null +++ b/Makefile @@ -0,0 +1,21 @@ +SHELL := /bin/bash + +default: + source /opt/ros/kinetic/setup.bash && cd catkin_ws && catkin clean -f -i -y && catkin build -j3 && \ + catkin config --cmake-args "-DCATKIN_RUNNING_TESTS=False" && catkin build --catkin-make-args run_tests -- --no-status && \ + catkin config --cmake-args "-DCATKIN_RUNNING_TESTS=True" && catkin test --no-status + rm -f catkin_ws/install/lib/pkgconfig/catkin_tools_prebuild.pc + @echo "Built!!!!" + +install: + rm -rf catkin_ws/install/share/catkin_tools_prebuild + install -d $(DESTDIR)/opt/ros/kinetic/ + cp -f -p -r catkin_ws/install/lib $(DESTDIR)/opt/ros/kinetic + cp -f -p -r catkin_ws/install/share $(DESTDIR)/opt/ros/kinetic + cp -f -p -r catkin_ws/install/include $(DESTDIR)/opt/ros/kinetic + rm -f $(DESTDIR)/opt/ros/kinetic/lib/pkgconfig/catkin_tools_prebuild.pc + + +clean: + @echo "Cleaning" + rm -rf catkin_ws diff --git a/configure b/configure new file mode 100755 index 00000000..bdd42a71 --- /dev/null +++ b/configure @@ -0,0 +1,13 @@ +#!/bin/bash +PACKAGE=am-ouster +source /opt/ros/kinetic/setup.bash +echo "We are $(pwd)" +CURDIR=$(readlink -f $(pwd)) +mkdir -p catkin_ws/src/${PACKAGE} +WORKSPACE=$(readlink -f ./catkin_ws) +cp -r {ouster_client,ouster_ros} catkin_ws/src/${PACKAGE} +cd catkin_ws +catkin init --workspace . +echo "PWD: $(pwd)" +catkin config --install --cmake-args -DCATKIN_ENABLE_TESTING=True + diff --git a/debian/compat b/debian/compat new file mode 100644 index 00000000..ec635144 --- /dev/null +++ b/debian/compat @@ -0,0 +1 @@ +9 diff --git a/debian/control b/debian/control new file mode 100644 index 00000000..a1fd1d61 --- /dev/null +++ b/debian/control @@ -0,0 +1,12 @@ +Source: ros-kinetic-am-ouster +Section: misc +Priority: extra +Maintainer: info +Build-Depends: debhelper (>= 9.0.0), ros-kinetic-catkin, ros-kinetic-geometry-msgs, ros-kinetic-message-generation, ros-kinetic-nav-msgs, ros-kinetic-rosconsole, ros-kinetic-roscpp, ros-kinetic-rostime, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-latency-testing (>= 2.feature-BB-773.15), ros-kinetic-rospy, ros-kinetic-rostest, libgtest-dev +Homepage: https://github.com/AutoModality/am-utils +Standards-Version: 3.9.2 + +Package: ros-kinetic-am-ouster +Architecture: any +Depends: ${shlibs:Depends}, ${misc:Depends}, ros-kinetic-geometry-msgs, ros-kinetic-message-runtime, ros-kinetic-nav-msgs, ros-kinetic-rosconsole, ros-kinetic-roscpp, ros-kinetic-rostime, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-latency-testing (>= 2.feature-BB-773.15), ros-kinetic-rospy, ros-kinetic-rostest +Description: The am ouster package diff --git a/debian/copyright b/debian/copyright new file mode 100644 index 00000000..83a9f93b --- /dev/null +++ b/debian/copyright @@ -0,0 +1,1114 @@ +Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/ +Upstream-Name: chilitags +Source: + +Files: include/chilitags.hpp + platforms/javascript/src/jschilitags.cpp + platforms/jni/src/Chilitags3DJniBindings.cpp + platforms/jni/src/ch/epfl/chili/chilitags/CVSize.java + platforms/jni/src/ch/epfl/chili/chilitags/Chilitags3D.java + platforms/jni/src/ch/epfl/chili/chilitags/ObjectTransform.java + samples/3destimation/estimate3d-gui.cpp + samples/3destimation/estimate3d.cpp + samples/3dfiltering/filter3d-gui.cpp + samples/detection/detect-from-file.cpp + samples/detection/detect-live.cpp + samples/multithreaded/async-detection.cpp + samples/tracking/tracking.cpp + src/Chilitags.cpp + src/Chilitags3D.cpp + src/Codec.hpp + src/Decode.cpp + src/Decode.hpp + src/Detect.cpp + src/Detect.hpp + src/EnsureGreyscale.cpp + src/EnsureGreyscale.hpp + src/Filter.cpp + src/FindQuads.cpp + src/FindQuads.hpp + src/GrowRoi.cpp + src/GrowRoi.hpp + src/ReadBits.cpp + src/ReadBits.hpp + src/Refine.cpp + src/Refine.hpp + src/ScreenOut.hpp + src/Track.cpp + src/Track.hpp + test/Filter.cpp + test/HardcodedIds.hpp + test/codec.cpp + test/detection-performance.cpp + test/drawer.cpp + test/find-crash.cpp + test/float-precision.cpp + test/integration.cpp + test/inverted-tags.cpp + test/pose-estimation.cpp + test/test-metadata.hpp + tools/creator/creator.cpp +Copyright: 2013 EPFL * + 2013-2014 EPFL + 2013-2014 Quentin Bonnard +License: __UNKNOWN__ + This file is part of chilitags. + . + Chilitags is free software: you can redistribute it and/or modify + it under the terms of the Lesser GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + . + Chilitags 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 Lesser General Public License for more details. + . + You should have received a copy of the GNU Lesser General Public License + along with Chilitags. If not, see . + +Files: .gitignore + .gitmodules + .travis.yml + .ycm_extra_conf.py + Doxyfile.in + README-ANDROID.md + README.md + chilitags.pc.in + cmake/TargetDoc.cmake + cmake/UseJavaExtensions.cmake + platforms/javascript/Makefile + platforms/javascript/README.md + platforms/javascript/src/chilitags-javascript.js + platforms/javascript/todo.txt + platforms/jni/samples/README.md + platforms/jni/samples/android-estimate3d-gui/proguard-project.txt + platforms/jni/samples/android-estimate3d-gui/project.properties + platforms/jni/samples/android-estimate3d-gui/src/ch/epfl/chili/chilitags/samples/estimate3d_gui/CameraController.java + platforms/jni/samples/android-estimate3d-gui/src/ch/epfl/chili/chilitags/samples/estimate3d_gui/CameraPreviewGLSurfaceView.java + platforms/jni/samples/android-estimate3d-gui/src/ch/epfl/chili/chilitags/samples/estimate3d_gui/CameraPreviewRenderer.java + platforms/jni/samples/android-estimate3d-gui/src/ch/epfl/chili/chilitags/samples/estimate3d_gui/Estimate3DGUIActivity.java + platforms/jni/samples/android-estimate3d-gui/src/ch/epfl/chili/chilitags/samples/estimate3d_gui/GLESLine.java + platforms/jni/samples/android-estimate3d-gui/src/ch/epfl/chili/chilitags/samples/estimate3d_gui/shader/LineShader.java + platforms/jni/samples/android-estimate3d-gui/src/ch/epfl/chili/chilitags/samples/estimate3d_gui/shader/Shader.java + platforms/jni/samples/android-estimate3d-gui/src/ch/epfl/chili/chilitags/samples/estimate3d_gui/shader/YUV2RGBShader.java + platforms/jni/samples/android-estimate3d/project.properties + platforms/jni/samples/android-estimate3d/src/ch/epfl/chili/chilitags/samples/estimate3d/Estimate3DActivity.java + platforms/jni/src/CMakeLists.txt + samples/detection/README.md + samples/tag_configuration_cube.yml + share/tag_configuration_sample.yml + test/README.md + tools/creator/README.md + uncrustify.cfg +Copyright: __NO_COPYRIGHT_NOR_LICENSE__ + c' in the D language. +License: __UNKNOWN__ + +Files: CMakeLists.txt + samples/CMakeLists.txt + src/CMakeLists.txt + test/CMakeLists.txt + tools/CMakeLists.txt +Copyright: 2013-2014 EPFL # + 2013-2014 Quentin Bonnard # # +License: __UNKNOWN__ + This file is part of chilitags. # + # + Chilitags is free software: you can redistribute it and/or modify # + it under the terms of the Lesser GNU General Public License as # + published by the Free Software Foundation, either version 3 of the # + License, or (at your option) any later version. # + # + Chilitags 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 Lesser General Public License for more details. # + # + You should have received a copy of the GNU Lesser General Public License # + along with Chilitags. If not, see . # + +Files: src/EstimatePose3D.cpp + src/EstimatePose3D.hpp +Copyright: 2013-2014 EPFL + 2013-2014 Quentin Bonnard +License: __UNKNOWN__ + This file is part of chilitags. + . + Chilitags is free software: you can redistribute it and/or modify + it under the terms of the Lesser GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + . + Chilitags 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 Lesser General Public License for more details. + . + You should have received a copy of the GNU Lesser General Public License + along with Chilitags. If not, see . + . + . + . + @file EstimatePose3D.cpp + @brief 6D pose calculator from image coordinates and camera parameters + @author Quentin Bonnard + @author Ayberk Özgür + +Files: src/Filter3D.hpp +Copyright: 2013-2014 EPFL + 2013-2014 Quentin Bonnard +License: __UNKNOWN__ + This file is part of chilitags. + . + Chilitags is free software: you can redistribute it and/or modify + it under the terms of the Lesser GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + . + Chilitags 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 Lesser General Public License for more details. + . + You should have received a copy of the GNU Lesser General Public License + along with Chilitags. If not, see . + . + . + . + @file Filter3D.hpp + @brief 6D pose filter for multiple std::string ID'd objects + @author Ayberk Özgür + . + At the core of this class is one regular Kalman filter per detected tag. + In these filters, the state is described as the following 7x1 vector: + +Files: src/Filter.hpp +Copyright: 2013-2014 EPFL + 2013-2014 Quentin Bonnard +License: __UNKNOWN__ + This file is part of chilitags. + . + Chilitags is free software: you can redistribute it and/or modify + it under the terms of the Lesser GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + . + Chilitags 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 Lesser General Public License for more details. + . + You should have received a copy of the GNU Lesser General Public License + along with Chilitags. If not, see . + . + . + This header contains various utilities to paliate with imperfect detection. + +Files: src/Filter3D.cpp +Copyright: 2013-2014 EPFL + 2013-2014 Quentin Bonnard +License: __UNKNOWN__ + This file is part of chilitags. + . + Chilitags is free software: you can redistribute it and/or modify + it under the terms of the Lesser GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + . + Chilitags 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 Lesser General Public License for more details. + . + You should have received a copy of the GNU Lesser General Public License + along with Chilitags. If not, see . + . + . + . + @file Filter3D.cpp + @brief 6D pose filter for multiple std::string ID'd objects + @author Ayberk Özgür + +Files: src/Codec.cpp +Copyright: 2013-2014 EPFL + 2013-2014 Quentin Bonnard +License: __UNKNOWN__ + This file is part of chilitags. + . + Chilitags is free software: you can redistribute it and/or modify + it under the terms of the Lesser GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + . + Chilitags 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 Lesser General Public License for more details. + . + You should have received a copy of the GNU Lesser General Public License + along with Chilitags. If not, see . + . + . + . + File: Codec.cpp + +Files: src/ScreenOut.cpp +Copyright: 2013-2014 EPFL + 2013-2014 Quentin Bonnard +License: __UNKNOWN__ + This file is part of chilitags. + . + Chilitags is free software: you can redistribute it and/or modify + it under the terms of the Lesser GNU General Public License as + published by the Free Software Foundation, either version 3 of the + License, or (at your option) any later version. + . + Chilitags 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 Lesser General Public License for more details. + . + You should have received a copy of the GNU Lesser General Public License + along with Chilitags. If not, see . + . + . + . + @file ScreenOut.cpp + @brief Contains fast and simple methods to screen out things that are obviously not tags + @author Ayberk Özgür + +Files: lgpl.txt +Copyright: 2007 Free Software Foundation, Inc. +License: __TOO_LONG_TYPE3__ + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + . + . + This version of the GNU Lesser General Public License incorporates + the terms and conditions of version 3 of the GNU General Public + License, supplemented by the additional permissions listed below. + . + 0. 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If not, see . + . + Also add information on how to contact you by electronic and paper mail. + . + If the program does terminal interaction, make it output a short + notice like this when it starts in an interactive mode: + . + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + . + The hypothetical commands `show w' and `show c' should show the appropriate + parts of the General Public License. Of course, your program's commands + might be different; for a GUI interface, you would use an "about box". + . + You should also get your employer (if you work as a programmer) or school, + if any, to sign a "copyright disclaimer" for the program, if necessary. + For more information on this, and how to apply and follow the GNU GPL, see + . + . + The GNU General Public License does not permit incorporating your program + into proprietary programs. If your program is a subroutine library, you + may consider it more useful to permit linking proprietary applications with + the library. If this is what you want to do, use the GNU Lesser General + Public License instead of this License. But first, please read + . + +#---------------------------------------------------------------------------- +# xml and html files (skipped): +# samples/chilitags-cubes.svg +# tools/creator/tagdesign.svg +# platforms/javascript/samples/detection-2d/index.html +# platforms/javascript/samples/detection-3d/index.html +# platforms/jni/samples/android-estimate3d/.classpath +# platforms/jni/samples/android-estimate3d/AndroidManifest.xml +# platforms/jni/samples/android-estimate3d/.project +# platforms/jni/samples/android-estimate3d/res/layout/activity_chilitags_sample_estimate3d.xml +# platforms/jni/samples/android-estimate3d-gui/.classpath +# platforms/jni/samples/android-estimate3d-gui/AndroidManifest.xml +# platforms/jni/samples/android-estimate3d-gui/.project + +#---------------------------------------------------------------------------- +# binary files (skipped): +# doc/tagdesign.png +# platforms/jni/samples/android-estimate3d/res/drawable-mdpi/ic_launcher.png +# platforms/jni/samples/android-estimate3d-gui/res/drawable-mdpi/ic_launcher.png + +#---------------------------------------------------------------------------- +# Files marked as NO_LICENSE_TEXT_FOUND may be covered by the following +# license/copyright files. diff --git a/debian/rules b/debian/rules new file mode 100755 index 00000000..e8c2825a --- /dev/null +++ b/debian/rules @@ -0,0 +1,59 @@ +#!/usr/bin/make -f +# -*- makefile -*- +# Sample debian/rules that uses debhelper. +# This file was originally written by Joey Hess and Craig Small. +# As a special exception, when this file is copied by dh-make into a +# dh-make output file, you may use that output file without restriction. +# This special exception was added by Craig Small in version 0.37 of dh-make. + +# Uncomment this to turn on verbose mode. +export DH_VERBOSE=1 +# TODO: remove the LDFLAGS override. It's here to avoid esoteric problems +# of this sort: +# https://code.ros.org/trac/ros/ticket/2977 +# https://code.ros.org/trac/ros/ticket/3842 +export LDFLAGS= +export PKG_CONFIG_PATH=/opt/ros/kinetic/lib/pkgconfig +# Explicitly enable -DNDEBUG, see: +# https://github.com/ros-infrastructure/bloom/issues/327 +export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG + +%: + dh $@ + + + +override_dh_auto_configure: + # In case we're installing to a non-standard location, look for a setup.sh + # in the install tree that was dropped by catkin, and source it. It will + # set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. + if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \ + dh_auto_configure + +override_dh_auto_build: + # In case we're installing to a non-standard location, look for a setup.sh + # in the install tree that was dropped by catkin, and source it. It will + # set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. + if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \ + dh_auto_build + +override_dh_auto_test: + # In case we're installing to a non-standard location, look for a setup.sh + # in the install tree that was dropped by catkin, and source it. It will + # set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. + echo -- Running tests. Even if one of them fails the build is not canceled. + if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \ + dh_auto_test || true + +override_dh_shlibdeps: + # In case we're installing to a non-standard location, look for a setup.sh + # in the install tree that was dropped by catkin, and source it. It will + # set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. + @echo "Ignoreing the shlibdeps" + +override_dh_auto_install: + # In case we're installing to a non-standard location, look for a setup.sh + # in the install tree that was dropped by catkin, and source it. It will + # set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. + if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \ + dh_auto_install diff --git a/os1_top_pitch_90degrees.launch b/os1_top_pitch_90degrees.launch deleted file mode 100644 index acde47ad..00000000 --- a/os1_top_pitch_90degrees.launch +++ /dev/null @@ -1,83 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ["/delays/os1_cloud_node/external_imu_cb"] - - - - diff --git a/ouster_ros/CMakeLists.txt b/ouster_ros/CMakeLists.txt index 53e66037..1cd184d5 100644 --- a/ouster_ros/CMakeLists.txt +++ b/ouster_ros/CMakeLists.txt @@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS tf2_ros tf2_geometry_msgs latency_testing + rostest ) add_message_files(FILES PacketMsg.msg) @@ -74,17 +75,43 @@ install(TARGETS os1_node ) install(FILES os1.launch os1_bottom.launch os1_bottom_pitch_-90degrees.launch os1_tmux.launch os1_top_pitch30degress_rotate90.launch os1_top_pitch_90degrees.launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY scripts DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} USE_SOURCE_PERMISSIONS FILES_MATCHING PATTERN "*.py" PATTERN "*.sh" ) + +#message("ARGCH is ${CMAKE_SYSTEM_PROCESSOR}") ############# ## Testing ## ############# if (CATKIN_ENABLE_TESTING ) # Simple unit tests with catkin_add_gtest - catkin_add_gtest(testpcl ./test/test_convert.cpp WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test ) - # target_compile_definitions(testpcl PUBLIC TEST) - target_link_libraries(testpcl ouster_ros ) - install(DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - # add_rostest_gtest(testdelaystats launch/testdelaystats.launch test/test_delaystats.cpp) - # target_link_libraries(testdelaystats ${catkin_LIBRARIES} amdelaystatistics ) + if ( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64" ) + catkin_add_gtest(testpcl ./test/test_convert.cpp WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test ) + # target_compile_definitions(testpcl PUBLIC TEST) + target_link_libraries(testpcl ouster_ros ) + install(DIRECTORY test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + endif ( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64") + + if ( CATKIN_RUNNING_TESTS ) + + add_rostest(launch/hztest.launch ARGS hz:=20 resolution:=512 organized:=organized test_duration:=20 replaydelay:=10 ) + add_rostest(launch/hztest.launch ARGS hz:=10 resolution:=512 organized:=organized test_duration:=40 replaydelay:=10 hzerror:=1.0) + add_rostest(launch/hztest.launch ARGS hz:=10 resolution:=1024 organized:=organized test_duration:=30 replaydelay:=10 ) + add_rostest(launch/hztest.launch ARGS hz:=20 resolution:=1024 organized:=organized test_duration:=60 replaydelay:=10 ) + add_rostest(launch/hztest.launch ARGS hz:=10 resolution:=2048 organized:=organized test_duration:=50 replaydelay:=10 hzerror:=1.5 ) + add_rostest(launch/hztest.launch ARGS hz:=20 resolution:=512 organized:=unorganized test_duration:=20 replaydelay:=10 hzerror:=1.7 ) + add_rostest(launch/hztest.launch ARGS hz:=10 resolution:=512 organized:=unorganized test_duration:=20 replaydelay:=10 hzerror:=1.7 ) + add_rostest(launch/hztest.launch ARGS hz:=10 resolution:=1024 organized:=unorganized test_duration:=30 replaydelay:=10 hzerror:=1.2 ) + add_rostest(launch/hztest.launch ARGS hz:=20 resolution:=1024 organized:=unorganized test_duration:=60 replaydelay:=10 hzerror:=1.2 ) + add_rostest(launch/hztest.launch ARGS hz:=10 resolution:=2048 organized:=unorganized test_duration:=30 replaydelay:=10 hzerror:=1.2 ) + + endif ( CATKIN_RUNNING_TESTS ) + + if ( CATKIN_ENABLE_TESTBENCH_TESTING ) + + endif( CATKIN_ENABLE_TESTBENCH_TESTING ) endif(CATKIN_ENABLE_TESTING) + + +install(DIRECTORY data DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) diff --git a/ouster_ros/bin/ouster_check.py b/ouster_ros/bin/ouster_check.py new file mode 100644 index 00000000..6a3bf677 --- /dev/null +++ b/ouster_ros/bin/ouster_check.py @@ -0,0 +1,92 @@ +#!/usr/bin/env python3 +# +# + +import rospy +import numpy as np +import time +from sensor_msgs.msg import PointCloud2 +from std_msgs.msg import Int32 +import sensor_msgs.point_cloud2 as pc2 +import math +import yaml + +import argparse + +class Lidar(): + """ + Class that lets us read pointclouds off of the given topic + Used for verifying the absolute number of points in a cloud + """ + def __init__(self, scan_topic="/sensor/ouster/pointcloud2", pub_topic="/chatter/",threshold=65536): + self.scan_sub = rospy.Subscriber(scan_topic, PointCloud2, self.on_scan) + self.scan_up = rospy.Publisher(pub_topic, PointCloud2, queue_size=10) + self.scan_errors = rospy.Publisher("/Errors", Int32, queue_size=10) + + def on_scan(self, scan): + rospy.loginfo("Got scan, projecting") + time.sleep(1) + errors = 0 + self.scan_up.publish( scan ) + #import ipdb; ipdb.set_trace() # BREAKPOINT + for p in pc2.read_points(scan, field_names = ("x", "y", "z"), skip_nans=True): + if math.sqrt(p[0]**2+p[1]**2+p[2]**2) <= 0.5: + errors += 1 + rospy.loginfo("Printed cloud") + self.scan_errors.publish( errors ) + def spin(self): + rospy.spin() + +class OusterTest: + yaml_tag = u'!OusterTest' + def __init__(self,frequency,channels,resolution,pcl,output,topic): + self.frequency = frequency + self.channels = channels + self.resolution = resolution + self.pointcloud = pcl + self.output = output + self.topic = topic + + @classmethod + def ToYAML(dumper, data): + + @classmethod + def FromYAML(dumper, node): + +#print yaml.dump({'name': 'Silenthand Olleander', 'race': 'Human','traits': ['ONE_HAND', 'ONE_EYE']}) + + +class Hero: + + +def listener(node_name,topic): + lidar = Lidar() + rospy.spin() + +node_name = "" + +def parse_args(): + parser = argparse.ArgumentParser(description="A parser for running the ouster testcases") + + parser.add_argument("--point_threshold", help="Required Number of points to exceed") + + parser.add_argumnet("--test", help="YAML Test file for running a configuration") + + + args = parser.parse_args() + return args + +def generate_test(): + + + +if __name__ == "__main__": + args = parse_args() + rospy.init_node(args.node_name,anonymous=False) + lidar = Lidar(args.scan_topic, args.pub_topic ) + lidar.spin() + + # listener(args.scan_topic, args.pub_topic ) + + + diff --git a/ouster_ros/data/.hold b/ouster_ros/data/.hold new file mode 100644 index 00000000..e69de29b diff --git a/ouster_ros/data/organized_1024x10.bag b/ouster_ros/data/organized_1024x10.bag new file mode 100644 index 00000000..9e356565 Binary files /dev/null and b/ouster_ros/data/organized_1024x10.bag differ diff --git a/ouster_ros/data/organized_1024x20.bag b/ouster_ros/data/organized_1024x20.bag new file mode 100644 index 00000000..3ca0cf5f Binary files /dev/null and b/ouster_ros/data/organized_1024x20.bag differ diff --git a/ouster_ros/data/organized_2048x10.bag b/ouster_ros/data/organized_2048x10.bag new file mode 100644 index 00000000..82a38a9c Binary files /dev/null and b/ouster_ros/data/organized_2048x10.bag differ diff --git a/ouster_ros/data/organized_512x10.bag b/ouster_ros/data/organized_512x10.bag new file mode 100644 index 00000000..1e69b7ab Binary files /dev/null and b/ouster_ros/data/organized_512x10.bag differ diff --git a/ouster_ros/data/organized_512x20.bag b/ouster_ros/data/organized_512x20.bag new file mode 100644 index 00000000..e3ff198f Binary files /dev/null and b/ouster_ros/data/organized_512x20.bag differ diff --git a/ouster_ros/data/unorganized_1024x10.bag b/ouster_ros/data/unorganized_1024x10.bag new file mode 100644 index 00000000..c2f1d3fc Binary files /dev/null and b/ouster_ros/data/unorganized_1024x10.bag differ diff --git a/ouster_ros/data/unorganized_1024x20.bag b/ouster_ros/data/unorganized_1024x20.bag new file mode 100644 index 00000000..38f4dff4 Binary files /dev/null and b/ouster_ros/data/unorganized_1024x20.bag differ diff --git a/ouster_ros/data/unorganized_2048x10.bag b/ouster_ros/data/unorganized_2048x10.bag new file mode 100644 index 00000000..008cf267 Binary files /dev/null and b/ouster_ros/data/unorganized_2048x10.bag differ diff --git a/ouster_ros/data/unorganized_512x10.bag b/ouster_ros/data/unorganized_512x10.bag new file mode 100644 index 00000000..c6424b15 Binary files /dev/null and b/ouster_ros/data/unorganized_512x10.bag differ diff --git a/ouster_ros/data/unorganized_512x20.bag b/ouster_ros/data/unorganized_512x20.bag new file mode 100644 index 00000000..c5add776 Binary files /dev/null and b/ouster_ros/data/unorganized_512x20.bag differ diff --git a/ouster_ros/launch/hztest.launch b/ouster_ros/launch/hztest.launch new file mode 100644 index 00000000..24c26aa6 --- /dev/null +++ b/ouster_ros/launch/hztest.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ouster_ros/launch/hztest_fixture.launch b/ouster_ros/launch/hztest_fixture.launch new file mode 100644 index 00000000..34f58e9e --- /dev/null +++ b/ouster_ros/launch/hztest_fixture.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ouster_ros/launch/os1_test_template.launch b/ouster_ros/launch/os1_test_template.launch new file mode 100644 index 00000000..847e6369 --- /dev/null +++ b/ouster_ros/launch/os1_test_template.launch @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ouster_ros/scripts/ouster_test.py b/ouster_ros/scripts/ouster_test.py new file mode 100755 index 00000000..3c1d0bbf --- /dev/null +++ b/ouster_ros/scripts/ouster_test.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python +"""ouster test program that calls existing test suite and saves results""" + +from __future__ import print_function +import sys +import argparse +import subprocess +import locale +import re +from os.path import expanduser +import os +import ConfigParser +import shutil +import time +import datetime +from os.path import basename +import tempfile +import glob +import os +import datetime + +def parse_args(): + parser = argparse.ArgumentParser() + + parser.add_argument('-O', '--output_file',default="ouster_test" + datetime.datetime.now().strftime("_%Y%m%d-%H%M%S") + ".bag", + help='Output Bagfile name') + parser.add_argument('-D', '--output_directory',default="/home/nvidia", + help='Output bag file directory') + parser.add_argument('-d', '--duration',type=int, + help='Duration for the test [Default=60 seconds]',default=60 ) + parser.add_argument('-o', '--organized', action="store_true",default=False, + help='Organized or Unorganized pointcloud') + + parser.add_argument('-H', '--hz' , type=int, help="frequency to run ouster at") + parser.add_argument('-E', '--hzerror' , type=float, default=0.5, help="Hertz error") + parser.add_argument('-r', '--resolution', type=int, help="Resolution to run scan (512,1024,2048)") + + if len(sys.argv) == 1: + parser.print_help() + sys.exit(1) + args = parser.parse_args() + if args.hz not in [10,20]: + print("Error: hz=%d is not an allowed range %s" % ( args.hz, [10,20]), file=sys.stderr ) + if args.resolution not in [512,1024,2048]: + print("Error: resolution=%d is not an allowed range %s" % ( args.resolution, [512,1024,2048]), file=sys.stderr ) + if args.resolution == 2048 and args.hz == 20: + print("Error: Resolution=%d can only run at %d hz" % (args.resolution, 10 ),file=sys.stderr) + sys.exit(1) + + if args.organized: + args.organized = "organized" + else: + args.organized = "unorganized" + return args + +if __name__ == "__main__": + args = parse_args() + cmd = 'rostest ouster_ros hztest_fixture.launch hz:=%d hzerror:=%f resolution:=%d organized:=%s test_duration:=%d out_file:=%s output_directory:=%s' % ( args.hz,args.hzerror,args.resolution, args.organized,args.duration,args.output_file, args.output_directory ) + print("Running '%s'" % (cmd)) + os.system(cmd) + diff --git a/ouster_ros/scripts/rosbag.sh b/ouster_ros/scripts/rosbag.sh new file mode 100755 index 00000000..fbc5df61 --- /dev/null +++ b/ouster_ros/scripts/rosbag.sh @@ -0,0 +1,5 @@ +#!/bin/bash + +sleep $1 +shift +rosbag play -l $@ diff --git a/ouster_ros/scripts/rosbag_record.sh b/ouster_ros/scripts/rosbag_record.sh new file mode 100755 index 00000000..1eb5ab9e --- /dev/null +++ b/ouster_ros/scripts/rosbag_record.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +rosbag record "$@" diff --git a/ouster_ros/src/os1_cloud_node.cpp b/ouster_ros/src/os1_cloud_node.cpp index 76fc8b66..9fdb6513 100644 --- a/ouster_ros/src/os1_cloud_node.cpp +++ b/ouster_ros/src/os1_cloud_node.cpp @@ -84,6 +84,7 @@ int main(int argc, char** argv) { auto imu_timeout = nh.param("imu_timeout", int{5}); auto publish_raw_pc2 = nh.param("publish_raw_pointcloud", bool{false}); auto organized = nh.param("organized", bool{false}); + auto self_test = nh.param("self_test", bool{false}); ROS_ERROR_STREAM("ORganized is " << organized ); auto raw = nh.param("raw" , bool{false} ); // Use the raw point cloud auto min_distance = nh.param("min_distance", double{0.5} ); @@ -112,29 +113,34 @@ int main(int argc, char** argv) { tf2_ros::Buffer tfBuffer; tf2_ros::TransformListener tfListener(tfBuffer); - geometry_msgs::TransformStamped static_transform; + geometry_msgs::TransformStamped static_transform; // TODO int count = 0; ros::Rate rate(10.0); bool found_xform = false; - while (nh.ok() && count < 100){ + if ( self_test ) { + static_transform.transform.rotation.x = static_transform.transform.rotation.y = static_transform.transform.rotation.z = 0.0; + static_transform.transform.rotation.w = 1.0; + } else { + while (nh.ok() && count < 100){ try{ - static_transform = tfBuffer.lookupTransform(base_tf, to_tf,ros::Time(1)); - count = 100; - found_xform = true; - ROS_DEBUG_STREAM("Got " << static_transform ); + static_transform = tfBuffer.lookupTransform(base_tf, to_tf,ros::Time(1)); + count = 100; + found_xform = true; + ROS_DEBUG_STREAM("Got " << static_transform ); } catch (tf2::TransformException &ex) { - ROS_WARN("%s",ex.what()); - ros::Duration(0.1).sleep(); - count ++; - continue; + ROS_WARN("%s",ex.what()); + ros::Duration(0.1).sleep(); + count ++; + continue; } rate.sleep(); - } - if ( !found_xform ) { + } + if ( !found_xform ) { ROS_ERROR_STREAM("Could not get static_transform from base to tf" ); return EXIT_FAILURE; + } } tf2::Quaternion static_rotate(static_transform.transform.rotation.x, @@ -204,8 +210,8 @@ int main(int argc, char** argv) { auto external_imu_cb = [&]( const sensor_msgs::Imu::ConstPtr &imu_msg) { num_imus ++; - am::MeasureDelayStop(ros::this_node::getName() + "/external_imu_cb" ); - am::MeasureDelayStart(ros::this_node::getName() + "/external_imu_cb" ); + // am::MeasureDelayStop(ros::this_node::getName() + "/external_imu_cb" ); + //am::MeasureDelayStart(ros::this_node::getName() + "/external_imu_cb" ); auto tmp = std::sqrt( imu_msg->orientation.x*imu_msg->orientation.x + imu_msg->orientation.y*imu_msg->orientation.y + imu_msg->orientation.z*imu_msg->orientation.z + @@ -302,8 +308,8 @@ int main(int argc, char** argv) { } msg.header.frame_id = "body_Level_FLU"; - am::MeasureDelayStop (ros::this_node::getName() + "/ouster_pcl_delay" ); - am::MeasureDelayStart(ros::this_node::getName() + "/ouster_pcl_delay" ); + //am::MeasureDelayStop (ros::this_node::getName() + "/ouster_pcl_delay" ); + //am::MeasureDelayStart(ros::this_node::getName() + "/ouster_pcl_delay" ); lidar_pub.publish(msg); send_cloud.clear(); imu_entries.clear(); @@ -360,9 +366,9 @@ int main(int argc, char** argv) { (void)ev; auto val = num_imus.load(); if ( val == 0 ) { - am::MeasureDelayStart(ros::this_node::getName() + "/external_imu_cb" ); + //am::MeasureDelayStart(ros::this_node::getName() + "/external_imu_cb" ); ros::Duration(imu_timeout).sleep(); - am::MeasureDelayStop(ros::this_node::getName() + "/external_imu_cb" ); + //am::MeasureDelayStop(ros::this_node::getName() + "/external_imu_cb" ); ROS_ERROR_STREAM("IMU has taken longer than " << imu_timeout << " seconds" ); sensor_msgs::Imu tmsg; tmsg.orientation.x = tmsg.orientation.y = tmsg.orientation.z = 0; diff --git a/ouster_ros/test/sample.test b/ouster_ros/test/sample.test new file mode 100644 index 00000000..f574760e --- /dev/null +++ b/ouster_ros/test/sample.test @@ -0,0 +1,6 @@ + + + + + +