Merge pull request #385 from tiffanyec/python_pcl_update

5.3 Python pcl update

exercises/5.1/template_ws/ros2/lesson_perception/src/perception_node.cpp

@@ -161,7 +161,7 @@ class PerceptionNode : public rclcpp::Node
              * Fill Code: UPDATE AS NECESSARY
              * ========================================*/
 
-            this->publishPointCloud(voxel_grid_publisher_, *cloud);
+            this->publishPointCloud(voxel_grid_publisher_, cloud);
 
         }
 

exercises/5.3/solution_ws/ros2/src/filter_call/filter_call/filter_call.py

@@ -0,0 +1,141 @@
+#!/usr/bin/env python
+
+import rclpy
+from rclpy.node import Node
+import py_perception.srv
+from py_perception.srv import FilterCloud
+from sensor_msgs.msg import PointCloud2
+
+class FilterNode(Node):
+    def __init__(self):
+        super().__init__('filter_cloud', allow_undeclared_parameters = True,
+                         automatically_declare_parameters_from_overrides = True)
+        self.client = self.create_client(FilterCloud, 'filter_cloud')
+        while not self.client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('service not available, waiting again...')
+
+        self.pcdfilename = self.get_parameter_or('pcdfilename', rclpy.parameter.Parameter('', rclpy.parameter.Parameter.Type.STRING, '')).value
+        self.last_cloud = None
+
+        # PUBLISHERS
+        self.voxel_pub = self.create_publisher(PointCloud2, '/perception_voxelGrid', 1)
+        self.pass_pub = self.create_publisher(PointCloud2, '/perception_passthrough', 1)
+        self.plane_pub = self.create_publisher(PointCloud2, '/perception_planeSegmentation', 1)
+        self.cluster_pub = self.create_publisher(PointCloud2, '/perception_clusterExtraction', 1)
+
+        self.call_filters()
+
+    def call_filters(self):
+        while rclpy.ok():
+            self.voxel_filter()
+            self.passthrough_filter()
+            self.plane_segmentation()
+            self.cluster_extraction()
+
+    def voxel_filter(self):
+        # =======================
+        # VOXEL GRID FILTER
+        # =======================
+        req = FilterCloud.Request()
+        req.pcdfilename = self.pcdfilename
+        req.operation = py_perception.srv.FilterCloud.Request.VOXELGRID
+
+        # FROM THE SERVICE, ASSIGN POINTS
+        req.input_cloud = PointCloud2()
+
+        # ERROR HANDLING
+        if req.pcdfilename == '':
+            self.get_logger().error('No file parameter found')
+            return
+
+        # PACKAGE THE FILTERED POINTCLOUD2 TO BE PUBLISHED
+        future = self.client.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        res_voxel = future.result()
+        if not res_voxel.success:
+            self.get_logger().error('Unsuccessful voxel grid filter operation')
+            return
+
+        # PUBLISH VOXEL FILTERED POINTCLOUD2
+        self.voxel_pub.publish(res_voxel.output_cloud)
+        self.last_cloud = res_voxel
+        self.get_logger().info("published: voxel grid filter response")
+
+    def passthrough_filter(self):
+        # =======================
+        # PASSTHROUGH FILTER
+        # =======================
+        req = FilterCloud.Request()
+        req.pcdfilename = ''
+        req.operation = py_perception.srv.FilterCloud.Request.PASSTHROUGH
+        # FROM THE SERVICE, ASSIGN POINTS
+        req.input_cloud = self.last_cloud.output_cloud
+
+        # PACKAGE THE FILTERED POINTCLOUD2 TO BE PUBLISHED
+        future = self.client.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        res_pass = future.result()
+        if not res_pass.success:
+            self.get_logger().error('Unsuccessful passthrough filter operation')
+            return
+
+        # PUBLISH PASSTHROUGH FILTERED POINTCLOUD2
+        self.pass_pub.publish(res_pass.output_cloud)
+        self.last_cloud = res_pass
+        self.get_logger().info("published: passthrough filter response")
+
+    def plane_segmentation(self):
+        # =======================
+        # PLANE SEGMENTATION
+        # =======================
+        req = FilterCloud.Request()
+        req.pcdfilename = ''
+        req.operation = py_perception.srv.FilterCloud.Request.PLANESEGMENTATION
+        # FROM THE SERVICE, ASSIGN POINTS
+        req.input_cloud = self.last_cloud.output_cloud
+
+        # PACKAGE THE FILTERED POINTCLOUD2 TO BE PUBLISHED
+        future = self.client.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        res_seg = future.result()
+        if not res_seg.success:
+            self.get_logger().error('Unsuccessful plane segmentation operation')
+            return
+
+        # PUBLISH PLANESEGMENTATION FILTERED POINTCLOUD2
+        self.plane_pub.publish(res_seg.output_cloud)
+        self.last_cloud = res_seg
+        self.get_logger().info("published: plane segmentation filter response")
+
+    def cluster_extraction(self):
+        # =======================
+        # CLUSTER EXTRACTION
+        # =======================
+        req = FilterCloud.Request()
+        req.pcdfilename = ''
+        req.operation = py_perception.srv.FilterCloud.Request.CLUSTEREXTRACTION
+        # FROM THE SERVICE, ASSIGN POINTS
+        req.input_cloud = self.last_cloud.output_cloud
+
+        # PACKAGE THE FILTERED POINTCLOUD2 TO BE PUBLISHED
+        future = self.client.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        res_cluster = future.result()
+        if not res_cluster.success:
+            self.get_logger().error('Unsuccessful cluster extraction operation')
+            return
+
+        # PUBLISH CLUSTEREXTRACTION FILTERED POINTCLOUD2
+        self.cluster_pub.publish(res_cluster.output_cloud)
+        self.last_cloud = res_cluster
+        self.get_logger().info("published: cluster extraction filter response")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = FilterNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

exercises/5.3/solution_ws/ros2/src/filter_call/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>filter_call</name>
+  <version>0.0.0</version>
+  <description>The filter call package</description>
+  <author email="cgomez@swri.org">cgomez</author>
+  <author email="tiffany.cappellari@swri.org">tcappellari</author>
+  <maintainer email="tiffany.cappellari@swri.org">tcappellari</maintainer>
+  <license>BSD</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>py_perception</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

exercises/5.3/solution_ws/ros2/src/filter_call/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/filter_call
+[install]
+install-scripts=$base/lib/filter_call

exercises/5.3/solution_ws/ros2/src/filter_call/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'filter_call'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='tcappellari',
+    maintainer_email='tiffany.cappellari@swri.org',
+    description='The filter call package',
+    license='BSD',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'filter_call = filter_call.filter_call:main'
+        ],
+    },
+)

exercises/5.3/solution_ws/ros2/src/filter_call/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

exercises/5.3/solution_ws/ros2/src/filter_call/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

exercises/5.3/solution_ws/ros2/src/filter_call/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

exercises/5.3/solution_ws/ros2/src/py_perception/CMakeLists.txt

@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 3.5)
+project(py_perception)
+add_definitions(-std=c++14)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(pcl_ros REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(tf2_eigen REQUIRED)
+find_package(PCL REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/FilterCloud.srv"
+  DEPENDENCIES sensor_msgs
+)
+
+add_executable(perception_node src/py_perception_node.cpp)
+ament_target_dependencies(perception_node rclcpp tf2_ros tf2 tf2_eigen sensor_msgs pcl_ros)
+rosidl_target_interfaces(perception_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+install(TARGETS
+    perception_node
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

exercises/5.3/solution_ws/ros2/src/py_perception/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>py_perception</name>
+  <version>0.0.1</version>
+  <description>
+     The py_perception package
+  </description>
+  <author email="cgomez@swri.org">cgomez</author>
+  <author email="tiffany.cappellari@swri.org">tcappellari</author>
+  <maintainer email="tiffany.cappellari@swri.org">tcappellari</maintainer> -->
+  <license>BSD</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rosidl_default_generators</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2</depend>
+  <depend>pcl_conversions</depend>
+  <depend>pcl_ros</depend>
+  <depend>tf2_eigen</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+        <build_type>ament_cmake</build_type>
+  </export>
+
+</package>