minor advanced session fixes

exercises/5.1/solution_ws/src/lesson_perception/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(lesson_perception)
-add_definitions(-std=c++11)
+add_definitions(-std=c++14)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages

exercises/5.1/template_ws/src/lesson_perception/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(lesson_perception)
-add_definitions(-std=c++11)
+add_definitions(-std=c++14)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages

exercises/5.3/src/filter_call/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(filter_call)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -68,7 +68,7 @@ catkin_python_setup()
 ## Generate added messages and services with any dependencies listed here
 # generate_messages(
 #   DEPENDENCIES
-#   perception_msgs
+#   std_msgs  # Or other packages containing msgs
 # )
 
 ################################################
@@ -103,7 +103,7 @@ catkin_python_setup()
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES filter_call
-#  CATKIN_DEPENDS perception_msgs roscpp rospy
+#  CATKIN_DEPENDS rospy
 #  DEPENDS system_lib
 )
 
@@ -157,16 +157,23 @@ include_directories(
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
+# catkin_install_python(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+## 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_PACKAGE_BIN_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 # )
 
 ## Mark cpp header files for installation

exercises/5.3/src/filter_call/package.xml

@@ -7,13 +7,13 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="rchristopher@todo.todo">rchristopher</maintainer>
+  <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>BSD</license>
+  <license>TODO</license>
 
 
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
@@ -49,7 +49,10 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>rospy</depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

exercises/5.3/src/filter_call/scripts/filter_call.py

@@ -1,22 +1,24 @@
 #!/usr/bin/env python
 
 import rospy
-import lesson_perception.srv
+import py_perception.srv
 from sensor_msgs.msg import PointCloud2
 
 if __name__ == '__main__':
-    rospy.init_node('filter_cloud', anonymous=True)
-    rospy.wait_for_service('filter_cloud')
     try:
+        rospy.init_node('filter_cloud', anonymous=True)
+        rospy.wait_for_service('filter_cloud')
+
         # =======================
         # VOXEL GRID FILTER
         # =======================
 
-        srvp = rospy.ServiceProxy('filter_cloud', lesson_perception.srv.FilterCloud)
-        req = lesson_perception.srv.FilterCloudRequest()
+        srvp = rospy.ServiceProxy('filter_cloud', py_perception.srv.FilterCloud)
+        req = py_perception.srv.FilterCloudRequest()
         req.pcdfilename = rospy.get_param('~pcdfilename', '')
-        req.operation = lesson_perception.srv.FilterCloudRequest.VOXELGRID
-        # FROM THE SERVICE, ASSIGN POINTS
+        req.operation = py_perception.srv.FilterCloudRequest.VOXELGRID
+
+        # FROM THE SERVICE, ASSIGN POINTS 
         req.input_cloud = PointCloud2()
 
         # ERROR HANDLING
@@ -38,10 +40,10 @@
         # PASSTHROUGH FILTER
         # =======================
 
-        srvp = rospy.ServiceProxy('filter_cloud', lesson_perception.srv.FilterCloud)
-        req = lesson_perception.srv.FilterCloudRequest()
+        srvp = rospy.ServiceProxy('filter_cloud', py_perception.srv.FilterCloud)
+        req = py_perception.srv.FilterCloudRequest()
         req.pcdfilename = ''
-        req.operation = lesson_perception.srv.FilterCloudRequest.PASSTHROUGH
+        req.operation = py_perception.srv.FilterCloudRequest.PASSTHROUGH
         # FROM THE SERVICE, ASSIGN POINTS
         req.input_cloud = res_voxel.output_cloud
 
@@ -60,10 +62,10 @@
         # PLANE SEGMENTATION
         # =======================
 
-        srvp = rospy.ServiceProxy('filter_cloud', lesson_perception.srv.FilterCloud)
-        req = lesson_perception.srv.FilterCloudRequest()
+        srvp = rospy.ServiceProxy('filter_cloud', py_perception.srv.FilterCloud)
+        req = py_perception.srv.FilterCloudRequest()
         req.pcdfilename = ''
-        req.operation = lesson_perception.srv.FilterCloudRequest.PLANESEGMENTATION
+        req.operation = py_perception.srv.FilterCloudRequest.PLANESEGMENTATION
         # FROM THE SERVICE, ASSIGN POINTS
         req.input_cloud = res_pass.output_cloud
 
@@ -82,10 +84,10 @@
         # CLUSTER EXTRACTION
         # =======================
 
-        srvp = rospy.ServiceProxy('filter_cloud', lesson_perception.srv.FilterCloud)
-        req = lesson_perception.srv.FilterCloudRequest()
+        srvp = rospy.ServiceProxy('filter_cloud', py_perception.srv.FilterCloud)
+        req = py_perception.srv.FilterCloudRequest()
         req.pcdfilename = ''
-        req.operation = lesson_perception.srv.FilterCloudRequest.CLUSTEREXTRACTION
+        req.operation = py_perception.srv.FilterCloudRequest.CLUSTEREXTRACTION
         # FROM THE SERVICE, ASSIGN POINTS
         req.input_cloud = res_seg.output_cloud
 

exercises/5.3/src/filter_call/setup.py

@@ -3,7 +3,7 @@
 from catkin_pkg.python_setup import generate_distutils_setup
 # fetch values from package.xml
 setup_args = generate_distutils_setup(
-packages=[''],
+packages=['filter_call'],
 package_dir={'': 'include'},
 )
 setup(**setup_args) 

exercises/5.3/src/lesson_perception/CMakeLists.txt → exercises/5.3/src/py_perception/CMakeLists.txt

@@ -1,16 +1,20 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(lesson_perception)
-add_definitions(-std=c++11)
+project(py_perception)
+add_definitions(-std=c++14)
 ## 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
+  rospy
   sensor_msgs
+  std_msgs
   message_generation
+  visualization_msgs
   tf
   pcl_ros
 )
+find_package(Python REQUIRED COMPONENTS Development)
 #find_package(PCL REQUIRED)
 
 ## System dependencies are found with CMake's conventions
@@ -69,7 +73,8 @@ find_package(catkin REQUIRED COMPONENTS
 # Generate added messages and services with any dependencies listed here
  generate_messages(
    DEPENDENCIES
-    sensor_msgs
+   sensor_msgs
+   visualization_msgs
  )
 
 ###################################
@@ -83,11 +88,14 @@ find_package(catkin REQUIRED COMPONENTS
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES lesson_perception
+#  LIBRARIES py_perception
   CATKIN_DEPENDS
     roscpp
+    rospy
     sensor_msgs
+    std_msgs
     message_runtime
+    visualization_msgs
     tf
     pcl_ros
 #  DEPENDS system_lib
@@ -106,7 +114,7 @@ include_directories(
 )
 
 ## Declare a cpp library
-# add_library(lesson_perception
+# add_library(py_perception
 #   src/${PROJECT_NAME}/lesson_perception.cpp
 # )
 
@@ -121,6 +129,7 @@ include_directories(
  target_link_libraries(py_perception_node
    ${catkin_LIBRARIES}
 #   ${PCL_LIBRARIES}
+   Python::Module
  )
 
 #############

exercises/5.3/src/lesson_perception/package.xml → exercises/5.3/src/py_perception/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>lesson_perception</name>
+  <name>py_perception</name>
   <version>0.0.0</version>
-  <description>The lesson_perception package</description>
+  <description>The py_perception package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
@@ -43,7 +43,12 @@
   <depend>roscpp</depend>
   <depend>sensor_msgs</depend>
   <depend>tf</depend>
+  <depend>pcl_conversions</depend>
+  <depend>pcl_msgs</depend>
   <depend>pcl_ros</depend>
+  <depend>visualization_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>rospy</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

exercises/5.3/src/lesson_perception/src/py_perception_node.cpp → exercises/5.3/src/py_perception/src/py_perception_node.cpp

@@ -4,7 +4,7 @@
 #include <tf/transform_listener.h>
 #include <tf/transform_broadcaster.h>
 #include <sensor_msgs/PointCloud2.h> //hydro
-#include <lesson_perception/FilterCloud.h>
+#include <py_perception/FilterCloud.h>
 
 // PCL specific includes
 #include <pcl_conversions/pcl_conversions.h> //hydro
@@ -95,7 +95,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr planeSegmentation(const pcl::PointCloud<pcl:
   seg.setOptimizeCoefficients (true);
   seg.setModelType (pcl::SACMODEL_PLANE);
   seg.setMethodType (pcl::SAC_RANSAC);
-  seg.setMaxIterations (200);
+  seg.setMaxIterations (100);
   seg.setDistanceThreshold (0.01); //keep as 1cm
   // Segment the largest planar component from the cropped cloud
   seg.setInputCloud (cropped_cloud);
@@ -165,57 +165,55 @@ clusterExtraction(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &input_cloud)
    * ========================================*/
 
 /* ========================================
- * Fill Code: FILTER CALLBACK
+ * Fill Code: SERVICE
  * ========================================*/
-bool filterCallback(lesson_perception::FilterCloud::Request& request,
-                    lesson_perception::FilterCloud::Response& response)
+bool filterCallback(py_perception::FilterCloud::Request& request,
+                    py_perception::FilterCloud::Response& response)
 {
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
   pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud (new pcl::PointCloud<pcl::PointXYZ>);
 
   if (request.pcdfilename.empty())
   {
     pcl::fromROSMsg(request.input_cloud, *cloud);
-    ROS_INFO_STREAM("cloud size: " << cloud->size());
+    ROS_INFO_STREAM("cloud size: " <<cloud->size());
+    if (cloud->empty())
+    {
+      ROS_ERROR("input cloud empty");
+      response.success = false;
+      return false;
+    }
   }
   else
   {
     pcl::io::loadPCDFile(request.pcdfilename, *cloud);
   }
 
-  if (cloud->empty())
-  {
-    ROS_ERROR("input cloud empty");
-    response.success = false;
-    return false;
-  }
-
   switch (request.operation)
   {
 
-    case lesson_perception::FilterCloud::Request::VOXELGRID :
+    case py_perception::FilterCloud::Request::VOXELGRID :
     {
       filtered_cloud = voxelGrid(cloud, 0.01);
       break;
     }
-    case lesson_perception::FilterCloud::Request::PASSTHROUGH :
+    case py_perception::FilterCloud::Request::PASSTHROUGH :
     {
       filtered_cloud = passThrough(cloud);
       break;
     }
-    case lesson_perception::FilterCloud::Request::PLANESEGMENTATION :
+    case py_perception::FilterCloud::Request::PLANESEGMENTATION :
     {
       filtered_cloud = planeSegmentation(cloud);
       break;
     }
-    case lesson_perception::FilterCloud::Request::CLUSTEREXTRACTION :
+    case py_perception::FilterCloud::Request::CLUSTEREXTRACTION :
     {
       std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> temp =clusterExtraction(cloud);
       if (temp.size()>0)
       {
         filtered_cloud = temp[0];
       }
-      //filtered_cloud = clusterExtraction(cloud)[0];
       break;
     }
     default :
@@ -224,7 +222,7 @@ bool filterCallback(lesson_perception::FilterCloud::Request& request,
       return false;
     }
 
-   }
+  }
 
 /*
  * SETUP RESPONSE

exercises/5.3/src/lesson_perception/srv/FilterCloud.srv → exercises/5.3/src/py_perception/srv/FilterCloud.srv

@@ -1,6 +1,7 @@
 #request
 sensor_msgs/PointCloud2 input_cloud
 string topic
+#if empty, use data present in input_cloud
 string pcdfilename
 
 # Removes objects outside a defined grid pattern x,y,z

exercises/python-pcl_ws/src/py_perception/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(py_perception)
-add_definitions(-std=c++11)
+add_definitions(-std=c++14)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
@@ -14,6 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf
   pcl_ros
 )
+find_package(Python REQUIRED COMPONENTS Development)
 #find_package(PCL REQUIRED)
 
 ## System dependencies are found with CMake's conventions
@@ -128,6 +129,7 @@ include_directories(
  target_link_libraries(py_perception_node
    ${catkin_LIBRARIES}
 #   ${PCL_LIBRARIES}
+   Python::Module
  )
 
 #############