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nav2_way_point_follower; introduce photo at waypoint arrivals plugin (o…
…pen-navigation#2041) * nav2_way_point_follower; introduce photo at waypoint arrivals plugin Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve cmake lint errors Signed-off-by: jediofgever <fetulahatas1@gmail.com> * resolve requested chages of first review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * minor corrections on photo_at_waypoint header * resolve requested changes of second review Signed-off-by: jediofgever <fetulahatas1@gmail.com> * update default save_dir Signed-off-by: jediofgever <fetulahatas1@gmail.com> * move directory checking code to initialize()
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nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
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| // Copyright (c) 2020 Fetullah Atas | ||
| // | ||
| // 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. | ||
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| #ifndef NAV2_WAYPOINT_FOLLOWER__PLUGINS__PHOTO_AT_WAYPOINT_HPP_ | ||
| #define NAV2_WAYPOINT_FOLLOWER__PLUGINS__PHOTO_AT_WAYPOINT_HPP_ | ||
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| #include <experimental/filesystem> | ||
| #include <mutex> | ||
| #include <string> | ||
| #include <exception> | ||
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| #include "rclcpp/rclcpp.hpp" | ||
| #include "rclcpp_components/register_node_macro.hpp" | ||
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| #include "sensor_msgs/msg/image.hpp" | ||
| #include "nav2_core/waypoint_task_executor.hpp" | ||
| #include "opencv4/opencv2/core.hpp" | ||
| #include "opencv4/opencv2/opencv.hpp" | ||
| #include "cv_bridge/cv_bridge.h" | ||
| #include "image_transport/image_transport.hpp" | ||
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| namespace nav2_waypoint_follower | ||
| { | ||
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| class PhotoAtWaypoint : public nav2_core::WaypointTaskExecutor | ||
| { | ||
| public: | ||
| /** | ||
| * @brief Construct a new Photo At Waypoint object | ||
| * | ||
| */ | ||
| PhotoAtWaypoint(); | ||
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| /** | ||
| * @brief Destroy the Photo At Waypoint object | ||
| * | ||
| */ | ||
| ~PhotoAtWaypoint(); | ||
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| /** | ||
| * @brief declares and loads parameters used | ||
| * | ||
| * @param parent parent node that plugin will be created within | ||
| * @param plugin_name should be provided in nav2_params.yaml==> waypoint_follower | ||
| */ | ||
| void initialize( | ||
| const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, | ||
| const std::string & plugin_name); | ||
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| /** | ||
| * @brief Override this to define the body of your task that you would like to execute once the robot arrived to waypoint | ||
| * | ||
| * @param curr_pose current pose of the robot | ||
| * @param curr_waypoint_index current waypoint, that robot just arrived | ||
| * @return true if task execution was successful | ||
| * @return false if task execution failed | ||
| */ | ||
| bool processAtWaypoint( | ||
| const geometry_msgs::msg::PoseStamped & curr_pose, const int & curr_waypoint_index); | ||
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| /** | ||
| * @brief | ||
| * | ||
| * @param msg | ||
| */ | ||
| void imageCallback(const sensor_msgs::msg::Image::SharedPtr msg); | ||
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| /** | ||
| * @brief given a shared pointer to sensor::msg::Image type, make a deep copy to inputted cv Mat | ||
| * | ||
| * @param msg | ||
| * @param mat | ||
| */ | ||
| static void deepCopyMsg2Mat(const sensor_msgs::msg::Image::SharedPtr & msg, cv::Mat & mat); | ||
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| protected: | ||
| // to ensure safety when accessing global var curr_frame_ | ||
| std::mutex global_mutex_; | ||
| // the taken photos will be saved under this directory | ||
| std::experimental::filesystem::path save_dir_; | ||
| // .png ? .jpg ? or some other well known format | ||
| std::string image_format_; | ||
| // the topic to subscribe in order capture a frame | ||
| std::string image_topic_; | ||
| // whether plugin is enabled | ||
| bool is_enabled_; | ||
| // current frame; | ||
| sensor_msgs::msg::Image::SharedPtr curr_frame_msg_; | ||
| // global logger | ||
| rclcpp::Logger logger_{rclcpp::get_logger("nav2_waypoint_follower")}; | ||
| // ros susbcriber to get camera image | ||
| rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr camera_image_subscriber_; | ||
| }; | ||
| } // namespace nav2_waypoint_follower | ||
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| #endif // NAV2_WAYPOINT_FOLLOWER__PLUGINS__PHOTO_AT_WAYPOINT_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,146 @@ | ||
| // Copyright (c) 2020 Fetullah Atas | ||
| // | ||
| // 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. | ||
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| #include "nav2_waypoint_follower/plugins/photo_at_waypoint.hpp" | ||
| #include <pluginlib/class_list_macros.hpp> | ||
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| #include <string> | ||
| #include <memory> | ||
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| namespace nav2_waypoint_follower | ||
| { | ||
| PhotoAtWaypoint::PhotoAtWaypoint() | ||
| { | ||
| } | ||
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| PhotoAtWaypoint::~PhotoAtWaypoint() | ||
| { | ||
| } | ||
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| void PhotoAtWaypoint::initialize( | ||
| const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, | ||
| const std::string & plugin_name) | ||
| { | ||
| auto node = parent.lock(); | ||
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| curr_frame_msg_ = std::make_shared<sensor_msgs::msg::Image>(); | ||
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| node->declare_parameter(plugin_name + ".enabled", rclcpp::ParameterValue(true)); | ||
| node->declare_parameter( | ||
| plugin_name + ".image_topic", | ||
| rclcpp::ParameterValue("/camera/color/image_raw")); | ||
| node->declare_parameter( | ||
| plugin_name + ".save_dir", | ||
| rclcpp::ParameterValue("/tmp/waypoint_images")); | ||
| node->declare_parameter(plugin_name + ".image_format", rclcpp::ParameterValue("png")); | ||
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| std::string save_dir_as_string; | ||
| node->get_parameter(plugin_name + ".enabled", is_enabled_); | ||
| node->get_parameter(plugin_name + ".image_topic", image_topic_); | ||
| node->get_parameter(plugin_name + ".save_dir", save_dir_as_string); | ||
| node->get_parameter(plugin_name + ".image_format", image_format_); | ||
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| // get inputted save directory and make sure it exists, if not log and create it | ||
| save_dir_ = save_dir_as_string; | ||
| if (!std::experimental::filesystem::exists(save_dir_)) { | ||
| RCLCPP_WARN( | ||
| logger_, | ||
| "Provided save directory for photo at waypoint plugin does not exist," | ||
| "provided directory is: %s, the directory will be created automatically.", | ||
| save_dir_.c_str() | ||
| ); | ||
| if (!std::experimental::filesystem::create_directory(save_dir_)) { | ||
| RCLCPP_ERROR( | ||
| logger_, | ||
| "Failed to create directory!: %s required by photo at waypoint plugin, " | ||
| "exiting the plugin with failure!", | ||
| save_dir_.c_str() | ||
| ); | ||
| is_enabled_ = false; | ||
| } | ||
| } | ||
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| if (!is_enabled_) { | ||
| RCLCPP_INFO( | ||
| logger_, "Photo at waypoint plugin is disabled."); | ||
| } else { | ||
| RCLCPP_INFO( | ||
| logger_, "Initializing photo at waypoint plugin, subscribing to camera topic named; %s", | ||
| image_topic_.c_str()); | ||
| camera_image_subscriber_ = node->create_subscription<sensor_msgs::msg::Image>( | ||
| image_topic_, rclcpp::SystemDefaultsQoS(), | ||
| std::bind(&PhotoAtWaypoint::imageCallback, this, std::placeholders::_1)); | ||
| } | ||
| } | ||
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| bool PhotoAtWaypoint::processAtWaypoint( | ||
| const geometry_msgs::msg::PoseStamped & curr_pose, const int & curr_waypoint_index) | ||
| { | ||
| if (!is_enabled_) { | ||
| RCLCPP_WARN( | ||
| logger_, | ||
| "Photo at waypoint plugin is disabled. Not performing anything" | ||
| ); | ||
| return true; | ||
| } | ||
| try { | ||
| // construct the full path to image filename | ||
| std::experimental::filesystem::path file_name = std::to_string( | ||
| curr_waypoint_index) + "_" + | ||
| std::to_string(curr_pose.header.stamp.sec) + "." + image_format_; | ||
| std::experimental::filesystem::path full_path_image_path = save_dir_ / file_name; | ||
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| // save the taken photo at this waypoint to given directory | ||
| std::lock_guard<std::mutex> guard(global_mutex_); | ||
| cv::Mat curr_frame_mat; | ||
| deepCopyMsg2Mat(curr_frame_msg_, curr_frame_mat); | ||
| cv::imwrite(full_path_image_path.c_str(), curr_frame_mat); | ||
| RCLCPP_INFO( | ||
| logger_, | ||
| "Photo has been taken sucessfully at waypoint %i", curr_waypoint_index); | ||
| } catch (const std::exception & e) { | ||
| RCLCPP_ERROR( | ||
| logger_, | ||
| "Couldn't take photo at waypoint %i! Caught exception: %s \n" | ||
| "Make sure that the image topic named: %s is valid and active!", | ||
| curr_waypoint_index, | ||
| e.what(), image_topic_.c_str()); | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
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| void PhotoAtWaypoint::imageCallback(const sensor_msgs::msg::Image::SharedPtr msg) | ||
| { | ||
| std::lock_guard<std::mutex> guard(global_mutex_); | ||
| curr_frame_msg_ = msg; | ||
| } | ||
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| void PhotoAtWaypoint::deepCopyMsg2Mat( | ||
| const sensor_msgs::msg::Image::SharedPtr & msg, | ||
| cv::Mat & mat) | ||
| { | ||
| cv_bridge::CvImageConstPtr cv_bridge_ptr = cv_bridge::toCvShare(msg, msg->encoding); | ||
| cv::Mat frame = cv_bridge_ptr->image; | ||
| if (msg->encoding == "rgb8") { | ||
| cv::cvtColor(frame, frame, cv::COLOR_RGB2BGR); | ||
| } | ||
| frame.copyTo(mat); | ||
| } | ||
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| } // namespace nav2_waypoint_follower | ||
| PLUGINLIB_EXPORT_CLASS( | ||
| nav2_waypoint_follower::PhotoAtWaypoint, | ||
| nav2_core::WaypointTaskExecutor) |
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