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Zed integration #2

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4861f8a
Added to Coordinator, Topic Transport Senders, and Launch
nirornith Nov 17, 2020
2398bb0
Fixed Github problem by replacing old files
nirornith Nov 21, 2020
fc52b06
Added camera_topic4 and camera_topic5 files for the zed camera feed a…
scotrein Nov 21, 2020
01e5e23
Moved code from senders to receivers
nirornith Nov 28, 2020
9406c9e
Deleted files from senders
nirornith Nov 28, 2020
1e7a8cc
Added cameras to udp receivers
nirornith Nov 28, 2020
6050486
Updated to add both zed camera feeds to the get camera function.
scotrein Nov 28, 2020
be95c66
merging Scot's commit
nirornith Nov 28, 2020
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13 changes: 13 additions & 0 deletions software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,8 @@ def __init__(self, shared_objects):
rospy.Publisher("/cameras/undercarriage/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
rospy.Publisher("/cameras/main_navigation/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
rospy.Publisher("/cameras/end_effector/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
rospy.Publisher("/cameras/zed_left/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)
rospy.Publisher("/cameras/point_cloud/camera_control", CameraControlMessage, queue_size=1).publish(reset_camera_message)

self.msleep(3000)

Expand Down Expand Up @@ -213,6 +215,7 @@ def __get_cameras(self):

names = set(names)

#Remove zed camera from EXCLUDED_CAMERAS above once in use
for camera in EXCLUDED_CAMERAS:
if camera in names:
names.remove(camera)
Expand All @@ -235,6 +238,16 @@ def __get_cameras(self):
if "end_effector" in names:
self.valid_cameras.append("end_effector")

#Place two if statements below inside of larger scope
#if statement that checks if zed camera device is
#connected to rover before checking to append
if "zed_left" in names:
self.valid_cameras.append("zed_left")

if "point_cloud" in names:
self.valid_cameras.append("point_cloud")


def __setup_video_threads(self):
for camera in self.valid_cameras:
self.camera_threads[camera] = RoverVideoReceiver.RoverVideoReceiver(camera)
Expand Down
4 changes: 4 additions & 0 deletions software/ros_packages/nimbro_topic_transport/launch/camera_topics4.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
topics:
- name: "/cameras/zed_left/image_1280x720/compressed"
compress: false # enable bz2 compression
rate: 30.0 #rate limit at 1Hz
4 changes: 4 additions & 0 deletions software/ros_packages/nimbro_topic_transport/launch/camera_topics5.yaml
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@@ -0,0 +1,4 @@
topics:
- name: "cameras/point_cloud/image_1280x720/compressed"
compress: false # enable bz2 compression
rate: 30.0 # rate limit at 1Hz
8 changes: 8 additions & 0 deletions software/ros_packages/nimbro_topic_transport/launch/udp_camera_receiver.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -34,4 +34,12 @@
<node name="udp_receiver9" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17009" />
</node>

<node name="udp_receiver10" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17021" />
</node>

<node name="udp_receiver11" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17022" />
</node>
</launch>
6 changes: 6 additions & 0 deletions software/ros_packages/rover_camera/launch/example.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,12 @@
<param name="device_path" value="/dev/rover/camera_chassis" />
</node>

<node name="zed_left" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" output="screen" >
<param name="device_path" value="/dev/rover/camera_zed_left" />
</node>

<node name="point_cloud" pkg="rover_camera" type="rover_camera" launch_prefix="taskset -c 5" output="screen" >
<param name="device_path" value="/dev/rover/camera_point_cloud" />

</group>
</launch>
8 changes: 8 additions & 0 deletions software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
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Expand Up @@ -47,6 +47,14 @@
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17012" />
</node>

<node name="zed_left_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17021" />
</node>

<node name="point_cloud_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17022" />
<node>
</group>

<group>
Expand Down
182 changes: 163 additions & 19 deletions software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
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Original file line number Diff line number Diff line change
@@ -1,32 +1,176 @@
<launch>
<group ns="sender_transports">
<arg name="target" default="192.168.1.10" />
<arg name="target" default="192.168.1.15" />

<node name="ground_station_drive_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17100" />
<param name="destination_port" value="17001" />
<rosparam param="topics">
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
{name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/mining/control", compress: true, rate: 30.0},
{name: "/rover_control/mining/drill/control", compress: true, rate: 30.0},
{name: "/rover_arm/control/relative", compress: true, rate: 30.0},
{name: "/rover_control/gripper/control", compress: true, rate: 30.0}]
[{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="ground_station_tcp_sender" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17101" />
<param name="destination_port" value="17002" />
<rosparam param="topics">
[{name: "/cameras/chassis/camera_control", compress: false, rate: 5.0},
{name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0},
{name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0},
{name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0},
{name: "/rover_status/update_requested", compress: false, rate: 5.0},
{name: "/rover_arm/control/absolute", compress: true, rate: 5.0},
{name: "/rover_control/camera/control", compress: true, rate: 5.0}]
[{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17003" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17007" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17009" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17010" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17011" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17012" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>

<node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17013" />
<rosparam param="topics">
[{name: "/rover_status/wheel_status", compress: false, rate: 1.0}]
</rosparam>
</node>

<node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17014" />
<rosparam param="topics">
[{name: "/rover_status/camera_status", compress: false, rate: 1.0}]
</rosparam>
</node>

<node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17015" />
<rosparam param="topics">
[{name: "/rover_status/frsky_status", compress: false, rate: 1.0}]
</rosparam>
</node>

<node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17016" />
<rosparam param="topics">
[{name: "/rover_status/gps_status", compress: false, rate: 1.0},
{name: "/rover_odometry/gps/fix", compress: false, rate: 5.0}]
</rosparam>
</node>

<node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17017" />
<rosparam param="topics">
[{name: "/rover_status/jetson_status", compress: false, rate: 1.0}]
</rosparam>
</node>

<node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17018" />
<rosparam param="topics">
[{name: "/rover_status/misc_status", compress: false, rate: 1.0}]
</rosparam>
</node>

<node name="udp_statuses_sender" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17019" />
<rosparam param="topics">
[
{name: "/rover_status/battery_status", compress: false, rate: 1.0},
{name: "/rover_control/tower/status/co2", compress: false, rate: 1.0},
{name: "/rover_odometry/imu/data", compress: false, rate: 10.0},
{name: "/rover_control/mining/status", compress: false, rate: 5.0},
{name: "/rover_control/gripper/status", compress: false, rate: 5.0},
{name: "/rover_science/soil_probe/data", compress: false, rate: 5.0},
{name: "/rover_science/rdf/data", compress: false, rate: 50.0},
{name: "/rover_control/scale/measurement", compress: false, rate: 20.0}
]
</rosparam>
</node>

<node name="arm_status_udp_sender" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17020" />
<rosparam param="topics">
[
{name: "/rover_arm/status", compress: false, rate: 5.0}
]
</rosparam>
</node>
</group>
Expand Down