Merge pull request #4 from WATonomous/tahseen-package-refactor

Tahseen package refactor

Author: rayhant2

docker/perception/perception.Dockerfile

@@ -6,7 +6,7 @@ FROM ${BASE_IMAGE} AS source
 WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
-COPY src/perception/depth_estimation depth_estimation
+COPY src/perception/depth_estimation depth_estimation 
 COPY src/wato_msgs/sample_msgs sample_msgs
 
 # Scan for rosdeps

modules/docker-compose.perception.yaml

@@ -8,6 +8,6 @@ services:
         - "${SAMPLES_PRODUCER_IMAGE:?}:main"
     image: "${SAMPLES_PRODUCER_IMAGE:?}:${TAG}"
     profiles: [deploy]
-    command: /bin/bash -c "ros2 launch perception perception.launch.py"
+    command: /bin/bash -c "ros2 launch depth_estimation depth_estimation.launch.py"
     volumes:
       - ${MONO_DIR}/src/samples/python/perception:/root/ament_ws/src/perception

src/perception/depth_estimation/config/params.yaml

@@ -1,6 +1,6 @@
 # more info on YAML configs for ROS2 Params:
 # https://roboticsbackend.com/ros2-yaml-params/
-producer_node: 
+depth_estimation_node: 
   ros__parameters:
     pos_x: 1.0
     pos_y: 1.0

…on/depth_estimation/producer/__init__.py …_estimation/depth_estimation/__init__.pysrc/perception/depth_estimation/producer/__init__.py renamed to src/perception/depth_estimation/depth_estimation/__init__.py src/perception/depth_estimation/producer/__init__.py renamed to src/perception/depth_estimation/depth_estimation/__init__.py

@@ -15,21 +15,9 @@
 import math
 
 
-class ProducerCore():
+class DepthEstimationCore():
 
     def __init__(self, pos_x, pos_y, pos_z, vel):
-        # Init member variables for serialization
-        self.__pos_x = pos_x
-        self.__pos_y = pos_y
-        self.__pos_z = pos_z
-        self.__velocity = vel
 
-    def update_position(self):
-        # velocity in 3D delta_x = delta_y = delta_z
-        self.__pos_x += self.__velocity / math.sqrt(3)
-        self.__pos_y += self.__velocity / math.sqrt(3)
-        self.__pos_z += self.__velocity / math.sqrt(3)
 
-    def serialize_data(self):
-        return "x:" + str(self.__pos_x) + ";y:" + \
-            str(self.__pos_y) + ";z:" + str(self.__pos_z) + ";"
+

…pth_estimation/producer/producer_core.py …epth_estimation/depth_estimation_core.pysrc/perception/depth_estimation/producer/producer_core.py renamed to src/perception/depth_estimation/depth_estimation/depth_estimation_core.py src/perception/depth_estimation/producer/producer_core.py renamed to src/perception/depth_estimation/depth_estimation/depth_estimation_core.py

@@ -0,0 +1,36 @@
+# Copyright 2023 WATonomous
+#
+# 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.
+
+import time
+
+import rclpy
+from rclpy.node import Node
+
+from sample_msgs.msg import Unfiltered
+from depth_estimation.depth_estimation_core import DepthEstimationCore
+
+
+class DepthEstimationNode(Node):
+
+    def __init__(self):
+        pass
+
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    return
+
+if __name__ == '__main__':
+    main()

src/perception/depth_estimation/depth_estimation/depth_estimation_node.py

@@ -24,16 +24,16 @@ def generate_launch_description():
     # path is the share directory. Check setup.py for how
     # the param file got there
     param_file_path = os.path.join(
-        get_package_share_directory('producer'),
+        get_package_share_directory('depth_estimation'),
         'config',
         'params.yaml'
     )
 
     return LaunchDescription([
         Node(
-            package='producer',
-            name='producer_node',
-            executable='producer_node',
+            package='depth_estimation',
+            name='depth_estimation_node',
+            executable='depth_estimation_node',
             parameters=[param_file_path]
         )
     ])

…pth_estimation/launch/producer.launch.py …mation/launch/depth_estimation.launch.pysrc/perception/depth_estimation/launch/producer.launch.py renamed to src/perception/depth_estimation/launch/depth_estimation.launch.py src/perception/depth_estimation/launch/producer.launch.py renamed to src/perception/depth_estimation/launch/depth_estimation.launch.py

@@ -1,7 +1,7 @@
 <?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>producer</name>
+  <name>depth_estimation</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="e23zhou@watonomous.ca">eddyzhou</maintainer>