creating modularity within perception module for several packages - centralized launch

Author: Parasmai Conjeevaram

docker/perception/perception.Dockerfile

@@ -7,6 +7,8 @@ WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
 COPY src/perception/depth_estimation depth_estimation 
+COPY src/perception/pose_estimation pose_estimation
+COPY src/perception/perception_launch perception_launch
 COPY src/wato_msgs/sample_msgs sample_msgs
 
 # Scan for rosdeps

modules/docker-compose.perception.yaml

@@ -1,13 +1,13 @@
 services:
   perception: # PYTHON
-    build: &producer_build
+    build: &perception_build
       context: ..
       dockerfile: docker/perception/perception.Dockerfile
       cache_from:
         - "${SAMPLES_PRODUCER_IMAGE:?}:${TAG}"
         - "${SAMPLES_PRODUCER_IMAGE:?}:main"
     image: "${SAMPLES_PRODUCER_IMAGE:?}:${TAG}"
     profiles: [deploy]
-    command: /bin/bash -c "ros2 launch depth_estimation depth_estimation.launch.py"
+    command: /bin/bash -c "ros2 launch perception_launch perception.launch.py"
     volumes:
-      - ${MONO_DIR}/src/samples/python/perception:/root/ament_ws/src/perception
+      - ${MONO_DIR}/src/perception:/root/ament_ws/src/perception

src/perception/depth_estimation/depth_estimation/depth_estimation_core.py

@@ -18,6 +18,21 @@
 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) + ";"
 
 
 

src/perception/depth_estimation/package.xml

@@ -3,9 +3,12 @@
 <package format="3">
   <name>depth_estimation</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Depth estimation module for humanoid robot perception</description>
   <maintainer email="e23zhou@watonomous.ca">eddyzhou</maintainer>
-  <license>Apache2.0: License declaration</license>
+  <license>Apache2.0</license>
+
+  <depend>rclpy</depend>
+  <depend>sample_msgs</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/perception/depth_estimation/setup.py

@@ -23,8 +23,8 @@
     zip_safe=True,
     maintainer='eddyzhou, aryanafrouzi',
     maintainer_email='e23zhou@watonomous.ca, aafrouzi@watonomous.ca',
-    description='TODO: Package description',
-    license='TODO: License declaration',
+    description='Depth estimation module for humanoid robot perception',
+    license='Apache2.0',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [

…mation/launch/depth_estimation.launch.py …ption_launch/launch/perception.launch.pysrc/perception/depth_estimation/launch/depth_estimation.launch.py renamed to src/perception/perception_launch/launch/perception.launch.py src/perception/depth_estimation/launch/depth_estimation.launch.py renamed to src/perception/perception_launch/launch/perception.launch.py

@@ -20,20 +20,31 @@
 
 
 def generate_launch_description():
-    # To load the yaml file, we are searching for its
-    # path is the share directory. Check setup.py for how
-    # the param file got there
-    param_file_path = os.path.join(
+    # Load depth estimation parameters
+    depth_param_file_path = os.path.join(
         get_package_share_directory('depth_estimation'),
         'config',
         'params.yaml'
     )
+    
+    # Load pose estimation parameters
+    pose_param_file_path = os.path.join(
+        get_package_share_directory('pose_estimation'),
+        'config',
+        'params.yaml'
+    )
 
     return LaunchDescription([
         Node(
             package='depth_estimation',
             name='depth_estimation_node',
             executable='depth_estimation_node',
-            parameters=[param_file_path]
+            parameters=[depth_param_file_path]
+        ),
+        Node(
+            package='pose_estimation',
+            name='pose_estimation_node',
+            executable='pose_estimation_node',
+            parameters=[pose_param_file_path]
         )
     ])

src/perception/perception_launch/package.xml

@@ -0,0 +1,22 @@
+<?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>perception_launch</name>
+  <version>0.0.0</version>
+  <description>Launch files for the perception module</description>
+  <maintainer email="pconjeevaram@watonomous.ca">conjeevaram</maintainer>
+  <license>Apache2.0</license>
+
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>depth_estimation</exec_depend>
+  <exec_depend>pose_estimation</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/perception/perception_launch/perception_launch/__init__.py

@@ -0,0 +1,13 @@
+# 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.

src/perception/perception_launch/resource/perception_launch

@@ -0,0 +1 @@
+perception_launch

src/perception/perception_launch/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/perception_launch
+[install]
+install-scripts=$base/lib/perception_launch