Update to master

Author: vedantgrover

.pre-commit-config.yaml

@@ -8,6 +8,7 @@ repos:
     rev: v5.0.0
     hooks:
       - id: check-added-large-files
+        exclude: "src/robot/yolo_inference/models/yolov8.onnx"
       - id: check-ast
       - id: check-case-conflict
       - id: check-merge-conflict

docker/robot/robot.Dockerfile

@@ -10,6 +10,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends curl \
  && rm -rf /var/lib/apt/lists/*
 
 # Copy in source code
+COPY src/robot/yolo_inference ./yolo_inference
+COPY src/robot/object_detection object_detection
 COPY src/robot/odometry_spoof odometry_spoof
 COPY src/robot/bringup_robot bringup_robot
 COPY src/robot/camera_fallback camera_fallback
@@ -48,6 +50,8 @@ RUN apt-get -qq update && \
     rm -rf /var/lib/apt/lists/*
 
 # Copy in source code from source stage
+WORKDIR ${AMENT_WS}/src
+COPY src/robot/object_detection object_detection
 WORKDIR ${AMENT_WS}
 COPY --from=source ${AMENT_WS}/src src
 
@@ -69,6 +73,16 @@ RUN apt-get clean && \
     rosdep update && \
     rm -rf /var/lib/apt/lists/*
 
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    python3-pip \
+    python3-dev \
+    python3-setuptools \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY requirements.txt .
+RUN pip install --no-cache-dir -r requirements.txt
+#RUN pip install --no-cache-dir onnxruntime && pip3 install --no-cache-dir "numpy<2.0"
+
 # Build ROS2 packages
 WORKDIR ${AMENT_WS}
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \

requirements.txt

@@ -0,0 +1,25 @@
+# Core ROS 2 Python dependencies
+rclpy
+ament-index-python
+
+# Launch system dependencies
+launch
+launch-ros
+
+# Computer Vision and Machine Learning
+opencv-python
+numpy<2.0
+onnxruntime==1.16.3
+cv-bridge
+
+# Optional PyTorch support (for .pt model files)
+torch ; extra == 'torch'
+
+# Testing and Linting dependencies
+pytest
+ament-copyright
+ament-flake8
+ament-pep257
+
+# Build tools
+setuptools

scripts/add_robot_package.sh

@@ -42,12 +42,11 @@ if ! grep -Fq "${pkg}_node = Node(" "$LAUNCH_FILE"; then
     block_file=$(mktemp)
     printf '%s' "$block" > "$block_file"
     awk -v bf="$block_file" '
-        $0 ~ /##[[:space:]]+LAUNCH[[:space:]]+NODES/ && !done {
-            print
-            while ((getline line < bf) > 0) print line
-            close(bf); done=1; next
-        }
-        { print }
+    $0 ~ /^[[:space:]]*return[[:space:]]+ld/ && !done {
+        while ((getline line < bf) > 0) print line
+        close(bf); done=1
+    }
+    { print }
     ' "$LAUNCH_FILE" > "$tmp" && mv "$tmp" "$LAUNCH_FILE"
     rm -f "$block_file"
     echo "✓ Added node block to '$LAUNCH_FILE'"

src/gazebo/launch/mars_env.urdf

@@ -31,15 +31,15 @@
     <link name="water_bottle">
         <visual>
             <geometry>
-                <mesh filename="https://raw.githubusercontent.com/WATonomous/wato_rover/master/src/gazebo/launch/water_bottle.stl" scale="0.1 0.1 0.1"/>
+                <mesh filename="https://raw.githubusercontent.com/WATonomous/wato_rover/master/src/gazebo/launch/water_bottle.stl" scale="0.4 0.4 0.4"/>
             </geometry>
             <material name="water_blue">
                 <color rgba="0.68 0.85 0.90 1"/>
             </material>
         </visual>
         <collision>
             <geometry>
-                <mesh filename="https://raw.githubusercontent.com/WATonomous/wato_rover/master/src/gazebo/launch/water_bottle.stl" scale="0.1 0.1 0.1"/>
+                <mesh filename="https://raw.githubusercontent.com/WATonomous/wato_rover/master/src/gazebo/launch/water_bottle.stl" scale="0.4 0.4 0.4"/>
             </geometry>
         </collision>
     </link>
@@ -54,15 +54,15 @@
     <link name="mallet">
         <visual>
             <geometry>
-                <mesh filename="https://raw.githubusercontent.com/WATonomous/wato_rover/master/src/gazebo/launch/mallet.stl" scale="0.1 0.1 0.1"/>
+                <mesh filename="https://raw.githubusercontent.com/WATonomous/wato_rover/master/src/gazebo/launch/mallet.stl" scale="0.4 0.4 0.4"/>
             </geometry>
             <material name="orange">
                 <color rgba="1 0.4 0.0 1"/>
             </material>
         </visual>
         <collision>
             <geometry>
-                <mesh filename="https://raw.githubusercontent.com/WATonomous/wato_rover/master/src/gazebo/launch/mallet.stl" scale="0.1 0.1 0.1"/>
+                <mesh filename="https://raw.githubusercontent.com/WATonomous/wato_rover/master/src/gazebo/launch/mallet.stl" scale="0.4 0.4 0.4"/>
             </geometry>
         </collision>
     </link>

src/gazebo/launch/robot_env.sdf

@@ -327,7 +327,7 @@
                     <geometry>
                         <mesh>
                             <uri>water_bottle.stl</uri>
-                            <scale>0.1 0.1 0.1</scale>
+                            <scale>0.4 0.4 0.4</scale>
                         </mesh>
                     </geometry>
                     <material>
@@ -340,7 +340,7 @@
                     <geometry>
                     <mesh>
                         <uri>water_bottle.stl</uri>
-                        <scale>0.1 0.1 0.1</scale>
+                        <scale>0.4 0.4 0.4</scale>
                     </mesh>
                     </geometry>
                     <pose>0 0 0 0 0 3.14159</pose>
@@ -355,7 +355,7 @@
                     <geometry>
                         <mesh>
                             <uri>mallet.stl</uri>
-                            <scale>0.1 0.1 0.1</scale>
+                            <scale>0.4 0.4 0.4</scale>
                         </mesh>
                     </geometry>
                     <material>
@@ -368,7 +368,7 @@
                     <geometry>
                     <mesh>
                         <uri>mallet.stl</uri>
-                        <scale>0.1 0.1 0.1</scale>
+                        <scale>0.4 0.4 0.4</scale>
                     </mesh>
                     </geometry>
                     <pose>0 0 0 0 0 3.14159</pose>

src/gazebo/launch/water_bottle.stl

@@ -16,13 +16,25 @@
 from launch.actions import IncludeLaunchDescription
 from launch_ros.actions import Node
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 
 import os
 
 
 def generate_launch_description():
     ld = LaunchDescription()  # Begin building a launch description
 
+    yolo_pkg_share = get_package_share_directory("yolo_inference")
+    default_model_path = os.path.join(yolo_pkg_share, "models", "yolov8.onnx")
+
+    model_path_arg = DeclareLaunchArgument(
+        "model_path",
+        default_value=default_model_path,
+        description="Absolute path to the YOLO ONNX/PT weights file",
+    )
+    ld.add_action(model_path_arg)
+
     #################### Odometry Spoof Node #####################
     odometry_spoof_node = Node(
         package="odometry_spoof",
@@ -65,4 +77,27 @@ def generate_launch_description():
     )
     ld.add_action(motor_speed_controller_node)
 
+    #################### Object_detection Node #####################
+    object_detection_node = Node(
+        package="object_detection",
+        name="object_detection_node",
+        executable="object_detection_node",
+    )
+    ld.add_action(object_detection_node)
+
+    ld.add_action(
+        Node(
+            package="yolo_inference",
+            executable="yolo_inference_node",
+            name="yolo_inference_node",
+            output="screen",
+            parameters=[
+                {
+                    "model_path": LaunchConfiguration("model_path"),
+                    "input_size": 640,  # TODO: adjust DEPENDING on model needs 416, 512, etc
+                }
+            ],
+            remappings=[("/image", "/sim/realsense1/depth/image")],
+        )
+    )
     return ld

src/robot/bringup_robot/launch/robot.launch.py

@@ -0,0 +1,61 @@
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# 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.
+cmake_minimum_required(VERSION 3.10)
+project(object_detection)
+
+# Set compiler to use C++ 17 standard
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Search for dependencies required for building this package
+find_package(ament_cmake REQUIRED) # ROS2 build tool
+find_package(rclcpp REQUIRED)      # ROS2 C++ package
+
+# Compiles source files into a library
+# A library is not executed, instead other executables can link
+# against it to access defined methods and classes.
+# We build a library so that the methods defined can be used by
+# both the unit test and ROS2 node executables.
+add_library(object_detection_lib
+  src/object_detection_core.cpp)
+# Indicate to compiler where to search for header files
+target_include_directories(object_detection_lib
+  PUBLIC include)
+# Add ROS2 dependencies required by package
+ament_target_dependencies(object_detection_lib
+  rclcpp
+)
+
+# Create ROS2 node executable from source files
+add_executable(object_detection_node src/object_detection_node.cpp)
+# Link to the previously built library to access object_detection classes and methods
+target_link_libraries(object_detection_node object_detection_lib)
+
+# Copy executable to installation location
+install(TARGETS
+  object_detection_node
+  DESTINATION lib/${PROJECT_NAME})
+
+# Copy launch and config files to installation location
+install(DIRECTORY
+  config
+  DESTINATION share/${PROJECT_NAME})
+
+
+ament_package()