Pull Request #2 - Brian Wang - CS378 (Fall 2014)

bwi_elev_detection/.gitignore

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+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+build/*
+Project
+CMakeFiles/*
+src/CMakeFiles/*
+src/audio_sandbox/CMakeFiles/*
+src/audio_sandbox/Makefile
+**.cmake
+CMakeCache.txt
+Makefile
+src/Makefile
+
+#Audacity files
+audacity/

bwi_elev_detection/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(elevators)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp std_msgs genmsg cv_bridge)
+find_package(OpenCV REQUIRED)
+find_package(message_generation REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+ add_message_files(
+   FILES
+   fft_col.msg
+ )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(
+   DEPENDENCIES
+   std_msgs  # Or other packages containing msgs
+ )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS src
+  LIBRARIES audio_sandbox
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a cpp library
+# add_library(elevators
+#   src/${PROJECT_NAME}/elevators.cpp
+# )
+
+include(src/audio_sandbox/CMakeLists.txt)
+add_subdirectory(src)
+
+
+## Declare a cpp executable
+add_executable(elevator_node ${exec_SRC})
+add_executable(fft_node src/audio_sandbox/src/ROSInterface.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+ add_dependencies(elevator_node elevators_generate_messages_cpp)
+ add_dependencies(fft_node elevators_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+ target_link_libraries(elevator_node
+   ${catkin_LIBRARIES}
+   ${OpenCV_LIBS}
+ )
+
+ target_link_libraries(fft_node
+   ${catkin_LIBRARIES}
+   ${ALSA_LIBRARY} 
+   ${FFTW_LIBRARIES}  
+   ${OpenCV_LIBS}
+ )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS elevators elevators_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_elevators.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

bwi_elev_detection/data/config/demo.cfg

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+image_topic=camera/image_raw
+ideal=8 175 175
+range=10 75 85
+convert_hsv=false
+area_threshold=50 200
+strictness=10
+flip_dir=true

bwi_elev_detection/data/config/elevator_settings.cfg

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+image_topic=usb_cam/image_raw
+range=100 100 100
+ideal=255 255 255

bwi_elev_detection/data/config/paper_settings.cfg

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+image_topic=usb_cam/image_raw
+ideal=133 48 189
+range=100 100 100
+convert_hsv=false

bwi_elev_detection/data/config/paper_settings_cam.cfg

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+image_topic=camera/image_raw
+ideal=8 175 175
+range=10 75 85
+convert_hsv=false
+area_threshold=50 200
+strictness=10
+flip_dir=true

bwi_elev_detection/launch/camera.launch

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+<launch>
+	<include file="$(find elevators)/launch/fft_launch.launch"/>
+	<include file="$(find segbot_sensors)/launch/ptgrey/usbcam.launch"/>
+</launch>

bwi_elev_detection/launch/fft_launch.launch

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+<launch>
+	<include file="$(find audio_capture)/launch/capture.launch"/>
+	<node 
+		name="fft_publisher"
+		pkg="elevators"
+		type="fft_node"
+		args="false"
+		/>
+</launch>

bwi_elev_detection/launch/sensors.launch

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+<launch>
+	<include file="$(find elevators)/launch/fft_launch.launch"/>
+	<include file="$(find segbot_sensors)/launch/ptgrey/usbcam.launch"/>
+	<node 
+		name="elevator_sensors"
+		pkg="elevators"
+		type="elevator_node"
+    args="/home/fri/brian_ws/src/elevators/data/config/paper_settings.cfg"
+		/>
+</launch>

bwi_elev_detection/launch/usb_cam/.rosinstall

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+# IT IS UNLIKELY YOU WANT TO EDIT THIS FILE BY HAND,
+# UNLESS FOR REMOVING ENTRIES.
+# IF YOU WANT TO CHANGE THE ROS ENVIRONMENT VARIABLES
+# USE THE rosinstall TOOL INSTEAD.
+# IF YOU CHANGE IT, USE rosinstall FOR THE CHANGES TO TAKE EFFECT

bwi_elev_detection/launch/webcam.launch

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+<launch>
+  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" >
+    <param name="video_device" value="/dev/video0" />
+    <param name="image_width" value="640" />
+    <param name="image_height" value="480" />
+    <param name="pixel_format" value="mjpeg" />
+    <param name="camera_frame_id" value="usb_cam" />
+    <param name="io_method" value="mmap"/>
+  </node>
+  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
+    <remap from="image" to="/usb_cam/image_raw"/>
+    <param name="autosize" value="true" />
+  </node>
+</launch>

bwi_elev_detection/msg/fft_col.msg

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+float64[] data

bwi_elev_detection/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>elevators</name>
+  <version>0.0.0</version>
+  <description>The elevators package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Brian Wang</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/elevators</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>cv_bridge</build_depend>
+
+  <run_depend>cv_bridge</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

bwi_elev_detection/src/CMakeLists.txt

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+SET( exec_SRC ${exec_SRC}
+	${CMAKE_CURRENT_SOURCE_DIR}/main.cpp
+	${CMAKE_CURRENT_SOURCE_DIR}/SoundInterface.cpp
+	${CMAKE_CURRENT_SOURCE_DIR}/CameraInterface.cpp
+	${CMAKE_CURRENT_SOURCE_DIR}/CameraController.cpp
+PARENT_SCOPE)

bwi_elev_detection/src/CameraController.cpp

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+#include "lib/CameraController.h"
+
+void CameraController::moveTo(float f) {
+    std_msgs::Float32 msg;
+    msg.data = f;
+
+    publisher->publish(msg);
+}
+
+void CameraController::wait(int ms) {
+    usleep(1000 * ms);
+}
+
+void CameraController::alternate() {
+    if (currentPosition >= 0)
+        moveTo(range[0]);
+    else
+        moveTo(range[1]);
+}
+
+void CameraController::status_callback(const std_msgs::Float32::ConstPtr &msg) {
+    currentPosition = msg->data;
+    if (currentPosition <= range[0] + 0.05 || currentPosition >= range[1] - 0.05)
+        counter++;
+    if (counter >= 60) {
+        counter = 0;
+        alternate();
+    }
+}