initial commit

.gitignore

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+# Vim stuff
+.*.sw*

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(teleoperation)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+add_definitions(-std=c++11)
+# set(aruco_LIB /usr/local/lib/libaruco.so)
+
+## 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
+  cv_bridge
+  image_transport
+  roscpp
+  sensor_msgs
+  std_msgs
+  tf
+  aruco
+)
+
+## 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 tag for "message_generation"
+##   * 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 dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * 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
+#   Message1.msg
+#   Message2.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
+#   sensor_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## 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 include
+#  LIBRARIES project_aruco
+#  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/project_aruco.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/project_aruco_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+add_executable(aruco_detector src/aruco_detector.cpp)
+add_executable(aruco_effector src/aruco_effector.cpp)
+target_link_libraries(aruco_detector ${catkin_LIBRARIES} ${aruco_LIB})
+target_link_libraries(aruco_effector ${catkin_LIBRARIES} ${aruco_LIB})
+# add_dependencies(aruco tutorial_4_generate_messages_cpp)
+
+#############
+## 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 ${PROJECT_NAME} ${PROJECT_NAME}_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_project_aruco.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)

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>teleoperation</name>
+  <version>0.0.0</version>
+  <description>The semester project package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="hrs_e@todo.todo">hrs_e</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 multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/project_aruco</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">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>
+  <build_depend>image_transport</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>aruco</build_depend>
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>aruco</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/aruco_detector.cpp

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+#include <ros/ros.h>
+#include <vector>
+#include <iostream>
+#include <tf/transform_broadcaster.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/video/tracking.hpp>
+#include <aruco/aruco.h>
+
+static const std::string OPENCV_WINDOW = "Original image";
+static const std::string ARUCO_WINDOW = "Aruco window";
+
+class ImageConverter {
+
+    ros::NodeHandle nh_;
+    tf::TransformBroadcaster aruco_pub;
+    image_transport::ImageTransport it_;
+    image_transport::Subscriber image_sub_;
+
+    public:
+
+    ImageConverter() :
+        it_(nh_)
+    {
+        // Subscrive to input video feed
+        image_sub_ = it_.subscribe("/nao_robot/camera/front/image_raw", 1,
+                &ImageConverter::imageCb, this);
+
+        // Create output windows
+        cv::namedWindow(OPENCV_WINDOW);
+        cv::namedWindow(ARUCO_WINDOW);
+    }
+
+    ~ImageConverter() {
+        // Clean Up
+        cv::destroyWindow(OPENCV_WINDOW);
+        cv::destroyWindow(ARUCO_WINDOW);
+    }
+
+    void imageCb(const sensor_msgs::ImageConstPtr& msg) {
+        cv_bridge::CvImageConstPtr cv_ptr;
+        ROS_INFO("IN IMAGE CB");
+        try
+        {
+            // Create OpenCV, share memory with original message
+            cv_ptr = cv_bridge::toCvShare(msg,
+                    sensor_msgs::image_encodings::BGR8);
+        }
+        catch (cv_bridge::Exception& e)
+        {
+            ROS_ERROR("cv_bridge exception: %s", e.what());
+            return;
+        }
+
+        // Output Original Image (bcs y not)
+        cv::imshow(OPENCV_WINDOW, cv_ptr->image);
+        ROS_INFO("OUTPUT STUFF");
+
+        // Do Aruco
+        cv::Mat cam_mat = (cv::Mat_<double>(3, 3) <<
+                274.139508945831, 0.0, 141.184472810944,
+                0.0, 275.741846757374, 106.693773654172,
+                0.0, 0.0, 1.0);
+        cv::Mat distortion = (cv::Mat_<double>(4, 1) <<
+                -0.0870160932911717,
+                0.128210165050533,
+                0.003379500659424,
+                -0.00106205540818586);
+        aruco::CameraParameters cam(cam_mat, distortion, cv_ptr->image.size());
+        aruco::MarkerDetector detector;
+        std::vector<aruco::Marker> markers;
+        float m_size = 0.15;
+        detector.detect(cv_ptr->image, markers, cam, m_size);
+
+        // Draw and print aruco
+        cv::Mat aruco_demo = cv_ptr->image.clone();
+        for (int i = 0; i < markers.size(); i++) {
+            markers[i].draw(aruco_demo, cv::Scalar(0, 0, 255), 2);
+            float x = markers[i].Tvec.at<float>(0);
+            float y = markers[i].Tvec.at<float>(1);
+            float z = markers[i].Tvec.at<float>(2);
+            std::string id = "Aruco_";
+            id += std::to_string(markers[i].id);
+            id += "_frame";
+            tf::Transform aruco_tf;
+            aruco_tf.setIdentity();
+            aruco_tf.setOrigin(tf::Vector3(x, y, z));
+            this->aruco_pub.sendTransform(tf::StampedTransform(
+                        aruco_tf, ros::Time::now(), "CameraTop_optical_frame",
+                        id.c_str()));
+        }
+        cv::imshow(ARUCO_WINDOW, aruco_demo);
+
+
+        cv::waitKey(2);
+    }
+};
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "aruco_detector");
+    ImageConverter ic;
+    ros::spin();
+    return 0;
+}

src/aruco_effector.cpp

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+#include <ros/ros.h>
+#include <vector>
+#include <iostream>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/video/tracking.hpp>
+#include <aruco/aruco.h>
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv, "aruco_effector");
+    ros::NodeHandle node;
+
+    tf::TransformListener tflisten;
+    ros::Rate rate(1.0);
+    while (node.ok()) {
+        tf::StampedTransform l_transform, r_transform;
+        try {
+            tflisten.lookupTransform("Aruco_1_frame", "Aruco_0_frame",
+                    ros::Time(0), l_transform);
+            ROS_INFO("LEFT FRAME");
+            std::cout << l_transform.getOrigin().x() << std::endl;
+            std::cout << l_transform.getOrigin().y() << std::endl;
+            std::cout << l_transform.getOrigin().z() << std::endl;
+        }
+        catch (tf::TransformException &ex) {
+            // ROS_ERROR("%s", ex.what());
+        }
+        try {
+            tflisten.lookupTransform("Aruco_2_frame", "Aruco_0_frame",
+                    ros::Time(0), r_transform);
+            ROS_INFO("RIGHT FRAME");
+            std::cout << r_transform.getOrigin().x() << std::endl;
+            std::cout << r_transform.getOrigin().y() << std::endl;
+            std::cout << r_transform.getOrigin().z() << std::endl;
+        }
+        catch (tf::TransformException &ex) {
+            // ROS_ERROR("%s", ex.what());
+        }
+        rate.sleep();
+    }
+    return 0;
+}