Confirm aruco visualizer node tracks marker on robot as it moves

Author: TheNoobInventor

lidarbot_aruco/README.md

@@ -63,6 +63,11 @@ ros2 run usb_cam usb_cam_node_exe --ros-args --params-file ~/dev_ws/src/lidarbot
 ros2 run lidarbot_aruco aruco_trajectory_visualizer_node
 ```
 
+Launch file
+```bash
+ros2 launch lidarbot_aruco trajectory_visualizer_launch.py
+```
+
 TODO: add gif showing node in action
 
 Move this to main README

lidarbot_aruco/launch/trajectory_visualizer_launch.py

@@ -0,0 +1,34 @@
+# Launch file to start the webcam usb driver and aruco trajectory visualizer node
+# to track the robot as it moves
+
+import os
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    usb_cam_params = os.path.join(
+        get_package_share_directory("lidarbot_aruco"), "config", "params_1.yaml"
+    )
+
+    usb_cam_node = Node(
+        package="usb_cam",
+        executable="usb_cam_node_exe",
+        parameters=[usb_cam_params],
+    )
+
+    aruco_visualizer_node = Node(
+        package="lidarbot_aruco",
+        executable="aruco_trajectory_visualizer_node",
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            usb_cam_node,
+            aruco_visualizer_node,
+        ]
+    )

lidarbot_aruco/lidarbot_aruco/aruco_trajectory_visualizer.py

@@ -8,7 +8,6 @@
 # Import Python libraries
 import cv2
 import numpy as np
-import argparse
 
 # Import ROS2 libraries
 import rclpy
@@ -17,14 +16,6 @@
 from cv_bridge import CvBridge  # Package to convert between ROS and OpenCV Images
 from sensor_msgs.msg import Image  # Image is the message type
 
-# Construct argument parser and parse the arguments
-ap = argparse.ArgumentParser()
-ap.add_argument(
-    "-t", "--type", type=str, default="DICT_4X4_50", help="type of ArUco tag to detect"
-)
-
-args = vars(ap.parse_args())
-
 # The different ArUco dictionaries built into the OpenCV library
 ARUCO_DICT = {
     "DICT_4X4_50": cv2.aruco.DICT_4X4_50,
@@ -49,7 +40,7 @@
 
 class ArucoNode(Node):
     def __init__(self):
-        super().__init__("aruco_node")
+        super().__init__("aruco_visualizer_node")
 
         # Declare parameters
         self.declare_parameter("aruco_dictionary_name", "DICT_4X4_50")
@@ -83,7 +74,9 @@ def __init__(self):
         # Check that we have a valid ArUco marker
         if ARUCO_DICT.get(aruco_dictionary_name, None) is None:
             self.get_logger().info(
-                "[INFO] ArUCo tag of '{}' is not supported".format(args["type"])
+                "[INFO] ArUCo tag of '{}' is not supported".format(
+                    aruco_dictionary_name
+                )
             )
 
         # Load the camera parameters from the saved file
@@ -98,7 +91,9 @@ def __init__(self):
         self.get_logger().info(
             "[INFO] detecting '{}' markers...".format(aruco_dictionary_name)
         )
-        self.arucoDict = cv2.aruco.getPredefinedDictionary(ARUCO_DICT[args["type"]])
+        self.arucoDict = cv2.aruco.getPredefinedDictionary(
+            ARUCO_DICT[aruco_dictionary_name]
+        )
         self.arucoParams = cv2.aruco.DetectorParameters()
 
         # Create the subscriber. This subscriber will receive an Image
@@ -184,15 +179,15 @@ def main(args=None):
     rclpy.init(args=args)
 
     # Create the node
-    aruco_node = ArucoNode()
+    aruco_visualizer_node = ArucoNode()
 
     # Spin the node so the callback function is called
-    rclpy.spin(aruco_node)
+    rclpy.spin(aruco_visualizer_node)
 
     # Destroy the node explicitly
     # (optional - otherwise it will be done automatically
     # when the garbage collector destroys the node object)
-    aruco_node.destroy_node()
+    aruco_visualizer_node.destroy_node()
 
     # Shutdown the ROS client library for Python
     rclpy.shutdown()

lidarbot_aruco/setup.py

@@ -11,6 +11,10 @@
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
+        (
+            os.path.join("share", package_name, "launch"),
+            glob(os.path.join("launch", "*launch.[pxy][yma]*")),
+        ),
         (
             os.path.join("share", package_name, "config"),
             glob(os.path.join("config", "*yaml")),

lidarbot_navigation/scripts/trajectory_visualizer.py

@@ -3,6 +3,8 @@
 # Node to visualize the robot trajectory in Rviz.
 # Adapted from https://github.com/RBinsonB/trajectory_visualization
 
+# WIP
+
 import rclpy
 from rclpy.node import Node
 
@@ -22,7 +24,6 @@ def __init__(self, name):
         self.max_poses_param = self.declare_parameter("max_poses", 1000).value
         self.threshold_param = self.declare_parameter("threshold", 0.001).value
         self.frame_id_param = self.declare_parameter("frame_id", "map").value
-        # self.frame_id_param = self.declare_parameter("frame_id", "odom").value
 
         self.trajectory_path_msg = Path()
         self.previous_pose_position = Point()
@@ -34,6 +35,8 @@ def __init__(self, name):
         self.odom_sub = self.create_subscription(
             Path,
             "/transformed_global_plan",
+            # Odometry,
+            # /odometry/filtered,
             self.odom_callback,
             10,
         )
@@ -43,7 +46,7 @@ def odom_callback(self, odom_msg):
 
         # Process message position and add it to path
         # self.publish_trajectory_path(odom_msg.pose.pose.position)
-        self.publish_trajectory_path(odom_msg.pose.position)
+        self.publish_trajectory_path(odom_msg.poses[0].pose.position)
 
     # Add pose and publish trajectory path message
     def publish_trajectory_path(self, position):
@@ -55,21 +58,12 @@ def publish_trajectory_path(self, position):
 
             # Add current pose to path
             self.trajectory_path_msg.header.stamp = self.get_clock().now().to_msg()
-            # self.trajectory_path_msg.header.stamp.sec = (
-            #     self.get_clock().now().to_msg().sec()
-            # )
-            #
-            # self.trajectory_path_msg.header.stamp.nanosec = (
-            #     self.get_clock().now().to_msg().nanosec()
-            # )
-
             self.trajectory_path_msg.header.frame_id = self.frame_id_param
             pose_stamped_msg = PoseStamped()
             pose_stamped_msg.header.stamp = self.get_clock().now().to_msg()
             pose_stamped_msg.pose.position.x = position.x
             pose_stamped_msg.pose.position.y = position.y
-            pose_stamped_msg.pose.orientation.z = position.orientation.z
-            pose_stamped_msg.pose.orientation.w = position.orientation.w
+            pose_stamped_msg.pose.orientation.w = 1.0
 
             # If max number of poses in path has not been reach, just add pose to message
             if len(self.trajectory_path_msg.poses) < self.max_poses_param: