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Port to ROS2 foxy #248

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agutenkunst
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@agutenkunst agutenkunst commented Apr 8, 2021 •
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I started porting this a while ago. Builds and runs with foxy.

Remarks for supporters:

Here are some remarks to get starting supporting this port

Create markers

Still a bit fuzzy with the correct deps

ros2 run aruco_detect create_markers.py 101 102 fiducials.pdf

Or use fiducials.pdf

Perform fiducial detection using USB camera

I am using a fork from https://github.com/klintan/ros2_usb_camera with this patch to deal with ros-perception/image_common#156

With git clone -b bad_patch_do_not_merge [email protected]:agutenkunst/ros2_usb_camera.git

(check that corrected calibration file is attached)

ros2 launch usb_camera_driver usb_camera_node.launch.py

Note: Just using some "valid" calibration data should be fine.

Probably https://github.com/ros-drivers/usb_cam/tree/ros2 works as well.

Start detection with

ros2 launch aruco_detect aruco_detect.launch.py

Check images in rviz with

ros2 run rviz2 rviz2 -d src/fiducials/aruco_detect/cfg/fiducials.rviz2.rviz

Should look like:
image

Perform Fiducials SLAM

  • Start detection like above

  • In addition:

Publish static transforms

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link camera

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link

ros2 launch fiducial_slam fiducial_slam.launch.py

DONE

  • Rebase/Reintegrate everything from 1afc4b9 and later
  • Port tests
    • aruco_detect_images test (see a5b3c59)
    • fiducial_slam test
  • Implement the handling of parameter updates
    • Port ROS1 FiducialsNode::configCallback functionality into FiducialsNode::param_change_callback (more info)[http://design.ros2.org/articles/ros_parameters.html]

IN PROGRESS

TODOs

  • Port aruco_gazebo(?)
  • Check that fiducial_slam is working as expected (help wanted)
  • Check that aruco_gazebo is working
  • Add CI

NOT TODO

  • Fix formatting
    • To keep the diff somehow readable I suggest postponing a (really needed) fix of the formating with clang-format
  • Increase testablility
    • Would be really helpful and maybe the first thing to start once this is upstream. Especially some unittests for the detection shouldn't hurt.

I hope this is a helpful starting point and I will try to get to the first three points in the next two weeks.

Anyone interested in supporting is welcome!

@agutenkunst agutenkunst changed the title Port to ROS2 foxy (draft) Port to ROS2 foxy Apr 8, 2021
@agutenkunst
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This closes #247

@MoffKalast
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MoffKalast commented Apr 9, 2021 •
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Nice work, we definitely wouldn't merge this into kinetic-devel though as that would break ROS 1, there'd have to be a separate foxy branch. I can make one if you want to fork from it for ease of merging later on. Edit: Moved to foxy-devel.

Right now though I think just about nobody on the dev team actually uses ROS 2 yet, nor can our robot run it because it's a 32 bit system, so we have no practical way of testing the whole thing.

@MoffKalast MoffKalast changed the base branch from kinetic-devel to foxy-devel April 9, 2021 14:58
@agutenkunst
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Actually that was meant to target this branch. Force of habit. Thanks for fixing.

I can try to provide some demo videos of the current state for you to decide on the readiness.

@einstine909
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I am interested in helping port this to Foxy. I have it compiled, but not successfully detecting any markers. Please advise on how I can best assist.

@agutenkunst
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Update

  • Added "Remarks for supporters" to the description to help others contribute
  • Fixed an issue of aruco_detect crashing on first detection

@agutenkunst
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@einstine909 Help of any kind is welcome!

First of try I would recoomend to get the basic detection running and move on the fiducial_slam after this.

To gain confidence in the porting I consider the tests the be of high piority. Yet I also have no experience in ROS2 testing and especially ROS2/rclcpp/launch testing seems to be a bit more challenging than launch-testing in ROS1.

Depending on your experience you could see if the first TODO "Implement the handling of parameter updates" is suitable for you?

Otherwise just pointing out stuff I missed etc and testing the ported functionality also really helps!

I suggest opening a PR to https://github.com/agutenkunst/fiducials/tree/ros2 if you have changes contributing to this PR

@agutenkunst
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agutenkunst commented Jul 2, 2021 •
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@rohbotics @MoffKalast @JanezCim

I still will have play around with this.
Also I am not sure about aruco_gazebo but I will try to have a look at it.

What do you think how we should preceed? Is there more information / demos you need?

@agutenkunst agutenkunst mentioned this pull request Jul 3, 2021
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@jdekarske
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Thanks for porting this! My build fails unfortunately:

--- stderr: fiducial_slam                           
CMake Error at CMakeLists.txt:91 (find_package):
  By not providing "Findament_cmake_nose.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "ament_cmake_nose", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake_nose"
  with any of the following names:

    ament_cmake_noseConfig.cmake
    ament_cmake_nose-config.cmake

  Add the installation prefix of "ament_cmake_nose" to CMAKE_PREFIX_PATH or
  set "ament_cmake_nose_DIR" to a directory containing one of the above
  files.  If "ament_cmake_nose" provides a separate development package or
  SDK, be sure it has been installed.


---
Failed   <<< fiducial_slam [1.16s, exited with code 1]

Summary: 12 packages finished [2.27s]
  1 package failed: fiducial_slam
  1 package had stderr output: fiducial_slam

I sidestepped, assuming this is just used for testing.

@jdekarske
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jdekarske commented Aug 16, 2021 •
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Related, I think this is a typo (rosdep fails)

https://github.com/agutenkunst/fiducials/blob/88198605b53f5d21f43ae1f6c5c47a24074fffbb/fiducial_slam/package.xml#L33

and should be rclcpp for ROS2

https://github.com/agutenkunst/fiducials/blob/88198605b53f5d21f43ae1f6c5c47a24074fffbb/fiducial_slam/package.xml#L17

@jdekarske jdekarske mentioned this pull request Aug 30, 2021
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@enunezs
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enunezs commented Aug 15, 2022

Hello!

It might have been some time since this was last active, but I am also interested in using, porting the fiducial system to ROS 2.

I'm an newbie on Github contributions/open source work, but have some experience in ROS2. Is the work still being carried on this repo or on the fork?

@anfederman
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anfederman commented Aug 15, 2022 via email

@enunezs
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enunezs commented Aug 15, 2022

Thanks for the quick reply!

I have previously used Ros2bridge to connect a webcam to detect fiducials, but the bridge compilation times made it unfeasible on my system. I ended making a basic python wrapper of the cv2 library for the detection functionality, which ended working quite alright.

Were the previous porting attempts based on this guide? ROS1-to-ROS2-porting

Im currently working in Foxy. Are the differences between versions too great?

@agutenkunst
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Due to a change in field I won't be able to continue that and it probably is hugely outdated. Feel free to take whatever is still useful and open own PR.

@davecrawley
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davecrawley commented Aug 15, 2022 via email

@enunezs
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enunezs commented Aug 23, 2022

Thanks David, very appreciated

@anfederman
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anfederman commented Aug 23, 2022 via email

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7 participants
@agutenkunst @MoffKalast @einstine909 @jdekarske @enunezs @anfederman @davecrawley