forked from mdesnoyer/reefbot
-
Notifications
You must be signed in to change notification settings - Fork 1
/
reefbot.launch
executable file
·249 lines (208 loc) · 10.7 KB
/
reefbot.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
<launch>
<param name="image_dir" type="str" value="captured" />
<param name="html_dir" type="str" value="/home/reefbot/src/reefbot/webui" />
<param name="video_stream_topic" type="str" value="video_stream" />
<param name="still_image_topic" type="str" value="still_image" />
<param name="robot_status_topic" type="str" value="robot_status" />
<param name="robot_health_topic" type="str" value="robot_health" />
<param name="camera_ip" type="str" value="192.168.1.13" />
<param name="joystick_topic" type="str" value="universal_joy" />
<param name="camera_health_topic" type="str" value="camera_health" />
<param name="species_id_response_topic" type="str" value="species_id" />
<param name="mysql_host" type="str" value="localhost" />
<param name="mysql_ro_user" type="str" value="reefbot_readonly" />
<param name="mysql_pass" type="str" value="starfish" />
<param name="mysql_db" type="str" value="reefbot_console" />
<param name="video_url" type="str" value="rtsp://192.168.1.13:554/h264.sdp?res=full&x0=0&y0=0&x1=1920&y1=1088&qp=20&doublescan=0&ssn=20" />
<param name="video_bcast_ip" type="str" value="239.255.15.42" />
<param name="video_bcast_port" type="str" value="5004" />
<node name="PS3_Joystick" pkg="joy" type="joy_node" respawn="true">
<param name="dev" type="string" value="/dev/input/ps3_joy"/>
<param name="deadzone" value="0.12"/>
<remap from="joy" to="universal_joy"/>
</node>
<node name="Arcade_Joystick" pkg="joy" type="joy_node" respawn="true">
<param name="dev" type="string" value="/dev/input/arcade_joy"/>
<param name="deadzone" value="0.12"/>
<remap from="joy" to="arcade_joy"/>
</node>
<node name="Arcade2Universal" pkg="joystick_remapper" type="joystick_remapper.py" respawn="true">
<remap from="joy_source" to="arcade_joy" />
<remap from="joy_dest" to="universal_joy" />
<param name="button_mapping" type="str" value="3 0 4 5 1 -1 2 -1 -1 -1 -1 -1" />
<param name="axis_mapping" type="str" value="0 1 -1 -1 -1 -1" />
</node>
<node name="Select_Joystick" pkg="joy" type="joy_node" respawn="true">
<param name="dev" type="string" value="/dev/input/select_joy"/>
<param name="deadzone" value="0.12"/>
<remap from="joy" to="select_joy"/>
</node>
<node name="Select2Universal" pkg="joystick_remapper" type="joystick_remapper.py" respawn="true">
<remap from="joy_source" to="select_joy" />
<remap from="joy_dest" to="universal_joy" />
<param name="button_mapping" type="str" value="0 -1 1 2 -1 -1 -1 -1 -1 -1 -1 -1" />
<param name="axis_mapping" type="str" value="0 1 -1 -1 -1 -1" />
</node>
<node name="UIHandler" pkg="reefbot" type="UIHandler.py" respawn="true" >
<!-- SpeciesSelectionModule -->
<param name="min_species_score" type="double" value="-1" />
<param name="confident_score" type="double" value="1" />
<param name="change_selection_axis" type="int" value="5" />
<param name="select_decrement_button" type="int" value="0" />
<param name="select_increment_button" type="int" value="3" />
<param name="select_species_button" type="int" value="2" />
</node>
<node name="RobotController" pkg="reefbot-controller"
type="ReefbotControl.py" respawn="true">
<param name="serial_host" type="str" value="192.168.1.2" />
<param name="serial_port" type="int" value="100" />
<param name="timeout" type="double" value="1.0" />
<param name="thruster_limit" type="double" value="1.0"/>
<!-- thruster_limit is the portion of full speed. Set to half." -->
<param name="flip_thrusters" type="bool" value="False" />
<param name="max_forward_thrust" type="double" value="0.4"/>
<param name="max_rotation_thrust" type="double" value="0.9"/>
<!-- parameters for depth keeping, should be in metres. -->
<param name="min_depth" type="double" value="1.1"/>
<param name="max_depth" type="double" value="7.2"/>
<param name="spin_limit" type="double" value="960"/>
<param name="max_spin_time" type="double" value="45.0" />
<!-- parameters for the buttons. For each axis, either an axis or
two buttons must be specified. If they are not used, set the value
to -1 -->
<param name="dive_axis" type="int" value="-1"/>
<param name="dive_down_button" type="int" value="6"/>
<param name="dive_up_button" type="int" value="4"/>
<param name="turn_axis" type="int" value="0"/>
<param name="left_turn_button" type="int" value="-1"/>
<param name="right_turn_button" type="int" value="-1"/>
<param name="fwd_back_axis" type="int" value="1"/>
<param name="fwd_button" type="int" value="-1"/>
<param name="back_button" type="int" value="-1"/>
</node>
<node name="CameraCaptureManager" pkg="reefbot"
type="CameraCaptureManager.py" respawn="true">
<param name="button_id" type="int" value="1" />
<param name="res" type="str" value="full" />
<param name="x0" type="int" value="640" />
<param name="x1" type="int" value="1280" />
<param name="y0" type="int" value="352" />
<param name="y1" type="int" value="768" />
<param name="quality" type="int" value="18" />
</node>
<node name="CameraWatchdog" pkg="reefbot" type="CameraWatchdog.py"
respawn="true">
<param name="ping_rate" type="double" value="1.0" />
<param name="ping_timeout" type="double" value="2.0" />
<param name="camera_off_wait" type="double" value="1.0" />
<param name="camera_on_wait" type="double" value="45.0" />
<param name="ping_retries" type="int" value="2" />
</node>
<!-- Experimental nodes for adding multiple species detectors -->
<node name="FrontalFaceDetector" pkg="reefbot"
type="reefbot_cascade_detector">
<param name="detector_filename" type="str"
value="/opt/ros/cturtle/stacks/vision_opencv/opencv2/opencv/share/opencv/haarcascades/haarcascade_upperbody.xml" />
<param name="object_name" type="str" value="face" />
<param name="species_id" type="int" value="47" />
<param name="scale_factor" type="double" value="1.2" />
<param name="min_neighbors" type="int" value="3" />
<param name="flags" type="int" value="5" />
<param name="min_size" type="int" value="10" />
<param name="timeout" type="int" value="500" />
<param name="service_name" type="str" value="detect_faces" />
</node>
<node name="SpeciesFinderManager" pkg="reefbot"
type="SpeciesFinderManager.py">
<param name="still_image_topic" type="str" value="still_image" />
<param name="species_id_response_topic" type="str"
value="species_id" />
<param name="timeout" type="int" value="5" />
<param name="plugin_list" type="str"
value="Service,FrontalFaceDetector;PubSub,random" />
<param name="FrontalFaceDetector/internal_service" type="str"
value="detect_faces" />
<param name="random/request_topic" type="str"
value="random/image" />
<param name="random/response_topic" type="str"
value="random/response" />
</node>
<node name="NOPFishFinder" pkg="reefbot" type="NOPFishFinder.py"
respawn="true">
<param name="species_id_request_topic" type="str"
value="random/request" />
<param name="still_image_topic" type="str" value="random/image" />
</node>
<node name="RandomSpeciesId" pkg="reefbot" type="RandomSpeciesId.py"
respawn="true">
<param name="n_species" type="int" value="39" />
<param name="species_id_request_topic" type="str"
value="random/request" />
<param name="species_id_response_topic" type="str"
value="random/response" />
</node>
<!--
<node name="SpeciesIDNode" pkg="species_id" type="SpeciesIDRosNode">
<param name="index_file" type="str"
value="/home/reefbot/data/species_id/train_sMrBpUqQcx.index" />
<param name="color_dict_filename" type="str"
value="/home/reefbot/data/species_id/hsv.dict" />
<param name="color_converter" type="str"
value="CV_BGR2HSV" />
<param name="color_frac" type="double" value="0.1" />
<param name="shape_dict_filename" type="str"
value="/home/reefbot/data/species_id/osurf.dict" />
<param name="surf_detector" type="bool" value="True" />
<param name="surf_hessian_threshold" type="double" value="400" />
<param name="surf_octaves" type="double" value="3" />
<param name="surf_octave_layers" type="double" value="4" />
<param name="surf_extended" type="bool" value="False" />
<param name="surf_descriptor" type="bool" value="False" />
<param name="sift_descriptor" type="bool" value="False" />
<param name="shape_weight" type="double" value="1.0" />
<param name="min_shape_val" type="double" value="0.01" />
<param name="min_color_val" type="double" value="0.01" />
<param name="min_score" type="double" value="0.01" />
<param name="opponent_color_surf" type="bool" value="True" />
<param name="cinvariant_color_surf" type="bool" value="False" />
</node>
-->
<node name="HudController" pkg="reefbot_hudui" type="HudController.py"
respawn="true">
<param name="max_video_errors" type="int" value="20" />
<param name="x_display" type="str" value=":0.0" />
</node>
<param name="HudUI/x_display" type="str" value=":0.0" />
<param name="HudUI/min_depth" type="double" value="0.0" />
<param name="HudUI/max_depth" type="double" value="9.0" />
<node name="SpeciesInfoUI" pkg="reefbot" type="FirefoxRunner.py">
<param name="x" type="int" value="0" />
<param name="y" type="int" value="0" />
<param name="width" type="int" value="1920" />
<param name="height" type="int" value="1080" />
<param name="url" type="str" value="file:///home/reefbot/src/reefbot/webui/species_info.html" />
<param name="title" type="str" value="Species Info" />
<param name="delay" type="double" value="4.0" />
<param name="xscreen" type="str" value="0.1" />
<param name="profile" type="str" value="screen1" />
</node>
<!-- Dont' forget to replace the double dashes for x11-dispay & rtp-caching
<node name="VideoScreen" pkg="reefbot" type="vlc" respawn="true"
args="-f -x11-display=:0.2 rtp://239.255.15.42:5004 -rtp-caching=800" />
-->
<!-- Commenting out for now because of disk space issues -->
<node name="VideoLogger" pkg="reefbot" type="VideoLogger.py">
<param name="dest_dir" type="str" value="/export/reefbot/video/" />
<param name="max_duration" type="double" value="600" />
</node>
<node name="ros_logger" pkg="rosbag" type="rosbag" respawn="true"
args="record -o /export/reefbot/bags/message_log --split=128 -a -j" />
<!--
<node name="frame_grabber" pkg="frame_grabber" type="frame_grabber">
<param name="snapshot_dir"
value="/home/reefbot/data/frame_grabber/snapshots/" />
<param name="media_path"
value="rtp://239.255.15.42:5004" />
</node>
-->
</launch>