Merge pull request #55 from rt-net/master

2.2.0リリースのためにmasterの変更差分をhumble-develブランチへマージ
rt-net · Mar 6, 2024 · 20a17fb · 20a17fb
2 parents acee967 + bdef32b
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,19 @@
 Changelog for package raspimouse_ros2_examples
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.2.0 (2024-03-05)
+------------------
+* READMEにSLAM&Navigationパッケージの案内を追加 (`#53 <https://github.com/rt-net/raspimouse_ros2_examples/issues/53>`_)
+* Camera_FollowerクラスをCameraFollowerに変更 (`#52 <https://github.com/rt-net/raspimouse_ros2_examples/issues/52>`_)
+* Update camera line follower: Set motor power with switch input. Add area_threthold param. (`#51 <https://github.com/rt-net/raspimouse_ros2_examples/issues/51>`_)
+* Add velocity parameters for camera_line_follower (`#50 <https://github.com/rt-net/raspimouse_ros2_examples/issues/50>`_)
+* カメラライントレースを修正 (`#49 <https://github.com/rt-net/raspimouse_ros2_examples/issues/49>`_)
+* Change threthold of line detection
+* Add usb_cam dependency (`#48 <https://github.com/rt-net/raspimouse_ros2_examples/issues/48>`_)
+* RGBカメラによるライントレースの実装 (`#47 <https://github.com/rt-net/raspimouse_ros2_examples/issues/47>`_)
+* リリースのためにCHANGELOG.rstとpackage.xmlを更新 (`#45 <https://github.com/rt-net/raspimouse_ros2_examples/issues/45>`_)
+* Contributors: Shota Aoki, ShotaAk, YusukeKato
+
 2.1.0 (2023-11-07)
 ------------------
 * READMEにGazeboでも実行できることを追記 (`#44 <https://github.com/rt-net/raspimouse_ros2_examples/issues/44>`_)

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -51,6 +51,23 @@ ament_target_dependencies(object_tracking_component
   cv_bridge)
 rclcpp_components_register_nodes(object_tracking_component "object_tracking::Tracker")
 
+add_library(camera_line_follower_component SHARED
+  src/camera_line_follower_component.cpp)
+target_compile_definitions(camera_line_follower_component
+  PRIVATE "RASPIMOUSE_ROS2_EXAMPLES_BUILDING_DLL")
+ament_target_dependencies(camera_line_follower_component
+  rclcpp
+  rclcpp_components
+  rclcpp_lifecycle
+  std_msgs
+  std_srvs
+  sensor_msgs
+  geometry_msgs
+  OpenCV
+  cv_bridge
+  raspimouse_msgs)
+rclcpp_components_register_nodes(camera_line_follower_component "camera_line_follower::CameraFollower")
+
 add_library(line_follower_component SHARED
   src/line_follower_component.cpp)
 target_compile_definitions(line_follower_component
@@ -112,6 +129,7 @@ ament_export_dependencies(OpenCV)
 ament_export_include_directories(include)
 ament_export_libraries(
   object_tracking_component
+  camera_line_follower_component
   line_follower_component
   direction_controller_component)
 
@@ -122,6 +140,7 @@ install(
 
 install(TARGETS
   object_tracking_component
+  camera_line_follower_component
   line_follower_component
   direction_controller_component
   EXPORT export_${PROJECT_NAME}

diff --git a/README.en.md b/README.en.md
@@ -61,6 +61,7 @@ This repository is licensed under the Apache 2.0, see [LICENSE](./LICENSE) for d
 - [joystick_control](#joystick_control)
 - [object_tracking](#object_tracking)
 - [line_follower](#line_follower)
+- [camera_line_follower](#camera_line_follower)
 - [SLAM](#slam)
 - [direction_controller](#direction_controller)
 
@@ -162,7 +163,7 @@ $ ros2 launch raspimouse_ros2_examples object_tracking.launch.py video_device:=/
 
 This sample publishes two topics: `camera/color/image_raw` for the camera image and `result_image` for the object detection image.
 These images can be viewed with [RViz](https://index.ros.org/r/rviz/)
-or [rqt_image_view](https://index.ros.org/doc/ros2/Tutorials/RQt-Overview-Usage/).
+or [rqt_image_view](https://index.ros.org/p/rqt_image_view/).
 
 **Viewing an image may cause the node to behave unstable and not publish cmd_vel or image topics.**
 
@@ -247,87 +248,81 @@ void Follower::publish_cmdvel_for_line_following(void)
 
 [back to example list](#how-to-use-examples)
 
---- 
+---
 
-### SLAM
+### camera_line_follower
 
-<img src=https://rt-net.github.io/images/raspberry-pi-mouse/slam_toolbox_ros2.png width=500 />
+<img src=https://rt-net.github.io/images/raspberry-pi-mouse/mouse_camera_line_trace_2.png width=500 />
 
-This is an example to use LiDAR and [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox) for SLAM (Simultaneous Localization And Mapping).
+This is an example for line following by RGB camera.
 
 #### Requirements 
 
-- LiDAR
-  <!-- - [URG-04LX-UG01](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1348_1296&products_id=2816&language=en)
-  - [RPLIDAR A1](https://www.slamtec.com/en/Lidar/A1) -->
-  - [LDS-01](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1348_5&products_id=3676&language=en)
-- [LiDAR Mount](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1299_1395&products_id=3867&language=en)
-- Joystick Controller (Optional)
-  
+- Web camera
+  - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
+- Camera mount
+  - [Raspberry Pi Mouse Option kit No.4 \[Webcam mount\]](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1299_1395&products_id=3584&language=en)
+
 #### Installation
 
-Install a LiDAR to the Raspberry Pi Mouse.
+Install a camera mount and a web camera to Raspberry Pi Mouse, then connect the camera to the Raspberry Pi．
 
-<!-- - URG-04LX-UG01
-  - <img src="https://github.com/rt-net/raspimouse_ros_examples/blob/images/mouse_with_urg.JPG" width=500 />
-- RPLIDAR A1
-  - <img src="https://github.com/rt-net/raspimouse_ros_examples/blob/images/mouse_with_rplidar.png" width=500 /> -->
-- LDS-01
-  - <img src=https://rt-net.github.io/images/raspberry-pi-mouse/mouse_with_lds01.JPG width=500 />
-  
 #### How to use
 
-Launch nodes on Raspberry Pi Mouse with the following command:
+Then, launch nodes with the following command:
 
 ```sh
-# LDS
-$ ros2 launch raspimouse_ros2_examples mouse_with_lidar.launch.py lidar:=lds
+$ ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py video_device:=/dev/video0
 ```
 
-Next, launch `teleop_joy.launch.py` to control Raspberry Pi Mouse with the following command:
-
-```sh
-# Use DUALSHOCK 3
-$ ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=dualshock3 mouse:=false
-```
+Place Raspberry Pi Mouse on the line and press SW2 to start line following.
 
-Then, launch the slam_toolbox package (on a remote computer recommend) with the following command:
+Press SW0 to stop the following.
 
-```sh
-$ ros2 launch raspimouse_ros2_examples slam.launch.py
-```
-
-After moving Raspberry Pi Mouse and making a map, run a node to save the map with the following command:
+This sample publishes two topics: `camera/color/image_raw` for the camera image and `result_image` for the object detection image.
+These images can be viewed with [RViz](https://index.ros.org/r/rviz/)
+or [rqt_image_view](https://index.ros.org/p/rqt_image_view/).
 
-```sh
-$ mkdir ~/maps
-$ ros2 run nav2_map_server map_saver_cli -f ~/maps/mymap --ros-args -p save_map_timeout:=10000.0
-```
+**Viewing an image may cause the node to behave unstable and not publish cmd_vel or image topics.**
 
-#### Configure SLAM parameters
+<img src=https://rt-net.github.io/images/raspberry-pi-mouse/camera_line_trace.png width=500 />
 
-Edit [./config/mapper_params_offline.yaml](./config/mapper_params_offline.yaml) to configure parameters of [slam_toolbox](https://github.com/SteveMacenski/slam_toolbox) package.
+#### Parameters
 
-#### Configure Odometry calculation
+- `max_brightness`
+  - Type: `int`
+  - Default: 90
+  - Maximum threshold value for image binarisation.
+- `min_brightness`
+  - Type: `int`
+  - Default: 0
+  - Minimum threshold value for image binarisation.
+- `max_linear_vel`
+  - Type: `double`
+  - Default: 0.05
+  - Maximum linear velocity.
+- `max_angular_vel`
+  - Type: `double`
+  - Default: 0.8
+  - Maximum angular velocity.
+- `area_threthold`
+  - Type: `double`
+  - Default: 0.20
+  - Threshold value of the area of the line to start following.
 
-Edit  [mouse.yml](./config/mouse.yml) to set `use_pulse_counters` to `true` (default: `false`) then the `raspimouse` node calculate the odometry (`/odom`) from motor control pulse counts.
+```sh
+ros2 param set /camera_follower max_brightness 80
+```
 
-This improves the accuracy of self-localization.
+[back to example list](#how-to-use-examples)
 
-```yaml
-raspimouse:
-  ros__parameters:
-    odometry_scale_left_wheel : 1.0
-    odometry_scale_right_wheel: 1.0
-    use_light_sensors         : true
-    use_pulse_counters        : true
-```
+--- 
 
-<!-- #### Videos
+### SLAM
 
-[![slam_urg](http://img.youtube.com/vi/gWozU47UqVE/sddefault.jpg)](https://youtu.be/gWozU47UqVE)
+<img src=https://rt-net.github.io/images/raspberry-pi-mouse/slam_toolbox_ros2.png width=500 />
 
-[![slam_urg](http://img.youtube.com/vi/hV68UqAntfo/sddefault.jpg)](https://youtu.be/hV68UqAntfo) -->
+SLAM and Navigation examples for Raspberry Pi Mouse is [here](https://github.com/rt-net/raspimouse_slam_navigation_ros2).
 
 [back to example list](#how-to-use-examples)
 

diff --git a/README.md b/README.md
@@ -62,6 +62,7 @@ $ source ~/ros2_ws/install/setup.bash
 - [joystick_control](#joystick_control)
 - [object_tracking](#object_tracking)
 - [line_follower](#line_follower)
+- [camera_line_follower](#camera_line_follower)
 - [SLAM](#slam)
 - [direction_controller](#direction_controller)
 
@@ -164,7 +165,7 @@ $ ros2 launch raspimouse_ros2_examples object_tracking.launch.py video_device:=/
 
 カメラ画像は`camera/color/image_raw`、物体検出画像は`result_image`というトピックとして発行されます。
 これらの画像は[RViz](https://index.ros.org/r/rviz/)
-や[rqt_image_view](https://index.ros.org/doc/ros2/Tutorials/RQt-Overview-Usage/)
+や[rqt_image_view](https://index.ros.org/p/rqt_image_view/)
 で表示できます。
 
 **画像を表示するとノードの動作が不安定になり、cmd_velや画像トピックが発行されないことがあります。**
@@ -253,89 +254,79 @@ void Follower::publish_cmdvel_for_line_following(void)
 
 --- 
 
-### SLAM
+### camera_line_follower
 
-<img src=https://rt-net.github.io/images/raspberry-pi-mouse/slam_toolbox_ros2.png width=500 />
+<img src=https://rt-net.github.io/images/raspberry-pi-mouse/mouse_camera_line_trace_2.png width=500 />
 
-LiDARと[slam_toolbox](https://github.com/SteveMacenski/slam_toolbox)
-を使ってSLAM（自己位置推定と地図作成）を行うサンプルです。
+RGBカメラによるライントレースのコード例です。
 
 #### Requirements 
 
-- LiDAR
-  <!-- - [~URG-04LX-UG01~](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1348_1296&products_id=2816)
-  - [RPLIDAR A1](https://www.slamtec.com/en/Lidar/A1) -->
-  - [LDS-01](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1348_5&products_id=3676)
-- [LiDAR Mount](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1299_1395&products_id=3867)
-- Joystick Controller (Optional)
-  
+- Webカメラ
+  - [Logicool HD WEBCAM C310N](https://www.logicool.co.jp/ja-jp/product/hd-webcam-c310n)
+- カメラマウント
+  - [Raspberry Pi Mouse オプションキット No.4 \[Webカメラマウント\]](https://www.rt-shop.jp/index.php?main_page=product_info&cPath=1299_1395&products_id=3584)
+
 #### Installation
 
-Raspberry Pi MouseにLiDARを取り付けます。
+Raspberry Pi Mouseにカメラマウントを取り付け、WebカメラをRaspberry Piに接続します。
 
-<!-- - URG-04LX-UG01
-  - <img src="https://github.com/rt-net/raspimouse_ros_examples/blob/images/mouse_with_urg.JPG" width=500 />
-- RPLIDAR A1
-  - <img src="https://github.com/rt-net/raspimouse_ros_examples/blob/images/mouse_with_rplidar.png" width=500 /> -->
-- LDS-01
-  - <img src=https://rt-net.github.io/images/raspberry-pi-mouse/mouse_with_lds01.JPG width=500 />
-  
 #### How to use
 
-Raspberry Pi Mouse上で次のコマンドでノードを起動します。
+次のコマンドでノードを起動します。
 
 ```sh
-# LDS
-$ ros2 launch raspimouse_ros2_examples mouse_with_lidar.launch.py lidar:=lds
+$ ros2 launch raspimouse_ros2_examples camera_line_follower.launch.py video_device:=/dev/video0
 ```
 
-Raspberry Pi Mouseを動かすため`teleop_joy.launch.py`を起動します
+ライン上にRaspberry Pi Mouseを置き、SW2を押してライントレースを開始します。
+停止させる場合はSW0を押します。
 
-```sh
-# Use DUALSHOCK 3
-$ ros2 launch raspimouse_ros2_examples teleop_joy.launch.py joydev:="/dev/input/js0" joyconfig:=dualshock3 mouse:=false
-```
+カメラ画像は`camera/color/image_raw`、物体検出画像は`result_image`というトピックとして発行されます。
+これらの画像は[RViz](https://index.ros.org/r/rviz/)
+や[rqt_image_view](https://index.ros.org/p/rqt_image_view/)
+で表示できます。
 
-次のコマンドでslam_toolboxパッケージを起動します。（Remote computerでの実行推奨）
+**画像を表示するとノードの動作が不安定になり、cmd_velや画像トピックが発行されないことがあります。**
 
-```sh
-$ ros2 launch raspimouse_ros2_examples slam.launch.py
-```
+<img src=https://rt-net.github.io/images/raspberry-pi-mouse/camera_line_trace.png width=500 />
 
-Raspberry Pi Mouseを動かして地図を作成します。
+#### Parameters
 
-次のコマンドで作成した地図を保存します。
+- `max_brightness`
+  - Type: `int`
+  - Default: 90
+  - 画像の2値化のしきい値の最大値
+- `min_brightness`
+  - Type: `int`
+  - Default: 0
+  - 画像の2値化のしきい値の最小値
+- `max_linear_vel`
+  - Type: `double`
+  - Default: 0.05
+  - 直進速度の最大値
+- `max_angular_vel`
+  - Type: `double`
+  - Default: 0.8
+  - 旋回速度の最大値
+- `area_threthold`
+  - Type: `double`
+  - Default: 0.20
+  - 走行を開始するためのライン面積のしきい値
 
 ```sh
-$ mkdir ~/maps
-$ ros2 run nav2_map_server map_saver_cli -f ~/maps/mymap --ros-args -p save_map_timeout:=10000.0
+ros2 param set /camera_follower max_brightness 80
 ```
 
-#### Configure SLAM parameters
-
-[./config/mapper_params_offline.yaml](./config/mapper_params_offline.yaml)で[slam_toolbox](https://github.com/SteveMacenski/slam_toolbox)パッケージのパラメータを調節します。
-
-#### Configure Odometry calculation
-
-下記のように[mouse.yml](./config/mouse.yml)を編集し、`use_pulse_counters`を`true`に（初期値: `false`）することで、
-`raspimouse`ノードがモータの制御パルス数からオドメトリ（`/odom`）を計算します。
-
-これは自己位置推定の精度を向上させます。
+[back to example list](#how-to-use-examples)
 
-```yaml
-raspimouse:
-  ros__parameters:
-    odometry_scale_left_wheel : 1.0
-    odometry_scale_right_wheel: 1.0
-    use_light_sensors         : true
-    use_pulse_counters        : true
-```
+--- 
 
-<!-- #### Videos
+### SLAM
 
-[![slam_urg](http://img.youtube.com/vi/gWozU47UqVE/sddefault.jpg)](https://youtu.be/gWozU47UqVE)
+<img src=https://rt-net.github.io/images/raspberry-pi-mouse/slam_toolbox_ros2.png width=500 />
 
-[![slam_urg](http://img.youtube.com/vi/hV68UqAntfo/sddefault.jpg)](https://youtu.be/hV68UqAntfo) -->
+Raspberry Pi MouseでSLAMとNavigationを行うサンプルは[rt-net/raspimouse_slam_navigation_ros2](https://github.com/rt-net/raspimouse_slam_navigation_ros2)へ移行しました。
 
 [back to example list](#how-to-use-examples)