Merge pull request #4 from urastogi885/Phase3

Reviewed and checked for final submission.

.travis.yml

@@ -20,21 +20,18 @@ before_install:
   - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
   - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
   - sudo apt-get update -qq
-  - sudo apt-get install dpkg
-  - sudo apt-get install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool
-  # Add opencv support in ROS
-  #- sudo apt-get install libopencv-dev
-  # install lcov to generate code coverage data
-  - sudo apt-get install -y lcov
+  - sudo apt-get install dpkg lcov
+  # Install ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 
+  - sudo apt-get install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-ros-base
   # Needed to install coveralls-lcov to upload coverage information generated by LCOV to coveralls.io
   - gem install coveralls-lcov 
-  # Install ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. 
-  - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-ros-base
+  # Install package dependencies
+  - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-geometry-msgs ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-cv-bridge ros-$ROS_DISTRO-image-transport
+  # Source ros kinetic setup file
   - source /opt/ros/$ROS_DISTRO/setup.bash
   # Prepare rosdep to install dependencies.
   - sudo rosdep init
   - rosdep update
-  # Install 
 
 
 # Create a catkin workspace with the package under integration.

CMakeLists.txt

@@ -5,7 +5,7 @@ project(supermarket_cleaning_robot)
 add_compile_options(-std=c++11)
 
 ## Find catkin and any catkin packages
-find_package(OpenCV 2 REQUIRED)
+find_package(OpenCV REQUIRED)
 
 find_package(
 	catkin REQUIRED COMPONENTS 
@@ -28,31 +28,39 @@ include_directories(
 )
 
 ## Add executables
-add_executable(supermarket_cleaning_robot src/turtlebot.cpp src/obstacle_avoidance.cpp)
+add_executable(object_collection src/turtlebot.cpp src/obstacle_avoidance.cpp src/navigator.cpp)
+
+add_executable(detector src/object_detection.cpp src/detector.cpp)
 
 ## Add target link libraries
-## target_link_libraries(supermarket_cleaning_robot ${catkin_LIBRARIES}${OpenCV_INCLUDE_DIRS})
+target_link_libraries(object_collection ${catkin_LIBRARIES} ${OpenCV_LIBS})
+target_link_libraries(detector ${catkin_LIBRARIES} ${OpenCV_LIBS})
 
 ## Enable catkin test and add files for the same
 if(CATKIN_ENABLE_TESTING)
   set(CMAKE_BUILD_TYPE Debug)
   find_package(rostest REQUIRED)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 --coverage")
+
   add_rostest_gtest(
    test_project_x_robot
-   test/main.cpp 
-   test/obstacle_avoidance_test.cpp 
-   test/turtlebot_test.cpp 
-   src/turtlebot.cpp 
-   src/obstacle_avoidance.cpp)
+   test/project_x_test.launch
+   test/main.cpp
+   test/obstacle_avoidance_test.cpp
+   test/turtlebot_test.cpp
+   test/object_detection_test.cpp
+   src/obstacle_avoidance.cpp
+   src/turtlebot.cpp
+   src/object_detection.cpp)
 
   target_link_libraries(
-   test_supermarket_cleaning_robot 
+   test_project_x_robot 
    ${catkin_LIBRARIES}
    ${OpenCV_LIBS})
 
   add_dependencies(
-    supermarket_cleaning_robot
-    test_project_x_robot
+  	test_project_x_robot
+    object_collection
+    detector
     ${catkin_EXPORTED_TARGETS})
 endif()

Doxyfile

@@ -58,7 +58,7 @@ PROJECT_LOGO           =
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.
 
-OUTPUT_DIRECTORY       = DOXYGEN/
+OUTPUT_DIRECTORY       = docs/
 
 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
 # directories (in 2 levels) under the output directory of each output format and

README.md

@@ -21,7 +21,7 @@ items.
 
 For prototyping, we are focusing on only one task that is identifying and collecting the items using the
 robot. The robot will roam in a supermarket like environment in Gazebo and identify the type of items
-that it needs to collect. It identifies the item using a camera, mounted on its base, and moves towards the
+that it needs to collect. It identifies the item using a camera and HSV Color Detection algorithm, mounted on its base, and moves towards the
 fallen item. Here, we are considering objects such as food, soft drinks cans and it is assumed that the robot
 will already know the type of item that it needs to pick. As the robot reaches the location of the item and
 touches it, the item will vanish depicting that the item is collected using a suction cup. The robot will
@@ -31,7 +31,7 @@ has an obstacle avoidance feature that is used to prevent the robot from collidi
 humans, uninteresting items and walls/shelves.
 
 <p align="center">
-<img src="https://github.com/urastogi885/Supermarket-Cleaning-Robot/blob/master/data/readme_images/initial_proposal_setup.png">
+<img src="https://github.com/urastogi885/Supermarket-Cleaning-Robot/blob/master/data/readme_images/supermarket_world.jpg">
 <b>Figure 1 - Robot approaching towards the cans lying on the ground to collect them</b>
 </p>
 
@@ -51,13 +51,13 @@ to access our Sprint notes document.
 ## Accessing the UML Diagrams
 
 - Open the *UML* directory of the project.
-- Access UML diagrams from the *initial* folder located within *UML* sub-directory.
+- Access UML diagrams from *uml* sub-directory.
 
 ## API Documentations
 
 - [Gazebo Population Tag](http://gazebosim.org/tutorials?tut=model_population&cat=build_world)
 - [cv_bridge](http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages)
-- [Template Matching](https://docs.opencv.org/master/de/da9/tutorial_template_matching.html)
+- [HSV Color Detection](https://docs.opencv.org/trunk/df/d9d/tutorial_py_colorspaces.html)
 
 ## Dependencies
 
@@ -76,43 +76,41 @@ to access our Sprint notes document.
   the following [*link*](http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install) to just install *Gazebo* on your
   machine.
 - Ensure successful installation by running *Gazebo* via your terminal window:
-```shell script
+```
 gazebo
 ```
 - An empty window of *Gazebo Simulator* should be launched.
 - Make sure that turtlebot packages have been installed on your machine using the following commands:
-```shell script
+```
 roslaunch turtlebot_gazebo turtlebot_world.launch
 ``` 
 - A window of *Gazebo Simulator* with various items and a turtlebot should be launched.
 - If an error pops up upo launching the turtlebot world, then install the necessary turtlebot packages:
-```shell script
+```
 sudo apt install ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-rviz-launchers
 ```
 - Create your ROS workspace by following instructions on the [*create ROS workspace tutortial page*](http://wiki.ros.org/catkin/Tutorials/create_a_workspace).
 
 ## Known Bugs and Issues
 
-This project is under-development. Currently, we are facing build issues. Sorry for the inconvenience.
+Right now we are facing the object collection issue, where our idea is to remove the object from the world as the robot reached the object. The can should be vanished representing that the can is collected by the robot.
 
 ## Build
 
-- ***Ignore this section*** as nothing to be built has been added yet.
-- Even if you run the following, it will not impact your existing workspace.
-- Switch to your *src* sub-directory of your ROS workspace to clone this repository.
-```shell script
+Switch to your *src* sub-directory of your ROS workspace to clone this repository.
+```
 <ROS Workspace>/src
 ```
 - Run the following commands to clone and build this project:
-```shell script
-git clone --recursive https://github.com/urastogi885/obstacle_avoidance_simulation
+```
+git clone --recursive https://github.com/urastogi885/Supermarket-Cleaning-Robot
 cd ..
 catkin_make
 ```
 
 ## Test
 
-Close and terminate everything including rosmaster. In a new terminal, switch to the ROS workspace and build the tests. Type
+Close and terminate everything including rosmaster. In a new terminal, switch to the ROS workspace and build the tests.  Type
 
 ```
 cd catkin_ws
@@ -127,7 +125,7 @@ Now, we use launch file to run. In a new terminal, type
 ```
 cd catkin_ws
 source devel/setup.bash
-roslaunch supermarket_cleaning_robot launcher.launch
+roslaunch supermarket_cleaning_robot object_collection.launch
 ```
 
 ## Doxygen
@@ -140,7 +138,7 @@ sudo apt-get install doxygen
 Now from the cloned directory run:
 
 ```
-doxygen doxygen
+doxygen Doxyfile
 ```
 
 Generated doxygen files are in html format and you can find them in ./docs folder. With the following command
@@ -151,4 +149,12 @@ firefox docs/html/index.html
 
 ## Demo
 
-We will update in the next phase by next week.
+In this demo, the turtlebot is our cleaner robot which traverses in the supermarket environment and keeps on scanning for the cans. As the can is detected, a bounding box is created and then the turtlebot apprached towards the can to collect it.
+<p align="center">
+<img src="https://github.com/urastogi885/Supermarket-Cleaning-Robot/blob/master/data/readme_images/demo.gif">
+<b>Figure 2 - Demo of Robot scanning and detecting items</b>
+</p>
+
+## Presentation
+
+Click on the link to preview [presentation](https://docs.google.com/presentation/d/1KiABS_kfmvH2YfD9WYNnicjoehHe6gC2hseT8R00nM4/edit#slide=id.g6c2dd6b921_0_107)

data/results/cppcheck_results

@@ -1,10 +1,18 @@
+Checking src/detector.cpp...
+1/9 files checked 7% done
+Checking src/navigator.cpp...
+2/9 files checked 14% done
+Checking src/object_detection.cpp...
+3/9 files checked 30% done
 Checking src/obstacle_avoidance.cpp...
-1/5 files checked 26% done
+4/9 files checked 43% done
 Checking src/turtlebot.cpp...
-2/5 files checked 52% done
+5/9 files checked 61% done
 Checking test/main.cpp...
-3/5 files checked 66% done
+6/9 files checked 68% done
+Checking test/object_detection_test.cpp...
+7/9 files checked 81% done
 Checking test/obstacle_avoidance_test.cpp...
-4/5 files checked 82% done
+8/9 files checked 90% done
 Checking test/turtlebot_test.cpp...
-5/5 files checked 100% done
+9/9 files checked 100% done

data/results/cpplint_results

@@ -1,8 +1,22 @@
+Done processing ./src/detector.cpp
+./src/turtlebot.cpp:141:  Use operator && instead of and  [readability/alt_tokens] [2]
 Done processing ./src/turtlebot.cpp
+Done processing ./src/object_detection.cpp
 Done processing ./src/obstacle_avoidance.cpp
+Done processing ./src/navigator.cpp
 Done processing ./test/turtlebot_test.cpp
+./test/object_detection_test.cpp:78:  Tab found; better to use spaces  [whitespace/tab] [1]
+./test/object_detection_test.cpp:79:  Tab found; better to use spaces  [whitespace/tab] [1]
+./test/object_detection_test.cpp:80:  Tab found; better to use spaces  [whitespace/tab] [1]
+./test/object_detection_test.cpp:81:  Tab found; better to use spaces  [whitespace/tab] [1]
+./test/object_detection_test.cpp:82:  Tab found; better to use spaces  [whitespace/tab] [1]
+./test/object_detection_test.cpp:94:  Tab found; better to use spaces  [whitespace/tab] [1]
+./test/object_detection_test.cpp:95:  Tab found; better to use spaces  [whitespace/tab] [1]
+Done processing ./test/object_detection_test.cpp
 Done processing ./test/main.cpp
 Done processing ./test/obstacle_avoidance_test.cpp
 Done processing ./include/object_detection/object_detection.h
+./include/turtlebot/turtlebot.h:121:  Is this a non-const reference? If so, make const or use a pointer: ObstacleAvoidance& obstacleAvoidance  [runtime/references] [2]
 Done processing ./include/turtlebot/turtlebot.h
-Done processing ./include/obstacle_avoidance/obstacle_avoidance.h
+Done processing ./include/obstacle_avoidance/obstacle_avoidance.h
+Total errors found: 9