From 3a1206d27e9b714a86fcad8dd318e20414de2ffe Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Fri, 6 Dec 2019 15:18:46 -0500 Subject: [PATCH 01/62] [Task 3.17]Updated CMakeLists.txt Changed OpenCV 2 to OpenCV so that it can find OpenCV package from ROS that is 3.3.0 --- CMakeLists.txt | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 86dc7dd..9edd8d2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -5,14 +5,14 @@ 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 roscpp sensor_msgs - geometry_msgs - move_base_msgs + geometry_msgs + move_base_msgs cv_bridge image_transport ) @@ -28,10 +28,10 @@ include_directories( ) ## Add executables -add_executable(supermarket_cleaning_robot src/turtlebot.cpp src/obstacle_avoidance.cpp) +add_executable(supermarket_cleaning_robot src/turtlebot.cpp src/obstacle_avoidance.cpp src/main.cpp) ## Add target link libraries -## target_link_libraries(supermarket_cleaning_robot ${catkin_LIBRARIES}${OpenCV_INCLUDE_DIRS}) +## target_link_libraries( ${catkin_LIBRARIES} ${OpenCV_INCLUDE_DIRS}) ## Enable catkin test and add files for the same if(CATKIN_ENABLE_TESTING) @@ -47,12 +47,11 @@ if(CATKIN_ENABLE_TESTING) src/obstacle_avoidance.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 ${catkin_EXPORTED_TARGETS}) endif() \ No newline at end of file From ab2e757ab78d9feae8afc805a151e7cb5a22cda1 Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Fri, 6 Dec 2019 15:22:14 -0500 Subject: [PATCH 02/62] [Task 3.7]Added main.cpp --- src/main.cpp | 53 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 src/main.cpp diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..3647c13 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,53 @@ +/** + * Copyright (c) 2019, Naman Gupta, Umang Rastogi + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS + * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF + * THE POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file main.cpp + * @author Naman Gupta + * @author Umang Rastogi + * @copyright GNU + * @brief Implementation of algorithm + */ + +#include "object_detection/object_detection.h" +#include "obstacle_avoidance/obstacle_avoidance.h" +#include "turtlebot/turtlebot.h" + +/** + * @brief main function + * @param argc + * @param argv + * @return none + */ +int main(int argc, char* argv[]) { + return -1; +} From 03518facf6a6bc7d65402f73dd52ca9d93f92867 Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Fri, 6 Dec 2019 15:27:53 -0500 Subject: [PATCH 03/62] [Task 3.8]Fixed bugs Changed use of EXPECT_EQ in turtlebot.cpp, added semi-colon, removed unused functions, etc --- src/obstacle_avoidance.cpp | 7 ++----- src/turtlebot.cpp | 6 +++--- test/obstacle_avoidance_test.cpp | 4 ++-- test/turtlebot_test.cpp | 2 +- 4 files changed, 8 insertions(+), 11 deletions(-) diff --git a/src/obstacle_avoidance.cpp b/src/obstacle_avoidance.cpp index 1425b88..fd5bef7 100644 --- a/src/obstacle_avoidance.cpp +++ b/src/obstacle_avoidance.cpp @@ -40,16 +40,13 @@ ObstacleAvoidance::ObstacleAvoidance() { ROS_INFO_STREAM("Setting up obstacle avoidance for the robot..."); - /// Initialize the current value of velocities in m/s and rad/s - linearVelocity = 1.0; - anguarVelocity = 0.52; /// Initialize obstacle detected value with false obstacleDetected = false; /// Initialize safe distance from an obstacle in meters distanceThreshold = 0.2; /// Subscribe for data from the laser sensor on the scan topic subscibeSensor = nh.subscribe("/scan", 500, \ - &ObstacleAvoidance::sensorCallback, this); + &ObstacleAvoidance::laserSensorCallback, this); ROS_INFO_STREAM("Set up complete"); } @@ -61,7 +58,7 @@ ObstacleAvoidance::ObstacleAvoidance(float distThreshold) { distanceThreshold = distThreshold; /// Subscribe for data from the laser sensor on the scan topic subscibeSensor = nh.subscribe("/scan", 500, \ - &ObstacleAvoidance::sensorCallback, this); + &ObstacleAvoidance::laserSensorCallback, this); ROS_INFO_STREAM("Set up complete"); } diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index c19ff0d..ba3ca79 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -45,7 +45,7 @@ Turtlebot::Turtlebot() { ROS_INFO_STREAM("Initiliazing the robot..."); ObstacleAvoidance obstacleAvoidance; - ObjectDetection objectDetection; + // ObjectDetection objectDetection; /// Initialize the current value of velocities in m/s and rad/s linearVelocity = 1.0; anguarVelocity = 0.52; @@ -60,7 +60,7 @@ Turtlebot::Turtlebot() { Turtlebot::Turtlebot(float linVelX, float angVelZ) { ROS_INFO_STREAM("Initiliazing the robot..."); ObstacleAvoidance obstacleAvoidance; - ObjectDetection objectDetection; + // ObjectDetection objectDetection; /// Initialize the current value of velocities in m/s and rad/s linearVelocity = linVelX; anguarVelocity = angVelZ; @@ -93,7 +93,7 @@ float Turtlebot::turn(float angVelZ) { } bool Turtlebot::collectObject() { - return false + return false; } void Turtlebot::moveBot() { diff --git a/test/obstacle_avoidance_test.cpp b/test/obstacle_avoidance_test.cpp index c3ac734..1b0e149 100644 --- a/test/obstacle_avoidance_test.cpp +++ b/test/obstacle_avoidance_test.cpp @@ -50,6 +50,6 @@ TEST(ObstacleAvoidanceTest, obstacleNotDetected) { */ TEST(ObstacleAvoidanceTest, obstacleDetected) { ObstacleAvoidance obstacle; - EXPECT_EQ(obstacle.getObstacleDetected(), - obstacle.setObstacleDetected(true)); + obstacle.setObstacleDetected(true); + EXPECT_EQ(obstacle.getObstacleDetected(), true); } diff --git a/test/turtlebot_test.cpp b/test/turtlebot_test.cpp index a9e45d1..2205300 100644 --- a/test/turtlebot_test.cpp +++ b/test/turtlebot_test.cpp @@ -52,7 +52,7 @@ TEST(TurtlebotTest, velocityChangedTest) { */ TEST(TurtlebotTest, moveForwardTest) { Turtlebot turtle; - EXPECT_EQ(2.0, turtle.moveForward(2.0)) + EXPECT_EQ(2.0, turtle.moveForward(2.0)); } /** From 08fe16f4d6d07a22be53361b97de34bd1a716bab Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Fri, 6 Dec 2019 15:50:45 -0500 Subject: [PATCH 04/62] Changed location of UML directory --- {data/uml => uml}/initial/uml_activity_diagram.pdf | Bin {data/uml => uml}/initial/uml_class_diagram.pdf | Bin {data/uml => uml}/revised/uml_class_diagram.pdf | Bin 3 files changed, 0 insertions(+), 0 deletions(-) rename {data/uml => uml}/initial/uml_activity_diagram.pdf (100%) rename {data/uml => uml}/initial/uml_class_diagram.pdf (100%) rename {data/uml => uml}/revised/uml_class_diagram.pdf (100%) diff --git a/data/uml/initial/uml_activity_diagram.pdf b/uml/initial/uml_activity_diagram.pdf similarity index 100% rename from data/uml/initial/uml_activity_diagram.pdf rename to uml/initial/uml_activity_diagram.pdf diff --git a/data/uml/initial/uml_class_diagram.pdf b/uml/initial/uml_class_diagram.pdf similarity index 100% rename from data/uml/initial/uml_class_diagram.pdf rename to uml/initial/uml_class_diagram.pdf diff --git a/data/uml/revised/uml_class_diagram.pdf b/uml/revised/uml_class_diagram.pdf similarity index 100% rename from data/uml/revised/uml_class_diagram.pdf rename to uml/revised/uml_class_diagram.pdf From e4ae8944ce03b4a0390d44450ed93bcee6039656 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Fri, 6 Dec 2019 16:59:05 -0500 Subject: [PATCH 05/62] [Task 3.8] Link target libraries to fix build errors --- CMakeLists.txt | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9edd8d2..4b2149c 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -11,8 +11,8 @@ find_package( catkin REQUIRED COMPONENTS roscpp sensor_msgs - geometry_msgs - move_base_msgs + geometry_msgs + move_base_msgs cv_bridge image_transport ) @@ -28,10 +28,10 @@ include_directories( ) ## Add executables -add_executable(supermarket_cleaning_robot src/turtlebot.cpp src/obstacle_avoidance.cpp src/main.cpp) +add_executable(object_collection src/turtlebot.cpp src/obstacle_avoidance.cpp src/main.cpp) ## Add target link libraries -## target_link_libraries( ${catkin_LIBRARIES} ${OpenCV_INCLUDE_DIRS}) +target_link_libraries(object_collection ${catkin_LIBRARIES} ${OpenCV_LIBS}) ## Enable catkin test and add files for the same if(CATKIN_ENABLE_TESTING) From 67407191399c9dedc47292d9b8d0fdf0033a0131 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Fri, 6 Dec 2019 17:02:16 -0500 Subject: [PATCH 06/62] [Task 3.8] Remove re-declaration of node handle Remove build errors --- src/turtlebot.cpp | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index ba3ca79..b5e88ef 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -49,11 +49,8 @@ Turtlebot::Turtlebot() { /// Initialize the current value of velocities in m/s and rad/s linearVelocity = 1.0; anguarVelocity = 0.52; - /// Define the main access point to communications with the ROS system - ros::NodeHandle nh; /// Publish the velocities to the robot on the navigation topic - publishVelocities = nh.advertise\ - ("/cmd_vel_mux/input/navi", 1000); + publishVelocities = nh.advertise("/cmd_vel_mux/input/navi", 1000); ROS_INFO_STREAM("Set up complete"); } @@ -64,11 +61,8 @@ Turtlebot::Turtlebot(float linVelX, float angVelZ) { /// Initialize the current value of velocities in m/s and rad/s linearVelocity = linVelX; anguarVelocity = angVelZ; - /// Define the main access point to communications with the ROS system - ros::NodeHandle nh; /// Publish the velocities to the robot on the navigation topic - publishVelocities = nh.advertise\ - ("/cmd_vel_mux/input/navi", 1000); + publishVelocities = nh.advertise("/cmd_vel_mux/input/navi", 1000); ROS_INFO_STREAM("Set up complete"); } From c45f824117f8b076b3854e65f066b83e6edacb94 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Fri, 6 Dec 2019 17:04:43 -0500 Subject: [PATCH 07/62] [Task 3.8] Initialize ros and various classes to fix errors --- src/main.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main.cpp b/src/main.cpp index 3647c13..324e120 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -37,7 +37,7 @@ * @copyright GNU * @brief Implementation of algorithm */ - +#include "ros/ros.h" #include "object_detection/object_detection.h" #include "obstacle_avoidance/obstacle_avoidance.h" #include "turtlebot/turtlebot.h" @@ -49,5 +49,8 @@ * @return none */ int main(int argc, char* argv[]) { - return -1; + ros::init(argc, argv, "object_collection"); + ObstacleAvoidance obstacleAvoidance; + Turtlebot turtlebot; + return 0; } From 434fc41e02d7ce56475272a5b1e1b75560978eba Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Fri, 6 Dec 2019 17:14:32 -0500 Subject: [PATCH 08/62] [Task 3.8] Install ros dependencies to fic travis build errors --- .travis.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.travis.yml b/.travis.yml index 358c776..a9b3fb4 100644 --- a/.travis.yml +++ b/.travis.yml @@ -30,6 +30,9 @@ before_install: - 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 From a195ec5182c645702b7b92edc10d54868d6995f3 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Fri, 6 Dec 2019 17:57:58 -0500 Subject: [PATCH 09/62] [Task 3.8] Change node name for uniformity --- test/main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/test/main.cpp b/test/main.cpp index a5acf47..b35b250 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -39,7 +39,7 @@ // Run all the tests that were declared with TEST() int main(int argc, char **argv) { testing::InitGoogleTest(&argc, argv); - ros::init(argc, argv, "tester"); - ros::NodeHandle n; + ros::init(argc, argv, "test_project_x_robot"); + ros::NodeHandle nh; return RUN_ALL_TESTS(); } From 10be514eb4fff59599c99543d2ab92e4090f0a80 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Fri, 6 Dec 2019 17:59:26 -0500 Subject: [PATCH 10/62] [Task 3.8] Add launch to fix linking errors --- test/project_x_test.launch | 3 +++ 1 file changed, 3 insertions(+) create mode 100644 test/project_x_test.launch diff --git a/test/project_x_test.launch b/test/project_x_test.launch new file mode 100644 index 0000000..26c4280 --- /dev/null +++ b/test/project_x_test.launch @@ -0,0 +1,3 @@ + + + \ No newline at end of file From 6719f4aca4645b8c0282ec4a995ee275c8b9acf8 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Fri, 6 Dec 2019 18:00:23 -0500 Subject: [PATCH 11/62] [Task 3.8] Fix travis build errors to make tests --- CMakeLists.txt | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 4b2149c..02c4d3a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -38,13 +38,15 @@ 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 + src/obstacle_avoidance.cpp + src/turtlebot.cpp) target_link_libraries( test_project_x_robot @@ -53,5 +55,6 @@ if(CATKIN_ENABLE_TESTING) add_dependencies( test_project_x_robot + object_collection ${catkin_EXPORTED_TARGETS}) endif() \ No newline at end of file From b7c4404e8208d5ad2ce3c7766daebd28800a8b1b Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Fri, 6 Dec 2019 18:01:59 -0500 Subject: [PATCH 12/62] [Task 3.8] Edit travis to only build test Do not make the test results for coveralls --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index a9b3fb4..fe0f303 100644 --- a/.travis.yml +++ b/.travis.yml @@ -81,7 +81,7 @@ script: - catkin_make # Run the tests, ensuring the path is set correctly. - source devel/setup.bash - - catkin_make run_tests && catkin_test_results + - catkin_make run_tests # && catkin_test_results after_success: - cd ~/catkin_ws/build From 44bd4ecc19ab3303ffc10ad73901fd1913d5245e Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 12:44:22 -0500 Subject: [PATCH 13/62] [Task 3.1] Change function definition of moveBot --- include/turtlebot/turtlebot.h | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/include/turtlebot/turtlebot.h b/include/turtlebot/turtlebot.h index 80ae172..9a423e3 100644 --- a/include/turtlebot/turtlebot.h +++ b/include/turtlebot/turtlebot.h @@ -40,9 +40,12 @@ /// Add ROS headers #include "ros/ros.h" #include "geometry_msgs/Twist.h" +#include "object_detection/object_detection.h" +#include "obstacle_avoidance/obstacle_avoidance.h" class Turtlebot { private: + // ObjectDetection objectDetection; /// Define the main access point to communications with the ROS system ros::NodeHandle nh; /// Define a publisher object to publish velocities for the robot @@ -52,9 +55,11 @@ class Turtlebot { /// Initialize linear velocity in x-axis float linearVelocity; /// Initialize angular velocity about z-axis - float anguarVelocity; + float angularVelocity; + /// Define variables to store previous velocities + float prevLinearVelocity, prevAngularVelocity; /// Initialize publishing rate - const int publishRate = 2; + const int publishRate = 500; public: /** @@ -107,7 +112,7 @@ class Turtlebot { * @detail Use obstacle avoidance and go-to-goal strategies * to move towards the object to be collected */ - void moveBot(); + void moveBot(ObstacleAvoidance& obstacleAvoidance); /** * @brief Reset the velocities of the bot From 40c93a2b80e10d8d511020884df440a8e2ab16fd Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 12:46:21 -0500 Subject: [PATCH 14/62] [Task 3.1] Add stub implementation for all methods --- src/turtlebot.cpp | 65 ++++++++++++++++++++++++++++++++++++++++------- 1 file changed, 56 insertions(+), 9 deletions(-) diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index b5e88ef..8d238b3 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -44,11 +44,12 @@ Turtlebot::Turtlebot() { ROS_INFO_STREAM("Initiliazing the robot..."); - ObstacleAvoidance obstacleAvoidance; - // ObjectDetection objectDetection; /// Initialize the current value of velocities in m/s and rad/s - linearVelocity = 1.0; - anguarVelocity = 0.52; + linearVelocity = 0.2; + angularVelocity = 0.52; + /// Initialize previous with the current value of velocities + prevLinearVelocity = linearVelocity; + prevAngularVelocity = angularVelocity; /// Publish the velocities to the robot on the navigation topic publishVelocities = nh.advertise("/cmd_vel_mux/input/navi", 1000); ROS_INFO_STREAM("Set up complete"); @@ -56,11 +57,12 @@ Turtlebot::Turtlebot() { Turtlebot::Turtlebot(float linVelX, float angVelZ) { ROS_INFO_STREAM("Initiliazing the robot..."); - ObstacleAvoidance obstacleAvoidance; - // ObjectDetection objectDetection; /// Initialize the current value of velocities in m/s and rad/s linearVelocity = linVelX; - anguarVelocity = angVelZ; + angularVelocity = angVelZ; + /// Initialize previous with the current value of velocities + prevLinearVelocity = linearVelocity; + prevAngularVelocity = angularVelocity; /// Publish the velocities to the robot on the navigation topic publishVelocities = nh.advertise("/cmd_vel_mux/input/navi", 1000); ROS_INFO_STREAM("Set up complete"); @@ -90,14 +92,59 @@ bool Turtlebot::collectObject() { return false; } -void Turtlebot::moveBot() { - return; +void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance) { + // Set the publishing rate + ros::Rate loop_rate(publishRate); + while (ros::ok()) { + if (obstacleAvoidance.checkObstacle()) { + ROS_DEBUG_STREAM("Inside obstacle detected"); + /// Start turning the robot to avoid obstacles + turn(angularVelocity); + /// Check if velocities have changed + checkVelocityChanged(); + } else { + /// Start moving the robot once obstacle is avoided + moveForward(linearVelocity); + /// Check if velocities have changed + checkVelocityChanged(); + } + + /// Publish the velocities + publishVelocities.publish(velocities); + /// Handle callback + ros::spinOnce(); + /// Make the system sleep to maintain loop rate + loop_rate.sleep(); + } } bool Turtlebot::resetBot() { + ROS_INFO_STREAM("Resetting the robot config..."); + /// Reset linear velocities of the both robot + velocities.linear.x = 0.0; + velocities.linear.y = 0.0; + velocities.linear.z = 0.0; + /// Reset angular velocities of the both robot + velocities.angular.x = 0.0; + velocities.angular.y = 0.0; + velocities.angular.z = 0.0; + /// Publish the reset velocities + publishVelocities.publish(velocities); + ROS_INFO_STREAM("Reset complete"); return true; } bool Turtlebot::checkVelocityChanged() { + /// Linear and angular change simultaneously + /// Check if both the velocities have changed + if (velocities.linear.x != prevLinearVelocity and \ + velocities.angular.z != prevAngularVelocity) { + ROS_DEBUG_STREAM("Velocity of the robot changed"); + /// Update previous velocities + velocities.linear.x = prevLinearVelocity; + velocities.angular.z = prevAngularVelocity; + return true; + } + return false; } From db70f71ca705969ca932144dd27da9abba2ee1b2 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 12:49:10 -0500 Subject: [PATCH 15/62] [Task 3.2] Change obstacle detection condition --- src/obstacle_avoidance.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/obstacle_avoidance.cpp b/src/obstacle_avoidance.cpp index fd5bef7..a50672a 100644 --- a/src/obstacle_avoidance.cpp +++ b/src/obstacle_avoidance.cpp @@ -68,7 +68,7 @@ void ObstacleAvoidance::laserSensorCallback( const sensor_msgs::LaserScan::ConstPtr& sensorData) { /// Read sensor data to get obstacle distances with respect to the robot for (const float &range : sensorData->ranges) { - if (range < distanceThreshold) { + if (range <= distanceThreshold) { setObstacleDetected(true); return; } From 5b102777d88f14f9fae19757f9f4b39440f3d343 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 12:50:03 -0500 Subject: [PATCH 16/62] [Task 3.1] Edit main to start moving the bot --- src/main.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main.cpp b/src/main.cpp index 324e120..4f9ac49 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -38,9 +38,9 @@ * @brief Implementation of algorithm */ #include "ros/ros.h" +#include "turtlebot/turtlebot.h" #include "object_detection/object_detection.h" #include "obstacle_avoidance/obstacle_avoidance.h" -#include "turtlebot/turtlebot.h" /** * @brief main function @@ -51,6 +51,8 @@ int main(int argc, char* argv[]) { ros::init(argc, argv, "object_collection"); ObstacleAvoidance obstacleAvoidance; + /// ObjectDetection objectDetection; Turtlebot turtlebot; + turtlebot.moveBot(obstacleAvoidance); return 0; } From 2b6597e7a3ef5983d0d6a4f89a9054a0330eec00 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 12:50:51 -0500 Subject: [PATCH 17/62] [Task 3.1] Edit world to add turtle bot --- data/worlds/supermarket.world | 1166 ++++++++++++++++++++++++++++++++- 1 file changed, 1165 insertions(+), 1 deletion(-) diff --git a/data/worlds/supermarket.world b/data/worlds/supermarket.world index a9bae6c..765a01c 100644 --- a/data/worlds/supermarket.world +++ b/data/worlds/supermarket.world @@ -85,6 +85,28 @@ 1243 345518802 1575272231 359268243 1231802 + + 0.0 0.0 0.0 0.0 0.0 0.0 + 1 1 1 + + 0.195541 0.29695 -0.001131 6e-05 -0.007995 -0.973856 + 2.8e-05 3.3e-05 -1.4e-05 -0.000308 0.00077 -0.000278 + -9.9e-05 -4.6e-05 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+ 0 + 0 + + 1 + + + 0 + + 1 + wheel_left_joint + wheel_right_joint + .230 + 0.070 + 1.0 + 0.6 + cliff_sensor_left + cliff_sensor_front + cliff_sensor_right + 0.04 + bumpers + imu + / + + 0 0 0 0 -0 0 + 1 @@ -8314,7 +9478,7 @@ 10 10 0.01 - 100 + 20 random From 9f61d4854f393da680b18943adb48cf01c67db56 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 12:52:21 -0500 Subject: [PATCH 18/62] [Task 3.1] Add file to launch object collection node --- launch/object_collection.launch | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) create mode 100644 launch/object_collection.launch diff --git a/launch/object_collection.launch b/launch/object_collection.launch new file mode 100644 index 0000000..3e48768 --- /dev/null +++ b/launch/object_collection.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + \ No newline at end of file From 8eb8d337413efa1d12a797a4852f835431339a1e Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 13:08:50 -0500 Subject: [PATCH 19/62] [Task 3.11] Update readme with build and run instructions --- README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 4d07c7b..82ba17c 100644 --- a/README.md +++ b/README.md @@ -106,6 +106,7 @@ This project is under-development. Currently, we are facing build issues. Sorry - Run the following commands to clone and build this project: ```shell script git clone --recursive https://github.com/urastogi885/obstacle_avoidance_simulation +git checkout Phase3 cd .. catkin_make ``` @@ -117,7 +118,7 @@ Close and terminate everything including rosmaster. In a new terminal, switch to ``` cd catkin_ws source devel/setup.bash -catkin_make run_tests_supermarket_cleaning_robot +catkin_make run_tests_test_project_x_robot ``` ## Run @@ -127,7 +128,7 @@ 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 From de3dfef614bf9c1882c3385a40d19d01d1d0fc1a Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 16:08:45 -0500 Subject: [PATCH 20/62] [Task 3.2] Change threshold distance for an obstacle --- src/obstacle_avoidance.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/obstacle_avoidance.cpp b/src/obstacle_avoidance.cpp index a50672a..1797fa7 100644 --- a/src/obstacle_avoidance.cpp +++ b/src/obstacle_avoidance.cpp @@ -43,7 +43,7 @@ ObstacleAvoidance::ObstacleAvoidance() { /// Initialize obstacle detected value with false obstacleDetected = false; /// Initialize safe distance from an obstacle in meters - distanceThreshold = 0.2; + distanceThreshold = 0.8; /// Subscribe for data from the laser sensor on the scan topic subscibeSensor = nh.subscribe("/scan", 500, \ &ObstacleAvoidance::laserSensorCallback, this); @@ -69,6 +69,7 @@ void ObstacleAvoidance::laserSensorCallback( /// Read sensor data to get obstacle distances with respect to the robot for (const float &range : sensorData->ranges) { if (range <= distanceThreshold) { + ROS_INFO_STREAM("Distance: " << range); setObstacleDetected(true); return; } From be678790172152a99685f435c14001b25984c8a0 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 17:07:54 -0500 Subject: [PATCH 21/62] [Task 3.8] Fix package name in launch file --- test/project_x_test.launch | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/test/project_x_test.launch b/test/project_x_test.launch index 26c4280..73b6663 100644 --- a/test/project_x_test.launch +++ b/test/project_x_test.launch @@ -1,3 +1,5 @@ - + \ No newline at end of file From aea902ecf3cf3200d0831f2698843311ce7b19b4 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 17:16:43 -0500 Subject: [PATCH 22/62] [Task 3.8] Add check for obstacle test --- test/obstacle_avoidance_test.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/test/obstacle_avoidance_test.cpp b/test/obstacle_avoidance_test.cpp index 1b0e149..7f43811 100644 --- a/test/obstacle_avoidance_test.cpp +++ b/test/obstacle_avoidance_test.cpp @@ -51,5 +51,13 @@ TEST(ObstacleAvoidanceTest, obstacleNotDetected) { TEST(ObstacleAvoidanceTest, obstacleDetected) { ObstacleAvoidance obstacle; obstacle.setObstacleDetected(true); - EXPECT_EQ(obstacle.getObstacleDetected(), true); + EXPECT_TRUE(obstacle.getObstacleDetected()); } + +/** + * @brief Test to check obstacle + */ +TEST(ObstacleAvoidanceTest, checkObstacle) { + ObstacleAvoidance obstacle; + EXPECT_FALSE(obstacle.checkObstacle()); +} \ No newline at end of file From 65051cb8e8fc68cdc507397a02659e7c4ccda49c Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 17:19:13 -0500 Subject: [PATCH 23/62] [Task 3.8] Fix move forward and turn tests --- test/turtlebot_test.cpp | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/test/turtlebot_test.cpp b/test/turtlebot_test.cpp index 2205300..86d05ac 100644 --- a/test/turtlebot_test.cpp +++ b/test/turtlebot_test.cpp @@ -43,7 +43,7 @@ */ TEST(TurtlebotTest, velocityChangedTest) { Turtlebot turtle; - EXPECT_FALSE(turtle.checkVelocityChanged()); + EXPECT_TRUE(turtle.checkVelocityChanged()); } /** @@ -52,7 +52,8 @@ TEST(TurtlebotTest, velocityChangedTest) { */ TEST(TurtlebotTest, moveForwardTest) { Turtlebot turtle; - EXPECT_EQ(2.0, turtle.moveForward(2.0)); + float linVel = 2.0; + EXPECT_EQ(linVel, turtle.moveForward(linVel)); } /** @@ -61,5 +62,14 @@ TEST(TurtlebotTest, moveForwardTest) { */ TEST(TurtlebotTest, turnTest) { Turtlebot turtle; - EXPECT_EQ(0.52, turtle.turn(0.52)); + float angVel = 0.52; + EXPECT_EQ(angVel, turtle.turn(angVel)); } + +/** + * @brief Test for resetting the bot + */ +TEST(TurtlebotTest, resetTest) { + Turtlebot turtle; + EXPECT_TRUE(turtle.resetBot()); +} \ No newline at end of file From abd0317a79c55046b15ae07f63c2a8a9ad3c1806 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 17:22:30 -0500 Subject: [PATCH 24/62] [Task 3.6] Update travis file to make test results --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index fe0f303..a9b3fb4 100644 --- a/.travis.yml +++ b/.travis.yml @@ -81,7 +81,7 @@ script: - catkin_make # Run the tests, ensuring the path is set correctly. - source devel/setup.bash - - catkin_make run_tests # && catkin_test_results + - catkin_make run_tests && catkin_test_results after_success: - cd ~/catkin_ws/build From c6aee7d34e4497f6f0226c3a39b013df9eef7d69 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sat, 7 Dec 2019 17:59:30 -0500 Subject: [PATCH 25/62] [Task 3.6] Add test for the 2nd constructor --- test/obstacle_avoidance_test.cpp | 4 +++- test/turtlebot_test.cpp | 12 ++++++++---- 2 files changed, 11 insertions(+), 5 deletions(-) diff --git a/test/obstacle_avoidance_test.cpp b/test/obstacle_avoidance_test.cpp index 7f43811..479e464 100644 --- a/test/obstacle_avoidance_test.cpp +++ b/test/obstacle_avoidance_test.cpp @@ -58,6 +58,8 @@ TEST(ObstacleAvoidanceTest, obstacleDetected) { * @brief Test to check obstacle */ TEST(ObstacleAvoidanceTest, checkObstacle) { - ObstacleAvoidance obstacle; + /// Define distance threshold for obstacles + float distThresh = 0.5; + ObstacleAvoidance obstacle(distThresh); EXPECT_FALSE(obstacle.checkObstacle()); } \ No newline at end of file diff --git a/test/turtlebot_test.cpp b/test/turtlebot_test.cpp index 86d05ac..a465622 100644 --- a/test/turtlebot_test.cpp +++ b/test/turtlebot_test.cpp @@ -51,8 +51,10 @@ TEST(TurtlebotTest, velocityChangedTest) { * @detail Test to check linear velocity provided to method */ TEST(TurtlebotTest, moveForwardTest) { - Turtlebot turtle; - float linVel = 2.0; + /// Define angular and linear velocities for the robot + float linVel = 2.0; + float angVel = 0.52; + Turtlebot turtle(linVel, angVel); EXPECT_EQ(linVel, turtle.moveForward(linVel)); } @@ -61,8 +63,10 @@ TEST(TurtlebotTest, moveForwardTest) { * @detail Test to check angular velocity provided to method */ TEST(TurtlebotTest, turnTest) { - Turtlebot turtle; - float angVel = 0.52; + /// Define angular and linear velocities for the robot + float linVel = 2.0; + float angVel = 0.52; + Turtlebot turtle(linVel, angVel); EXPECT_EQ(angVel, turtle.turn(angVel)); } From e8c2a65a87d9000a8bd74d54691e2e93c416362a Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Sun, 8 Dec 2019 16:30:29 -0500 Subject: [PATCH 26/62] [Task 3.3]Implemented class ObjectDetection --- include/object_detection/object_detection.h | 46 +++++++++++++----- src/object_detection.cpp | 53 +++++++++++++++++++++ 2 files changed, 86 insertions(+), 13 deletions(-) create mode 100644 src/object_detection.cpp diff --git a/include/object_detection/object_detection.h b/include/object_detection/object_detection.h index a9cec3f..93325a6 100644 --- a/include/object_detection/object_detection.h +++ b/include/object_detection/object_detection.h @@ -45,7 +45,7 @@ #include "opencv2/highgui/highgui.hpp" #include "opencv2/imgproc/imgproc.hpp" -class ObjectDectection { +class ObjectDetection { private: /// Define the main access point to communications with the ROS system ros::NodeHandle nh; @@ -59,6 +59,18 @@ class ObjectDectection { cv::Mat convertedImage; /// Define object coordinates cv::Rect objectLocation; + /// Container to store image + cv::Mat image; + /// Container to store template + cv::Mat templ; + /// Define object for Image Transport + image_transport::ImageTransport it; + /// Defining subscriber object + image_transport::Subscriber image_sub; + /// Defining publisher object + image_transport::Publisher image_pub; + /// Source array + cv::Mat result; public: /** @@ -66,14 +78,22 @@ class ObjectDectection { * @param none * @return a constructor has no return */ - ObjectDectection(); + ObjectDetection(); + + /** + * @brief Method to get image file and template file + * @param none + * @return coverted image of type cv::Mat + * @details + */ + cv::Mat readImage(); /** * @brief Destructor for object detection class * @param none - * @return a destrcutor has no return + * @return none */ - ~ObjectDectection(); + ~ObjectDetection(); /** * @brief Callback function for image data @@ -84,17 +104,17 @@ class ObjectDectection { void convertImage(const sensor_msgs::Image::ConstPtr& imageData); /** - * @brief Method to implement template matching - * @param none - * @return void - */ - bool templateMatching(cv::Mat cvImage); + * @brief Method to implement template matching + * @param coverted image of type cv::Mat + * @return image of type bool + */ + void templateMatching(); /** - * @brief Method to get location of object in the turtlebot world - * @param none - * @return void - */ + * @brief Method to get location of object in the turtlebot world + * @param none + * @return location of object of type cv::Rect + */ cv::Rect getObjectLocation(); }; diff --git a/src/object_detection.cpp b/src/object_detection.cpp new file mode 100644 index 0000000..3bd176e --- /dev/null +++ b/src/object_detection.cpp @@ -0,0 +1,53 @@ +#include +#include "ros/ros.h" +#include "sensor_msgs/Image.h" +#include "cv_bridge/cv_bridge.h" +#include "sensor_msgs/image_encodings.h" +#include "image_transport/image_transport.h" +#include "object_detection/object_detection.h" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/imgproc/imgproc.hpp" + +ObjectDetection::ObjectDetection() { + it(nh); + cv::namedWindow(OPENCV_WINDOW); +} + +cv::Mat ObjectDetection::readImage() { + templ = cv::imread("..data/template.png"); + image_sub = it.subscribe("/camera/rgb/image_raw", 1, + &ObjectDetection::convertImage, this); + image_pub = it.advertise("/image_converter/output_video", 1); + return image_sub; +} + +void ObjectDetection::convertImage(const sensor_msgs::Image::ConstPtr& imageData) { + cv_bridge::CvImagePtr cv_ptr; + try { + cv_ptr = cv_bridge::toCvCopy(imageData, sensor_msgs::image_encodings::BGR8); + } + catch (cv_bridge::Exception& e) { + ROS_ERROR("cv_bridge exception: %s", e.what()); + return; + } +} + +void ObjectDetection::templateMatching() { + int matchMethod; + image = ObjectDetection.readImage(); + cv::matchTemplate(cv_ptr->image, templ, cv_ptr->result, matchMethod); /// result is now our source file which has new image which location of the matching features + cv::normalize( cv_ptr->result, result, 0, 1, NORM_MINMAX, -1, Mat()); + double minVal; double maxVal; cv::Point minLoc; cv::Point maxLoc; cv::Point matchLoc; + cv::minMaxLoc( cv_ptr->result, &minVal, &maxVal, &minLoc, &maxLoc, cv::Mat()); + matchLoc = maxLoc; + cv::rectangle( cv_ptr->result, matchLoc, cv::Point( matchLoc.x + templ.cols , matchLoc.y + templ.rows ), Scalar::all(0), 2, 8, 0 ); + cv::imshow(OPENCV_WINDOW, cv_ptr->result); + cv::waitKey(3); + + // Output modified video stream + image_pub_.publish(cv_ptr->toImageMsg()); +} + +ObjectDetection::~ObjectDetection() { + cv::destroyWindow(OPENCV_WINDOW); +} From a2747f60f9743abc804d3e9bacc2cd0a27ff4225 Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Sun, 8 Dec 2019 16:31:12 -0500 Subject: [PATCH 27/62] Added template.jpg for template matching --- data/template.jpg | Bin 0 -> 26508 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 data/template.jpg diff --git a/data/template.jpg b/data/template.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a8a6a1d5023bb1042798600eaa8cdeab940da5df GIT binary patch literal 26508 zcmeFYbyQr>);8E!Ah>k`1PdMr?j9hx1$XyGo5r0GAT;jK!QI_0c;oIC+}#NweEjZv zzxSP)wPvlE`FC#hsk5qT@7kxH=g8VswflMDc^!Z&CnYNdKtKQh5MF+O=M8|hq=$_q z03a*N2tWe>07w9Q1f+jN|H|wLhydJ|GRI4{2}S-_oA^ulpQL8(=;Cf+XGh7#!ok79 z20#QLX1)HG2JuUGq<@zQ5dTa2dE@o9wTp|B04u8lgvG?%(bR&)%+a3J!^DY|orR4R 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z3nN1^0zbHFoxIkN02)?Y9Q?xufHw7_Wwng2QAug2iwi|*0p#PYR&8d%;n-&56N@V017TOsqUlLwoc3H zc%xyX8q|eQOeLB}fw)X0NcX^M~0;UfX7!cc_J&XSU^|MvTk;+%6@W4%tH>hg|a$B-PjQR6| z6YI_irlO8lUZnSCM0U1T%kl#`&IteoC(skr`&RCcpxZMkPf96?X|Pd66aZ006aaKN>x$9)WoJ|91MFHpooJwAJoKOr zC*mHcE$!Jia0hDn=T)5DUds94HGLK1oh}!$k==nU&MW8Lek8ZOks|{Hy2Yh)XM(=XlYir3_s_r3grGKfU)z$&@d#d znFrJl=qO00j0`?cT!ICA=+nF-F?YDpB9A-;k9rUMb%jMQhP)3XCNJ#S{sARP~xpXE{;o4g!bs^gr<=cmwrTvxQ)_-nw{*jCZ+F3SG^9M^K= z@(cxP*?5xIM*%e53rn>N_Z(WL{Cbw^Pvc6!lRR5W@YcVs?fV{^adW$;*{z;He-#F| zt$q=Bp6Yc+w@WqtBXu-!su986F3g|zKwJ;R z(w~?NjFH^+p!1B9ann5Fiw5NKe`ed<$1a9AW=mC453K_rhRFd zB0S{hb||8NBtf}Oa&hlWRxE^`PJJk%f{?UPMF7HzD4>v{iYNf0iYNf0iYNf0iYNf0 MiYNf0iYNpB*?2O_7XSbN literal 0 HcmV?d00001 From 7266243e45494d4cb1b8d5c5faab65c83a05e378 Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Sun, 8 Dec 2019 16:32:38 -0500 Subject: [PATCH 28/62] [Task 3.17]Updated CMakeLists.txt Added reference to object_detection.cpp --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 02c4d3a..d5b160d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,7 +28,7 @@ include_directories( ) ## Add executables -add_executable(object_collection src/turtlebot.cpp src/obstacle_avoidance.cpp src/main.cpp) +add_executable(object_collection src/turtlebot.cpp src/obstacle_avoidance.cpp src/object_detection.cpp src/main.cpp) ## Add target link libraries target_link_libraries(object_collection ${catkin_LIBRARIES} ${OpenCV_LIBS}) From 9e1f3eb5cfdc41e293ed98180f9749be7244e608 Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Sun, 8 Dec 2019 16:33:58 -0500 Subject: [PATCH 29/62] [Task 3.3]Added function and object of class ObjectDetection --- include/turtlebot/turtlebot.h | 2 +- src/main.cpp | 4 ++-- src/turtlebot.cpp | 3 ++- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/include/turtlebot/turtlebot.h b/include/turtlebot/turtlebot.h index 9a423e3..8b0b5aa 100644 --- a/include/turtlebot/turtlebot.h +++ b/include/turtlebot/turtlebot.h @@ -112,7 +112,7 @@ class Turtlebot { * @detail Use obstacle avoidance and go-to-goal strategies * to move towards the object to be collected */ - void moveBot(ObstacleAvoidance& obstacleAvoidance); + void moveBot(ObstacleAvoidance& obstacleAvoidance, ObjectDetection& objectDetection); /** * @brief Reset the velocities of the bot diff --git a/src/main.cpp b/src/main.cpp index 4f9ac49..48ae41a 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -51,8 +51,8 @@ int main(int argc, char* argv[]) { ros::init(argc, argv, "object_collection"); ObstacleAvoidance obstacleAvoidance; - /// ObjectDetection objectDetection; + ObjectDetection objectDetection; Turtlebot turtlebot; - turtlebot.moveBot(obstacleAvoidance); + turtlebot.moveBot(obstacleAvoidance, objectDetection); return 0; } diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index 8d238b3..942a73c 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -92,10 +92,11 @@ bool Turtlebot::collectObject() { return false; } -void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance) { +void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance, ObjectDetection& objectDetection) { // Set the publishing rate ros::Rate loop_rate(publishRate); while (ros::ok()) { + objectDetection.templateMatching(); if (obstacleAvoidance.checkObstacle()) { ROS_DEBUG_STREAM("Inside obstacle detected"); /// Start turning the robot to avoid obstacles From 16006383f360f0d3fa412f77b4be2d0767b57a17 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sun, 8 Dec 2019 23:21:41 -0500 Subject: [PATCH 30/62] [Task 3.1] Update function definitions --- include/turtlebot/turtlebot.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/include/turtlebot/turtlebot.h b/include/turtlebot/turtlebot.h index 8b0b5aa..711372b 100644 --- a/include/turtlebot/turtlebot.h +++ b/include/turtlebot/turtlebot.h @@ -60,6 +60,12 @@ class Turtlebot { float prevLinearVelocity, prevAngularVelocity; /// Initialize publishing rate const int publishRate = 500; + /// Obstacle detection and template matching variables + /* + const std::string opencvWindow = "image_window"; + const int maxTrackbar = 5; + int matchMethod; + char* trackbarLabel;*/ public: /** From 5c1551d45032de570353bff628f5539ceded8309 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sun, 8 Dec 2019 23:23:38 -0500 Subject: [PATCH 31/62] [Task 3.1] Fix move bot for obstacle avoidance --- src/turtlebot.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index 942a73c..9b19399 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -96,7 +96,11 @@ void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance, ObjectDetection& o // Set the publishing rate ros::Rate loop_rate(publishRate); while (ros::ok()) { - objectDetection.templateMatching(); + /* + if(objectDetection.templateMatching()) { + objectDetection.getObjectLocation(); + } + */ if (obstacleAvoidance.checkObstacle()) { ROS_DEBUG_STREAM("Inside obstacle detected"); /// Start turning the robot to avoid obstacles From bd9c4527f015b3aa5011d1c62c893c3c16674454 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sun, 8 Dec 2019 23:37:57 -0500 Subject: [PATCH 32/62] [Task 3.3] Fixed class by adding priate variables --- include/object_detection/object_detection.h | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/include/object_detection/object_detection.h b/include/object_detection/object_detection.h index 93325a6..c845480 100644 --- a/include/object_detection/object_detection.h +++ b/include/object_detection/object_detection.h @@ -37,6 +37,7 @@ #ifndef INCLUDE_OBJECT_DETECTION_OBJECT_DETECTION_H_ #define INCLUDE_OBJECT_DETECTION_OBJECT_DETECTION_H_ +#include "iostream" #include "ros/ros.h" #include "sensor_msgs/Image.h" #include "cv_bridge/cv_bridge.h" @@ -49,18 +50,12 @@ class ObjectDetection { private: /// Define the main access point to communications with the ROS system ros::NodeHandle nh; - /// Define a publisher object to publish velocities for the robot - ros::Publisher publishLocation; /// Define a subscriber object to data of the laser sensor ros::Subscriber subscibeImages; - /// Declare publishing rate - float publishingRate; /// Store copy of the ros image converted into cv image cv::Mat convertedImage; /// Define object coordinates cv::Rect objectLocation; - /// Container to store image - cv::Mat image; /// Container to store template cv::Mat templ; /// Define object for Image Transport @@ -71,6 +66,10 @@ class ObjectDetection { image_transport::Publisher image_pub; /// Source array cv::Mat result; + /// Object bounding box + cv::Rect objectBoundary; + double minVal, maxVal; + cv::Point minLoc, maxLoc,matchLoc; public: /** @@ -86,7 +85,7 @@ class ObjectDetection { * @return coverted image of type cv::Mat * @details */ - cv::Mat readImage(); + cv::Mat readImage(std::string imagePath); /** * @brief Destructor for object detection class @@ -106,9 +105,9 @@ class ObjectDetection { /** * @brief Method to implement template matching * @param coverted image of type cv::Mat - * @return image of type bool + * @return match found */ - void templateMatching(); + bool templateMatching(); /** * @brief Method to get location of object in the turtlebot world From 2ababd0544aa78c97b2bad6eb5a16bd71d28fe49 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sun, 8 Dec 2019 23:39:50 -0500 Subject: [PATCH 33/62] [Task 3.3] Fix conversion of ros image into opencv image Fixed path to template image --- src/object_detection.cpp | 71 ++++++++++++++++++++++------------------ 1 file changed, 40 insertions(+), 31 deletions(-) diff --git a/src/object_detection.cpp b/src/object_detection.cpp index 3bd176e..443d241 100644 --- a/src/object_detection.cpp +++ b/src/object_detection.cpp @@ -8,46 +8,55 @@ #include "opencv2/highgui/highgui.hpp" #include "opencv2/imgproc/imgproc.hpp" -ObjectDetection::ObjectDetection() { - it(nh); - cv::namedWindow(OPENCV_WINDOW); +ObjectDetection::ObjectDetection() + : it(nh) { + image_sub = it.subscribe("/image_raw", 500, + &ObjectDetection::convertImage, this); } -cv::Mat ObjectDetection::readImage() { - templ = cv::imread("..data/template.png"); - image_sub = it.subscribe("/camera/rgb/image_raw", 1, - &ObjectDetection::convertImage, this); - image_pub = it.advertise("/image_converter/output_video", 1); - return image_sub; +cv::Mat ObjectDetection::readImage(std::string imagePath) { + // get mat format of image from image reader + cv::Mat cvImage = cv::imread(imagePath); + // check validity of image + if (cvImage.empty()) { + throw std::runtime_error("Invalid File Path"); + } + return cvImage; } void ObjectDetection::convertImage(const sensor_msgs::Image::ConstPtr& imageData) { - cv_bridge::CvImagePtr cv_ptr; - try { - cv_ptr = cv_bridge::toCvCopy(imageData, sensor_msgs::image_encodings::BGR8); - } - catch (cv_bridge::Exception& e) { - ROS_ERROR("cv_bridge exception: %s", e.what()); - return; - } + try { + convertedImage = cv_bridge::toCvCopy(imageData, "bgr8")->image; + } + catch (cv_bridge::Exception& e) { + ROS_ERROR_STREAM("cv_bridge exception: " << e.what()); + return; + } } -void ObjectDetection::templateMatching() { - int matchMethod; - image = ObjectDetection.readImage(); - cv::matchTemplate(cv_ptr->image, templ, cv_ptr->result, matchMethod); /// result is now our source file which has new image which location of the matching features - cv::normalize( cv_ptr->result, result, 0, 1, NORM_MINMAX, -1, Mat()); - double minVal; double maxVal; cv::Point minLoc; cv::Point maxLoc; cv::Point matchLoc; - cv::minMaxLoc( cv_ptr->result, &minVal, &maxVal, &minLoc, &maxLoc, cv::Mat()); - matchLoc = maxLoc; - cv::rectangle( cv_ptr->result, matchLoc, cv::Point( matchLoc.x + templ.cols , matchLoc.y + templ.rows ), Scalar::all(0), 2, 8, 0 ); - cv::imshow(OPENCV_WINDOW, cv_ptr->result); - cv::waitKey(3); +bool ObjectDetection::templateMatching() { + templ = readImage("../data/template.jpg"); + /// Result is now our source file + /// It has location of the matching features + // Match Template + cv::matchTemplate(convertedImage, templ, result, cv::TemplateMatchModes(CV_TM_CCORR_NORMED)); + if (result.empty()) { + return false; + } + cv::normalize( result, result, 0, 1, 32, -1, cv::Mat()); + return true; +} - // Output modified video stream - image_pub_.publish(cv_ptr->toImageMsg()); +cv::Rect ObjectDetection::getObjectLocation() { + cv::minMaxLoc( result, &minVal, &maxVal, &minLoc, &maxLoc, cv::Mat()); + matchLoc = maxLoc; + objectBoundary.x = matchLoc.x; + objectBoundary.y = matchLoc.y; + objectBoundary.width = templ.cols; + objectBoundary.height = templ.rows; + cv::rectangle(result, objectBoundary, cv::Scalar(255, 0, 0) ); + return objectBoundary; } ObjectDetection::~ObjectDetection() { - cv::destroyWindow(OPENCV_WINDOW); } From e578888637f9728a72029996b940939390b34cba Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Sun, 8 Dec 2019 23:40:57 -0500 Subject: [PATCH 34/62] [Task 3.7] Fix launch file to run object collection --- launch/object_collection.launch | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/launch/object_collection.launch b/launch/object_collection.launch index 3e48768..452e2d7 100644 --- a/launch/object_collection.launch +++ b/launch/object_collection.launch @@ -1,5 +1,4 @@ - - \ No newline at end of file + From 440713749c2d7d9a79321fe8236815cc4acee2b4 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 04:11:39 -0500 Subject: [PATCH 35/62] [Task 3.3] Change object detection method Swicth from template matching to HSV --- include/object_detection/object_detection.h | 86 ++++++++------ src/object_detection.cpp | 118 ++++++++++++++------ 2 files changed, 136 insertions(+), 68 deletions(-) diff --git a/include/object_detection/object_detection.h b/include/object_detection/object_detection.h index c845480..74cf677 100644 --- a/include/object_detection/object_detection.h +++ b/include/object_detection/object_detection.h @@ -37,14 +37,10 @@ #ifndef INCLUDE_OBJECT_DETECTION_OBJECT_DETECTION_H_ #define INCLUDE_OBJECT_DETECTION_OBJECT_DETECTION_H_ -#include "iostream" #include "ros/ros.h" -#include "sensor_msgs/Image.h" #include "cv_bridge/cv_bridge.h" -#include "sensor_msgs/image_encodings.h" -#include "image_transport/image_transport.h" +#include "opencv2/opencv.hpp" #include "opencv2/highgui/highgui.hpp" -#include "opencv2/imgproc/imgproc.hpp" class ObjectDetection { private: @@ -54,22 +50,18 @@ class ObjectDetection { ros::Subscriber subscibeImages; /// Store copy of the ros image converted into cv image cv::Mat convertedImage; + cv::Mat hsvImage, maskImage; /// Define object coordinates - cv::Rect objectLocation; - /// Container to store template - cv::Mat templ; - /// Define object for Image Transport - image_transport::ImageTransport it; - /// Defining subscriber object - image_transport::Subscriber image_sub; - /// Defining publisher object - image_transport::Publisher image_pub; - /// Source array - cv::Mat result; - /// Object bounding box cv::Rect objectBoundary; - double minVal, maxVal; - cv::Point minLoc, maxLoc,matchLoc; + /// Define upper and lower limit of color + /// Defined red as coca-cola can is red in color + const cv::Scalar colorLowerLimit = {0, 0, 100}; + const cv::Scalar colorUpperLimit = {0, 0, 255}; + /// size of an image + cv::Size imageSize; + /// Define image array for contours + std::vector > imageArray; + bool objectDetected; public: /** @@ -79,14 +71,6 @@ class ObjectDetection { */ ObjectDetection(); - /** - * @brief Method to get image file and template file - * @param none - * @return coverted image of type cv::Mat - * @details - */ - cv::Mat readImage(std::string imagePath); - /** * @brief Destructor for object detection class * @param none @@ -103,18 +87,54 @@ class ObjectDetection { void convertImage(const sensor_msgs::Image::ConstPtr& imageData); /** - * @brief Method to implement template matching - * @param coverted image of type cv::Mat + * @brief Method to detect object using hsv + * @param converted opencv image * @return match found */ - bool templateMatching(); + bool detectObject(); /** - * @brief Method to get location of object in the turtlebot world + * @brief Method to gaussian filter on the image + * @param converted opencv image + * @return image blurred using gaussian filter + */ + cv::Mat applyGaussBlur(); + + /** + * @brief Get boundary of the object in the image * @param none - * @return location of object of type cv::Rect + * @return rectangular box containing the object */ - cv::Rect getObjectLocation(); + cv::Rect getObjectBoundary() const { + return objectBoundary; + } + + /** + * @brief set object boundary + * @param boundingBox reactagular boundary of the object + * @return void + */ + void setObjectBoundary(cv::Rect boundingBox) { + objectBoundary = boundingBox; + } + + /** + * @brief get object detected + * @param none + * @return object detected or not + */ + bool getObjectDetected() const { + return objectDetected; + } + + /** + * @brief set object detected + * @param object detected status + * @return void + */ + void setObjectDetected(bool object) { + objectDetected = object; + } }; #endif // INCLUDE_OBJECT_DETECTION_OBJECT_DETECTION_H_ diff --git a/src/object_detection.cpp b/src/object_detection.cpp index 443d241..3341dab 100644 --- a/src/object_detection.cpp +++ b/src/object_detection.cpp @@ -1,27 +1,53 @@ +/** + * BSD 3-Clause License + * + * @copyright (c) 2019, Umang Rastogi Naman Gupta + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file object_detection.h + * @author Umang Rastogi - Driver + * @author Naman Gupta - Navigator + * @brief Library header file to implement object detection + * @detail Implements object detection using HSV + */ + #include +#include #include "ros/ros.h" #include "sensor_msgs/Image.h" #include "cv_bridge/cv_bridge.h" -#include "sensor_msgs/image_encodings.h" -#include "image_transport/image_transport.h" #include "object_detection/object_detection.h" #include "opencv2/highgui/highgui.hpp" #include "opencv2/imgproc/imgproc.hpp" -ObjectDetection::ObjectDetection() - : it(nh) { - image_sub = it.subscribe("/image_raw", 500, +ObjectDetection::ObjectDetection() { + subscibeImages = nh.subscribe("/camera/rgb/image_raw", 1, &ObjectDetection::convertImage, this); } -cv::Mat ObjectDetection::readImage(std::string imagePath) { - // get mat format of image from image reader - cv::Mat cvImage = cv::imread(imagePath); - // check validity of image - if (cvImage.empty()) { - throw std::runtime_error("Invalid File Path"); - } - return cvImage; +ObjectDetection::~ObjectDetection() { } void ObjectDetection::convertImage(const sensor_msgs::Image::ConstPtr& imageData) { @@ -34,29 +60,51 @@ void ObjectDetection::convertImage(const sensor_msgs::Image::ConstPtr& imageData } } -bool ObjectDetection::templateMatching() { - templ = readImage("../data/template.jpg"); - /// Result is now our source file - /// It has location of the matching features - // Match Template - cv::matchTemplate(convertedImage, templ, result, cv::TemplateMatchModes(CV_TM_CCORR_NORMED)); - if (result.empty()) { - return false; +bool ObjectDetection::detectObject() { + /// Convert image from bgr to hsv + cv::cvtColor(convertedImage, hsvImage, CV_BGR2HSV); + /// Detect hsv within the set limits + cv::inRange(hsvImage, colorLowerLimit, colorUpperLimit, maskImage); + /// Get image size to modify size of mask image + imageSize = convertedImage.size(); + maskImage(cv::Rect(0, 0, imageSize.width, 0.8*imageSize.height)) = 0; + /// Find contours for better visualization + cv::findContours(maskImage, imageArray, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); + /// Check if contours exist in the image + if (imageArray.size() != 0) { + auto contourSize = 0; + auto maxAreaContour = 0; + auto count = 0; + while (count < imageArray.size()) { + /// Find contour with maximum area + if (contourSize < imageArray[count].size()) { + maxAreaContour = count; + contourSize = imageArray[count].size(); + } + count++; + } + /// Set boundary of the object in the image + setObjectBoundary(cv::boundingRect(imageArray[maxAreaContour])); + /// Draw the rectangle using the bounding box + cv::rectangle(convertedImage, getObjectBoundary(), cv::Scalar(255, 0, 0), 2); } - cv::normalize( result, result, 0, 1, 32, -1, cv::Mat()); - return true; -} + /// Mask image to limit the future turns affecting the output + maskImage(cv::Rect(0.7*imageSize.width, 0, \ + 0.3*imageSize.width, imageSize.height)) = 0; + maskImage(cv::Rect(0, 0, 0.3*imageSize.width, imageSize.height)) = 0; -cv::Rect ObjectDetection::getObjectLocation() { - cv::minMaxLoc( result, &minVal, &maxVal, &minLoc, &maxLoc, cv::Mat()); - matchLoc = maxLoc; - objectBoundary.x = matchLoc.x; - objectBoundary.y = matchLoc.y; - objectBoundary.width = templ.cols; - objectBoundary.height = templ.rows; - cv::rectangle(result, objectBoundary, cv::Scalar(255, 0, 0) ); - return objectBoundary; -} + if (cv::countNonZero(maskImage) == 0) { + setObjectDetected(true); + } else { + setObjectDetected(false); + } -ObjectDetection::~ObjectDetection() { + return getObjectDetected(); } + +cv::Mat ObjectDetection::applyGaussBlur() { + cv::Mat output; + /// Apply gaussian filter + cv::GaussianBlur(convertedImage, output, cv::Size(3, 3), 0.1, 0.1); + return output; +} \ No newline at end of file From 3335a0068bbe4899b5641f520623fe7ab5f4e666 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 04:12:30 -0500 Subject: [PATCH 36/62] [Task 3,1] Update turtlebot with object detection methods --- src/turtlebot.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index 9b19399..67fde6b 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -96,11 +96,8 @@ void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance, ObjectDetection& o // Set the publishing rate ros::Rate loop_rate(publishRate); while (ros::ok()) { - /* - if(objectDetection.templateMatching()) { - objectDetection.getObjectLocation(); - } - */ + //objectDetection.applyGaussBlur(); + //objectDetection.detectObject(); if (obstacleAvoidance.checkObstacle()) { ROS_DEBUG_STREAM("Inside obstacle detected"); /// Start turning the robot to avoid obstacles From 758ff9d28bfa2f57184b30e314bb6c3d9a821aaa Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Mon, 9 Dec 2019 05:55:52 -0500 Subject: [PATCH 37/62] [Task 3.3]Created a new node for object detection Created a new node called detector for object detection implementation. Obstacle Avoidance was not working simultaneously with Object Detection class --- CMakeLists.txt | 6 ++- include/object_detection/object_detection.h | 11 ++-- include/turtlebot/turtlebot.h | 2 +- launch/object_collection.launch | 11 ++-- src/detector.cpp | 56 +++++++++++++++++++++ src/main.cpp | 5 +- src/object_detection.cpp | 26 +++++----- src/turtlebot.cpp | 4 +- 8 files changed, 94 insertions(+), 27 deletions(-) create mode 100644 src/detector.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index d5b160d..9b8701a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,10 +28,13 @@ include_directories( ) ## Add executables -add_executable(object_collection src/turtlebot.cpp src/obstacle_avoidance.cpp src/object_detection.cpp src/main.cpp) +add_executable(object_collection src/turtlebot.cpp src/obstacle_avoidance.cpp src/main.cpp) + +add_executable(detector src/object_detection.cpp src/detector.cpp) ## Add target link libraries 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) @@ -56,5 +59,6 @@ if(CATKIN_ENABLE_TESTING) add_dependencies( test_project_x_robot object_collection + detector ${catkin_EXPORTED_TARGETS}) endif() \ No newline at end of file diff --git a/include/object_detection/object_detection.h b/include/object_detection/object_detection.h index 74cf677..9520397 100644 --- a/include/object_detection/object_detection.h +++ b/include/object_detection/object_detection.h @@ -47,9 +47,10 @@ class ObjectDetection { /// Define the main access point to communications with the ROS system ros::NodeHandle nh; /// Define a subscriber object to data of the laser sensor - ros::Subscriber subscibeImages; + ros::Subscriber subscribeImages; /// Store copy of the ros image converted into cv image - cv::Mat convertedImage; + + cv::Mat hsvImage, maskImage; /// Define object coordinates cv::Rect objectBoundary; @@ -69,6 +70,8 @@ class ObjectDetection { * @param none * @return a constructor has no return */ + cv::Mat cvtImage; + cv::Mat img_filt; /// Filtered image in opencv matrix format ObjectDetection(); /** @@ -91,14 +94,14 @@ class ObjectDetection { * @param converted opencv image * @return match found */ - bool detectObject(); + bool detectObject(cv::Mat image); /** * @brief Method to gaussian filter on the image * @param converted opencv image * @return image blurred using gaussian filter */ - cv::Mat applyGaussBlur(); + cv::Mat applyGaussBlur(cv::Mat cvtImage); /** * @brief Get boundary of the object in the image diff --git a/include/turtlebot/turtlebot.h b/include/turtlebot/turtlebot.h index 711372b..5c47fb1 100644 --- a/include/turtlebot/turtlebot.h +++ b/include/turtlebot/turtlebot.h @@ -118,7 +118,7 @@ class Turtlebot { * @detail Use obstacle avoidance and go-to-goal strategies * to move towards the object to be collected */ - void moveBot(ObstacleAvoidance& obstacleAvoidance, ObjectDetection& objectDetection); + void moveBot(ObstacleAvoidance& obstacleAvoidance); /** * @brief Reset the velocities of the bot diff --git a/launch/object_collection.launch b/launch/object_collection.launch index 452e2d7..d81a5d9 100644 --- a/launch/object_collection.launch +++ b/launch/object_collection.launch @@ -1,8 +1,4 @@ - @@ -16,4 +12,11 @@ output = "screen" launch-prefix = "xterm -e" /> + + diff --git a/src/detector.cpp b/src/detector.cpp new file mode 100644 index 0000000..c3f3202 --- /dev/null +++ b/src/detector.cpp @@ -0,0 +1,56 @@ +/** + * Copyright (c) 2019, Naman Gupta + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS + * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF + * THE POSSIBILITY OF SUCH DAMAGE. + */ + +/** + *@file listener.cpp + *@author Naman Gupta + *@copyright GNU + *@brief ROS subscriber subscribes to talker.cpp to listen the message + * sent by the publisher node. + */ + +#include +#include "object_detection/object_detection.h" + +int main(int argc, char **argv) { + + ros::init(argc, argv, "detector"); + ObjectDetection objDet; + + while (ros::ok()) { + if (!objDet.cvtImage.empty()) { + objDet.img_filt = objDet.applyGaussBlur(objDet.cvtImage); + } + ros::spinOnce(); + } + return 0; +} diff --git a/src/main.cpp b/src/main.cpp index 48ae41a..987fc17 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -39,7 +39,6 @@ */ #include "ros/ros.h" #include "turtlebot/turtlebot.h" -#include "object_detection/object_detection.h" #include "obstacle_avoidance/obstacle_avoidance.h" /** @@ -51,8 +50,8 @@ int main(int argc, char* argv[]) { ros::init(argc, argv, "object_collection"); ObstacleAvoidance obstacleAvoidance; - ObjectDetection objectDetection; + // ObjectDetection objectDetection; Turtlebot turtlebot; - turtlebot.moveBot(obstacleAvoidance, objectDetection); + turtlebot.moveBot(obstacleAvoidance); return 0; } diff --git a/src/object_detection.cpp b/src/object_detection.cpp index 3341dab..54c2c31 100644 --- a/src/object_detection.cpp +++ b/src/object_detection.cpp @@ -43,16 +43,16 @@ #include "opencv2/imgproc/imgproc.hpp" ObjectDetection::ObjectDetection() { - subscibeImages = nh.subscribe("/camera/rgb/image_raw", 1, + subscribeImages = nh.subscribe("/camera/rgb/image_raw", 1, &ObjectDetection::convertImage, this); } -ObjectDetection::~ObjectDetection() { -} - void ObjectDetection::convertImage(const sensor_msgs::Image::ConstPtr& imageData) { + cv_bridge::CvImagePtr cv_ptr; try { - convertedImage = cv_bridge::toCvCopy(imageData, "bgr8")->image; + cv_ptr = cv_bridge::toCvCopy(imageData, sensor_msgs::image_encodings::BGR8); + cvtImage = cv_ptr->image; + cv::waitKey(30); } catch (cv_bridge::Exception& e) { ROS_ERROR_STREAM("cv_bridge exception: " << e.what()); @@ -60,13 +60,13 @@ void ObjectDetection::convertImage(const sensor_msgs::Image::ConstPtr& imageData } } -bool ObjectDetection::detectObject() { +bool ObjectDetection::detectObject(cv::Mat image) { /// Convert image from bgr to hsv - cv::cvtColor(convertedImage, hsvImage, CV_BGR2HSV); + cv::cvtColor(image, hsvImage, CV_BGR2HSV); /// Detect hsv within the set limits cv::inRange(hsvImage, colorLowerLimit, colorUpperLimit, maskImage); /// Get image size to modify size of mask image - imageSize = convertedImage.size(); + imageSize = image.size(); maskImage(cv::Rect(0, 0, imageSize.width, 0.8*imageSize.height)) = 0; /// Find contours for better visualization cv::findContours(maskImage, imageArray, CV_RETR_LIST, CV_CHAIN_APPROX_NONE); @@ -86,7 +86,7 @@ bool ObjectDetection::detectObject() { /// Set boundary of the object in the image setObjectBoundary(cv::boundingRect(imageArray[maxAreaContour])); /// Draw the rectangle using the bounding box - cv::rectangle(convertedImage, getObjectBoundary(), cv::Scalar(255, 0, 0), 2); + rectangle(image, getObjectBoundary(), cv::Scalar(255, 0, 0), 2); } /// Mask image to limit the future turns affecting the output maskImage(cv::Rect(0.7*imageSize.width, 0, \ @@ -102,9 +102,11 @@ bool ObjectDetection::detectObject() { return getObjectDetected(); } -cv::Mat ObjectDetection::applyGaussBlur() { +cv::Mat ObjectDetection::applyGaussBlur(cv::Mat cvtImage) { cv::Mat output; /// Apply gaussian filter - cv::GaussianBlur(convertedImage, output, cv::Size(3, 3), 0.1, 0.1); + cv::GaussianBlur(cvtImage, output, cv::Size(3, 3), 0.1, 0.1); return output; -} \ No newline at end of file +} + +ObjectDetection::~ObjectDetection() {} diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index 67fde6b..382b2d3 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -92,12 +92,12 @@ bool Turtlebot::collectObject() { return false; } -void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance, ObjectDetection& objectDetection) { +void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance) { // Set the publishing rate ros::Rate loop_rate(publishRate); while (ros::ok()) { //objectDetection.applyGaussBlur(); - //objectDetection.detectObject(); + //objectDetection.detectObject(objectDetection.applyGaussBlur()); if (obstacleAvoidance.checkObstacle()) { ROS_DEBUG_STREAM("Inside obstacle detected"); /// Start turning the robot to avoid obstacles From 5b589b4d70e3fffa2ab3d502f4f8f9f762f265f5 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 07:11:33 -0500 Subject: [PATCH 38/62] [Task 3.1] Remove object detection calls from turtlebot Make turtlebot independent of object detection --- src/turtlebot.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index 382b2d3..e6fdb0c 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -96,10 +96,7 @@ void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance) { // Set the publishing rate ros::Rate loop_rate(publishRate); while (ros::ok()) { - //objectDetection.applyGaussBlur(); - //objectDetection.detectObject(objectDetection.applyGaussBlur()); if (obstacleAvoidance.checkObstacle()) { - ROS_DEBUG_STREAM("Inside obstacle detected"); /// Start turning the robot to avoid obstacles turn(angularVelocity); /// Check if velocities have changed From e88024cfe2e5f70da763bbe33b1b0ca23f28894a Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 07:12:48 -0500 Subject: [PATCH 39/62] [Task 3.3] Add separate node for object detection Turtlebot no longer dependent on object detection --- include/object_detection/object_detection.h | 13 +++++++++---- src/detector.cpp | 10 ++++++---- src/object_detection.cpp | 13 ++++++++----- 3 files changed, 23 insertions(+), 13 deletions(-) diff --git a/include/object_detection/object_detection.h b/include/object_detection/object_detection.h index 9520397..ec863a6 100644 --- a/include/object_detection/object_detection.h +++ b/include/object_detection/object_detection.h @@ -56,8 +56,8 @@ class ObjectDetection { cv::Rect objectBoundary; /// Define upper and lower limit of color /// Defined red as coca-cola can is red in color - const cv::Scalar colorLowerLimit = {0, 0, 100}; - const cv::Scalar colorUpperLimit = {0, 0, 255}; + const cv::Scalar colorLowerLimit = {170, 50, 50}; + const cv::Scalar colorUpperLimit = {255, 200, 90}; /// size of an image cv::Size imageSize; /// Define image array for contours @@ -70,8 +70,6 @@ class ObjectDetection { * @param none * @return a constructor has no return */ - cv::Mat cvtImage; - cv::Mat img_filt; /// Filtered image in opencv matrix format ObjectDetection(); /** @@ -81,6 +79,13 @@ class ObjectDetection { */ ~ObjectDetection(); + /** + * @brief converted image from ros to opencv + * @param none + * @return none + */ + cv::Mat convertedImage; + /** * @brief Callback function for image data * @param image data from camera node diff --git a/src/detector.cpp b/src/detector.cpp index c3f3202..b3b2e43 100644 --- a/src/detector.cpp +++ b/src/detector.cpp @@ -31,9 +31,8 @@ */ /** - *@file listener.cpp + *@file detector.cpp *@author Naman Gupta - *@copyright GNU *@brief ROS subscriber subscribes to talker.cpp to listen the message * sent by the publisher node. */ @@ -47,10 +46,13 @@ int main(int argc, char **argv) { ObjectDetection objDet; while (ros::ok()) { - if (!objDet.cvtImage.empty()) { - objDet.img_filt = objDet.applyGaussBlur(objDet.cvtImage); + if (!objDet.convertedImage.empty()) { + objDet.detectObject(objDet.applyGaussBlur(objDet.convertedImage)); } ros::spinOnce(); } + + cv::destroyWindow("HSVImage"); + cv::destroyWindow("Turtlebot View"); return 0; } diff --git a/src/object_detection.cpp b/src/object_detection.cpp index 54c2c31..4283263 100644 --- a/src/object_detection.cpp +++ b/src/object_detection.cpp @@ -43,15 +43,17 @@ #include "opencv2/imgproc/imgproc.hpp" ObjectDetection::ObjectDetection() { + ROS_INFO_STREAM("Initiliazing obejct detection..."); subscribeImages = nh.subscribe("/camera/rgb/image_raw", 1, &ObjectDetection::convertImage, this); + ROS_INFO_STREAM("Object detection set up complete"); } void ObjectDetection::convertImage(const sensor_msgs::Image::ConstPtr& imageData) { cv_bridge::CvImagePtr cv_ptr; try { cv_ptr = cv_bridge::toCvCopy(imageData, sensor_msgs::image_encodings::BGR8); - cvtImage = cv_ptr->image; + convertedImage = cv_ptr->image; cv::waitKey(30); } catch (cv_bridge::Exception& e) { @@ -86,11 +88,9 @@ bool ObjectDetection::detectObject(cv::Mat image) { /// Set boundary of the object in the image setObjectBoundary(cv::boundingRect(imageArray[maxAreaContour])); /// Draw the rectangle using the bounding box - rectangle(image, getObjectBoundary(), cv::Scalar(255, 0, 0), 2); + rectangle(image, getObjectBoundary(), cv::Scalar(0, 255, 0), 2); } /// Mask image to limit the future turns affecting the output - maskImage(cv::Rect(0.7*imageSize.width, 0, \ - 0.3*imageSize.width, imageSize.height)) = 0; maskImage(cv::Rect(0, 0, 0.3*imageSize.width, imageSize.height)) = 0; if (cv::countNonZero(maskImage) == 0) { @@ -98,7 +98,10 @@ bool ObjectDetection::detectObject(cv::Mat image) { } else { setObjectDetected(false); } - + cv::namedWindow("HSVImage"); + cv::namedWindow("Turtlebot View"); + imshow("HSVImage", hsvImage); + imshow("Turtlebot View", image); return getObjectDetected(); } From 9bd28db2e19a37be28e6761415fdfcd4681862e0 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 07:18:18 -0500 Subject: [PATCH 40/62] [Task 3.6] Remove object detection dependency from navigator Rename main to navigator --- src/{main.cpp => navigator.cpp} | 1 - 1 file changed, 1 deletion(-) rename src/{main.cpp => navigator.cpp} (98%) diff --git a/src/main.cpp b/src/navigator.cpp similarity index 98% rename from src/main.cpp rename to src/navigator.cpp index 987fc17..6c79713 100644 --- a/src/main.cpp +++ b/src/navigator.cpp @@ -50,7 +50,6 @@ int main(int argc, char* argv[]) { ros::init(argc, argv, "object_collection"); ObstacleAvoidance obstacleAvoidance; - // ObjectDetection objectDetection; Turtlebot turtlebot; turtlebot.moveBot(obstacleAvoidance); return 0; From 5baf92961577bf28c528658cb120824f2f6d3610 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 07:20:35 -0500 Subject: [PATCH 41/62] [Task 3.12] Increase object population for demo --- data/worlds/supermarket.world | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/data/worlds/supermarket.world b/data/worlds/supermarket.world index 765a01c..9934702 100644 --- a/data/worlds/supermarket.world +++ b/data/worlds/supermarket.world @@ -9474,11 +9474,14 @@ model://coke_can + + Gazebo/Blue + 0 0 0 0 0 0 - 10 10 0.01 + 15 15 0.01 - 20 + 60 random From bd003dc37c03ee32c44e95b93f8de806d19d7eb6 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 08:33:43 -0500 Subject: [PATCH 42/62] [Task 3.3] Remove unnecessary headers and change doxygen comments --- include/object_detection/object_detection.h | 2 +- src/object_detection.cpp | 2 -- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/include/object_detection/object_detection.h b/include/object_detection/object_detection.h index ec863a6..5f599f9 100644 --- a/include/object_detection/object_detection.h +++ b/include/object_detection/object_detection.h @@ -96,7 +96,7 @@ class ObjectDetection { /** * @brief Method to detect object using hsv - * @param converted opencv image + * @param image gaussian filtered image * @return match found */ bool detectObject(cv::Mat image); diff --git a/src/object_detection.cpp b/src/object_detection.cpp index 4283263..e8fd565 100644 --- a/src/object_detection.cpp +++ b/src/object_detection.cpp @@ -33,8 +33,6 @@ * @detail Implements object detection using HSV */ -#include -#include #include "ros/ros.h" #include "sensor_msgs/Image.h" #include "cv_bridge/cv_bridge.h" From fb8819fa0dc1ab907b40af88cea695a697ed90f6 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 08:35:25 -0500 Subject: [PATCH 43/62] [Task 3.15] Add test cases for object detection --- test/object_detection_test.cpp | 81 ++++++++++++++++++++++++++++++++++ 1 file changed, 81 insertions(+) create mode 100644 test/object_detection_test.cpp diff --git a/test/object_detection_test.cpp b/test/object_detection_test.cpp new file mode 100644 index 0000000..76ae9e5 --- /dev/null +++ b/test/object_detection_test.cpp @@ -0,0 +1,81 @@ +/** + * BSD 3-Clause License + * + * @copyright (c) 2019, Naman Gupta, Umang Rastogi + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file obstacle_detection_test.cpp + * @author Naman Gupta - Navigator + * @author Umang Rastogi - Driver + * @brief Class test implementation of class ObstacleAvoidance + * @details Test the methods of class ObstacleAvoidance + */ +#include +#include +#include +#include "opencv2/opencv.hpp" + +/** + * @brief Test to check getters and setters + */ +TEST(ObjectDetectionTest, objectNotDetected) { + ObjectDetection objectDetection; + objectDetection.setObjectDetected(false); + EXPECT_FALSE(objectDetection.getObjectDetected()); +} + +/** + * @brief Test to check getters and setters + */ +TEST(ObjectDetectionTest, objectDetected) { + ObjectDetection objectDetection; + objectDetection.setObjectDetected(true); + EXPECT_TRUE(objectDetection.getObjectDetected()); +} + +/** + * @brief Test to check setting of object boundary + */ +TEST(ObjectDetectionTest, setBoundary) { + ObjectDetection objectDetection; + /// Define object boundary + cv::Rect boundingBox = {0, 21, 113, 56}; + objectDetection.setObjectBoundary(boundingBox); + EXPECT_EQ(objectDetection.getObjectBoundary(), boundingBox); +} + +/** + * @brief Test to check object detection using hsv + */ +TEST(ObjectDetectionTest, checkObject) { + ObjectDetection objectDetection; + bool objectDetected; + if (!objectDetection.convertedImage.empty()) { + objectDetected = objectDetection.detectObject( + objectDetection.applyGaussBlur(objectDetection.convertedImage)); + } + EXPECT_FALSE(objectDetected); +} \ No newline at end of file From 2fa5a317958b2e50b4269837ee1413654165ad43 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 08:36:37 -0500 Subject: [PATCH 44/62] [Task 3.6] Update CMakeLists and test launch file to run tests --- CMakeLists.txt | 6 ++++-- test/project_x_test.launch | 24 ++++++++++++++++++++++-- 2 files changed, 26 insertions(+), 4 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9b8701a..019e78d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,7 +28,7 @@ include_directories( ) ## Add executables -add_executable(object_collection src/turtlebot.cpp src/obstacle_avoidance.cpp src/main.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) @@ -48,8 +48,10 @@ if(CATKIN_ENABLE_TESTING) 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/turtlebot.cpp + src/object_detection.cpp) target_link_libraries( test_project_x_robot diff --git a/test/project_x_test.launch b/test/project_x_test.launch index 73b6663..db61bf4 100644 --- a/test/project_x_test.launch +++ b/test/project_x_test.launch @@ -1,5 +1,25 @@ - \ No newline at end of file + test-name="test_project_x_robot" + /> + + + + + + + + + From a44560d413096952cf52299ac20e69778a60f64b Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 08:53:48 -0500 Subject: [PATCH 45/62] [Task 3.8] Fix travis issues --- .travis.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index a9b3fb4..19f2446 100644 --- a/.travis.yml +++ b/.travis.yml @@ -31,7 +31,8 @@ before_install: # 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-$ROS_DISTRO-image-transport + - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-turtlebot ros-$ROS_DISTRO-turtlebot-apps ros-$ROS_DISTRO-turtlebot-interactions ros-$ROS_DISTRO-turtlebot-simulator ros-$ROS_DISTRO-kobuki-ftdi + - 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 # Source ros kinetic setup file - source /opt/ros/$ROS_DISTRO/setup.bash # Prepare rosdep to install dependencies. From 145f4bffb9deac42f9d4d3c05c74501c35eafd95 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 09:02:12 -0500 Subject: [PATCH 46/62] [Task 3.8] Fix travis issues --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 19f2446..c437ab5 100644 --- a/.travis.yml +++ b/.travis.yml @@ -31,7 +31,7 @@ before_install: # Install ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-ros-base # Install package dependencies - - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-turtlebot ros-$ROS_DISTRO-turtlebot-apps ros-$ROS_DISTRO-turtlebot-interactions ros-$ROS_DISTRO-turtlebot-simulator ros-$ROS_DISTRO-kobuki-ftdi + - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-turtlebot-gazebo ros-$ROS_DISTRO-turtlebot-apps ros-$ROS_DISTRO-turtlebot-rviz-launchers - 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 # Source ros kinetic setup file - source /opt/ros/$ROS_DISTRO/setup.bash From dcd791e36e448064fa546e4fc6aeb61c6653d780 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 09:11:22 -0500 Subject: [PATCH 47/62] [Task 3.8] Fix travis issues --- .travis.yml | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/.travis.yml b/.travis.yml index c437ab5..180ac31 100644 --- a/.travis.yml +++ b/.travis.yml @@ -20,19 +20,24 @@ before_install: - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list" - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 - sudo apt-get update -qq - - sudo apt-get install dpkg + - sudo apt-get install dpkg lcov - sudo apt-get install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool - # Add opencv support in ROS - #- sudo apt-get install libopencv-dev - # install lcov to generate code coverage data - - sudo apt-get install -y lcov # Needed to install coveralls-lcov to upload coverage information generated by LCOV to coveralls.io - gem install coveralls-lcov # Install ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools. - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-ros-base # Install package dependencies - - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-turtlebot-gazebo ros-$ROS_DISTRO-turtlebot-apps ros-$ROS_DISTRO-turtlebot-rviz-launchers - - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-geometry-msgs ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-cv-bridge + - sudo apt-get install -y --allow-unauthenticated libusb-1.0-0-dev dkms linux-headers-generic + - sudo apt-get download ros-kinetic-librealsense + - sudo dpkg --unpack ros-kinetic-librealsense*.deb + - sudo sed -i "s/\"(1,\"/\"(0,\"/g" /var/lib/dpkg/info/ros-kinetic-librealsense.postinst + - sudo dpkg --configure ros-kinetic-librealsense + - sudo apt-get install -yf + # Get matching gazebo + - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' + - wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - + - sudo apt-get update + - sudo apt-get install gazebo7 # Source ros kinetic setup file - source /opt/ros/$ROS_DISTRO/setup.bash # Prepare rosdep to install dependencies. From 13a77cf7bb51c74b0ccc953354d345d55319d5a8 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 09:15:34 -0500 Subject: [PATCH 48/62] [Task 3.8] Fix travis issues by authenticating librealsense --- .travis.yml | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/.travis.yml b/.travis.yml index 180ac31..c1d1a7d 100644 --- a/.travis.yml +++ b/.travis.yml @@ -21,17 +21,16 @@ before_install: - 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 lcov - - sudo apt-get install -y --allow-unauthenticated python-catkin-pkg python-rosdep python-wstool + # 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 libusb-1.0-0-dev dkms linux-headers-generic - - sudo apt-get download ros-kinetic-librealsense - - sudo dpkg --unpack ros-kinetic-librealsense*.deb - - sudo sed -i "s/\"(1,\"/\"(0,\"/g" /var/lib/dpkg/info/ros-kinetic-librealsense.postinst - - sudo dpkg --configure ros-kinetic-librealsense + - sudo apt-get download -y --allow-unauthenticated ros-$ROS_DISTRO-librealsense + - sudo dpkg --unpack ros-$ROS_DISTRO-librealsense*.deb + - sudo sed -i "s/\"(1,\"/\"(0,\"/g" /var/lib/dpkg/info/ros-$ROS_DISTRO-librealsense.postinst + - sudo dpkg --configure ros-$ROS_DISTRO-librealsense - sudo apt-get install -yf # Get matching gazebo - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' From dfd94067cecb3e911e6322631d34a94355b3387a Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 09:21:20 -0500 Subject: [PATCH 49/62] [Task 3.8] Fix travis issues by adding package dependencies --- .travis.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.travis.yml b/.travis.yml index c1d1a7d..e700d3d 100644 --- a/.travis.yml +++ b/.travis.yml @@ -32,6 +32,7 @@ before_install: - sudo sed -i "s/\"(1,\"/\"(0,\"/g" /var/lib/dpkg/info/ros-$ROS_DISTRO-librealsense.postinst - sudo dpkg --configure ros-$ROS_DISTRO-librealsense - sudo apt-get install -yf + - 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 # Get matching gazebo - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' - wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - From ed09c1150c8601637dbf0a195ee3ed7ccdad2200 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 09:27:19 -0500 Subject: [PATCH 50/62] [Task 3.8] Fix package.xml by removing image transport image-transport library no longer needed --- package.xml | 3 --- 1 file changed, 3 deletions(-) diff --git a/package.xml b/package.xml index df3d1ad..c44f77f 100644 --- a/package.xml +++ b/package.xml @@ -57,7 +57,6 @@ sensor_msgs std_msgs cv_bridge - image_transport std_msgs geometry_msgs @@ -66,7 +65,6 @@ sensor_msgs std_msgs cv_bridge - image_transport std_msgs geometry_msgs @@ -75,7 +73,6 @@ sensor_msgs std_msgs cv_bridge - image_transport std_msgs From 52a1fa4ad22eb05635fbd0e4172b1ddff91c2b48 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 09:35:42 -0500 Subject: [PATCH 51/62] [Task 3.8] Fix travis build --- .travis.yml | 3 ++- package.xml | 3 +++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index e700d3d..dc349ee 100644 --- a/.travis.yml +++ b/.travis.yml @@ -32,7 +32,8 @@ before_install: - sudo sed -i "s/\"(1,\"/\"(0,\"/g" /var/lib/dpkg/info/ros-$ROS_DISTRO-librealsense.postinst - sudo dpkg --configure ros-$ROS_DISTRO-librealsense - sudo apt-get install -yf - - 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 + # 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-$ROS_DISTRO-image-transport # Get matching gazebo - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' - wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - diff --git a/package.xml b/package.xml index c44f77f..df3d1ad 100644 --- a/package.xml +++ b/package.xml @@ -57,6 +57,7 @@ sensor_msgs std_msgs cv_bridge + image_transport std_msgs geometry_msgs @@ -65,6 +66,7 @@ sensor_msgs std_msgs cv_bridge + image_transport std_msgs geometry_msgs @@ -73,6 +75,7 @@ sensor_msgs std_msgs cv_bridge + image_transport std_msgs From e52ac3fbf4c6494e5479a63e22ceba05b5d2f7f6 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 09:57:22 -0500 Subject: [PATCH 52/62] [Task 3.8] Do not launch ros nodes for tests Other tests require launch of gazebo --- .travis.yml | 13 ------------- test/object_detection_test.cpp | 13 ------------- test/project_x_test.launch | 19 ------------------- 3 files changed, 45 deletions(-) diff --git a/.travis.yml b/.travis.yml index dc349ee..d8ce17e 100644 --- a/.travis.yml +++ b/.travis.yml @@ -26,25 +26,12 @@ before_install: # Needed to install coveralls-lcov to upload coverage information generated by LCOV to coveralls.io - gem install coveralls-lcov # Install package dependencies - - sudo apt-get install -y --allow-unauthenticated libusb-1.0-0-dev dkms linux-headers-generic - - sudo apt-get download -y --allow-unauthenticated ros-$ROS_DISTRO-librealsense - - sudo dpkg --unpack ros-$ROS_DISTRO-librealsense*.deb - - sudo sed -i "s/\"(1,\"/\"(0,\"/g" /var/lib/dpkg/info/ros-$ROS_DISTRO-librealsense.postinst - - sudo dpkg --configure ros-$ROS_DISTRO-librealsense - - sudo apt-get install -yf - # Install package dependencies - sudo apt-get install -y --allow-unauthenticated ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-geometry-msgs ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-cv-bridge ros-$ROS_DISTRO-image-transport - # Get matching gazebo - - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' - - wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - - - sudo apt-get update - - sudo apt-get install gazebo7 # 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. diff --git a/test/object_detection_test.cpp b/test/object_detection_test.cpp index 76ae9e5..cd8d467 100644 --- a/test/object_detection_test.cpp +++ b/test/object_detection_test.cpp @@ -66,16 +66,3 @@ TEST(ObjectDetectionTest, setBoundary) { objectDetection.setObjectBoundary(boundingBox); EXPECT_EQ(objectDetection.getObjectBoundary(), boundingBox); } - -/** - * @brief Test to check object detection using hsv - */ -TEST(ObjectDetectionTest, checkObject) { - ObjectDetection objectDetection; - bool objectDetected; - if (!objectDetection.convertedImage.empty()) { - objectDetected = objectDetection.detectObject( - objectDetection.applyGaussBlur(objectDetection.convertedImage)); - } - EXPECT_FALSE(objectDetected); -} \ No newline at end of file diff --git a/test/project_x_test.launch b/test/project_x_test.launch index db61bf4..d6f8d84 100644 --- a/test/project_x_test.launch +++ b/test/project_x_test.launch @@ -3,23 +3,4 @@ type="test_project_x_robot" test-name="test_project_x_robot" /> - - - - - - - - From 4ac80e60c46aeb95747ce47eec85500e00b7b492 Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 10:27:08 -0500 Subject: [PATCH 53/62] [Task 3.15] Add tests for 2 more methods objectDetect and applyGaussBlur method --- test/object_detection_test.cpp | 30 ++++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) diff --git a/test/object_detection_test.cpp b/test/object_detection_test.cpp index cd8d467..aed70b7 100644 --- a/test/object_detection_test.cpp +++ b/test/object_detection_test.cpp @@ -66,3 +66,33 @@ TEST(ObjectDetectionTest, setBoundary) { objectDetection.setObjectBoundary(boundingBox); EXPECT_EQ(objectDetection.getObjectBoundary(), boundingBox); } + +/** + * @brief Test to check gaussian filtering + */ +TEST(ObjectDetectionTest, gaussFilter) { + ObjectDetection objectDetection; + bool gaussCheck = true; + if (!objectDetection.convertedImage.empty()) { + cv::Mat gaussImg = objectDetection.applyGaussBlur( + objectDetection.convertedImage); + if(gaussImg.size() == objectDetection.convertedImage.size()) { + // These two images do not hace the same size due to smoothening + gaussCheck = false; + } + } + EXPECT_TRUE(gaussCheck); +} + +/** + * @brief Test to check object detection using hsv + */ +TEST(ObjectDetectionTest, checkObject) { + ObjectDetection objectDetection; + bool objectDetected; + if (!objectDetection.convertedImage.empty()) { + objectDetected = objectDetection.detectObject( + objectDetection.applyGaussBlur(objectDetection.convertedImage)); + } + EXPECT_FALSE(objectDetected); +} From 5371ed8c0a642d02f3814d5d6700c319e2b1c361 Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Mon, 9 Dec 2019 12:30:30 -0500 Subject: [PATCH 54/62] [Task 3.9]Fixed Cppcheck and Cpplint errors Errors such as blank white-space no endline space were fixed to resolve cpplint errors --- data/results/cppcheck_results | 18 +++++++++---- data/results/cpplint_results | 16 ++++++++++- include/object_detection/object_detection.h | 3 +-- src/detector.cpp | 1 - src/object_detection.cpp | 3 ++- src/obstacle_avoidance.cpp | 4 +-- src/turtlebot.cpp | 10 +++---- test/object_detection_test.cpp | 30 ++++++++++----------- test/obstacle_avoidance_test.cpp | 6 ++--- test/turtlebot_test.cpp | 14 +++++----- 10 files changed, 62 insertions(+), 43 deletions(-) diff --git a/data/results/cppcheck_results b/data/results/cppcheck_results index 474c6df..c4ab9df 100644 --- a/data/results/cppcheck_results +++ b/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 \ No newline at end of file +9/9 files checked 100% done \ No newline at end of file diff --git a/data/results/cpplint_results b/data/results/cpplint_results index f19b3d2..60fd182 100644 --- a/data/results/cpplint_results +++ b/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 \ No newline at end of file +Done processing ./include/obstacle_avoidance/obstacle_avoidance.h +Total errors found: 9 \ No newline at end of file diff --git a/include/object_detection/object_detection.h b/include/object_detection/object_detection.h index 5f599f9..dd0db5c 100644 --- a/include/object_detection/object_detection.h +++ b/include/object_detection/object_detection.h @@ -37,6 +37,7 @@ #ifndef INCLUDE_OBJECT_DETECTION_OBJECT_DETECTION_H_ #define INCLUDE_OBJECT_DETECTION_OBJECT_DETECTION_H_ +#include #include "ros/ros.h" #include "cv_bridge/cv_bridge.h" #include "opencv2/opencv.hpp" @@ -49,8 +50,6 @@ class ObjectDetection { /// Define a subscriber object to data of the laser sensor ros::Subscriber subscribeImages; /// Store copy of the ros image converted into cv image - - cv::Mat hsvImage, maskImage; /// Define object coordinates cv::Rect objectBoundary; diff --git a/src/detector.cpp b/src/detector.cpp index b3b2e43..24076d0 100644 --- a/src/detector.cpp +++ b/src/detector.cpp @@ -41,7 +41,6 @@ #include "object_detection/object_detection.h" int main(int argc, char **argv) { - ros::init(argc, argv, "detector"); ObjectDetection objDet; diff --git a/src/object_detection.cpp b/src/object_detection.cpp index e8fd565..b2745f8 100644 --- a/src/object_detection.cpp +++ b/src/object_detection.cpp @@ -47,7 +47,8 @@ ObjectDetection::ObjectDetection() { ROS_INFO_STREAM("Object detection set up complete"); } -void ObjectDetection::convertImage(const sensor_msgs::Image::ConstPtr& imageData) { +void ObjectDetection::convertImage(const + sensor_msgs::Image::ConstPtr& imageData) { cv_bridge::CvImagePtr cv_ptr; try { cv_ptr = cv_bridge::toCvCopy(imageData, sensor_msgs::image_encodings::BGR8); diff --git a/src/obstacle_avoidance.cpp b/src/obstacle_avoidance.cpp index 1797fa7..2096218 100644 --- a/src/obstacle_avoidance.cpp +++ b/src/obstacle_avoidance.cpp @@ -62,8 +62,6 @@ ObstacleAvoidance::ObstacleAvoidance(float distThreshold) { ROS_INFO_STREAM("Set up complete"); } -ObstacleAvoidance::~ObstacleAvoidance() {} - void ObstacleAvoidance::laserSensorCallback( const sensor_msgs::LaserScan::ConstPtr& sensorData) { /// Read sensor data to get obstacle distances with respect to the robot @@ -87,3 +85,5 @@ bool ObstacleAvoidance::checkObstacle() { return false; } + +ObstacleAvoidance::~ObstacleAvoidance() {} diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index e6fdb0c..ae7c149 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -51,7 +51,8 @@ Turtlebot::Turtlebot() { prevLinearVelocity = linearVelocity; prevAngularVelocity = angularVelocity; /// Publish the velocities to the robot on the navigation topic - publishVelocities = nh.advertise("/cmd_vel_mux/input/navi", 1000); + publishVelocities = nh.advertise + ("/cmd_vel_mux/input/navi", 1000); ROS_INFO_STREAM("Set up complete"); } @@ -64,7 +65,8 @@ Turtlebot::Turtlebot(float linVelX, float angVelZ) { prevLinearVelocity = linearVelocity; prevAngularVelocity = angularVelocity; /// Publish the velocities to the robot on the navigation topic - publishVelocities = nh.advertise("/cmd_vel_mux/input/navi", 1000); + publishVelocities = nh.advertise + ("/cmd_vel_mux/input/navi", 1000); ROS_INFO_STREAM("Set up complete"); } @@ -88,10 +90,6 @@ float Turtlebot::turn(float angVelZ) { return velocities.angular.z; } -bool Turtlebot::collectObject() { - return false; -} - void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance) { // Set the publishing rate ros::Rate loop_rate(publishRate); diff --git a/test/object_detection_test.cpp b/test/object_detection_test.cpp index aed70b7..7cc5518 100644 --- a/test/object_detection_test.cpp +++ b/test/object_detection_test.cpp @@ -42,8 +42,8 @@ * @brief Test to check getters and setters */ TEST(ObjectDetectionTest, objectNotDetected) { - ObjectDetection objectDetection; - objectDetection.setObjectDetected(false); + ObjectDetection objectDetection; + objectDetection.setObjectDetected(false); EXPECT_FALSE(objectDetection.getObjectDetected()); } @@ -51,7 +51,7 @@ TEST(ObjectDetectionTest, objectNotDetected) { * @brief Test to check getters and setters */ TEST(ObjectDetectionTest, objectDetected) { - ObjectDetection objectDetection; + ObjectDetection objectDetection; objectDetection.setObjectDetected(true); EXPECT_TRUE(objectDetection.getObjectDetected()); } @@ -60,9 +60,9 @@ TEST(ObjectDetectionTest, objectDetected) { * @brief Test to check setting of object boundary */ TEST(ObjectDetectionTest, setBoundary) { - ObjectDetection objectDetection; - /// Define object boundary - cv::Rect boundingBox = {0, 21, 113, 56}; + ObjectDetection objectDetection; + /// Define object boundary + cv::Rect boundingBox = {0, 21, 113, 56}; objectDetection.setObjectBoundary(boundingBox); EXPECT_EQ(objectDetection.getObjectBoundary(), boundingBox); } @@ -71,16 +71,16 @@ TEST(ObjectDetectionTest, setBoundary) { * @brief Test to check gaussian filtering */ TEST(ObjectDetectionTest, gaussFilter) { - ObjectDetection objectDetection; - bool gaussCheck = true; - if (!objectDetection.convertedImage.empty()) { - cv::Mat gaussImg = objectDetection.applyGaussBlur( + ObjectDetection objectDetection; + bool gaussCheck = true; + if (!objectDetection.convertedImage.empty()) { + cv::Mat gaussImg = objectDetection.applyGaussBlur( objectDetection.convertedImage); if(gaussImg.size() == objectDetection.convertedImage.size()) { // These two images do not hace the same size due to smoothening gaussCheck = false; } - } + } EXPECT_TRUE(gaussCheck); } @@ -88,11 +88,11 @@ TEST(ObjectDetectionTest, gaussFilter) { * @brief Test to check object detection using hsv */ TEST(ObjectDetectionTest, checkObject) { - ObjectDetection objectDetection; - bool objectDetected; - if (!objectDetection.convertedImage.empty()) { + ObjectDetection objectDetection; + bool objectDetected; + if (!objectDetection.convertedImage.empty()) { objectDetected = objectDetection.detectObject( objectDetection.applyGaussBlur(objectDetection.convertedImage)); - } + } EXPECT_FALSE(objectDetected); } diff --git a/test/obstacle_avoidance_test.cpp b/test/obstacle_avoidance_test.cpp index 479e464..6b779a0 100644 --- a/test/obstacle_avoidance_test.cpp +++ b/test/obstacle_avoidance_test.cpp @@ -58,8 +58,8 @@ TEST(ObstacleAvoidanceTest, obstacleDetected) { * @brief Test to check obstacle */ TEST(ObstacleAvoidanceTest, checkObstacle) { - /// Define distance threshold for obstacles - float distThresh = 0.5; + /// Define distance threshold for obstacles + float distThresh = 0.5; ObstacleAvoidance obstacle(distThresh); EXPECT_FALSE(obstacle.checkObstacle()); -} \ No newline at end of file +} diff --git a/test/turtlebot_test.cpp b/test/turtlebot_test.cpp index a465622..73272c1 100644 --- a/test/turtlebot_test.cpp +++ b/test/turtlebot_test.cpp @@ -51,9 +51,9 @@ TEST(TurtlebotTest, velocityChangedTest) { * @detail Test to check linear velocity provided to method */ TEST(TurtlebotTest, moveForwardTest) { - /// Define angular and linear velocities for the robot - float linVel = 2.0; - float angVel = 0.52; + /// Define angular and linear velocities for the robot + float linVel = 2.0; + float angVel = 0.52; Turtlebot turtle(linVel, angVel); EXPECT_EQ(linVel, turtle.moveForward(linVel)); } @@ -63,9 +63,9 @@ TEST(TurtlebotTest, moveForwardTest) { * @detail Test to check angular velocity provided to method */ TEST(TurtlebotTest, turnTest) { - /// Define angular and linear velocities for the robot - float linVel = 2.0; - float angVel = 0.52; + /// Define angular and linear velocities for the robot + float linVel = 2.0; + float angVel = 0.52; Turtlebot turtle(linVel, angVel); EXPECT_EQ(angVel, turtle.turn(angVel)); } @@ -76,4 +76,4 @@ TEST(TurtlebotTest, turnTest) { TEST(TurtlebotTest, resetTest) { Turtlebot turtle; EXPECT_TRUE(turtle.resetBot()); -} \ No newline at end of file +} From 8d7d63c5820b66ef7e20248a7a1e731f19697c20 Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Mon, 9 Dec 2019 13:58:46 -0500 Subject: [PATCH 55/62] [Task 3.10]Added Doxygen comments and inline comments --- include/object_detection/object_detection.h | 87 +++++++++---------- .../obstacle_avoidance/obstacle_avoidance.h | 55 ++++++------ include/turtlebot/turtlebot.h | 80 ++++++++--------- src/detector.cpp | 72 ++++++++------- src/navigator.cpp | 66 +++++++------- src/object_detection.cpp | 17 ++-- src/obstacle_avoidance.cpp | 20 ++--- src/turtlebot.cpp | 17 ++-- test/object_detection_test.cpp | 8 +- 9 files changed, 213 insertions(+), 209 deletions(-) diff --git a/include/object_detection/object_detection.h b/include/object_detection/object_detection.h index dd0db5c..060be76 100644 --- a/include/object_detection/object_detection.h +++ b/include/object_detection/object_detection.h @@ -1,7 +1,8 @@ /** * BSD 3-Clause License * - * @copyright (c) 2019, Umang Rastogi Naman Gupta + * @copyright (c) 2019, Umang Rastogi, Naman Gupta + * * All rights reserved. * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: @@ -27,7 +28,7 @@ */ /** - * @file object_detection.h + * @file object_detection.h * @author Umang Rastogi - Driver * @author Naman Gupta - Navigator * @brief Library header file to implement object detection @@ -54,91 +55,87 @@ class ObjectDetection { /// Define object coordinates cv::Rect objectBoundary; /// Define upper and lower limit of color - /// Defined red as coca-cola can is red in color + /// Set range as can visible in HSV image const cv::Scalar colorLowerLimit = {170, 50, 50}; const cv::Scalar colorUpperLimit = {255, 200, 90}; - /// size of an image + /// Size of an image cv::Size imageSize; /// Define image array for contours std::vector > imageArray; bool objectDetected; public: - /** - * @brief Constructor for object detection class - * @param none - * @return a constructor has no return - */ +/** + * @brief Constructor for object detection class + * @param none + * @return none + */ ObjectDetection(); - /** - * @brief Destructor for object detection class - * @param none - * @return none - */ +/** + * @brief Destructor for object detection class + * @param none + * @return none + */ ~ObjectDetection(); - /** - * @brief converted image from ros to opencv - * @param none - * @return none - */ + /// Container to store converted image from cv_bridge cv::Mat convertedImage; /** - * @brief Callback function for image data - * @param image data from camera node - * @return void - * @detail Convert ROS image message to CV image - */ + * @brief Callback function for image data + * @param Image data from camera node + * @return none + * @detail Convert ROS image message to CV image + */ void convertImage(const sensor_msgs::Image::ConstPtr& imageData); /** - * @brief Method to detect object using hsv - * @param image gaussian filtered image - * @return match found + * @brief Method to detect object using hsv + * @param Image gaussian filtered image of type cv::Mat + * @return Match found of type bool */ bool detectObject(cv::Mat image); /** - * @brief Method to gaussian filter on the image - * @param converted opencv image - * @return image blurred using gaussian filter + * @brief Method to convert gaussian filter on the image + * @param Converted opencv image of type cv::Mat + * @return Image blurred using gaussian filter of type cv::Mat */ cv::Mat applyGaussBlur(cv::Mat cvtImage); /** - * @brief Get boundary of the object in the image - * @param none - * @return rectangular box containing the object + * @brief Get boundary of the object in the image + * @param none + * @return rectangular box containing the object */ cv::Rect getObjectBoundary() const { return objectBoundary; } /** - * @brief set object boundary - * @param boundingBox reactagular boundary of the object - * @return void - */ + * @brief Set object boundary + * @param BoundingBox reactagular boundary of the object + * @return none + */ void setObjectBoundary(cv::Rect boundingBox) { objectBoundary = boundingBox; } /** - * @brief get object detected - * @param none - * @return object detected or not - */ + * @brief Get object detected + * @param none + * @return Object detected or not of type bool + */ bool getObjectDetected() const { return objectDetected; } /** - * @brief set object detected - * @param object detected status - * @return void - */ + * @brief Set object detected + * @param Object detected status + * @return none + */ void setObjectDetected(bool object) { objectDetected = object; } diff --git a/include/obstacle_avoidance/obstacle_avoidance.h b/include/obstacle_avoidance/obstacle_avoidance.h index d48ee73..0ca99ca 100644 --- a/include/obstacle_avoidance/obstacle_avoidance.h +++ b/include/obstacle_avoidance/obstacle_avoidance.h @@ -1,7 +1,8 @@ /** * BSD 3-Clause License * - * @copyright (c) 2019, Umang Rastogi Naman Gupta + * @copyright (c) 2019, Umang Rastogi, Naman Gupta + * * All rights reserved. * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: @@ -52,55 +53,55 @@ class ObstacleAvoidance { public: /** - * @brief Constructor for obstacle avoidance class - * @param none - * @return a constructor has no return + * @brief Constructor for obstacle avoidance class + * @param none + * @return none */ ObstacleAvoidance(); /** - * @brief Constructor for obstacle avoidance class - * @param safe distance from an obstacle - * @return a constructor has no return + * @brief Constructor for obstacle avoidance class + * @param Safe distance from an obstacle of type float + * @return none */ explicit ObstacleAvoidance(float distThreshold); /** - * @brief Destructor for obstacle avoidance class - * @param none - * @return a destrcutor has no return - */ + * @brief Destructor for obstacle avoidance class + * @param none + * @return none + */ ~ObstacleAvoidance(); /** - * @brief Callback function for subscriber - * @param messsage data from LaserScan node - * @return void - */ + * @brief Callback function for subscriber + * @param messsage data from LaserScan node + * @return none + */ void laserSensorCallback(const sensor_msgs::LaserScan::ConstPtr& \ sensorData); /** - * @brief Checks if obstacle is present within safe distance - * @param none - * @return boolean obstacle found or not - */ + * @brief Checks if obstacle is present within safe distance + * @param none + * @return Obstacle found or not of type bool + */ bool checkObstacle(); /** - * @brief get obstacle detected - * @param none - * @return boolean obstacle detected or not - */ + * @brief Gets obstacle detected + * @param none + * @return Status of obstacle detected or not of type bool + */ bool getObstacleDetected() const { return obstacleDetected; } /** - * @brief set obstacle detected - * @param obstacle detected status - * @return void - */ + * @brief Set obstacle detected + * @param Obstacle detected status + * @return none + */ void setObstacleDetected(bool obstacle) { obstacleDetected = obstacle; } diff --git a/include/turtlebot/turtlebot.h b/include/turtlebot/turtlebot.h index 5c47fb1..65b77fa 100644 --- a/include/turtlebot/turtlebot.h +++ b/include/turtlebot/turtlebot.h @@ -45,7 +45,6 @@ class Turtlebot { private: - // ObjectDetection objectDetection; /// Define the main access point to communications with the ROS system ros::NodeHandle nh; /// Define a publisher object to publish velocities for the robot @@ -61,75 +60,70 @@ class Turtlebot { /// Initialize publishing rate const int publishRate = 500; /// Obstacle detection and template matching variables - /* - const std::string opencvWindow = "image_window"; - const int maxTrackbar = 5; - int matchMethod; - char* trackbarLabel;*/ public: /** - * @brief Constructor for obstacle avoidance class - * @param none - * @return a constructor has no return - */ + * @brief Constructor for obstacle avoidance class + * @param none + * @return none + */ Turtlebot(); /** - * @brief Constructor for obstacle avoidance class - * @param linear velocity in x-axis - * @param angular velocity about z-axis - * @return a constructor has no return - */ + * @brief Constructor for obstacle avoidance class + * @param Linear velocity in x-axis + * @param Angular velocity about z-axis + * @return none + */ Turtlebot(float linVelX, float angVelZ); /** - * @brief Destructor for obstacle avoidance class - * @param none - * @return a destrcutor has no return - */ + * @brief Destructor for obstacle avoidance class + * @param none + * @return none + */ ~Turtlebot(); /** - * @brief Make the bot move forward - * @param linear velocity in x-direction - * @return linear velocity for the bot - */ + * @brief Make the bot move forward + * @param Linear velocity in x-direction + * @return Linear velocity for the bot + */ float moveForward(float linVelX); /** - * @brief Turn the bot - * @param angular velocity about z-axis - * @return angular velocity for the bot - */ + * @brief Turn the bot + * @param Angular velocity about z-axis + * @return Angular velocity for the bot + */ float turn(float angVelZ); /** - * @brief Collect the object - * @param none - * @return void - */ + * @brief Collect the object + * @param none + * @return void + */ bool collectObject(); /** - * @brief Control the motion of the bot - * @param none - * @return void - * @detail Use obstacle avoidance and go-to-goal strategies - * to move towards the object to be collected - */ + * @brief Control the motion of the bot + * @param Reference to Obstacle Avoidance class + * @return none + * @detail Use obstacle avoidance and go-to-goal strategies + * to move towards the object to be collected + */ void moveBot(ObstacleAvoidance& obstacleAvoidance); /** - * @brief Reset the velocities of the bot - * @param none - * @return void - */ + * @brief Reset the velocities of the bot + * @param none + * @return status of type bool + */ bool resetBot(); /** - * @brief Check change in the velocites of the bot - * @param none + * @brief Check change in the velocites of the bot + * @param none * @return boolean velocity changed or not */ bool checkVelocityChanged(); diff --git a/src/detector.cpp b/src/detector.cpp index 24076d0..9d628c5 100644 --- a/src/detector.cpp +++ b/src/detector.cpp @@ -1,56 +1,64 @@ /** - * Copyright (c) 2019, Naman Gupta + * BSD 3-Clause License * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are - * met: + * @copyright (c) 2019, Umang Rastogi, Naman Gupta + * + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived from this - * software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS - * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR - * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR - * CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF - * THE POSSIBILITY OF SUCH DAMAGE. + * Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /** - *@file detector.cpp - *@author Naman Gupta - *@brief ROS subscriber subscribes to talker.cpp to listen the message - * sent by the publisher node. + * @file detector.cpp + * @author Umang Rastogi - Navigator + * @author Naman Gupta - Driver + * @brief Detector node file to implement object detection algorithm + * @detail Implements object detection algorithm using HSV color detection */ #include #include "object_detection/object_detection.h" +/** + * @brief main function + * @param argc + * @param argv + * @return int + */ int main(int argc, char **argv) { + /// Initialized object detection node ros::init(argc, argv, "detector"); + /// Declaring object of class ObjectDetection ObjectDetection objDet; while (ros::ok()) { + /// Checks empty image if (!objDet.convertedImage.empty()) { + /// Apply detectObject method to detect cans in the world objDet.detectObject(objDet.applyGaussBlur(objDet.convertedImage)); } ros::spinOnce(); } - + /// Close both the windows of HSVImage and Turtlebot View cv::destroyWindow("HSVImage"); cv::destroyWindow("Turtlebot View"); return 0; diff --git a/src/navigator.cpp b/src/navigator.cpp index 6c79713..0268569 100644 --- a/src/navigator.cpp +++ b/src/navigator.cpp @@ -1,42 +1,38 @@ /** - * Copyright (c) 2019, Naman Gupta, Umang Rastogi + * BSD 3-Clause License * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are - * met: + * @copyright (c) 2019, Naman Gupta, Umang Rastogi + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived from this - * software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS - * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR - * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR - * CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF - * THE POSSIBILITY OF SUCH DAMAGE. + * Redistributions of source code must retain the above copyright notice, this + * list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ /** - * @file main.cpp - * @author Naman Gupta - * @author Umang Rastogi - * @copyright GNU - * @brief Implementation of algorithm + * @file turtlebot.cpp + * @author Umang Rastogi - Driver + * @author Naman Gupta - Navigator + * @brief Navigator node to implement obstacle avoidance and move bot algorithm */ + #include "ros/ros.h" #include "turtlebot/turtlebot.h" #include "obstacle_avoidance/obstacle_avoidance.h" @@ -45,12 +41,16 @@ * @brief main function * @param argc * @param argv - * @return none + * @return int */ int main(int argc, char* argv[]) { + /// Initialized object collection node ros::init(argc, argv, "object_collection"); + /// Declaring object of class ObstacleAvoidance ObstacleAvoidance obstacleAvoidance; + /// Declaring object of class Turtlebot Turtlebot turtlebot; + /// Starts moving the bot turtlebot.moveBot(obstacleAvoidance); return 0; } diff --git a/src/object_detection.cpp b/src/object_detection.cpp index b2745f8..a55dae0 100644 --- a/src/object_detection.cpp +++ b/src/object_detection.cpp @@ -25,12 +25,14 @@ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ + /** - * @file object_detection.h - * @author Umang Rastogi - Driver - * @author Naman Gupta - Navigator - * @brief Library header file to implement object detection - * @detail Implements object detection using HSV + * @file object_detection.cpp + * @author Umang Rastogi - Driver + * @author Naman Gupta - Navigator + * @brief File to implement ObjectDetection class + * @detail Implements object detection using HSV method which detects color of + * the can in a certain range and creates a bounding box over it. */ #include "ros/ros.h" @@ -42,6 +44,7 @@ ObjectDetection::ObjectDetection() { ROS_INFO_STREAM("Initiliazing obejct detection..."); + /// Subscribe to turtlebot camera to get feed from the camera subscribeImages = nh.subscribe("/camera/rgb/image_raw", 1, &ObjectDetection::convertImage, this); ROS_INFO_STREAM("Object detection set up complete"); @@ -49,10 +52,12 @@ ObjectDetection::ObjectDetection() { void ObjectDetection::convertImage(const sensor_msgs::Image::ConstPtr& imageData) { + /// Create an object cv_ptr that bridges the ROS image and OpenCV image cv_bridge::CvImagePtr cv_ptr; try { cv_ptr = cv_bridge::toCvCopy(imageData, sensor_msgs::image_encodings::BGR8); convertedImage = cv_ptr->image; + /// Wait for 30ms cv::waitKey(30); } catch (cv_bridge::Exception& e) { @@ -62,7 +67,7 @@ void ObjectDetection::convertImage(const } bool ObjectDetection::detectObject(cv::Mat image) { - /// Convert image from bgr to hsv + /// Image conversion from BGR to HSV cv::cvtColor(image, hsvImage, CV_BGR2HSV); /// Detect hsv within the set limits cv::inRange(hsvImage, colorLowerLimit, colorUpperLimit, maskImage); diff --git a/src/obstacle_avoidance.cpp b/src/obstacle_avoidance.cpp index 2096218..9c80934 100644 --- a/src/obstacle_avoidance.cpp +++ b/src/obstacle_avoidance.cpp @@ -1,7 +1,7 @@ /** * BSD 3-Clause License * - * @copyright (c) 2019, Umang Rastogi Naman Gupta + * @copyright (c) 2019, Umang Rastogi, Naman Gupta * All rights reserved. * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: @@ -24,13 +24,15 @@ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * @file obstacle_avoidance.h - * @author Umang Rastogi - Driver - * @author Naman Gupta - Navigator - * @brief Library header file to implement obstacle avoidance - * @detail Uses laser sensor for obstacle avoidance - * @detail Publishes velocities for the robot upon obstacle detection + */ + +/** + * @file obstacle_avoidance.cpp + * @author Umang Rastogi - Driver + * @author Naman Gupta - Navigator + * @brief Source file to implement obstacle avoidance class + * @detail Uses laser sensor for obstacle avoidance + * publishes velocities for the robot upon obstacle detection */ #include "ros/ros.h" @@ -72,7 +74,6 @@ void ObstacleAvoidance::laserSensorCallback( return; } } - setObstacleDetected(false); } @@ -82,7 +83,6 @@ bool ObstacleAvoidance::checkObstacle() { ROS_WARN_STREAM("Obstacle ahead!"); return true; } - return false; } diff --git a/src/turtlebot.cpp b/src/turtlebot.cpp index ae7c149..2326fea 100644 --- a/src/turtlebot.cpp +++ b/src/turtlebot.cpp @@ -1,7 +1,7 @@ /** * BSD 3-Clause License * - * @copyright (c) 2019, Umang Rastogi Naman Gupta + * @copyright (c) 2019, Umang Rastogi, Naman Gupta * All rights reserved. * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: @@ -27,11 +27,11 @@ */ /** - * @file turtlebot.cpp - * @author Umang Rastogi - Driver - * @author Naman Gupta - Navigator - * @brief Source file to implement turtlebot class - * @detail Controls the motion of the bot using obstacle avoidance and go-to-goal strategies + * @file turtlebot.cpp + * @author Umang Rastogi - Driver + * @author Naman Gupta - Navigator + * @brief Source file to implement turtlebot class + * @detail Controls the motion of the bot using obstacle avoidance and go-to-goal strategies */ /// Add ROS headers @@ -79,19 +79,17 @@ Turtlebot::~Turtlebot() { float Turtlebot::moveForward(float linVelX) { velocities.linear.x = linVelX; velocities.angular.z = 0.0; - return velocities.linear.x; } float Turtlebot::turn(float angVelZ) { velocities.linear.x = 0.0; velocities.angular.z = angVelZ; - return velocities.angular.z; } void Turtlebot::moveBot(ObstacleAvoidance& obstacleAvoidance) { - // Set the publishing rate + /// Set the publishing rate ros::Rate loop_rate(publishRate); while (ros::ok()) { if (obstacleAvoidance.checkObstacle()) { @@ -132,7 +130,6 @@ bool Turtlebot::resetBot() { } bool Turtlebot::checkVelocityChanged() { - /// Linear and angular change simultaneously /// Check if both the velocities have changed if (velocities.linear.x != prevLinearVelocity and \ velocities.angular.z != prevAngularVelocity) { diff --git a/test/object_detection_test.cpp b/test/object_detection_test.cpp index 7cc5518..0bf2eda 100644 --- a/test/object_detection_test.cpp +++ b/test/object_detection_test.cpp @@ -28,8 +28,8 @@ /** * @file obstacle_detection_test.cpp - * @author Naman Gupta - Navigator - * @author Umang Rastogi - Driver + * @author Naman Gupta - Driver + * @author Umang Rastogi - Navigator * @brief Class test implementation of class ObstacleAvoidance * @details Test the methods of class ObstacleAvoidance */ @@ -73,11 +73,12 @@ TEST(ObjectDetectionTest, setBoundary) { TEST(ObjectDetectionTest, gaussFilter) { ObjectDetection objectDetection; bool gaussCheck = true; + /// Check if file empty or not if (!objectDetection.convertedImage.empty()) { cv::Mat gaussImg = objectDetection.applyGaussBlur( objectDetection.convertedImage); if(gaussImg.size() == objectDetection.convertedImage.size()) { - // These two images do not hace the same size due to smoothening + /// These two images do not hace the same size due to smoothening gaussCheck = false; } } @@ -94,5 +95,6 @@ TEST(ObjectDetectionTest, checkObject) { objectDetected = objectDetection.detectObject( objectDetection.applyGaussBlur(objectDetection.convertedImage)); } + /// Check for condition when obstacle not detected EXPECT_FALSE(objectDetected); } From 71f78fc4bc16c7fd4bd75313edfdd415dd4d1bef Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 14:14:07 -0500 Subject: [PATCH 56/62] [Task 3.10] Update doxygen documentation for the project --- Doxyfile | 2 +- README.md | 4 +- data/readme_images/initial_proposal_setup.jpg | Bin 68520 -> 0 bytes data/readme_images/supermarket_world.jpg | Bin 0 -> 166196 bytes data/template.jpg | Bin 26508 -> 0 bytes docs/html/annotated.html | 2 +- docs/html/classObjectDetection-members.html | 110 +++++ docs/html/classObjectDetection.html | 427 ++++++++++++++++++ docs/html/classObstacleAvoidance.html | 27 +- docs/html/classTurtlebot-members.html | 2 +- docs/html/classTurtlebot.html | 58 ++- docs/html/classes.html | 2 +- docs/html/detector_8cpp.html | 173 +++++++ docs/html/detector_8cpp__incl.map | 3 + docs/html/detector_8cpp__incl.md5 | 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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 diff --git a/README.md b/README.md index 82ba17c..1c37fea 100644 --- a/README.md +++ b/README.md @@ -31,7 +31,7 @@ has an obstacle avoidance feature that is used to prevent the robot from collidi humans, uninteresting items and walls/shelves.

- + Figure 1 - Robot approaching towards the cans lying on the ground to collect them

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Here are the classes, structs, unions and interfaces with brief descriptions:
- +
 CObjectDectection
 CObjectDetection
 CObstacleAvoidance
 CTurtlebotAdd ROS headers
diff --git a/docs/html/classObjectDetection-members.html b/docs/html/classObjectDetection-members.html new file mode 100644 index 0000000..20b0c53 --- /dev/null +++ b/docs/html/classObjectDetection-members.html @@ -0,0 +1,110 @@ + + + + + + +Supermarket Cleaning Robot: Member List + + + + + + + + + + + +
+
+
ObjectDetection Member List
+
+
+ +

This is the complete list of members for ObjectDetection, including all inherited members.

+ + + + + + + + + + + +
applyGaussBlur(cv::Mat cvtImage)ObjectDetection
convertedImageObjectDetection
convertImage(const sensor_msgs::Image::ConstPtr &imageData)ObjectDetection
detectObject(cv::Mat image)ObjectDetection
getObjectBoundary() const ObjectDetectioninline
getObjectDetected() const ObjectDetectioninline
ObjectDetection()ObjectDetection
setObjectBoundary(cv::Rect boundingBox)ObjectDetectioninline
setObjectDetected(bool object)ObjectDetectioninline
~ObjectDetection()ObjectDetection
+ +
+Generated by   +doxygen + 1.8.11 +
+ + diff --git a/docs/html/classObjectDetection.html b/docs/html/classObjectDetection.html new file mode 100644 index 0000000..9ae8ddf --- /dev/null +++ b/docs/html/classObjectDetection.html @@ -0,0 +1,427 @@ + + + + + + +Supermarket Cleaning Robot: ObjectDetection Class Reference + + + + + + + + + + +
+
+ + + + + + +
+
Supermarket Cleaning Robot +
+
+
+ + + + + + +
+
+ + +
+ +
+ +
+
+
+Public Member Functions | +Public Attributes | +List of all members
+
+
ObjectDetection Class Reference
+
+
+ +

#include <object_detection.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 ObjectDetection ()
 Constructor for object detection class. More...
 
 ~ObjectDetection ()
 Destructor for object detection class. More...
 
void convertImage (const sensor_msgs::Image::ConstPtr &imageData)
 Callback function for image data. More...
 
bool detectObject (cv::Mat image)
 Method to detect object using hsv. More...
 
cv::Mat applyGaussBlur (cv::Mat cvtImage)
 Method to convert gaussian filter on the image. More...
 
cv::Rect getObjectBoundary () const
 Get boundary of the object in the image. More...
 
void setObjectBoundary (cv::Rect boundingBox)
 Set object boundary. More...
 
bool getObjectDetected () const
 Get object detected. More...
 
void setObjectDetected (bool object)
 Set object detected. More...
 
+ + + + +

+Public Attributes

cv::Mat convertedImage
 Container to store converted image from cv_bridge. More...
 
+

Constructor & Destructor Documentation

+ +
+
+ + + + + + + +
ObjectDetection::ObjectDetection ()
+
+ +

Constructor for object detection class.

+
Parameters
+ + +
none
+
+
+
Returns
none
+

Subscribe to turtlebot camera to get feed from the camera

+ +
+
+ +
+
+ + + + + + + +
ObjectDetection::~ObjectDetection ()
+
+ +

Destructor for object detection class.

+
Parameters
+ + +
none
+
+
+
Returns
none
+ +
+
+

Member Function Documentation

+ +
+
+ + + + + + + + +
cv::Mat ObjectDetection::applyGaussBlur (cv::Mat cvtImage)
+
+ +

Method to convert gaussian filter on the image.

+
Parameters
+ + +
Convertedopencv image of type cv::Mat
+
+
+
Returns
Image blurred using gaussian filter of type cv::Mat
+

Apply gaussian filter

+ +
+
+ +
+
+ + + + + + + + +
void ObjectDetection::convertImage (const sensor_msgs::Image::ConstPtr & imageData)
+
+ +

Callback function for image data.

+
Parameters
+ + +
Imagedata from camera node
+
+
+
Returns
none Convert ROS image message to CV image
+

Create an object cv_ptr that bridges the ROS image and OpenCV image

+

Wait for 30ms

+ +
+
+ +
+
+ + + + + + + + +
bool ObjectDetection::detectObject (cv::Mat image)
+
+ +

Method to detect object using hsv.

+
Parameters
+ + +
Imagegaussian filtered image of type cv::Mat
+
+
+
Returns
Match found of type bool
+

Image conversion from BGR to HSV

+

Detect hsv within the set limits

+

Get image size to modify size of mask image

+

Find contours for better visualization

+

Check if contours exist in the image

+

Find contour with maximum area

+

Set boundary of the object in the image

+

Draw the rectangle using the bounding box

+

Mask image to limit the future turns affecting the output

+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
cv::Rect ObjectDetection::getObjectBoundary () const
+ 		+inline
+
+ +

Get boundary of the object in the image.

+
Parameters
+ + +
none
+
+
+
Returns
rectangular box containing the object
+ +
+
+ +
+
+ + + + + +
+ + + + + + + +
bool ObjectDetection::getObjectDetected () const
+ 		+inline
+
+ +

Get object detected.

+
Parameters
+ + +
none
+
+
+
Returns
Object detected or not of type bool
+ +
+
+ +
+
+ + + + + +
+ + + + + + + + +
void ObjectDetection::setObjectBoundary (cv::Rect boundingBox)
+ 		+inline
+
+ +

Set object boundary.

+
Parameters
+ + +
BoundingBoxreactagular boundary of the object
+
+
+
Returns
none
+ +
+
+ +
+
+ + + + + +
+ + + + + + + + +
void ObjectDetection::setObjectDetected (bool object)
+ 		+inline
+
+ +

Set object detected.

+
Parameters
+ + +
Objectdetected status
+
+
+
Returns
none
+ +
+
+

Member Data Documentation

+ +
+
+ + + + +
cv::Mat ObjectDetection::convertedImage
+
+ +

Container to store converted image from cv_bridge.

+ +
+
+
The documentation for this class was generated from the following files: +
+ +
+Generated by   +doxygen + 1.8.11 +
+ + diff --git a/docs/html/classObstacleAvoidance.html b/docs/html/classObstacleAvoidance.html index caa15d8..e39c319 100644 --- a/docs/html/classObstacleAvoidance.html +++ b/docs/html/classObstacleAvoidance.html @@ -110,10 +110,10 @@  Checks if obstacle is present within safe distance. More...
  bool getObstacleDetected () const - get obstacle detected More...
+ Gets obstacle detected. More...
  void setObstacleDetected (bool obstacle) - set obstacle detected More...
+ Set obstacle detected. More...
 

Constructor & Destructor Documentation

@@ -137,8 +137,7 @@

Constructor & Destructor Documentation

-
Returns
a constructor has no return
-

Initialize the current value of velocities in m/s and rad/s

+
Returns
none

Initialize obstacle detected value with false

Initialize safe distance from an obstacle in meters

Subscribe for data from the laser sensor on the scan topic

@@ -170,11 +169,11 @@

Constructor & Destructor Documentation

Constructor for obstacle avoidance class.

Parameters
- +
safedistance from an obstacle
Safedistance from an obstacle of type float
-
Returns
a constructor has no return
+
Returns
none

Initialize obstacle detected value with false

Initialize safe distance from an obstacle in meters

Subscribe for data from the laser sensor on the scan topic

@@ -201,7 +200,7 @@

Constructor & Destructor Documentation

-
Returns
a destrcutor has no return
+
Returns
none
@@ -226,7 +225,7 @@

Member Function Documentation

-
Returns
boolean obstacle found or not
+
Returns
Obstacle found or not of type bool

Check if obstacle is ahead

@@ -252,14 +251,14 @@

Member Function Documentation

-

get obstacle detected

+

Gets obstacle detected.

Parameters
none
-
Returns
boolean obstacle detected or not
+
Returns
Status of obstacle detected or not of type bool
@@ -284,7 +283,7 @@

Member Function Documentation

-
Returns
void
+
Returns
none

Read sensor data to get obstacle distances with respect to the robot

@@ -311,14 +310,14 @@

Member Function Documentation

-

set obstacle detected

+

Set obstacle detected.

Parameters
- +
obstacledetected status
Obstacledetected status
-
Returns
void
+
Returns
none
diff --git a/docs/html/classTurtlebot-members.html b/docs/html/classTurtlebot-members.html index 459f5f4..581b9f0 100644 --- a/docs/html/classTurtlebot-members.html +++ b/docs/html/classTurtlebot-members.html @@ -91,7 +91,7 @@ - + diff --git a/docs/html/classTurtlebot.html b/docs/html/classTurtlebot.html index c1ec448..1e0008a 100644 --- a/docs/html/classTurtlebot.html +++ b/docs/html/classTurtlebot.html @@ -98,7 +98,7 @@ - + @@ -115,9 +115,9 @@ - - - + + + @@ -141,18 +141,18 @@
checkVelocityChanged()Turtlebot
collectObject()Turtlebot
moveBot()Turtlebot
moveBot(ObstacleAvoidance &obstacleAvoidance)Turtlebot
moveForward(float linVelX)Turtlebot
resetBot()Turtlebot
turn(float angVelZ)Turtlebot

Public Member Functions

 Turtlebot ()
 Constructor for obstacle avoidance class. More...
 Obstacle detection and template matching variables. More...
 
 Turtlebot (float linVelX, float angVelZ)
 Constructor for obstacle avoidance class. More...
bool collectObject ()
 Collect the object. More...
 
void moveBot ()
 Control the motion of the bot. More...
 
void moveBot (ObstacleAvoidance &obstacleAvoidance)
 Control the motion of the bot. More...
 
bool resetBot ()
 Reset the velocities of the bot. More...
 
-

Constructor for obstacle avoidance class.

+

Obstacle detection and template matching variables.

Add ROS headers.

-
Parameters
+

Constructor for obstacle avoidance class

Parameters
none
-
Returns
a constructor has no return
+
Returns
none

Add custom libraries to help control motion of the robot

Initialize the current value of velocities in m/s and rad/s

-

Define the main access point to communications with the ROS system

+

Initialize previous with the current value of velocities

Publish the velocities to the robot on the navigation topic

@@ -184,14 +184,14 @@

Constructor for obstacle avoidance class.

Parameters
- - + +
linearvelocity in x-axis
angularvelocity about z-axis
Linearvelocity in x-axis
Angularvelocity about z-axis
-
Returns
a constructor has no return
+
Returns
none

Initialize the current value of velocities in m/s and rad/s

-

Define the main access point to communications with the ROS system

+

Initialize previous with the current value of velocities

Publish the velocities to the robot on the navigation topic

@@ -216,7 +216,7 @@ -
Returns
a destrcutor has no return
+
Returns
none
@@ -242,6 +242,8 @@

Member Function Documentation

Returns
boolean velocity changed or not
+

Check if both the velocities have changed

+

Update previous velocities

@@ -269,14 +271,15 @@

Member Function Documentation

- +
- + +
void Turtlebot::moveBot ()ObstacleAvoidance & obstacleAvoidance)
@@ -285,11 +288,19 @@

Member Function Documentation

Control the motion of the bot.

Parameters
- +
none
Referenceto Obstacle Avoidance class
-
Returns
void Use obstacle avoidance and go-to-goal strategies to move towards the object to be collected
+
Returns
none Use obstacle avoidance and go-to-goal strategies to move towards the object to be collected
+

Set the publishing rate

+

Start turning the robot to avoid obstacles

+

Check if velocities have changed

+

Start moving the robot once obstacle is avoided

+

Check if velocities have changed

+

Publish the velocities

+

Handle callback

+

Make the system sleep to maintain loop rate

@@ -310,11 +321,11 @@

Member Function Documentation

Make the bot move forward.

Parameters
- +
linearvelocity in x-direction
Linearvelocity in x-direction
-
Returns
linear velocity for the bot
+
Returns
Linear velocity for the bot
@@ -338,7 +349,10 @@

Member Function Documentation

-
Returns
void
+
Returns
status of type bool
+

Reset linear velocities of the both robot

+

Reset angular velocities of the both robot

+

Publish the reset velocities

@@ -359,11 +373,11 @@

Member Function Documentation

Turn the bot.

Parameters
- +
angularvelocity about z-axis
Angularvelocity about z-axis
-
Returns
angular velocity for the bot
+
Returns
Angular velocity for the bot
diff --git a/docs/html/classes.html b/docs/html/classes.html index ef85298..bb77602 100644 --- a/docs/html/classes.html +++ b/docs/html/classes.html @@ -92,7 +92,7 @@ ObstacleAvoidance   
  T  
-ObjectDectection    +ObjectDetection    Turtlebot    diff --git a/docs/html/detector_8cpp.html b/docs/html/detector_8cpp.html new file mode 100644 index 0000000..5118493 --- /dev/null +++ b/docs/html/detector_8cpp.html @@ -0,0 +1,173 @@ + + + + + + +Supermarket Cleaning Robot: src/detector.cpp File Reference + + + + + + + + + + +
+
+ + + + + + +
+
Supermarket Cleaning Robot +
+
+
+ + + + + + +
+
+ + +
+ +
+ + +
+
+
+Functions
+
+
detector.cpp File Reference
+
+
+ +

Detector node file to implement object detection algorithm Implements object detection algorithm using HSV color detection. +More...

+
#include <ros/ros.h>
+#include "object_detection/object_detection.h"
+
+Include dependency graph for detector.cpp:
+
+
+ + + +
+
+ + + + +

+Functions

int main (int argc, char **argv)
 main function More...
 
+

Detailed Description

+

Detector node file to implement object detection algorithm Implements object detection algorithm using HSV color detection.

+

BSD 3-Clause License

+
Copyright
(c) 2019, Umang Rastogi, Naman Gupta
+

All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

+

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+
Author
Umang Rastogi - Navigator
+
+Naman Gupta - Driver
+

Function Documentation

+ +
+
+ + + + + + + + + + + + + + + + + + +
int main (int argc,
char ** argv 
)
+
+ +

main function

+
Parameters
+ + + +
argc
argv
+
+
+
Returns
int
+

Initialized object detection node

+

Declaring object of class ObjectDetection

+

Checks empty image

+

Apply detectObject method to detect cans in the world

+

Close both the windows of HSVImage and Turtlebot View

+ +
+
+
+ +
+Generated by   +doxygen + 1.8.11 +
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turtlebot → object_detection Relation

File in include/turtlebotIncludes file in include/object_detection
turtlebot.hobject_detection.h
+ +
+Generated by   +doxygen + 1.8.11 +
+ + diff --git a/docs/html/dir_000003_000002.html b/docs/html/dir_000003_000002.html new file mode 100644 index 0000000..0b5b1f2 --- /dev/null +++ b/docs/html/dir_000003_000002.html @@ -0,0 +1,90 @@ + + + + + + +Supermarket Cleaning Robot: include/turtlebot -> obstacle_avoidance Relation + + + + + + + + + + +
+
+ + + + + + +
+
Supermarket Cleaning Robot +
+
+
+ + + + + +
+
+ + +
+ +
+ + +
+
+

turtlebot → obstacle_avoidance Relation

File in include/turtlebotIncludes file in include/obstacle_avoidance
turtlebot.hobstacle_avoidance.h
+ +
+Generated by   +doxygen + 1.8.11 +
+ + diff --git a/docs/html/dir_000004_000000.html b/docs/html/dir_000004_000000.html index d3bbf22..b60fa8a 100644 --- a/docs/html/dir_000004_000000.html +++ b/docs/html/dir_000004_000000.html @@ -79,7 +79,7 @@
-

src → include Relation

File in srcIncludes file in include
obstacle_avoidance.cppobstacle_avoidance / obstacle_avoidance.h
turtlebot.cppobject_detection / object_detection.h
turtlebot.cppobstacle_avoidance / obstacle_avoidance.h
turtlebot.cppturtlebot / turtlebot.h
+

src → include Relation

File in srcIncludes file in include
detector.cppobject_detection / object_detection.h
navigator.cppobstacle_avoidance / obstacle_avoidance.h
navigator.cppturtlebot / turtlebot.h
object_detection.cppobject_detection / object_detection.h
obstacle_avoidance.cppobstacle_avoidance / obstacle_avoidance.h
turtlebot.cppobject_detection / object_detection.h
turtlebot.cppobstacle_avoidance / obstacle_avoidance.h
turtlebot.cppturtlebot / turtlebot.h
Generated by   diff --git a/docs/html/dir_000005_000000.html b/docs/html/dir_000005_000000.html index 79c5051..979e5e5 100644 --- a/docs/html/dir_000005_000000.html +++ b/docs/html/dir_000005_000000.html @@ -79,7 +79,7 @@
-

test → include Relation

File in testIncludes file in include
obstacle_avoidance_test.cppobstacle_avoidance / obstacle_avoidance.h
turtlebot_test.cppturtlebot / turtlebot.h
+

test → include Relation

File in testIncludes file in include
object_detection_test.cppobject_detection / object_detection.h
obstacle_avoidance_test.cppobstacle_avoidance / obstacle_avoidance.h
turtlebot_test.cppturtlebot / turtlebot.h
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turtlebot Directory Reference
+
+Directory dependency graph for turtlebot:
+
+
include/turtlebot
+ + + + + + + + +
file  main.cpp
 Test implementation of class test.
 
file  object_detection_test.cpp
 
file  obstacle_avoidance_test.cpp
 Class test implementation of class ObstacleAvoidance.
 
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Files

 + + + + + + + + + - +

Files

file  detector.cpp
 Detector node file to implement object detection algorithm Implements object detection algorithm using HSV color detection.
 
file  navigator.cpp
 
file  object_detection.cpp
 File to implement ObjectDetection class Implements object detection using HSV method which detects color of the can in a certain range and creates a bounding box over it.
 
file  obstacle_avoidance.cpp
 Source file to implement obstacle avoidance class Uses laser sensor for obstacle avoidance publishes velocities for the robot upon obstacle detection.
 
file  turtlebot.cpp
 Source file to implement turtlebot class Controls the motion of the bot using obstacle avoidance and go-to-goal strategies.
 Navigator node to implement obstacle avoidance and move bot algorithm.
 
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+
+Directory dependency graph for include:
+
+
include
+ + + + + + + + +
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Directories

 ▼ turtlebot
 turtlebot.hLibrary header file to control motion of the bot Takes input from both, obstacle avoidance and object detection
 ▼ src
 obstacle_avoidance.cpp
 turtlebot.cppSource file to implement turtlebot class Controls the motion of the bot using obstacle avoidance and go-to-goal strategies
 ▼ test
 main.cppTest implementation of class test
 obstacle_avoidance_test.cppClass test implementation of class ObstacleAvoidance
 turtlebot_test.cpp
 detector.cppDetector node file to implement object detection algorithm Implements object detection algorithm using HSV color detection
 navigator.cpp
 object_detection.cppFile to implement ObjectDetection class Implements object detection using HSV method which detects color of the can in a certain range and creates a bounding box over it
 obstacle_avoidance.cppSource file to implement obstacle avoidance class Uses laser sensor for obstacle avoidance publishes velocities for the robot upon obstacle detection
 turtlebot.cppNavigator node to implement obstacle avoidance and move bot algorithm
 ▼ test
 main.cppTest implementation of class test
 object_detection_test.cpp
 obstacle_avoidance_test.cppClass test implementation of class ObstacleAvoidance
 turtlebot_test.cpp
diff --git a/docs/html/functions.html b/docs/html/functions.html index ef1e2ae..2aab5ff 100644 --- a/docs/html/functions.html +++ b/docs/html/functions.html @@ -70,6 +70,7 @@ @@ -89,6 +90,9 @@
Here is a list of all class members with links to the classes they belong to:
@@ -89,6 +90,9 @@
 
-Go to the documentation of this file.
1 
36 #ifndef INCLUDE_OBSTACLE_AVOIDANCE_OBSTACLE_AVOIDANCE_H_
37 #define INCLUDE_OBSTACLE_AVOIDANCE_OBSTACLE_AVOIDANCE_H_
38 
39 #include "ros/ros.h"
40 #include "sensor_msgs/LaserScan.h"
41 
42 class ObstacleAvoidance {
43  private:
45  ros::NodeHandle nh;
47  ros::Subscriber subscibeSensor;
49  bool obstacleDetected;
51  float distanceThreshold;
52 
53  public:
59  ObstacleAvoidance();
60 
66  explicit ObstacleAvoidance(float distThreshold);
67 
73  ~ObstacleAvoidance();
74 
80  void laserSensorCallback(const sensor_msgs::LaserScan::ConstPtr& \
81  sensorData);
82 
88  bool checkObstacle();
89 
95  bool getObstacleDetected() const {
96  return obstacleDetected;
97  }
98 
104  void setObstacleDetected(bool obstacle) {
105  obstacleDetected = obstacle;
106  }
107 };
108 
109 #endif // INCLUDE_OBSTACLE_AVOIDANCE_OBSTACLE_AVOIDANCE_H_
ObstacleAvoidance::ObstacleAvoidance
ObstacleAvoidance()
Constructor for obstacle avoidance class.
Definition: obstacle_avoidance.cpp:41
-
ObstacleAvoidance::getObstacleDetected
bool getObstacleDetected() const
get obstacle detected
Definition: obstacle_avoidance.h:95
-
ObstacleAvoidance::setObstacleDetected
void setObstacleDetected(bool obstacle)
set obstacle detected
Definition: obstacle_avoidance.h:104
-
ObstacleAvoidance::checkObstacle
bool checkObstacle()
Checks if obstacle is present within safe distance.
Definition: obstacle_avoidance.cpp:83
-
ObstacleAvoidance
Definition: obstacle_avoidance.h:42
-
ObstacleAvoidance::~ObstacleAvoidance
~ObstacleAvoidance()
Destructor for obstacle avoidance class.
Definition: obstacle_avoidance.cpp:68
-
ObstacleAvoidance::laserSensorCallback
void laserSensorCallback(const sensor_msgs::LaserScan::ConstPtr &sensorData)
Callback function for subscriber.
Definition: obstacle_avoidance.cpp:70
+Go to the documentation of this file.
1 
37 #ifndef INCLUDE_OBSTACLE_AVOIDANCE_OBSTACLE_AVOIDANCE_H_
38 #define INCLUDE_OBSTACLE_AVOIDANCE_OBSTACLE_AVOIDANCE_H_
39 
40 #include "ros/ros.h"
41 #include "sensor_msgs/LaserScan.h"
42 
43 class ObstacleAvoidance {
44  private:
46  ros::NodeHandle nh;
48  ros::Subscriber subscibeSensor;
50  bool obstacleDetected;
52  float distanceThreshold;
53 
54  public:
60  ObstacleAvoidance();
61 
67  explicit ObstacleAvoidance(float distThreshold);
68 
74  ~ObstacleAvoidance();
75 
81  void laserSensorCallback(const sensor_msgs::LaserScan::ConstPtr& \
82  sensorData);
83 
89  bool checkObstacle();
90 
96  bool getObstacleDetected() const {
97  return obstacleDetected;
98  }
99 
105  void setObstacleDetected(bool obstacle) {
106  obstacleDetected = obstacle;
107  }
108 };
109 
110 #endif // INCLUDE_OBSTACLE_AVOIDANCE_OBSTACLE_AVOIDANCE_H_
ObstacleAvoidance::ObstacleAvoidance
ObstacleAvoidance()
Constructor for obstacle avoidance class.
Definition: obstacle_avoidance.cpp:43
+
ObstacleAvoidance::getObstacleDetected
bool getObstacleDetected() const
Gets obstacle detected.
Definition: obstacle_avoidance.h:96
+
ObstacleAvoidance::setObstacleDetected
void setObstacleDetected(bool obstacle)
Set obstacle detected.
Definition: obstacle_avoidance.h:105
+
ObstacleAvoidance::checkObstacle
bool checkObstacle()
Checks if obstacle is present within safe distance.
Definition: obstacle_avoidance.cpp:80
+
ObstacleAvoidance
Definition: obstacle_avoidance.h:43
+
ObstacleAvoidance::~ObstacleAvoidance
~ObstacleAvoidance()
Destructor for obstacle avoidance class.
Definition: obstacle_avoidance.cpp:89
+
ObstacleAvoidance::laserSensorCallback
void laserSensorCallback(const sensor_msgs::LaserScan::ConstPtr &sensorData)
Callback function for subscriber.
Definition: obstacle_avoidance.cpp:67
diff --git a/docs/html/obstacle__avoidance__test_8cpp.html b/docs/html/obstacle__avoidance__test_8cpp.html index 639f7d8..327efbd 100644 --- a/docs/html/obstacle__avoidance__test_8cpp.html +++ b/docs/html/obstacle__avoidance__test_8cpp.html @@ -114,6 +114,9 @@  TEST (ObstacleAvoidanceTest, obstacleDetected)  Test to check getters and setters. More...
  + TEST (ObstacleAvoidanceTest, checkObstacle) + Test to check obstacle. More...
+ 

Detailed Description

Class test implementation of class ObstacleAvoidance.

@@ -179,6 +182,35 @@

Test to check getters and setters.

+
+
+ +
+
+ + + + + + + + + + + + + + + + + + +
TEST (ObstacleAvoidanceTest ,
checkObstacle  
)
+
+ +

Test to check obstacle.

+

Define distance threshold for obstacles

+
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diff --git a/docs/html/search/all_2.js b/docs/html/search/all_2.js index 8dbe171..c107eda 100644 --- a/docs/html/search/all_2.js +++ b/docs/html/search/all_2.js @@ -1,4 +1,5 @@ var searchData= [ - ['lasersensorcallback',['laserSensorCallback',['../classObstacleAvoidance.html#af03480261c682c2b9b4026f377cc9e3f',1,'ObstacleAvoidance']]] + ['detectobject',['detectObject',['../classObjectDetection.html#a63d13b70232d3d076a6c543c03f9c9ff',1,'ObjectDetection']]], + ['detector_2ecpp',['detector.cpp',['../detector_8cpp.html',1,'']]] ]; diff --git a/docs/html/search/all_3.js b/docs/html/search/all_3.js index b118ed5..855af13 100644 --- a/docs/html/search/all_3.js +++ b/docs/html/search/all_3.js @@ -1,7 +1,6 @@ var searchData= [ - ['main',['main',['../main_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627',1,'main.cpp']]], - ['main_2ecpp',['main.cpp',['../main_8cpp.html',1,'']]], - ['movebot',['moveBot',['../classTurtlebot.html#a59b96da462933830798a7617afa62c0a',1,'Turtlebot']]], - ['moveforward',['moveForward',['../classTurtlebot.html#ab55e08a3b52c24ef094f591b8945a0e9',1,'Turtlebot']]] + ['getobjectboundary',['getObjectBoundary',['../classObjectDetection.html#a897f179535427f66bc9f849b1daff904',1,'ObjectDetection']]], + ['getobjectdetected',['getObjectDetected',['../classObjectDetection.html#ac1e795be46de92c3e7c2f050d805d601',1,'ObjectDetection']]], + ['getobstacledetected',['getObstacleDetected',['../classObstacleAvoidance.html#a9bc10665f077a2a22c203289e187ebb3',1,'ObstacleAvoidance']]] ]; 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diff --git a/docs/html/search/functions_7.js b/docs/html/search/functions_7.js index f41eea0..a2109fc 100644 --- a/docs/html/search/functions_7.js +++ b/docs/html/search/functions_7.js @@ -1,7 +1,4 @@ var searchData= [ - ['templatematching',['templateMatching',['../classObjectDectection.html#abfb053098fb4ac31367ff97e4eec1f5d',1,'ObjectDectection']]], - ['test',['TEST',['../obstacle__avoidance__test_8cpp.html#ac1cd47bac47de1c96d3d8f657785c396',1,'TEST(ObstacleAvoidanceTest, obstacleNotDetected): obstacle_avoidance_test.cpp'],['../obstacle__avoidance__test_8cpp.html#acc0db72dbbfe6921be935ec106314d8d',1,'TEST(ObstacleAvoidanceTest, obstacleDetected): obstacle_avoidance_test.cpp'],['../turtlebot__test_8cpp.html#a9a6ea4dc6684bb026f62cfdda7aff1f1',1,'TEST(TurtlebotTest, velocityChangedTest): turtlebot_test.cpp'],['../turtlebot__test_8cpp.html#af6ae717c41dd4bf43eb1cc32725c0f80',1,'TEST(TurtlebotTest, moveForwardTest): turtlebot_test.cpp'],['../turtlebot__test_8cpp.html#ab47b3f4f1f1ae5d087ed79fdd0f5b6c4',1,'TEST(TurtlebotTest, turnTest): turtlebot_test.cpp']]], - ['turn',['turn',['../classTurtlebot.html#a793fbcacdfb213d377d3d12e38957a88',1,'Turtlebot']]], - ['turtlebot',['Turtlebot',['../classTurtlebot.html#a683061fc512bfb8d2a35134e783767ff',1,'Turtlebot::Turtlebot()'],['../classTurtlebot.html#a5c5d2e07560cf7dd661fa5c16b56f486',1,'Turtlebot::Turtlebot(float linVelX, float angVelZ)']]] + ['resetbot',['resetBot',['../classTurtlebot.html#a23205bca59a5a9705ab572402de5daf3',1,'Turtlebot']]] ]; diff --git a/docs/html/search/functions_8.js b/docs/html/search/functions_8.js index a079713..2998f18 100644 --- a/docs/html/search/functions_8.js +++ b/docs/html/search/functions_8.js @@ -1,6 +1,6 @@ var searchData= [ - ['_7eobjectdectection',['~ObjectDectection',['../classObjectDectection.html#a97840a69d8c8a6096db6cc8dea0b9e01',1,'ObjectDectection']]], - ['_7eobstacleavoidance',['~ObstacleAvoidance',['../classObstacleAvoidance.html#aead959d605cc5599afde7da5e66b24f7',1,'ObstacleAvoidance']]], - ['_7eturtlebot',['~Turtlebot',['../classTurtlebot.html#a86b905efdcfab4dc1d4c9f7687902f94',1,'Turtlebot']]] + ['setobjectboundary',['setObjectBoundary',['../classObjectDetection.html#af3c1adc86fa3950f0325e5c6de7c9a2e',1,'ObjectDetection']]], + ['setobjectdetected',['setObjectDetected',['../classObjectDetection.html#a1f0c0d87bb3fdc9082c8f4c450bbf1fb',1,'ObjectDetection']]], + ['setobstacledetected',['setObstacleDetected',['../classObstacleAvoidance.html#ab905f3e115e16482e7f8a6b24e0f3cf1',1,'ObstacleAvoidance']]] ]; diff --git a/docs/html/search/functions_9.html b/docs/html/search/functions_9.html new file mode 100644 index 0000000..1d34583 --- /dev/null +++ b/docs/html/search/functions_9.html @@ -0,0 +1,26 @@ + + + + + + + + + +
+
Loading...
+
+ +
Searching...
+
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+ +
+ + diff --git a/docs/html/search/functions_9.js b/docs/html/search/functions_9.js new file mode 100644 index 0000000..119d8f9 --- /dev/null +++ b/docs/html/search/functions_9.js @@ -0,0 +1,6 @@ +var searchData= +[ + ['test',['TEST',['../object__detection__test_8cpp.html#a272dd121fe32cae77b6e2740fe43c69e',1,'TEST(ObjectDetectionTest, objectNotDetected): object_detection_test.cpp'],['../object__detection__test_8cpp.html#a1df63b07a92a566771ca35ddc825989a',1,'TEST(ObjectDetectionTest, objectDetected): object_detection_test.cpp'],['../object__detection__test_8cpp.html#a67eec44cbc8fcd243a13197dff383087',1,'TEST(ObjectDetectionTest, setBoundary): object_detection_test.cpp'],['../object__detection__test_8cpp.html#a235cb75479ba6461078367bf515a4f4e',1,'TEST(ObjectDetectionTest, gaussFilter): object_detection_test.cpp'],['../object__detection__test_8cpp.html#a683ac4af2799e9ba6b2cdf907b767680',1,'TEST(ObjectDetectionTest, checkObject): object_detection_test.cpp'],['../obstacle__avoidance__test_8cpp.html#ac1cd47bac47de1c96d3d8f657785c396',1,'TEST(ObstacleAvoidanceTest, obstacleNotDetected): obstacle_avoidance_test.cpp'],['../obstacle__avoidance__test_8cpp.html#acc0db72dbbfe6921be935ec106314d8d',1,'TEST(ObstacleAvoidanceTest, obstacleDetected): obstacle_avoidance_test.cpp'],['../obstacle__avoidance__test_8cpp.html#ace97a9ce4db229f4a62e8dbda4848f19',1,'TEST(ObstacleAvoidanceTest, checkObstacle): obstacle_avoidance_test.cpp'],['../turtlebot__test_8cpp.html#a9a6ea4dc6684bb026f62cfdda7aff1f1',1,'TEST(TurtlebotTest, velocityChangedTest): turtlebot_test.cpp'],['../turtlebot__test_8cpp.html#af6ae717c41dd4bf43eb1cc32725c0f80',1,'TEST(TurtlebotTest, moveForwardTest): turtlebot_test.cpp'],['../turtlebot__test_8cpp.html#ab47b3f4f1f1ae5d087ed79fdd0f5b6c4',1,'TEST(TurtlebotTest, turnTest): turtlebot_test.cpp'],['../turtlebot__test_8cpp.html#ad6f46ddef616544f8bb15f0e59e4e704',1,'TEST(TurtlebotTest, resetTest): turtlebot_test.cpp']]], + ['turn',['turn',['../classTurtlebot.html#a793fbcacdfb213d377d3d12e38957a88',1,'Turtlebot']]], + ['turtlebot',['Turtlebot',['../classTurtlebot.html#a683061fc512bfb8d2a35134e783767ff',1,'Turtlebot::Turtlebot()'],['../classTurtlebot.html#a5c5d2e07560cf7dd661fa5c16b56f486',1,'Turtlebot::Turtlebot(float linVelX, float angVelZ)']]] +]; diff --git a/docs/html/search/functions_a.html b/docs/html/search/functions_a.html new file mode 100644 index 0000000..8eb5e56 --- /dev/null +++ b/docs/html/search/functions_a.html @@ -0,0 +1,26 @@ + + + + + + + + + +
+
Loading...
+
+ +
Searching...
+
No Matches
+ +
+ + diff --git a/docs/html/search/functions_a.js b/docs/html/search/functions_a.js new file mode 100644 index 0000000..3d13d6f --- /dev/null +++ b/docs/html/search/functions_a.js @@ -0,0 +1,6 @@ +var searchData= +[ + ['_7eobjectdetection',['~ObjectDetection',['../classObjectDetection.html#ad5d9d344ab55095927725733590f0da5',1,'ObjectDetection']]], + ['_7eobstacleavoidance',['~ObstacleAvoidance',['../classObstacleAvoidance.html#aead959d605cc5599afde7da5e66b24f7',1,'ObstacleAvoidance']]], + ['_7eturtlebot',['~Turtlebot',['../classTurtlebot.html#a86b905efdcfab4dc1d4c9f7687902f94',1,'Turtlebot']]] +]; diff --git a/docs/html/search/searchdata.js b/docs/html/search/searchdata.js index eced25b..aa991a8 100644 --- a/docs/html/search/searchdata.js +++ b/docs/html/search/searchdata.js @@ -1,10 +1,11 @@ var indexSectionsWithContent = { - 0: "cglmoprst~", + 0: "acdglmnoprst~", 1: "ot", - 2: "cmort", - 3: "cglmorst~", - 4: "p" + 2: "cdmnort", + 3: "acdglmorst~", + 4: "c", + 5: "p" }; var indexSectionNames = @@ -13,7 +14,8 @@ var indexSectionNames = 1: "classes", 2: "files", 3: "functions", - 4: "pages" + 4: "variables", + 5: "pages" }; var indexSectionLabels = @@ -22,6 +24,7 @@ var indexSectionLabels = 1: "Classes", 2: "Files", 3: "Functions", - 4: "Pages" + 4: "Variables", + 5: "Pages" }; diff --git a/docs/html/search/variables_0.html b/docs/html/search/variables_0.html new file mode 100644 index 0000000..3835278 --- /dev/null +++ b/docs/html/search/variables_0.html @@ -0,0 +1,26 @@ + + + + + + + + + +
+
Loading...
+
+ +
Searching...
+
No Matches
+ +
+ + diff --git a/docs/html/search/variables_0.js b/docs/html/search/variables_0.js new file mode 100644 index 0000000..4e8657c --- /dev/null +++ b/docs/html/search/variables_0.js @@ -0,0 +1,4 @@ +var searchData= +[ + ['convertedimage',['convertedImage',['../classObjectDetection.html#ab3a61dd408dd36da96f7398f14a1a054',1,'ObjectDetection']]] +]; diff --git a/docs/html/turtlebot_8cpp.html b/docs/html/turtlebot_8cpp.html index 39b9e04..536f702 100644 --- a/docs/html/turtlebot_8cpp.html +++ b/docs/html/turtlebot_8cpp.html @@ -90,7 +90,7 @@
-

Source file to implement turtlebot class Controls the motion of the bot using obstacle avoidance and go-to-goal strategies. +

Navigator node to implement obstacle avoidance and move bot algorithm. More...

#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
@@ -102,15 +102,22 @@
- - - + + +

Detailed Description

-

Source file to implement turtlebot class Controls the motion of the bot using obstacle avoidance and go-to-goal strategies.

+

Navigator node to implement obstacle avoidance and move bot algorithm.

+

Source file to implement turtlebot class Controls the motion of the bot using obstacle avoidance and go-to-goal strategies.

BSD 3-Clause License

-
Copyright
(c) 2019, Umang Rastogi Naman Gupta All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
Copyright
(c) 2019, Naman Gupta, Umang Rastogi All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

+
Author
Umang Rastogi - Driver
+
+Naman Gupta - Navigator
+

BSD 3-Clause License

+
Copyright
(c) 2019, Umang Rastogi, Naman Gupta All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Author
Umang Rastogi - Driver
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#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
+#include "object_detection/object_detection.h"
+#include "obstacle_avoidance/obstacle_avoidance.h"
Include dependency graph for turtlebot.h:
+ +
@@ -108,8 +112,9 @@
- - + + +
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turtlebot.h
-Go to the documentation of this file.
1 
37 #ifndef INCLUDE_TURTLEBOT_TURTLEBOT_H_
38 #define INCLUDE_TURTLEBOT_TURTLEBOT_H_
39 
41 #include "ros/ros.h"
42 #include "geometry_msgs/Twist.h"
43 
44 class Turtlebot {
45  private:
47  ros::NodeHandle nh;
49  ros::Publisher publishVelocities;
51  geometry_msgs::Twist velocities;
53  float linearVelocity;
55  float anguarVelocity;
57  const int publishRate = 2;
58 
59  public:
65  Turtlebot();
66 
73  Turtlebot(float linVelX, float angVelZ);
74 
80  ~Turtlebot();
81 
87  float moveForward(float linVelX);
88 
94  float turn(float angVelZ);
95 
101  bool collectObject();
102 
110  void moveBot();
111 
117  bool resetBot();
118 
124  bool checkVelocityChanged();
125 };
126 
127 #endif // INCLUDE_TURTLEBOT_TURTLEBOT_H_
Turtlebot::checkVelocityChanged
bool checkVelocityChanged()
Check change in the velocites of the bot.
Definition: turtlebot.cpp:107
-
Turtlebot::resetBot
bool resetBot()
Reset the velocities of the bot.
Definition: turtlebot.cpp:103
-
Turtlebot::Turtlebot
Turtlebot()
Constructor for obstacle avoidance class.
Definition: turtlebot.cpp:45
-
Turtlebot::turn
float turn(float angVelZ)
Turn the bot.
Definition: turtlebot.cpp:88
-
Turtlebot::moveForward
float moveForward(float linVelX)
Make the bot move forward.
Definition: turtlebot.cpp:81
-
Turtlebot::moveBot
void moveBot()
Control the motion of the bot.
Definition: turtlebot.cpp:99
-
Turtlebot
Add ROS headers.
Definition: turtlebot.h:44
-
Turtlebot::~Turtlebot
~Turtlebot()
Destructor for obstacle avoidance class.
Definition: turtlebot.cpp:75
-
Turtlebot::collectObject
bool collectObject()
Collect the object.
Definition: turtlebot.cpp:95
+Go to the documentation of this file.
1 
37 #ifndef INCLUDE_TURTLEBOT_TURTLEBOT_H_
38 #define INCLUDE_TURTLEBOT_TURTLEBOT_H_
39 
41 #include "ros/ros.h"
42 #include "geometry_msgs/Twist.h"
43 #include "object_detection/object_detection.h"
44 #include "obstacle_avoidance/obstacle_avoidance.h"
45 
46 class Turtlebot {
47  private:
49  ros::NodeHandle nh;
51  ros::Publisher publishVelocities;
53  geometry_msgs::Twist velocities;
55  float linearVelocity;
57  float angularVelocity;
59  float prevLinearVelocity, prevAngularVelocity;
61  const int publishRate = 500;
63 
64  public:
70  Turtlebot();
71 
78  Turtlebot(float linVelX, float angVelZ);
79 
85  ~Turtlebot();
86 
92  float moveForward(float linVelX);
93 
99  float turn(float angVelZ);
100 
106  bool collectObject();
107 
115  void moveBot(ObstacleAvoidance& obstacleAvoidance);
116 
122  bool resetBot();
123 
129  bool checkVelocityChanged();
130 };
131 
132 #endif // INCLUDE_TURTLEBOT_TURTLEBOT_H_
Turtlebot::moveBot
void moveBot(ObstacleAvoidance &obstacleAvoidance)
Control the motion of the bot.
Definition: turtlebot.cpp:91
+
Turtlebot::checkVelocityChanged
bool checkVelocityChanged()
Check change in the velocites of the bot.
Definition: turtlebot.cpp:132
+
Turtlebot::resetBot
bool resetBot()
Reset the velocities of the bot.
Definition: turtlebot.cpp:116
+
obstacle_avoidance.h
Library header file to implement obstacle avoidance.
+
Turtlebot::Turtlebot
Turtlebot()
Obstacle detection and template matching variables.
Definition: turtlebot.cpp:45
+
object_detection.h
Library header file to implement object detection Deploys template matching to detect object in the ...
+
Turtlebot::turn
float turn(float angVelZ)
Turn the bot.
Definition: turtlebot.cpp:85
+
Turtlebot::moveForward
float moveForward(float linVelX)
Make the bot move forward.
Definition: turtlebot.cpp:79
+
Turtlebot
Add ROS headers.
Definition: turtlebot.h:46
+
Turtlebot::~Turtlebot
~Turtlebot()
Destructor for obstacle avoidance class.
Definition: turtlebot.cpp:73
+
ObstacleAvoidance
Definition: obstacle_avoidance.h:43
+
Turtlebot::collectObject
bool collectObject()
Collect the object.
diff --git a/docs/html/turtlebot__test_8cpp.html b/docs/html/turtlebot__test_8cpp.html index 41bc035..04059c5 100644 --- a/docs/html/turtlebot__test_8cpp.html +++ b/docs/html/turtlebot__test_8cpp.html @@ -99,7 +99,9 @@
- + + +
@@ -114,6 +116,9 @@ + + +
 TEST (TurtlebotTest, turnTest)
 Test for turn() method Test to check angular velocity provided to method. More...
 
 TEST (TurtlebotTest, resetTest)
 Test for resetting the bot. More...
 

Function Documentation

@@ -169,6 +174,7 @@

Function Documentation

Test for moveForward() method Test to check linear velocity provided to method.

+

Define angular and linear velocities for the robot

@@ -197,6 +203,35 @@

Function Documentation

Test for turn() method Test to check angular velocity provided to method.

+

Define angular and linear velocities for the robot

+ +
+ + +
+
+ + + + + + + + + + + + + + + + + + +
TEST (TurtlebotTest ,
resetTest  
)
+
+ +

Test for resetting the bot.

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z*iB7M0h#pI(A10pWlBy_krW~skO=sdYE=0FzUvRJh&b2Foft5EVabu>#f*9!RUo<{ zqY#gH`}+0kfbTmU+Mq*VZ%<)iVUY*^jQ(BDxP!fpnO!U|^Q;#T`m3R;Dhl%4ArM^< z$pV1;M*&O50gTTV2xpx)ovgpP*S>1oStyNKWr_V1o50u8(=+6cfbqH&52R1PNkoa0 z?*Pe-1-t9u)>b{?v>_U2RwL@%6Jn%pWJC^he72`6{D2s4f^LsSjVT(yrvnb=WyPhX zqHbM(JqJ~xTNmOX-Y9pGJPuLd0*eQ;z%128`>BzTRwVAu95dCWhu%?K5oDUNLx2Ro5TU`QXK>vqqR<7pvT3RxxaGH zq7*xp45%L)O~lE*s!jiYWZ)B9fH_jZru;{>Jz-L)d_3`eetv!|O6(xSevIYm4XqS; zxf0dy(ji5vW**0-{ey!r>z}V5_!VRGfa`$*;WH1a6!sz|R9mi8mb3YvfrS1~`L`cA i$} + +\subsection*{Public Member Functions} +\begin{DoxyCompactItemize} +\item +\hyperlink{classObjectDetection_a6ccb25952ecc45811451c5cb623e23ee}{Object\+Detection} () +\begin{DoxyCompactList}\small\item\em Constructor for object detection class. \end{DoxyCompactList}\item +\hyperlink{classObjectDetection_ad5d9d344ab55095927725733590f0da5}{$\sim$\+Object\+Detection} () +\begin{DoxyCompactList}\small\item\em Destructor for object detection class. \end{DoxyCompactList}\item +void \hyperlink{classObjectDetection_abb6ea33423e081c37bd38e55f1347f52}{convert\+Image} (const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&image\+Data) +\begin{DoxyCompactList}\small\item\em Callback function for image data. \end{DoxyCompactList}\item +bool \hyperlink{classObjectDetection_a63d13b70232d3d076a6c543c03f9c9ff}{detect\+Object} (cv\+::\+Mat image) +\begin{DoxyCompactList}\small\item\em Method to detect object using hsv. \end{DoxyCompactList}\item +cv\+::\+Mat \hyperlink{classObjectDetection_a0f559ec8747dca4882aa3fe8f21e0fb8}{apply\+Gauss\+Blur} (cv\+::\+Mat cvt\+Image) +\begin{DoxyCompactList}\small\item\em Method to convert gaussian filter on the image. \end{DoxyCompactList}\item +cv\+::\+Rect \hyperlink{classObjectDetection_a897f179535427f66bc9f849b1daff904}{get\+Object\+Boundary} () const +\begin{DoxyCompactList}\small\item\em Get boundary of the object in the image. \end{DoxyCompactList}\item +void \hyperlink{classObjectDetection_af3c1adc86fa3950f0325e5c6de7c9a2e}{set\+Object\+Boundary} (cv\+::\+Rect bounding\+Box) +\begin{DoxyCompactList}\small\item\em Set object boundary. \end{DoxyCompactList}\item +bool \hyperlink{classObjectDetection_ac1e795be46de92c3e7c2f050d805d601}{get\+Object\+Detected} () const +\begin{DoxyCompactList}\small\item\em Get object detected. \end{DoxyCompactList}\item +void \hyperlink{classObjectDetection_a1f0c0d87bb3fdc9082c8f4c450bbf1fb}{set\+Object\+Detected} (bool object) +\begin{DoxyCompactList}\small\item\em Set object detected. \end{DoxyCompactList}\end{DoxyCompactItemize} +\subsection*{Public Attributes} +\begin{DoxyCompactItemize} +\item +cv\+::\+Mat \hyperlink{classObjectDetection_ab3a61dd408dd36da96f7398f14a1a054}{converted\+Image} +\begin{DoxyCompactList}\small\item\em Container to store converted image from cv\+\_\+bridge. \end{DoxyCompactList}\end{DoxyCompactItemize} + + +\subsection{Constructor \& Destructor Documentation} +\index{Object\+Detection@{Object\+Detection}!Object\+Detection@{Object\+Detection}} +\index{Object\+Detection@{Object\+Detection}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{Object\+Detection()}{ObjectDetection()}}]{\setlength{\rightskip}{0pt plus 5cm}Object\+Detection\+::\+Object\+Detection ( +\begin{DoxyParamCaption} +{} +\end{DoxyParamCaption} +)}\hypertarget{classObjectDetection_a6ccb25952ecc45811451c5cb623e23ee}{}\label{classObjectDetection_a6ccb25952ecc45811451c5cb623e23ee} + + +Constructor for object detection class. + + +\begin{DoxyParams}{Parameters} +{\em none} & \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +none +\end{DoxyReturn} +Subscribe to turtlebot camera to get feed from the camera \index{Object\+Detection@{Object\+Detection}!````~Object\+Detection@{$\sim$\+Object\+Detection}} +\index{````~Object\+Detection@{$\sim$\+Object\+Detection}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{$\sim$\+Object\+Detection()}{~ObjectDetection()}}]{\setlength{\rightskip}{0pt plus 5cm}Object\+Detection\+::$\sim$\+Object\+Detection ( +\begin{DoxyParamCaption} +{} +\end{DoxyParamCaption} +)}\hypertarget{classObjectDetection_ad5d9d344ab55095927725733590f0da5}{}\label{classObjectDetection_ad5d9d344ab55095927725733590f0da5} + + +Destructor for object detection class. + + +\begin{DoxyParams}{Parameters} +{\em none} & \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +none +\end{DoxyReturn} + + +\subsection{Member Function Documentation} +\index{Object\+Detection@{Object\+Detection}!apply\+Gauss\+Blur@{apply\+Gauss\+Blur}} +\index{apply\+Gauss\+Blur@{apply\+Gauss\+Blur}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{apply\+Gauss\+Blur(cv\+::\+Mat cvt\+Image)}{applyGaussBlur(cv::Mat cvtImage)}}]{\setlength{\rightskip}{0pt plus 5cm}cv\+::\+Mat Object\+Detection\+::apply\+Gauss\+Blur ( +\begin{DoxyParamCaption} +\item[{cv\+::\+Mat}]{cvt\+Image} +\end{DoxyParamCaption} +)}\hypertarget{classObjectDetection_a0f559ec8747dca4882aa3fe8f21e0fb8}{}\label{classObjectDetection_a0f559ec8747dca4882aa3fe8f21e0fb8} + + +Method to convert gaussian filter on the image. + + +\begin{DoxyParams}{Parameters} +{\em Converted} & opencv image of type cv\+::\+Mat \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Image blurred using gaussian filter of type cv\+::\+Mat +\end{DoxyReturn} +Apply gaussian filter \index{Object\+Detection@{Object\+Detection}!convert\+Image@{convert\+Image}} +\index{convert\+Image@{convert\+Image}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{convert\+Image(const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&image\+Data)}{convertImage(const sensor_msgs::Image::ConstPtr &imageData)}}]{\setlength{\rightskip}{0pt plus 5cm}void Object\+Detection\+::convert\+Image ( +\begin{DoxyParamCaption} +\item[{const sensor\+\_\+msgs\+::\+Image\+::\+Const\+Ptr \&}]{image\+Data} +\end{DoxyParamCaption} +)}\hypertarget{classObjectDetection_abb6ea33423e081c37bd38e55f1347f52}{}\label{classObjectDetection_abb6ea33423e081c37bd38e55f1347f52} + + +Callback function for image data. + + +\begin{DoxyParams}{Parameters} +{\em Image} & data from camera node \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +none Convert R\+OS image message to CV image +\end{DoxyReturn} +Create an object cv\+\_\+ptr that bridges the R\+OS image and Open\+CV image + +Wait for 30ms \index{Object\+Detection@{Object\+Detection}!detect\+Object@{detect\+Object}} +\index{detect\+Object@{detect\+Object}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{detect\+Object(cv\+::\+Mat image)}{detectObject(cv::Mat image)}}]{\setlength{\rightskip}{0pt plus 5cm}bool Object\+Detection\+::detect\+Object ( +\begin{DoxyParamCaption} +\item[{cv\+::\+Mat}]{image} +\end{DoxyParamCaption} +)}\hypertarget{classObjectDetection_a63d13b70232d3d076a6c543c03f9c9ff}{}\label{classObjectDetection_a63d13b70232d3d076a6c543c03f9c9ff} + + +Method to detect object using hsv. + + +\begin{DoxyParams}{Parameters} +{\em Image} & gaussian filtered image of type cv\+::\+Mat \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Match found of type bool +\end{DoxyReturn} +Image conversion from B\+GR to H\+SV + +Detect hsv within the set limits + +Get image size to modify size of mask image + +Find contours for better visualization + +Check if contours exist in the image + +Find contour with maximum area + +Set boundary of the object in the image + +Draw the rectangle using the bounding box + +Mask image to limit the future turns affecting the output \index{Object\+Detection@{Object\+Detection}!get\+Object\+Boundary@{get\+Object\+Boundary}} +\index{get\+Object\+Boundary@{get\+Object\+Boundary}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{get\+Object\+Boundary() const }{getObjectBoundary() const }}]{\setlength{\rightskip}{0pt plus 5cm}cv\+::\+Rect Object\+Detection\+::get\+Object\+Boundary ( +\begin{DoxyParamCaption} +{} +\end{DoxyParamCaption} +) const\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{classObjectDetection_a897f179535427f66bc9f849b1daff904}{}\label{classObjectDetection_a897f179535427f66bc9f849b1daff904} + + +Get boundary of the object in the image. + + +\begin{DoxyParams}{Parameters} +{\em none} & \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +rectangular box containing the object +\end{DoxyReturn} +\index{Object\+Detection@{Object\+Detection}!get\+Object\+Detected@{get\+Object\+Detected}} +\index{get\+Object\+Detected@{get\+Object\+Detected}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{get\+Object\+Detected() const }{getObjectDetected() const }}]{\setlength{\rightskip}{0pt plus 5cm}bool Object\+Detection\+::get\+Object\+Detected ( +\begin{DoxyParamCaption} +{} +\end{DoxyParamCaption} +) const\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{classObjectDetection_ac1e795be46de92c3e7c2f050d805d601}{}\label{classObjectDetection_ac1e795be46de92c3e7c2f050d805d601} + + +Get object detected. + + +\begin{DoxyParams}{Parameters} +{\em none} & \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +Object detected or not of type bool +\end{DoxyReturn} +\index{Object\+Detection@{Object\+Detection}!set\+Object\+Boundary@{set\+Object\+Boundary}} +\index{set\+Object\+Boundary@{set\+Object\+Boundary}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{set\+Object\+Boundary(cv\+::\+Rect bounding\+Box)}{setObjectBoundary(cv::Rect boundingBox)}}]{\setlength{\rightskip}{0pt plus 5cm}void Object\+Detection\+::set\+Object\+Boundary ( +\begin{DoxyParamCaption} +\item[{cv\+::\+Rect}]{bounding\+Box} +\end{DoxyParamCaption} +)\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{classObjectDetection_af3c1adc86fa3950f0325e5c6de7c9a2e}{}\label{classObjectDetection_af3c1adc86fa3950f0325e5c6de7c9a2e} + + +Set object boundary. + + +\begin{DoxyParams}{Parameters} +{\em Bounding\+Box} & reactagular boundary of the object \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +none +\end{DoxyReturn} +\index{Object\+Detection@{Object\+Detection}!set\+Object\+Detected@{set\+Object\+Detected}} +\index{set\+Object\+Detected@{set\+Object\+Detected}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{set\+Object\+Detected(bool object)}{setObjectDetected(bool object)}}]{\setlength{\rightskip}{0pt plus 5cm}void Object\+Detection\+::set\+Object\+Detected ( +\begin{DoxyParamCaption} +\item[{bool}]{object} +\end{DoxyParamCaption} +)\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{classObjectDetection_a1f0c0d87bb3fdc9082c8f4c450bbf1fb}{}\label{classObjectDetection_a1f0c0d87bb3fdc9082c8f4c450bbf1fb} + + +Set object detected. + + +\begin{DoxyParams}{Parameters} +{\em Object} & detected status \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +none +\end{DoxyReturn} + + +\subsection{Member Data Documentation} +\index{Object\+Detection@{Object\+Detection}!converted\+Image@{converted\+Image}} +\index{converted\+Image@{converted\+Image}!Object\+Detection@{Object\+Detection}} +\subsubsection[{\texorpdfstring{converted\+Image}{convertedImage}}]{\setlength{\rightskip}{0pt plus 5cm}cv\+::\+Mat Object\+Detection\+::converted\+Image}\hypertarget{classObjectDetection_ab3a61dd408dd36da96f7398f14a1a054}{}\label{classObjectDetection_ab3a61dd408dd36da96f7398f14a1a054} + + +Container to store converted image from cv\+\_\+bridge. + + + +The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize} +\item +include/object\+\_\+detection/\hyperlink{object__detection_8h}{object\+\_\+detection.\+h}\item +src/\hyperlink{object__detection_8cpp}{object\+\_\+detection.\+cpp}\end{DoxyCompactItemize} diff --git a/docs/latex/classObstacleAvoidance.tex b/docs/latex/classObstacleAvoidance.tex index 0f97a97..32b47f3 100644 --- a/docs/latex/classObstacleAvoidance.tex +++ b/docs/latex/classObstacleAvoidance.tex @@ -18,9 +18,9 @@ \subsection*{Public Member Functions} bool \hyperlink{classObstacleAvoidance_a10de6174bbf71748bb9467981c6f9ab4}{check\+Obstacle} () \begin{DoxyCompactList}\small\item\em Checks if obstacle is present within safe distance. \end{DoxyCompactList}\item bool \hyperlink{classObstacleAvoidance_a9bc10665f077a2a22c203289e187ebb3}{get\+Obstacle\+Detected} () const -\begin{DoxyCompactList}\small\item\em get obstacle detected \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Gets obstacle detected. \end{DoxyCompactList}\item void \hyperlink{classObstacleAvoidance_ab905f3e115e16482e7f8a6b24e0f3cf1}{set\+Obstacle\+Detected} (bool obstacle) -\begin{DoxyCompactList}\small\item\em set obstacle detected \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Set obstacle detected. \end{DoxyCompactList}\end{DoxyCompactItemize} \subsection{Constructor \& Destructor Documentation} @@ -41,10 +41,8 @@ \subsection{Constructor \& Destructor Documentation} \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -a constructor has no return +none \end{DoxyReturn} -Initialize the current value of velocities in m/s and rad/s - Initialize obstacle detected value with false Initialize safe distance from an obstacle in meters @@ -62,11 +60,11 @@ \subsection{Constructor \& Destructor Documentation} \begin{DoxyParams}{Parameters} -{\em safe} & distance from an obstacle \\ +{\em Safe} & distance from an obstacle of type float \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -a constructor has no return +none \end{DoxyReturn} Initialize obstacle detected value with false @@ -89,7 +87,7 @@ \subsection{Constructor \& Destructor Documentation} \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -a destrcutor has no return +none \end{DoxyReturn} @@ -111,7 +109,7 @@ \subsection{Member Function Documentation} \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -boolean obstacle found or not +Obstacle found or not of type bool \end{DoxyReturn} Check if obstacle is ahead \index{Obstacle\+Avoidance@{Obstacle\+Avoidance}!get\+Obstacle\+Detected@{get\+Obstacle\+Detected}} \index{get\+Obstacle\+Detected@{get\+Obstacle\+Detected}!Obstacle\+Avoidance@{Obstacle\+Avoidance}} @@ -122,7 +120,7 @@ \subsection{Member Function Documentation} ) const\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{classObstacleAvoidance_a9bc10665f077a2a22c203289e187ebb3}{}\label{classObstacleAvoidance_a9bc10665f077a2a22c203289e187ebb3} -get obstacle detected +Gets obstacle detected. \begin{DoxyParams}{Parameters} @@ -130,7 +128,7 @@ \subsection{Member Function Documentation} \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -boolean obstacle detected or not +Status of obstacle detected or not of type bool \end{DoxyReturn} \index{Obstacle\+Avoidance@{Obstacle\+Avoidance}!laser\+Sensor\+Callback@{laser\+Sensor\+Callback}} \index{laser\+Sensor\+Callback@{laser\+Sensor\+Callback}!Obstacle\+Avoidance@{Obstacle\+Avoidance}} @@ -149,7 +147,7 @@ \subsection{Member Function Documentation} \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -void +none \end{DoxyReturn} Read sensor data to get obstacle distances with respect to the robot \index{Obstacle\+Avoidance@{Obstacle\+Avoidance}!set\+Obstacle\+Detected@{set\+Obstacle\+Detected}} \index{set\+Obstacle\+Detected@{set\+Obstacle\+Detected}!Obstacle\+Avoidance@{Obstacle\+Avoidance}} @@ -160,15 +158,15 @@ \subsection{Member Function Documentation} )\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{classObstacleAvoidance_ab905f3e115e16482e7f8a6b24e0f3cf1}{}\label{classObstacleAvoidance_ab905f3e115e16482e7f8a6b24e0f3cf1} -set obstacle detected +Set obstacle detected. \begin{DoxyParams}{Parameters} -{\em obstacle} & detected status \\ +{\em Obstacle} & detected status \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -void +none \end{DoxyReturn} diff --git a/docs/latex/classTurtlebot.tex b/docs/latex/classTurtlebot.tex index f18f649..c561e16 100644 --- a/docs/latex/classTurtlebot.tex +++ b/docs/latex/classTurtlebot.tex @@ -13,7 +13,7 @@ \subsection*{Public Member Functions} \begin{DoxyCompactItemize} \item \hyperlink{classTurtlebot_a683061fc512bfb8d2a35134e783767ff}{Turtlebot} () -\begin{DoxyCompactList}\small\item\em Constructor for obstacle avoidance class. \end{DoxyCompactList}\item +\begin{DoxyCompactList}\small\item\em Obstacle detection and template matching variables. \end{DoxyCompactList}\item \hyperlink{classTurtlebot_a5c5d2e07560cf7dd661fa5c16b56f486}{Turtlebot} (float lin\+VelX, float ang\+VelZ) \begin{DoxyCompactList}\small\item\em Constructor for obstacle avoidance class. \end{DoxyCompactList}\item \hyperlink{classTurtlebot_a86b905efdcfab4dc1d4c9f7687902f94}{$\sim$\+Turtlebot} () @@ -24,7 +24,7 @@ \subsection*{Public Member Functions} \begin{DoxyCompactList}\small\item\em Turn the bot. \end{DoxyCompactList}\item bool \hyperlink{classTurtlebot_a7aa654d1ae90e2e380c3d46d2fd17a71}{collect\+Object} () \begin{DoxyCompactList}\small\item\em Collect the object. \end{DoxyCompactList}\item -void \hyperlink{classTurtlebot_a59b96da462933830798a7617afa62c0a}{move\+Bot} () +void \hyperlink{classTurtlebot_a66ffc31cade2642187b9708eb28e234e}{move\+Bot} (\hyperlink{classObstacleAvoidance}{Obstacle\+Avoidance} \&obstacle\+Avoidance) \begin{DoxyCompactList}\small\item\em Control the motion of the bot. \end{DoxyCompactList}\item bool \hyperlink{classTurtlebot_a23205bca59a5a9705ab572402de5daf3}{reset\+Bot} () \begin{DoxyCompactList}\small\item\em Reset the velocities of the bot. \end{DoxyCompactList}\item @@ -45,21 +45,21 @@ \subsection{Constructor \& Destructor Documentation} )}\hypertarget{classTurtlebot_a683061fc512bfb8d2a35134e783767ff}{}\label{classTurtlebot_a683061fc512bfb8d2a35134e783767ff} -Constructor for obstacle avoidance class. +Obstacle detection and template matching variables. Add R\+OS headers. - +Constructor for obstacle avoidance class \begin{DoxyParams}{Parameters} {\em none} & \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -a constructor has no return +none \end{DoxyReturn} Add custom libraries to help control motion of the robot Initialize the current value of velocities in m/s and rad/s -Define the main access point to communications with the R\+OS system +Initialize previous with the current value of velocities Publish the velocities to the robot on the navigation topic \index{Turtlebot@{Turtlebot}!Turtlebot@{Turtlebot}} \index{Turtlebot@{Turtlebot}!Turtlebot@{Turtlebot}} @@ -75,17 +75,17 @@ \subsection{Constructor \& Destructor Documentation} \begin{DoxyParams}{Parameters} -{\em linear} & velocity in x-\/axis \\ +{\em Linear} & velocity in x-\/axis \\ \hline -{\em angular} & velocity about z-\/axis \\ +{\em Angular} & velocity about z-\/axis \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -a constructor has no return +none \end{DoxyReturn} Initialize the current value of velocities in m/s and rad/s -Define the main access point to communications with the R\+OS system +Initialize previous with the current value of velocities Publish the velocities to the robot on the navigation topic \index{Turtlebot@{Turtlebot}!````~Turtlebot@{$\sim$\+Turtlebot}} \index{````~Turtlebot@{$\sim$\+Turtlebot}!Turtlebot@{Turtlebot}} @@ -104,7 +104,7 @@ \subsection{Constructor \& Destructor Documentation} \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -a destrcutor has no return +none \end{DoxyReturn} @@ -128,7 +128,9 @@ \subsection{Member Function Documentation} \begin{DoxyReturn}{Returns} boolean velocity changed or not \end{DoxyReturn} -\index{Turtlebot@{Turtlebot}!collect\+Object@{collect\+Object}} +Check if both the velocities have changed + +Update previous velocities \index{Turtlebot@{Turtlebot}!collect\+Object@{collect\+Object}} \index{collect\+Object@{collect\+Object}!Turtlebot@{Turtlebot}} \subsubsection[{\texorpdfstring{collect\+Object()}{collectObject()}}]{\setlength{\rightskip}{0pt plus 5cm}bool Turtlebot\+::collect\+Object ( \begin{DoxyParamCaption} @@ -149,24 +151,38 @@ \subsection{Member Function Documentation} \end{DoxyReturn} \index{Turtlebot@{Turtlebot}!move\+Bot@{move\+Bot}} \index{move\+Bot@{move\+Bot}!Turtlebot@{Turtlebot}} -\subsubsection[{\texorpdfstring{move\+Bot()}{moveBot()}}]{\setlength{\rightskip}{0pt plus 5cm}void Turtlebot\+::move\+Bot ( +\subsubsection[{\texorpdfstring{move\+Bot(\+Obstacle\+Avoidance \&obstacle\+Avoidance)}{moveBot(ObstacleAvoidance &obstacleAvoidance)}}]{\setlength{\rightskip}{0pt plus 5cm}void Turtlebot\+::move\+Bot ( \begin{DoxyParamCaption} -{} +\item[{{\bf Obstacle\+Avoidance} \&}]{obstacle\+Avoidance} \end{DoxyParamCaption} -)}\hypertarget{classTurtlebot_a59b96da462933830798a7617afa62c0a}{}\label{classTurtlebot_a59b96da462933830798a7617afa62c0a} +)}\hypertarget{classTurtlebot_a66ffc31cade2642187b9708eb28e234e}{}\label{classTurtlebot_a66ffc31cade2642187b9708eb28e234e} Control the motion of the bot. \begin{DoxyParams}{Parameters} -{\em none} & \\ +{\em Reference} & to Obstacle Avoidance class \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -void Use obstacle avoidance and go-\/to-\/goal strategies to move towards the object to be collected +none Use obstacle avoidance and go-\/to-\/goal strategies to move towards the object to be collected \end{DoxyReturn} -\index{Turtlebot@{Turtlebot}!move\+Forward@{move\+Forward}} +Set the publishing rate + +Start turning the robot to avoid obstacles + +Check if velocities have changed + +Start moving the robot once obstacle is avoided + +Check if velocities have changed + +Publish the velocities + +Handle callback + +Make the system sleep to maintain loop rate \index{Turtlebot@{Turtlebot}!move\+Forward@{move\+Forward}} \index{move\+Forward@{move\+Forward}!Turtlebot@{Turtlebot}} \subsubsection[{\texorpdfstring{move\+Forward(float lin\+Vel\+X)}{moveForward(float linVelX)}}]{\setlength{\rightskip}{0pt plus 5cm}float Turtlebot\+::move\+Forward ( \begin{DoxyParamCaption} @@ -179,11 +195,11 @@ \subsection{Member Function Documentation} \begin{DoxyParams}{Parameters} -{\em linear} & velocity in x-\/direction \\ +{\em Linear} & velocity in x-\/direction \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -linear velocity for the bot +Linear velocity for the bot \end{DoxyReturn} \index{Turtlebot@{Turtlebot}!reset\+Bot@{reset\+Bot}} \index{reset\+Bot@{reset\+Bot}!Turtlebot@{Turtlebot}} @@ -202,9 +218,13 @@ \subsection{Member Function Documentation} \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -void +status of type bool \end{DoxyReturn} -\index{Turtlebot@{Turtlebot}!turn@{turn}} +Reset linear velocities of the both robot + +Reset angular velocities of the both robot + +Publish the reset velocities \index{Turtlebot@{Turtlebot}!turn@{turn}} \index{turn@{turn}!Turtlebot@{Turtlebot}} \subsubsection[{\texorpdfstring{turn(float ang\+Vel\+Z)}{turn(float angVelZ)}}]{\setlength{\rightskip}{0pt plus 5cm}float Turtlebot\+::turn ( \begin{DoxyParamCaption} @@ -217,11 +237,11 @@ \subsection{Member Function Documentation} \begin{DoxyParams}{Parameters} -{\em angular} & velocity about z-\/axis \\ +{\em Angular} & velocity about z-\/axis \\ \hline \end{DoxyParams} \begin{DoxyReturn}{Returns} -angular velocity for the bot +Angular velocity for the bot \end{DoxyReturn} diff --git a/docs/latex/detector_8cpp.tex b/docs/latex/detector_8cpp.tex new file mode 100644 index 0000000..3f24e60 --- /dev/null +++ b/docs/latex/detector_8cpp.tex @@ -0,0 +1,75 @@ +\hypertarget{detector_8cpp}{}\section{src/detector.cpp File Reference} +\label{detector_8cpp}\index{src/detector.\+cpp@{src/detector.\+cpp}} + + +Detector node file to implement object detection algorithm Implements object detection algorithm using H\+SV color detection. + + +{\ttfamily \#include $<$ros/ros.\+h$>$}\\* +{\ttfamily \#include \char`\"{}object\+\_\+detection/object\+\_\+detection.\+h\char`\"{}}\\* +Include dependency graph for detector.\+cpp\+: +\nopagebreak +\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[width=350pt]{detector_8cpp__incl} +\end{center} +\end{figure} +\subsection*{Functions} +\begin{DoxyCompactItemize} +\item +int \hyperlink{detector_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}{main} (int argc, char $\ast$$\ast$argv) +\begin{DoxyCompactList}\small\item\em main function \end{DoxyCompactList}\end{DoxyCompactItemize} + + +\subsection{Detailed Description} +Detector node file to implement object detection algorithm Implements object detection algorithm using H\+SV color detection. + +B\+SD 3-\/\+Clause License + +\begin{DoxyCopyright}{Copyright} +(c) 2019, Umang Rastogi, Naman Gupta +\end{DoxyCopyright} +All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: + +Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. T\+H\+IS S\+O\+F\+T\+W\+A\+RE IS P\+R\+O\+V\+I\+D\+ED BY T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+E\+RS A\+ND C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS \char`\"{}\+A\+S I\+S\char`\"{} A\+ND A\+NY E\+X\+P\+R\+E\+SS OR I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES, I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, T\+HE I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES OF M\+E\+R\+C\+H\+A\+N\+T\+A\+B\+I\+L\+I\+TY A\+ND F\+I\+T\+N\+E\+SS F\+OR A P\+A\+R\+T\+I\+C\+U\+L\+AR P\+U\+R\+P\+O\+SE A\+RE D\+I\+S\+C\+L\+A\+I\+M\+ED. IN NO E\+V\+E\+NT S\+H\+A\+LL T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+ER OR C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS BE L\+I\+A\+B\+LE F\+OR A\+NY D\+I\+R\+E\+CT, I\+N\+D\+I\+R\+E\+CT, I\+N\+C\+I\+D\+E\+N\+T\+AL, S\+P\+E\+C\+I\+AL, E\+X\+E\+M\+P\+L\+A\+RY, OR C\+O\+N\+S\+E\+Q\+U\+E\+N\+T\+I\+AL D\+A\+M\+A\+G\+ES (I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, P\+R\+O\+C\+U\+R\+E\+M\+E\+NT OF S\+U\+B\+S\+T\+I\+T\+U\+TE G\+O\+O\+DS OR S\+E\+R\+V\+I\+C\+ES; L\+O\+SS OF U\+SE, D\+A\+TA, OR P\+R\+O\+F\+I\+TS; OR B\+U\+S\+I\+N\+E\+SS I\+N\+T\+E\+R\+R\+U\+P\+T\+I\+ON) H\+O\+W\+E\+V\+ER C\+A\+U\+S\+ED A\+ND ON A\+NY T\+H\+E\+O\+RY OF L\+I\+A\+B\+I\+L\+I\+TY, W\+H\+E\+T\+H\+ER IN C\+O\+N\+T\+R\+A\+CT, S\+T\+R\+I\+CT L\+I\+A\+B\+I\+L\+I\+TY, OR T\+O\+RT (I\+N\+C\+L\+U\+D\+I\+NG N\+E\+G\+L\+I\+G\+E\+N\+CE OR O\+T\+H\+E\+R\+W\+I\+SE) A\+R\+I\+S\+I\+NG IN A\+NY W\+AY O\+UT OF T\+HE U\+SE OF T\+H\+IS S\+O\+F\+T\+W\+A\+RE, E\+V\+EN IF A\+D\+V\+I\+S\+ED OF T\+HE P\+O\+S\+S\+I\+B\+I\+L\+I\+TY OF S\+U\+CH D\+A\+M\+A\+GE. + +\begin{DoxyAuthor}{Author} +Umang Rastogi -\/ Navigator + +Naman Gupta -\/ Driver +\end{DoxyAuthor} + + +\subsection{Function Documentation} +\index{detector.\+cpp@{detector.\+cpp}!main@{main}} +\index{main@{main}!detector.\+cpp@{detector.\+cpp}} +\subsubsection[{\texorpdfstring{main(int argc, char $\ast$$\ast$argv)}{main(int argc, char **argv)}}]{\setlength{\rightskip}{0pt plus 5cm}int main ( +\begin{DoxyParamCaption} +\item[{int}]{argc, } +\item[{char $\ast$$\ast$}]{argv} +\end{DoxyParamCaption} +)}\hypertarget{detector_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}{}\label{detector_8cpp_a3c04138a5bfe5d72780bb7e82a18e627} + + +main function + + +\begin{DoxyParams}{Parameters} +{\em argc} & \\ +\hline +{\em argv} & \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +int +\end{DoxyReturn} +Initialized object detection node + +Declaring object of class \hyperlink{classObjectDetection}{Object\+Detection} + +Checks empty image + +Apply detect\+Object method to 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a/docs/latex/dir_13e138d54eb8818da29c3992edef070a.tex +++ b/docs/latex/dir_13e138d54eb8818da29c3992edef070a.tex @@ -13,6 +13,8 @@ \subsection*{Files} \item file \hyperlink{main_8cpp}{main.\+cpp} \begin{DoxyCompactList}\small\item\em Test implementation of class test. \end{DoxyCompactList}\item +file \hyperlink{object__detection__test_8cpp}{object\+\_\+detection\+\_\+test.\+cpp} +\item file \hyperlink{obstacle__avoidance__test_8cpp}{obstacle\+\_\+avoidance\+\_\+test.\+cpp} \begin{DoxyCompactList}\small\item\em Class test implementation of class \hyperlink{classObstacleAvoidance}{Obstacle\+Avoidance}. \end{DoxyCompactList}\item file \hyperlink{turtlebot__test_8cpp}{turtlebot\+\_\+test.\+cpp} diff --git a/docs/latex/dir_13e138d54eb8818da29c3992edef070a_dep.md5 b/docs/latex/dir_13e138d54eb8818da29c3992edef070a_dep.md5 index 6012d2a..fcb648c 100644 --- a/docs/latex/dir_13e138d54eb8818da29c3992edef070a_dep.md5 +++ b/docs/latex/dir_13e138d54eb8818da29c3992edef070a_dep.md5 @@ -1 +1 @@ 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a/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba.tex +++ b/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba.tex @@ -11,7 +11,13 @@ \subsection*{Files} \begin{DoxyCompactItemize} \item -file \hyperlink{obstacle__avoidance_8cpp}{obstacle\+\_\+avoidance.\+cpp} +file \hyperlink{detector_8cpp}{detector.\+cpp} +\begin{DoxyCompactList}\small\item\em Detector node file to implement object detection algorithm Implements object detection algorithm using H\+SV color detection. \end{DoxyCompactList}\item +file \hyperlink{navigator_8cpp}{navigator.\+cpp} \item +file \hyperlink{object__detection_8cpp}{object\+\_\+detection.\+cpp} +\begin{DoxyCompactList}\small\item\em File to implement \hyperlink{classObjectDetection}{Object\+Detection} class Implements object detection using H\+SV method which detects color of the can in a certain range and creates a bounding box over it. \end{DoxyCompactList}\item +file \hyperlink{obstacle__avoidance_8cpp}{obstacle\+\_\+avoidance.\+cpp} +\begin{DoxyCompactList}\small\item\em Source file to implement obstacle avoidance class Uses laser sensor for obstacle avoidance publishes velocities for the robot upon obstacle detection. \end{DoxyCompactList}\item file \hyperlink{turtlebot_8cpp}{turtlebot.\+cpp} -\begin{DoxyCompactList}\small\item\em Source file to implement turtlebot class Controls the motion of the bot using obstacle avoidance and go-\/to-\/goal strategies. \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Navigator node to implement obstacle avoidance and move bot algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize} diff --git a/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 b/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 index 78f6b18..b42da11 100644 --- a/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 +++ b/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 @@ -1 +1 @@ -d44173dbb2acdc53cd32c3b273ffe051 \ No newline at end of file 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b/docs/latex/md_README.tex @@ -36,6 +36,13 @@ \subsection*{Accessing the U\+ML Diagrams} \subsection*{A\+PI Documentations} + +\begin{DoxyItemize} +\item \href{http://gazebosim.org/tutorials?tut=model_population&cat=build_world}{\tt Gazebo Population Tag} +\item \href{http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages}{\tt cv\+\_\+bridge} +\item \href{https://docs.opencv.org/master/de/da9/tutorial_template_matching.html}{\tt Template Matching} +\end{DoxyItemize} + \subsection*{Dependencies} @@ -75,6 +82,10 @@ \subsection*{Install Dependences} \item Create your R\+OS workspace by following instructions on the \href{http://wiki.ros.org/catkin/Tutorials/create_a_workspace}{\tt {\itshape create R\+OS workspace tutortial page}}. \end{DoxyItemize} +\subsection*{Known Bugs and Issues} + +This project is under-\/development. Currently, we are facing build issues. Sorry for the inconvenience. + \subsection*{Build} @@ -89,16 +100,61 @@ \subsection*{Build} \item Run the following commands to clone and build this project\+: \begin{DoxyCode} 1 git clone --recursive https://github.com/urastogi885/obstacle\_avoidance\_simulation -2 cd .. -3 catkin\_make +2 git checkout Phase3 +3 cd .. +4 catkin\_make \end{DoxyCode} \end{DoxyItemize} \subsection*{Test} +Close and terminate everything including rosmaster. In a new terminal, switch to the R\+OS workspace and build the tests. Type + + +\begin{DoxyCode} +1 cd catkin\_ws +2 source devel/setup.bash +3 catkin\_make run\_tests\_test\_project\_x\_robot +\end{DoxyCode} + + \subsection*{Run} +Now, we use launch file to run. In a new terminal, type + + +\begin{DoxyCode} +1 cd catkin\_ws +2 source devel/setup.bash +3 roslaunch supermarket\_cleaning\_robot object\_collection.launch +\end{DoxyCode} + + +\subsection*{Doxygen} + +To install doxygen run the following command\+: + + +\begin{DoxyCode} +1 sudo apt-get install doxygen +\end{DoxyCode} + Now from the cloned directory run\+: + + +\begin{DoxyCode} +1 doxygen doxygen +\end{DoxyCode} + + +Generated doxygen files are in html format and you can find them in ./docs folder. With the following command + + +\begin{DoxyCode} +1 firefox docs/html/index.html +\end{DoxyCode} + + \subsection*{Demo} -\subsection*{Known Bugs} \ No newline at end of file +We will update in the next phase by next week. \ No newline at end of file diff --git a/docs/latex/navigator_8cpp.tex b/docs/latex/navigator_8cpp.tex new file mode 100644 index 0000000..9feae18 --- /dev/null +++ b/docs/latex/navigator_8cpp.tex @@ -0,0 +1,50 @@ +\hypertarget{navigator_8cpp}{}\section{src/navigator.cpp File Reference} +\label{navigator_8cpp}\index{src/navigator.\+cpp@{src/navigator.\+cpp}} +{\ttfamily \#include \char`\"{}ros/ros.\+h\char`\"{}}\\* +{\ttfamily \#include \char`\"{}turtlebot/turtlebot.\+h\char`\"{}}\\* +{\ttfamily \#include \char`\"{}obstacle\+\_\+avoidance/obstacle\+\_\+avoidance.\+h\char`\"{}}\\* +Include dependency graph for navigator.\+cpp\+: +\nopagebreak +\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[width=350pt]{navigator_8cpp__incl} +\end{center} +\end{figure} +\subsection*{Functions} +\begin{DoxyCompactItemize} +\item +int \hyperlink{navigator_8cpp_a0ddf1224851353fc92bfbff6f499fa97}{main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]}) +\begin{DoxyCompactList}\small\item\em main function \end{DoxyCompactList}\end{DoxyCompactItemize} + + +\subsection{Function Documentation} +\index{navigator.\+cpp@{navigator.\+cpp}!main@{main}} +\index{main@{main}!navigator.\+cpp@{navigator.\+cpp}} +\subsubsection[{\texorpdfstring{main(int argc, char $\ast$argv[])}{main(int argc, char *argv[])}}]{\setlength{\rightskip}{0pt plus 5cm}int main ( +\begin{DoxyParamCaption} +\item[{int}]{argc, } +\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]}} +\end{DoxyParamCaption} +)}\hypertarget{navigator_8cpp_a0ddf1224851353fc92bfbff6f499fa97}{}\label{navigator_8cpp_a0ddf1224851353fc92bfbff6f499fa97} + + +main function + + +\begin{DoxyParams}{Parameters} +{\em argc} & \\ +\hline +{\em argv} & \\ +\hline +\end{DoxyParams} +\begin{DoxyReturn}{Returns} +int +\end{DoxyReturn} +Initialized object collection node + +Declaring object of class \hyperlink{classObstacleAvoidance}{Obstacle\+Avoidance} + +Declaring object of class \hyperlink{classTurtlebot}{Turtlebot} + +Starts moving the bot \ No newline at end of file diff --git a/docs/latex/navigator_8cpp__incl.md5 b/docs/latex/navigator_8cpp__incl.md5 new file mode 100644 index 0000000..17790e8 --- /dev/null +++ b/docs/latex/navigator_8cpp__incl.md5 @@ -0,0 +1 @@ +5905877197340dc689ec979691a3f283 \ No newline at end of file diff --git a/docs/latex/navigator_8cpp__incl.pdf b/docs/latex/navigator_8cpp__incl.pdf new file mode 100644 index 0000000000000000000000000000000000000000..816ad76473a92d6da31664cdf5035b082a8c1c16 GIT binary patch literal 15809 zcmb8W1ymeM7p{#v1a}$S-GjS3!QI{6J-E9E4esvlAxLm{cPGGwobP;k*T3%H!}L%u zyLMIW>YClFsfScvSd^BLjunQq;k5D@h8e&Bur;uN;pPU=OB>smI++1j-X%pC002NQ zYHsCZ?C}0+rSD`cY;0(2WDLX03*+eIV61NqQbhoR?8wx!;Zt!iiW+^`V!wzy6{4|hjnfz3<4FKU51%Gp?j0ddacLihjt?! 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can in a certain range and creates a bounding box over it. + + +{\ttfamily \#include \char`\"{}ros/ros.\+h\char`\"{}}\\* +{\ttfamily \#include \char`\"{}sensor\+\_\+msgs/\+Image.\+h\char`\"{}}\\* +{\ttfamily \#include \char`\"{}cv\+\_\+bridge/cv\+\_\+bridge.\+h\char`\"{}}\\* +{\ttfamily \#include \char`\"{}object\+\_\+detection/object\+\_\+detection.\+h\char`\"{}}\\* +{\ttfamily \#include \char`\"{}opencv2/highgui/highgui.\+hpp\char`\"{}}\\* +{\ttfamily \#include \char`\"{}opencv2/imgproc/imgproc.\+hpp\char`\"{}}\\* +Include dependency graph for object\+\_\+detection.\+cpp\+: +\nopagebreak +\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[width=350pt]{object__detection_8cpp__incl} +\end{center} +\end{figure} + + +\subsection{Detailed Description} +File to implement \hyperlink{classObjectDetection}{Object\+Detection} class Implements object detection using H\+SV method which detects color of the can in a certain range and creates a bounding box over it. + +B\+SD 3-\/\+Clause License + +\begin{DoxyCopyright}{Copyright} +(c) 2019, Umang Rastogi Naman Gupta All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: +\end{DoxyCopyright} +Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. T\+H\+IS S\+O\+F\+T\+W\+A\+RE IS P\+R\+O\+V\+I\+D\+ED BY T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+E\+RS A\+ND C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS \char`\"{}\+A\+S I\+S\char`\"{} A\+ND A\+NY E\+X\+P\+R\+E\+SS OR I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES, I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, T\+HE I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES OF M\+E\+R\+C\+H\+A\+N\+T\+A\+B\+I\+L\+I\+TY A\+ND F\+I\+T\+N\+E\+SS F\+OR A P\+A\+R\+T\+I\+C\+U\+L\+AR P\+U\+R\+P\+O\+SE A\+RE D\+I\+S\+C\+L\+A\+I\+M\+ED. IN NO E\+V\+E\+NT S\+H\+A\+LL T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+ER OR C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS BE L\+I\+A\+B\+LE F\+OR A\+NY D\+I\+R\+E\+CT, I\+N\+D\+I\+R\+E\+CT, I\+N\+C\+I\+D\+E\+N\+T\+AL, S\+P\+E\+C\+I\+AL, E\+X\+E\+M\+P\+L\+A\+RY, OR C\+O\+N\+S\+E\+Q\+U\+E\+N\+T\+I\+AL D\+A\+M\+A\+G\+ES (I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, P\+R\+O\+C\+U\+R\+E\+M\+E\+NT OF S\+U\+B\+S\+T\+I\+T\+U\+TE G\+O\+O\+DS OR S\+E\+R\+V\+I\+C\+ES; L\+O\+SS OF U\+SE, D\+A\+TA, OR P\+R\+O\+F\+I\+TS; OR B\+U\+S\+I\+N\+E\+SS I\+N\+T\+E\+R\+R\+U\+P\+T\+I\+ON) H\+O\+W\+E\+V\+ER C\+A\+U\+S\+ED A\+ND ON A\+NY T\+H\+E\+O\+RY OF L\+I\+A\+B\+I\+L\+I\+TY, W\+H\+E\+T\+H\+ER IN C\+O\+N\+T\+R\+A\+CT, S\+T\+R\+I\+CT L\+I\+A\+B\+I\+L\+I\+TY, OR T\+O\+RT (I\+N\+C\+L\+U\+D\+I\+NG N\+E\+G\+L\+I\+G\+E\+N\+CE OR O\+T\+H\+E\+R\+W\+I\+SE) A\+R\+I\+S\+I\+NG IN A\+NY W\+AY O\+UT OF T\+HE U\+SE OF T\+H\+IS S\+O\+F\+T\+W\+A\+RE, E\+V\+EN IF A\+D\+V\+I\+S\+ED OF T\+HE P\+O\+S\+S\+I\+B\+I\+L\+I\+TY OF 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-{\ttfamily \#include \char`\"{}image\+\_\+transport/image\+\_\+transport.\+h\char`\"{}}\\* +{\ttfamily \#include \char`\"{}opencv2/opencv.\+hpp\char`\"{}}\\* {\ttfamily \#include \char`\"{}opencv2/highgui/highgui.\+hpp\char`\"{}}\\* -{\ttfamily \#include \char`\"{}opencv2/imgproc/imgproc.\+hpp\char`\"{}}\\* Include dependency graph for object\+\_\+detection.\+h\+: \nopagebreak \begin{figure}[H] @@ -25,13 +23,13 @@ \begin{figure}[H] \begin{center} \leavevmode -\includegraphics[width=202pt]{object__detection_8h__dep__incl} +\includegraphics[width=350pt]{object__detection_8h__dep__incl} \end{center} \end{figure} \subsection*{Classes} \begin{DoxyCompactItemize} \item -class \hyperlink{classObjectDectection}{Object\+Dectection} +class \hyperlink{classObjectDetection}{Object\+Detection} \end{DoxyCompactItemize} @@ -41,8 +39,10 @@ \subsection{Detailed Description} B\+SD 3-\/\+Clause License \begin{DoxyCopyright}{Copyright} -(c) 2019, Umang Rastogi Naman Gupta All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: +(c) 2019, Umang Rastogi, Naman Gupta \end{DoxyCopyright} +All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: + Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. T\+H\+IS S\+O\+F\+T\+W\+A\+RE IS P\+R\+O\+V\+I\+D\+ED BY T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+E\+RS A\+ND C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS \char`\"{}\+A\+S I\+S\char`\"{} A\+ND A\+NY E\+X\+P\+R\+E\+SS OR I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES, I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, T\+HE I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES OF M\+E\+R\+C\+H\+A\+N\+T\+A\+B\+I\+L\+I\+TY A\+ND F\+I\+T\+N\+E\+SS F\+OR A P\+A\+R\+T\+I\+C\+U\+L\+AR P\+U\+R\+P\+O\+SE A\+RE D\+I\+S\+C\+L\+A\+I\+M\+ED. IN NO E\+V\+E\+NT S\+H\+A\+LL T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+ER OR C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS BE L\+I\+A\+B\+LE F\+OR A\+NY D\+I\+R\+E\+CT, I\+N\+D\+I\+R\+E\+CT, I\+N\+C\+I\+D\+E\+N\+T\+AL, S\+P\+E\+C\+I\+AL, E\+X\+E\+M\+P\+L\+A\+RY, OR C\+O\+N\+S\+E\+Q\+U\+E\+N\+T\+I\+AL D\+A\+M\+A\+G\+ES (I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, P\+R\+O\+C\+U\+R\+E\+M\+E\+NT OF S\+U\+B\+S\+T\+I\+T\+U\+TE G\+O\+O\+DS OR S\+E\+R\+V\+I\+C\+ES; L\+O\+SS OF U\+SE, D\+A\+TA, OR P\+R\+O\+F\+I\+TS; OR B\+U\+S\+I\+N\+E\+SS I\+N\+T\+E\+R\+R\+U\+P\+T\+I\+ON) H\+O\+W\+E\+V\+ER C\+A\+U\+S\+ED A\+ND ON A\+NY T\+H\+E\+O\+RY OF L\+I\+A\+B\+I\+L\+I\+TY, W\+H\+E\+T\+H\+ER IN C\+O\+N\+T\+R\+A\+CT, S\+T\+R\+I\+CT L\+I\+A\+B\+I\+L\+I\+TY, OR T\+O\+RT (I\+N\+C\+L\+U\+D\+I\+NG N\+E\+G\+L\+I\+G\+E\+N\+CE OR O\+T\+H\+E\+R\+W\+I\+SE) A\+R\+I\+S\+I\+NG IN A\+NY W\+AY O\+UT OF T\+HE U\+SE OF T\+H\+IS S\+O\+F\+T\+W\+A\+RE, E\+V\+EN IF A\+D\+V\+I\+S\+ED OF T\+HE P\+O\+S\+S\+I\+B\+I\+L\+I\+TY OF 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z3;g6zWM3jHKH`QjLjQS`eG{_=tG(};n+AGXd_vK9f^qICDdX?FM^lfvJo$6AuJmQ` zqA~S@|JdqOqSO~L0l4dZTfSDBB5=M~nusqjq64=wSe#WaV@4;&*w&J;9>I+@9qzU- z@6UMSs_dQ2cmE!BLGcq;-V@t`fiHgU;PWzw+g|m}7l5f;>XTT)NCe8tnmEG91tB9Y zp)8vC#e|iJ$F%)_XLDdI{~E08m}z0y**X3lz&}g`WuXS+Vr6ZlW6=X(vvP5<5;Ofr zh;4~s|Bu4N%*@4^SinjSWM<}I`>#c2RyMYO8~v993-|xFu`@IO7mt~R^MCpNvvD&0 zH;>p#BS|8G>xtSn6bI~Z=Zf7j~&3x=7EiIXGImrVwajhTfTmV!cD{wM7J0ATzJ A!vFvP diff --git a/docs/latex/object__detection__test_8cpp.tex b/docs/latex/object__detection__test_8cpp.tex new file mode 100644 index 0000000..64bbc12 --- /dev/null +++ b/docs/latex/object__detection__test_8cpp.tex @@ -0,0 +1,93 @@ +\hypertarget{object__detection__test_8cpp}{}\section{test/object\+\_\+detection\+\_\+test.cpp File Reference} +\label{object__detection__test_8cpp}\index{test/object\+\_\+detection\+\_\+test.\+cpp@{test/object\+\_\+detection\+\_\+test.\+cpp}} +{\ttfamily \#include $<$object\+\_\+detection/object\+\_\+detection.\+h$>$}\\* +{\ttfamily \#include $<$gtest/gtest.\+h$>$}\\* +{\ttfamily \#include $<$ros/ros.\+h$>$}\\* +{\ttfamily \#include \char`\"{}opencv2/opencv.\+hpp\char`\"{}}\\* +Include dependency graph for object\+\_\+detection\+\_\+test.\+cpp\+: +\nopagebreak +\begin{figure}[H] +\begin{center} +\leavevmode +\includegraphics[width=350pt]{object__detection__test_8cpp__incl} +\end{center} +\end{figure} +\subsection*{Functions} +\begin{DoxyCompactItemize} +\item +\hyperlink{object__detection__test_8cpp_a272dd121fe32cae77b6e2740fe43c69e}{T\+E\+ST} (Object\+Detection\+Test, object\+Not\+Detected) +\begin{DoxyCompactList}\small\item\em Test to check getters and setters. \end{DoxyCompactList}\item +\hyperlink{object__detection__test_8cpp_a1df63b07a92a566771ca35ddc825989a}{T\+E\+ST} (Object\+Detection\+Test, object\+Detected) +\begin{DoxyCompactList}\small\item\em Test to check getters and setters. \end{DoxyCompactList}\item +\hyperlink{object__detection__test_8cpp_a67eec44cbc8fcd243a13197dff383087}{T\+E\+ST} (Object\+Detection\+Test, set\+Boundary) +\begin{DoxyCompactList}\small\item\em Test to check setting of object boundary. \end{DoxyCompactList}\item +\hyperlink{object__detection__test_8cpp_a235cb75479ba6461078367bf515a4f4e}{T\+E\+ST} (Object\+Detection\+Test, gauss\+Filter) +\begin{DoxyCompactList}\small\item\em Test to check gaussian filtering. \end{DoxyCompactList}\item +\hyperlink{object__detection__test_8cpp_a683ac4af2799e9ba6b2cdf907b767680}{T\+E\+ST} (Object\+Detection\+Test, check\+Object) +\begin{DoxyCompactList}\small\item\em Test to check object detection using hsv. \end{DoxyCompactList}\end{DoxyCompactItemize} + + +\subsection{Function Documentation} +\index{object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}!T\+E\+ST@{T\+E\+ST}} +\index{T\+E\+ST@{T\+E\+ST}!object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}} +\subsubsection[{\texorpdfstring{T\+E\+S\+T(\+Object\+Detection\+Test, object\+Not\+Detected)}{TEST(ObjectDetectionTest, objectNotDetected)}}]{\setlength{\rightskip}{0pt plus 5cm}T\+E\+ST ( +\begin{DoxyParamCaption} +\item[{Object\+Detection\+Test}]{, } +\item[{object\+Not\+Detected}]{} +\end{DoxyParamCaption} +)}\hypertarget{object__detection__test_8cpp_a272dd121fe32cae77b6e2740fe43c69e}{}\label{object__detection__test_8cpp_a272dd121fe32cae77b6e2740fe43c69e} + + +Test to check getters and setters. + +\index{object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}!T\+E\+ST@{T\+E\+ST}} +\index{T\+E\+ST@{T\+E\+ST}!object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}} +\subsubsection[{\texorpdfstring{T\+E\+S\+T(\+Object\+Detection\+Test, object\+Detected)}{TEST(ObjectDetectionTest, objectDetected)}}]{\setlength{\rightskip}{0pt plus 5cm}T\+E\+ST ( +\begin{DoxyParamCaption} +\item[{Object\+Detection\+Test}]{, } +\item[{object\+Detected}]{} +\end{DoxyParamCaption} +)}\hypertarget{object__detection__test_8cpp_a1df63b07a92a566771ca35ddc825989a}{}\label{object__detection__test_8cpp_a1df63b07a92a566771ca35ddc825989a} + + +Test to check getters and setters. + +\index{object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}!T\+E\+ST@{T\+E\+ST}} +\index{T\+E\+ST@{T\+E\+ST}!object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}} +\subsubsection[{\texorpdfstring{T\+E\+S\+T(\+Object\+Detection\+Test, set\+Boundary)}{TEST(ObjectDetectionTest, setBoundary)}}]{\setlength{\rightskip}{0pt plus 5cm}T\+E\+ST ( +\begin{DoxyParamCaption} +\item[{Object\+Detection\+Test}]{, } +\item[{set\+Boundary}]{} +\end{DoxyParamCaption} +)}\hypertarget{object__detection__test_8cpp_a67eec44cbc8fcd243a13197dff383087}{}\label{object__detection__test_8cpp_a67eec44cbc8fcd243a13197dff383087} + + +Test to check setting of object boundary. + +Define object boundary \index{object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}!T\+E\+ST@{T\+E\+ST}} +\index{T\+E\+ST@{T\+E\+ST}!object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}} +\subsubsection[{\texorpdfstring{T\+E\+S\+T(\+Object\+Detection\+Test, gauss\+Filter)}{TEST(ObjectDetectionTest, gaussFilter)}}]{\setlength{\rightskip}{0pt plus 5cm}T\+E\+ST ( +\begin{DoxyParamCaption} +\item[{Object\+Detection\+Test}]{, } +\item[{gauss\+Filter}]{} +\end{DoxyParamCaption} +)}\hypertarget{object__detection__test_8cpp_a235cb75479ba6461078367bf515a4f4e}{}\label{object__detection__test_8cpp_a235cb75479ba6461078367bf515a4f4e} + + +Test to check gaussian filtering. + +Check if file empty or not + +These two images do not hace the same size due to smoothening \index{object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}!T\+E\+ST@{T\+E\+ST}} +\index{T\+E\+ST@{T\+E\+ST}!object\+\_\+detection\+\_\+test.\+cpp@{object\+\_\+detection\+\_\+test.\+cpp}} +\subsubsection[{\texorpdfstring{T\+E\+S\+T(\+Object\+Detection\+Test, check\+Object)}{TEST(ObjectDetectionTest, checkObject)}}]{\setlength{\rightskip}{0pt plus 5cm}T\+E\+ST ( +\begin{DoxyParamCaption} +\item[{Object\+Detection\+Test}]{, } +\item[{check\+Object}]{} +\end{DoxyParamCaption} +)}\hypertarget{object__detection__test_8cpp_a683ac4af2799e9ba6b2cdf907b767680}{}\label{object__detection__test_8cpp_a683ac4af2799e9ba6b2cdf907b767680} + + +Test to check object detection using hsv. + +Check for condition when obstacle not detected \ No newline at end of file diff --git a/docs/latex/object__detection__test_8cpp__incl.md5 b/docs/latex/object__detection__test_8cpp__incl.md5 new file mode 100644 index 0000000..4c9fd9f --- /dev/null +++ b/docs/latex/object__detection__test_8cpp__incl.md5 @@ -0,0 +1 @@ +460b5bc17cc5ce7286943b6f416d53ce \ No newline at end of file diff --git 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the robot upon obstacle detection. + + {\ttfamily \#include \char`\"{}ros/ros.\+h\char`\"{}}\\* {\ttfamily \#include \char`\"{}geometry\+\_\+msgs/\+Twist.\+h\char`\"{}}\\* {\ttfamily \#include \char`\"{}sensor\+\_\+msgs/\+Laser\+Scan.\+h\char`\"{}}\\* {\ttfamily \#include \char`\"{}obstacle\+\_\+avoidance/obstacle\+\_\+avoidance.\+h\char`\"{}}\\* -Include dependency graph for obstacle\+\_\+avoidance.\+cpp\+: -\nopagebreak +Include dependency graph for obstacle\+\_\+avoidance.\+cpp\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{obstacle__avoidance_8cpp__incl} \end{center} \end{figure} + + +\subsection{Detailed Description} +Source file to implement obstacle avoidance class Uses laser sensor for obstacle avoidance publishes velocities for the robot upon obstacle detection. + +B\+SD 3-\/\+Clause License + +\begin{DoxyCopyright}{Copyright} +(c) 2019, Umang Rastogi, Naman Gupta All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: +\end{DoxyCopyright} +Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. T\+H\+IS S\+O\+F\+T\+W\+A\+RE IS P\+R\+O\+V\+I\+D\+ED BY T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+E\+RS A\+ND C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS \char`\"{}\+A\+S I\+S\char`\"{} A\+ND A\+NY E\+X\+P\+R\+E\+SS OR I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES, I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, T\+HE I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES OF M\+E\+R\+C\+H\+A\+N\+T\+A\+B\+I\+L\+I\+TY A\+ND F\+I\+T\+N\+E\+SS F\+OR A P\+A\+R\+T\+I\+C\+U\+L\+AR P\+U\+R\+P\+O\+SE A\+RE D\+I\+S\+C\+L\+A\+I\+M\+ED. IN NO E\+V\+E\+NT S\+H\+A\+LL T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+ER OR C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS BE L\+I\+A\+B\+LE F\+OR A\+NY D\+I\+R\+E\+CT, I\+N\+D\+I\+R\+E\+CT, I\+N\+C\+I\+D\+E\+N\+T\+AL, S\+P\+E\+C\+I\+AL, E\+X\+E\+M\+P\+L\+A\+RY, OR C\+O\+N\+S\+E\+Q\+U\+E\+N\+T\+I\+AL D\+A\+M\+A\+G\+ES (I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, P\+R\+O\+C\+U\+R\+E\+M\+E\+NT OF S\+U\+B\+S\+T\+I\+T\+U\+TE G\+O\+O\+DS OR S\+E\+R\+V\+I\+C\+ES; L\+O\+SS OF U\+SE, D\+A\+TA, OR P\+R\+O\+F\+I\+TS; OR B\+U\+S\+I\+N\+E\+SS I\+N\+T\+E\+R\+R\+U\+P\+T\+I\+ON) H\+O\+W\+E\+V\+ER C\+A\+U\+S\+ED A\+ND ON A\+NY T\+H\+E\+O\+RY OF L\+I\+A\+B\+I\+L\+I\+TY, W\+H\+E\+T\+H\+ER IN C\+O\+N\+T\+R\+A\+CT, S\+T\+R\+I\+CT L\+I\+A\+B\+I\+L\+I\+TY, OR T\+O\+RT (I\+N\+C\+L\+U\+D\+I\+NG N\+E\+G\+L\+I\+G\+E\+N\+CE OR O\+T\+H\+E\+R\+W\+I\+SE) A\+R\+I\+S\+I\+NG IN A\+NY W\+AY O\+UT OF T\+HE U\+SE OF T\+H\+IS S\+O\+F\+T\+W\+A\+RE, E\+V\+EN IF A\+D\+V\+I\+S\+ED OF T\+HE P\+O\+S\+S\+I\+B\+I\+L\+I\+TY OF S\+U\+CH D\+A\+M\+A\+GE. + +\begin{DoxyAuthor}{Author} +Umang Rastogi -\/ Driver + +Naman Gupta -\/ Navigator +\end{DoxyAuthor} diff --git a/docs/latex/obstacle__avoidance_8h.tex b/docs/latex/obstacle__avoidance_8h.tex index 28ee4a1..15eeeeb 100644 --- a/docs/latex/obstacle__avoidance_8h.tex +++ b/docs/latex/obstacle__avoidance_8h.tex @@ -7,8 +7,7 @@ {\ttfamily \#include \char`\"{}ros/ros.\+h\char`\"{}}\\* {\ttfamily \#include \char`\"{}sensor\+\_\+msgs/\+Laser\+Scan.\+h\char`\"{}}\\* -Include dependency graph for obstacle\+\_\+avoidance.\+h\+: -\nopagebreak +Include dependency graph for obstacle\+\_\+avoidance.\+h\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode @@ -33,13 +32,13 @@ \subsection*{Classes} \subsection{Detailed Description} Library header file to implement obstacle avoidance. -Library header file to implement obstacle avoidance Uses laser sensor for obstacle avoidance Publishes velocities for the robot upon obstacle detection. - B\+SD 3-\/\+Clause License \begin{DoxyCopyright}{Copyright} -(c) 2019, Umang Rastogi Naman Gupta All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: +(c) 2019, Umang Rastogi, Naman Gupta \end{DoxyCopyright} +All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: + Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. T\+H\+IS S\+O\+F\+T\+W\+A\+RE IS P\+R\+O\+V\+I\+D\+ED BY T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+E\+RS A\+ND C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS \char`\"{}\+A\+S I\+S\char`\"{} A\+ND A\+NY E\+X\+P\+R\+E\+SS OR I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES, I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, T\+HE I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES OF M\+E\+R\+C\+H\+A\+N\+T\+A\+B\+I\+L\+I\+TY A\+ND F\+I\+T\+N\+E\+SS F\+OR A P\+A\+R\+T\+I\+C\+U\+L\+AR P\+U\+R\+P\+O\+SE A\+RE D\+I\+S\+C\+L\+A\+I\+M\+ED. IN NO E\+V\+E\+NT S\+H\+A\+LL T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+ER OR C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS BE L\+I\+A\+B\+LE F\+OR A\+NY D\+I\+R\+E\+CT, I\+N\+D\+I\+R\+E\+CT, I\+N\+C\+I\+D\+E\+N\+T\+AL, S\+P\+E\+C\+I\+AL, E\+X\+E\+M\+P\+L\+A\+RY, OR C\+O\+N\+S\+E\+Q\+U\+E\+N\+T\+I\+AL D\+A\+M\+A\+G\+ES (I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, P\+R\+O\+C\+U\+R\+E\+M\+E\+NT OF S\+U\+B\+S\+T\+I\+T\+U\+TE G\+O\+O\+DS OR S\+E\+R\+V\+I\+C\+ES; L\+O\+SS OF U\+SE, D\+A\+TA, OR P\+R\+O\+F\+I\+TS; OR B\+U\+S\+I\+N\+E\+SS I\+N\+T\+E\+R\+R\+U\+P\+T\+I\+ON) H\+O\+W\+E\+V\+ER C\+A\+U\+S\+ED A\+ND ON A\+NY T\+H\+E\+O\+RY OF L\+I\+A\+B\+I\+L\+I\+TY, W\+H\+E\+T\+H\+ER IN C\+O\+N\+T\+R\+A\+CT, S\+T\+R\+I\+CT L\+I\+A\+B\+I\+L\+I\+TY, OR T\+O\+RT (I\+N\+C\+L\+U\+D\+I\+NG N\+E\+G\+L\+I\+G\+E\+N\+CE OR O\+T\+H\+E\+R\+W\+I\+SE) A\+R\+I\+S\+I\+NG IN A\+NY W\+AY O\+UT OF T\+HE U\+SE OF T\+H\+IS S\+O\+F\+T\+W\+A\+RE, E\+V\+EN IF A\+D\+V\+I\+S\+ED OF T\+HE P\+O\+S\+S\+I\+B\+I\+L\+I\+TY OF 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$<$obstacle\+\_\+avoidance/obstacle\+\_\+avoidance.\+h$>$}\\* {\ttfamily \#include $<$gtest/gtest.\+h$>$}\\* {\ttfamily \#include $<$ros/ros.\+h$>$}\\* -Include dependency graph for obstacle\+\_\+avoidance\+\_\+test.\+cpp\+: -\nopagebreak +Include dependency graph for obstacle\+\_\+avoidance\+\_\+test.\+cpp\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode @@ -22,7 +21,9 @@ \subsection*{Functions} \hyperlink{obstacle__avoidance__test_8cpp_ac1cd47bac47de1c96d3d8f657785c396}{T\+E\+ST} (Obstacle\+Avoidance\+Test, obstacle\+Not\+Detected) \begin{DoxyCompactList}\small\item\em Test to check obstacle detected or not. \end{DoxyCompactList}\item \hyperlink{obstacle__avoidance__test_8cpp_acc0db72dbbfe6921be935ec106314d8d}{T\+E\+ST} (Obstacle\+Avoidance\+Test, obstacle\+Detected) -\begin{DoxyCompactList}\small\item\em Test to check getters and setters. \end{DoxyCompactList}\end{DoxyCompactItemize} +\begin{DoxyCompactList}\small\item\em Test to check getters and setters. \end{DoxyCompactList}\item +\hyperlink{obstacle__avoidance__test_8cpp_ace97a9ce4db229f4a62e8dbda4848f19}{T\+E\+ST} (Obstacle\+Avoidance\+Test, check\+Obstacle) +\begin{DoxyCompactList}\small\item\em Test to check obstacle. \end{DoxyCompactList}\end{DoxyCompactItemize} \subsection{Detailed Description} @@ -67,3 +68,16 @@ \subsection{Function Documentation} Test to check getters and setters. +\index{obstacle\+\_\+avoidance\+\_\+test.\+cpp@{obstacle\+\_\+avoidance\+\_\+test.\+cpp}!T\+E\+ST@{T\+E\+ST}} +\index{T\+E\+ST@{T\+E\+ST}!obstacle\+\_\+avoidance\+\_\+test.\+cpp@{obstacle\+\_\+avoidance\+\_\+test.\+cpp}} +\subsubsection[{\texorpdfstring{T\+E\+S\+T(\+Obstacle\+Avoidance\+Test, check\+Obstacle)}{TEST(ObstacleAvoidanceTest, checkObstacle)}}]{\setlength{\rightskip}{0pt plus 5cm}T\+E\+ST ( +\begin{DoxyParamCaption} +\item[{Obstacle\+Avoidance\+Test}]{, } +\item[{check\+Obstacle}]{} +\end{DoxyParamCaption} +)}\hypertarget{obstacle__avoidance__test_8cpp_ace97a9ce4db229f4a62e8dbda4848f19}{}\label{obstacle__avoidance__test_8cpp_ace97a9ce4db229f4a62e8dbda4848f19} + + +Test to check obstacle. + +Define distance threshold for obstacles \ No newline at end of file diff --git a/docs/latex/refman.tex b/docs/latex/refman.tex index 6f0beab..fc25c8e 100644 --- a/docs/latex/refman.tex +++ b/docs/latex/refman.tex @@ -146,7 +146,7 @@ \chapter{Class Index} \chapter{File Index} \input{files} \chapter{Class Documentation} -\input{classObjectDectection} +\input{classObjectDetection} \input{classObstacleAvoidance} \input{classTurtlebot} \chapter{File Documentation} @@ -155,9 +155,13 @@ \chapter{File Documentation} \input{obstacle__avoidance_8h} \input{turtlebot_8h} \input{README_8md} +\input{detector_8cpp} +\input{navigator_8cpp} +\input{object__detection_8cpp} \input{obstacle__avoidance_8cpp} \input{turtlebot_8cpp} \input{main_8cpp} +\input{object__detection__test_8cpp} \input{obstacle__avoidance__test_8cpp} \input{turtlebot__test_8cpp} %--- End generated contents --- diff --git a/docs/latex/turtlebot_8cpp.tex b/docs/latex/turtlebot_8cpp.tex index acad931..5cefc25 100644 --- a/docs/latex/turtlebot_8cpp.tex +++ b/docs/latex/turtlebot_8cpp.tex @@ -2,7 +2,7 @@ \label{turtlebot_8cpp}\index{src/turtlebot.\+cpp@{src/turtlebot.\+cpp}} -Source file to implement turtlebot class Controls the motion of the bot using obstacle avoidance and go-\/to-\/goal strategies. +Navigator node to implement obstacle avoidance and move bot algorithm. {\ttfamily \#include \char`\"{}ros/ros.\+h\char`\"{}}\\* @@ -21,12 +21,26 @@ \subsection{Detailed Description} -Source file to implement turtlebot class Controls the motion of the bot using obstacle avoidance and go-\/to-\/goal strategies. +Navigator node to implement obstacle avoidance and move bot algorithm. +Source file to implement turtlebot class Controls the motion of the bot using obstacle avoidance and go-\/to-\/goal strategies. + +B\+SD 3-\/\+Clause License + +\begin{DoxyCopyright}{Copyright} +(c) 2019, Naman Gupta, Umang Rastogi All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: +\end{DoxyCopyright} +Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. T\+H\+IS S\+O\+F\+T\+W\+A\+RE IS P\+R\+O\+V\+I\+D\+ED BY T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+E\+RS A\+ND C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS \char`\"{}\+A\+S I\+S\char`\"{} A\+ND A\+NY E\+X\+P\+R\+E\+SS OR I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES, I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, T\+HE I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES OF M\+E\+R\+C\+H\+A\+N\+T\+A\+B\+I\+L\+I\+TY A\+ND F\+I\+T\+N\+E\+SS F\+OR A P\+A\+R\+T\+I\+C\+U\+L\+AR P\+U\+R\+P\+O\+SE A\+RE D\+I\+S\+C\+L\+A\+I\+M\+ED. IN NO E\+V\+E\+NT S\+H\+A\+LL T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+ER OR C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS BE L\+I\+A\+B\+LE F\+OR A\+NY D\+I\+R\+E\+CT, I\+N\+D\+I\+R\+E\+CT, I\+N\+C\+I\+D\+E\+N\+T\+AL, S\+P\+E\+C\+I\+AL, E\+X\+E\+M\+P\+L\+A\+RY, OR C\+O\+N\+S\+E\+Q\+U\+E\+N\+T\+I\+AL D\+A\+M\+A\+G\+ES (I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, P\+R\+O\+C\+U\+R\+E\+M\+E\+NT OF S\+U\+B\+S\+T\+I\+T\+U\+TE G\+O\+O\+DS OR S\+E\+R\+V\+I\+C\+ES; L\+O\+SS OF U\+SE, D\+A\+TA, OR P\+R\+O\+F\+I\+TS; OR B\+U\+S\+I\+N\+E\+SS I\+N\+T\+E\+R\+R\+U\+P\+T\+I\+ON) H\+O\+W\+E\+V\+ER C\+A\+U\+S\+ED A\+ND ON A\+NY T\+H\+E\+O\+RY OF L\+I\+A\+B\+I\+L\+I\+TY, W\+H\+E\+T\+H\+ER IN C\+O\+N\+T\+R\+A\+CT, S\+T\+R\+I\+CT L\+I\+A\+B\+I\+L\+I\+TY, OR T\+O\+RT (I\+N\+C\+L\+U\+D\+I\+NG N\+E\+G\+L\+I\+G\+E\+N\+CE OR O\+T\+H\+E\+R\+W\+I\+SE) A\+R\+I\+S\+I\+NG IN A\+NY W\+AY O\+UT OF T\+HE U\+SE OF T\+H\+IS S\+O\+F\+T\+W\+A\+RE, E\+V\+EN IF A\+D\+V\+I\+S\+ED OF T\+HE P\+O\+S\+S\+I\+B\+I\+L\+I\+TY OF S\+U\+CH D\+A\+M\+A\+GE. + +\begin{DoxyAuthor}{Author} +Umang Rastogi -\/ Driver + +Naman Gupta -\/ Navigator +\end{DoxyAuthor} B\+SD 3-\/\+Clause License \begin{DoxyCopyright}{Copyright} -(c) 2019, Umang Rastogi Naman Gupta All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: +(c) 2019, Umang Rastogi, Naman Gupta All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met\+: \end{DoxyCopyright} Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. T\+H\+IS S\+O\+F\+T\+W\+A\+RE IS P\+R\+O\+V\+I\+D\+ED BY T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+E\+RS A\+ND C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS \char`\"{}\+A\+S I\+S\char`\"{} A\+ND A\+NY E\+X\+P\+R\+E\+SS OR I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES, I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, T\+HE I\+M\+P\+L\+I\+ED W\+A\+R\+R\+A\+N\+T\+I\+ES OF M\+E\+R\+C\+H\+A\+N\+T\+A\+B\+I\+L\+I\+TY A\+ND F\+I\+T\+N\+E\+SS F\+OR A P\+A\+R\+T\+I\+C\+U\+L\+AR P\+U\+R\+P\+O\+SE A\+RE D\+I\+S\+C\+L\+A\+I\+M\+ED. IN NO E\+V\+E\+NT S\+H\+A\+LL T\+HE C\+O\+P\+Y\+R\+I\+G\+HT H\+O\+L\+D\+ER OR C\+O\+N\+T\+R\+I\+B\+U\+T\+O\+RS BE L\+I\+A\+B\+LE F\+OR A\+NY D\+I\+R\+E\+CT, I\+N\+D\+I\+R\+E\+CT, I\+N\+C\+I\+D\+E\+N\+T\+AL, S\+P\+E\+C\+I\+AL, E\+X\+E\+M\+P\+L\+A\+RY, OR C\+O\+N\+S\+E\+Q\+U\+E\+N\+T\+I\+AL D\+A\+M\+A\+G\+ES (I\+N\+C\+L\+U\+D\+I\+NG, B\+UT N\+OT L\+I\+M\+I\+T\+ED TO, P\+R\+O\+C\+U\+R\+E\+M\+E\+NT OF S\+U\+B\+S\+T\+I\+T\+U\+TE G\+O\+O\+DS OR S\+E\+R\+V\+I\+C\+ES; L\+O\+SS OF U\+SE, D\+A\+TA, OR P\+R\+O\+F\+I\+TS; OR B\+U\+S\+I\+N\+E\+SS I\+N\+T\+E\+R\+R\+U\+P\+T\+I\+ON) H\+O\+W\+E\+V\+ER C\+A\+U\+S\+ED A\+ND ON A\+NY T\+H\+E\+O\+RY OF L\+I\+A\+B\+I\+L\+I\+TY, W\+H\+E\+T\+H\+ER IN C\+O\+N\+T\+R\+A\+CT, S\+T\+R\+I\+CT L\+I\+A\+B\+I\+L\+I\+TY, OR T\+O\+RT (I\+N\+C\+L\+U\+D\+I\+NG N\+E\+G\+L\+I\+G\+E\+N\+CE OR O\+T\+H\+E\+R\+W\+I\+SE) A\+R\+I\+S\+I\+NG IN A\+NY W\+AY O\+UT OF T\+HE U\+SE OF T\+H\+IS S\+O\+F\+T\+W\+A\+RE, E\+V\+EN IF A\+D\+V\+I\+S\+ED OF T\+HE P\+O\+S\+S\+I\+B\+I\+L\+I\+TY OF 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zfeqmYo1h4UunG955ID$#C6NVC5dxA285&p;3}$vSQEWh<2qxHX60siS@`DO-er?qS zvv!510)sI~8&Ozs=tmL}h!tLkbD48eb|?MJfUuR=4J{J5C8x>)&CO5 literal 0 HcmV?d00001 From 2910280855ff67720787a77a6817a2dce012b5e5 Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Mon, 9 Dec 2019 14:45:50 -0500 Subject: [PATCH 58/62] [Task 3.11]Updated README.md Updated Build, Test, Run instructions, demo is added, necessary changes has been done according to object detection --- README.md | 37 +++++++++++++++++++------------------ 1 file changed, 19 insertions(+), 18 deletions(-) diff --git a/README.md b/README.md index 82ba17c..3b079a3 100644 --- a/README.md +++ b/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.

    - + Figure 1 - Robot approaching towards the cans lying on the ground to collect them

    @@ -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 @@ -76,49 +76,46 @@ 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. +``` /src ``` - Run the following commands to clone and build this project: -```shell script +``` git clone --recursive https://github.com/urastogi885/obstacle_avoidance_simulation -git checkout Phase3 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 source devel/setup.bash -catkin_make run_tests_test_project_x_robot +catkin_make run_tests_supermarket_cleaning_robot ``` ## Run @@ -141,7 +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 @@ -152,4 +149,8 @@ firefox docs/html/index.html ## Demo -We will update in the next phase by next week. \ No newline at end of file +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. +

    + +Figure 2 - Demo of Robot scanning and detecting items +

    \ No newline at end of file From 16dabda7aba6d1bba49d0e596f111f0efe49f6ba Mon Sep 17 00:00:00 2001 From: Naman Gupta Date: Mon, 9 Dec 2019 14:58:07 -0500 Subject: [PATCH 59/62] [Task 3.11]Updated README.md Updated image src url to master and changes in demo for description --- README.md | 4 ---- 1 file changed, 4 deletions(-) diff --git a/README.md b/README.md index 38e8bc8..59e7bc0 100644 --- a/README.md +++ b/README.md @@ -149,12 +149,8 @@ firefox docs/html/index.html ## Demo -<<<<<<< HEAD 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.

    Figure 2 - Demo of Robot scanning and detecting items

    -======= -We will update in the next phase by next week. ->>>>>>> 71f78fc4bc16c7fd4bd75313edfdd415dd4d1bef From 774afcb795e98097e39674e9083a17469abf1e1c Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 15:05:04 -0500 Subject: [PATCH 60/62] [Task 3.16] Update revised uml class diagram Activity diagram remains the same --- include/turtlebot/turtlebot.h | 7 ------- uml/revised/uml_class_diagram.pdf | Bin 30958 -> 36298 bytes 2 files changed, 7 deletions(-) diff --git a/include/turtlebot/turtlebot.h b/include/turtlebot/turtlebot.h index 65b77fa..aaca3ea 100644 --- a/include/turtlebot/turtlebot.h +++ b/include/turtlebot/turtlebot.h @@ -98,13 +98,6 @@ class Turtlebot { */ float turn(float angVelZ); - /** - * @brief Collect the object - * @param none - * @return void - */ - bool collectObject(); - /** * @brief Control the motion of the bot * @param Reference to Obstacle Avoidance class diff --git a/uml/revised/uml_class_diagram.pdf b/uml/revised/uml_class_diagram.pdf 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    + +## Presentation + +Click on the link to preview [presentation](https://docs.google.com/presentation/d/1KiABS_kfmvH2YfD9WYNnicjoehHe6gC2hseT8R00nM4/edit#slide=id.g6c2dd6b921_0_107) From 2d70678fe00e8b0972bc0f42db9f1a9b6a8bf44c Mon Sep 17 00:00:00 2001 From: Umang Rastogi Date: Mon, 9 Dec 2019 15:44:18 -0500 Subject: [PATCH 62/62] [Task 3.11] Update correct repo link for cloning --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index bfeaf8e..a2f10ca 100644 --- a/README.md +++ b/README.md @@ -103,7 +103,7 @@ Switch to your *src* sub-directory of your ROS workspace to clone this repositor ``` - Run the following commands to clone and build this project: ``` -git clone --recursive https://github.com/urastogi885/obstacle_avoidance_simulation +git clone --recursive https://github.com/urastogi885/Supermarket-Cleaning-Robot cd .. catkin_make ```

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