def __init__(self):
rospy.init_node('beacon_node')
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw",
Image, self.camera_callback)
self.lidar_subscriber = rospy.Subscriber('/scan', LaserScan,
self.callback_lidar)
self.cvbridge_interface = CvBridge()
self.lidar = {'range': 0.0, 'closest': 0.0, 'closest angle': 0}
self.robot_controller = MoveTB3()
self.turn_vel_fast = -0.5
self.turn_vel_slow = -0.1
self.robot_controller.set_move_cmd(0.0, self.turn_vel_fast)
self.move_rate = '' # fast, slow or stop
self.stop_counter = 0
self.start_yaw = 0.0
self.start_posy = 0.0
self.start_posx = 0.0
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
#var to check task is complete
self.complete = False
#var to check if move forward is needed
self.move_forward = True
#var to turn to check the color
# self.turn = True
#var to turn back facing the front
self.turn_back = True
#var to check if statr yaw has been initiated
self.face_turn = False
self.pillar_lined_with_home = False
self.finding_pillar = False
self.get_colour = False
self.colour = -1
self.check = True
self.counter = 0
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
self.rate = rospy.Rate(5)
self.all_colours = True
self.m00 = 0
self.m00_min = 10000
# self.img = None
self.finished_initialising = False
def __init__(self):
rospy.init_node('turn_and_face')
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw",
Image, self.camera_callback)
self.cvbridge_interface = CvBridge()
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
self.turn_vel_fast = -0.5
self.turn_vel_slow = -0.1
self.robot_controller.set_move_cmd(0.0, self.turn_vel_fast)
self.move_rate = '' # fast, slow or stop
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
self.rate = rospy.Rate(5)
self.m00 = 0
self.m00_min = 10000
self.turn = False
self.color_name = ""
self.lower_bound = []
self.upper_bound = []
self.mask = np.zeros((1080, 1920, 1), np.uint8)
self.hsv_img = np.zeros((1080, 1920, 3), np.uint8)
self.find_target = False
def __init__(self):
self.actionserver = actionlib.SimpleActionServer("/search_action_server",
SearchAction, self.action_server_launcher, auto_start=False)
self.actionserver.start()
self.rate = rospy.Rate(10)
self.scanSub = rospy.Subscriber('scan', LaserScan, self.callback_function)
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
# define the robot pose variables and set them all to zero to start with:
self.x0 = 0.0
self.y0 = 0.0
self.stop_distance = 0
self.desired_velocity = 0
self.turn_direction = False
# define a Twist instance, which can be used to set robot velocities
self.front_distance = 0.0
self.front_angle = 0.0
self.right_distance = 0.0
self.right_angle = 0.0
self.left_distance = 0.0
self.left_angle = 0.0
self.back_distance = 0.0
self.back_angle = 0.0
def __init__(self):
rospy.init_node('turn_and_face')
self.base_image_path = '/home/student/myrosdata/week6_images'
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw",
Image, self.camera_callback)
self.cvbridge_interface = CvBridge()
self.robot_odom = TB3Odometry()
self.robot_controller = MoveTB3()
self.turn_vel_fast = -0.5
def __init__(self):
rospy.init_node('pillar_detection')
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw",
Image, self.camera_callback)
self.cvbridge_interface = CvBridge()
self.robot_controller = MoveTB3()
self.turn_vel_fast = -0.5
self.turn_vel_slow = -0.1
self.robot_controller.set_move_cmd(0.0, self.turn_vel_fast)
self.move_rate = '' # fast, slow or stop
self.stop_counter = 0
self.start_yaw = 0.0
self.start_posy = 0.0
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
#var to check task is complete
self.complete = False
#var to check if move forward is needed
self.move_forward = True
#var to turn to check the color
self.turn = True
#var to turn back facing the front
self.turn_back = True
#var to check if statr yaw has been initiated
self.face_turn = False
self.finding_pillar = False
self.get_colour = False
self.colour = -1
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
self.rate = rospy.Rate(5)
self.m00 = 0
self.m00_min = 10000
def __init__(self):
self.actionserver = actionlib.SimpleActionServer(
"/obstacle_avoid_action_server",
SearchAction,
self.action_server_launcher,
auto_start=False)
self.actionserver.start()
#self.base_image_path = '/home/student/myrosdata/week5_images'
self.camera_subscriber = rospy.Subscriber("/scan", LaserScan,
self.scan_callback)
#self.cv_image = CvBridge()
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
def __init__(self):
rospy.init_node('obst_avoidance', anonymous=True)
self.rate = rospy.Rate(5)
self.lidar_subscriber = rospy.Subscriber('/scan', LaserScan, self.callback_lidar)
self.lidar = {'range': 0.0,
'closest': 0.0,
'closest angle': 0,
'range left': 0,
'range right': 0}
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
def __init__(self):
rospy.init_node('maze_nav')
self.scan_subscriber = rospy.Subscriber("/scan", LaserScan, self.callback)
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
rospy.on_shutdown(self.shutdown_ops)
self.rate = rospy.Rate(1000)
# variable
self.ctrl_c = False
self.check_at_j = 0
self.left_arc = 0
self.right_arc = 0
self.right_status = False
self.left_status = False
self.front_status = False
def __init__(self):
rospy.init_node('color_beacon')
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw",
Image, self.camera_callback)
self.cvbridge_interface = CvBridge()
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
self.scanSub = rospy.Subscriber('scan', LaserScan, self.scan_callback_function)
self.turn_vel_fast = -0.5
self.turn_vel_slow = -0.1
self.robot_controller.set_move_cmd(0.0, self.turn_vel_fast)
self.move_rate = '' # fast, slow or stop
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
self.rate = rospy.Rate(5)
self.m00 = 0
self.m00_min = 1000000
self.turn = False
self.color_name = ""
self.lower_bound = []
self.upper_bound = []
self.mask = np.zeros((1080,1920,1), np.uint8)
self.hsv_img = np.zeros((1080,1920,3), np.uint8)
self.find_target = False
self.stop_at_target = False
self.raw_data = np.array(tuple())
# define a Twist instance, which can be used to set robot velocities
self.all_distance = 0.0
self.all_angle = 0.0
self.front_distance = 0.0
self.front_angle = 0.0
self.right_distance = 0.0
self.right_angle = 0.0
self.left_distance = 0.0
self.left_angle = 0.0
self.back_distance = 0.0
self.back_angle = 0.0
self.init_x = 0.0
self.init_y = 0.0
self.small_front_distance = 0
self.small_front_angle = 0
color_forwards = ""
def __init__(self):
# Initialise action server
self.actionserver = actionlib.SimpleActionServer(
"/search_action_server",
SearchAction,
self.action_server_launcher,
auto_start=False)
self.actionserver.start()
# Lidar subscriber
self.lidar_subscriber = rospy.Subscriber('/scan', LaserScan,
self.callback_lidar)
self.lidar = {'range': 0.0, 'closest': 0.0, 'closest angle': 0}
# Robot movement and odometry
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
def __init__(self):
self.actionserver = actionlib.SimpleActionServer(
"/search_action_server",
SearchAction,
self.action_server_launcher,
auto_start=False)
self.actionserver.start()
#subscribe to lidar scan data node
self.scan_subscriber = rospy.Subscriber("/scan", LaserScan,
self.scan_callback)
self.min_distance = 0.5
self.object_angle = 0
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
self.arc_angles = np.arange(-40, 41)
def __init__(self):
self.actionserver = actionlib.SimpleActionServer(
"/camera_sweep_action_server",
CameraSweepAction,
self.action_server_launcher,
auto_start=False)
self.actionserver.start()
self.base_image_path = '/home/student/myrosdata/actions'
if not os.path.exists(self.base_image_path):
os.makedirs(self.base_image_path)
self.camera_subscriber = rospy.Subscriber(
"/camera/rgb/image_raw/compressed", CompressedImage,
self.camera_callback)
self.cv_image = CvBridge()
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
def __init__(self):
rospy.init_node('turn_and_face')
self.base_image_path = '/home/student/myrosdata/week6_images'
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw",
Image, self.camera_callback)
self.cvbridge_interface = CvBridge()
self.robot_controller = MoveTB3()
self.turn_vel_fast = -0.5
self.turn_vel_slow = -0.1
self.robot_controller.set_move_cmd(0.0, self.turn_vel_fast)
self.move_rate = '' # fast, slow or stop
self.stop_counter = 0
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
self.rate = rospy.Rate(5)
self.m00 = 0
self.m00_min = 10000
def __init__(self):
rospy.init_node('object_detection', anonymous=True)
self.rate = rospy.Rate(5)
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw", Image, self.camera_callback)
self.cvbridge_interface = CvBridge()
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
self.turn_vel_fast = -0.5
self.turn_vel_slow = -0.1
self.robot_controller.set_move_cmd(0.0, self.turn_vel_fast)
self.move_rate = '' # fast, slow or stop
self.stop_counter = 0
self.m00 = 0
self.m00_min = 100000
self.lower = [(115, 224, 100), (0, 185, 100), (25, 150, 100), (75, 150, 100), (145, 220, 100),(27, 200,255)]
self.upper = [(130, 255, 255), (10, 255, 255), (70, 255, 255), (100, 255, 255), (155, 250, 255),(33, 255,255)]
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
def __init__(self):
rospy.init_node('turn_and_face')
self.base_image_path = '/home/student/myrosdata/week6_images'
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw",
Image, self.camera_callback)
self.cvbridge_interface = CvBridge()
self.robot_odom = TB3Odometry()
self.robot_controller = MoveTB3()
self.turn_vel_fast = 0.5
self.turn_vel_med = 0.25
self.turn_vel_slow = 0.1
self.robot_controller.set_move_cmd(0.0, self.turn_vel_fast)
self.move_rate = '' # fast, slow or stop
self.stop_counter = 0
self.task_stage = 1
self.found_colour = False
self.start_angle = self.robot_odom.yaw
#convert angle to 0-360
if self.start_angle < 0:
self.start_angle += 360
if self.start_angle == 0.0:
self.start_angle = 90
print(self.start_angle)
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
self.lowers = {
"blue": (115, 224, 100),
"red": (-5, 225, 100),
"green": (40, 150, 100),
"cyan": (75, 100, 100),
"purple": (145, 485, 100),
"yellow": (22, 93, 0)
}
self.uppers = {
"blue": (130, 255, 255),
"red": (8, 255, 255),
"green": (65, 255, 255),
"cyan": (95, 255, 255),
"purple": (150, 255, 255),
"yellow": (45, 255, 255)
}
#blue, red, green, cyan, purple, yellow
self.colour_boundaries = [[(115, 224, 100), (130, 255, 255), "blue"],
[(-5, 225, 100), (8, 255, 255), "red"],
[(40, 150, 100), (65, 255, 255), "green"],
[(75, 100, 100), (95, 255, 255), "cyan"],
[(145, 485, 100), (150, 255, 255), "purple"],
[(22, 93, 0), (45, 255, 255), "yellow"]]
self.centre_pixel_colours = [0, 0, 0]
self.rate = rospy.Rate(10)
self.m00 = 0
self.m00_min = 10000
self.search_colour = "blue"
def __init__(self):
# arena_server.py
self.actionserver = actionlib.SimpleActionServer(
"/arena_action_server",
SearchAction,
self.action_server_launcher,
auto_start=False)
self.actionserver.start()
# Lidar subscriber
self.lidar_subscriber = rospy.Subscriber('/scan', LaserScan,
self.callback_lidar)
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw",
Image, self.camera_callback)
self.lidar = {
'range': 0.0,
'wider range': 0.0,
'closest': 0.0,
'closest angle': 0
}
# Robot movement and odometry
self.robot_controller = MoveTB3()
self.robot_odom = TB3Odometry()
self.current_yaw = 0.0
# beacon_search
self.cvbridge_interface = CvBridge()
self.turn_vel_fast = -0.5
self.turn_vel_slow = -0.1
self.robot_controller.set_move_cmd(0.0, self.turn_vel_fast)
self.move_rate = '' # fast, slow or stop
self.stop_counter = 0
self.start_yaw = 0.0
self.start_posy = 0.0
self.start_posx = 0.0
#var to check task is complete
self.complete = False
#var to check if move forward is needed
self.move_forward = True
#var to turn to check the color
# self.turn = True
#var to turn back facing the front
self.turn_back = True
#var to check if statr yaw has been initiated
self.face_turn = False
self.pillar_lined_with_home = False
self.finding_pillar = False
self.get_colour = False
self.colour = -1
self.check = True
self.counter = 0
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
self.rate = rospy.Rate(5)
self.all_colours = True
self.m00 = 0
self.m00_min = 10000
self.finished_initialising = False
def __init__(self):
self.actionserver = actionlib.SimpleActionServer(
"/beacon_detection_server",
SearchAction,
self.action_server_launcher,
auto_start=False)
self.actionserver.start()
self.base_image_path = '/home/student/myrosdata/week6_images'
#subscribe to camera node
self.camera_subscriber = rospy.Subscriber("/camera/rgb/image_raw",
Image, self.camera_callback)
self.cvbridge_interface = CvBridge()
#subscribe to lidar scan data node
self.scan_subscriber = rospy.Subscriber("/scan", LaserScan,
self.scan_callback)
self.robot_odom = TB3Odometry()
self.robot_controller = MoveTB3()
self.turn_vel_fast = 0.5
self.turn_vel_fast_rev = -0.5
self.turn_vel_med = 0.25
self.turn_vel_slow = -0.1
self.robot_controller.set_move_cmd(0.0, self.turn_vel_fast)
self.move_rate = '' # fast, slow or stop
self.task_stage = 1
self.found_colour = False
self.need_reverse = False
self.start_angle = self.robot_odom.yaw
#convert angle to 0-360
if self.start_angle < 0:
self.start_angle += 360
#sometimes the odom doesn't return the actual angle, so set it to 90 by default
if self.start_angle == 0.0:
self.start_angle = 90
self.min_distance = 0.5
self.object_angle = 0
self.arc_angles = np.arange(-40, 41)
self.ctrl_c = False
rospy.on_shutdown(self.shutdown_ops)
self.lowers = {
"blue": (115, 224, 100),
"red": (-5, 225, 100),
"green": (40, 150, 100),
"cyan": (75, 100, 100),
"purple": (145, 485, 100),
"yellow": (22, 93, 0)
}
self.uppers = {
"blue": (130, 255, 255),
"red": (8, 255, 255),
"green": (65, 255, 255),
"cyan": (95, 255, 255),
"purple": (150, 255, 255),
"yellow": (45, 255, 255)
}
#blue, red, green, cyan, purple, yellow
self.colour_boundaries = [[(115, 224, 100), (130, 255, 255), "blue"],
[(-5, 225, 100), (8, 255, 255), "red"],
[(40, 150, 100), (65, 255, 255), "green"],
[(75, 100, 100), (95, 255, 255), "cyan"],
[(145, 485, 100), (150, 255, 255), "purple"],
[(22, 93, 0), (45, 255, 255), "yellow"]]
self.centre_pixel_colours = [0, 0, 0]
self.rate = rospy.Rate(10)
self.m00 = 0
self.m00_min = 10000
self.search_colour = "blue"
