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Changes from deployment on robot #278

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merged 2 commits into from
Sep 4, 2023
Merged

Changes from deployment on robot #278

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274768c
Robot changes
Sep 4, 2023
9a43494
Merge branch 'dev/repair_develop' into dev/repair_develop_robot
Robin271828 Sep 4, 2023
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12 changes: 6 additions & 6 deletions wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
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Expand Up @@ -22,19 +22,19 @@ image_graph_dist_thr: 0.2 # meters
proprio_graph_dist_thr: 0.1 # meters
network_input_image_height: 224 # 448
network_input_image_width: 224 # 448
segmentation_type: "slic"
segmentation_type: "random"
feature_type: "dino"
dino_patch_size: 8 # DINO only, 16
slic_num_components: 100
dino_dim: 384 # 90, 384
slic_num_components: 500
confidence_std_factor: 4.0
scale_traversability: False # This parameter needs to be false when using the anomaly detection model
scale_traversability_max_fpr: 0.25
min_samples_for_training: 5
prediction_per_pixel: false
prediction_per_pixel: True
traversability_threshold: 0.55
clip_to_binary: false
vis_training_samples: true
clip_to_binary: False
vis_training_samples: True

# Supervision Generator
untraversable_thr: 0.01
Expand All @@ -58,7 +58,7 @@ print_image_callback_time: false
print_proprio_callback_time: false
log_time: false
log_confidence: false
verbose: true
verbose: false
debug_supervision_node_index_from_last: 10
use_debug_for_desired: false

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11 changes: 11 additions & 0 deletions wild_visual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml
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@@ -0,0 +1,11 @@
camera_topics:
front:
image_topic: "/wide_angle_camera_front/image_color_resize"
info_topic: "/wide_angle_camera_front_resize/camera_info"
use_for_training: true
publish_confidence: true
publish_input_image: true

# Provides 1080 (height) x 1920 (width) images
network_input_image_height: 224 # 448
network_input_image_width: 224 # 448
6 changes: 3 additions & 3 deletions ...avigation_ros/launch/resize_images.launch → ...os/launch/resize_images_alphasense.launch
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Expand Up @@ -25,23 +25,23 @@
<remap from="~camera_info" to="/alphasense_driver_ros/cam3/color_rect_resize/camera_info" />
<remap from="image" to="/alphasense_driver_ros/cam3/color_rect/image" />
<remap from="~image" to="/alphasense_driver_ros/cam3/color_rect_resize/image" />
<param name="scale_height" value="0.2074077" />
<param name="scale_width" value="0.2074077" />
<param name="scale_height" value="0.2074077" />
</node>
<node if="$(arg resize_alphasense_cam4)" pkg="nodelet" type="nodelet" name="image_proc_nodelet_cam4" args="load image_proc/resize standalone_nodelet">
<remap from="camera_info" to="/alphasense_driver_ros/cam4/color_rect/camera_info" />
<remap from="~camera_info" to="/alphasense_driver_ros/cam4/color_rect_resize/camera_info" />
<remap from="image" to="/alphasense_driver_ros/cam4/color_rect/image" />
<remap from="~image" to="/alphasense_driver_ros/cam4/color_rect_resize/image" />
<param name="scale_height" value="0.2074077" />
<param name="scale_width" value="0.2074077" />
<param name="scale_height" value="0.2074077" />
</node>
<node if="$(arg resize_alphasense_cam5)" pkg="nodelet" type="nodelet" name="image_proc_nodelet_cam5" args="load image_proc/resize standalone_nodelet">
<remap from="camera_info" to="/alphasense_driver_ros/cam5/color_rect/camera_info" />
<remap from="~camera_info" to="/alphasense_driver_ros/cam5/color_rect_resize/camera_info" />
<remap from="image" to="/alphasense_driver_ros/cam5/color_rect/image" />
<remap from="~image" to="/alphasense_driver_ros/cam5/color_rect_resize/image" />
<param name="scale_height" value="0.2074077" />
<param name="scale_width" value="0.2074077" />
<param name="scale_height" value="0.2074077" />
</node>

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14 changes: 14 additions & 0 deletions wild_visual_navigation_ros/launch/resize_images_wide_angle_front.launch
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@@ -0,0 +1,14 @@
<launch>
<!-- Launch the image_proc nodelet -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
<node pkg="nodelet" type="nodelet" name="image_proc_nodelet_wide_angle_front" args="load image_proc/resize standalone_nodelet">
<remap from="camera_info" to="/wide_angle_camera_front/camera_info" />
<remap from="~camera_info" to="/wide_angle_camera_front_resize/camera_info" />
<remap from="image" to="/wide_angle_camera_front/image_color" />
<remap from="~image" to="/wide_angle_camera_front/image_color_resize" />
<param name="scale_width" value="0.2074077" />
<param name="scale_height" value="0.2074077" />
</node>
<node name="dynparam_width_wide_angle_front" pkg="dynamic_reconfigure" type="dynparam" args="set /image_proc_nodelet_wide_angle_front scale_width 0.2074077" />
<node name="dynparam_height_wide_angle_front" pkg="dynamic_reconfigure" type="dynparam" args="set /image_proc_nodelet_wide_angle_front scale_height 0.2074077" />
</launch>
2 changes: 1 addition & 1 deletion wild_visual_navigation_ros/launch/robot.launch
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@@ -1,7 +1,7 @@
<launch>
<!-- Arguments -->
<arg name="elevation_mapping" default="False"/>
<arg name="camera" default="wide_angle_front"/> <!-- alphasense, wide_angle_front, realsense_front, realsense_rear -->
<arg name="camera" default="wide_angle_front_resize"/> <!-- alphasense, wide_angle_front, realsense_front, realsense_rear -->
<arg name="stack" default="anybotics"/> <!-- rsl or anybotics -->

<!-- Use Elevation Mapping-->
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12 changes: 7 additions & 5 deletions wild_visual_navigation_ros/launch/wild_visual_navigation.launch
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@@ -1,10 +1,11 @@
<launch>
<!-- Arguments -->
<arg name="camera" default="wide_angle_front"/> <!-- alphasense, wide_angle_front, realsense_front, realsense_rear -->
<arg name="stack" default="anybotics"/> <!-- rsl or anybotics -->
<arg name="stack" default="anybotics"/> <!-- rsl or anybotics $(eval arg('camera') == 'wide_angle_front_resize') $(eval arg('camera') == 'alphasense_resize') -->
<arg name="params_file" default="$(find wild_visual_navigation_ros)/config/wild_visual_navigation/default.yaml"/>
<arg name="overlay_images" default="True"/>
<arg name="resize_images" default="$(eval arg('camera') == 'alphasense_resize')"/>
<arg name="resize_images_alphasense" default="False"/>
<arg name="resize_images_wide_angle_front" default="True"/>
<arg name="reload_default_params" default="False"/>

<!-- Load parameters -->
Expand All @@ -22,13 +23,14 @@
<param if="$(eval arg('stack') == 'anybotics')" name="desired_twist_topic" value="/motion_reference/command_twist"/>
<param name="reload_default_params" value="$(arg reload_default_params)" />
</node>
<node name="wvn_feature_extractor_node" pkg="wild_visual_navigation_ros" type="wvn_feature_extractor_node.py" output="screen">
<!--<node name="wvn_feature_extractor_node" pkg="wild_visual_navigation_ros" type="wvn_feature_extractor_node.py" output="screen">
<param if="$(eval arg('stack') == 'rsl')" name="desired_twist_topic" value="/log/state/desiredRobotTwist"/>
<param if="$(eval arg('stack') == 'anybotics')" name="desired_twist_topic" value="/motion_reference/command_twist"/>
<param name="reload_default_params" value="$(arg reload_default_params)" />
</node>
</node>-->

<include if="$(arg resize_images)" file="$(find wild_visual_navigation_ros)/launch/resize_images.launch"/>
<include if="$(arg resize_images_alphasense)" file="$(find wild_visual_navigation_ros)/launch/resize_images_alphasense.launch"/>
<include if="$(arg resize_images_wide_angle_front)" file="$(find wild_visual_navigation_ros)/launch/resize_images_wide_angle_front.launch"/>

<!-- Nice visualization overlay-->
<include if="$(arg overlay_images)" file="$(find wild_visual_navigation_ros)/launch/overlay_images.launch"/>
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10 changes: 5 additions & 5 deletions wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py
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Expand Up @@ -109,11 +109,11 @@ def status_thread_loop(self):
else:
x.add_row([k, v])
print(x)
try:
rate.sleep()
except Exception as e:
rate = rospy.Rate(self.status_thread_rate)
print("Ignored jump pack in time!")
# try:
# rate.sleep()
# except Exception as e:
# rate = rospy.Rate(self.status_thread_rate)
# print("Ignored jump pack in time!")
self.status_thread_stop_event.clear()


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