Motion

src/nautilus_launch/launch/full_system.launch

@@ -6,7 +6,7 @@
   <group ns="surface_control">
     <node name="server" pkg="uwrov_server" type="main_server.py" output="screen"/>
     <node name="interface" pkg="uwrov_interface" type="launch_interface.bash"/>
-    
+
     <node name="motors" pkg="nautilus_motors" type="pwm_publisher.py" output="screen"/>
   </group>
 

src/nautilus_launch/launch/surface_dev.launch

@@ -4,5 +4,6 @@
     <node name="interface" pkg="uwrov_interface" type="launch_interface.bash"/>
 
     <node name="motors" pkg="nautilus_motors" type="pwm_publisher.py" output="screen"/>
+    <node name="cameras" pkg="uwrov_cameras" type="stream_topic_relay.py" output="screen"/>
   </group>
 </launch>

src/nautilus_scripts/scripts/go_forward/go_forward.py

@@ -7,16 +7,16 @@
 
 def go_forward():
     for i in range(10):
-        robot.set_vel([0, -0.1, 0], [0, 0, 0])
+        robot.set_vel([0, -0.5, 0], [0, 0, 0])
         time.sleep(2)
         robot.set_vel([0, 0, 0], [0, 0, 0])
         time.sleep(1)
-        if i % 2 == 0:
-            robot.set_vel([0, 0, 0], [0, 0, -0.01])
-        else:
-            robot.set_vel([0, 0, 0], [0, 0, 0.01])
-        time.sleep(1)
-        robot.set_vel([0, 0, 0], [0, 0, 0])
+        #if i % 2 == 0:
+        #    robot.set_vel([0, 0, 0], [0, 0, -0.01])
+        #else:
+        #    robot.set_vel([0, 0, 0], [0, 0, 0.01])
+        #time.sleep(1)
+        #robot.set_vel([0, 0, 0], [0, 0, 0])
 
 
 def main():

src/robot_module/src/robot_module/main.py

@@ -42,7 +42,7 @@ def __run_if_service(self, service, func):
         """
         try:
             if service in self.active_services:
-                func()
+                 return func()
             else:
                 print(f"[ERROR]: {service} not active yet")
         except Exception as e:
@@ -148,18 +148,29 @@ def set_accel(self, vector):
         # TODO: Implement
         pass
 
+    def get_image_topics(self):
+        return self.__run_if_service("images",
+                    lambda: self.active_services["images"]
+                        .get_image_topics()
+                    )
 
-    def get_image(self, index=0):
+    def get_image(self, topic):
         """
         Returns the current camera image available from the robot.
         :param int: index of the image
         """
-        # TODO: Implement
-        pass
+        return self.__run_if_service("images",
+                            lambda: self.active_services["images"]
+                                .get_image(topic)
+                            )
 
 
-    def add_image_listener(self, listener, index=0):
+    def add_image_listener(self, listener):
         """
-        Ret
+        add a callback function for the image stream. Listener is called on update
+        of the image.
         """
-        pass
+        self.__run_if_service("images",
+                            lambda: self.active_services["images"]
+                                .callbacks.append(listener)
+                            )

src/robot_module/src/robot_module/services/images.py

@@ -3,9 +3,16 @@
 #!/usr/bin/env python3
 
 import rospy
+from sensor_msgs.msg import CompressedImage
 from .service import Service
 
 
+image_topics = [
+    '/rov_camera/front',
+    '/rov_camera/down',
+    '/rov_camera/left',
+    '/rov_camera/right'
+    ]
 
 
 class RobotImages(Service):
@@ -15,6 +22,39 @@ class RobotImages(Service):
     def __init__(self, node_name):
         super().__init__(node_name)
 
+        self.images = dict.fromkeys(image_topics, None)
+        self.callbacks = []
+        self.subs = {}
+
+        for t in image_topics:
+            self.subs[t] = rospy.Subscriber(t, CompressedImage,
+                                            self._handle_callbacks,
+                                            (t),
+                                            queue_size=1)
 
     def setup(self):
         pass
+
+    def _handle_callbacks(self, image, topic):
+        image = image.data				# A bad thing but quick fix
+        self._update_image(image, topic)
+        for func in self.callbacks:
+            try:
+                func(image, topic)
+            except Exception as e:
+                print(e)
+
+    def _update_image(self, image, topic):
+        self.images[topic] = image
+
+
+    def get_image(self, topic):
+        try:
+            return self.images[topic]
+        except Exception as e:
+            print(e)
+            return None
+
+
+    def get_image_topics(self):
+        return image_topics

src/uwrov_cameras/CMakeLists.txt

@@ -0,0 +1,207 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(uwrov_cameras)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES uwrov_cameras
+#  CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/uwrov_cameras.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/uwrov_cameras_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_uwrov_cameras.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)