├── Chapter_9_code ├── hsv_mask.png ├── kinect2_viewer_green_ball.png ├── crazyflie_autonomous │ ├── meshes │ │ ├── kinect.jpg │ │ └── kinect.tga │ ├── config │ │ └── crazyflie2.yaml │ ├── launch │ │ ├── control_crazyflie.launch │ │ ├── hover_kinectv2.launch │ │ └── crazyflie_kinect.rviz │ ├── package.xml │ ├── scripts │ │ ├── watcher.py │ │ ├── pid.py │ │ ├── detect_crazyflie.py │ │ ├── detect_target.py │ │ └── control_crazyflie.py │ ├── urdf │ │ ├── kinect.urdf │ │ └── kinect.urdf.xacro │ └── CMakeLists.txt └── view_mask.py ├── Chapter_5_code └── ros_robotics │ ├── meshes │ ├── l_finger_color.tif │ ├── l_finger_tip_color.tif │ └── l_finger_tip.dae │ ├── CMakeLists.txt │ ├── worlds │ └── rrbot.world │ ├── launch │ ├── rrbot_rviz.launch │ ├── rrbot_control.launch │ └── rrbot_gazebo.launch │ ├── package.xml │ ├── urdf │ ├── materials.xacro │ ├── rrbot.gazebo │ ├── rrbot.xacro │ ├── rrbot2.xacro │ ├── gripper.xacro │ ├── rrbot3.xacro │ └── rrbot4.xacro │ ├── config │ └── rrbot_control.yaml │ └── urdf.rviz ├── Chapter_6_code ├── PillarTable.scene ├── home_arms_zero.py └── home_arms.py ├── Chapter_2_code └── ros_robotics │ ├── urdf │ ├── dd_robot.urdf │ ├── dd_robot2.urdf │ ├── dd_robot3.urdf │ ├── dd_robot4.urdf │ ├── dd_robot5.urdf │ ├── dd_robot6.urdf │ └── dd_robot.gazebo │ ├── worlds │ └── ddrobot.world │ ├── launch │ ├── ddrobot_gazebo.launch │ └── ddrobot_rviz.launch │ ├── package.xml │ ├── urdf.rviz │ └── CMakeLists.txt ├── Chapter_8_code ├── Turtlesim_joy_code │ ├── turtlesim_teleop.launch │ ├── move_circle.py │ └── turtlesim_joy.py └── Arduino_ultrasound_code │ └── ultrasound_sr04 │ └── ultrasound_sr04.ino ├── LICENSE ├── Chapter_3_code └── ControlTurtleBot.py.py └── README.md /Chapter_9_code/hsv_mask.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/ROS-Robotics-By-Example/HEAD/Chapter_9_code/hsv_mask.png -------------------------------------------------------------------------------- /Chapter_9_code/kinect2_viewer_green_ball.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/ROS-Robotics-By-Example/HEAD/Chapter_9_code/kinect2_viewer_green_ball.png -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/meshes/l_finger_color.tif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/ROS-Robotics-By-Example/HEAD/Chapter_5_code/ros_robotics/meshes/l_finger_color.tif -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/meshes/kinect.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/ROS-Robotics-By-Example/HEAD/Chapter_9_code/crazyflie_autonomous/meshes/kinect.jpg -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/meshes/kinect.tga: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/ROS-Robotics-By-Example/HEAD/Chapter_9_code/crazyflie_autonomous/meshes/kinect.tga -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/meshes/l_finger_tip_color.tif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PacktPublishing/ROS-Robotics-By-Example/HEAD/Chapter_5_code/ros_robotics/meshes/l_finger_tip_color.tif -------------------------------------------------------------------------------- /Chapter_6_code/PillarTable.scene: -------------------------------------------------------------------------------- 1 | (noname)+ 2 | * pillar 3 | 1 4 | box 5 | 0.308 0.13056 0.6528 6 | 0.7 -0.01 0.03 7 | 0.0108439 0.706876 0.0103685 0.707178 8 | 0 0 0 0 9 | * tabletop 10 | 1 11 | box 12 | 0.7 1.3 0.02 13 | 0.7 0.04 -0.13 14 | 0 0 0 1 15 | 0.705882 0.705882 0.705882 1 16 | . 17 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/urdf/dd_robot.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Chapter_8_code/Turtlesim_joy_code/turtlesim_teleop.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ros_robotics) 3 | 4 | find_package(catkin REQUIRED) 5 | catkin_package() 6 | 7 | ## Install ## 8 | 9 | foreach(dir config launch meshes urdf worlds) 10 | install(DIRECTORY ${dir}/ 11 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) 12 | endforeach(dir) 13 | 14 | install( 15 | FILES urdf.rviz 16 | DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 17 | 18 | -------------------------------------------------------------------------------- /Chapter_9_code/view_mask.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import cv2 3 | import numpy 4 | 5 | # read png image and convert the image to HSV 6 | image = cv2.imread("/home/fairchildc/Desktop/mission_scene.png", cv2.CV_LOAD_IMAGE_COLOR) 7 | hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) 8 | 9 | # find green objects in the image 10 | lower_green = numpy.array([45, 110, 75], numpy.uint8) 11 | upper_green = numpy.array([65, 210, 255], numpy.uint8) 12 | mask = cv2.inRange(hsv, lower_green, upper_green) 13 | 14 | cv2.imwrite("hsv_mask2.png", mask) 15 | 16 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/worlds/ddrobot.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | model://ground_plane 6 | 7 | 8 | model://sun 9 | 10 | 11 | model://construction_cone 12 | construction_cone 13 | -3.0 0 0 0 0 0 14 | 15 | 16 | model://construction_cone 17 | construction_cone 18 | 3.0 0 0 0 0 0 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/worlds/rrbot.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | model://ground_plane 8 | 9 | 10 | 11 | 12 | model://sun 13 | 14 | 15 | 16 | 17 | 18 | 5.927360 -5.376610 4.240080 0.000000 0.275643 2.356190 19 | orbit 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/config/crazyflie2.yaml: -------------------------------------------------------------------------------- 1 | PIDs: 2 | X: 3 | kp: 0.2 4 | kd: 0.1 5 | ki: 0.01 6 | minOutput: -2.0 7 | maxOutput: 4.0 8 | integratorMin: -0.1 9 | integratorMax: 0.1 10 | Y: 11 | kp: -40.0 12 | kd: -4.0 13 | ki: -2.0 14 | minOutput: -2.0 15 | maxOutput: 1.0 16 | integratorMin: -0.1 17 | integratorMax: 0.1 18 | Z: 19 | kp: 5.0 20 | kd: 0.1 21 | ki: 20.0 22 | minOutput: 20000.0 23 | maxOutput: 45000.0 24 | integratorMin: -1000.0 25 | integratorMax: 2000.0 26 | Yaw: 27 | kp: -200.0 28 | kd: -20.0 29 | ki: 0.0 30 | minOutput: -200.0 31 | maxOutput: 200.0 32 | integratorMin: 0.0 33 | integratorMax: 0.0 34 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/launch/control_crazyflie.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/launch/rrbot_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ros_robotics 4 | 0.1.0 5 | 6 | The ros_robotics package contains URDF examples for a 2-wheeled robot, dd_robot 7 | and a robot arm, rrbot. 8 | 9 | 10 | Carol Fairchild 11 | Carol Fairchild 12 | 13 | BSD 14 | 15 | catkin 16 | 17 | controller_manager 18 | gazebo_ros 19 | joint_state_publisher 20 | robot_state_publisher 21 | rviz 22 | xacro 23 | 24 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/launch/ddrobot_gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/launch/ddrobot_rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/urdf/materials.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/launch/rrbot_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 13 | 14 | 15 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/config/rrbot_control.yaml: -------------------------------------------------------------------------------- 1 | rrbot: 2 | # Publish all joint states ----------------------------------- 3 | joint_state_controller: 4 | type: joint_state_controller/JointStateController 5 | publish_rate: 50 6 | 7 | # Position Controllers --------------------------------------- 8 | joint_base_mid_position_controller: 9 | type: effort_controllers/JointPositionController 10 | joint: joint_base_mid 11 | pid: {p: 100.0, i: 0.01, d: 10.0} 12 | joint_mid_top_position_controller: 13 | type: effort_controllers/JointPositionController 14 | joint: joint_mid_top 15 | pid: {p: 100.0, i: 0.01, d: 10.0} 16 | left_gripper_joint_position_controller: 17 | type: effort_controllers/JointPositionController 18 | joint: left_gripper_joint 19 | pid: {p: 1.0, i: 0.00, d: 0.0} 20 | right_gripper_joint_position_controller: 21 | type: effort_controllers/JointPositionController 22 | joint: right_gripper_joint 23 | pid: {p: 1.0, i: 0.00, d: 0.0} 24 | -------------------------------------------------------------------------------- /Chapter_8_code/Turtlesim_joy_code/move_circle.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | """ 3 | Script to move Turtlesim in a circle 4 | """ 5 | import rospy 6 | from geometry_msgs.msg import Twist 7 | 8 | def move_circle(): 9 | 10 | # Create a publisher which can "talk" to Turtlesim and tell it to move 11 | pub = rospy.Publisher('turtle1/cmd_vel', Twist, queue_size=1) 12 | 13 | # Create a Twist message and add linear x and angular z values 14 | move_cmd = Twist() 15 | move_cmd.linear.x = 1.0 16 | move_cmd.angular.z = 1.0 17 | 18 | # Save current time and set publish rate at 10 Hz 19 | now = rospy.Time.now() 20 | rate = rospy.Rate(10) 21 | 22 | # For the next 6 seconds publish cmd_vel move commands to Turtlesim 23 | while rospy.Time.now() < now + rospy.Duration.from_sec(6): 24 | pub.publish(move_cmd) 25 | rate.sleep() 26 | 27 | if __name__ == '__main__': 28 | try: 29 | move_circle() 30 | except rospy.ROSInterruptException: 31 | pass 32 | 33 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/launch/rrbot_gazebo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 18 | 19 | 20 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /Chapter_6_code/home_arms_zero.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python # home_arms_zero.py 2 | # 3 | """ 4 | Script to return Baxter's arms to a "home zero" position 5 | """ 6 | # rospy - ROS Python API 7 | import rospy 8 | # baxter_interface - Baxter Python API 9 | import baxter_interface 10 | # initialize our ROS node, registering it with the Master 11 | rospy.init_node('Home_Arms') 12 | # create instances of baxter_interface's Limb class 13 | limb_right = baxter_interface.Limb('right') 14 | limb_left = baxter_interface.Limb('left') 15 | # store the home position of the arms 16 | home_zero_right = {'right_s0': 0.0, 'right_s1': 0.00, 'right_w0': 0.00, 'right_w1': 0.00, 'right_w2': 0.00, 'right_e0': 0.00, 'right_e1': 0.00} 17 | home_zero_left = {'left_s0': 0.0, 'left_s1': 0.00, 'left_w0': 0.00, 'left_w1': 0.00, 'left_w2': 0.00, 'left_e0': 0.00, 'left_e1': 0.00} 18 | # move both arms to home position 19 | limb_right.move_to_joint_positions(home_zero_right) 20 | limb_left.move_to_joint_positions(home_zero_left) 21 | quit() 22 | 23 | 24 | -------------------------------------------------------------------------------- /Chapter_6_code/home_arms.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | """ 4 | Script to return Baxter's arms to a "home" position 5 | """ 6 | 7 | # rospy - ROS Python API 8 | import rospy 9 | 10 | # baxter_interface - Baxter Python API 11 | import baxter_interface 12 | 13 | # initialize our ROS node, registering it with the Master 14 | rospy.init_node('Home_Arms') 15 | 16 | # create instances of baxter_interface's Limb class 17 | limb_right = baxter_interface.Limb('right') 18 | limb_left = baxter_interface.Limb('left') 19 | 20 | # store the home position of the arms 21 | home_right = {'right_s0': 0.08, 'right_s1': -1.00, 'right_w0': -0.67, 'right_w1': 1.03, 'right_w2': 0.50, 'right_e0': 1.18, 'right_e1': 1.94} 22 | home_left = {'left_s0': -0.08, 'left_s1': -1.00, 'left_w0': 0.67, 'left_w1': 1.03, 'left_w2': -0.50, 'left_e0': -1.18, 'left_e1': 1.94} 23 | 24 | # move both arms to home position 25 | limb_right.move_to_joint_positions(home_right) 26 | limb_left.move_to_joint_positions(home_left) 27 | 28 | quit() 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2016 Packt 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/urdf/rrbot.gazebo: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | /rrbot 8 | gazebo_ros_control/DefaultRobotHWSim 9 | 10 | 11 | 12 | 13 | 14 | Gazebo/Red 15 | 16 | 17 | 18 | 19 | 0.2 20 | 0.2 21 | Gazebo/Green 22 | 23 | 24 | 25 | 26 | 0.2 27 | 0.2 28 | Gazebo/Blue 29 | 30 | 31 | 32 | 33 | 0.2 34 | 0.2 35 | 36 | 37 | 38 | 0.2 39 | 0.2 40 | 41 | 42 | 43 | 44 | 45 | 46 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/urdf/dd_robot2.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | crazyflie_autonomous 4 | 0.1.0 5 | 6 | The crazyflie_autonomous package contains launch files and scripts to detect 7 | the crazyflie with a Kinect v2 sensor and control the quadrotor to a target 8 | destination. 9 | 10 | 11 | Carol Fairchild 12 | Carol Fairchild 13 | 14 | BSD 15 | 16 | catkin 17 | 18 | crazyflie_driver 19 | crazyflie_demo 20 | kinect2_bridge 21 | joy 22 | rospy 23 | sys 24 | 26 | cv_bridge 27 | geometry_msgs 28 | sensor_msgs 29 | std_msgs 30 | std_srvs 31 | roslib 32 | tf 33 | xacro 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /Chapter_8_code/Turtlesim_joy_code/turtlesim_joy.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | """ 4 | Node converts joystick inputs into commands for Turtlesim 5 | """ 6 | 7 | import rospy 8 | from geometry_msgs.msg import Twist 9 | from sensor_msgs.msg import Joy 10 | from move_circle import move_circle 11 | 12 | def joy_listener(): 13 | 14 | # start node 15 | rospy.init_node("turtlesim_joy", anonymous=True) 16 | 17 | # subscribe to joystick messages on topic "joy" 18 | rospy.Subscriber("joy", Joy, tj_callback, queue_size=1) 19 | 20 | # keep node alive until stopped 21 | rospy.spin() 22 | 23 | # called when joy message is received 24 | def tj_callback(data): 25 | 26 | # start publisher of cmd_vel to control Turtlesim 27 | pub = rospy.Publisher("turtle1/cmd_vel", Twist, queue_size=1) 28 | 29 | # Create Twist message & add linear x and angular z from left joystick 30 | twist = Twist() 31 | twist.linear.x = data.axes[1] 32 | twist.angular.z = data.axes[0] 33 | 34 | # record values to log file and screen 35 | rospy.loginfo("twist.linear: %f ; angular %f", twist.linear.x, twist.angular.z) 36 | 37 | # process joystick buttons 38 | if data.buttons[0] == 1: # green button on xbox controller 39 | move_circle() 40 | 41 | # publish cmd_vel move command to Turtlesim 42 | pub.publish(twist) 43 | 44 | if __name__ == '__main__': 45 | try: 46 | joy_listener() 47 | except rospy.ROSInterruptException: 48 | pass 49 | 50 | 51 | 52 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/urdf/dd_robot3.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/urdf/dd_robot4.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/launch/hover_kinectv2.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | ros_robotics 4 | 0.0.0 5 | The ros_robotics package 6 | 7 | 8 | 9 | 10 | fairchildc 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | 44 | gazebo_ros 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | -------------------------------------------------------------------------------- /Chapter_3_code/ControlTurtleBot.py.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # Execute as a python script 3 | # Set linear and angular values of TurtleBot's speed and turning. 4 | import rospy # Needed to create a ROS node 5 | from geometry_msgs.msg import Twist # Message that moves base 6 | 7 | class ControlTurtleBot(): 8 | def __init__(self): 9 | # ControlTurtleBot is the name of the node sent to the master 10 | rospy.init_node('ControlTurtleBot', anonymous=False) 11 | 12 | # Message to screen 13 | rospy.loginfo(" Press CTRL+c to stop TurtleBot") 14 | 15 | # Keys CNTL + c will stop script 16 | rospy.on_shutdown(self.shutdown) 17 | 18 | #Publisher will send Twist message on topic cmd_vel_mux/input/navi 19 | 20 | self.cmd_vel = rospy.Publisher('cmd_vel_mux/input/navi', Twist, queue_size=10) 21 | 22 | # TurtleBot will receive the message 10 times per second. 23 | rate = rospy.Rate(10); 24 | # 10 Hz is fine as long as the processing does not exceed 1/10 second. 25 | 26 | # Twist is a type of geometry_msgs for linear and angular velocity 27 | move_cmd = Twist() 28 | # Linear speed in x in meters/second is + (forward) or - (backwards) 29 | move_cmd.linear.x = 0.3 # Modify this value to change speed 30 | # let's turn at 0 radians/s 31 | move_cmd.angular.z = 0 # Modify this value to cause rotation rad/s 32 | 33 | # Loop and TurtleBot will move until you type CNTL+c 34 | while not rospy.is_shutdown(): 35 | # publish the Twist values to the TurtleBot node /cmd_vel_mux 36 | self.cmd_vel.publish(move_cmd) 37 | # wait for 0.1 seconds (10 HZ) and publish again 38 | rate.sleep() 39 | 40 | 41 | def shutdown(self): 42 | # You can stop turtlebot by publishing an empty Twist message 43 | rospy.loginfo("Stopping TurtleBot") 44 | # 45 | self.cmd_vel.publish(Twist()) 46 | # Give TurtleBot time to stop 47 | rospy.sleep(1) 48 | 49 | if __name__ == '__main__': 50 | try: 51 | ControlTurtleBot() 52 | except: 53 | rospy.loginfo("End of the trip for TurtleBot") 54 | 55 | -------------------------------------------------------------------------------- /Chapter_8_code/Arduino_ultrasound_code/ultrasound_sr04/ultrasound_sr04.ino: -------------------------------------------------------------------------------- 1 | /* 2 | * rosserial Ultrasound Example for HC-SR04 3 | */ 4 | 5 | #include 6 | #include 7 | #include 8 | 9 | const int echoPin = 5; //Echo pin 10 | const int trigPin = 6; //Trigger pin 11 | 12 | const int maxRange = 400.0; //Maximum range in centimeters 13 | const int minRange = 0.0; //Minimum range 14 | 15 | unsigned long range_timer; //Used to measure 50 ms interval 16 | 17 | // instantiate node handle and publisher for 18 | // a sensor_msgs/Range message (topic name is /ultrasound) 19 | ros::NodeHandle nh; 20 | sensor_msgs::Range range_msg; 21 | ros::Publisher pub_range( "ultrasound", &range_msg); 22 | 23 | /* 24 | * getRange() - This function reads the time duration of the echo 25 | * and converts it to centimeters. 26 | */ 27 | float getRange(){ 28 | int sample; //Holds time in microseconds 29 | 30 | // Trigger pin goes low then high for 10 us then low 31 | // to initiate the ultrasonic burst 32 | digitalWrite(trigPin, LOW); 33 | delayMicroseconds(2); 34 | 35 | digitalWrite(trigPin, HIGH); 36 | delayMicroseconds(10); 37 | digitalWrite(trigPin, LOW); 38 | 39 | // read pulse length in microseconds on the Echo pin 40 | sample = pulseIn(echoPin, HIGH); 41 | 42 | // sample in microseconds converted to centimeters 43 | // 343 m/s speed of sound; time divided by 2 44 | return sample/58.3; 45 | } 46 | 47 | char frameid[] = "/ultrasound"; // global frame id string 48 | 49 | void setup() 50 | { 51 | // initialize the node and message publisher 52 | nh.initNode(); 53 | nh.advertise(pub_range); 54 | 55 | // fill the description fields in the range_msg 56 | range_msg.radiation_type = sensor_msgs::Range::ULTRASOUND; 57 | range_msg.header.frame_id = frameid; 58 | range_msg.field_of_view = 0.26; 59 | range_msg.min_range = minRange; 60 | range_msg.max_range = maxRange; 61 | 62 | // set the digital I/O pin modes 63 | pinMode(echoPin, INPUT); 64 | pinMode(trigPin, OUTPUT); 65 | } 66 | 67 | void loop() 68 | { 69 | // sample the range data from the ultrasound sensor and 70 | // publish the range value once every 50 milliseconds 71 | if ( (millis()-range_timer) > 50){ 72 | range_msg.range = getRange(); 73 | range_msg.header.stamp = nh.now(); 74 | pub_range.publish(&range_msg); 75 | range_timer = millis() + 50; 76 | } 77 | nh.spinOnce(); 78 | } 79 | 80 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/urdf/dd_robot5.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/scripts/watcher.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | import tf 5 | from std_srvs.srv import Empty 6 | 7 | """ Watcher for Crazyflie -- monitors the location of Crazyflie in the Kinect image """ 8 | """ and will send a service call to the land service if Crazyflie's location is within """ 9 | """ the outer boundary of the image """ 10 | 11 | if __name__ == '__main__': 12 | 13 | # initialize ROS node and tf frame info from parameter server, default parameters given 14 | rospy.init_node('window_watcher', anonymous=True) 15 | crazyflie_frame = rospy.get_param("~frame", "crazyflie/base_link") 16 | camera_frame = rospy.get_param("~cam_frame", "kinect2_ir_optical_frame") 17 | r = rospy.get_param("~rate", 10) # default rate is 10 Hz 18 | 19 | # subscribe to crazyflie tf 20 | listener = tf.TransformListener() 21 | 22 | # get camera info from parameter server 23 | camera_height = rospy.get_param('camera_height') # sd height is 424; qhd height is 540 24 | camera_width = rospy.get_param('camera_width') # sd width is 512; qhd width is 960 25 | 26 | # continue to process at the given rate until a shutdown request is received 27 | rate = rospy.Rate(r) 28 | while not rospy.is_shutdown(): 29 | 30 | # get the current transform between the camera_frame and the crazyflie_frame 31 | if listener.frameExists(camera_frame) and listener.frameExists(crazyflie_frame): 32 | t = listener.getLatestCommonTime(camera_frame, crazyflie_frame) 33 | trans, rotate = listener.lookupTransform(camera_frame, crazyflie_frame, t) 34 | rospy.loginfo("watcher: cf_trans %f %f %f", trans[0], trans[1], trans[2]) 35 | 36 | # check Crazyflie's x and y location with respect to the Kinect image -- 37 | # if Crazyflie is within 100 pixels of the image's horizontal edges (x) 38 | # or if it is with in 20 pixels of the image's vertical edges (y) 39 | if (trans[0] < 100) or (trans[0] > (camera_width - 100)) or \ 40 | (trans[1] < 20) or (trans[1] > (camera_height - 20)): 41 | 42 | # wait until land service is available, then create a handle for it 43 | rospy.loginfo("Crazyflie outside of window %f %f %f", trans[0], trans[1], trans[2]) 44 | rospy.loginfo("Landing requested") 45 | rospy.wait_for_service('/crazyflie/land') 46 | 47 | # request the land service 48 | try: 49 | _land = rospy.ServiceProxy('/crazyflie/land', Empty) 50 | _land() 51 | except rospy.ServiceException, e: 52 | rospy.loginfo("Service call failed: %s", e) 53 | 54 | # suspend until next cycle 55 | rate.sleep() 56 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/urdf/kinect.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 50 | 53 | 67 | 68 | 69 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/urdf/kinect.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 51 | 52 | 53 | 60 | 63 | 77 | 78 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/urdf/dd_robot6.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/scripts/pid.py: -------------------------------------------------------------------------------- 1 | import rospy # use Time 2 | 3 | class PID (object): 4 | 5 | """This class treats controllers created to have PID control on a system.""" 6 | 7 | # initialization of flight PID controller 8 | def __init__(self, kp, kd, ki, minOutput, maxOutput, integratorMin, integratorMax): 9 | 10 | self.m_kp = kp # weight of proportional control 11 | self.m_kd = kd # weight of derivative control 12 | self.m_ki = ki # weight of integral control 13 | self.m_minOutput = minOutput # largest output from controller 14 | self.m_maxOutput = maxOutput # smallest output from controller 15 | self.m_integratorMin = integratorMin # maximum integral value 16 | self.m_integratorMax = integratorMax # minimum integral value 17 | 18 | # initial variable values 19 | self.m_integral = 0 20 | self.m_previousError = 0 21 | self.m_previousTime = float(rospy.Time.to_sec(rospy.Time.now())) 22 | 23 | # reset of essential PID parameters 24 | def reset (self): 25 | self.m_integral = 0 26 | self.m_previousError = 0 27 | self.m_previousTime = float(rospy.Time.to_sec(rospy.Time.now())) 28 | 29 | # sets (or resets) the integral value of the PID controller 30 | def setIntegral (self, integral): 31 | self.m_integral = integral 32 | 33 | # returns the value of ki 34 | def set_ki (self): 35 | return self.m_ki 36 | 37 | # applies proportional, derivative, and integral control to determine optimal control value 38 | def update (self, value, targetValue): 39 | 40 | # record current value and target value and find current time 41 | rospy.loginfo("values are %f and %f", value, targetValue) 42 | time = float(rospy.Time.to_sec(rospy.Time.now())) 43 | 44 | # delta time is the time since the last update 45 | dt = time - self.m_previousTime 46 | 47 | # error is the difference between the current value and the target value 48 | error = targetValue - value 49 | 50 | # determine the integral value based on the delta time and current error 51 | self.m_integral += error * dt 52 | 53 | # assure that integral is within the max and min otherwise use the central value (max or min) 54 | self.m_integral = max(min(self.m_integral, self.m_integratorMax), self.m_integratorMin) 55 | rospy.loginfo("dt is %f, error is %f and m_integral is %f", dt, error, self.m_integral) 56 | 57 | # calculate proportional based on kp and current error 58 | p = self.m_kp * error 59 | 60 | # calculate derivative based on kd and the differenced in the current error and the last error 61 | # and divide by delta time (check is made that delta time is not zero to prevent divide by 0) 62 | d = 0 63 | if dt > 0: 64 | d = self.m_kd * (error - self.m_previousError) / dt 65 | 66 | # calculate integral based on ki and integral value of PID controller 67 | i = self.m_ki * self.m_integral 68 | 69 | # sum the proportional, derivative and integral to obtain controller output value 70 | output = p + d + i 71 | rospy.loginfo("P is %f, D is %f, I is %f", p, d, i) 72 | 73 | # save current error and time for the next cycle 74 | self.m_previousError = error 75 | self.m_previousTime = time 76 | 77 | # assure that output value is within the max and min otherwise use the central value (max or min) 78 | return max(min(output, self.m_maxOutput), self.m_minOutput) 79 | 80 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/urdf/dd_robot.gazebo: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | Gazebo/Blue 47 | 0 0 3 0 0 0 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | Gazebo/Black 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | Gazebo/Black 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/urdf/rrbot.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 108 | 109 | 110 | 111 | 112 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/urdf/rrbot2.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/urdf/gripper.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | transmission_interface/SimpleTransmission 97 | 98 | EffortJointInterface 99 | 100 | 101 | EffortJointInterface 102 | 1 103 | 104 | 105 | 106 | 107 | transmission_interface/SimpleTransmission 108 | 109 | EffortJointInterface 110 | 111 | 112 | EffortJointInterface 113 | 1 114 | 115 | 116 | 117 | 118 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/urdf/rrbot3.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | # ROS Robotics By Example 5 | This is the code repository for [ROS Robotics By Example](https://www.packtpub.com/hardware-and-creative/ros-robotics-example?utm_source=github&utm_medium=repository&utm_campaign=9781782175193), published by [Packt](https://www.packtpub.com/?utm_source=github). It contains all the supporting project files necessary to work through the book from start to finish. 6 | ## About the Book 7 | Unity is one of the biggest game engines in the world, providing the user with a range of important tools that they need to bring their ideas into reality. Beginner game developers are optimistic, passionate, and ambitious, but that ambition can be dangerous! Too often, budding indie developers and hobbyists bite off more than they can chew. Games like Angry Birds, Cut the Rope, and Fruit Ninja are fun, simple games that have delighted players and delivered big profits to their creators. This is the perfect climate for new game developers to succeed by creating simple games with Unity, starting today. 8 | 9 | 10 | ## Instructions and Navigation 11 | All of the code is organized into folders. Each folder starts with a number followed by the application name. For example, Chapter02. 12 | 13 | 14 | 15 | The code will look like the following: 16 | ``` 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | ``` 30 | 31 | The format of this book is intended for you to follow along and perform the 32 | instructions as the information is provided. You will need a computer with Ubuntu 33 | 14.04 (Trusty Tahr) installed. Other Ubuntu versions and Linux distributions 34 | may work as well as Mac OS X, Android, and Windows but documentation for 35 | these versions will need to reference the ROS wiki (http://wiki.ros.org/ 36 | Distributions). 37 | The version of ROS that this book was written around is Indigo Igloo, which is the 38 | current release recommended for stability. Its end of life is targeted for April 2019. 39 | Other versions of ROS may be used but are untested. 40 | All the software used in this book is open source and freely available for download 41 | and use. Instructions to download the software are found in the chapter where the 42 | software is introduced. In Chapter 1, Getting Started with ROS, instructions are given 43 | to download and set up the ROS software environment. 44 | Our preferred method to download software is the use of Debian packages. Where 45 | no Debian packages exist, we refer to downloading the software from repositories 46 | such as GitHub. 47 | Gazebo simulation performs intensive graphics processing and the use of a dedicated 48 | graphics card is advised but not required. 49 | Peripheral devices such as 3D sensors, Xbox, or PS3 controllers, Arduino or 50 | Raspberry Pi controller boards, and Android mobile devices are optional equipment. 51 | 52 | ## Related Products 53 | * [iOS Game Development By Example](https://www.packtpub.com/game-development/ios-game-development-example?utm_source=github&utm_medium=repository&utm_campaign=9781785284694) 54 | 55 | * [HTML5 Game Development by Example: Beginner's Guide - Second Edition](https://www.packtpub.com/game-development/html5-game-development-example-beginners-guide-second-edition?utm_source=github&utm_medium=repository&utm_campaign=9781785287770) 56 | 57 | * [Unity 4.x Game Development by Example: Beginner's Guide](https://www.packtpub.com/game-development/unity-4x-game-development-example-beginners-guide?utm_source=github&utm_medium=repository&utm_campaign=9781849695268) 58 | 59 | ### Suggestions and Feedback 60 | [Click here](https://docs.google.com/forms/d/e/1FAIpQLSe5qwunkGf6PUvzPirPDtuy1Du5Rlzew23UBp2S-P3wB-GcwQ/viewform) if you have any feedback or suggestions. 61 | ### Download a free PDF 62 | 63 | If you have already purchased a print or Kindle version of this book, you can get a DRM-free PDF version at no cost.
Simply click on the link to claim your free PDF. 64 |

https://packt.link/free-ebook/9781782175193

-------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/urdf.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: ~ 7 | Splitter Ratio: 0.807309 8 | Tree Height: 562 9 | - Class: rviz/Selection 10 | Name: Selection 11 | - Class: rviz/Tool Properties 12 | Expanded: 13 | - /2D Pose Estimate1 14 | - /2D Nav Goal1 15 | - /Publish Point1 16 | Name: Tool Properties 17 | Splitter Ratio: 0.588679 18 | - Class: rviz/Views 19 | Expanded: 20 | - /Current View1 21 | Name: Views 22 | Splitter Ratio: 0.5 23 | - Class: rviz/Time 24 | Experimental: false 25 | Name: Time 26 | SyncMode: 0 27 | SyncSource: "" 28 | Visualization Manager: 29 | Class: "" 30 | Displays: 31 | - Alpha: 0.5 32 | Cell Size: 1 33 | Class: rviz/Grid 34 | Color: 0; 0; 0 35 | Enabled: true 36 | Line Style: 37 | Line Width: 0.03 38 | Value: Lines 39 | Name: Grid 40 | Normal Cell Count: 0 41 | Offset: 42 | X: 0 43 | Y: 0 44 | Z: 0 45 | Plane: XY 46 | Plane Cell Count: 10 47 | Reference Frame: 48 | Value: true 49 | - Alpha: 1 50 | Class: rviz/RobotModel 51 | Collision Enabled: false 52 | Enabled: true 53 | Links: 54 | All Links Enabled: true 55 | Expand Joint Details: false 56 | Expand Link Details: false 57 | Expand Tree: false 58 | Link Tree Style: Links in Alphabetic Order 59 | base_link: 60 | Alpha: 1 61 | Show Axes: false 62 | Show Trail: false 63 | Value: true 64 | Name: RobotModel 65 | Robot Description: robot_description 66 | TF Prefix: "" 67 | Update Interval: 0 68 | Value: true 69 | Visual Enabled: true 70 | - Class: rviz/TF 71 | Enabled: true 72 | Frame Timeout: 15 73 | Frames: 74 | All Enabled: true 75 | Marker Scale: 1 76 | Name: TF 77 | Show Arrows: true 78 | Show Axes: true 79 | Show Names: true 80 | Tree: 81 | {} 82 | Update Interval: 0 83 | Value: true 84 | Enabled: true 85 | Global Options: 86 | Background Color: 163; 163; 163 87 | Fixed Frame: base_link 88 | Frame Rate: 30 89 | Name: root 90 | Tools: 91 | - Class: rviz/Interact 92 | Hide Inactive Objects: true 93 | - Class: rviz/MoveCamera 94 | - Class: rviz/Select 95 | - Class: rviz/FocusCamera 96 | - Class: rviz/Measure 97 | - Class: rviz/SetInitialPose 98 | Topic: /initialpose 99 | - Class: rviz/SetGoal 100 | Topic: /move_base_simple/goal 101 | - Class: rviz/PublishPoint 102 | Single click: true 103 | Topic: /clicked_point 104 | Value: true 105 | Views: 106 | Current: 107 | Class: rviz/Orbit 108 | Distance: 3.18975 109 | Enable Stereo Rendering: 110 | Stereo Eye Separation: 0.06 111 | Stereo Focal Distance: 1 112 | Swap Stereo Eyes: false 113 | Value: false 114 | Focal Point: 115 | X: 0 116 | Y: 0 117 | Z: 0 118 | Name: Current View 119 | Near Clip Distance: 0.01 120 | Pitch: 0.455398 121 | Target Frame: 122 | Value: Orbit (rviz) 123 | Yaw: 0.885398 124 | Saved: ~ 125 | Window Geometry: 126 | Displays: 127 | collapsed: false 128 | Height: 801 129 | Hide Left Dock: false 130 | Hide Right Dock: false 131 | QMainWindow State: 000000ff00000000fd000000040000000000000134000002d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002d2000000ee00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000032cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000032c000000ca00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c00000003efc0100000002fb0000000800540069006d00650000000000000004c00000042500fffffffb0000000800540069006d00650100000000000004500000000000000000000002fe000002d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 132 | Selection: 133 | collapsed: false 134 | Time: 135 | collapsed: false 136 | Tool Properties: 137 | collapsed: false 138 | Views: 139 | collapsed: false 140 | Width: 1080 141 | X: 280 142 | Y: 178 143 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/urdf.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: ~ 7 | Splitter Ratio: 0.807309 8 | Tree Height: 562 9 | - Class: rviz/Selection 10 | Name: Selection 11 | - Class: rviz/Tool Properties 12 | Expanded: 13 | - /2D Pose Estimate1 14 | - /2D Nav Goal1 15 | - /Publish Point1 16 | Name: Tool Properties 17 | Splitter Ratio: 0.588679 18 | - Class: rviz/Views 19 | Expanded: 20 | - /Current View1 21 | Name: Views 22 | Splitter Ratio: 0.5 23 | - Class: rviz/Time 24 | Experimental: false 25 | Name: Time 26 | SyncMode: 0 27 | SyncSource: "" 28 | Visualization Manager: 29 | Class: "" 30 | Displays: 31 | - Alpha: 0.5 32 | Cell Size: 1 33 | Class: rviz/Grid 34 | Color: 0; 0; 0 35 | Enabled: true 36 | Line Style: 37 | Line Width: 0.03 38 | Value: Lines 39 | Name: Grid 40 | Normal Cell Count: 0 41 | Offset: 42 | X: 0 43 | Y: 0 44 | Z: 0 45 | Plane: XY 46 | Plane Cell Count: 10 47 | Reference Frame: 48 | Value: true 49 | - Alpha: 1 50 | Class: rviz/RobotModel 51 | Collision Enabled: false 52 | Enabled: true 53 | Links: 54 | All Links Enabled: true 55 | Expand Joint Details: false 56 | Expand Link Details: false 57 | Expand Tree: false 58 | Link Tree Style: Links in Alphabetic Order 59 | base_link: 60 | Alpha: 1 61 | Show Axes: false 62 | Show Trail: false 63 | Value: true 64 | Name: RobotModel 65 | Robot Description: robot_description 66 | TF Prefix: "" 67 | Update Interval: 0 68 | Value: true 69 | Visual Enabled: true 70 | - Class: rviz/TF 71 | Enabled: true 72 | Frame Timeout: 15 73 | Frames: 74 | All Enabled: true 75 | Marker Scale: 1 76 | Name: TF 77 | Show Arrows: true 78 | Show Axes: true 79 | Show Names: true 80 | Tree: 81 | {} 82 | Update Interval: 0 83 | Value: true 84 | Enabled: true 85 | Global Options: 86 | Background Color: 163; 163; 163 87 | Fixed Frame: base_link 88 | Frame Rate: 30 89 | Name: root 90 | Tools: 91 | - Class: rviz/Interact 92 | Hide Inactive Objects: true 93 | - Class: rviz/MoveCamera 94 | - Class: rviz/Select 95 | - Class: rviz/FocusCamera 96 | - Class: rviz/Measure 97 | - Class: rviz/SetInitialPose 98 | Topic: /initialpose 99 | - Class: rviz/SetGoal 100 | Topic: /move_base_simple/goal 101 | - Class: rviz/PublishPoint 102 | Single click: true 103 | Topic: /clicked_point 104 | Value: true 105 | Views: 106 | Current: 107 | Class: rviz/Orbit 108 | Distance: 3.18975 109 | Enable Stereo Rendering: 110 | Stereo Eye Separation: 0.06 111 | Stereo Focal Distance: 1 112 | Swap Stereo Eyes: false 113 | Value: false 114 | Focal Point: 115 | X: 0 116 | Y: 0 117 | Z: 0 118 | Name: Current View 119 | Near Clip Distance: 0.01 120 | Pitch: 0.455398 121 | Target Frame: 122 | Value: Orbit (rviz) 123 | Yaw: 0.885398 124 | Saved: ~ 125 | Window Geometry: 126 | Displays: 127 | collapsed: false 128 | Height: 801 129 | Hide Left Dock: false 130 | Hide Right Dock: false 131 | QMainWindow State: 000000ff00000000fd000000040000000000000134000002d2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002d2000000ee00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000032cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000032c000000ca00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c00000003efc0100000002fb0000000800540069006d00650000000000000004c00000042500fffffffb0000000800540069006d00650100000000000004500000000000000000000002fe000002d200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 132 | Selection: 133 | collapsed: false 134 | Time: 135 | collapsed: false 136 | Tool Properties: 137 | collapsed: false 138 | Views: 139 | collapsed: false 140 | Width: 1080 141 | X: 280 142 | Y: 178 143 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/urdf/rrbot4.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | transmission_interface/SimpleTransmission 124 | 125 | EffortJointInterface 126 | 127 | 128 | EffortJointInterface 129 | 1 130 | 131 | 132 | 133 | 134 | transmission_interface/SimpleTransmission 135 | 136 | EffortJointInterface 137 | 138 | 139 | EffortJointInterface 140 | 1 141 | 142 | 143 | 144 | 145 | -------------------------------------------------------------------------------- /Chapter_2_code/ros_robotics/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(ros_robotics) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED) 8 | 9 | ## System dependencies are found with CMake's conventions 10 | # find_package(Boost REQUIRED COMPONENTS system) 11 | 12 | 13 | ## Uncomment this if the package has a setup.py. This macro ensures 14 | ## modules and global scripts declared therein get installed 15 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 16 | # catkin_python_setup() 17 | 18 | ################################################ 19 | ## Declare ROS messages, services and actions ## 20 | ################################################ 21 | 22 | ## To declare and build messages, services or actions from within this 23 | ## package, follow these steps: 24 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 25 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 26 | ## * In the file package.xml: 27 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 28 | ## * If MSG_DEP_SET isn't empty the following dependencies might have been 29 | ## pulled in transitively but can be declared for certainty nonetheless: 30 | ## * add a build_depend tag for "message_generation" 31 | ## * add a run_depend tag for "message_runtime" 32 | ## * In this file (CMakeLists.txt): 33 | ## * add "message_generation" and every package in MSG_DEP_SET to 34 | ## find_package(catkin REQUIRED COMPONENTS ...) 35 | ## * add "message_runtime" and every package in MSG_DEP_SET to 36 | ## catkin_package(CATKIN_DEPENDS ...) 37 | ## * uncomment the add_*_files sections below as needed 38 | ## and list every .msg/.srv/.action file to be processed 39 | ## * uncomment the generate_messages entry below 40 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 41 | 42 | ## Generate messages in the 'msg' folder 43 | # add_message_files( 44 | # FILES 45 | # Message1.msg 46 | # Message2.msg 47 | # ) 48 | 49 | ## Generate services in the 'srv' folder 50 | # add_service_files( 51 | # FILES 52 | # Service1.srv 53 | # Service2.srv 54 | # ) 55 | 56 | ## Generate actions in the 'action' folder 57 | # add_action_files( 58 | # FILES 59 | # Action1.action 60 | # Action2.action 61 | # ) 62 | 63 | ## Generate added messages and services with any dependencies listed here 64 | # generate_messages( 65 | # DEPENDENCIES 66 | # std_msgs # Or other packages containing msgs 67 | # ) 68 | 69 | ################################### 70 | ## catkin specific configuration ## 71 | ################################### 72 | ## The catkin_package macro generates cmake config files for your package 73 | ## Declare things to be passed to dependent projects 74 | ## INCLUDE_DIRS: uncomment this if you package contains header files 75 | ## LIBRARIES: libraries you create in this project that dependent projects also need 76 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 77 | ## DEPENDS: system dependencies of this project that dependent projects also need 78 | catkin_package( 79 | # INCLUDE_DIRS include 80 | # LIBRARIES ros_robotics 81 | # CATKIN_DEPENDS other_catkin_pkg 82 | # DEPENDS system_lib 83 | ) 84 | 85 | ########### 86 | ## Build ## 87 | ########### 88 | 89 | ## Specify additional locations of header files 90 | ## Your package locations should be listed before other locations 91 | # include_directories(include) 92 | 93 | ## Declare a cpp library 94 | # add_library(ros_robotics 95 | # src/${PROJECT_NAME}/ros_robotics.cpp 96 | # ) 97 | 98 | ## Declare a cpp executable 99 | # add_executable(ros_robotics_node src/ros_robotics_node.cpp) 100 | 101 | ## Add cmake target dependencies of the executable/library 102 | ## as an example, message headers may need to be generated before nodes 103 | # add_dependencies(ros_robotics_node ros_robotics_generate_messages_cpp) 104 | 105 | ## Specify libraries to link a library or executable target against 106 | # target_link_libraries(ros_robotics_node 107 | # ${catkin_LIBRARIES} 108 | # ) 109 | 110 | ############# 111 | ## Install ## 112 | ############# 113 | 114 | # all install targets should use catkin DESTINATION variables 115 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 116 | 117 | ## Mark executable scripts (Python etc.) for installation 118 | ## in contrast to setup.py, you can choose the destination 119 | # install(PROGRAMS 120 | # scripts/my_python_script 121 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 122 | # ) 123 | 124 | ## Mark executables and/or libraries for installation 125 | # install(TARGETS ros_robotics ros_robotics_node 126 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 127 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 128 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 129 | # ) 130 | 131 | ## Mark cpp header files for installation 132 | # install(DIRECTORY include/${PROJECT_NAME}/ 133 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 134 | # FILES_MATCHING PATTERN "*.h" 135 | # PATTERN ".svn" EXCLUDE 136 | # ) 137 | 138 | ## Mark other files for installation (e.g. launch and bag files, etc.) 139 | # install(FILES 140 | # # myfile1 141 | # # myfile2 142 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 143 | # ) 144 | 145 | ############# 146 | ## Testing ## 147 | ############# 148 | 149 | ## Add gtest based cpp test target and link libraries 150 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_robotics.cpp) 151 | # if(TARGET ${PROJECT_NAME}-test) 152 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 153 | # endif() 154 | 155 | ## Add folders to be run by python nosetests 156 | # catkin_add_nosetests(test) 157 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/launch/crazyflie_kinect.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 81 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Crazyflie1 8 | - /TF1 9 | - /TF1/Frames1 10 | - /Kinect v21 11 | - /Kinect v21/Status1 12 | Splitter Ratio: 0.617241 13 | Tree Height: 689 14 | - Class: rviz/Selection 15 | Name: Selection 16 | - Class: rviz/Tool Properties 17 | Expanded: 18 | - /2D Pose Estimate1 19 | - /2D Nav Goal1 20 | - /Publish Point1 21 | Name: Tool Properties 22 | Splitter Ratio: 0.588679 23 | - Class: rviz/Views 24 | Expanded: 25 | - /Current View1 26 | Name: Views 27 | Splitter Ratio: 0.5 28 | - Class: rviz/Time 29 | Experimental: false 30 | Name: Time 31 | SyncMode: 0 32 | SyncSource: "" 33 | Visualization Manager: 34 | Class: "" 35 | Displays: 36 | - Alpha: 0.5 37 | Cell Size: 1 38 | Class: rviz/Grid 39 | Color: 0; 0; 0 40 | Enabled: true 41 | Line Style: 42 | Line Width: 0.03 43 | Value: Lines 44 | Name: Grid 45 | Normal Cell Count: 0 46 | Offset: 47 | X: 0 48 | Y: 0 49 | Z: 0 50 | Plane: XY 51 | Plane Cell Count: 10 52 | Reference Frame: 53 | Value: true 54 | - Alpha: 1 55 | Class: rviz/RobotModel 56 | Collision Enabled: false 57 | Enabled: true 58 | Links: 59 | All Links Enabled: true 60 | Expand Joint Details: false 61 | Expand Link Details: false 62 | Expand Tree: false 63 | Link Tree Style: Links in Alphabetic Order 64 | base_link: 65 | Alpha: 1 66 | Show Axes: false 67 | Show Trail: false 68 | Value: true 69 | Name: Crazyflie 70 | Robot Description: crazyflie/robot_description 71 | TF Prefix: crazyflie 72 | Update Interval: 0 73 | Value: true 74 | Visual Enabled: true 75 | - Alpha: 0.5 76 | Axes Length: 1 77 | Axes Radius: 0.1 78 | Class: rviz/Pose 79 | Color: 255; 25; 0 80 | Enabled: false 81 | Head Length: 0.1 82 | Head Radius: 0.05 83 | Name: Pose 84 | Shaft Length: 0.1 85 | Shaft Radius: 0.02 86 | Shape: Arrow 87 | Topic: /crazyflie/goal 88 | Value: false 89 | - Class: rviz/TF 90 | Enabled: true 91 | Frame Timeout: 15 92 | Frames: 93 | All Enabled: false 94 | crazyflie/base_link: 95 | Value: true 96 | kinect2_ir_optical_frame: 97 | Value: false 98 | kinect2_link: 99 | Value: true 100 | kinect2_rgb_optical_frame: 101 | Value: false 102 | world: 103 | Value: true 104 | Marker Scale: 1 105 | Name: TF 106 | Show Arrows: true 107 | Show Axes: true 108 | Show Names: true 109 | Tree: 110 | world: 111 | kinect2_link: 112 | crazyflie/base_link: 113 | {} 114 | kinect2_rgb_optical_frame: 115 | kinect2_ir_optical_frame: 116 | {} 117 | Update Interval: 0 118 | Value: true 119 | - Alpha: 1 120 | Class: rviz/RobotModel 121 | Collision Enabled: false 122 | Enabled: true 123 | Links: 124 | All Links Enabled: true 125 | Expand Joint Details: false 126 | Expand Link Details: false 127 | Expand Tree: false 128 | Link Tree Style: Links in Alphabetic Order 129 | kinect2_link: 130 | Alpha: 1 131 | Show Axes: false 132 | Show Trail: false 133 | Value: true 134 | Name: Kinect v2 135 | Robot Description: robot_description 136 | TF Prefix: "" 137 | Update Interval: 0 138 | Value: true 139 | Visual Enabled: true 140 | Enabled: true 141 | Global Options: 142 | Background Color: 173; 173; 173 143 | Fixed Frame: world 144 | Frame Rate: 30 145 | Name: root 146 | Tools: 147 | - Class: rviz/Interact 148 | Hide Inactive Objects: true 149 | - Class: rviz/MoveCamera 150 | - Class: rviz/Select 151 | - Class: rviz/FocusCamera 152 | - Class: rviz/Measure 153 | - Class: rviz/SetInitialPose 154 | Topic: /initialpose 155 | - Class: rviz/SetGoal 156 | Topic: /move_base_simple/goal 157 | - Class: rviz/PublishPoint 158 | Single click: true 159 | Topic: /clicked_point 160 | Value: true 161 | Views: 162 | Current: 163 | Class: rviz/Orbit 164 | Distance: 2.37468 165 | Enable Stereo Rendering: 166 | Stereo Eye Separation: 0.06 167 | Stereo Focal Distance: 1 168 | Swap Stereo Eyes: false 169 | Value: false 170 | Focal Point: 171 | X: 0.279675 172 | Y: 0.435578 173 | Z: 0.432212 174 | Name: Current View 175 | Near Clip Distance: 0.01 176 | Pitch: 0.300398 177 | Target Frame: 178 | Value: Orbit (rviz) 179 | Yaw: 5.48541 180 | Saved: ~ 181 | Window Geometry: 182 | Displays: 183 | collapsed: false 184 | Height: 973 185 | Hide Left Dock: false 186 | Hide Right Dock: true 187 | QMainWindow State: 000000ff00000000fd00000004000000000000012400000343fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000343000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000343fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000343000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000049a0000003efc0100000002fb0000000800540069006d006501000000000000049a000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003700000034300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 188 | Selection: 189 | collapsed: false 190 | Time: 191 | collapsed: false 192 | Tool Properties: 193 | collapsed: false 194 | Views: 195 | collapsed: true 196 | Width: 1178 197 | X: 519 198 | Y: 40 199 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(crazyflie_autonomous) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | ## NB: You should only find_package components for which you want build flags. 8 | ## You should not add runtime dependencies. 9 | find_package(catkin REQUIRED) 10 | 11 | ## System dependencies are found with CMake's conventions 12 | # find_package(Boost REQUIRED COMPONENTS system) 13 | 14 | 15 | ## Uncomment this if the package has a setup.py. This macro ensures 16 | ## modules and global scripts declared therein get installed 17 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 18 | # catkin_python_setup() 19 | 20 | ################################################ 21 | ## Declare ROS messages, services and actions ## 22 | ################################################ 23 | 24 | ## To declare and build messages, services or actions from within this 25 | ## package, follow these steps: 26 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 27 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 28 | ## * In the file package.xml: 29 | ## * add a build_depend tag for "message_generation" 30 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 31 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 32 | ## but can be declared for certainty nonetheless: 33 | ## * add a run_depend tag for "message_runtime" 34 | ## * In this file (CMakeLists.txt): 35 | ## * add "message_generation" and every package in MSG_DEP_SET to 36 | ## find_package(catkin REQUIRED COMPONENTS ...) 37 | ## * add "message_runtime" and every package in MSG_DEP_SET to 38 | ## catkin_package(CATKIN_DEPENDS ...) 39 | ## * uncomment the add_*_files sections below as needed 40 | ## and list every .msg/.srv/.action file to be processed 41 | ## * uncomment the generate_messages entry below 42 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 43 | 44 | ## Generate messages in the 'msg' folder 45 | # add_message_files( 46 | # FILES 47 | # Message1.msg 48 | # Message2.msg 49 | # ) 50 | 51 | ## Generate services in the 'srv' folder 52 | # add_service_files( 53 | # FILES 54 | 55 | # Service1.srv 56 | # Service2.srv 57 | # ) 58 | 59 | ## Generate actions in the 'action' folder 60 | # add_action_files( 61 | # FILES 62 | # Action1.action 63 | # Action2.action 64 | # ) 65 | 66 | ## Generate added messages and services with any dependencies listed here 67 | # generate_messages( 68 | # DEPENDENCIES 69 | # sensor_msgs# std_msgs 70 | # ) 71 | 72 | ################################################ 73 | ## Declare ROS dynamic reconfigure parameters ## 74 | ################################################ 75 | 76 | ## To declare and build dynamic reconfigure parameters within this 77 | ## package, follow these steps: 78 | ## * In the file package.xml: 79 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 80 | ## * In this file (CMakeLists.txt): 81 | ## * add "dynamic_reconfigure" to 82 | ## find_package(catkin REQUIRED COMPONENTS ...) 83 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 84 | ## and list every .cfg file to be processed 85 | 86 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 87 | # generate_dynamic_reconfigure_options( 88 | # cfg/DynReconf1.cfg 89 | # cfg/DynReconf2.cfg 90 | # ) 91 | 92 | ################################### 93 | ## catkin specific configuration ## 94 | ################################### 95 | ## The catkin_package macro generates cmake config files for your package 96 | ## Declare things to be passed to dependent projects 97 | ## INCLUDE_DIRS: uncomment this if you package contains header files 98 | ## LIBRARIES: libraries you create in this project that dependent projects also need 99 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 100 | ## DEPENDS: system dependencies of this project that dependent projects also need 101 | catkin_package( 102 | # INCLUDE_DIRS include 103 | # LIBRARIES crazyflie_kinect2_detector 104 | # CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs 105 | # DEPENDS system_lib 106 | ) 107 | 108 | ########### 109 | ## Build ## 110 | ########### 111 | 112 | ## Specify additional locations of header files 113 | ## Your package locations should be listed before other locations 114 | # include_directories(include) 115 | 116 | ## Declare a C++ library 117 | # add_library(crazyflie_autonomous 118 | # src/${PROJECT_NAME}/crazyflie_autonomous.cpp 119 | # ) 120 | 121 | ## Add cmake target dependencies of the library 122 | ## as an example, code may need to be generated before libraries 123 | ## either from message generation or dynamic reconfigure 124 | # add_dependencies(crazyflie_autonomous ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 125 | 126 | ## Declare a C++ executable 127 | # add_executable(crazyflie_autonomous_node src/crazyflie_autonomous_node.cpp) 128 | 129 | ## Add cmake target dependencies of the executable 130 | ## same as for the library above 131 | # add_dependencies(crazyflie_autonomous_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 132 | 133 | ## Specify libraries to link a library or executable target against 134 | # target_link_libraries(crazyflie_autonomous_node 135 | # ${catkin_LIBRARIES} 136 | # ) 137 | 138 | ############# 139 | ## Install ## 140 | ############# 141 | 142 | # all install targets should use catkin DESTINATION variables 143 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 144 | 145 | ## Mark executable scripts (Python etc.) for installation 146 | ## in contrast to setup.py, you can choose the destination 147 | # install(PROGRAMS 148 | # scripts/my_python_script 149 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 150 | # ) 151 | 152 | ## Mark executables and/or libraries for installation 153 | # install(TARGETS crazyflie_autonomous crazyflie_autonomous_node 154 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 155 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 156 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 157 | # ) 158 | 159 | ## Mark cpp header files for installation 160 | # install(DIRECTORY include/${PROJECT_NAME}/ 161 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 162 | # FILES_MATCHING PATTERN "*.h" 163 | # PATTERN ".svn" EXCLUDE 164 | # ) 165 | 166 | ## Mark other files for installation (e.g. launch and bag files, etc.) 167 | # install(FILES 168 | # # myfile1 169 | # # myfile2 170 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 171 | # ) 172 | 173 | ############# 174 | ## Testing ## 175 | ############# 176 | 177 | ## Add gtest based cpp test target and link libraries 178 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_crazyflie_autonomous.cpp) 179 | # if(TARGET ${PROJECT_NAME}-test) 180 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 181 | # endif() 182 | 183 | ## Add folders to be run by python nosetests 184 | # catkin_add_nosetests(test) 185 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/scripts/detect_crazyflie.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import sys 3 | import rospy 4 | import cv2 5 | from cv_bridge import CvBridge, CvBridgeError 6 | import numpy 7 | import tf 8 | from sensor_msgs.msg import Image 9 | from sensor_msgs.msg import CameraInfo 10 | 11 | class Detector(): 12 | 13 | """ Detector for Crazyflie -- identified by green ball mounted on battery in Kinect image """ 14 | """ Crazyflie's location is published as a tf transform of its x, y, z with respect to """ 15 | """ the Kinect v2's ir coordinate frame """ 16 | 17 | def __init__(self): 18 | 19 | # initialize ROS node and transform publisher 20 | rospy.init_node('crazyflie_detector', anonymous=True) 21 | self.pub_tf = tf.TransformBroadcaster() 22 | 23 | self.rate = rospy.Rate(50.0) # publish transform at 50 Hz 24 | 25 | # initialize values for crazyflie location on Kinect v2 image 26 | self.cf_u = 0 # u is pixels left(0) to right(+) 27 | self.cf_v = 0 # v is pixels top(0) to bottom(+) 28 | self.cf_d = 0 # d is distance camera(0) to crazyflie(+) from depth image 29 | self.last_d = 0 # last non-zero depth measurement 30 | 31 | # crazyflie orientation to Kinect v2 image (Euler) 32 | self.r = -1.5708 33 | self.p = 0 34 | self.y = -3.1415 35 | 36 | # Convert image from a ROS image message to a CV image 37 | self.bridge = CvBridge() 38 | 39 | cv2.namedWindow("KinectV2", 1) 40 | 41 | # Wait for the camera_info topic to become available 42 | rospy.wait_for_message('/kinect2/qhd/camera_info', CameraInfo) 43 | 44 | # Subscribe to Kinect v2 sd camera_info to get image frame height and width 45 | rospy.Subscriber('/kinect2/qhd/camera_info', CameraInfo, self.camera_data, queue_size=1) 46 | 47 | # Subscribe to registered color and depth images 48 | rospy.Subscriber('/kinect2/qhd/image_color_rect', Image, self.image_callback, queue_size=1) 49 | rospy.Subscriber('/kinect2/qhd/image_depth_rect', Image, self.depth_callback, queue_size=1) 50 | 51 | self.rate.sleep() # suspend until next cycle 52 | 53 | # This callback function sets parameters regarding the camera. 54 | def camera_data(self, data): 55 | # set values on the parameter server 56 | rospy.set_param('camera_link', data.header.frame_id) # kinect2_ir_optical_frame 57 | rospy.set_param('camera_height', data.height) # sd height is 424 / qhd height is 540 58 | rospy.set_param('camera_width', data.width) # sd width is 512 / qhd width is 960 59 | 60 | # set values for local variables 61 | self.cam_height = data.height 62 | self.cam_width = data.width 63 | 64 | 65 | # This callback function handles processing Kinect color image, looking for the green ball 66 | # on the Crazyflie. 67 | def image_callback(self, msg): 68 | 69 | # convert ROS image to OpenCV image 70 | try: 71 | image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8') 72 | except CvBridgeError as e: 73 | print(e) 74 | 75 | # create hsv image of scene 76 | hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) 77 | 78 | # find green objects in the image 79 | lower_green = numpy.array([50, 50, 177], numpy.uint8) # fluffy green ball 80 | upper_green = numpy.array([84, 150, 255], numpy.uint8) 81 | mask = cv2.inRange(hsv, lower_green, upper_green) 82 | 83 | # dilate and erode with kernel size 11x11 84 | cv2.morphologyEx(mask, cv2.MORPH_CLOSE, numpy.ones((11,11))) 85 | 86 | # find all of the contours in the mask image 87 | contours, heirarchy = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE) 88 | self.contourLength = len(contours) 89 | 90 | # Check for at least one ball found 91 | if self.contourLength < 1: 92 | print "No objects found" 93 | sys.exit("No objects found") # if no Crazyflie in image, exit process 94 | 95 | ## Loop through all of the contours, and get their areas 96 | area = [0.0]*len(contours) 97 | for i in range(self.contourLength): 98 | area[i] = cv2.contourArea(contours[i]) 99 | 100 | #### Ball #### the largest "green" object 101 | ball_image = contours[area.index(max(area))] 102 | 103 | # Find the circumcircle of the green ball and draw a blue outline around it 104 | (self.cf_u,self.cf_v),radius = cv2.minEnclosingCircle(ball_image) 105 | ball_center = (int(self.cf_u),int(self.cf_v)) 106 | ball_radius = int(radius) 107 | cv2.circle(image, ball_center, ball_radius, (255,0,0), 2) 108 | 109 | # show image with green ball outlined with a blue circle 110 | cv2.imshow ("KinectV2", image) 111 | cv2.waitKey(3) 112 | 113 | 114 | # This callback function handles processing Kinect depth image, looking for the depth value 115 | # at the location of the center of the green ball on top of Crazyflie. 116 | def depth_callback(self, msg): 117 | 118 | # create OpenCV depth image using defalut passthrough encoding 119 | try: 120 | depth_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough') 121 | except CvBridgeError as e: 122 | print(e) 123 | 124 | # using green ball (u, v) position, find depth value of Crazyflie point and divide by 1000 125 | # to change millimeters into meters (for Kinect sensors only) 126 | self.cf_d = depth_image[self.cf_v, self.cf_u] / 1000.0 127 | rospy.loginfo("Depth: x at %d y at %d z at %f", int(self.cf_u), int(self.cf_v), self.cf_d) 128 | 129 | # if depth value is zero, use the last non-zero depth value 130 | if self.cf_d == 0: 131 | self.cf_d = self.last_d 132 | else: 133 | self.last_d = self.cf_d 134 | 135 | # publish Crazyflie tf transform 136 | self.update_cf_transform (self.cf_u, self.cf_v, self.cf_d) 137 | 138 | 139 | # This function builds the Crazyflie base_link tf transform and publishes it. 140 | def update_cf_transform(self, x, y, z): 141 | 142 | # send position as transform from the parent "kinect2_ir_optical_frame" to the 143 | # child "crazyflie/base_link" (described by crazyflie.urdf.xacro) 144 | self.pub_tf.sendTransform(( x, 145 | y, 146 | z), 147 | tf.transformations.quaternion_from_euler(self.r, self.p, self.y), 148 | rospy.Time.now(), 149 | "crazyflie/base_link", "kinect2_ir_optical_frame") 150 | 151 | rospy.loginfo("Sent CF transform %f %f %f", x, y, z) 152 | 153 | 154 | if __name__ == '__main__': 155 | 156 | # start up the detector node and run until shutdown by interrupt 157 | try: 158 | detector = Detector() 159 | rospy.spin() 160 | 161 | except rospy.ROSInterruptException: 162 | rospy.loginfo("Detector node terminated.") 163 | 164 | # close all terminal windows when process is shut down 165 | cv2.destroyAllWindows() 166 | 167 | 168 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/scripts/detect_target.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import rospy 3 | import cv2 4 | from cv_bridge import CvBridge, CvBridgeError 5 | import numpy 6 | import tf 7 | from geometry_msgs.msg import PoseStamped 8 | from sensor_msgs.msg import Image 9 | from sensor_msgs.msg import CameraInfo 10 | 11 | class Detector(): 12 | 13 | """ Detector for the target -- identified by pink marker """ 14 | """ Target's location is published as a PoseStamped message with its x, y, z with respect to """ 15 | """ the Kinect v2's image """ 16 | 17 | def __init__(self): 18 | 19 | # initialize ROS node 20 | rospy.init_node('target_detector', anonymous=True) 21 | 22 | # initialize publisher for target pose, PoseStamped message, and set initial sequence number 23 | self.pub = rospy.Publisher('target_pose', PoseStamped, queue_size=1) 24 | self.pub_pose = PoseStamped() 25 | self.pub_pose.header.seq = 0 26 | 27 | self.rate = rospy.Rate(1.0) # publish message at 1 Hz 28 | 29 | # initialize values for locating target on Kinect v2 image 30 | self.target_u = 0 # u is pixels left(0) to right(+) 31 | self.target_v = 0 # v is pixels top(0) to bottom(+) 32 | self.target_d = 0 # d is distance camera(0) to target(+) from depth image 33 | self.target_found = False # flag initialized to False 34 | self.last_d = 0 # last non-zero depth measurement 35 | 36 | # target orientation to Kinect v2 image (Euler) 37 | self.r = 0 38 | self.p = 0 39 | self.y = 0 40 | 41 | # Convert image from a ROS image message to a CV image 42 | self.bridge = CvBridge() 43 | 44 | # Wait for the camera_info topic to become available 45 | rospy.wait_for_message('/kinect2/qhd/image_color_rect', Image) 46 | 47 | # Subscribe to registered color and depth images 48 | rospy.Subscriber('/kinect2/qhd/image_color_rect', Image, self.image_callback, queue_size=1) 49 | rospy.Subscriber('/kinect2/qhd/image_depth_rect', Image, self.depth_callback, queue_size=1) 50 | 51 | self.rate.sleep() # suspend until next cycle 52 | 53 | # This callback function handles processing Kinect color image, looking for the pink target. 54 | def image_callback(self, msg): 55 | 56 | # convert ROS image to OpenCV image 57 | try: 58 | image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8') 59 | except CvBridgeError as e: 60 | print(e) 61 | 62 | # create hsv image of scene 63 | hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) 64 | 65 | # find pink objects in the image 66 | lower_pink = numpy.array([139, 0, 240], numpy.uint8) 67 | upper_pink = numpy.array([159, 121, 255], numpy.uint8) 68 | mask = cv2.inRange(hsv, lower_pink, upper_pink) 69 | 70 | # dilate and erode with kernel size 11x11 71 | cv2.morphologyEx(mask, cv2.MORPH_CLOSE, numpy.ones((11,11))) 72 | 73 | # find all of the contours in the mask image 74 | contours, heirarchy = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE) 75 | self.contourLength = len(contours) 76 | 77 | # Check for at least one target found 78 | if self.contourLength < 1: 79 | print "No target found" 80 | 81 | else: # target found 82 | 83 | ## Loop through all of the contours, and get their areas 84 | area = [0.0]*len(contours) 85 | for i in range(self.contourLength): 86 | area[i] = cv2.contourArea(contours[i]) 87 | 88 | #### Target #### the largest "pink" object 89 | target_image = contours[area.index(max(area))] 90 | 91 | # Using moments find the center of the object and draw a red outline around the object 92 | target_m = cv2.moments(target_image) 93 | self.target_u = int(target_m['m10']/target_m['m00']) 94 | self.target_v = int(target_m['m01']/target_m['m00']) 95 | points = cv2.minAreaRect(target_image) 96 | box = cv2.cv.BoxPoints(points) 97 | box = numpy.int0(box) 98 | cv2.drawContours(image, [box], 0, (0, 0, 255), 2) 99 | rospy.loginfo("Center of target is x at %d and y at %d", int(self.target_u), int(self.target_v)) 100 | 101 | self.target_found = True # set flag for depth_callback processing 102 | 103 | # show image with target outlined with a red rectangle 104 | cv2.imshow ("Target", image) 105 | cv2.waitKey(3) 106 | 107 | # This callback function handles processing Kinect depth image, looking for the depth value 108 | # at the location of the center of the pink target. 109 | def depth_callback(self, msg): 110 | 111 | # process only if target is found 112 | if self.target_found == True: 113 | 114 | # create OpenCV depth image using default passthrough encoding 115 | try: 116 | depth_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough') 117 | except CvBridgeError as e: 118 | print(e) 119 | 120 | # using target (v, u) location, find depth value of point and divide by 1000 121 | # to change millimeters into meters (for Kinect sensors only) 122 | self.target_d = depth_image[self.target_v, self.target_u] / 1000.0 123 | 124 | # if depth value is zero, use the last non-zero depth value 125 | if self.target_d == 0: 126 | self.target_d = self.last_d 127 | else: 128 | self.last_d = self.target_d 129 | 130 | # record target location and publish target pose message 131 | rospy.loginfo("Target depth: x at %d y at %d z at %f", int(self.target_u), 132 | int(self.target_v), self.target_d) 133 | self.update_target_pose (self.target_u, self.target_v, self.target_d) 134 | 135 | # This function builds the target PoseStamped message and publishes it. 136 | def update_target_pose(self, x, y, z): 137 | 138 | # set position values for target location 139 | self.pub_pose.pose.position.x = x # pose in camera pixels u 140 | self.pub_pose.pose.position.y = y # pose in camera pixels v 141 | self.pub_pose.pose.position.z = z # pose in meters from camera 142 | 143 | # determine quaternion values from euler angles of (0,0,0) 144 | quaternion = tf.transformations.quaternion_from_euler(0, 0, 0) 145 | self.pub_pose.pose.orientation.x = quaternion[0] 146 | self.pub_pose.pose.orientation.y = quaternion[1] 147 | self.pub_pose.pose.orientation.z = quaternion[2] 148 | self.pub_pose.pose.orientation.w = quaternion[3] 149 | 150 | # complete header information 151 | self.pub_pose.header.seq += 1 152 | self.pub_pose.header.stamp = rospy.Time.now() 153 | self.pub_pose.header.frame_id = "target" 154 | 155 | # publish pose of target 156 | self.pub.publish(self.pub_pose) 157 | 158 | if __name__ == '__main__': 159 | 160 | # start up the detector node and run until shutdown by interrupt 161 | try: 162 | detector = Detector() 163 | rospy.spin() 164 | 165 | except rospy.ROSInterruptException: 166 | rospy.loginfo("Detector node terminated.") 167 | 168 | # close all terminal windows when process is shut down 169 | cv2.destroyAllWindows() 170 | 171 | 172 | -------------------------------------------------------------------------------- /Chapter_9_code/crazyflie_autonomous/scripts/control_crazyflie.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | import tf 5 | from pid import PID 6 | from geometry_msgs.msg import PoseStamped, Twist 7 | from std_srvs.srv import Empty 8 | 9 | class CF_Controller(): 10 | 11 | """Controller to fly a Crazyflie in a space with Kinect v2 position feedback""" 12 | """Adapted to Python from Wolfgang Hoenig's controller.cpp in package crazyflie_controller""" 13 | 14 | def __init__(self): 15 | 16 | self.ff = 0.45 # adjustment for takeoff thrust 17 | self.thrust = 0.0 # initialize thrust to 0 18 | self.target = False # initialize target sighting to False 19 | 20 | # tuple of Crazyflie flight states 21 | self.flight_state = ['idle', 'takeoff', 'hover', 'flight', 'land'] 22 | self._cf_state = 'idle' # initial flight state 23 | self.takeoff_position = [0.0, 0.0, 0.0] # inital takeoff and hover positions 24 | self.hover_position = [0.0, 0.0, 0.0] 25 | self.last_depth = 0.0 # variable to keep non-zero value for camera depth 26 | 27 | # initialize services for land and takeoff 28 | # emergency is handled by crazyflie_server.cpp in crazyflie_ros/crazyflie_driver package 29 | s1 = rospy.Service("/crazyflie/land", Empty, self._Land) 30 | s2 = rospy.Service("/crazyflie/takeoff", Empty, self._Takeoff) 31 | 32 | # subscribe to target pose 33 | self.target_position = PoseStamped() 34 | rospy.Subscriber('target_pose', PoseStamped, self._update_target_pose, queue_size=1) 35 | 36 | # Initialize the tf listener 37 | self.listener = tf.TransformListener() 38 | 39 | # initialize publisher for crazyflie command velocity (geometry_Twist) 40 | self.fly = Twist() # set the fly command 41 | self.velocity_pub = rospy.Publisher ('/crazyflie/cmd_vel', Twist, queue_size=1) 42 | 43 | # get camera info from parameter server 44 | self.camera_height = rospy.get_param('camera_height') # sd height is 424; qhd height is 540 45 | self.camera_width = rospy.get_param('camera_width') # sd width is 512; qhd width is 960 46 | 47 | # create flight PID controllers in X, Y and Z 48 | self.m_pidX = PID(rospy.get_param("~PIDs/X/kp"), 49 | rospy.get_param("~PIDs/X/kd"), 50 | rospy.get_param("~PIDs/X/ki"), 51 | rospy.get_param("~PIDs/X/minOutput"), 52 | rospy.get_param("~PIDs/X/maxOutput"), 53 | rospy.get_param("~PIDs/X/integratorMin"), 54 | rospy.get_param("~PIDs/X/integratorMax")) 55 | self.m_pidY = PID(rospy.get_param("~PIDs/Y/kp"), 56 | rospy.get_param("~PIDs/Y/kd"), 57 | rospy.get_param("~PIDs/Y/ki"), 58 | rospy.get_param("~PIDs/Y/minOutput"), 59 | rospy.get_param("~PIDs/Y/maxOutput"), 60 | rospy.get_param("~PIDs/Y/integratorMin"), 61 | rospy.get_param("~PIDs/Y/integratorMax")) 62 | self.m_pidZ = PID(rospy.get_param("~PIDs/Z/kp"), 63 | rospy.get_param("~PIDs/Z/kd"), 64 | rospy.get_param("~PIDs/Z/ki"), 65 | rospy.get_param("~PIDs/Z/minOutput"), 66 | rospy.get_param("~PIDs/Z/maxOutput"), 67 | rospy.get_param("~PIDs/Z/integratorMin"), 68 | rospy.get_param("~PIDs/Z/integratorMax")) 69 | self.m_pidYaw = PID(rospy.get_param("~PIDs/Yaw/kp"), 70 | rospy.get_param("~PIDs/Yaw/kd"), 71 | rospy.get_param("~PIDs/Yaw/ki"), 72 | rospy.get_param("~PIDs/Yaw/minOutput"), 73 | rospy.get_param("~PIDs/Yaw/maxOutput"), 74 | rospy.get_param("~PIDs/Yaw/integratorMin"), 75 | rospy.get_param("~PIDs/Yaw/integratorMax")) 76 | 77 | 78 | # This service processes the Takeoff request. 79 | def _Takeoff(self, req): 80 | rospy.loginfo("Takeoff requested!") 81 | self._cf_state = 'takeoff' 82 | return () 83 | 84 | # This service processes the Land request. 85 | def _Land(self, req): 86 | rospy.loginfo("Landing requested!") 87 | self._cf_state = 'land' 88 | return () 89 | 90 | 91 | # This callback function puts the target PoseStamped message into a local variable. 92 | def _update_target_pose(self, msg): 93 | self.target_position = msg 94 | self.target = True 95 | 96 | # This function gets the current transform between the target_frame and the source_frame. 97 | def _getTransform(self, target_frame, source_frame): 98 | 99 | if self.listener.frameExists(target_frame) and self.listener.frameExists(source_frame): 100 | t = self.listener.getLatestCommonTime(target_frame, source_frame) 101 | result, other = self.listener.lookupTransform(target_frame, source_frame, t) 102 | return result, other 103 | 104 | # This function calls the reset function for all the PID controllers. 105 | def _pidReset(self): 106 | self.m_pidX.reset() 107 | self.m_pidY.reset() 108 | self.m_pidZ.reset() 109 | self.m_pidYaw.reset() 110 | 111 | 112 | # This process handles all of the flight command messages. 113 | def iteration(self, event): 114 | 115 | try: 116 | # delta time is in a fraction of a second (0.02 sec for 50 Hz) 117 | dt = float(rospy.Time.to_sec(event.current_real)) - float(rospy.Time.to_sec(event.last_real)) 118 | 119 | except (AttributeError, TypeError): 120 | dt = 0 121 | print "dt is %f" % dt 122 | 123 | # receive tf transform on the location of Crazyflie; log critical values of x, y, z 124 | (cf_trans, cf_rot) = self._getTransform("kinect2_ir_optical_frame", cf_frame) 125 | rospy.loginfo("cf_trans %f %f %f", cf_trans[0], cf_trans[1], cf_trans[2]) 126 | 127 | 128 | ##### Idle ######## 129 | if self._cf_state == 'idle': 130 | # set command velocity message values to zero; thrust value to zero 131 | self.fly.linear.x = 0.0 132 | self.fly.linear.y = 0.0 133 | self.fly.linear.z = 0.0 134 | self.thrust = 0.0 135 | 136 | # save current position as the takeoff position 137 | self.takeoff_position = cf_trans 138 | 139 | 140 | ##### Hover ######## 141 | # use x, y, and z PID controllers to keep Crazyflie's position the same as the hover position 142 | # 143 | elif self._cf_state == 'hover': 144 | 145 | # use camera -x position 146 | # calculate PID control value for Crazyflie x control 147 | self.fly.linear.x = self.m_pidX.update((self.camera_width - cf_trans[0]), 148 | (self.camera_width - self.hover_position[0])) 149 | 150 | # use camera -z position; make sure depth value is not 0; if it is 0, use previous value 151 | # calculate PID control value for Crazyflie y control 152 | if cf_trans[2] == 0.0: 153 | rospy.loginfo("Camera z is zero") 154 | self.fly.linear.y = self.m_pidY.update(self.hover_position[2], self.last_depth) 155 | else: 156 | self.fly.linear.y = self.m_pidY.update(self.hover_position[2], cf_trans[2]) 157 | self.last_depth = cf_trans[2] 158 | 159 | # use camera -y position 160 | # calculate PID control value for Crazyflie z control 161 | self.fly.linear.z = self.m_pidZ.update((self.camera_height - cf_trans[1]), 162 | (self.camera_height - self.hover_position[1])) 163 | 164 | # record values to log file 165 | rospy.loginfo("hover_position %f %f %f", self.hover_position[0], self.hover_position[1], 166 | self.hover_position[2]) 167 | rospy.loginfo("Velocity msg published x %f y %f z % f", self.fly.linear.x, self.fly.linear.y, 168 | self.fly.linear.z) 169 | 170 | 171 | ##### Takeoff ######## 172 | # increase the thrust (z) value in the command velocity message until takeoff is achieved 173 | # 174 | elif self._cf_state == 'takeoff': 175 | 176 | self.fly.linear.x = 0.0 # set cmd_vel x and y to 0 177 | self.fly.linear.y = 0.0 178 | 179 | rospy.loginfo("new upper limit %f", self.takeoff_position[1]-25) 180 | 181 | # increase thrust until position is 25 pixels above the takeoff position 182 | # (in camera -y direction) 183 | if (cf_trans[1] < (self.takeoff_position[1]-25)) or (self.thrust > 50000): 184 | 185 | # when 25 pixels above the takeoff position is achieved, 186 | # reset controllers; log values and achievement; change state to flight 187 | self._pidReset() 188 | rospy.loginfo("Takeoff thrust %f, ki %f", self.thrust, self.m_pidZ.set_ki()) 189 | self.m_pidZ.setIntegral((self.thrust - 1500.0)/ self.m_pidZ.set_ki()) 190 | rospy.loginfo("Takeoff achieved!") 191 | self._cf_state = 'flight' 192 | self.thrust = 0.0 193 | 194 | # if position has not been achieved; increase thrust (z) value in command velocity; 195 | # calculation is based on delta time (time elapsed) and fudge factor; 196 | # slow but steady increments that decrease above 36000 197 | else: 198 | if self.thrust < 36000: 199 | self.thrust += 10000 * dt * self.ff 200 | else: 201 | self.thrust += 3000 * dt * self.ff 202 | 203 | self.fly.linear.z = self.thrust 204 | rospy.loginfo("Takeoff Thrust value %f", self.fly.linear.z) 205 | 206 | # print thrust values and command velocity values to screen for debugging 207 | print "Thrust is %f" % self.thrust 208 | print "Velocity msg published x %f y %f z % f" % (self.fly.linear.x, self.fly.linear.y, 209 | self.fly.linear.z) 210 | 211 | ##### Land ######## 212 | elif self._cf_state == 'land': 213 | 214 | # reduce pitch and roll to zero maintain thrust at 30000 for Crazyflie landing 215 | self.fly.linear.x = 0.0 216 | self.fly.linear.y = 0.0 217 | self.fly.linear.z = 30000.0 218 | self.thrust = 30000.0 219 | 220 | # log achievement and change state to idle 221 | rospy.loginfo("Landing achieved!") 222 | self._cf_state = 'idle' 223 | 224 | 225 | ##### Flight ######## 226 | # use x, y, and z PID controllers to move Crazyflie's position to the target position 227 | # 228 | elif self._cf_state == 'flight': 229 | 230 | # check for target pose, if none then hover 231 | if not self.target: 232 | rospy.loginfo("Hover position set!!!!!!!!!!") 233 | self.hover_position = cf_trans 234 | rospy.loginfo("Hover pose is %f %f %f", self.hover_position[0], self.hover_position[1], 235 | self.hover_position[2]) 236 | self._cf_state = 'hover' 237 | 238 | # if target pose exists, head for target 239 | else: 240 | rospy.loginfo("Flying to target!!!") 241 | rospy.loginfo("Target position is x %f, y %f, z %f", self.target_position.pose.position.x, 242 | self.target_position.pose.position.y, self.target_position.pose.position.z) 243 | 244 | # use camera -x position 245 | # calculate PID control value for Crazyflie x control 246 | self.fly.linear.x = self.m_pidX.update((self.camera_width - cf_trans[0]), 247 | (self.camera_width - self.target_position.pose.position.x)) 248 | 249 | # use camera -z position 250 | # calculate PID control value for Crazyflie y control 251 | self.fly.linear.y = self.m_pidY.update(cf_trans[2], self.target_position.pose.position.z) 252 | 253 | # use camera -y position 254 | # calculate PID control value for Crazyflie z control 255 | self.fly.linear.z = self.m_pidZ.update((self.camera_height - cf_trans[1]), 256 | (self.camera_height - self.target_position.pose.position.y + 25)) 257 | # for testing only (self.camera_height - cf_trans[1])) 258 | 259 | # record values to log file 260 | rospy.loginfo("Target_position %f %f %f", self.target_position.pose.position.x, 261 | self.target_position.pose.position.y, self.target_position.pose.position.z) 262 | rospy.loginfo("Velocity msg published x %f y %f z % f", self.fly.linear.x, self.fly.linear.y, 263 | self.fly.linear.z) 264 | 265 | # publish command velocity message to Crazyflie 266 | self.velocity_pub.publish(self.fly) 267 | 268 | # log flight state 269 | rospy.loginfo("CF_state is %s", str(self._cf_state)) 270 | 271 | 272 | if __name__ == '__main__': 273 | 274 | # initialize ROS node 275 | rospy.init_node('crazyflie_controller', anonymous=True) 276 | 277 | # set parameters on parameter server 278 | cf_frame = rospy.get_param("~frame", "crazyflie/base_link") 279 | frequency = rospy.get_param("frequency", 50.0) 280 | 281 | # start up the controller node and run until shutdown by interrupt 282 | try: 283 | controller = CF_Controller() 284 | rospy.Timer(rospy.Duration(1.0/frequency), controller.iteration) 285 | 286 | rospy.spin() # keep process alive 287 | 288 | except rospy.ROSInterruptException: 289 | rospy.loginfo("CF_controller node terminated.") 290 | 291 | -------------------------------------------------------------------------------- /Chapter_5_code/ros_robotics/meshes/l_finger_tip.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | WakiMudi 6 | OpenCOLLADA2009 x64 7 | 8 | ColladaMaya export options: 9 | bakeTransforms=0;relativePaths=0;copyTextures=0;exportTriangles=0;exportCgfxFileReferences=1; 10 | isSampling=0;curveConstrainSampling=0;removeStaticCurves=1;exportPolygonMeshes=1;exportLights=1; 11 | exportCameras=1;exportJointsAndSkin=1;exportAnimations=1;exportInvisibleNodes=0;exportDefaultCameras=0; 12 | exportTexCoords=1;exportNormals=1;exportNormalsPerVertex=1;exportVertexColors=1;exportVertexColorsPerVertex=1; 13 | exportTexTangents=0;exportTangents=0;exportReferencedMaterials=0;exportMaterialsOnly=0; 14 | exportXRefs=1;dereferenceXRefs=1;exportCameraAsLookat=0;cameraXFov=0;cameraYFov=1;doublePrecision=0 15 | 16 | file:///C:/Users/WakiMudi/Documents/maya/projects/willow_textures/scenes/finger_tip1c_med2.mb 17 | 18 | 2010-04-30T15:42:35 19 | 2010-04-30T15:42:35 20 | 21 | Y_UP 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | file3 34 | 35 | 36 | 37 | 38 | file3-surface 39 | 40 | 41 | 42 | 43 | file2 44 | 45 | 46 | 47 | 48 | file2-surface 49 | 50 | 51 | 52 | 53 | 54 | 0 0 0 1 55 | 56 | 57 | 1 1 1 1 58 | 59 | 60 | 61 | 62 | 63 | NONE 64 | 65 | 66 | 67 | 68 | 69 | 0 0 0 1 70 | 71 | 72 | 1 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 1 82 | 1 83 | 84 | 85 | NONE 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | l_finger_tip_color.tif 99 | 100 | 101 | kFile 102 | 0 103 | file3 104 | 105 | 106 | 107 | 108 | l_finger_tip_normals.tif 109 | 110 | 111 | kFile 112 | 0 113 | file2 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | -0.2559809 0.1901715 -0.0625 -0.2559809 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