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Add analog gauge reading to Piloting #165

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merged 4 commits into from
Aug 28, 2023
Merged

Add analog gauge reading to Piloting #165

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e59eed2
Add analog gauge reading to Piloting
jk-ethz Jul 28, 2023
4c66543
Add gauge reading integration and report
jk-ethz Aug 21, 2023
5b4bd07
Upgrade to new Action Type UUIDs
jk-ethz Aug 28, 2023
82f60d3
Merge branch 'projects/piloting' into projects/piloting_feature/gauge…
jk-ethz Aug 28, 2023
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6 changes: 6 additions & 0 deletions install_dependencies.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -141,6 +141,11 @@ install_object_keypoints() {
}


install_analog_gauge_reader() {
curl -sSL https://install.python-poetry.org | python3 -
}


install_control() {
#ROBOTPKG_NAMES=("robotpkg-octomap" "robotpkg-hpp-fcl")
#dpkg -s "${ROBOTPKG_NAMES[@]}" >/dev/null 2>&1 || install_robotpkg
Expand All @@ -153,6 +158,7 @@ install_piloting() {
pip3 install -r ${CATKIN_WS}/src/moma/moma_mission/requirements.txt
install_mavsdk
install_object_keypoints
install_analog_gauge_reader
info "Piloting dependencies installation successful"
}

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123 changes: 106 additions & 17 deletions moma_demos/piloting_demo/dashboard/robodash/config.json
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Original file line number Diff line number Diff line change
Expand Up @@ -238,10 +238,19 @@
"layout": {
"first": {
"first": "joystick!2htxtix",
"second": "Gauge!1ts1ysc",
"second": {
"first": "Gauge!1ts1ysc",
"second": "Indicator!3wqjpt4",
"direction": "column",
"splitPercentage": 71.85473312199811
},
"direction": "row"
},
"second": {
"first": "Plot!44yv2h0",
"second": "Plot!2wibr6x",
"direction": "row"
},
"second": "Plot!44yv2h0",
"direction": "row"
}
}
Expand All @@ -267,15 +276,50 @@
"maxAngularSpeed": 0.15
},
"Gauge!1ts1ysc": {
"path": "/smb/base_battery_state.percentage",
"path": "/smb_powerstatus/base.percentage",
"minValue": 0,
"maxValue": 1,
"colorMap": "red-yellow-green",
"colorMode": "colormap",
"gradient": ["#0000ff", "#ff00ff"],
"reverse": false
},
"Indicator!3wqjpt4": {
"path": "/smb_powerstatus/base.current",
"style": "background",
"fallbackColor": "#a0a0a0",
"fallbackLabel": "Not Charging",
"rules": [
{
"operator": ">",
"rawValue": "1",
"color": "#68e24a",
"label": "Charging"
}
]
},
"Plot!44yv2h0": {
"title": "Current",
"paths": [
{
"value": "/smb_powerstatus/base.current",
"enabled": true,
"timestampMethod": "receiveTime"
}
],
"minYValue": -20,
"maxYValue": 0,
"showXAxisLabels": true,
"showYAxisLabels": true,
"showLegend": false,
"legendDisplay": "floating",
"showPlotValuesInLegend": false,
"isSynced": true,
"xAxisVal": "timestamp",
"sidebarDimension": 240,
"followingViewWidth": 20
},
"Plot!2wibr6x": {
"title": "Wheel Speeds",
"paths": [
{
Expand Down Expand Up @@ -375,7 +419,11 @@
"layout": {
"first": "Tab!2r309x2",
"second": {
"first": "RawMessages!3fwcvto",
"first": {
"first": "RawMessages!3fwcvto",
"second": "RawMessages!3i3bk4y",
"direction": "row"
},
"second": "Publish!2619o6s",
"direction": "row"
},
Expand Down Expand Up @@ -447,9 +495,17 @@
"direction": "row"
},
"second": {
"first": "ImageViewPanel!4335kpp",
"second": "ImageViewPanel!2ewghlr",
"direction": "row"
"first": {
"first": "ImageViewPanel!4335kpp",
"second": "ImageViewPanel!3c2ynxh",
"direction": "row"
},
"second": {
"first": "ImageViewPanel!33d1a21",
"second": "ImageViewPanel!2kw23dn",
"direction": "row"
},
"direction": "column"
},
"direction": "row"
}
Expand All @@ -462,10 +518,17 @@
"diffMethod": "custom",
"diffTopicPath": "",
"showFullMessageForDiff": false,
"topicPath": "/analog_gauge_meter_reader_ml/readings"
"topicPath": "/analog_gauge_reader/readings.readings[0].value.data"
},
"RawMessages!3i3bk4y": {
"diffEnabled": false,
"diffMethod": "custom",
"diffTopicPath": "",
"showFullMessageForDiff": false,
"topicPath": "/analog_gauge_reader/readings.readings[0].unit.data"
},
"Publish!2619o6s": {
"topicName": "/analog_gauge_meter_reader_ml/read",
"topicName": "/analog_gauge_reader/read",
"datatype": "",
"buttonText": "Read Gauge",
"buttonTooltip": "",
Expand All @@ -476,7 +539,7 @@
"service": true
},
"ImageViewPanel!3wn9erh": {
"cameraTopic": "/analog_gauge_meter_reader_ml/det",
"cameraTopic": "/analog_gauge_reader/original_image",
"enabledMarkerTopics": [],
"mode": "fit",
"pan": {
Expand All @@ -489,7 +552,7 @@
"zoom": 1
},
"ImageViewPanel!c9du95": {
"cameraTopic": "/analog_gauge_meter_reader_ml/ocr_plot",
"cameraTopic": "/analog_gauge_reader/ellipse_results_final",
"enabledMarkerTopics": [],
"mode": "fit",
"pan": {
Expand All @@ -502,7 +565,7 @@
"zoom": 1
},
"ImageViewPanel!4l86y2n": {
"cameraTopic": "/analog_gauge_meter_reader_ml/seg_eroded_img",
"cameraTopic": "/analog_gauge_reader/bbox_results",
"enabledMarkerTopics": [],
"mode": "fit",
"pan": {
Expand All @@ -515,7 +578,7 @@
"zoom": 1
},
"ImageViewPanel!23p02q8": {
"cameraTopic": "/analog_gauge_meter_reader_ml/seg_rectified",
"cameraTopic": "/analog_gauge_reader/key_point_results",
"enabledMarkerTopics": [],
"mode": "fit",
"pan": {
Expand All @@ -528,7 +591,7 @@
"zoom": 1
},
"ImageViewPanel!2j0sjvk": {
"cameraTopic": "/analog_gauge_meter_reader_ml/original",
"cameraTopic": "/analog_gauge_reader/ellipse_results_key_points",
"enabledMarkerTopics": [],
"mode": "fit",
"pan": {
Expand All @@ -541,7 +604,33 @@
"zoom": 1
},
"ImageViewPanel!4335kpp": {
"cameraTopic": "/analog_gauge_meter_reader_ml/scale_skeleton",
"cameraTopic": "/analog_gauge_reader/segmentation_results",
"enabledMarkerTopics": [],
"mode": "fit",
"pan": {
"x": 0,
"y": 0
},
"rotation": 0,
"synchronize": false,
"transformMarkers": false,
"zoom": 1
},
"ImageViewPanel!3c2ynxh": {
"cameraTopic": "/analog_gauge_reader/image_rotated_zero_point",
"enabledMarkerTopics": [],
"mode": "fit",
"pan": {
"x": 0,
"y": 0
},
"rotation": 0,
"synchronize": false,
"transformMarkers": false,
"zoom": 1
},
"ImageViewPanel!33d1a21": {
"cameraTopic": "/analog_gauge_reader/ellipse_results_projected",
"enabledMarkerTopics": [],
"mode": "fit",
"pan": {
Expand All @@ -553,8 +642,8 @@
"transformMarkers": false,
"zoom": 1
},
"ImageViewPanel!2ewghlr": {
"cameraTopic": "/analog_gauge_meter_reader_ml/ocr_plot_inliers",
"ImageViewPanel!2kw23dn": {
"cameraTopic": "/analog_gauge_reader/reading_line_fit",
"enabledMarkerTopics": [],
"mode": "fit",
"pan": {
Expand Down
16 changes: 6 additions & 10 deletions moma_demos/piloting_demo/launch/perception.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -42,16 +42,12 @@
</include>
</group>

<group ns="gauge">
<!--node name="gauge_detection" pkg="gauge_detection_ros" type="gauge_detection.py" output="screen"-->

<node name="gauge_perception" pkg="object_keypoints_ros" type="keypoints_perception.py" output="screen">
<param name="base_frame" value="$(arg base_frame)"/>
<param name="camera_frame" value="$(arg camera_frame)"/>
<param name="image_topic" value="$(arg image_topic)"/>
<param name="depth_topic" value="$(arg depth_topic)"/>
<param name="calibration_topic" value="$(arg calibration_topic)"/>
</node>
<group>
<include file="$(find analog_gauge_reader)/launch/analog_gauge_reader.launch">
<arg name="image_topic" value="/hand_eye/color/image_raw"/>
<arg name="latch" value="true"/>
<arg name="round_decimals" value="1"/>
</include>
</group>

<group unless="$(arg sim)">
Expand Down
1 change: 1 addition & 0 deletions moma_demos/piloting_demo/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
<!-- perception dependencies -->
<exec_depend>moma_sensor_tools</exec_depend>
<exec_depend>object_keypoints_ros</exec_depend>
<exec_depend>analog_gauge_reader</exec_depend>
<exec_depend>realsense2_camera</exec_depend>
<exec_depend>realsense2_description</exec_depend>

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4 changes: 3 additions & 1 deletion moma_demos/piloting_demo/scripts/record_bag.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -12,4 +12,6 @@ rosbag record --repeat-latched \
/valve_continue \
/valve_path_inverted \
/valve_angle \
/photos_taken
/photos_taken \
/gauges_read \
/analog_gauge_reader/ellipse_results_final
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