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* Added skeleton for label image drawer * WIP Added a labels_manager * Added label navigation to frontend * Added sync between labels stored by label_manager and frontend * Added label addition and move to frontend * Added label editing to frontend * Remove unrequired rependency * Updated dependency
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@@ -2,73 +2,70 @@ name: pull-request-audit | |
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| on: | ||
| push: | ||
| branches: [ main ] | ||
| branches: [main] | ||
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| pull_request: | ||
| branches: [ main ] | ||
| branches: [main] | ||
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| workflow_dispatch: | ||
| branches: [ main ] | ||
| branches: [main] | ||
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| jobs: | ||
| build: | ||
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| runs-on: ubuntu-20.04 | ||
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| steps: | ||
| - uses: actions/checkout@v2 | ||
| with: | ||
| submodules: recursive | ||
| path: catkin_ws/src/opentera-webrtc-ros | ||
| - uses: ros-tooling/[email protected] | ||
| with: | ||
| required-ros-distributions: noetic | ||
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| - uses: actions/setup-node@v2 | ||
| with: | ||
| node-version: '14' | ||
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| - name: Install system dependencies | ||
| run: | | ||
| sudo apt-get update | ||
| sudo apt-get install nodejs ros-noetic-turtlebot3 ros-noetic-turtlebot3-gazebo ros-noetic-dwa-local-planner ros-noetic-rtabmap-ros | ||
| sudo apt-get install libglib2.0-dev libgtk-3-dev libpulse-dev libasound2-dev | ||
| sudo apt-get install python3-pip portaudio19-dev | ||
| sudo apt-get install nodejs npm | ||
| sudo apt-get install build-essential gfortran texinfo libasound2-dev | ||
| - name: Clone audio_utils in ROS workspace | ||
| working-directory: catkin_ws/src | ||
| run: | | ||
| source /opt/ros/noetic/setup.bash | ||
| git clone https://github.com/introlab/audio_utils.git --recurse-submodules | ||
| ls -l | ||
| - name: Install Python requirements for OpenTera client | ||
| working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_client_ros | ||
| run: | | ||
| ls -l | ||
| python3 -m pip install -r requirements.txt | ||
| - name: Install Python requirements for Signaling server | ||
| working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_webrtc_ros/opentera-webrtc/signaling-server | ||
| run: | | ||
| ls -l | ||
| python3 -m pip install -r requirements.txt | ||
| - uses: actions/checkout@v2 | ||
| with: | ||
| submodules: recursive | ||
| path: catkin_ws/src/opentera-webrtc-ros | ||
| - uses: ros-tooling/[email protected] | ||
| with: | ||
| required-ros-distributions: noetic | ||
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| - uses: actions/setup-node@v2 | ||
| with: | ||
| node-version: "14" | ||
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| - name: Install system dependencies | ||
| run: | | ||
| sudo apt-get update | ||
| sudo apt-get install nodejs ros-noetic-turtlebot3 ros-noetic-turtlebot3-gazebo ros-noetic-dwa-local-planner ros-noetic-rtabmap-ros | ||
| sudo apt-get install libglib2.0-dev libgtk-3-dev libpulse-dev libasound2-dev | ||
| sudo apt-get install python3-pip portaudio19-dev | ||
| sudo apt-get install nodejs npm | ||
| sudo apt-get install build-essential gfortran texinfo libasound2-dev | ||
| - name: Clone audio_utils in ROS workspace | ||
| working-directory: catkin_ws/src | ||
| run: | | ||
| source /opt/ros/noetic/setup.bash | ||
| git clone https://github.com/introlab/audio_utils.git --recurse-submodules | ||
| ls -l | ||
| - name: Install Python requirements for OpenTera client | ||
| working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_client_ros | ||
| run: | | ||
| ls -l | ||
| python3 -m pip install -r requirements.txt | ||
| - name: Install the VUE.js frontend | ||
| working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_webrtc_demos/opentera-webrtc-teleop-frontend/teleop-vue | ||
| run: | | ||
| ls -l | ||
| npm --version | ||
| node --version | ||
| npm install | ||
| npm run build | ||
| - name: Compile packages in ROS workspace | ||
| working-directory: catkin_ws | ||
| run: | | ||
| source /opt/ros/noetic/setup.bash | ||
| catkin_make -j1 | ||
| - name: Install Python requirements for Signaling server | ||
| working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_webrtc_ros/opentera-webrtc/signaling-server | ||
| run: | | ||
| ls -l | ||
| python3 -m pip install -r requirements.txt | ||
| - name: Install the VUE.js frontend | ||
| working-directory: catkin_ws/src/opentera-webrtc-ros/opentera_webrtc_demos/opentera-webrtc-teleop-frontend/teleop-vue | ||
| run: | | ||
| ls -l | ||
| npm --version | ||
| node --version | ||
| npm install | ||
| npm run build | ||
| - name: Compile packages in ROS workspace | ||
| working-directory: catkin_ws | ||
| run: | | ||
| source /opt/ros/noetic/setup.bash | ||
| catkin_make -j1 | ||
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@@ -30,3 +30,7 @@ | |
| *.exe | ||
| *.out | ||
| *.app | ||
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| # Compiled Python | ||
| __pycache__ | ||
| *.pyc | ||
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32 changes: 32 additions & 0 deletions
32
map_image_generator/include/map_image_generator/drawers/LabelImageDrawer.h
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| @@ -0,0 +1,32 @@ | ||
| #ifndef LABEL_IMAGE_DRAWER_H | ||
| #define LABEL_IMAGE_DRAWER_H | ||
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| #include "map_image_generator/drawers/ImageDrawer.h" | ||
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| #include <opentera_webrtc_ros_msgs/Label.h> | ||
| #include <opentera_webrtc_ros_msgs/LabelArray.h> | ||
| #include <ros/ros.h> | ||
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| namespace map_image_generator | ||
| { | ||
| class LabelImageDrawer : public ImageDrawer | ||
| { | ||
| ros::Subscriber m_labelArraySubscriber; | ||
| opentera_webrtc_ros_msgs::LabelArray::ConstPtr m_lastLabelArray; | ||
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| public: | ||
| LabelImageDrawer(const Parameters& parameters, ros::NodeHandle& nodeHandle, | ||
| tf::TransformListener& tfListener); | ||
| ~LabelImageDrawer() override; | ||
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| void draw(cv::Mat& image) override; | ||
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| private: | ||
| void drawLabel(const opentera_webrtc_ros_msgs::Label& label, cv::Mat& image, | ||
| tf::Transform& transform); | ||
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| void labelArrayCallback( | ||
| const opentera_webrtc_ros_msgs::LabelArray::ConstPtr& labelArray); | ||
| }; | ||
| } | ||
| #endif |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,65 @@ | ||
| #include "map_image_generator/drawers/LabelImageDrawer.h" | ||
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| #include <opencv2/imgproc.hpp> | ||
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| using namespace map_image_generator; | ||
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| LabelImageDrawer::LabelImageDrawer(const Parameters& parameters, | ||
| ros::NodeHandle& nodeHandle, | ||
| tf::TransformListener& tfListener) | ||
| : ImageDrawer(parameters, nodeHandle, tfListener), | ||
| m_labelArraySubscriber{m_nodeHandle.subscribe( | ||
| "stored_labels", 1, &LabelImageDrawer::labelArrayCallback, this)} | ||
| { | ||
| } | ||
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| LabelImageDrawer::~LabelImageDrawer() = default; | ||
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| void LabelImageDrawer::labelArrayCallback( | ||
| const opentera_webrtc_ros_msgs::LabelArray::ConstPtr& labelArray) | ||
| { | ||
| m_lastLabelArray = labelArray; | ||
| } | ||
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| void LabelImageDrawer::draw(cv::Mat& image) | ||
| { | ||
| if (!m_lastLabelArray) | ||
| { | ||
| return; | ||
| } | ||
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| for (const auto& label : m_lastLabelArray->labels) | ||
| { | ||
| auto tf = getTransformInRef(label.pose.header.frame_id); | ||
| if (tf) | ||
| { | ||
| drawLabel(label, image, *tf); | ||
| } | ||
| } | ||
| } | ||
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| void LabelImageDrawer::drawLabel(const opentera_webrtc_ros_msgs::Label& label, | ||
| cv::Mat& image, tf::Transform& transform) | ||
| { | ||
| const cv::Scalar& color = m_parameters.labelColor(); | ||
| int size = m_parameters.labelSize(); | ||
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| tf::Pose labelPose; | ||
| tf::poseMsgToTF(label.pose.pose, labelPose); | ||
| labelPose = transform * labelPose; | ||
| adjustTransformForRobotRef(labelPose); | ||
| double yaw = tf::getYaw(labelPose.getRotation()); | ||
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| int startX, startY; | ||
| convertTransformToMapCoordinates(labelPose, startX, startY); | ||
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| int endX = static_cast<int>(startX + size * cos(yaw)); | ||
| int endY = static_cast<int>(startY + size * sin(yaw)); | ||
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| cv::drawMarker(image, cv::Point(startX, startY), color, cv::MARKER_DIAMOND, | ||
| static_cast<int>(ceil(size / 4.0)), | ||
| static_cast<int>(ceil(size / 12.0)), cv::FILLED); | ||
| cv::putText(image, label.name, cv::Point(startX, startY), cv::FONT_HERSHEY_DUPLEX, | ||
| 0.5, m_parameters.textColor(), 1); | ||
| } |
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Submodule opentera-webrtc-teleop-frontend
updated
18 files
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