Au core/migration

.gitignore

@@ -0,0 +1,3 @@
+build/
+log/
+install/

README.md

@@ -1 +1,30 @@
-# auri_v2000
+# auri_v2000
+In progress:
+au_core
+
+TODO:
+au_control
+au_geometry
+au_localization
+au_mapping
+au_missioncontrol
+au_motionplanner
+au_planner
+au_sensors
+au_sonar
+au_vision
+
+# Installation
+Second link is for debian packages but come back to first link for complete installation
+https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Install-Binary/
+https://index.ros.org/doc/ros2/Installation/Crystal/Linux-Install-Debians/
+
+# Building packages
+https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/
+Colcon is used instead of catkin for ROS2. Run colcon build in the root directory to build it.
+
+# Migrating ROS1 source code
+https://index.ros.org/doc/ros2/Contributing/Migration-Guide/
+this article gives a general look into how CMakeLists and the build system are different and how to change them accordingly. It also gives a good intro into source code conversion with pubsub equivalents.
+
+All packages used in au_core are currently supported in ROS2.

src/au_core/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10.2)
+
+project(au_core)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+#set(CMAKE_CXX_EXTENSIONS OFF)
+#add_compile_options(-Wall -Wextra -Werror)\
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+#find_package(message_generation REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(angles REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+include_directories(include)
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+include_directories(${Eigen_INCLUDE_DIRS})
+find_package(Eigen REQUIRED)
+find_package(yaml-cpp)
+
+
+
+#catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+
+
+
+#rosidl_generate_interfaces(
+#  DEPENDENCIES
+#  std_msgs
+#  geometry_msgs
+#)
+
+
+
+#ament_export_dependencies(message_runtime roslib)
+#ament_export_include_directories(include)
+#ament_export_libraries(utils)
+#catkin_package(
+#    INCLUDE_DIRS include
+#    LIBRARIES utils
+#    CATKIN_DEPENDS message_runtime roslib
+#)
+
+###########
+## Build ##
+###########
+
+#include_directories(
+#    include
+#)
+
+#Build for utils library
+add_library(utils
+    src/camera_info.cpp
+    src/loader_util.cpp
+    src/rolling_stats.cpp
+    src/vision_util.cpp
+    src/timeout_guard.cpp
+    src/math_util.cpp)
+ament_target_dependencies(utils
+    "rclcpp"
+    "rclcpp_components")
+
+#add_dependencies(utils
+#    ${catkin_EXPORTED_TARGETS}
+#)
+target_link_libraries(utils
+    yaml-cpp
+)
+
+#############
+##  Tests  ##
+#############
+
+if(BUILD_TESTING)
+    find_package(ament_cmake_gtest REQUIRED)
+    ament_add_gtest(rolling_stats_tests
+            test/rolling_stats_tests.cpp)
+    ament_target_dependencies(rolling_stats_tests
+            "rclcpp"
+            "std_msgs")
+    target_link_libraries(rolling_stats_tests utils)
+
+    ament_add_gtest(math_utils_tests
+            test/math_utils_tests.cpp)
+    target_link_libraries(math_utils_tests utils)
+
+    ament_add_gtest(loader_util_tests
+            test/loader_util_tests.cpp)
+    target_link_libraries(loader_util_tests utils)
+
+    #ament_add_gtest(test/loader_util_tests.py)
+endif()
+
+#############
+## Install ##
+#############
+
+install(TARGETS utils
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+  FILES_MATCHING PATTERN "*.h|*.hpp"
+  PATTERN ".svn" EXCLUDE
+)
+
+ament_export_include_directories(include)
+ament_export_dependencies(std_msgs)
+ament_package()

src/au_core/README.md

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+# au_core
+
+## Messages
+Custom ros messages for the auv.
+
+### Motors (msg/MC*.msg)
+Message to transfer motor data. 
+
+#### Raw Motor Speed (msg/MCRaw.msg)
+Feedback from the motor node
+
+##### Format
+```
+std_msgs/Header header
+  uint32 seq
+  time stamp
+  string frame_id
+float32 horLeft
+float32 horRight
+float32 verLeft
+float32 verRight
+float32 strFront
+float32 strBack
+```
+
+#### Setting Relative Motor Speed (msg/MCBaseSpeed.msg | msg/MCDiff.msg)
+
+Set the base speed of the motor using `MCBaseSpeed`
+
+##### Format
+```
+std_msgs/Header header
+  uint32 seq
+  time stamp
+  string frame_id
+float32 baseSpeed
+```
+
+Set the differential between the two motors using `MCDiff`
+
+##### Format
+```
+std_msgs/Header header
+  uint32 seq
+  time stamp
+  string frame_id
+float32 differential
+```
+
+### Kill Switch (msg/KillSig.msg)
+
+Status of the kill switch
+
+##### Format
+```
+uint8 KILL_ENGAGE=0
+uint8 KILL_DISENGAGE=1
+uint8 kill
+```
+
+### Depth Sensor (msg/Depth.msg)
+
+Data published from the MS5837 depth sensor. Absolute pressure is in Pascals and depth is in metres.
+
+##### Format
+```
+std_msgs/Header header
+  uint32 seq
+  time stamp
+  string frame_id
+float32 abs_pressure
+float32 depth
+```
+
+### Regions of Interest (msg/Roi*.msg)
+Messages containing ROIs for the tracker
+
+#### Single Region of Interest (msg/Roi.msg)
+
+##### Format
+```
+# Identification information about the tracked ROI
+string[] tags
+float32 confidence
+float32 actualHeight
+float32 actualWidth
+
+# Pixel locations in image as a complex polygon
+geometry_msgs/Point[] polygon
+
+# Bounding box for the polygon
+geometry_msgs/Point   topLeft   # Aligned to the image
+uint32 width                    # Bounding box width in pixels
+uint32 height                   # Bounding box height in pixels
+
+# Estimated position in real coordinates relative to the robot
+# Displacement is represented in meters
+# hasOrientation Indicates if there an orientation is specified
+# in the pose
+geometry_msgs/Pose poseEstimate
+uint8 hasOrientation
+```
+
+#### Array of Regions of Interest (msg/RoiArray.msg)
+
+##### Format
+```
+Roi[] regionsOfInterest
+```
+
+---
+
+#### Camera rules file
+###### 40-firefly.rules
+```
+SUBSYSTEM=="usb", ATTRS{idVendor}=="1e10", ATTRS{idProduct}=="2002", GROUP="plug dev", SYMLINK+="firefly", MODE:="0666"
+```
+## laptopGitStart.sh
+Pulls or clones au_core, au_vision, and au_missioncontrol
+
+##### Format
+```
+To use (while in scripts folder):
+chmod u+x laptopGitStart.sh
+./laptopGitStart.sh
+```
+## odroidGitStart.sh / tegraGitStart.sh
+```
+For pulling repos on the tegra/odroid
+Usage is the same as laptopGitStart.sh
+
+```
+
+## all.sh
+The fastest way fetch all of the ARVP code. Pulls all repos and installs all system dependencies. Usage: make sure you have [setup ssh keys on github](https://help.github.com/articles/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent/) then execute the following:
+```
+$ cd ~/catkin_ws/src/
+$ git clone git@github.com:arvpUofA/au_core.git
+$ ./au_core/scripts/all.sh
+```
+
+
+## ROS Bag
+The `record_bag.launch` file is setup to save cameras and sensor
+topics into separate bag files. Splits the camera bag files into
+3 GB bags. The following args can be set
+* *record_cameras*: true to enable bagging camera feeds
+* *bag_name*: the name to assign the bag file. Bag files are automatically
+prefixed with the current timestamp
+* *path*: directory to store the bag files eg. /path/to/usb/drive
+
+Example usage:
+
+`roslaunch au_core record_bag.launch path:=/media/usb bag_name:=2017_07_30` 
+
+The defaults are intended for logging on the TX2 using an external
+SSD drive mounted at `/media/ssd`. To mount the ssd run:
+```
+sudo mount /dev/sda1 /media/ssd
+```
+
+The `extract_images_from_bag.launch` file is to extract images from a bag
+file into a both a video, and a folder of images.
+The following args can be set:
+* *bag*:           bag file (absolute or relative to cwd)
+* *fps*:           fps for the video file. Leave blank for similar rate to bag file
+* *image*:         image topic
+* *output_dir*:    directory images and video should be output. images are saved
+                   to ${output_dir}/images/ . Video is saved to ${output_dir}/
+* *image_name*:    Name prefix for the image. Defaults to the name of the bag file
+                   Images are saved as ${image_name}%05d.jpg
+
+Example usage:
+Please take a look at the [launch file](https://github.com/arvpUofA/au_everything/tree/master/catkin_ws/src/au_core/launch/extract_images_from_bag.launch) for example usage/more info