Skip to content

Commit 8e920d7

Browse files
LeonJungLeonJung
committed
fixed: automatic parking on vision processing recovering
1 parent 3ebfdee commit 8e920d7

File tree

7 files changed

+951
-0
lines changed

7 files changed

+951
-0
lines changed

‎turtlebot3_automatic_parking_vision/CMakeLists.txt‎

Lines changed: 55 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,55 @@
1+
################################################################################
2+
# CMake
3+
################################################################################
4+
cmake_minimum_required(VERSION 2.8.3)
5+
project(turtlebot3_automatic_parking_vision)
6+
7+
################################################################################
8+
# Packages
9+
################################################################################
10+
find_package(catkin REQUIRED COMPONENTS
11+
rospy
12+
std_msgs
13+
sensor_msgs
14+
geometry_msgs
15+
nav_msgs
16+
ar_pose
17+
)
18+
19+
################################################################################
20+
# Declare ROS messages, services and actions
21+
################################################################################
22+
23+
################################################################################
24+
# Declare ROS dynamic reconfigure parameters
25+
################################################################################
26+
27+
################################################################################
28+
# Catkin specific configuration
29+
################################################################################
30+
catkin_package(
31+
CATKIN_DEPENDS rospy std_msgs sensor_msgs geometry_msgs nav_msgs ar_pose
32+
)
33+
34+
################################################################################
35+
# Build
36+
################################################################################
37+
include_directories(
38+
${catkin_INCLUDE_DIRS}
39+
)
40+
41+
################################################################################
42+
# Install
43+
################################################################################
44+
catkin_install_python(PROGRAMS
45+
# scripts/automatic_parking_vision.py
46+
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
47+
)
48+
49+
install(DIRECTORY rviz
50+
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
51+
)
52+
53+
################################################################################
54+
# Test
55+
################################################################################

‎turtlebot3_automatic_parking_vision/LICENSE‎

Lines changed: 201 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,201 @@
1+
Apache License
2+
Version 2.0, January 2004
3+
http://www.apache.org/licenses/
4+
5+
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
6+
7+
1. Definitions.
8+
9+
"License" shall mean the terms and conditions for use, reproduction,
10+
and distribution as defined by Sections 1 through 9 of this document.
11+
12+
"Licensor" shall mean the copyright owner or entity authorized by
13+
the copyright owner that is granting the License.
14+
15+
"Legal Entity" shall mean the union of the acting entity and all
16+
other entities that control, are controlled by, or are under common
17+
control with that entity. For the purposes of this definition,
18+
"control" means (i) the power, direct or indirect, to cause the
19+
direction or management of such entity, whether by contract or
20+
otherwise, or (ii) ownership of fifty percent (50%) or more of the
21+
outstanding shares, or (iii) beneficial ownership of such entity.
22+
23+
"You" (or "Your") shall mean an individual or Legal Entity
24+
exercising permissions granted by this License.
25+
26+
"Source" form shall mean the preferred form for making modifications,
27+
including but not limited to software source code, documentation
28+
source, and configuration files.
29+
30+
"Object" form shall mean any form resulting from mechanical
31+
transformation or translation of a Source form, including but
32+
not limited to compiled object code, generated documentation,
33+
and conversions to other media types.
34+
35+
"Work" shall mean the work of authorship, whether in Source or
36+
Object form, made available under the License, as indicated by a
37+
copyright notice that is included in or attached to the work
38+
(an example is provided in the Appendix below).
39+
40+
"Derivative Works" shall mean any work, whether in Source or Object
41+
form, that is based on (or derived from) the Work and for which the
42+
editorial revisions, annotations, elaborations, or other modifications
43+
represent, as a whole, an original work of authorship. For the purposes
44+
of this License, Derivative Works shall not include works that remain
45+
separable from, or merely link (or bind by name) to the interfaces of,
46+
the Work and Derivative Works thereof.
47+
48+
"Contribution" shall mean any work of authorship, including
49+
the original version of the Work and any modifications or additions
50+
to that Work or Derivative Works thereof, that is intentionally
51+
submitted to Licensor for inclusion in the Work by the copyright owner
52+
or by an individual or Legal Entity authorized to submit on behalf of
53+
the copyright owner. For the purposes of this definition, "submitted"
54+
means any form of electronic, verbal, or written communication sent
55+
to the Licensor or its representatives, including but not limited to
56+
communication on electronic mailing lists, source code control systems,
57+
and issue tracking systems that are managed by, or on behalf of, the
58+
Licensor for the purpose of discussing and improving the Work, but
59+
excluding communication that is conspicuously marked or otherwise
60+
designated in writing by the copyright owner as "Not a Contribution."
61+
62+
"Contributor" shall mean Licensor and any individual or Legal Entity
63+
on behalf of whom a Contribution has been received by Licensor and
64+
subsequently incorporated within the Work.
65+
66+
2. Grant of Copyright License. Subject to the terms and conditions of
67+
this License, each Contributor hereby grants to You a perpetual,
68+
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
69+
copyright license to reproduce, prepare Derivative Works of,
70+
publicly display, publicly perform, sublicense, and distribute the
71+
Work and such Derivative Works in Source or Object form.
72+
73+
3. Grant of Patent License. Subject to the terms and conditions of
74+
this License, each Contributor hereby grants to You a perpetual,
75+
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
76+
(except as stated in this section) patent license to make, have made,
77+
use, offer to sell, sell, import, and otherwise transfer the Work,
78+
where such license applies only to those patent claims licensable
79+
by such Contributor that are necessarily infringed by their
80+
Contribution(s) alone or by combination of their Contribution(s)
81+
with the Work to which such Contribution(s) was submitted. If You
82+
institute patent litigation against any entity (including a
83+
cross-claim or counterclaim in a lawsuit) alleging that the Work
84+
or a Contribution incorporated within the Work constitutes direct
85+
or contributory patent infringement, then any patent licenses
86+
granted to You under this License for that Work shall terminate
87+
as of the date such litigation is filed.
88+
89+
4. Redistribution. You may reproduce and distribute copies of the
90+
Work or Derivative Works thereof in any medium, with or without
91+
modifications, and in Source or Object form, provided that You
92+
meet the following conditions:
93+
94+
(a) You must give any other recipients of the Work or
95+
Derivative Works a copy of this License; and
96+
97+
(b) You must cause any modified files to carry prominent notices
98+
stating that You changed the files; and
99+
100+
(c) You must retain, in the Source form of any Derivative Works
101+
that You distribute, all copyright, patent, trademark, and
102+
attribution notices from the Source form of the Work,
103+
excluding those notices that do not pertain to any part of
104+
the Derivative Works; and
105+
106+
(d) If the Work includes a "NOTICE" text file as part of its
107+
distribution, then any Derivative Works that You distribute must
108+
include a readable copy of the attribution notices contained
109+
within such NOTICE file, excluding those notices that do not
110+
pertain to any part of the Derivative Works, in at least one
111+
of the following places: within a NOTICE text file distributed
112+
as part of the Derivative Works; within the Source form or
113+
documentation, if provided along with the Derivative Works; or,
114+
within a display generated by the Derivative Works, if and
115+
wherever such third-party notices normally appear. The contents
116+
of the NOTICE file are for informational purposes only and
117+
do not modify the License. You may add Your own attribution
118+
notices within Derivative Works that You distribute, alongside
119+
or as an addendum to the NOTICE text from the Work, provided
120+
that such additional attribution notices cannot be construed
121+
as modifying the License.
122+
123+
You may add Your own copyright statement to Your modifications and
124+
may provide additional or different license terms and conditions
125+
for use, reproduction, or distribution of Your modifications, or
126+
for any such Derivative Works as a whole, provided Your use,
127+
reproduction, and distribution of the Work otherwise complies with
128+
the conditions stated in this License.
129+
130+
5. Submission of Contributions. Unless You explicitly state otherwise,
131+
any Contribution intentionally submitted for inclusion in the Work
132+
by You to the Licensor shall be under the terms and conditions of
133+
this License, without any additional terms or conditions.
134+
Notwithstanding the above, nothing herein shall supersede or modify
135+
the terms of any separate license agreement you may have executed
136+
with Licensor regarding such Contributions.
137+
138+
6. Trademarks. This License does not grant permission to use the trade
139+
names, trademarks, service marks, or product names of the Licensor,
140+
except as required for reasonable and customary use in describing the
141+
origin of the Work and reproducing the content of the NOTICE file.
142+
143+
7. Disclaimer of Warranty. Unless required by applicable law or
144+
agreed to in writing, Licensor provides the Work (and each
145+
Contributor provides its Contributions) on an "AS IS" BASIS,
146+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
147+
implied, including, without limitation, any warranties or conditions
148+
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
149+
PARTICULAR PURPOSE. You are solely responsible for determining the
150+
appropriateness of using or redistributing the Work and assume any
151+
risks associated with Your exercise of permissions under this License.
152+
153+
8. Limitation of Liability. In no event and under no legal theory,
154+
whether in tort (including negligence), contract, or otherwise,
155+
unless required by applicable law (such as deliberate and grossly
156+
negligent acts) or agreed to in writing, shall any Contributor be
157+
liable to You for damages, including any direct, indirect, special,
158+
incidental, or consequential damages of any character arising as a
159+
result of this License or out of the use or inability to use the
160+
Work (including but not limited to damages for loss of goodwill,
161+
work stoppage, computer failure or malfunction, or any and all
162+
other commercial damages or losses), even if such Contributor
163+
has been advised of the possibility of such damages.
164+
165+
9. Accepting Warranty or Additional Liability. While redistributing
166+
the Work or Derivative Works thereof, You may choose to offer,
167+
and charge a fee for, acceptance of support, warranty, indemnity,
168+
or other liability obligations and/or rights consistent with this
169+
License. However, in accepting such obligations, You may act only
170+
on Your own behalf and on Your sole responsibility, not on behalf
171+
of any other Contributor, and only if You agree to indemnify,
172+
defend, and hold each Contributor harmless for any liability
173+
incurred by, or claims asserted against, such Contributor by reason
174+
of your accepting any such warranty or additional liability.
175+
176+
END OF TERMS AND CONDITIONS
177+
178+
APPENDIX: How to apply the Apache License to your work.
179+
180+
To apply the Apache License to your work, attach the following
181+
boilerplate notice, with the fields enclosed by brackets "{}"
182+
replaced with your own identifying information. (Don't include
183+
the brackets!) The text should be enclosed in the appropriate
184+
comment syntax for the file format. We also recommend that a
185+
file or class name and description of purpose be included on the
186+
same "printed page" as the copyright notice for easier
187+
identification within third-party archives.
188+
189+
Copyright {yyyy} {name of copyright owner}
190+
191+
Licensed under the Apache License, Version 2.0 (the "License");
192+
you may not use this file except in compliance with the License.
193+
You may obtain a copy of the License at
194+
195+
http://www.apache.org/licenses/LICENSE-2.0
196+
197+
Unless required by applicable law or agreed to in writing, software
198+
distributed under the License is distributed on an "AS IS" BASIS,
199+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
200+
See the License for the specific language governing permissions and
201+
limitations under the License.

‎turtlebot3_automatic_parking_vision/README.md‎

Lines changed: 9 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,9 @@
1+
# TurtleBot3 Automatic Parking - AR Marker detection via Vision Processing version
2+
3+
This needs:
4+
5+
``` bash
6+
$ cd catkin_ws/src/
7+
$ git clone https://github.com/ar-tools/ar_tools.git
8+
$ cd catkin_ws/ && catkin_make
9+
```

‎turtlebot3_automatic_parking_vision/launch/turtlebot3_automatic_parking_vision.launch‎

Lines changed: 36 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,36 @@
1+
<launch>
2+
<!-- raspicam_node package should be downloaded and be launched in the raspberry pi before launch this file -->
3+
<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
4+
5+
<include file="$(find turtlebot3_bringup)/launch/includes/description.launch.xml">
6+
<arg name="model" value="$(arg model)" />
7+
</include>
8+
9+
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
10+
<param name="use_gui" value="true"/>
11+
<param name="rate" value="50"/>
12+
</node>
13+
14+
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
15+
<param name="publish_frequency" type="double" value="50.0" />
16+
</node>
17+
18+
<node pkg="rviz" type="rviz" name="rviz"
19+
args="-d $(find turtlebot3_automatic_parking_vision)/rviz/turtlebot3_automatic_parking_vision.rviz"/>
20+
<node pkg="tf" type="static_transform_publisher" name="camera_rgb_optical_frame_to_cam"
21+
args="0 0 0 0 0 0 camera_rgb_optical_frame camera 10" />
22+
<node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false"
23+
output="screen">
24+
<remap from="/camera/image_raw" to="/raspicam_node/image" />
25+
<remap from="/camera/camera_info" to="/raspicam_node/camera_info"/>
26+
<param name="marker_pattern" type="string"
27+
value="$(find ar_pose)/data/4x4/4x4_55.patt"/>
28+
<param name="marker_width" type="double" value="60.0"/>
29+
<param name="marker_center_x" type="double" value="0.0"/>
30+
<param name="marker_center_y" type="double" value="0.0"/>
31+
<param name="threshold" type="int" value="100"/>
32+
<param name="use_history" type="bool" value="true"/>
33+
</node>
34+
35+
<node pkg="turtlebot3_automatic_parking_vision" type="automatic_parking_vision" name="automatic_parking_vision" />
36+
</launch>

0 commit comments

Comments
 (0)