Merge pull request #55 from tue-robotics/feature/51_publish_heartbeat

Feature/51 publish heartbeat

Author: reinzor

dependencies.rosinstall

@@ -1 +0,0 @@
-

keras_ros/CMakeLists.txt

@@ -1,11 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(keras_ros)
 
-find_package(catkin REQUIRED COMPONENTS
-  rospy
-  image_recognition_msgs
-  image_recognition_util
-)
+find_package(catkin REQUIRED)
 
 catkin_python_setup()
 

keras_ros/README.md

@@ -8,7 +8,7 @@ See https://github.com/tue-robotics/image_recognition for installation instructi
 
 ## ROS Node (face_properties_node)
 
-Age and gender estimation with use of WideResNet from https://github.com/yu4u/age-gender-estimation. You can download the pre-trained model here: https://github.com/yu4u/age-gender-estimation/releases/download/v0.5/weights.18-4.06.hdf5
+Age and gender estimation with use of WideResNet from https://github.com/yu4u/age-gender-estimation. You can download the pre-trained model here: https://github.com/yu4u/age-gender-estimation/releases/download/v0.5/weights.28-3.73.hdf5
 
 ```
 rosrun keras_ros face_properties_node _weights_file_path:=[path_to_model]
@@ -44,4 +44,4 @@ Output:
 An error occurred: softmax() got an unexpected keyword argument 'axis'
 ```
 
-Make sure you have tensorflow version >= 1.5.
+Make sure you have tensorflow version >= 1.5.

keras_ros/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>keras_ros</name>
   <version>0.0.1</version>
   <description>The keras_ros package</description>
@@ -9,14 +9,13 @@
   <license>TODO</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>image_recognition_msgs</build_depend>
-  <build_depend>image_recognition_util</build_depend>
 
-  <run_depend>rospy</run_depend>
-  <run_depend>image_recognition_msgs</run_depend>
-  <run_depend>python-keras-pip</run_depend>
-  <run_depend>python-numpy</run_depend>
-  <run_depend>python-opencv</run_depend>
-  <run_depend>python-tensorflow-pip</run_depend>
+  <exec_depend>diagnostic_updater</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>image_recognition_msgs</exec_depend>
+  <exec_depend>image_recognition_util</exec_depend>
+  <exec_depend>python-keras-pip</exec_depend>
+  <exec_depend>python-numpy</exec_depend>
+  <exec_depend>python-opencv</exec_depend>
+  <exec_depend>python-tensorflow-pip</exec_depend>
 </package>

keras_ros/scripts/face_properties_node

@@ -4,6 +4,7 @@ import os
 import sys
 
 import cv2
+import diagnostic_updater
 import rospy
 from cv_bridge import CvBridge, CvBridgeError
 from image_recognition_msgs.msg import FaceProperties
@@ -89,6 +90,10 @@ if __name__ == '__main__':
 
     try:
         WideResnetFaceProperties(weights_file_path, img_size, depth, width, save_images_folder)
+        updater = diagnostic_updater.Updater()
+        updater.setHardwareID("none")
+        updater.add(diagnostic_updater.Heartbeat())
+        rospy.Timer(rospy.Duration(1), lambda event: updater.force_update())
         rospy.spin()
     except Exception as e:
         rospy.logfatal(e)

openface_ros/package.xml

@@ -19,5 +19,6 @@
   <run_depend>image_recognition_util</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>python-numpy</run_depend>
+  <run_depend>diagnostic_updater</run_depend>
 
 </package>

openface_ros/scripts/face_recognition_node

@@ -1,19 +1,18 @@
 #!/usr/bin/env python
 
+import os
+import sys
+
+import diagnostic_updater
 import rospy
 from cv_bridge import CvBridge, CvBridgeError
-
-from image_recognition_msgs.srv import Recognize, Annotate
 from image_recognition_msgs.msg import Recognition, Recognitions, CategoryProbability, CategoricalDistribution
+from image_recognition_msgs.srv import Recognize, Annotate
+from image_recognition_util import image_writer
+from openface_ros.face_recognizer import FaceRecognizer
 from sensor_msgs.msg import RegionOfInterest, Image
 from std_srvs.srv import Empty
 
-import os
-import sys
-
-from image_recognition_util import image_writer
-from openface_ros.face_recognizer import FaceRecognizer, RecognizedFace
-
 
 class OpenfaceROS:
     def __init__(self, align_path, net_path, save_images_folder, topic_save_images,
@@ -74,8 +73,8 @@ class OpenfaceROS:
             raise Exception("Could not convert to opencv image: %s" % str(e))
 
         for annotation in req.annotations:
-            roi_image = bgr_image[annotation.roi.y_offset:annotation.roi.y_offset+annotation.roi.height,
-                                  annotation.roi.x_offset:annotation.roi.x_offset + annotation.roi.width]
+            roi_image = bgr_image[annotation.roi.y_offset:annotation.roi.y_offset + annotation.roi.height,
+                        annotation.roi.x_offset:annotation.roi.x_offset + annotation.roi.width]
 
             if self._save_images_folder:
                 image_writer.write_annotated(self._save_images_folder, roi_image, annotation.label, True)
@@ -183,8 +182,8 @@ class OpenfaceROS:
     def restore_trained_faces(self, file_name):
         self._face_recognizer.restore_trained_faces(file_name)
 
-if __name__ == '__main__':
 
+if __name__ == '__main__':
     rospy.init_node("face_recognition")
 
     try:
@@ -216,4 +215,9 @@ if __name__ == '__main__':
         rospy.loginfo('loading face database from %s', db)
         openface_ros.restore_trained_faces(db)
 
+    updater = diagnostic_updater.Updater()
+    updater.setHardwareID("none")
+    updater.add(diagnostic_updater.Heartbeat())
+    rospy.Timer(rospy.Duration(1), lambda event: updater.force_update())
+
     rospy.spin()

openpose_ros/CMakeLists.txt

@@ -9,6 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
   cv_bridge
   sensor_msgs
   image_recognition_msgs
+  diagnostic_updater
 )
 
 catkin_package()

openpose_ros/package.xml

@@ -15,5 +15,6 @@
   <depend>image_recognition_msgs</depend>
 
   <depend>libopencv-dev</depend>
+  <depend>diagnostic_updater</depend>
 
 </package>

openpose_ros/src/openpose_ros_node.cpp

@@ -1,5 +1,8 @@
 #include "openpose_wrapper.h"
 
+#include <diagnostic_updater/update_functions.h>
+#include <diagnostic_updater/diagnostic_updater.h>
+
 #include <image_recognition_msgs/Recognize.h>
 #include <ros/node_handle.h>
 
@@ -8,6 +11,7 @@
 std::shared_ptr<OpenposeWrapper> g_openpose_wrapper;
 std::string g_save_images_folder = "";
 bool g_publish_to_topic = false;
+std::shared_ptr<diagnostic_updater::Updater> g_diagnostic_updater;
 ros::Publisher g_pub;
 
 //!
@@ -129,6 +133,11 @@ bool detectPosesCallback(image_recognition_msgs::Recognize::Request& req, image_
   return detectPoses(image, res.recognitions);
 }
 
+void updateDiagnosticsCallback(const ros::TimerEvent &)
+{
+    g_diagnostic_updater->force_update();
+}
+
 int main(int argc, char** argv)
 {
   ros::init(argc, argv, "openpose");
@@ -162,6 +171,14 @@ int main(int argc, char** argv)
     g_pub = nh.advertise<sensor_msgs::Image>("result_image", 1);
   }
 
+  g_diagnostic_updater = std::shared_ptr<diagnostic_updater::Updater>(new diagnostic_updater::Updater());
+  g_diagnostic_updater->setHardwareID("none");
+
+  diagnostic_updater::Heartbeat heartbeat = diagnostic_updater::Heartbeat();
+  g_diagnostic_updater->add(heartbeat);
+
+  ros::Timer t = nh.createTimer(ros::Duration(1.0), updateDiagnosticsCallback);
+
   ros::spin();
 
   return 0;