Huge refactoring of aruco_pose

CopterExpress · Oct 19, 2018 · e238032 · e238032
1 parent 163af20
commit e238032
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Showing 20 changed files with 965 additions and 566 deletions.
diff --git a/aruco_pose/CMakeLists.txt b/aruco_pose/CMakeLists.txt
@@ -16,11 +16,15 @@ find_package(catkin REQUIRED COMPONENTS
   image_transport
   cv_bridge
   tf
-  #tf2
-  #tf2_ros
-  #aruco_msgs
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  sensor_msgs
+  message_generation
 )
 
+find_package(OpenCV REQUIRED)
+
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
@@ -55,11 +59,12 @@ find_package(catkin REQUIRED COMPONENTS
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-#add_message_files(
-#  FILES
-#  Marker.msg
-#  MarkerArray.msg
-#)
+add_message_files(
+  FILES
+  Point2D.msg
+  Marker.msg
+  MarkerArray.msg
+)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -76,10 +81,11 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate added messages and services with any dependencies listed here
-#generate_messages(
-#  DEPENDENCIES
-#  std_msgs  # Or other packages containing msgs
-#)
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  geometry_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -111,9 +117,9 @@ find_package(catkin REQUIRED COMPONENTS
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
+  INCLUDE_DIRS DEPENDS OpenCV
   LIBRARIES aruco_pose
-#  CATKIN_DEPENDS other_catkin_pkg
+  CATKIN_DEPENDS message_runtime
 #  DEPENDS system_lib
 )
 
@@ -126,11 +132,13 @@ catkin_package(
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
-add_library(${PROJECT_NAME}
-  src/aruco_pose.cpp
+add_library(aruco_pose
+  src/aruco_detect.cpp
+  src/aruco_map.cpp
 )
 
 ## Add cmake target dependencies of the library
@@ -154,11 +162,9 @@ add_library(${PROJECT_NAME}
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-link_directories(/opt/ros/kinetic/lib)
-
-target_link_libraries(${PROJECT_NAME}
+target_link_libraries(aruco_pose
   ${catkin_LIBRARIES}
-  "/opt/ros/kinetic/lib/libopencv_aruco3.so" # TODO: fix launch fails with .so loading
+  ${OpenCV_LIBS}
 )
 
 #############

diff --git a/aruco_pose/map/map.txt b/aruco_pose/map/map.txt
@@ -0,0 +1,4 @@
+1	0.33	0	0	0	0	0	0
+2	0.33	1	0	0	0	0	0
+3	0.33	0	1	0	0	0	0
+4	0.33	1	1	0	0	0	0
diff --git a/aruco_pose/msg/Marker.msg b/aruco_pose/msg/Marker.msg
@@ -0,0 +1,6 @@
+uint32 id
+geometry_msgs/PoseWithCovariance pose
+Point2D c1
+Point2D c2
+Point2D c3
+Point2D c4
diff --git a/aruco_pose/msg/MarkerArray.msg b/aruco_pose/msg/MarkerArray.msg
@@ -0,0 +1,2 @@
+Header header
+Marker[] markers
diff --git a/aruco_pose/msg/Point2D.msg b/aruco_pose/msg/Point2D.msg
@@ -0,0 +1,2 @@
+float32 x
+float32 y
diff --git a/aruco_pose/nodelet_plugins.xml b/aruco_pose/nodelet_plugins.xml
@@ -1,5 +1,8 @@
 <library path="lib/libaruco_pose">
-   <class name="aruco_pose/aruco_pose" type="ArucoPose" base_class_type="nodelet::Nodelet">
+   <class name="aruco_pose/aruco_detect" type="ArucoDetect" base_class_type="nodelet::Nodelet">
+      <description/>
+   </class>
+   <class name="aruco_pose/aruco_map" type="ArucoMap" base_class_type="nodelet::Nodelet">
       <description/>
    </class>
 </library>
diff --git a/aruco_pose/package.xml b/aruco_pose/package.xml
@@ -2,7 +2,7 @@
 <package>
   <name>aruco_pose</name>
   <version>0.0.0</version>
-  <description>ArUco maps precise pose estimation nodelet</description>
+  <description>Positioning by ArUco markers</description>
 
   <maintainer email="[email protected]">Oleg Kalachev</maintainer>
   <license>MIT</license>
@@ -11,21 +11,30 @@
   <author email="[email protected]">Oleg Kalachev</author>
   <author email="[email protected]">Artem Smirnov</author>
 
-  <!-- Use build_depend for packages you need at compile time: -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>tf</build_depend>
+  <build_depend>tf2</build_depend>
+  <build_depend>tf2_ros</build_depend>
+  <build_depend>tf2_geometry_msgs</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>message_runtime</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>roscpp</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>tf</build_depend>
-  <!-- Use buildtool_depend for build tool packages: -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <!-- Use run_depend for packages you need at runtime: -->
+  <build_depend>std_msgs</build_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>cv_bridge</run_depend>
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
+  <run_depend>message_runtime</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>tf2</run_depend>
+  <run_depend>tf2_ros</run_depend>
+  <run_depend>tf2_geometry_msgs</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>