Initial vision tutorial for driving using gestures

turtlebot4_vision_tutorials/config/ffmpeg.yaml

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+ffmpeg_encoder:
+  ros__parameters:
+    ffmpeg_image_transport:
+      qmax: 24
+      preset: ultrafast
+      tune: zerolatency
+      bit_rate: 800000
+      gop_size: 6

turtlebot4_vision_tutorials/launch/pose_detection.launch.py

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+#!/usr/bin/env python3
+
+# Copyright 2024 Clearpath Robotics, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# @author Hilary Luo ([email protected])
+
+# from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions.declare_launch_argument import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    # ffmpeg_param_file = LaunchConfiguration('ffmpeg_param_file')
+
+    # turtlebot4_vision_tutorials = get_package_share_directory('turtlebot4_vision_tutorials')
+
+    # arg_parameters = DeclareLaunchArgument(
+    #     'ffmpeg_param_file',
+    #     default_value=PathJoinSubstitution(
+    #         [turtlebot4_vision_tutorials, 'config', 'ffmpeg.yaml']),
+    #     description='Turtlebot4 ffmpeg compression param file'
+    # )
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='')
+
+    # parameters = RewrittenYaml(
+    #     source_file=ffmpeg_param_file,
+    #     root_key=namespace,
+    #     param_rewrites={},
+    #     convert_types=True)
+
+    ffmpeg_node = Node(
+        package='turtlebot4_vision_tutorials',
+        executable='pose_detection',
+        namespace=namespace,
+        name='pose_detection',
+        # parameters=[parameters],
+    )
+
+    ld = LaunchDescription()
+    # ld.add_action(arg_parameters)
+    ld.add_action(arg_namespace)
+    ld.add_action(ffmpeg_node)
+
+    return ld

turtlebot4_vision_tutorials/launch/video_compression.launch.py

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+#!/usr/bin/env python3
+
+# Copyright 2024 Clearpath Robotics, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# @author Hilary Luo ([email protected])
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions.declare_launch_argument import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+
+from nav2_common.launch import RewrittenYaml
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    ffmpeg_param_file = LaunchConfiguration('ffmpeg_param_file')
+
+    turtlebot4_vision_tutorials = get_package_share_directory('turtlebot4_vision_tutorials')
+
+    arg_parameters = DeclareLaunchArgument(
+        'ffmpeg_param_file',
+        default_value=PathJoinSubstitution(
+            [turtlebot4_vision_tutorials, 'config', 'ffmpeg.yaml']),
+        description='Turtlebot4 ffmpeg compression param file'
+    )
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='')
+
+    parameters = RewrittenYaml(
+        source_file=ffmpeg_param_file,
+        root_key=namespace,
+        param_rewrites={},
+        convert_types=True)
+
+    ffmpeg_node = Node(
+        package='image_transport',
+        executable='republish',
+        namespace=namespace,
+        name='ffmpeg_encoder',
+        remappings=[
+            ('in', "oakd/rgb/preview/image_raw"),
+            ('out/ffmpeg', "oakd/rgb/preview/encoded/ffmpeg"),
+            ],
+        arguments=['raw', 'ffmpeg'],
+        parameters=[parameters],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_parameters)
+    ld.add_action(arg_namespace)
+    ld.add_action(ffmpeg_node)
+
+    return ld

turtlebot4_vision_tutorials/launch/video_decode.launch.py

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+#!/usr/bin/env python3
+
+# Copyright 2024 Clearpath Robotics, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# @author Hilary Luo ([email protected])
+
+from launch import LaunchDescription
+from launch.actions.declare_launch_argument import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='')
+
+    parameters = {
+        "/cpr_donatello/ffmpeg_decoder": {
+            "ros__parameters": {
+                "qos_overrides": {
+                    "/cpr_donatello/oakd/rgb/preview/encoded/ffmpeg": {
+                        "subscriber": {
+                            "reliability": "best_effort",
+                            "depth": 10,
+                            "history": "keep_last"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    ffmpeg_node = Node(
+        package='image_transport',
+        executable='republish',
+        namespace=namespace,
+        name='ffmpeg_decoder',
+        remappings=[
+            ('in/ffmpeg', "oakd/rgb/preview/encoded/ffmpeg"),
+            ('out', "oakd/rgb/preview/ffmpeg_decoded"),
+            ],
+        arguments=['ffmpeg', 'raw'],
+        parameters=[parameters],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(ffmpeg_node)
+
+    return ld

turtlebot4_vision_tutorials/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>turtlebot4_vision_tutorials</name>
+  <version>0.0.0</version>
+  <description>TurtleBot Vision Tutorials</description>
+  <maintainer email="[email protected]">Hilary Luo</maintainer>
+  <license>Apache 2.0</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>depthai</exec_depend>
+  <exec_depend>ffmpeg_image_transport</exec_depend>
+  <exec_depend>irobot_create_msgs</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

turtlebot4_vision_tutorials/setup.cfg

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+[develop]
+script_dir=$base/lib/turtlebot4_vision_tutorials
+[install]
+install_scripts=$base/lib/turtlebot4_vision_tutorials

turtlebot4_vision_tutorials/setup.py

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+from glob import glob
+import os
+
+from setuptools import setup
+
+package_name = 'turtlebot4_vision_tutorials'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'models'), glob('models/*.blob')),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='hilary-luo',
+    maintainer_email='[email protected]',
+    description='TurtleBot 4 Vision Tutorials',
+    license='Apache 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'pose_detection = turtlebot4_vision_tutorials.pose_detection:main',
+            'pose_display = turtlebot4_vision_tutorials.pose_display:main',
+        ],
+    },
+)

turtlebot4_vision_tutorials/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

turtlebot4_vision_tutorials/test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

turtlebot4_vision_tutorials/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'