Cpp support for marker visual loc

Author: aquintan4

exercises/marker_visual_loc/cpp_lib/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+project(VisualMarkerLibs CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+find_package(ament_cmake REQUIRED)
+
+set(ROS2_PACKAGES
+    rclcpp
+    nav_msgs
+    gazebo_msgs
+    geometry_msgs
+    sensor_msgs
+    std_msgs
+    tf2
+    tf2_geometry_msgs
+    ros_gz_interfaces
+    cv_bridge
+)
+
+foreach(pkg IN LISTS ROS2_PACKAGES)
+    find_package(${pkg} REQUIRED)
+endforeach()
+
+find_package(Boost REQUIRED COMPONENTS system)
+find_package(nlohmann_json REQUIRED)
+find_package(OpenCV REQUIRED)
+
+set(COMMON_INTERFACES_INCLUDE "/home/ws/install/common_interfaces_cpp/include")
+set(COMMON_INTERFACES_LIB "/home/ws/install/common_interfaces_cpp/lib/libcommon_interfaces_cpp.so")
+
+set(WEBGUI_ROS_DEPS  rclcpp nav_msgs gazebo_msgs tf2 tf2_geometry_msgs sensor_msgs cv_bridge)
+set(WEBGUI_SYS_DEPS  Frequency Boost::system nlohmann_json::nlohmann_json ${OpenCV_LIBRARIES} ${COMMON_INTERFACES_LIB})
+set(HAL_ROS_DEPS     rclcpp geometry_msgs sensor_msgs std_msgs ros_gz_interfaces nav_msgs cv_bridge)
+set(HAL_SYS_DEPS     ${OpenCV_LIBRARIES} ${COMMON_INTERFACES_LIB})
+
+# --- libFrequency.so ---
+add_library(Frequency SHARED src/Frequency.cpp)
+target_include_directories(Frequency PUBLIC include)
+
+# --- libWebGUI.so ---
+add_library(WebGUI SHARED src/WebGUI.cpp src/Map.cpp)
+target_include_directories(WebGUI PUBLIC include ${OpenCV_INCLUDE_DIRS} ${COMMON_INTERFACES_INCLUDE})
+
+ament_target_dependencies(WebGUI ${WEBGUI_ROS_DEPS})
+target_link_libraries(WebGUI ${WEBGUI_SYS_DEPS})
+
+# --- libHAL.so ---
+add_library(HAL SHARED src/HAL.cpp)
+target_include_directories(HAL PUBLIC include ${COMMON_INTERFACES_INCLUDE})
+
+ament_target_dependencies(HAL ${HAL_ROS_DEPS})
+target_link_libraries(HAL ${HAL_SYS_DEPS})

exercises/marker_visual_loc/cpp_lib/include/Frequency.hpp

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+#ifndef INCLUDE_FREQUENCY_HPP_
+#define INCLUDE_FREQUENCY_HPP_
+
+#include <chrono>
+#include <cmath>
+#include <thread>
+
+class Frequency
+{
+private:
+  std::chrono::high_resolution_clock::time_point last_time;
+  int is_first_iteration;
+
+public:
+  Frequency();
+  ~Frequency();
+
+  static int rate;
+  void tick(int ideal_cycle = 50);
+};
+
+#endif

exercises/marker_visual_loc/cpp_lib/include/HAL.hpp

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+#ifndef HAL_HPP_
+#define HAL_HPP_
+
+#include <memory>
+#include <thread>
+#include <vector>
+#include <string>
+#include <opencv2/opencv.hpp>
+
+#include "rclcpp/rclcpp.hpp"
+#include "common_interfaces_cpp/hal/motors.hpp"
+#include "common_interfaces_cpp/hal/odometry.hpp"
+#include "common_interfaces_cpp/hal/laser.hpp"
+#include "common_interfaces_cpp/hal/camera.hpp"
+
+class HAL : public rclcpp::Node {
+public:
+    HAL();
+
+    static Pose3d getPose3d();
+    static Pose3d getOdom();
+    static cv::Mat getImage();
+    static LaserData getLaserData();
+
+    static void setV(float v);
+    static void setW(float w);
+
+private:
+    static std::shared_ptr<MotorsNode> motor_node_;
+    static std::shared_ptr<CameraNode> camera_node_;
+    static std::shared_ptr<OdometryNode> odometry_node_;
+    static std::shared_ptr<LaserNode> laser_node_;
+    static std::shared_ptr<OdometryNode> noisy_odometry_node_;
+
+    std::thread spin_thread_;
+};
+
+#endif

exercises/marker_visual_loc/cpp_lib/include/Map.hpp

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+#ifndef INCLUDE_MAP_HPP_
+#define INCLUDE_MAP_HPP_
+
+#include <vector>
+#include <functional>
+#include <cmath>
+#include "common_interfaces_cpp/hal/odometry.hpp"
+
+class Map
+{
+public:
+    Map(std::function<Pose3d()> pose_getter, std::function<Pose3d()> noisy_pose_getter);
+
+    std::vector<std::vector<double>> RTx(double angle, double tx, double ty, double tz);
+    std::vector<std::vector<double>> RTy(double angle, double tx, double ty, double tz);
+    std::vector<std::vector<double>> RTz(double angle, double tx, double ty, double tz);
+    std::vector<std::vector<double>> RTVacuum();
+
+    std::vector<double> getRobotCoordinates();
+    std::vector<double> getRobotCoordinatesWithNoise();
+    
+    void reset();
+
+private:
+    std::function<Pose3d()> pose_getter_;
+    std::function<Pose3d()> noisy_pose_getter_;
+};
+
+#endif

exercises/marker_visual_loc/cpp_lib/include/WebGUI.hpp

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+#ifndef WEBGUI_HPP_
+#define WEBGUI_HPP_
+
+#include <string>
+#include <memory>
+#include <thread>
+#include <mutex>
+#include <tuple>
+#include <vector>
+#include <functional>
+#include <nlohmann/json.hpp>
+#include <opencv2/opencv.hpp>
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "common_interfaces_cpp/webgui/MeasuringThreadingGUI.hpp"
+#include "Map.hpp"
+#include "common_interfaces_cpp/hal/odometry.hpp"
+#include "common_interfaces_cpp/hal/camera.hpp"
+
+std::string base64_encode(unsigned char const* bytes_to_encode, unsigned int in_len);
+
+class WebGUI : public MeasuringThreadingGUI {
+public:
+    WebGUI(const std::string& host = "127.0.0.1", const std::string& port = "2303", double freq = 30.0);
+    ~WebGUI() override;
+
+    static void showImage(const cv::Mat& image);
+    static void showEstimatedPose(const std::tuple<double, double, double>& pose);
+
+    void setImage(const cv::Mat& image);
+    void setEstimatedRobotPose(const std::tuple<double, double, double>& pose);
+
+    Pose3d get_pose3d();
+    Pose3d get_odom();
+
+protected:
+    void update_gui() override;
+
+private:
+    void setup_ros2();
+    void estimated_pose_callback(const geometry_msgs::msg::PoseStamped::SharedPtr msg);
+
+    cv::Mat image_;
+    std::mutex image_lock_;
+    
+    std::tuple<double, double, double> predict_pose_;
+    bool has_predict_pose_;
+
+    std::shared_ptr<rclcpp::Node> bridge_node_;
+    rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr estimated_pose_sub_;
+    
+    std::shared_ptr<OdometryNode> real_odom_node_;
+    std::shared_ptr<OdometryNode> noisy_odom_node_;
+    std::shared_ptr<CameraNode> camera_node_;
+
+    std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor_;
+    std::thread executor_thread_;
+
+    std::shared_ptr<Map> map_;
+};
+
+extern std::shared_ptr<WebGUI> gui;
+
+#endif

exercises/marker_visual_loc/cpp_lib/src/Frequency.cpp

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+#include "Frequency.hpp"
+
+int Frequency::rate = 0;
+
+Frequency::Frequency() : is_first_iteration(1) {}
+
+Frequency::~Frequency() {}
+
+void Frequency::tick(int ideal_cycle)
+{
+  const auto ideal_ms = std::chrono::milliseconds(1000 / ideal_cycle);
+  const auto now = std::chrono::high_resolution_clock::now();
+
+  if (is_first_iteration == 1)
+  {
+    last_time = now;
+    is_first_iteration = 0;
+    return;
+  }
+
+  const auto iter_ms = std::chrono::duration_cast<std::chrono::milliseconds>(now - last_time);
+
+  if (iter_ms < ideal_ms)
+  {
+    rate = std::round(1000.0 / ideal_ms.count());
+    std::this_thread::sleep_for(ideal_ms - iter_ms);
+  }
+  else
+  {
+    rate = std::round(1000.0 / iter_ms.count());
+  }
+
+  last_time = now;
+}

exercises/marker_visual_loc/cpp_lib/src/HAL.cpp

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+#include "HAL.hpp"
+
+using namespace std::chrono_literals;
+
+std::shared_ptr<MotorsNode> HAL::motor_node_ = nullptr;
+std::shared_ptr<CameraNode> HAL::camera_node_ = nullptr;
+std::shared_ptr<OdometryNode> HAL::odometry_node_ = nullptr;
+std::shared_ptr<LaserNode> HAL::laser_node_ = nullptr;
+std::shared_ptr<OdometryNode> HAL::noisy_odometry_node_ = nullptr;
+
+HAL::HAL() : Node("hal_node")
+{
+    motor_node_ = std::make_shared<MotorsNode>("/turtlebot3/cmd_vel", 4.0, 0.3);
+    camera_node_ = std::make_shared<CameraNode>("/turtlebot3/camera/image_raw");
+    odometry_node_ = std::make_shared<OdometryNode>("/turtlebot3/odom");
+    laser_node_ = std::make_shared<LaserNode>("/turtlebot3/laser/scan");
+    noisy_odometry_node_ = std::make_shared<OdometryNode>("/turtlebot3/odom_noisy", "noisy_odometry_node");
+
+    spin_thread_ = std::thread([]() {
+        rclcpp::executors::MultiThreadedExecutor executor;
+        executor.add_node(camera_node_);
+        executor.add_node(odometry_node_);
+        executor.add_node(laser_node_);
+        executor.add_node(noisy_odometry_node_);
+        
+        while (rclcpp::ok()) {
+            executor.spin_some();
+            std::this_thread::sleep_for(11ms);
+        }
+    });
+    spin_thread_.detach();
+}
+
+Pose3d HAL::getPose3d()
+{
+    if (odometry_node_) {
+        return odometry_node_->getPose3d();
+    }
+    return Pose3d();
+}
+
+Pose3d HAL::getOdom()
+{
+    if (noisy_odometry_node_) {
+        return noisy_odometry_node_->getPose3d();
+    }
+    return Pose3d();
+}
+
+cv::Mat HAL::getImage()
+{
+    std::shared_ptr<Image> img = nullptr;
+    while (img == nullptr && rclcpp::ok()) {
+        img = camera_node_->getImage();
+        if (img == nullptr) {
+            std::this_thread::sleep_for(10ms);
+        }
+    }
+    return img->data;
+}
+
+LaserData HAL::getLaserData()
+{
+    LaserData laser_data = laser_node_->getLaserData();
+    while (laser_data.values.empty() && rclcpp::ok()) {
+        laser_data = laser_node_->getLaserData();
+        if (laser_data.values.empty()) {
+            std::this_thread::sleep_for(10ms);
+        }
+    }
+    return laser_data;
+}
+
+void HAL::setV(float v)
+{
+    if (motor_node_) {
+        motor_node_->sendV(static_cast<double>(v));
+    }
+}
+
+void HAL::setW(float w)
+{
+    if (motor_node_) {
+        motor_node_->sendW(static_cast<double>(w));
+    }
+}