diff --git a/src/praktikum1/LICENSE b/P1/src/praktikum1/LICENSE similarity index 100% rename from src/praktikum1/LICENSE rename to P1/src/praktikum1/LICENSE diff --git a/src/praktikum1/package.xml b/P1/src/praktikum1/package.xml similarity index 100% rename from src/praktikum1/package.xml rename to P1/src/praktikum1/package.xml diff --git a/src/praktikum1/praktikum1/__init__.py b/P1/src/praktikum1/praktikum1/__init__.py similarity index 100% rename from src/praktikum1/praktikum1/__init__.py rename to P1/src/praktikum1/praktikum1/__init__.py diff --git a/src/praktikum1/praktikum1/node_p1.py b/P1/src/praktikum1/praktikum1/node_p1.py similarity index 100% rename from src/praktikum1/praktikum1/node_p1.py rename to P1/src/praktikum1/praktikum1/node_p1.py diff --git a/src/praktikum1/resource/praktikum1 b/P1/src/praktikum1/resource/praktikum1 similarity index 100% rename from src/praktikum1/resource/praktikum1 rename to P1/src/praktikum1/resource/praktikum1 diff --git a/src/praktikum1/setup.cfg b/P1/src/praktikum1/setup.cfg similarity index 100% rename from src/praktikum1/setup.cfg rename to P1/src/praktikum1/setup.cfg diff --git a/src/praktikum1/setup.py b/P1/src/praktikum1/setup.py similarity index 100% rename from src/praktikum1/setup.py rename to P1/src/praktikum1/setup.py diff --git a/src/praktikum1/test/test_copyright.py b/P1/src/praktikum1/test/test_copyright.py similarity index 100% rename from src/praktikum1/test/test_copyright.py rename to P1/src/praktikum1/test/test_copyright.py diff --git a/src/praktikum1/test/test_flake8.py b/P1/src/praktikum1/test/test_flake8.py similarity index 100% rename from src/praktikum1/test/test_flake8.py rename to P1/src/praktikum1/test/test_flake8.py diff --git a/src/praktikum1/test/test_pep257.py b/P1/src/praktikum1/test/test_pep257.py similarity index 100% rename from src/praktikum1/test/test_pep257.py rename to P1/src/praktikum1/test/test_pep257.py diff --git a/P2/rviz/p2.rviz b/P2/rviz/p2.rviz new file mode 100644 index 0000000..6a9694a --- /dev/null +++ b/P2/rviz/p2.rviz @@ -0,0 +1,976 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Odometry1 + - /LaserScan1/Topic1 + - /GripperCam1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 836 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + A: + Value: true + All Enabled: true + B: + Value: true + C: + Value: true + Image1: + Value: true + Image2: + Value: true + Image3: + Value: true + P: + Value: true + PlaceBox: + Value: true + SpotArm: + Value: true + T1: + Value: true + T2: + Value: true + T3: + Value: true + Velodyne_Puck: + Value: true + accelerometer: + Value: true + base_footprint: + Value: true + base_link: + Value: true + cap screw: + Value: true + cap screw(1): + Value: true + cap screw(10): + Value: true + cap screw(11): + Value: true + cap screw(12): + Value: true + cap screw(13): + Value: true + cap screw(14): + Value: true + cap screw(15): + Value: true + cap screw(16): + Value: true + cap screw(17): + Value: true + cap screw(18): + Value: true + cap screw(19): + Value: true + cap screw(2): + Value: true + cap screw(3): + Value: true + cap screw(4): + Value: true + cap screw(5): + Value: true + cap screw(6): + Value: true + cap screw(7): + Value: true + cap screw(8): + Value: true + cap screw(9): + Value: true + front: + Value: true + front left forearm: + Value: true + front left shoulder: + Value: true + front left touch sensor: + Value: true + front left upperarm: + Value: true + front right forearm: + Value: true + front right shoulder: + Value: true + front right touch sensor: + Value: true + front right upperarm: + Value: true + gps: + Value: true + gripper_centre: + Value: true + gripper_left_finger_link: + Value: true + gripper_right_finger_link: + Value: true + gyro: + Value: true + inertial unit: + Value: true + kinect color: + Value: true + kinect range: + Value: true + left bottom led: + Value: true + left flank camera: + Value: true + left flank depth: + Value: true + left head camera: + Value: true + left head depth: + Value: true + left middle down led: + Value: true + left middle up led: + Value: true + left top led: + Value: true + odom: + Value: true + rear camera: + Value: true + rear depth: + Value: true + rear left forearm: + Value: true + rear left shoulder: + Value: true + rear left touch sensor: + Value: true + rear left upperarm: + Value: true + rear right forearm: + Value: true + rear right shoulder: + Value: true + rear right touch sensor: + Value: true + rear right upperarm: + Value: true + right bottom led: + Value: true + right flank camera: + Value: true + right flank depth: + Value: true + right head camera: + Value: true + right head depth: + Value: true + right middle down led: + Value: true + right middle up led: + Value: true + right top led: + Value: true + solid: + Value: true + solid_0: + Value: true + solid_1: + Value: true + solid_2: + Value: true + solid_3: + Value: true + spotarm_link1: + Value: true + spotarm_link2: + Value: true + spotarm_link3: + Value: true + spotarm_link4: + Value: true + spotarm_link5: + Value: true + spotarm_link6: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + odom: + A: + {} + B: + {} + C: + {} + Image1: + {} + Image2: + {} + Image3: + {} + P: + {} + PlaceBox: + {} + T1: + {} + T2: + {} + T3: + {} + base_link: + SpotArm: + spotarm_link1: + spotarm_link2: + spotarm_link3: + spotarm_link4: + spotarm_link5: + spotarm_link6: + front: + cap screw: + {} + cap screw(1): + {} + cap screw(10): + {} + cap screw(11): + {} + cap screw(12): + {} + cap screw(13): + {} + cap screw(14): + {} + cap screw(15): + {} + cap screw(16): + {} + cap screw(17): + {} + cap screw(18): + {} + cap screw(19): + {} + cap screw(2): + {} + cap screw(3): + {} + cap screw(4): + {} + cap screw(5): + {} + cap screw(6): + {} + cap screw(7): + {} + cap screw(8): + {} + cap screw(9): + {} + gripper_centre: + {} + gripper_left_finger_link: + {} + gripper_right_finger_link: + {} + Velodyne_Puck: + {} + accelerometer: + {} + base_footprint: + {} + front left shoulder: + front left upperarm: + front left forearm: + front left touch sensor: + {} + solid_3: + {} + front right shoulder: + front right upperarm: + front right forearm: + front right touch sensor: + {} + solid_2: + {} + gps: + {} + gyro: + {} + inertial unit: + {} + left bottom led: + {} + left flank camera: + {} + left flank depth: + {} + left head camera: + {} + left head depth: + {} + left middle down led: + {} + left middle up led: + {} + left top led: + {} + rear camera: + {} + rear depth: + {} + rear left shoulder: + rear left upperarm: + rear left forearm: + rear left touch sensor: + {} + solid_1: + {} + rear right shoulder: + rear right upperarm: + rear right forearm: + rear right touch sensor: + {} + solid_0: + {} + right bottom led: + {} + right flank camera: + {} + right flank depth: + {} + right head camera: + {} + right head depth: + {} + right middle down led: + {} + right middle up led: + {} + right top led: + {} + solid: + kinect color: + {} + kinect range: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Spot/Velodyne_Puck/point_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Spot/odometry + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: GripperCam + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /SpotArm/gripper_camera/image_color + Value: false + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + SpotArm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Velodyne_Puck: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + accelerometer: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cap screw: + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(1): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(10): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(11): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(12): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(13): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(14): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(15): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(16): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(17): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(18): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(19): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(2): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(3): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(4): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(5): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(6): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(7): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(8): + Alpha: 1 + Show Axes: false + Show Trail: false + cap screw(9): + Alpha: 1 + Show Axes: false + Show Trail: false + front: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front left forearm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front left shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front left touch sensor: + Alpha: 1 + Show Axes: false + Show Trail: false + front left upperarm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front right forearm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front right shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front right touch sensor: + Alpha: 1 + Show Axes: false + Show Trail: false + front right upperarm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gps: + Alpha: 1 + Show Axes: false + Show Trail: false + gripper_centre: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_finger_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gyro: + Alpha: 1 + Show Axes: false + Show Trail: false + inertial unit: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect color: + Alpha: 1 + Show Axes: false + Show Trail: false + kinect range: + Alpha: 1 + Show Axes: false + Show Trail: false + left bottom led: + Alpha: 1 + Show Axes: false + Show Trail: false + left flank camera: + Alpha: 1 + Show Axes: false + Show Trail: false + left flank depth: + Alpha: 1 + Show Axes: false + Show Trail: false + left head camera: + Alpha: 1 + Show Axes: false + Show Trail: false + left head depth: + Alpha: 1 + Show Axes: false + Show Trail: false + left middle down led: + Alpha: 1 + Show Axes: false + Show Trail: false + left middle up led: + Alpha: 1 + Show Axes: false + Show Trail: false + left top led: + Alpha: 1 + Show Axes: false + Show Trail: false + rear camera: + Alpha: 1 + Show Axes: false + Show Trail: false + rear depth: + Alpha: 1 + Show Axes: false + Show Trail: false + rear left forearm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear left shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear left touch sensor: + Alpha: 1 + Show Axes: false + Show Trail: false + rear left upperarm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear right forearm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear right shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear right touch sensor: + Alpha: 1 + Show Axes: false + Show Trail: false + rear right upperarm: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right bottom led: + Alpha: 1 + Show Axes: false + Show Trail: false + right flank camera: + Alpha: 1 + Show Axes: false + Show Trail: false + right flank depth: + Alpha: 1 + Show Axes: false + Show Trail: false + right head camera: + Alpha: 1 + Show Axes: false + Show Trail: false + right head depth: + Alpha: 1 + Show Axes: false + Show Trail: false + right middle down led: + Alpha: 1 + Show Axes: false + Show Trail: false + right middle up led: + Alpha: 1 + Show Axes: false + Show Trail: false + right top led: + Alpha: 1 + Show Axes: false + Show Trail: false + solid: + Alpha: 1 + Show Axes: false + Show Trail: false + solid_0: + Alpha: 1 + Show Axes: false + Show Trail: false + solid_1: + Alpha: 1 + Show Axes: false + Show Trail: false + solid_2: + Alpha: 1 + Show Axes: false + Show Trail: false + solid_3: + Alpha: 1 + Show Axes: false + Show Trail: false + spotarm_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + spotarm_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + spotarm_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + spotarm_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + spotarm_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + spotarm_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 19.86827278137207 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -1.9956724643707275 + Y: -0.7808008790016174 + Z: 0.5836658477783203 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7247973084449768 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.1554017066955566 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + GripperCam: + collapsed: false + Height: 1136 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000244000003d0fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e000003d0000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000341000000cd0000000000000000fb00000014004700720069007000700065007200430061006d0000000341000000cd0000002800ffffff000000010000010f000003d0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003e000003d0000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000062c0000003efc0100000002fb0000000800540069006d006501000000000000062c0000024600fffffffb0000000800540069006d00650100000000000004500000000000000000000002cd000003d000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1580 + X: 340 + Y: 27 diff --git a/P2/src/praktikum2/LICENSE b/P2/src/praktikum2/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/P2/src/praktikum2/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/P2/src/praktikum2/package.xml b/P2/src/praktikum2/package.xml new file mode 100644 index 0000000..34105ea --- /dev/null +++ b/P2/src/praktikum2/package.xml @@ -0,0 +1,18 @@ + + + + praktikum2 + 0.0.0 + TODO: Package description + safak + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/P2/src/praktikum2/praktikum2/__init__.py b/P2/src/praktikum2/praktikum2/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/P2/src/praktikum2/praktikum2/p2_aruco_marker_detection.py b/P2/src/praktikum2/praktikum2/p2_aruco_marker_detection.py new file mode 100755 index 0000000..d82c009 --- /dev/null +++ b/P2/src/praktikum2/praktikum2/p2_aruco_marker_detection.py @@ -0,0 +1,120 @@ +#!/usr/bin/env python3 + +import cv2 +import rclpy +from rclpy.node import Node +from cv_bridge import CvBridge +from sensor_msgs.msg import Image +import numpy as np + +class ArucoDetect(Node): + + def __init__(self): + # Init node + super().__init__("aruco_node") + + # Bridge für ROS <-> OpenCV Konvertierung initialisieren + self.bridge = CvBridge() + + # Load dictionary for aruco marker in 6x6_50 format (Vorgabe aus PDF) + # Hinweis: Das PDF nutzt die objektorientierte Methode (neuere OpenCV Versionen) + self.ar_dict = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_6X6_50) + self.aruco_params = cv2.aruco.DetectorParameters() + self.aruco_detector = cv2.aruco.ArucoDetector(self.ar_dict, self.aruco_params) + + # TODO: create a subscriber for gripper camera image (sensor_msgs/Image) + # Basierend auf PDF Seite 2 ist das Topic: /SpotArm/gripper_camera/image_color + self.create_subscription( + Image, + '/SpotArm/gripper_camera/image_color', + self.camera_cb, + 10 + ) + self.get_logger().info("Aruco Node gestartet und wartet auf Bilder...") + + def camera_cb(self, msg): + # Convert from ROS msg to OpenCV image + try: + # 'bgr8' ist das Standard-Farbformat für OpenCV + spot_gripper_img = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8') + except Exception as e: + self.get_logger().error(f"Fehler bei der Bildkonvertierung: {e}") + return + + # Performs marker detection, returns coordinates of corner points + corners, ids, rejected = self.aruco_detector.detectMarkers(spot_gripper_img) + + # Überprüfen, ob Marker gefunden wurden + if len(corners) > 0: # Im PDF stand hier ein Tippfehler ($>8$), >0 ist logisch korrekt + + # Wir nehmen den ersten gefundenen Marker + # flatten the ArUco IDs list + ids = ids.flatten() + + # loop over the detected ArUCo corners + for (markerCorner, markerID) in zip(corners, ids): + # extract the marker corners (which are always returned in + # top-left, top-right, bottom-right, and bottom-left order) + corners_squeezed = markerCorner.reshape((4, 2)) + (topLeft, topRight, bottomRight, bottomLeft) = corners_squeezed + + # convert each of the (x, y)-coordinate pairs to integers + ptA = (int(topLeft[0]), int(topLeft[1])) + ptB = (int(topRight[0]), int(topRight[1])) + ptC = (int(bottomRight[0]), int(bottomRight[1])) + ptD = (int(bottomLeft[0]), int(bottomLeft[1])) + + # TODO: draw a coloured bounding box around the marker + # Wir zeichnen Linien zwischen den Eckpunkten (Grün: (0, 255, 0), Dicke: 2) + cv2.line(spot_gripper_img, ptA, ptB, (0, 255, 0), 2) + cv2.line(spot_gripper_img, ptB, ptC, (0, 255, 0), 2) + cv2.line(spot_gripper_img, ptC, ptD, (0, 255, 0), 2) + cv2.line(spot_gripper_img, ptD, ptA, (0, 255, 0), 2) + + # Optional: Mittelpunkt und ID zeichnen (hilft beim Debuggen) + cX = int((topLeft[0] + bottomRight[0]) / 2.0) + cY = int((topLeft[1] + bottomRight[1]) / 2.0) + cv2.circle(spot_gripper_img, (cX, cY), 4, (0, 0, 255), -1) + cv2.putText(spot_gripper_img, str(markerID), + (ptA[0], ptA[1] - 15), cv2.FONT_HERSHEY_SIMPLEX, + 0.5, (0, 255, 0), 2) + + # Loggen, dass etwas gefunden wurde + # self.get_logger().info(f"Marker ID {markerID} gefunden.") + + # TODO: resize image for display + # Das Gripper-Bild kann groß sein, wir skalieren es zur besseren Anzeige (z.B. 50%) + # Oder auf feste Größe: (640, 480) + scale_percent = 50 # Prozent der Originalgröße + width = int(spot_gripper_img.shape[1] * scale_percent / 100) + height = int(spot_gripper_img.shape[0] * scale_percent / 100) + dim = (width, height) + + # Nur resizen, wenn das Bild sehr groß ist, ansonsten Original lassen + if spot_gripper_img.shape[1] > 800: + resized_img = cv2.resize(spot_gripper_img, dim, interpolation = cv2.INTER_AREA) + else: + resized_img = spot_gripper_img + + # TODO: display image + cv2.imshow("Spot Gripper Camera - Aruco Detection", resized_img) + + # Wichtig für OpenCV GUI Events (1ms warten) + cv2.waitKey(1) + +def main(args = None): + rclpy.init(args=args) + node = ArucoDetect() + + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + # Cleanup + node.destroy_node() + rclpy.shutdown() + cv2.destroyAllWindows() + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/P2/src/praktikum2/praktikum2/p2_line_following.py b/P2/src/praktikum2/praktikum2/p2_line_following.py new file mode 100644 index 0000000..d35c9cb --- /dev/null +++ b/P2/src/praktikum2/praktikum2/p2_line_following.py @@ -0,0 +1,6 @@ +def main(): + print('Hi from praktikum2.') + + +if __name__ == '__main__': + main() diff --git a/P2/src/praktikum2/resource/praktikum2 b/P2/src/praktikum2/resource/praktikum2 new file mode 100644 index 0000000..e69de29 diff --git a/P2/src/praktikum2/setup.cfg b/P2/src/praktikum2/setup.cfg new file mode 100644 index 0000000..aa214da --- /dev/null +++ b/P2/src/praktikum2/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/praktikum2 +[install] +install_scripts=$base/lib/praktikum2 diff --git a/P2/src/praktikum2/setup.py b/P2/src/praktikum2/setup.py new file mode 100644 index 0000000..b8f5b8b --- /dev/null +++ b/P2/src/praktikum2/setup.py @@ -0,0 +1,31 @@ +from setuptools import find_packages, setup + +package_name = 'praktikum2' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='safak', + maintainer_email='safak.hazinedar@stud.fh-aachen.de', + description='TODO: Package description', + license='Apache-2.0', + extras_require={ + 'test': [ + 'pytest', + ], + }, + entry_points={ + 'console_scripts': [ + 'p2_aruco_marker_detection = praktikum2.p2_aruco_marker_detection:main', + 'p2_line_following = praktikum2.p2_line_following:main' + ], + }, +) diff --git a/P2/src/praktikum2/test/test_copyright.py b/P2/src/praktikum2/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/P2/src/praktikum2/test/test_copyright.py @@ -0,0 +1,25 @@ +# 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 + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/P2/src/praktikum2/test/test_flake8.py b/P2/src/praktikum2/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/P2/src/praktikum2/test/test_flake8.py @@ -0,0 +1,25 @@ +# 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) diff --git a/P2/src/praktikum2/test/test_pep257.py b/P2/src/praktikum2/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/P2/src/praktikum2/test/test_pep257.py @@ -0,0 +1,23 @@ +# 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' diff --git a/spot/src/webots_ros2 b/spot/src/webots_ros2 new file mode 160000 index 0000000..a5a9c3f --- /dev/null +++ b/spot/src/webots_ros2 @@ -0,0 +1 @@ +Subproject commit a5a9c3f82b0056809e89c976b9e9f45137c0fd57 diff --git a/spot/src/webots_ros2_spot b/spot/src/webots_ros2_spot new file mode 160000 index 0000000..c8c04f2 --- /dev/null +++ b/spot/src/webots_ros2_spot @@ -0,0 +1 @@ +Subproject commit c8c04f2a1dafd35747b0ac1d4ab0b51b6dac707a diff --git a/spot/src/webots_spot_msgs b/spot/src/webots_spot_msgs new file mode 160000 index 0000000..1713b46 --- /dev/null +++ b/spot/src/webots_spot_msgs @@ -0,0 +1 @@ +Subproject commit 1713b46e1e17a49e11e11e23fb595c2a594d674c diff --git a/spot/src/webots_spot_teleop b/spot/src/webots_spot_teleop new file mode 160000 index 0000000..80a9e61 --- /dev/null +++ b/spot/src/webots_spot_teleop @@ -0,0 +1 @@ +Subproject commit 80a9e61ec8a445fd98e998bd552fc3c9d85fbd6c