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P2-1 Detectorta

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Safak Hazinedar
2025-11-30 21:41:32 +01:00
parent 660e951525
commit 3899ce16be
26 changed files with 1434 additions and 0 deletions
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src/praktikum1/LICENSE → P1/src/praktikum1/LICENSE
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src/praktikum1/package.xml → P1/src/praktikum1/package.xml
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src/praktikum1/praktikum1/__init__.py → P1/src/praktikum1/praktikum1/__init__.py
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src/praktikum1/praktikum1/node_p1.py → P1/src/praktikum1/praktikum1/node_p1.py
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src/praktikum1/resource/praktikum1 → P1/src/praktikum1/resource/praktikum1
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src/praktikum1/setup.cfg → P1/src/praktikum1/setup.cfg
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src/praktikum1/setup.py → P1/src/praktikum1/setup.py
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src/praktikum1/test/test_copyright.py → P1/src/praktikum1/test/test_copyright.py
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src/praktikum1/test/test_flake8.py → P1/src/praktikum1/test/test_flake8.py
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src/praktikum1/test/test_pep257.py → P1/src/praktikum1/test/test_pep257.py
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P2/rviz/p2.rviz Normal file
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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: <Fixed 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: <Fixed 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

202
P2/src/praktikum2/LICENSE Normal file
View File

@@ -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.
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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
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18
P2/src/praktikum2/package.xml Normal file
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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>praktikum2</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="safak.hazinedar@stud.fh-aachen.de">safak</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>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
P2/src/praktikum2/praktikum2/__init__.py Normal file
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120
P2/src/praktikum2/praktikum2/p2_aruco_marker_detection.py Executable file
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#!/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()

6
P2/src/praktikum2/praktikum2/p2_line_following.py Normal file
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def main():
print('Hi from praktikum2.')
if __name__ == '__main__':
main()

0
P2/src/praktikum2/resource/praktikum2 Normal file
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4
P2/src/praktikum2/setup.cfg Normal file
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@@ -0,0 +1,4 @@
[develop]
script_dir=$base/lib/praktikum2
[install]
install_scripts=$base/lib/praktikum2

31
P2/src/praktikum2/setup.py Normal file
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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'
],
},
)

25
P2/src/praktikum2/test/test_copyright.py Normal file
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@@ -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'

25
P2/src/praktikum2/test/test_flake8.py Normal file
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@@ -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)

23
P2/src/praktikum2/test/test_pep257.py Normal file
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@@ -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'

1
spot/src/webots_ros2 Submodule

Submodule spot/src/webots_ros2 added at a5a9c3f82b

1
spot/src/webots_ros2_spot Submodule

Submodule spot/src/webots_ros2_spot added at c8c04f2a1d

1
spot/src/webots_spot_msgs Submodule

Submodule spot/src/webots_spot_msgs added at 1713b46e1e

1
spot/src/webots_spot_teleop Submodule

Submodule spot/src/webots_spot_teleop added at 80a9e61ec8