Camera get ip

.github/workflows/build_test.yml

@@ -0,0 +1,48 @@
+name: X17-Core Build Test
+on:
+  push:
+    branches:
+      - camera_get_ip
+  pull_request:
+    branches:
+      - camera_get_ip
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04  # Use Ubuntu 22.04 (Jammy) for ROS 2 Humble
+    steps:
+      # Check out the repository
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      # Set up ROS 2 (Humble)
+      - name: Set up ROS 2
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: humble
+
+      # Install dependencies from requirements.txt
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y python3-pip
+
+      # Execute the build script
+      - name: Build
+        run: |
+          chmod +x scripts/build.sh
+          scripts/build.sh
+
+      # Execute the run script
+      - name: Start and check ROS 2 nodes
+        run: |
+          chmod +x scripts/run.sh
+          scripts/run.sh &
+          sleep 15  # Give nodes time to start
+          # Kill ROS 2 nodes
+          echo "Killing ROS 2 nodes:"
+          pkill -f ros2 || true    # Success message
+
+      - name: Success
+        run: echo "Success!"

.gitignore

@@ -1,5 +1,4 @@
 .idea
 build
 install
-utils
 log

.vscode/settings.json

@@ -0,0 +1,4 @@
+{
+    "python.analysis.extraPaths": ["utils"],
+    "python.autoComplete.extraPaths": ["utils"]
+}

rov_launch/launch/core_launch.yaml

@@ -1,6 +1,6 @@
 launch:
   - include:
       file: $(find-pkg-share thrust_control)/launch/thrust_control_launch.yaml
-      file: $(find-pkg-share sensors)/launch/sensors_launch.yaml
-      file: $(find-pkg-share tools)/launch/tools_launch.yaml
-      file: $(find-pkg-share videos)/launch/videos_launch.yaml
+      # file: $(find-pkg-share sensors)/launch/sensors_launch.yaml
+      # file: $(find-pkg-share tools)/launch/tools_launch.yaml
+      # file: $(find-pkg-share videos)/launch/videos_launch.yaml

sensors/src/depth_sense.py

@@ -1,8 +1,11 @@
 #! /usr/bin/python3
+
 import rclpy
 from rclpy.node import Node
-
 from std_msgs.msg import Float64
+
+# Library for the depth sensor
+# More info: https://github.com/bluerobotics/ms5837-python
 import ms5837
 
 

sensors/src/imu_angle_control.py

@@ -3,7 +3,6 @@
 
 import rclpy
 from rclpy.node import Node
-
 from shared_msgs.msg import ImuMsg, ImuVelocityCommand
 
 

utils/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.8)
+project(utils)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  utils/heartbeat_helper.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

utils/package.xml

@@ -0,0 +1,27 @@
+<?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>utils</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="akahl@purdue.edu">adam</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>rclpy</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_generators</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

utils/utils/heartbeat_helper.py

@@ -0,0 +1,31 @@
+#! /usr/bin/python3
+
+from rclpy.node import Node
+from std_msgs.msg import Header
+
+class HeartbeatHelper:
+    def __init__(self, node: Node, topic_name="heartbeat", timer_period=5.0):
+        """This class is used to publish a heartbeat message on a given topic at a given interval"""
+        self.timer_period = timer_period
+        self.node = node
+        self.publisher = self.node.create_publisher(Header, topic_name, 10)
+        self.timer = self.node.create_timer(timer_period, self.publish_heartbeat)
+
+    def publish_heartbeat(self):
+        """Publish a heartbeat message on the topic"""
+        self.node.get_logger().info("Publishing heartbeat from {}".format(self.node.get_name()))
+        msg = Header()
+        msg.stamp = self.node.get_clock().now().to_msg()
+        msg.frame_id = self.node.get_name()
+        self.publisher.publish(msg)
+
+    def stop_heartbeat(self):
+        """Stop the heartbeat timer"""
+        self.timer.cancel()
+        self.node.destroy_publisher(self.publisher)
+        self.node.get_logger().info(f'Heartbeat stopped for {self.node.get_name()}')
+
+    def start_heartbeat(self):
+        """Start the heartbeat timer"""
+        self.timer = self.node.create_timer(self.timer_period, self.publish_heartbeat)
+        self.node.get_logger().info(f'Heartbeat started for {self.node.get_name()}')

videos/CMakeLists.txt

@@ -14,6 +14,7 @@ ament_python_install_package(${PROJECT_NAME})
 
 install(PROGRAMS
   src/videos_launch.py
+  src/get_ip.py
   DESTINATION lib/${PROJECT_NAME}
 )
 

videos/README.md

@@ -0,0 +1,50 @@
+# Camera Streams
+
+Our camera streams are designed to be as simple as possible to get up and running.
+
+### How it works
+
+There are two main nodes for this package:
+
+1. `IpSubscriber` - This node is responsible for subscribing to the IP address of the the surface station, and when a valid IP address is received, it will start the camera nodes with the provided IP address.
+2. `Camera` - This nodes is responsible for creating a ffmpeg stream from the camera, and publishing it to the surface station.
+
+### IpSubscriber
+
+This node first creates a subscription to the `surface_ip` topic and waits for a message to be published. When a message is published, it will start the camera nodes with the provided IP address.
+
+After receiving the IP address, the node will run the command: `v4l2-ctl --list-devices`. This will list all the camera devices and their respective paths. The output will usually look something like this, with an entry for each connected video device:
+
+```bash
+exploreHD USB Camera: exploreHD (usb-0000:01:00.0-1.1.4):
+    /dev/video4
+    /dev/video5
+    /dev/video6
+    /dev/video7
+    /dev/media4
+```
+
+The various devices listed under the camera name are the different video devices that can be used to stream from the camera. They each correspond to a different format or resolution that the camera can stream in. The node currently selects the 3rd device listed for each camera, but this can be changed by modifying the `camera_device_number` parameter in the `get_ip.py` file.
+
+The node will select the specified number of cameras. If there are more cameras than specified, the node will select the first specified number of cameras. If there are fewer cameras than specified, the node will select the available cameras.
+
+
+The camera nodes will be launched with the following command:
+
+```bash
+ros2 run videos videos_launch.py --ros-args -p ip:={ip} -p device:={camera} -p camera_number:={i} -r __node:=camera{i}
+```
+
+Where `{ip}` is the IP address of the surface station, `{camera}` is the path to the camera device in the URL, and `{i}` is the camera number.
+
+### Camera
+
+This node is responsible for creating a ffmpeg stream from the camera, and publishing it to the surface station. The ffmpeg command is as follows:
+
+```bash
+ffmpeg -f v4l2 -fflags nobuffer -i dev_name -vcodec copy -g 10 -f rtsp rtsp_url
+```
+
+Where `dev_name` is the path to the camera device, and `rtsp_url` is the URL to publish the stream to.
+
+To learn more about ffmpeg and its options, visit the [ffmpeg documentation](https://ffmpeg.org/ffmpeg.html).

videos/launch/videos_launch.yaml

@@ -1,37 +1,5 @@
 launch:
   - node:
       pkg: "videos"
-      exec: "videos_launch.py"
-      namespace: "rov"
-      name: "front_cam"
-      param:
-        - name: "dev_name"
-          type: "str"
-          value: "device=/dev/video2"
-        - name: "port_num"
-          type: "str"
-          value: "5600"
-  - node:
-      pkg: "videos"
-      exec: "videos_launch.py"
-      namespace: "rov"
-      name: "down_cam"
-      param:
-        - name: "dev_name"
-          type: "str"
-          value: "device=/dev/video6"
-        - name: "port_num"
-          type: "str"
-          value: "5601"
-  - node:
-      pkg: "videos"
-      exec: "videos_launch.py"
-      namespace: "rov"
-      name: "aft_cam"
-      param:
-        - name: "dev_name"
-          type: "str"
-          value: "device=/dev/video17"
-        - name: "port_num"
-          type: "str"
-          value: "5602"
+      exec: "get_ip.py"
+      namespace: "rov"