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src/yolov8_launch/class_list/cone.list

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+cone

src/yolov8_launch/launch/dnn_node_example.launch.py

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+# Copyright (c) 2024，D-Robotics.
+#
+# 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.
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import TextSubstitution
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python import get_package_share_directory
+from ament_index_python.packages import get_package_prefix
+
+
+def generate_launch_description():
+
+    # args that can be set from the command line or a default will be used
+    config_file_launch_arg = DeclareLaunchArgument(
+        "dnn_example_config_file", default_value=TextSubstitution(text="/root/yolov8workconfig.json")
+    )
+    dump_render_launch_arg = DeclareLaunchArgument(
+        "dnn_example_dump_render_img", default_value=TextSubstitution(text="0")
+    )
+    image_width_launch_arg = DeclareLaunchArgument(
+        "dnn_example_image_width", default_value=TextSubstitution(text="640")
+    )
+    image_height_launch_arg = DeclareLaunchArgument(
+        "dnn_example_image_height", default_value=TextSubstitution(text="480")
+    )
+    msg_pub_topic_name_launch_arg = DeclareLaunchArgument(
+        "dnn_example_msg_pub_topic_name", default_value=TextSubstitution(text="hobot_dnn_detection")
+    )
+
+    camera_type = os.getenv('CAM_TYPE')
+    camera_type = 'usb'
+    print("camera_type is ", camera_type)
+    
+    cam_node = None
+    camera_type_mipi = None
+    camera_device_arg = None
+
+    if camera_type == "usb":
+        # usb cam图片发布pkg
+        usb_cam_device_arg = DeclareLaunchArgument(
+            'device',
+            default_value='/dev/video8',
+            description='usb camera device')
+
+        usb_node = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory('hobot_usb_cam'),
+                    'launch/hobot_usb_cam.launch.py')),
+            launch_arguments={
+                'usb_image_width': LaunchConfiguration('dnn_example_image_width'),
+                'usb_image_height': LaunchConfiguration('dnn_example_image_height'),
+                'usb_video_device': LaunchConfiguration('device')
+            }.items()
+        )
+        print("using usb cam")
+        cam_node = usb_node
+        camera_type_mipi = False
+        camera_device_arg = usb_cam_device_arg
+
+    elif camera_type == "fb":
+        # 本地图片发布
+        feedback_picture_arg = DeclareLaunchArgument(
+            'publish_image_source',
+            default_value='./config/target.jpg',
+            description='feedback picture')
+
+        publish_image_fps = DeclareLaunchArgument(
+            'publish_image_fps',
+            default_value='5',
+            description='publish_image_fps picture')
+
+        fb_node = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory('hobot_image_publisher'),
+                    'launch/hobot_image_publisher.launch.py')),
+            launch_arguments={
+                'publish_image_source': LaunchConfiguration('publish_image_source'),
+                'publish_image_format': LaunchConfiguration('publish_image_format'),
+                'publish_message_topic_name': '/hbmem_img',
+                'publish_fps': LaunchConfiguration('publish_image_fps')
+            }.items()
+        )
+
+        print("using feedback")
+        cam_node = fb_node
+        camera_type_mipi = True
+        camera_device_arg = feedback_picture_arg
+
+    else:
+        if camera_type == "mipi":
+            print("using mipi cam")
+        else:
+            print("invalid camera_type ", camera_type,
+                ", which is set with export CAM_TYPE=usb/mipi/fb, using default mipi cam")
+        # mipi cam图片发布pkg
+        mipi_cam_device_arg = DeclareLaunchArgument(
+            'device',
+            default_value='F37',
+            description='mipi camera device')
+        mipi_node = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory('mipi_cam'),
+                    'launch/mipi_cam.launch.py')),
+            launch_arguments={
+                'mipi_image_width': LaunchConfiguration('dnn_example_image_width'),
+                'mipi_image_height': LaunchConfiguration('dnn_example_image_height'),
+                'mipi_io_method': 'shared_mem',
+                'mipi_frame_ts_type': 'realtime',
+                'mipi_video_device': LaunchConfiguration('device')
+            }.items()
+        )
+
+        cam_node = mipi_node
+        camera_type_mipi = True
+        camera_device_arg = mipi_cam_device_arg
+
+    # jpeg图片编码&发布pkg
+    jpeg_codec_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('hobot_codec'),
+                'launch/hobot_codec_encode.launch.py')),
+        launch_arguments={
+            'codec_in_mode': 'shared_mem',
+            'codec_out_mode': 'ros',
+            'codec_sub_topic': '/hbmem_img',
+            'codec_pub_topic': '/image'
+        }.items()
+    )
+
+    # nv12图片解码&发布pkg
+    nv12_codec_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('hobot_codec'),
+                'launch/hobot_codec_decode.launch.py')),
+        launch_arguments={
+            'codec_in_mode': 'ros',
+            'codec_out_mode': 'shared_mem',
+            'codec_sub_topic': '/image',
+            'codec_pub_topic': '/hbmem_img'
+        }.items()
+    )
+
+    # web展示pkg
+    web_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('websocket'),
+                'launch/websocket.launch.py')),
+        launch_arguments={
+            'websocket_image_topic': '/image',
+            'websocket_image_type': 'mjpeg',
+            'websocket_smart_topic': LaunchConfiguration("dnn_example_msg_pub_topic_name")
+        }.items()
+    )
+
+    # 算法pkg
+    dnn_node_example_node = Node(
+        package='dnn_node_example',
+        executable='example',
+        output='screen',
+        parameters=[
+            {"config_file": LaunchConfiguration('dnn_example_config_file')},
+            {"dump_render_img": LaunchConfiguration(
+                'dnn_example_dump_render_img')},
+            {"feed_type": 1},
+            {"is_shared_mem_sub": 1},
+            {"msg_pub_topic_name": LaunchConfiguration(
+                "dnn_example_msg_pub_topic_name")}
+        ],
+        arguments=['--ros-args', '--log-level', 'warn']
+    )
+
+    shared_mem_node = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(
+                        get_package_share_directory('hobot_shm'),
+                        'launch/hobot_shm.launch.py'))
+            )
+
+    if camera_type_mipi:
+        return LaunchDescription([
+            camera_device_arg,
+            config_file_launch_arg,
+            dump_render_launch_arg,
+            image_width_launch_arg,
+            image_height_launch_arg,
+            msg_pub_topic_name_launch_arg,
+            # 启动零拷贝环境配置node
+            # shared_mem_node,
+            # 图片发布pkg
+            cam_node,
+            # 图片编解码&发布pkg
+            nv12_codec_node,
+            # 启动example pkg
+            dnn_node_example_node,
+            # 启动web展示pkg
+            web_node
+        ])
+    else:
+        return LaunchDescription([
+            camera_device_arg,
+            config_file_launch_arg,
+            dump_render_launch_arg,
+            image_width_launch_arg,
+            image_height_launch_arg,
+            msg_pub_topic_name_launch_arg,
+            # 启动零拷贝环境配置node
+            # shared_mem_node,
+            # 图片发布pkg
+            cam_node,
+            # 图片编解码&发布pkg
+            nv12_codec_node,
+            # 启动example pkg
+            dnn_node_example_node,
+            # 启动web展示pkg
+            web_node
+        ])

src/yolov8_launch/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>yolov8_launch</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</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>

src/yolov8_launch/setup.cfg

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+[develop]
+script_dir=$base/lib/yolov8_launch
+[install]
+install_scripts=$base/lib/yolov8_launch

src/yolov8_launch/setup.py

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+from setuptools import find_packages, setup
+import os
+from glob import glob
+package_name = 'yolov8_launch'
+
+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']),
+        ('share/' + package_name + '/launch', glob('launch/*.launch.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

src/yolov8_launch/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
+
+
+# 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'

src/yolov8_launch/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)

src/yolov8_launch/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'