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ros_ws
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# ROS2 (As Ease As Possible) ###### Goal of the project is to build computer vision projects easier on ROS #### Computer vision is an important application of ROS2, as it allows robots and other autonomous systems to understand and interact with their environment. Here are some common topics related to computer vision in ROS2: **Image processing:** Process images from cameras and other sensors. These libraries enable developers to implement various computer vision algorithms, such as object detection, segmentation, and tracking. **Depth sensing:** In addition to cameras, many robots use depth sensors, such as LIDAR or depth cameras, to perceive their environment. ROS2 provides several libraries, such as depth_image_proc and pointcloud2, to process and analyze depth data. **Perception algorithms:** Various perception algorithms that can be used for object detection, tracking, and recognition. **Integration with other ROS2 components:** Computer vision algorithms in ROS2 are often used in conjunction with other ROS2 components, such as navigation, manipulation, and planning. ROS2 provides various communication and messaging protocols, such as ROS2 Topics and ROS2 Services, that enable developers to integrate these components and create complex systems. ___ ___ ##### tested on ```bash ## ros distro abc@xyz:~$ rosversion -d humble ## ubuntu version abc@xyz:~$ lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 22.04.1 LTS Release: 22.04 Codename: jammy ## python version abc@xyz:~$ python3 --version Python 3.10.6 ``` ___ ___ ## my ros_ws ```bash ### steps for setting up git clone https://github.com/bharath5673/ros_ws.git cd ros_ws colcon build cd .. ``` ___ ___ ## 1. turtlebot  ```bash ### steps for turtleot source ros_ws/install/setup.bash ros2 run turtlesim turtlesim_node & ros2 run my_robot_controller turtle_controller ``` ___ ___ ## 2. opencv-python ___  ```bash ### steps for opencv source ros_ws/install/setup.bash ros2 run test_opencv run_test ``` ___ ___ ## 3. mediapipe ___  ``` pip install mediapipe ``` <div align="center"> <p> <img src="https://user-images.githubusercontent.com/33729709/215048866-4bd22c58-7012-43d0-ab7f-ece3d95a66a3.png" width="400"/> <img src="https://user-images.githubusercontent.com/33729709/215048966-6b6b2aaa-4785-43e6-9e5e-b10ef4b59ded.png" width="400"/> </p> <br> </div> ```bash ### steps for facemesh source ros_ws/install/setup.bash ros2 run test_mediapipe facemesh_demo ``` ```bash ### steps for pose source ros_ws/install/setup.bash ros2 run test_mediapipe pose_demo ``` <div align="center"> <p> <img src="https://user-images.githubusercontent.com/33729709/215049008-0c6938e7-0247-4921-b008-28402545af4e.png" width="400"/> <img src="https://user-images.githubusercontent.com/33729709/215049083-a7eea250-d0c9-44e5-a4e7-46d899390b6f.png" width="400"/> </p> <br> </div> ```bash ### steps for hands source ros_ws/install/setup.bash ros2 run test_mediapipe hands_demo ``` ```bash ### steps for holistic source ros_ws/install/setup.bash ros2 run test_mediapipe holistic_demo ``` ___ ___ ### 4. yolov5 ___  ``` pip install yolov5 ``` <div align="center"> <p> <img src="https://user-images.githubusercontent.com/33729709/215049111-5b0f4626-9280-4d2f-958a-235ec214ace4.png" width="400"/> <img src="https://user-images.githubusercontent.com/33729709/215049111-5b0f4626-9280-4d2f-958a-235ec214ace4.png" width="400"/> </p> <br> </div> ```bash ### steps for yolov5n source ros_ws/install/setup.bash ros2 run test_yolov5 yolov5n_demo ``` ```bash ### steps for yolov5s source ros_ws/install/setup.bash ros2 run test_yolov5 yolov5s_demo ``` ___ ___ ### 5. Self-Driving-Car ___ <div align="center"> <p> <img src="https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/blob/main/Images_videos/the_car.gif" width="400"/> <img src="https://user-images.githubusercontent.com/33729709/216042261-ceb356c6-3e07-49d7-817e-ec28a41ed811.png" width="400"/> </p> <br> </div> ``` ### steps for testing installation ## install dependancies python3 -m pip install -r src/self_driving_car_pkg/requirements.txt sudo apt install ros-humble-gazebo-ros sudo apt-get install ros-humble-gazebo-msgs sudo apt-get install ros-humble-gazebo-plugins ## copy models to gazebo env cp -r ros_ws/src/self_driving_car_pkg/models/* /home/bharath/.gazebo/models ## once build you can run the simulation e.g [ ros2 launch (package_name) world(launch file) ] source ros_ws/install/setup.bash source /opt/ros/humble/setup.bash ros2 launch self_driving_car_pkg world_gazebo.launch.py ## To activate the SelfDriving Car source ros_ws/install/setup.bash source /opt/ros/humble/setup.bash ros2 run self_driving_car_pkg computer_vision_node ``` <div align="center"> <p> <img src="https://user-images.githubusercontent.com/33729709/216042810-cdb48e39-8aa4-4201-b8be-b77b8c51d7d7.png" width="400"/> <img src="https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV/raw/main/Images_videos/Sat_Nav/1_localization.gif" width="400"/> </p> <br> </div> ```` ### steps to run Self-Driving-Car ## Launch the maze_solving world in gazebo source ros_ws/install/setup.bash source /opt/ros/humble/setup.bash ros2 launch self_driving_car_pkg maze_solving_world.launch.py ## in another terminal source ros_ws/install/setup.bash source /opt/ros/humble/setup.bash ros2 run self_driving_car_pkg sdc_V2 ```` for detailed explainations and tutorilas @ https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV ___ ___ ### 6. rosbag and dataFrame ___  ```bash ### steps for rosbag turtle vel cmds source ros_ws/install/setup.bash ros2 run turtlesim turtlesim_node & ros2 run test_turtle_bag turtlebot_for_rosbag ### steps to control turtlebot source ros_ws/install/setup.bash ros2 run turtlesim turtle_teleop_key ``` #### saving bag file  ``` ### open turtlebot source ros_ws/install/setup.bash ros2 run turtlesim turtlesim_node ### steps to rosbag play source ros_ws/install/setup.bash ros2 bag play 'ros_ws/src/test_turtle_bag/test_turtle_bag/rosbag2_2023_02_06-18_46_50/rosbag2_2023_02_06-18_46_50_0.db3' -d 0.5 ``` <div align="center"> <p> <img src="https://user-images.githubusercontent.com/33729709/216971268-3275a8b1-b9bb-4710-8b66-7dad9c7eae91.png"/> </p> <br> </div> @https://github.com/bharath5673/ros_ws/blob/main/src/test_turtle_bag/test_turtle_bag/rosbag.ipynb ___ ___ ### 7. ROS2 yolobot ```bash ## prerequisites sudo apt install ros-humble-gazebo-ros sudo apt-get install ros-humble-gazebo-msgs sudo apt-get install ros-humble-gazebo-plugins pip install yolov5 ## copy models to gazebo env cp -r ros_ws/src/yolobot/models/* /home/bharath/.gazebo/models ``` ___  ```bash ### step for roslaunch source /opt/ros/humble/setup.bash source ros_ws/install/setup.bash ros2 launch yolobot yolobot_launch.py ``` ___ ___  ```bash ### on new terminal ### step for yolobot detetcion source /opt/ros/humble/setup.bash source ros_ws/install/setup.bash python3 ros_ws/src/yolobot/yolobot_recognition/ros_recognition_yolo.py ``` for detailed explainations and tutorilas @ https://www.youtube.com/watch?v=594Gmkdo-_s&t=610s ___ ___ ### 8. PICO-W with MPU-6050 accelerometer and gyroscope module (EXCLUSIVE) <img src="https://media0.giphy.com/media/J19OSJKmqCyP7Mfjt1/giphy.gif" width="80" height="30" /> ```bash ## prerequisites sudo apt-get install ros-humble-imu-tools ``` ___  ```bash ### step for simple testing imu sensors with random data source /opt/ros/humble/setup.bash source ros_ws/install/setup.bash ros2 run test_imu simple_imu ``` ```bash ### on new terminal for rviz source ros_ws/install/setup.bash rviz2 now click on add create visualization By Topic /Imu/imu ``` ### Getting MPU-6050 Sensor Readings: Accelerometer, Gyroscope <img src="https://user-images.githubusercontent.com/33729709/218695413-da3b14da-0146-408d-b602-6f4d288ee7a6.jpg" height="500" width="1080"/> flash ur pico-W on Thonny with https://github.com/bharath5673/ros_ws/blob/main/src/test_imu/pico_W/sketch1.py #### demo 1 <img src="https://github.com/bharath5673/ros_ws/blob/main/src/test_imu/demo_1.gif" width="1080"/> #### Note : please ignore those other components on the board showing in the below demo.. my circuit was built for different use case.. u can connect ur pico-w and mpu6050 as shown in this below simple circuit diagram #### demo 2 <img src="https://github.com/bharath5673/ros_ws/blob/main/src/test_imu/demo_2.gif" width="400"/> <img src="https://user-images.githubusercontent.com/33729709/219925577-8a1a6e71-d6aa-48b0-9aef-525f6b0bde97.jpg" width="400"/> ``` ### step to read imu MPU6050 data from pico-W and visualize on rviz2 source /opt/ros/humble/setup.bash source ros_ws/install/setup.bash ros2 run test_imu picoW_mpu6050 ``` ``` ### on new terminal for rviz source ros_ws/install/setup.bash rviz2 ``` ___ ### Getting MPU-6050 Sensor Readings: Accelerometer, Gyroscope <img src="https://user-images.githubusercontent.com/33729709/219880851-6e0a15e8-b262-4277-b370-884f947bbe6b.jpg" height="500" width="1080"/> flash ur ESP32 on Arduino with https://github.com/bharath5673/ros_ws/blob/main/src/test_imu/esp_32/sketch2.ino #### demo 3 <img src="https://github.com/bharath5673/ros_ws/blob/main/src/test_imu/demo_3.gif" width="1080"/> #### Note : please ignore those other components on the board showing in the below demo.. my circuit was built for different use case.. u can connect ur esp-32 and mpu6050 as shown in this below simple circuit diagram #### demo 4 <img src="https://github.com/bharath5673/ros_ws/blob/main/src/test_imu/demo_4.gif" width="400"/> <img src="https://user-images.githubusercontent.com/33729709/219925024-95400b18-11f4-4e19-a517-a8739cf93745.png" width="400"/> ``` ### step to read imu MPU6050 data from pico-W and visualize on rviz2 source /opt/ros/humble/setup.bash source ros_ws/install/setup.bash ros2 run test_imu esp32_mpu6050 ``` ``` ### on new terminal for rviz source ros_ws/install/setup.bash rviz2 ``` ___ ___ ## 9. OpenCV AI Kit ___  ###### The OAK (OpenCV AI Kit) is a series of edge computing devices developed by Luxonis, designed to provide high-performance AI inference for computer vision applications in a compact and low-power form factor. a dedicated AI accelerator chip that provides high-speed neural network inference for running complex AI models on-device. With the OAK devices, users can deploy AI models for tasks such as object detection, facial recognition, and gesture recognition and making it ideal for edge AI applications. ### DepthAI ###### DepthAI is a Spatial AI platform API that supports OAK devices ```bash ### steps for installing Death-AI python3 -m pip install depthai --upgrade ``` ```bash ### set USB rules to recognise and access oak devices to grant permission echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | sudo tee /etc/udev/rules.d/80-movidius.rules sudo udevadm control --reload-rules && sudo udevadm trigger ``` ___ #### OAK-1 demo ___ <div align="center"> <p> <img src="https://user-images.githubusercontent.com/33729709/221369501-07e9077c-55db-429e-a8b3-8a49b4383b3b.jpg" height="200" width="200"/> <img src="https://user-images.githubusercontent.com/33729709/221369587-c7e3ed81-0315-4ea3-800b-adb7d6a00afb.png" width="500"/> </p> <br> </div> ```bash ### steps for running yolo on oak-1 publisher source ros_ws/install/setup.bash ros2 run test_OAK OAK_1_publisher ``` ``` ### on new terminal for subscriber source ros_ws/install/setup.bash ros2 run test_OAK OAK_subscriber ``` ___ #### OAK-D demo ___ <div align="center"> <p> <img src="https://user-images.githubusercontent.com/33729709/221370009-32ce1e85-7e0d-446f-a7a7-d53eacee8137.jpg" height="200" width="200"/> <img src="https://user-images.githubusercontent.com/33729709/221370002-28ca5340-7a2a-47b6-94ef-c580b7b19710.png" width="500"/> </p> <br> </div> ```bash ### steps for running yolo on oak-D publisher source ros_ws/install/setup.bash ros2 run test_OAK OAK_D_publisher ``` ``` ### on new terminal for subscriber source ros_ws/install/setup.bash ros2 run test_OAK OAK_subscriber ``` ___ ___ ## 10. ROS2 Navigation Stack <img src="https://media0.giphy.com/media/J19OSJKmqCyP7Mfjt1/giphy.gif" width="80" height="30" /> ___ Simple and easy project, about building a custom robot maps and that can navigate autonomously using the ROS2 Navigation Stack.  @https://github.com/bharath5673/ros_ws/tree/main/src/navigation_tb3 ___ ___ ## Cite <details><summary> <b>Expand</b> </summary> * [https://github.com/AlexeyAB/darknet](https://github.com/AlexeyAB/darknet) * [https://github.com/ultralytics/yolov5](https://github.com/ultralytics/yolov5) * [https://github.com/TexasInstruments/edgeai-yolov5/tree/yolo-pose](https://github.com/TexasInstruments/edgeai-yolov5/tree/yolo-pose) * [https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV.git](https://github.com/noshluk2/ROS2-Self-Driving-Car-AI-using-OpenCV.git) * [https://github.com/google/mediapipe.git](https://github.com/google/mediapipe.git) * [https://github.com/ellenrapps/Road-to-Autonomous-Drone-Using-Raspberry-Pi-Pico.git](https://github.com/ellenrapps/Road-to-Autonomous-Drone-Using-Raspberry-Pi-Pico.git) * [https://github.com/ros2/ros2_documentation.git](https://github.com/ros2/ros2_documentation.git) * [https://github.com/raspberrypi](https://github.com/raspberrypi](https://github.com/raspberrypi) * [https://github.com/NVIDIA](https://github.com/NVIDIA) * [https://github.com/opencv/opencv](https://github.com/opencv/opencv) * [https://roboticsbackend.com/](https://roboticsbackend.com) </details>
