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Merge pull request #20 from AutoModality/AM-213/vb_util_lib
Am 213/vb util lib
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‎.github/workflows/package.yml‎

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@@ -15,7 +15,7 @@ jobs:
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- uses: actions/checkout@v2
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- name: Package
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id: package
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uses: AutoModality/action-package-debian-ros@v3.0.0
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uses: AutoModality/action-package-debian-ros@v3-perception
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with:
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branch: ${{ github.event.pull_request.head.ref }}
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pull-request-number: ${{ github.event.number }}

‎.github/workflows/release.yml‎

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@@ -65,7 +65,7 @@ jobs:
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- name: Package if published
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if: steps.published.outputs.value == 'true'
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id: package
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uses: AutoModality/action-package-debian-ros@v3.0.0
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uses: AutoModality/action-package-debian-ros@v3-perception
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with:
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version: ${{ steps.version.outputs.value }}
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release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}

‎.github/workflows/story.yml‎

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steps:
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- uses: actions/checkout@v2
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- name: Package
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uses: AutoModality/action-package-debian-ros@v3.0.0
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uses: AutoModality/action-package-debian-ros@v3-perception
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with:
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dev-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_DEV_ENTITLEMENT }}
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release-repo-entitlement: ${{ secrets.CLOUDSMITH_READ_RELEASE_ENTITLEMENT }}

‎CMakeLists.txt‎

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@@ -1,60 +1,123 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(am_utils)
33

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add_compile_options(-std=c++11)
5+
46
find_package(catkin REQUIRED COMPONENTS
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brain_box_msgs
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control_toolbox
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dji_sdk
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image_transport
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genmsg
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geometry_msgs
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nav_msgs
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genmsg
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std_msgs
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sensor_msgs
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rosconsole
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roscpp
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rosbag
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rostime
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brain_box_msgs
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sensor_msgs
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std_msgs
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tf2
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tf2_ros
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)
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generate_messages( DEPENDENCIES std_msgs nav_msgs geometry_msgs sensor_msgs)
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set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
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find_package(OpenCV REQUIRED)
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find_package(Eigen3 REQUIRED)
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catkin_package(
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INCLUDE_DIRS include include/am_utils
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INCLUDE_DIRS include include/am_utils include/vb_util_lib
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LIBRARIES am_utils
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CATKIN_DEPENDS
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geometry_msgs
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nav_msgs
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std_msgs
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sensor_msgs
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brain_box_msgs
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brain_box_msgs
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control_toolbox
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dji_sdk
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image_transport
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genmsg
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geometry_msgs
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nav_msgs
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rosconsole
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roscpp
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rosbag
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rostime
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sensor_msgs
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std_msgs
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tf2
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tf2_ros
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)
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# TODO: why is the explicit eigen3 include
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${Eigen3_INCLUDE_DIRS}
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/usr/include/eigen3
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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add_library(am_utils
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src/am_bag_utils.cpp
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src/am_network_utils.cpp
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src/am_onlinestatistics.cpp
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src/am_operator_utils.cpp
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src/am_statistics.cpp
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src/cansocket.cpp
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src/fcu_mode_type.cpp
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src/flightplan_type.cpp
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src/latency_wrapper.cpp
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src/message_util.cpp
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src/mission_cmd_type.cpp
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src/operator_msg_type.cpp
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src/topics.cpp
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)
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target_link_libraries(am_utils ${catkin_LIBRARIES})
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add_dependencies(am_utils brain_box_msgs_generate_messages_cpp)
57-
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install(TARGETS am_utils
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src/am_utils/am_bag_utils.cpp
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src/am_utils/am_network_utils.cpp
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src/am_utils/am_onlinestatistics.cpp
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src/am_utils/am_operator_utils.cpp
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src/am_utils/am_statistics.cpp
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src/am_utils/cansocket.cpp
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src/am_utils/fcu_mode_type.cpp
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src/am_utils/flightplan_type.cpp
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src/am_utils/latency_wrapper.cpp
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src/am_utils/message_util.cpp
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src/am_utils/mission_cmd_type.cpp
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src/am_utils/operator_msg_type.cpp
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src/vb_util_lib/control_util.cpp
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src/vb_util_lib/object_state.cpp
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src/vb_util_lib/kinematics.cpp
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src/vb_util_lib/kinematics_list.cpp
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src/vb_util_lib/current_enu_kinematics.cpp
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src/vb_util_lib/am_param.cpp
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src/vb_util_lib/gis_entity.cpp
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src/vb_util_lib/gis_util.cpp
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src/vb_util_lib/jsoncpp.cpp
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src/vb_util_lib/json_utils.cpp
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src/vb_util_lib/gs_json_utils.cpp
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src/vb_util_lib/am_util.cpp
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src/vb_util_lib/key_value_stamped.cpp
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src/vb_util_lib/param_update.cpp
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src/vb_util_lib/gps_util.cpp
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src/vb_util_lib/location_source.cpp
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src/vb_util_lib/am_geometry.cpp
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src/vb_util_lib/topics.cpp
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src/vb_util_lib/task_trigger.cpp
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src/vb_util_lib/time_util.cpp
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src/vb_util_lib/ftp_request.cpp
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src/vb_util_lib/ftp_response.cpp
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src/vb_util_lib/file_spec.cpp
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src/vb_util_lib/message.cpp
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src/vb_util_lib/msg_head.cpp
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src/vb_util_lib/msg_data.cpp
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src/vb_util_lib/dji_challenge_util.cpp
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src/vb_util_lib/am_histogram.cpp
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src/vb_util_lib/row_marker.cpp
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src/vb_util_lib/rc_controls.cpp
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src/vb_util_lib/i2c.cpp
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src/vb_util_lib/circ_list.cpp
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src/vb_util_lib/time_synchronizer.cpp
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src/vb_util_lib/GeometryPoseExtractor.cpp
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src/vb_util_lib/trajectory_data.cpp
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src/vb_util_lib/transformer.cpp
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src/vb_util_lib/rotate.cpp
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src/vb_util_lib/imu_class.cpp
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src/vb_util_lib/am_heartbeat.cpp
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src/vb_util_lib/vb_main.cpp
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src/vb_util_lib/bag_logger.cpp)
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target_link_libraries(am_utils ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
112+
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install(TARGETS am_utils
59114
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
60115
)
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install(DIRECTORY include/am_utils/
118+
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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install(DIRECTORY include/vb_util_lib/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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‎README.md‎

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@@ -2,7 +2,6 @@
22

33
A common library for sharing core code.
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5-
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| Github Action | Kinetic Package | Melodic Package |
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| ------------- | ------------- | ------------- |
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| [![Story Development](https://github.com/AutoModality/am-utils/workflows/Story%20Development/badge.svg)](https://github.com/AutoModality/am-utils/actions?query=workflow%3A%22Story+Development%22) | -- |

‎debian/control‎

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@@ -3,6 +3,9 @@ Section: misc
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Priority: extra
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Maintainer: info <info@automodality.com>
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Build-Depends: debhelper (>= 9.0.0),
6+
ros-melodic-am-control-toolbox,
7+
ros-melodic-am-osdk-ros,
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ros-melodic-image-transport,
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ros-melodic-am-msgs,
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ros-melodic-catkin,
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ros-melodic-geometry-msgs,
@@ -14,12 +17,20 @@ Build-Depends: debhelper (>= 9.0.0),
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ros-melodic-sensor-msgs,
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ros-melodic-std-msgs,
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ros-melodic-uuid-msgs,
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ros-melodic-tf2,
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ros-melodic-tf2-ros,
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ros-melodic-tf2-sensor-msgs,
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ros-melodic-cv-bridge,
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ros-melodic-mavros-msgs,
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Homepage: https://github.com/AutoModality/am-utils
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Standards-Version: 3.9.2
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Package: ros-melodic-am-utils
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Architecture: any
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Depends: ${shlibs:Depends}, ${misc:Depends},
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ros-melodic-am-control-toolbox,
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ros-melodic-am-osdk-ros,
33+
ros-melodic-image-transport,
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ros-melodic-am-msgs,
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ros-melodic-geometry-msgs,
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ros-melodic-message-runtime,
@@ -30,4 +41,9 @@ Depends: ${shlibs:Depends}, ${misc:Depends},
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ros-melodic-sensor-msgs,
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ros-melodic-std-msgs,
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ros-melodic-uuid-msgs,
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ros-melodic-tf2,
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ros-melodic-tf2-ros,
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ros-melodic-tf2-sensor-msgs,
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ros-melodic-cv-bridge,
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ros-melodic-mavros-msgs,
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Description: Common code to assist with AutoModality libraries found in separate repositories.

‎include/vb_util_lib/BagReader.h‎

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/*
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* bag_reader.h
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*
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* Created on: Apr 12, 2018
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* Author: Alireza Janani
6+
*/
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8+
#ifndef VISBOX_PACKAGES_COMMON_UTILS_UTIL_LIB_INCLUDE_VB_UTIL_LIB_BAGREADER_H_
9+
#define VISBOX_PACKAGES_COMMON_UTILS_UTIL_LIB_INCLUDE_VB_UTIL_LIB_BAGREADER_H_
10+
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#include<rosbag/bag.h>
12+
#include<rosbag/view.h>
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#include<vb_util_lib/console_color.h>
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#include<vector>
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#include<string>
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#include<ros/ros.h>
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#include<iostream>
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#include<fstream>
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template<typename T>
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class BagReader : public T
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{
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public:
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BagReader()
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{
26+
bag_file_location = "";
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topic = "";
28+
bag = new rosbag::Bag();
29+
}
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BagReader(const std::string &bag_file_location_, const std::string &topic_)
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{
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bag_file_location = bag_file_location_;
33+
topic = topic_;
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bag = new rosbag::Bag();
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readBagFile();
36+
}
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~BagReader()
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{
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bag->close();
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delete bag;
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}
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void setBagLocation(const std::string &bag_file_location_)
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{
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bag_file_location = bag_file_location_;
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readBagFile();
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}
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std::vector<T> &getMessages()
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{
49+
return msgs;
50+
}
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static inline bool exists(const std::string &str)
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{
54+
std::ifstream f(str.c_str());
55+
return f.good();
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}
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private:
58+
rosbag::Bag *bag;
59+
std::string bag_file_location;
60+
std::string topic;
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std::vector<T> msgs;
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bool bagIsOpen = false;
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void readBagFile()
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{
68+
if(!BagReader::exists(bag_file_location))
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{
70+
ROS_ERROR(RED "The file does not exist." COLOR_RESET);
71+
return;
72+
}
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ROS_INFO("Opening bag file at %s ...", bag_file_location.c_str());
74+
bag->open(bag_file_location, rosbag::bagmode::Read);
75+
/*if (bag->isOpen())
76+
{
77+
ROS_INFO("Opening %s is completed, Reading %s topic",bag_file_location.c_str(), topic.c_str());
78+
}*/
79+
ROS_INFO("Opening %s is completed, Reading %s topic",bag_file_location.c_str(), topic.c_str());
80+
rosbag::View view(*bag, rosbag::TopicQuery(topic));
81+
long cnt = 0;
82+
for(rosbag::MessageInstance const m : view)
83+
{
84+
cnt++;
85+
msgs.push_back(*m.instantiate<T>());
86+
}
87+
ROS_INFO("Operation is completed, entries processed [%ld]", cnt);
88+
bag->close();
89+
}
90+
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};
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#endif /* VISBOX_PACKAGES_COMMON_UTILS_UTIL_LIB_INCLUDE_VB_UTIL_LIB_BAGREADER_H_ */

‎include/vb_util_lib/GeometryPoseExtractor.h‎

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/*
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* GeometryPoseExtractor.h
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*
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* Created on: Apr 16, 2018
5+
* Author: ubuntu
6+
*/
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8+
#ifndef VISBOX_PACKAGES_COMMON_UTILS_UTIL_LIB_INCLUDE_VB_UTIL_LIB_GEOMETRYPOSEEXTRACTOR_H_
9+
#define VISBOX_PACKAGES_COMMON_UTILS_UTIL_LIB_INCLUDE_VB_UTIL_LIB_GEOMETRYPOSEEXTRACTOR_H_
10+
11+
#include<geometry_msgs/PoseStamped.h>
12+
#include<geometry_msgs/PoseWithCovarianceStamped.h>
13+
#include<nav_msgs/Odometry.h>
14+
#include<string>
15+
#include<vector>
16+
17+
18+
19+
class GeometryPoseExtractor
20+
{
21+
public:
22+
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GeometryPoseExtractor(std::vector<geometry_msgs::PoseStamped> &msgs);
24+
GeometryPoseExtractor(std::vector<geometry_msgs::PoseWithCovarianceStamped> &msgs);
25+
GeometryPoseExtractor(std::vector<nav_msgs::Odometry> &msgs);
26+
27+
GeometryPoseExtractor();
28+
~GeometryPoseExtractor();
29+
std::vector<geometry_msgs::PoseStamped> &getPoses();
30+
31+
private:
32+
std::vector<geometry_msgs::PoseStamped> poses;
33+
};
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37+
#endif /* VISBOX_PACKAGES_COMMON_UTILS_UTIL_LIB_INCLUDE_VB_UTIL_LIB_GEOMETRYPOSEEXTRACTOR_H_ */

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