Add 'find-object/' from commit '635efcd6220cabc258b88c54b1ae4279035bbe31'

git-subtree-dir: find-object
git-subtree-mainline: 9bd639e88c
git-subtree-split: 635efcd622

find-object/launch/ros1/find_object_2d.launch

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+<launch>
+    <arg name="gui" default="true"/>
+    <arg name="image_topic" default="image"/>
+    <arg name="objects_path" default="~/objects"/>
+    <arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
+
+	<!-- Nodes -->
+	<node name="find_object_2d" pkg="find_object_2d" type="find_object_2d" output="screen">
+		<remap from="image" to="$(arg image_topic)"/>
+		<param name="gui" value="$(arg gui)" type="bool"/>
+		<param name="objects_path" value="$(arg objects_path)" type="str"/>
+		<param name="settings_path" value="$(arg settings_path)" type="str"/>
+	</node>
+</launch>

find-object/launch/ros1/find_object_3d.launch

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+<launch>
+	<!-- Example finding 3D poses of the objects detected -->
+	<!-- $roslaunch openni_launch openni.launch depth_registration:=true -->
+	
+	<arg name="object_prefix" default="object"/>
+	<arg name="objects_path"  default=""/>
+	<arg name="gui"           default="true"/>
+	<arg name="approx_sync"   default="true"/>
+	<arg name="pnp"           default="true"/>
+	<arg name="tf_example"    default="true"/>
+	<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
+	
+	<arg name="rgb_topic"         default="camera/rgb/image_rect_color"/>
+	<arg name="depth_topic"       default="camera/depth_registered/image_raw"/>
+	<arg name="camera_info_topic" default="camera/rgb/camera_info"/>
+	
+	<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
+		<param name="gui" value="$(arg gui)" type="bool"/>
+		<param name="settings_path" value="$(arg settings_path)" type="str"/>
+		<param name="subscribe_depth" value="true" type="bool"/>
+		<param name="objects_path" value="$(arg objects_path)" type="str"/>
+		<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
+		<param name="approx_sync" value="$(arg approx_sync)" type="bool"/>
+		<param name="pnp" value="$(arg pnp)" type="bool"/>
+		
+		<remap from="rgb/image_rect_color" to="$(arg rgb_topic)"/>
+		<remap from="depth_registered/image_raw" to="$(arg depth_topic)"/>
+		<remap from="depth_registered/camera_info" to="$(arg camera_info_topic)"/>
+	</node>
+	
+	<!-- Example of tf synchronisation with the objectsStamped message -->
+	<node if="$(arg tf_example)" name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
+		<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
+	</node>
+</launch>

find-object/launch/ros1/find_object_3d_kinect2.launch

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+<launch>
+	<!-- Example finding 3D poses of the objects detected -->
+	<!-- $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true -->
+
+	<!-- Which image resolution: sd, qhd, hd -->
+	<arg name="resolution"    default="qhd" />
+	<arg name="object_prefix" default="object"/>
+	<arg name="objects_path"  default=""/>
+	<arg name="gui"           default="true"/>
+	<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
+	
+	<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
+		<param name="gui" value="$(arg gui)" type="bool"/>
+		<param name="settings_path" value="$(arg settings_path)" type="str"/>
+		<param name="subscribe_depth" value="true" type="bool"/>
+		<param name="objects_path" value="$(arg objects_path)" type="str"/>
+		<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
+		<param name="approx_sync" value="false" type="bool"/>
+				
+		<remap from="rgb/image_rect_color" to="/kinect2/$(arg resolution)/image_color_rect"/>
+		<remap from="depth_registered/image_raw" to="/kinect2/$(arg resolution)/image_depth_rect"/>
+		<remap from="depth_registered/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
+	</node>
+</launch>

find-object/launch/ros1/find_object_3d_zed.launch

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+<launch>
+	<!-- Example finding 3D poses of the objects detected -->
+	<!-- $ roslaunch zed_wrapper zed.launch -->
+
+    <arg name="zed_prefix"    default="/zed/zed_node"/>
+	<arg name="object_prefix" default="object"/>
+	<arg name="objects_path"  default=""/>
+	<arg name="gui"           default="true"/>
+	<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
+		
+	<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
+		<param name="gui" value="$(arg gui)" type="bool"/>
+		<param name="settings_path" value="$(arg settings_path)" type="str"/>
+		<param name="subscribe_depth" value="true" type="bool"/>
+		<param name="objects_path" value="$(arg objects_path)" type="str"/>
+		<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
+		<param name="approx_sync" value="false" type="bool"/>
+		
+		<remap from="rgb/image_rect_color" to="$(arg zed_prefix)/rgb/image_rect_color"/>
+		<remap from="depth_registered/image_raw" to="$(arg zed_prefix)/depth/depth_registered"/>
+		<remap from="depth_registered/camera_info" to="$(arg zed_prefix)/rgb/camera_info"/>
+	</node>
+</launch>

find-object/launch/ros2/find_object_2d.launch.py

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+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+   
+    return LaunchDescription([
+
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
+
+        # Launch arguments
+        DeclareLaunchArgument('gui', default_value='true', description='Launch GUI.'),
+        DeclareLaunchArgument('image_topic', default_value='image', description='Image topic to subscribe to.'),
+        DeclareLaunchArgument('objects_path', default_value='~/objects', description='Directory containing objects to load on initialization.'),
+        DeclareLaunchArgument('settings_path', default_value='~/.ros/find_object_2d.ini', description='Config file.'),
+
+        # Nodes to launch
+        Node(
+            package='find_object_2d', executable='find_object_2d', output='screen',
+            parameters=[{
+              'gui':LaunchConfiguration('gui'),
+              'objects_path':LaunchConfiguration('objects_path'),
+              'settings_path':LaunchConfiguration('settings_path')
+            }],
+            remappings=[
+                ('image', LaunchConfiguration('image_topic'))]), 
+    ])

find-object/launch/ros2/find_object_3d.launch.py

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+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+   
+    return LaunchDescription([
+
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
+
+        # Launch arguments
+        DeclareLaunchArgument('gui', default_value='true', description='Launch GUI.'),
+        DeclareLaunchArgument('approx_sync', default_value='true', description=''),
+        DeclareLaunchArgument('pnp', default_value='true', description=''),
+        DeclareLaunchArgument('object_prefix', default_value='object', description='TF prefix of objects.'),
+        DeclareLaunchArgument('objects_path', default_value='~/objects', description='Directory containing objects to load on initialization.'),
+        DeclareLaunchArgument('settings_path', default_value='~/.ros/find_object_2d.ini', description='Config file.'),
+
+        DeclareLaunchArgument('rgb_topic', default_value='camera/rgb/image_rect_color', description='Image topic.'),
+        DeclareLaunchArgument('depth_topic', default_value='camera/depth_registered/image_raw', description='Registered depth topic.'),
+        DeclareLaunchArgument('camera_info_topic', default_value='camera/rgb/camera_info', description='Camera info topic.'),
+
+        # Nodes to launch
+        Node(
+            package='find_object_2d', executable='find_object_2d', output='screen',
+            parameters=[{
+              'subscribe_depth':True,
+              'gui':LaunchConfiguration('gui'),
+              'approx_sync':LaunchConfiguration('approx_sync'),
+              'pnp':LaunchConfiguration('pnp'),
+              'object_prefix':LaunchConfiguration('object_prefix'),
+              'objects_path':LaunchConfiguration('objects_path'),
+              'settings_path':LaunchConfiguration('settings_path')
+            }],
+            remappings=[
+                ('rgb/image_rect_color', LaunchConfiguration('rgb_topic')),
+                ('depth_registered/image_raw', LaunchConfiguration('depth_topic')),
+                ('depth_registered/camera_info', LaunchConfiguration('camera_info_topic'))]), 
+    ])