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Prakarsh gsoc2022 depth cam #184

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35 changes: 33 additions & 2 deletions drone_wrapper/src/drone_wrapper/drone_wrapper_class.py
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Original file line number Diff line number Diff line change
Expand Up @@ -263,6 +263,18 @@ def cam_ventral_cb(self, msg):
rospy.logdebug('Ventral image updated')

self.rqt_cam_ventral_publisher.publish(self.ventral_image)

def depth_cam_frontal_cb(self, msg):
self.depth_frontal_image = msg
rospy.logdebug('Frontal depth image updated')

self.rqt_depth_cam_frontal_publisher.publish(self.depth_frontal_image)

def depth_cam_ventral_cb(self, msg):
self.depth_ventral_image = msg
rospy.logdebug('Ventral depth image updated')

self.rqt_depth_cam_ventral_publisher.publish(self.depth_ventral_image)

def stay_armed_stay_offboard_cb(self, event):
try:
Expand All @@ -280,6 +292,12 @@ def get_frontal_image(self):

def get_ventral_image(self):
return self.bridge.imgmsg_to_cv2(self.ventral_image)

def get_depth_frontal_image(self):
return self.bridge.imgmsg_to_cv2(self.depth_frontal_image)

def get_depth_ventral_image(self):
return self.bridge.imgmsg_to_cv2(self.depth_ventral_image)

def get_position(self, frame="map"):
ps = self.frames_tf.transform(self.pose_stamped.header.frame_id, frame,
Expand Down Expand Up @@ -657,7 +675,8 @@ def __init__(self, name='drone', ns='', verbose=False):
# cam_frontal_topic = rospy.get_param('cam_frontal_topic', None)
# cam_frontal_topic = rospy.get_param('cam_frontal_topic', '/iris/cam_frontal/image_raw')

drone_model = rospy.get_param('drone_model', 'iris') # default --> iris
drone_model = rospy.get_param(self.ns +'drone_model', 'iris') # default --> iris
enable_depth = rospy.get_param(self.ns +'enable_depth', False)

self.frontal_image = Image()
self.ventral_image = Image()
Expand All @@ -666,10 +685,22 @@ def __init__(self, name='drone', ns='', verbose=False):
rospy.Subscriber(cam_frontal_topic, Image, self.cam_frontal_cb)
rospy.Subscriber(cam_ventral_topic, Image, self.cam_ventral_cb)

if enable_depth:
self.rqt_depth_cam_frontal_publisher = rospy.Publisher(self.ns + 'drone_wrapper/depth_cam_frontal/image_raw', Image,
queue_size=1)
self.rqt_depth_cam_ventral_publisher = rospy.Publisher(self.ns + 'drone_wrapper/depth_cam_ventral/image_raw', Image,
queue_size=1)
self.depth_frontal_image = Image()
self.depth_ventral_image = Image()
depth_cam_frontal_topic = '/' + drone_model + '/depth_cam_frontal/image_raw'
depth_cam_ventral_topic = '/' + drone_model + '/depth_cam_ventral/image_raw'
rospy.Subscriber(depth_cam_frontal_topic, Image, self.depth_cam_frontal_cb)
rospy.Subscriber(depth_cam_ventral_topic, Image, self.depth_cam_ventral_cb)

self.setpoint_raw_publisher = rospy.Publisher(self.ns + 'mavros/setpoint_raw/local', PositionTarget,
queue_size=1)


if __name__ == "__main__":
drone = DroneWrapper()
rospy.spin()
rospy.spin()
36 changes: 29 additions & 7 deletions rotors_driver/src/rotors_driver_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,10 +39,12 @@ class RotorsDriver():
CONSTRAINTS = RotorsConstraints()

def __init__(self):
self.sample_time = rospy.get_param('sample_time', 1.0)
self.mav_name = rospy.get_param('drone_model', 'firefly')
self.drone_state_upd_freq = rospy.get_param('drone_state_timer_frequency', 0.01)
self.misc_state_upd_freq = rospy.get_param('misc_state_timer_frequency', 1.0)
self.ns = rospy.get_namespace()
self.sample_time = rospy.get_param(self.ns +'sample_time', 1.0)
self.mav_name = rospy.get_param(self.ns +'drone_model', 'iris')
self.drone_state_upd_freq = rospy.get_param(self.ns +'drone_state_timer_frequency', 0.01)
self.misc_state_upd_freq = rospy.get_param(self.ns +'misc_state_timer_frequency', 1.0)
self.enable_depth = rospy.get_param(self.ns +'enable_depth', False)
self.drone_flight_state = States.LANDED
self.current_state = Odometry()
self.current_x=self.current_state.pose.pose.position.x
Expand Down Expand Up @@ -88,8 +90,16 @@ def __init__(self):
queue_size=1)




if self.enable_depth:
self.depth_frontal_image = Image()
self.depth_ventral_image = Image()
self.depth_cam_frontal_publisher = rospy.Publisher(self.ns + 'depth_cam_frontal/image_raw', Image,
queue_size=1)
self.depth_cam_ventral_publisher = rospy.Publisher(self.ns + 'depth_cam_ventral/image_raw', Image,
queue_size=1)
rospy.Subscriber(self.ns + 'vi_sensor_frontal/camera_depth/camera/image_raw', Image, self.depth_cam_frontal)
rospy.Subscriber(self.ns + 'vi_sensor_ventral/camera_depth/camera/image_raw', Image, self.depth_cam_ventral)


rospy.Subscriber("mavros/setpoint_raw/local", PositionTarget, self.publish_position_desired)

Expand Down Expand Up @@ -117,6 +127,10 @@ def drone_state_update_callback(self, event=None):

self.cam_frontal_publisher.publish(self.frontal_image)
self.cam_ventral_publisher.publish(self.ventral_image)

if self.enable_depth:
self.depth_cam_frontal_publisher.publish(self.depth_frontal_image)
self.depth_cam_ventral_publisher.publish(self.depth_ventral_image)

def misc_state_update_callback(self, event=None):
landed_state = 2 if self.drone_flight_state == 4 else 1
Expand Down Expand Up @@ -148,6 +162,14 @@ def cam_frontal(self, msg):
def cam_ventral(self, msg):
self.ventral_image = msg
rospy.logdebug('Ventral image updated')

def depth_cam_frontal(self, msg):
self.depth_frontal_image = msg
rospy.logdebug('Frontal depth image updated')

def depth_cam_ventral(self, msg):
self.depth_ventral_image = msg
rospy.logdebug('Ventral depth image updated')

def odom_callback(self,msg):
self.current_state = msg
Expand Down Expand Up @@ -357,4 +379,4 @@ def __del__(self):

except rospy.ROSInterruptException:
print("ROS Terminated")
del rotors
del rotors