Add starter node for camera segmentation node

docker/perception/camera_segmentation.Dockerfile

@@ -0,0 +1,35 @@
+# ================= Dependencies ===================
+FROM ros:humble AS base
+
+# ADD DEPENDENCIES HERE
+
+# fix user permissions when deving in container
+COPY docker/fixuid_setup.sh /project/fixuid_setup.sh
+RUN /project/fixuid_setup.sh
+USER docker:docker
+
+ENV DEBIAN_FRONTEND noninteractive
+RUN sudo chsh -s /bin/bash
+ENV SHELL=/bin/bash
+
+# ================= Repositories ===================
+FROM base as repo
+
+RUN mkdir -p ~/ament_ws/src
+WORKDIR /home/docker/ament_ws/src
+
+COPY src/perception/camera_segmentation/ camera_segmentation
+COPY src/wato_msgs/sample_msgs sample_msgs
+
+WORKDIR /home/docker/ament_ws
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    rosdep update && \
+    rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
+    colcon build \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Entrypoint will run before any CMD on launch. Sources ~/opt/<ROS_DISTRO>/setup.bash and ~/ament_ws/install/setup.bash
+COPY docker/wato_ros_entrypoint.sh /home/docker/wato_ros_entrypoint.sh
+COPY docker/.bashrc /home/docker/.bashrc
+ENTRYPOINT ["/usr/local/bin/fixuid", "-q", "/home/docker/wato_ros_entrypoint.sh"]
+CMD ["ros2", "launch", "camera_segmentation", "camera_segmentation.launch.py"]

profiles/docker-compose.perception.yaml

@@ -11,3 +11,14 @@ services:
     user: ${FIXUID:?}:${FIXGID:?}
     volumes:
       - ../src/perception/radar_object_detection:/home/docker/ament_ws/src/radar_object_detection
+  camera_segmentation:
+    build:
+      context: ..
+      dockerfile: docker/perception/camera_segmentation.Dockerfile
+      cache_from: 
+        - "${CAMERA_SEGMENTATION_IMAGE:?}:${TAG}"
+        - "${CAMERA_SEGMENTATION_IMAGE:?}:main"
+    image: "${CAMERA_SEGMENTATION_IMAGE:?}:${TAG}"
+    user: ${FIXUID:?}:${FIXGID:?}
+    volumes:
+      - ../src/perception/camera_segmentation:/home/docker/ament_ws/src/camera_segmentation

scripts/watod-setup-env.sh

@@ -65,7 +65,7 @@ INFRASTRUCTURE_FOXGLOVE_IMAGE=${DATA_STREAM_IMAGE:-"git.uwaterloo.ca:5050/watono
 
 # Perception
 RADAR_OBJECT_DETECTION_IMAGE=${RADAR_OBJECT_DETECTION_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/radar_object_detection"}
-
+CAMERA_SEGMENTATION_IMAGE=${CAMERA_SEGMENTATION_IMAGE:-"git.uwaterloo.ca:5050/watonomous/wato_monorepo/camera_segmentation"}
 ## -------------------------- User ID -----------------------------
 
 FIXUID=$(id -u) 
@@ -121,6 +121,7 @@ echo "INFRASTRUCTURE_FOXGLOVE_IMAGE=$INFRASTRUCTURE_FOXGLOVE_IMAGE" >> "$PROFILE
 
 # Perception
 echo "RADAR_OBJECT_DETECTION_IMAGE=$RADAR_OBJECT_DETECTION_IMAGE" >> "$PROFILES_DIR/.env"
+echo "CAMERA_SEGMENTATION_IMAGE=$CAMERA_SEGMENTATION_IMAGE" >> "$PROFILES_DIR/.env"
 
 # World Modeling
 # Control

src/perception/camera_segmentation/camera_segmentation/camera_segmentation_node.py

@@ -0,0 +1,44 @@
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+from sensor_msgs.msg import Image
+
+class CameraSegmentationNode(Node):
+
+    def __init__(self):
+        super().__init__('node')
+        # log initialization
+        self.get_logger().info('Initializing node...')
+        # Fetch parameters from yaml file
+        self.declare_parameter('camera_topic', '/camera_topic')
+        self.declare_parameter('publish_topic', '/camera_segmentation')
+        camera_topic = self.get_parameter('camera_topic').get_parameter_value().string_value
+        publish_topic = self.get_parameter('publish_topic').get_parameter_value().string_value
+        self.publisher_ = self.create_publisher(Image, publish_topic, 10)
+        self.subscriber_ = self.create_subscription(Image, camera_topic, self.image_callback, 10)
+        self.i = 0
+
+    def image_callback(self):
+        msg = Image()
+        self.publisher_.publish(msg)
+        self.get_logger().info('Publishing image: "%s"' % msg.data)
+        self.i += 1
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = CameraSegmentationNode()
+
+    rclpy.spin(node)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/perception/camera_segmentation/config/params.yaml

@@ -0,0 +1,4 @@
+lane_detection_node:
+  ros__parameters:
+    camera_topic: /CAM_FRONT/image_rect_compressed
+    publish_topic: /image_segmentation

src/perception/camera_segmentation/launch/camera_segmentation.launch.py

@@ -0,0 +1,35 @@
+# Copyright 2023 WATonomous
+#
+# 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 ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+    param_file_path = os.path.join(
+        get_package_share_directory('camera_segmentation'),
+        'config',
+        'params.yaml'
+    )
+
+    return LaunchDescription([
+        Node(
+            package='camera_segmentation',
+            executable='camera_segmentation_node',
+            parameters=[param_file_path]
+        )
+    ])

src/perception/camera_segmentation/package.xml

@@ -0,0 +1,18 @@
+<?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>camera_segmentation</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">docker</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/perception/camera_segmentation/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/camera_segmentation
+[install]
+install_scripts=$base/lib/camera_segmentation

src/perception/camera_segmentation/setup.py

@@ -0,0 +1,34 @@
+from setuptools import find_packages, setup
+import os
+from glob import glob
+from setuptools import setup
+
+package_name = 'camera_segmentation'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        (os.path.join('share', package_name), ['package.xml']),
+        # Include all launch files
+        (os.path.join('share', package_name, 'launch'),
+         glob(os.path.join('launch', '*.launch.py'))),
+        # Include config files for parameters
+        (os.path.join('share', package_name, 'config'), glob(os.path.join('config', '*.yaml'))),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='docker',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'camera_segmentation_node = camera_segmentation.camera_segmentation_node:main'
+        ],
+    },
+)

src/perception/camera_segmentation/test/test_copyright.py

@@ -0,0 +1,25 @@
+# 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/perception/camera_segmentation/test/test_flake8.py

@@ -0,0 +1,25 @@
+# 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/perception/camera_segmentation/test/test_pep257.py

@@ -0,0 +1,23 @@
+# 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'

watod-config.sh

@@ -7,7 +7,7 @@
 ##   - production    		  :   configs for all containers required in production
 ##   - samples             :   starts sample ROS2 pubsub nodes
 
-# ACTIVE_PROFILES=""
+ACTIVE_PROFILES="vis_tools perception"
 
 
 ## Name to append to docker containers. DEFAULT = <your_watcloud_username>
@@ -18,4 +18,4 @@
 ## Tag to use. Images are formatted as <IMAGE_NAME>:<TAG> with forward slashes replaced with dashes.
 ## DEFAULT = <your_current_github_branch> 
 
-# TAG=""
+TAG="justin"