ROS2 conversion

.gitignore

@@ -160,3 +160,5 @@ cython_debug/
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
+
+models/

README.md

@@ -1,41 +1,61 @@
-# ROS2 Example Package
+# Lane Detection AI
 
 [![Build Test](https://github.com/DHBW-Smart-Rollerz/ros2_exaple_package/actions/workflows/build-test.yaml/badge.svg)](https://github.com/DHBW-Smart-Rollerz/ros2_exaple_package/actions/workflows/build-test.yaml)
 
-This repository contains an example package for ros2 (python).
+This repository contains the ros2 jazzy package for the ai lane detection based on the [ultra fast lane detection v2](https://github.com/cfzd/Ultra-Fast-Lane-Detection-v2).
+
+
+# Lane Detection AI
+
+## Installation
+
+1. Clone the package into the `smarty_workspace/src` directory:
+   ```bash
+   git clone <repository-url> smarty_workspace/src
+   ```
+2. Install the required Python dependencies using the `requirements.txt` file:
+   ```bash
+   pip install -r requirements.txt
+   ```
+3. Download the trained model and its corresponding configuration file. (See the [Usage](#usage) section for more details.)
 
 ## Usage
 
-This repository can be used as template. Simply select this repo when creating a new repository under template.
+To run this package, you will need the pre-trained model weights. As of September 2024, two versions are available: a dense model and a sparse model. You can download them [here](https://it-nas.dhbw-stuttgart.de:5001/?launchApp=SYNO.SDS.Drive.Application#file_id=842460996588058121). Place the downloaded model in the `models/` folder, and the corresponding configuration file in the `config/` folder.
 
-Alternatively, you can create python ros packages with:
+**Important:**
+Ensure that you update the `model_config_path` in the `config/ros_params.yaml` file, and set the correct path for the model in the configuration file's `test_model` field.
 
-```bash
-# If not already created
-mkdir -p ~/ros2_ws/src
-cd ~/ros2_ws/src
+### Running the Node
 
-# Create package
-ros2 pkg create my_package --build-type ament_python --dependencies rclpy
+To launch the node, use the following command:
+```bash
+ros2 launch lane_detection_ai lane_detection_ai.launch.py
+```
 
-# Build
-cd ~/ros2_ws/src
-colcon build --symlink-install --packages-select my_package
+For running with the debug image enabled, use:
+```bash
+ros2 launch lane_detection_ai lane_detection_ai.launch.py debug:=true
 ```
 
+
 ## Structure
 
-- `config/`: All configurations (most of the time yaml files)
-- `launch/`: Contains all launch files. Launch files can start multiple nodes with yaml-configurations
-- `models/`: Contains all models (optional) and only necessary for machine learning nodes
+- `config/`: All configurations for ROS and the model
+- `launch/`: Contains the launch files
+- `models/`: Contains the models
 - `resource/`: Contains the package name (required to build with colcon)
-- `ros2_example_package`: Contains all nodes and sources for the ros package
-- `test/`: Contains all tests
+- `lane_detection_ai/`: Contains all nodes and sources for the ros package
+- `lane_detection_ai/model/`: Contains all sources of the ufldv2 model
+- `test/`: Contains the tests
 - `package.xml`: Contains metadata about the package
 - `setup.py`: Used for Python package configuration
 - `setup.cfg`: Additional configuration for the package
 - `requirements.txt`: Python dependencies
 
+<!--
+The contributing section is currently not required as we do not plan to have public contribution.
+
 ## Contributing
 
 Thank you for considering contributing to this repository! Here are a few guidelines to get you started:
@@ -46,7 +66,7 @@ Thank you for considering contributing to this repository! Here are a few guidel
 4. Commit your changes and push them to your forked repository.
 5. Submit a pull request with a clear description of your changes.
 
-We appreciate your contributions and look forward to reviewing them!
+We appreciate your contributions and look forward to reviewing them! -->
 
 ## License
 

config/ros_params.yaml

@@ -1,16 +1,10 @@
 # This file contains example node parameters.
-ros2_example_node:
+lane_detection_ai_node:
   ros__parameters:
-    # Path of the debug image
-    image_path: 'resources/img/example.png'
-
-    # Path of the model
-    model_config_path: 'config/model.yaml'
+    # Path of the model config
+    model_config_path: "config/model_sparse_config.py"
 
     # Topics for an example publisher and subscriber
-    image_topic: '/camera/undistorted'
-    result_topic: '/example/result'
-    debug_image_topic: '/example/debug_image'
-
-    # Some example value with a unit
-    example_value: 500 # in px
+    image_topic: "/camera/undistorted"
+    result_topic: "/lane_detection/result"
+    debug_image_topic: "/lane_detection/debug_image"