ベンド針のモデルをeuslispで作成

jsk_2024_10_semi/pr2_tubes/.catkin_workspace

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+# This file currently only serves to mark the location of a catkin workspace for tool integration

jsk_2024_10_semi/pr2_tubes/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(pr2_surgery)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  jsk_recognition_msgs
+  roscpp
+  roseus
+  rospy
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   jsk_recognition_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES pr2_surgery
+#  CATKIN_DEPENDS jsk_recognition_msgs roscpp roseus rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/pr2_surgery.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/pr2_surgery_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_pr2_surgery.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

jsk_2024_10_semi/pr2_tubes/config/table_marker.yaml

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+boxes:
+- dimensions:
+  - 0.5
+  - 0.3
+  - 0.2
+  frame_id: base_footprint
+  name: table
+  orientation:
+  - 3.9531047036326084e-10
+  - 0.008311730048626616
+  - 4.293287988035861e-12
+  - 0.9999654569751891
+  position:
+  - 0.7592881917953491
+  - 0.015209555625915527
+  - 0.849845826625824

jsk_2024_10_semi/pr2_tubes/launch/recognize_wound.launch

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+<launch>
+        <!--
+        <node name="usb_cam" pkg="usb_cam" type="usb_cam_node">
+                <rosparam>
+                        video_device: /dev/video2
+                </rosparam>
+        </node>
+
+        <node name="hls_color_filter" pkg="opencv_apps" type="hls_color_filter">
+                <remap from="image" to="usb_cam/image_raw"/>
+                <rosparam>
+                        debug_view: true
+                        h_limit_max: 10
+                        h_limit_min: 345
+                        s_limit_max: 256
+                        s_limit_min: 77
+                        l_limit_max: 256
+                        l_limit_min: 201
+                </rosparam>
+        </node>
+
+        <node name="hough_lines" pkg="opencv_apps" type="hough_lines">
+                <remap from="image" to="hls_color_filter/image"/>
+                <rosparam>
+                        debug_view: true
+                </rosparam>
+        </node>
+        -->
+
+        <group ns="recognize_wound">
+
+          <node name="image_decompresser"
+                pkg="image_transport" type="republish"
+                args="compressed raw" respawn="true">
+            <remap from="in" to="/kinect_head/rgb/image_rect_color"/>
+            <remap from="out" to="decompressed_image"/>
+          </node>
+
+          <node name="depth_decompresser"
+                pkg="image_transport" type="republish"
+                args="compressedDepth raw" respawn="true">
+            <remap from="in" to="/kinect_head/depth_registered/image"/>
+            <remap from="out" to="decompressed_depth"/>
+          </node>
+
+          <node pkg="jsk_topic_tools" type="synchronize_republish.py" name="synchronize_republish">
+            <param name="topics" value="[/recognize_wound/decompressed_image, /recognize_wound/decompressed_depth]" type="yaml"/>
+            <param name="approximate_sync" value="true" />
+          </node>
+
+          <arg name="manager" value="recognize_wound_manager" />
+
+          <node pkg="nodelet" type="nodelet" name="$(arg manager)"
+                args="manager" output="screen"/>
+
+          <node pkg="nodelet" type="nodelet" name="decompress_points"
+                args="load depth_image_proc/point_cloud_xyzrgb $(arg manager)">
+            <remap from="rgb/camera_info" to="/kinect_head/depth_registered/camera_info"/>
+            <remap from="rgb/image_rect_color" to="synchronize_republish/pub_00"/>
+            <remap from="depth_registered/image_rect" to="synchronize_republish/pub_01"/>
+            <rosparam>
+              queue_size: 100
+            </rosparam>
+          </node>
+
+          <node name="transformable_interactive_server"
+                pkg="jsk_interactive_marker" type="transformable_server_sample">
+            <rosparam subst_value="true">
+              display_interactive_manipulator: true
+              display_interactive_manipulator_only_selected: true
+              display_description_only_selected: true
+            </rosparam>
+          </node>
+
+          <node name="transformable_table_markers"
+                pkg="jsk_interactive_marker" type="transformable_markers_client.py">
+            <remap from="~server" to="transformable_interactive_server" />
+            <rosparam subst_value="true">
+              config_file: $(find pr2_surgery)/config/table_marker.yaml
+              config_auto_save: true  <!-- Use true to save config updated on rviz -->
+            </rosparam>
+          </node>
+
+          <node name="bbox_array_to_bbox"
+                pkg="nodelet" type="nodelet"
+                args="load jsk_pcl_utils/BoundingBoxArrayToBoundingBox $(arg manager)">
+            <remap from="~input" to="transformable_table_markers/output/boxes" />
+            <rosparam>
+              index: 0
+            </rosparam>
+          </node>
+
+          <node name="attention_clipper_table"
+                pkg="nodelet" type="nodelet"
+                args="load jsk_pcl/AttentionClipper $(arg manager)">
+            <remap from="~input" to="/kinect_head/depth_registered/camera_info" />
+            <remap from="~input/points" to="depth_registered/points" />
+            <remap from="~input/box" to="bbox_array_to_bbox/output" />
+            <rosparam subst_value="true">
+              use_multiple_attention: false
+            </rosparam>
+          </node>
+          <node name="extract_indices_table"
+                pkg="nodelet" type="nodelet"
+                args="load jsk_pcl/ExtractIndices $(arg manager)">
+            <remap from="~input" to="depth_registered/points" />
+            <remap from="~indices" to="attention_clipper_table/output/point_indices" />
+            <rosparam>
+              keep_organized: true
+              approximate_sync: true
+              max_queue_size: 100
+            </rosparam>
+          </node>
+
+          <node pkg="nodelet" type="nodelet" name="hsi_filter"
+                args="load jsk_pcl/HSIColorFilter $(arg manager)" output="screen">
+            <remap from="~input" to="extract_indices_table/output" />
+            <rosparam>
+              use_indices: false
+              keep_organized: true
+              h_limit_max: 10
+              h_limit_min: -10
+              s_limit_max: 255
+              s_limit_min: 35
+              i_limit_max: 255
+              i_limit_min: 0
+            </rosparam>
+          </node>
+
+          <node pkg="nodelet" type="nodelet" name="euclidean_clustering"
+                args="load jsk_pcl/EuclideanClustering $(arg manager)" output="screen">
+            <remap from="~input" to="hsi_filter/output" />
+            <rosparam>
+              tolerance: 0.02
+              min_size: 10 
+              downsample_enable: true
+              cluster_filter: 1 <!-- only max size cluster is shown! -->
+            </rosparam>
+          </node>
+
+          <node pkg="nodelet" type="nodelet"
+                name="cluster_decomposer"
+                args="load jsk_pcl/ClusterPointIndicesDecomposer $(arg manager)"
+                output="screen" clear_params="true">
+            <remap from="~input" to="hsi_filter/output" />
+            <remap from="~target" to="euclidean_clustering/output" />
+            <rosparam>
+              align_boxes: true
+              align_boxes_with_plane: false
+              force_to_flip_z_axis: false
+              use_pca: false
+              target_frame_id: base_footprint
+            </rosparam>
+          </node>
+
+        </group>
+</launch>