aldolereste's profile - activity

I am using a Raspberry Pi 3B with Pi Camera and I set up the python code below to help me compute the position of a robot and publish it in order to use the data to control the robot. But I have an issue with the C++ code acting on those data. The code reacts way faster than the data are published making the robot to always stop ahead of the target position.

I am using the published data in a while loop in the C++ node controlling the robot. I tried to slow down the speed of the loop, but that does not seem to help.

Could you help me see through this?

#!/usr/bin/env python
import rospy
from std_msgs.msg import Float32

# import the necessary packages
from picamera.array import PiRGBArray
from picamera import PiCamera
from collections import deque
import datetime
import time
import cv2
import argparse
# import imutils  (removed)

# Math functions
import numpy as np

pub_x = rospy.Publisher('ball_pose_x', Float32, queue_size=10)
pub_y = rospy.Publisher('ball_pose_y', Float32, queue_size=10)
rospy.init_node('ball_tracking')

# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))

# allow the camera to warmup
time.sleep(0.1)

# ----- Basic definition -----------

# Args definition
# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-v", "--video",
    help="path to the (optional) video file")
ap.add_argument("-b", "--buffer", type=int, default=64,
    help="max buffer size")
args = vars(ap.parse_args())


# define the lower and upper boundaries of the
# ball in the HSV color space, then initialize the
# list of tracked points
whiteLower = (0, 0, 230)
whiteUpper = (180, 25, 255)
pts = deque(maxlen=args["buffer"])

# ------ end definition ----------

# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
    # grab the raw NumPy array representing the image, then initialize the timestamp
    # and occupied/unoccupied text
    image = frame.array
    # print " "
    # print datetime.datetime.now()
    # -------------------- Modif start------------------

    # blurred = cv2.GaussianBlur(frame, (11, 11), 0)
    hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)

    # construct a mask for the color "white", then perform
    # a series of dilations and erosions to remove any small
    # blobs left in the mask
    mask = cv2.inRange(hsv, whiteLower, whiteUpper)
    mask = cv2.erode(mask, None, iterations=2)
    mask = cv2.dilate(mask, None, iterations=2)

    # find contours in the mask and initialize the current
    # (x, y) center of the ball
    cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
        cv2.CHAIN_APPROX_SIMPLE)[-2]
    center = None

    # only proceed if at least one contour was found
    if len(cnts) > 0:
        # find the largest contour in the mask, then use
        # it to compute the minimum enclosing circle and
        # centroid
        c = max(cnts, key=cv2.contourArea)
        ((x, y), radius) = cv2.minEnclosingCircle(c)
        M = cv2.moments(c)
        center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))

        # Publishing data to ROS
        # print datetime.datetime.now()
        pub_x.publish(M["m10"] / M["m00"])
        pub_y.publish(M["m01"] / M["m00"])

        # only proceed if the radius meets ...

I have created a package using catkin_create_pkg on my raspberry pi 3 where I have previously installed Ubuntu Xenial and ROS kinetic. But everytime I am trying to compile the cpp file included in the created package I get the following error

fatal error: ros/ros.h: No such file or directory
compilation terminated.

looks like it does not see any of the header files included in my cpp file.

I have all set up the same way on my other computer running ubuntu Trusty and ROS indigo. Not sure why this is happening here.

Edit: This is what I added to my package.xml

  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>message_generation</build_depend>

  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>geometry_msgs</run_depend>
  <run_depend>message_runtime</run_depend>

here is the Cmakelist.txt:

cmake_minimum_required(VERSION 2.8.3)
project(sphero_move)

## 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)

include_directories(${catkin_INCLUDE_DIRS})

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(catkin REQUIRED COMPONENTS 
  roscpp
  rospy
  std_msgs
  geometry_msgs
  message_generation
)

## 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 run_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 run_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
#   std_msgs  # Or other packages containing 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 run_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 ...