Difference between revisions of "Create and Build Follow"

Revision as of 15:58, 20 May 2012

Create Follow

The Follow package will depend on messages, Python, and C++ packages.

eepp@tabor:~$ cd ros_workspace

eepp@tabor:ros_workspace$ roscreate-pkg follow std_msgs rospy roscpp
Created package directory /home/eepp/ros_workspace/follow
Created include directory /home/eepp/ros_workspace/follow/include/follow
Created cpp source directory /home/eepp/ros_workspace/follow/src
Created package file /home/eepp/ros_workspace/follow/Makefile
Created package file /home/eepp/ros_workspace/follow/manifest.xml
Created package file /home/eepp/ros_workspace/follow/CMakeLists.txt
Created package file /home/eepp/ros_workspace/follow/mainpage.dox

Please edit follow/manifest.xml and mainpage.dox to finish creating your package

This will create the follow directory with make files, Doxygen template, a source directory and include directory.

epp@tabor:ros_workspace$ cd follow

eepp@tabor:follow$ ls
CMakeLists.txt  include  mainpage.dox  Makefile  manifest.xml  src

manifest.xml will contain the dependencies listed in the package create command.

<package>
  <description brief="follow">

     follow

  </description>
  <author>Ed C. Epp</author>
  <license>BSD</license>
  <review status="unreviewed" notes=""/>
  <url>http://ros.org/wiki/follow</url>
  <depend package="std_msgs"/>
  <depend package="rospy"/>
  <depend package="roscpp"/>

</package>

Build

Entering a make from the follow directory will create the bin and build directories.

epp@tabor:follow$ make
mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found PythonInterp: /usr/bin/python2.6
[rosbuild] Building package follow
[rosbuild] Cached build flags older than manifests; calling rospack to get flags
[rosbuild] Including /opt/ros/electric/stacks/ros_comm/clients/rospy/cmake/rospy.cmake
[rosbuild] Including /opt/ros/electric/stacks/ros_comm/clients/roslisp/cmake/roslisp.cmake
[rosbuild] Including /opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/cmake/roscpp.cmake
-- Configuring done
-- Generating done
-- Build files have been written to: /home/eepp/ros_workspace/follow/build
cd build && make 
make[1]: Entering directory `/home/eepp/ros_workspace/follow/build'
make[1]: Leaving directory `/home/eepp/ros_workspace/follow/build'

build will contain all the make infrastructure specified by CMakeLists.txt file. bin will also be created but will be empty because the src directory is empty and no source files are specified in CMakeLists.txt.

Add a Program

Create a program in the src directory. In this case the Track It Program named track_it.cpp.

Uncomment the genmsg line in CMakeLists.txt.

rosbuild_genmsg()

Also add the following line to the end of CMakeLists.txt.

rosbuild_add_executable(track_it src/track_it.cpp)

The first parameter, track_it, specifies the name of the binary that will go into the bin directory. The second parameter specifies where to find the source.

Add the following dependencies to manifest.xml.

 <depend package="sensor_msgs"/>
 <depend package="opencv2"/>
 <depend package="cv_bridge"/>
 <depend package="roscpp"/>
 <depend package="image_transport"/>
 <depend package="ihr_demo_bags"/>

Do a make in the follow directory.

eepp@tabor:follow$ make

The compile log will look something like Track It Compile Log. The bin directory should now contain the binary.

Run Track It

Create a launch subdirectory and add a track_it.launch file with the following contents.

<launch>
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="320" />
    <param name="image_height" value="240" />
    <param name="pixel_format" value="mjpeg" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>
  </node>
  <node name="track_it_node" pkg="follow" type="track_it" output="screen" />
</launch>

From the follow directory enter

 eepp@tabor:follow$ roslaunch launch/track_it.launch

 
... logging to /home/eepp/.ros/log/7e9b6af0-a2a0-11e1-986c-0001c005f78e/roslaunch-tabor-4077.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tabor:55227/

SUMMARY
========

PARAMETERS
 * /usb_cam/image_width
 * /usb_cam/video_device
 * /rosdistro
 * /usb_cam/pixel_format
 * /usb_cam/io_method
 * /usb_cam/camera_frame_id
 * /rosversion
 * /usb_cam/image_height

NODES
  /
    usb_cam (usb_cam/usb_cam_node)
    track_it_node (follow/track_it)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[usb_cam-1]: started with pid [4095]
process[track_it_node-2]: started with pid [4096]
usb_cam video_device set to [/dev/video0]
usb_cam io_method set to [mmap]
usb_cam image_width set to [320]
usb_cam image_height set to [240]
usb_cam pixel_format set to [mjpeg]
usb_cam auto_focus set to [0]
[swscaler @ 0xb4612ea0]No accelerated colorspace conversion found.
1 frames/sec at 1337554297.005945436
[swscaler @ 0xb4615f80]No accelerated colorspace conversion found.
[swscaler @ 0xb46160e0]No accelerated colorspace conversion found.
[swscaler @ 0xb4616250]No accelerated colorspace conversion found.
[swscaler @ 0xb4616350]No accelerated colorspace conversion found.
[swscaler @ 0xb4616400]No accelerated colorspace conversion found.
[ INFO] [1337554297.209471523]: x: 220 y: 153 r: 29
[ INFO] [1337554297.211299688]: x: 282 y: 194 r: 57
    Last message repeated 11 times
[swscaler @ 0xb4616430]No accelerated colorspace conversion found.
23 frames/sec at 1337554297.770509308
    Last message repeated 6 times
[swscaler @ 0xb4616420]No accelerated colorspace conversion found.
[swscaler @ 0xb4616450]No accelerated colorspace conversion found.
[ INFO] [1337554298.147127004]: x: 222 y: 144 r: 35
[ INFO] [1337554298.148639488]: x: 296 y: 181 r: 82
[ INFO] [1337554298.459755557]: x: 180 y: 125 r: 68

The following window should pop up.

Control C when you are done.

Control C when you are done.