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leo_example_line_follower package from leo_examples repo

leo_example_follow_ar_tag leo_example_line_follower leo_example_object_detection leo_examples

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Package Summary

Tags No category tags.
Version 0.1.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/LeoRover/leo_examples.git
VCS Type git
VCS Version master
Last Updated 2022-05-26
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Neural Network model for line track following Example for Leo Rover.

Additional Links

No additional links.

Maintainers

  • Fictionlab

Authors

  • Aleksander Szymański
README
No README found. See repository README.
CHANGELOG

Changelog for package leo_example_line_follower

0.1.0 (2022-05-26)

  • Line follower example (#1)
    • initial commit for line follower package
    • package.xml: remove redundant dependencies
    • data_saver.py: replaced use od ros parameters with command line arguments and python argparse
    • data_saver.py: added info on node\'s exit and fixed path for file with labels
    • data_saver.py: Added info logs for creating files and directories
    • data_saver.py: starting time counting with the first message from cmd_vel topic, fixed saved img filename, closing label file on shutdown
    • data_saver.py: added saving images and labels
    • data_saver.py: added ignoring images with label (0.0, 0.0)
    • added line_follower.py - script for autonomous following the line with rover
    • added directory with first models, needed for line_follower.py script
    • models: added model trained on color masks, with two lines track
    • color_mask: added color_mask.py script with ros node for chosing hsv bounds for color mask
    • color_mask: added cfg directory with yaml files with example hsv_bounds and dynamic_reconfigure config file
    • color_mask: changed package.xml and CMakeLists.txt for use of dynamic_reconfigure
    • data_saver.py: fixed typos and formatted code with black
    • data_saver: removed unused arguments from launch file
    • color mask: added launch file for the color_mask_finder node
    • line_follower.py: added use of ros parameters for hsv color bounds
    • line follower: added launch file for the line follower node
    • moved yaml files to config directory
    • fixed typos, and added descriptions to ros args
    • removed redundant files
    • line_follower.py: switched param names to private namespace
    • added model trained on more accurate color masks
    • CMakeLists.txt: fixed catkin_lint errors
    • package.xml: updated package description
    • color_mask.py: implemented code review guidlines (about python buildins and instance method)
    • data_saver.py: implemented guidlines from code review
    • scripts: implemented guidlines from code review
    • config: added yaml files with color mask values for blue and red colors
    • color_mask.launch: changed default value of \'file\' arg
    • package.xml: fixed typo
    • data_saver.py: implemented guidelines from code review
    • scripts: added script for processing saved data into ready dataset for keras model
    • prepare_data.py: fixed os.join bugs
    • data_saver.py: added base path if output directory is given as relative path
    • data_saver.py: added use of ptahlib home function instead of hardcoding home directory path
    • prepare_data.py: made the script executable with rosrun
    • prepare_data.py: gave the script execution rights with chmod + x
    • prepare_data.py: removing parent directories when train and validation dirs are nested paths
    • prepare_data.py: switched moving and removing files to just copying
    • prepare_data.py: added creating of zip file from processed data, and clearing the working directory from zipped files
    • prepare_data.py: added printing info about zipping files
    • line_follower.launch: fixed ros find package syntax error
    • prepare_data.py: changed argument names to one pattern
    • prepare_data.py: added checking if the zipfile name ends with \'.zip\'
    • prepare_data.py: formated the code using black
    • added notebook to repository
    • CMakeLists.txt: added prepare_data.py script to catkin_install_python section
    • implemented code review guidlines
    • line_follower.launch: updated arg name in rosparam
  • Contributors: Aleksander Szyma

Wiki Tutorials

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Source Tutorials

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Package Dependencies

Deps Name
1 catkin
2 sensor_msgs
2 geometry_msgs
3 cv_bridge
2 rospy
1 dynamic_reconfigure

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
leo_examples github-LeoRover-leo_examples

Launch files

  • launch/color_mask.launch
      • file [default: $(find leo_example_line_follower)/config/blue.yaml] — path to yaml file, with starting values for color mask
  • launch/record_data.launch
      • duration [default: 20.0] — how long will the data be recorded
      • output_dir [default: data] — name of the directory for recorded data
      • video_topic [default: camera/image_raw] — name of the topic with Image messages
      • vel_topic [default: cmd_vel] — name of the topic with Twist messages
  • launch/line_follower.launch
      • color_mask_file [default: $(find leo_example_line_follower)/config/blue.yaml] — path to yaml file with color mask values
      • pub_mask [default: false] — flag specifying whether or not publish the color mask
      • camera [default: camera/image_raw] — name of topic with Image messages
      • vel [default: cmd_vel] — name of topic to which node will publish Twist messages
      • model [default: $(find leo_example_line_follower)/models/color_mask_model.tflite] — path to neural network model

Messages

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Services

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Plugins

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