feat: Person follower 01 (#209)

* feat: add leg_tracker as submodule.

* feat: create person_following package.

* build: action

* feat: add launch file for leg_tracker.

* refactor: person_following -> laser_person_following.

* feat: action server, launch files, etc.

* chore: update launch files.

* feat: log when the server starts.

* feat: slight adjustments.

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "common/third_party/leg_tracker"]
+	path = common/third_party/leg_tracker
+	url = [email protected]:angusleigh/leg_tracker.git

common/navigation/lasr_person_following/CMakeLists.txt

@@ -0,0 +1,208 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(lasr_person_following)
+
+## 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
+  leg_tracker
+  rospy
+  message_generation
+  genmsg
+  actionlib_msgs
+  actionlib
+)
+
+## 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
+  Follow.action
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  actionlib_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 person_following
+#  CATKIN_DEPENDS leg_tracker rospy
+#  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/${PROJECT_NAME}/person_following.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/person_following_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
+  nodes/person_following.py
+  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_person_following.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)

common/navigation/lasr_person_following/action/Follow.action

@@ -0,0 +1,4 @@
+---
+#result definition
+---
+#feedback

common/navigation/lasr_person_following/launch/joint_leg_tracker.launch

@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- params -->
+  <param name="forest_file" value="$(find leg_tracker)/config/trained_leg_detector_res=0.33.yaml" />
+  <param name="scan_topic" value="/scan" />
+  <param name="fixed_frame" value="odom"/>
+  <param name="scan_frequency" value="15"/>  
+  <param name="max_detect_distance" value="7.5"/>
+
+  <!-- run detect_leg_clusters -->  
+  <node pkg="leg_tracker" type="detect_leg_clusters" name="detect_leg_clusters" output="screen"/>
+
+  <!-- run joint_leg_tracker -->
+  <node pkg="leg_tracker" type="joint_leg_tracker.py" name="joint_leg_tracker" output="screen"/>
+
+   <!-- run local_occupancy_grid_mapping -->
+  <node pkg="leg_tracker" type="local_occupancy_grid_mapping" name="local_occupancy_grid_mapping" output="screen"/> 
+
+</launch>
+

common/navigation/lasr_person_following/launch/person_following.launch

@@ -0,0 +1,16 @@
+<launch>
+
+ <include file="$(find lasr_person_following)/launch/joint_leg_tracker.launch">
+    <param name="forest_file" value="$(find leg_tracker)/config/trained_leg_detector_res=0.33.yaml" />
+    <param name="scan_topic" value="/scan" />
+    <param name="fixed_frame" value="odom"/>
+    <param name="scan_frequency" value="15"/>
+    <param name="max_detect_distance" value="7.5"/>
+    <param name="dist_travelled_together_to_initiate_leg_pair" value="1.0"/>
+    <param name="display_detected_people" value="true"/>
+ </include> 
+
+ <node pkg="lasr_person_following" type="person_following.py" name="person_following" output="screen" />
+
+</launch>
+

common/navigation/lasr_person_following/nodes/person_following.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env/python3
+import rospy
+import actionlib
+
+from lasr_person_following.msg import (
+    FollowAction,
+    FollowGoal,
+    FollowResult,
+    FollowFeedback,
+)
+
+from lasr_person_following import PersonFollower
+
+import warnings
+
+
+class PersonFollowingServer:
+
+    _server: actionlib.SimpleActionServer
+    _follower: PersonFollower
+
+    def __init__(self) -> None:
+
+        self._server = actionlib.SimpleActionServer(
+            "follow_person", FollowAction, execute_cb=self._execute_cb, auto_start=False
+        )
+        self._server.register_preempt_callback(self._preempt_cb)
+
+        self._follower = PersonFollower()
+
+        self._server.start()
+
+    def _execute_cb(self, _: FollowGoal) -> None:
+        while not self._follower.begin_tracking():
+            rospy.logwarn("No people found, retrying...")
+            rospy.sleep(rospy.Duration(1.0))
+        warnings.warn(
+            "PersonFollowingServer does not handle preempting or cancelling yet, so the execution will continue until the person is lost."
+        )
+        warnings.warn("PersonFollowingServer does not provide feedback yet.")
+        self._follower.follow()
+
+        self._server.set_succeeded(FollowResult())
+
+    def _preempt_cb(self) -> None:
+        raise NotImplementedError("Preempt not implemented yet")
+
+
+if __name__ == "__main__":
+    rospy.init_node("person_following_server")
+    rospy.loginfo("Person following server started")
+    server = PersonFollowingServer()
+    rospy.spin()

common/navigation/lasr_person_following/package.xml

@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>lasr_person_following</name>
+  <version>0.0.0</version>
+  <description>The lasr_person_following package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Jared Swift</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>MIT</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/person_following</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>leg_tracker</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>leg_tracker</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>leg_tracker</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

common/navigation/lasr_person_following/setup.py

@@ -0,0 +1,10 @@
+#!/usr/bin/env python3
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+setup_args = generate_distutils_setup(
+    packages=["lasr_person_following"], package_dir={"": "src"}
+)
+
+setup(**setup_args)

common/navigation/lasr_person_following/src/lasr_person_following/__init__.py

@@ -0,0 +1 @@
+from .person_following import PersonFollower