#1 initial attempt at PC simulated QTRobot

README.md

@@ -1,2 +1,13 @@
 # HARMONI-PC
 PC Hardware wrapper for HARMONI low-level interfaces
+
+Currently based on:
+
+* https://github.com/robotpt/qt-face-tracking (original source)
+* https://github.com/shinselrobots/body_tracker_msgs
+* https://github.com/shinselrobots/nuitrack_body_tracker
+* https://github.com/ros/robot_state_publisher
+
+Note that the use of git submodules is presently being avoided to encourage modification of any dependencies on an as needed basis. We may later transition to a more proper repository structure as our codebase becomes more mature.
+
+See simulator instructions [here](qt_simulator/README.md)

qt_simulator/.vscode/c_cpp_properties.json

@@ -0,0 +1,16 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c11",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "clang-x64"
+        }
+    ],
+    "version": 4
+}

qt_simulator/README.md

@@ -0,0 +1,48 @@
+# Instructions
+
+## Robot state
+
+### Setup RVIZ on QT
+The commands are:
+
+* Run the following command for converting the QT joints from degrees to radians: 
+```
+rosrun qt_robot_state qt_joint_radians.py 
+```
+* Run the following command for running the RViz simulator of QTRobot:
+```
+roslaunch qt_robot_state qt_robot_state.launch
+```
+
+
+
+### Setup RVIZ simulator of QT model
+* Run the following command for running the RViz simulator of QTRobot:
+```
+roslaunch qt_robot_state simulator_robot_state.launch
+```
+
+## Face recognition 
+
+### Setup QT for face recognition
+
+* Run the following command for running the nuitrack:
+```
+roslaunch nuitrack_body_tracker nuitrack_body_trackelaunch
+```
+
+### Run the face recognition
+* Run the following command for running the tf listener:
+```
+roslaunch qt_robot_state qt_robot_state.launch
+```
+* Run the following command for running the face recognition:
+```
+roslaunch qt_face_recognition qt_face_recognition.launch
+```
+
+* Run the following command for getting the depth information from camera:
+```
+rosrun qt_face_recognition depht_rgb_coordinator.py
+```
+

qt_simulator/body_tracker_msgs/.local_test.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+docker run --rm -i -v `pwd`:`pwd` -e "CI_SOURCE_PATH=`pwd`" -e "ROS_DISTRO=indigo" -t ubuntu:trusty sh -c "cd `pwd`; ./.travis.sh"
+docker run --rm -i -v `pwd`:`pwd` -e "CI_SOURCE_PATH=`pwd`" -e "ROS_DISTRO=kinetic" -t ubuntu:xenial sh -c "cd `pwd`; ./.travis.sh"
+docker run --rm -i -v `pwd`:`pwd` -e "CI_SOURCE_PATH=`pwd`" -e "ROS_DISTRO=melodic" -t ubuntu:bionic sh -c "cd `pwd`; ./.travis.sh"

qt_simulator/body_tracker_msgs/.travis.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+set -e
+export DEBIAN_FRONTEND noninteractive
+export TERM xterm
+
+apt-get update && apt-get install -y -q wget sudo lsb-release gnupg
+
+#before_install:
+sh -c "echo \"deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main\" > /etc/apt/sources.list.d/ros-latest.list"
+sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+apt-get update && apt-get install -y -q python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin build-essential
+source /opt/ros/$ROS_DISTRO/setup.bash
+rosdep init
+rosdep update
+
+#install:
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws/src
+catkin_init_workspace
+ln -s $CI_SOURCE_PATH .
+
+#before_script:
+cd ~/catkin_ws
+rosdep install -q -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+
+#script:
+source /opt/ros/$ROS_DISTRO/setup.bash
+cd ~/catkin_ws
+catkin_make

qt_simulator/body_tracker_msgs/.travis.yml

@@ -0,0 +1,14 @@
+sudo: required
+dist: trusty
+language: generic
+
+env:
+  - ROS_DISTRO=kinetic
+
+before_install:
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+
+script:
+  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
+  - docker run --rm -i -v $CI_SOURCE_PATH:$CI_SOURCE_PATH -e "CI_SOURCE_PATH=$CI_SOURCE_PATH" -e "HOME=$HOME" -e "ROS_DISTRO=$ROS_DISTRO" -t ubuntu:xenial sh -c "cd $CI_SOURCE_PATH; ./.travis.sh"

qt_simulator/body_tracker_msgs/CMakeLists.txt

@@ -0,0 +1,207 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(body_tracker_msgs)
+
+## 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
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+#set_target_properties(${_projname} PROPERTIES FOLDER "${SAMPLE_DIR_FOLDER}c-api")
+
+
+## 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(
+  DIRECTORY
+    msg
+  FILES
+    BodyTracker.msg
+    BodyTrackerArray.msg
+    Skeleton.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
+   geometry_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.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(
+  CATKIN_DEPENDS 
+  std_msgs
+  geometry_msgs 
+  message_runtime
+)
+
+###########
+## 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/${PROJECT_NAME}/astra_body_tracker.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/body_tracker_msgs.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
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_astra_body_tracker.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)