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ryuichi-maeda authored Aug 27, 2023
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__pycache__

# demo data for development
demo_dev
demo_dev
/tms_ur/tms_ur_button_input
166 changes: 135 additions & 31 deletions README.md
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ROS2-TMS-FOR-CONSTRUCTION is an IoRT library for construction applications based on ROS2-TMS.

https://user-images.githubusercontent.com/63947554/196080381-49ada296-7f3d-4e4c-99d0-8ecb51d449b6.mp4
https://github.com/irvs/ros2_tms_for_construction/assets/63947554/d7fb02dd-37d9-4d72-aa2c-a2c2d6f7824a

## ROS2-TMS

Expand All @@ -20,23 +20,14 @@ Project page: [https://moonshot-cafe-project.org/en/](https://moonshot-cafe-proj

### Architecture

![](docs/ros2-tms-for-construction_archtecture.png)
![](docs/ros2-tms-for-construction_architecture.png)

## Install

### ROS2 Humble

https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html

**sensor-msgs-py**

Please install ros-\<distro>-sensor-msgs-py.

```
sudo apt install ros-foxy-sensor-msgs-py
```


### Git

https://git-scm.com/book/en/v2/Getting-Started-Installing-Git
Expand All @@ -45,6 +36,11 @@ https://git-scm.com/book/en/v2/Getting-Started-Installing-Git

https://www.mongodb.com/docs/v6.0/tutorial/install-mongodb-on-ubuntu/

### MongoDB Compass

https://www.mongodb.com/docs/compass/current/install/


### Related packages for ROS2-TMS-FOR-CONSTRUCTION
- pymongo 4.3.3
- open3d 0.16.0
Expand All @@ -53,12 +49,12 @@ https://www.mongodb.com/docs/v6.0/tutorial/install-mongodb-on-ubuntu/
- empy 3.3.4
- lark 1.1.3
- setuptools 58.2.0
- numpy-quaternion 2022.4.3

```
python3 -m pip install pymongo==4.3.3 open3d==0.16.0 numpy==1.22.3 catkin-pkg==0.5.2 empy==3.3.4 lark==1.1.3 setuptools==58.2.0
python3 -m pip install -r requirements.txt
```


## Setup

### Create a workspace
Expand All @@ -81,6 +77,21 @@ cd ~/ros2-tms-for-constructoin_ws
colcon build
```

### Setup MongoDB
```
sudo systemctl start mongod
cd ~/ros2-tms-for-constructoin_ws/src/ros2_tms_for_construction/demo
unzip rostmsdb_collections.zip
rm rostmsdb_collections.zip
mongoimport --db rostmsdb --collection default --file rostmsdb.default.json --jsonArray
mongoimport --db rostmsdb --collection fs.chunks --file rostmsdb.fs.chunks.json --jsonArray
mongoimport --db rostmsdb --collection machine --file rostmsdb.machine.json --jsonArray
mongoimport --db rostmsdb --collection now --file rostmsdb.now.json --jsonArray
mongoimport --db rostmsdb --collection sensor --file rostmsdb.sensor.json --jsonArray
mongoimport --db rostmsdb --collection fs.files --file rostmsdb.fs.files.json --jsonArray
```


## How to use

ROS2-TMS-FOR-CONSTRUCTION has the following packages. You can see detail descriptions from the links.
Expand All @@ -107,6 +118,12 @@ ROS2-TMS-FOR-CONSTRUCTION has the following packages. You can see detail descrip

Static terrain refers to terrain that does not change during construction operations. And dynamic terrain refers to terrain that changes during construction work.

- [tms_sd_theta](tms_sd/tms_sd_theta/)

tms_sd_theta is a package for formatting CompressedImage msg to Tmsdb msg and sending it to tms_db_writer.

The received CompressedImage msg is the jpeg image taken by a 360-degree camera.

### tms_sp

- [tms_sp_machine_odom](tms_sp/tms_sp_machine_odom)
Expand All @@ -115,6 +132,10 @@ ROS2-TMS-FOR-CONSTRUCTION has the following packages. You can see detail descrip

The received Odometry msg is the estimated location data of the construction machine.

- [tms_sp_machine_points](tms_sp/tms_sp_machine_points/)

tms_sp_machine_poitns is a package used to transform the coordinates of the machine odom using tms_tf_gui.

### tms_ss

- [tms_ss_terrain_static](tms_ss/tms_ss_terrain_static)
Expand All @@ -123,6 +144,27 @@ ROS2-TMS-FOR-CONSTRUCTION has the following packages. You can see detail descrip

The received PointCloud2 msg is a point cloud data of terrain.

### tms_tf

- [tms_tf_gui](tms_tf/tms_tf_gui/)

tms_tf_gui is a package for transforming construction data (ex. machine's location, terrain and hardness of ground) using GUI tools.

### tms_ts
- [tms_ts_launch_project](tms_ts/tms_ts_launch_project/)

tms_ts_launch_ts is a package for launching the task schedular.

- [tms_ts_manager_project](tms_ts/tms_ts_manager_project/)

tms_ts_manager_project is a package included in the main task schedular programs.

- [tms_ts_subtask_project](tms_ts/tms_ts_subtask_project/)

tms_ts_subtask_project is a package included in subtasks.

If you want to implement new subtasks, please refer programs in the tms_ts_subtask directory.

### tms_ur

- [tms_ur_construction](tms_ur/tms_ur_construction)
Expand All @@ -131,11 +173,12 @@ ROS2-TMS-FOR-CONSTRUCTION has the following packages. You can see detail descrip

## Demo

Three demonstration are presented here.
The following demonstrations are presented here.

1. [Store data](#1-store-data)
2. [Get stored data](#2-get-stored-data)
3. [Store and get data simultaneously in real-time](#3-store-and-get-data-simultaneously-in-real-time)
4. [Try running the task schedular](#4-try-running-the-task-schedular)

Before demonstration, change directory and setup this workspace.

Expand All @@ -144,33 +187,57 @@ cd ~/ros2-tms-for-constructoin_ws
source install/setup.bash
```

You need to setup the workspace on each terminal before running the commands described in the following demonstrations.

### 1. Store data

Run the following commands to save data in MongoDB.
At first, you need to store static terrain data in MongoDB with running the following commands.

#### Launch

Please run the following commands in separate terminals.

```
# MongoDB manager
ros2 launch tms_db_manager tms_db_writer.launch.py init_db:=true
# Terrain
ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/demo2/terrain/static
# Static terrain
ros2 launch tms_ss_terrain_static tms_ss_terrain_static_launch.py filename:=demo.pcd filename_mesh:=demo.ply filename_dem:=demo.npy voxel_size:=0.1 octree_depth:=8 density_th:=0.1 fill_nan_type:=avg resolution:=0.1
```

#### Play rosbag

```
ros2 bag play -l ./src/ros2_tms_for_construction/demo/demo2/rosbag2_1
```

If the following message appears on the terminal where tms_sd_terrain is executed, stop the terminal playing rosbag.

```
Static terrain info was received!
```

Then, run the following commands to store other data in MongoDB.

#### Launch

```
# Odometry
ros2 launch tms_sp_machine_odom tms_sp_machine_odom_launch.py input/odom:=/demo2/odom machine_name:=demo_machine
# Ground 2D map
ros2 launch tms_sd_ground tms_sd_ground_launch.py input/occupancy_grid:=/demo2/map_2d ground_name:=demo_ground
# Terrain
ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/static/pointcloud2:=/demo2/terrain/static input/terrain/dynamic/pointcloud2:=/demo2/terrain/dynamic
# Static terrain
ros2 launch tms_ss_terrain_static tms_ss_terrain_static_launch.py filename:=demo.pcd filename_mesh:=demo.ply voxel_size:=0.1 octree_depth:=8 density_th:=0.1
ros2 launch tms_sd_terrain tms_sd_terrain_launch.py input/terrain/dynamic/pointcloud2:=/demo2/terrain/dynamic
```

#### Play rosbag

```
ros2 bag play -l ./src/ros2_tms_for_construction/demo/demo2/rosbag2_1
ros2 bag play ./src/ros2_tms_for_construction/demo/demo2/rosbag2_2
```

Expand All @@ -184,8 +251,6 @@ Here is an example. It may be a little different than yours, but as long as it i

### 2. Get stored data

Please try this demonstration after [1. Store data](#1-store-data).

Run the following commands to get data from MongoDB.

#### Launch
Expand All @@ -194,11 +259,14 @@ Run the following commands to get data from MongoDB.
# MongoDB manager
ros2 launch tms_db_manager tms_db_reader.launch.py
# Service Client and Publisher nodes for static terrain data
ros2 launch tms_ur_test tms_ur_test_launch.py
# Get static terrain
ros2 launch tms_ur_construction tms_ur_construction_terrain_static_launch.py filename:=demo.pcd voxel_size:=0.0
# Service Client and Publisher node for static terrain data
ros2 run tms_ur_test tms_ur_construction_terrain_static_test
# Get odometry, ground 2D map and terrain data
ros2 launch tms_ur_construction tms_ur_construction_launch.py filename:=demo.pcd voxel_size:=0.5
ros2 launch tms_ur_construction tms_ur_construction_launch.py machine_name:=demo_machine
```

#### Rviz2
Expand All @@ -207,7 +275,9 @@ ros2 launch tms_ur_construction tms_ur_construction_launch.py filename:=demo.pcd
rviz2 -d ./src/ros2_tms_for_construction/demo/demo2/demo2.rviz
```

Rviz2 will show odometry, ground 2D map and terrain data.
Rviz will show odometry, ground 2D map and terrain data.

Since static terrain data is large, it's may be better to stop the terminal execting tms_ur_test if static terrain is displayed on Rviz.

https://user-images.githubusercontent.com/63947554/220530548-b2e1c23c-2938-4b8f-b8f7-60b93b46f702.mp4

Expand All @@ -221,7 +291,7 @@ Static terrain data is not included because it does not need to be acquired in r

```
# MongoDB manager
ros2 launch tms_db_manager tms_db_manager.launch.py init_db:=true
ros2 launch tms_db_manager tms_db_manager.launch.py
# Odometry
ros2 launch tms_sp_machine_odom tms_sp_machine_odom_launch.py input/odom:=/demo2/odom machine_name:=demo_machine
Expand All @@ -241,19 +311,26 @@ rviz2 -d ./src/ros2_tms_for_construction/demo/demo2/demo2.rviz

#### Launch tms_ur_construction

After the tms_sd_terrain node was finished (PointCloud2 was stored to MongoDB), run the following command.
Run the following commands to get data from MongoDB.

```
ros2 launch tms_ur_construction tms_ur_construction_launch.py filename:=demo.pcd voxel_size:=0.5 latest:=true
# Get static terrain
ros2 launch tms_ur_construction tms_ur_construction_terrain_static_launch.py filename:=demo.pcd voxel_size:=0.0
# Service Client and Publisher nodes for static terrain data
ros2 run tms_ur_test tms_ur_construction_terrain_static_test
# Get odometry, ground 2D map and terrain data
ros2 launch tms_ur_construction tms_ur_construction_launch.py machine_name:=demo_machine latest:=true
```

#### Play rosbag

```
ros2 bag play ./src/ros2_tms_for_construction/demo/demo2/rosbag2_2
ros2 bag play -l ./src/ros2_tms_for_construction/demo/demo2/rosbag2_2
```

Rviz2 will show odometry, ground 2D map and dynamic terrain data like a example of [2. Get stored data](#2-get-stored-data), excluding static terrain.
Rviz will show odometry, ground 2D map and dynamic terrain data like a example of [2. Get stored data](#2-get-stored-data), excluding static terrain.

After the end of rosbag, please check whether the data is stored to fs.chunks, fs.files, machine and sensor collection in your MongoDB.

Expand All @@ -263,6 +340,31 @@ Here is an example. It may be a little different than yours, but as long as it i

![](demo/demo2/demo_mongodb_compass.png)

### 4. Try running the task schedular

To run the task scheduler, make sure that the default collection and now collection are placed under rostmsdb database in MongoDB as shown in the following image.

![](docs/rostmsdb_ts.png)


Once you have verified that MongoDB looks like the image above, execute the following command.

```
cd ~/ros2-tms-for-constructoin_ws
source install/setup.bash
ros2 launch tms_ts_launch tms_ts_action.launch.py
```

If the above command have been properly executed, start a new terminal and execute the following command.

```
cd ~/ros2-tms-for-constructoin_ws
source install/setup.bash
ros2 service call /tms_ts_text_recognizer tms_msg_ts/srv/TaskTextRecognize '{data: "zx120", is_announce: False}'
```
After the above operation is executed, the corresponding task is called from MongoDB, and subtasks and parameters are called based on the task sequence, and these are executed according to the task sequence.


## Version Information

* Date : 2022.8.19 (since 2022.8.19 ROS2-TMS-FOR-CONSTRUCTION / since 2019.2.14 ROS2-TMS / since 2012.5.1 ROS-TMS / since 2005.11.1 TMS)
Expand All @@ -286,3 +388,5 @@ Here is an example. It may be a little different than yours, but as long as it i
* lark 1.1.3

* setuptools 58.2.0

* numpy-quaternion 2022.4.3
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