Frank/trail detection node

trail_detection_node/README.md

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+SETUP GUIDE
+=============
+1. Create a new folder named ```model``` in trail_detection_node/trail_detection_node
+2. Download ```psp_resnet50_pascal_voc_best_model.pth``` in NCRN Google Drive (Trail detection model folder) and put the file in the ```model``` folder
+3. Download ```resnet50-25c4b509.pth``` in NCRN Google Drive (Trail detection model folder) and put the file in folder ```~/.torch/models```
+4. Build the package
+
+RUN the node
+=============
+```
+ros2 run trail_detection_node trail_detection
+```
+
+Node Usage
+=============
+The node has three modes, which can be controlled by setting the ```only_camera_mode```(line 175) and ```visualize```(line 188) to different value: 
+1. Trail centerline publisher(default, ```only_camera_mode=False```, ```visualize=False```): subscribes to camera and lidar and publishes the centerline point(posestamp type msg) in ```velodyne``` frame in ```trail_location``` topic
+2. Trail centerline visualizer(```only_camera_mode=False```, ```visualize=True```): subscribes to camera and lidar and shows the chosen centerline point in **white**, the lidar points in **blue**, center points with no lidar points around in **yellow**, and center points with lidar points around in **red** in the image in the pop up window
+3. Only Camera mode(```only_camera_mode=True```): subscribes only to camera, runs the segmentation model, and shows the segmented trail in image in the pop up window
+
+Possible issues
+=============
+1. **Model doesn't load successfully:**
+   Change the directory in the ```load model``` function in both ```trail_detection_node/trail_detection_node/v2_trailDetectionNode.py```(line 103 and 104) and ```trail_detection_node/trail_detection_node/visualizer_v2_trailDetectionNode.py```(line 107 and 110)
+2. **Subfolder package relative import error:**
+   Temporary fix: Move the script to the same folder and change the import code
+
+
+

trail_detection_node/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>trail_detection_node</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="zhaodong.jiang@mail.utortonto.ca">zhaodong</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>sensor_msgs</depend>
+  <depend>cv_bridge</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

trail_detection_node/setup.cfg

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+[develop]
+script_dir=$base/lib/trail_detection_node
+[install]
+install_scripts=$base/lib/trail_detection_node

trail_detection_node/setup.py

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+from setuptools import setup
+
+package_name = 'trail_detection_node'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='zhaodong',
+    maintainer_email='zhaodong.jiang@mail.utoronto.ca',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'trail_detection = trail_detection_node.trailDetectionNode:main',
+        ],
+    },
+)

trail_detection_node/test.py

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+from trail_detection_node.trailDetectionNode import *
+
+main()

trail_detection_node/test/test_copyright.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

trail_detection_node/test/test_flake8.py

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+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

trail_detection_node/test/test_pep257.py

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+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'