Add Polygon Info obtained from zbar (#11)

* add polygon info, and publish with Symbol.msg format Signed-off-by: ijnek <[email protected]> * Update barcode_reader_node.cpp Fix print formatting Signed-off-by: ijnek <[email protected]> * add code to deprecate barcode topic Signed-off-by: Kenji Brameld <[email protected]> * update warning message Signed-off-by: Kenji Brameld <[email protected]> * remove .msg Signed-off-by: Kenji Brameld <[email protected]> * bring non-deprecated code before deprecated code Signed-off-by: Kenji Brameld <[email protected]> * use vision_msgs and not geometry_msgs Signed-off-by: Kenji Brameld <[email protected]> --------- Signed-off-by: ijnek <[email protected]> Signed-off-by: Kenji Brameld <[email protected]>
ros-drivers · Apr 20, 2024 · 2df8b1b · 2df8b1b
1 parent bfb27f4
commit 2df8b1b
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Showing 9 changed files with 108 additions and 10 deletions.
diff --git a/README.md b/README.md
@@ -56,7 +56,8 @@ Subscriptions:
 * `image` (`sensor_msgs/msg/Image`)
 
 Publisher:
-* `barcode` (`std_msgs/msg/String`)
+* `symbol` (`zbar_ros_interfaces/msg/Symbol`)
+* `barcode` (`std_msgs/msg/String`) - **DEPRECATED**
 
 
 ## Debugging the barcode_reader node

diff --git a/CMakeLists.txt → zbar_ros/CMakeLists.txt b/CMakeLists.txt → zbar_ros/CMakeLists.txt
@@ -19,7 +19,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(zbar_ros_interfaces REQUIRED)
 find_package(cv_bridge REQUIRED)
 
 # Include header files
@@ -32,7 +32,8 @@ ament_target_dependencies(barcode_reader_node
   rclcpp
   sensor_msgs
   std_msgs
-  cv_bridge)
+  cv_bridge
+  zbar_ros_interfaces)
 target_link_libraries(barcode_reader_node zbar)
 
 # Build executable

diff --git a/include/zbar_ros/barcode_reader_node.hpp → .../include/zbar_ros/barcode_reader_node.hpp b/include/zbar_ros/barcode_reader_node.hpp → .../include/zbar_ros/barcode_reader_node.hpp
@@ -38,6 +38,7 @@
 #include "./zbar.h"
 #include "sensor_msgs/msg/image.hpp"
 #include "std_msgs/msg/string.hpp"
+#include "zbar_ros_interfaces/msg/symbol.hpp"
 
 namespace zbar_ros
 {
@@ -52,7 +53,8 @@ class BarcodeReaderNode : public rclcpp::Node
   void cleanCb();
 
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr camera_sub_;
-  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_;
+  rclcpp::Publisher<zbar_ros_interfaces::msg::Symbol>::SharedPtr symbol_pub_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_;  // DEPRECATED
   zbar::ImageScanner scanner_;
 
   rclcpp::TimerBase::SharedPtr clean_timer_;

diff --git a/package.xml → zbar_ros/package.xml b/package.xml → zbar_ros/package.xml
@@ -16,6 +16,7 @@
   <depend>cv_bridge</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>zbar_ros_interfaces</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/src/barcode_reader_main.cpp → zbar_ros/src/barcode_reader_main.cpp b/src/barcode_reader_main.cpp → zbar_ros/src/barcode_reader_main.cpp
diff --git a/src/barcode_reader_node.cpp → zbar_ros/src/barcode_reader_node.cpp b/src/barcode_reader_node.cpp → zbar_ros/src/barcode_reader_node.cpp
@@ -44,10 +44,10 @@ BarcodeReaderNode::BarcodeReaderNode()
 {
   scanner_.set_config(zbar::ZBAR_NONE, zbar::ZBAR_CFG_ENABLE, 1);
 
-
   camera_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
     "image", 10, std::bind(&BarcodeReaderNode::imageCb, this, std::placeholders::_1));
 
+  symbol_pub_ = this->create_publisher<zbar_ros_interfaces::msg::Symbol>("symbol", 10);
   barcode_pub_ = this->create_publisher<std_msgs::msg::String>("barcode", 10);
 
   throttle_ = this->declare_parameter<double>("throttle_repeated_barcodes", 0.0);
@@ -74,14 +74,29 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
   auto it_end = zbar_image.symbol_end();
   if (it_start != it_end) {
     // If there are barcodes in the image, iterate over all barcode readings from image
-    for (zbar::Image::SymbolIterator symbol = it_start; symbol != it_end; ++symbol) {
-      std::string barcode = symbol->get_data();
-      RCLCPP_DEBUG(get_logger(), "Barcode detected with data: '%s'", barcode.c_str());
+    for (zbar::Image::SymbolIterator symbol_it = it_start; symbol_it != it_end; ++symbol_it) {
+      zbar_ros_interfaces::msg::Symbol symbol;
+      symbol.data = symbol_it->get_data();
+      RCLCPP_DEBUG(get_logger(), "Barcode detected with data: '%s'", symbol.data.c_str());
+
+      RCLCPP_DEBUG(
+        get_logger(), "Polygon around barcode has %d points", symbol_it->get_location_size());
+      for (zbar::Symbol::PointIterator point_it = symbol_it->point_begin();
+        point_it != symbol_it->point_end();
+        ++point_it)
+      {
+        vision_msgs::msg::Point2D point;
+        point.x = (*point_it).x;
+        point.y = (*point_it).y;
+        RCLCPP_DEBUG(get_logger(), "  Point: %f, %f", point.x, point.y);
+        symbol.points.push_back(point);
+      }
 
       // verify if repeated barcode throttling is enabled
       if (throttle_ > 0.0) {
         const std::lock_guard<std::mutex> lock(memory_mutex_);
 
+        const std::string & barcode = symbol.data;
         // check if barcode has been recorded as seen, and skip detection
         if (barcode_memory_.count(barcode) > 0) {
           // check if time reached to forget barcode
@@ -100,16 +115,32 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
             now() + rclcpp::Duration(std::chrono::duration<double>(throttle_))));
       }
 
-      // publish barcode
+      // publish symbol
+      RCLCPP_DEBUG(get_logger(), "Publishing Symbol");
+      symbol_pub_->publish(symbol);
+
+      // publish on deprecated barcode topic
       RCLCPP_DEBUG(get_logger(), "Publishing data as string");
       std_msgs::msg::String barcode_string;
-      barcode_string.data = barcode;
+      barcode_string.data = symbol.data;
       barcode_pub_->publish(barcode_string);
     }
   } else {
     RCLCPP_DEBUG(get_logger(), "No barcode detected in image");
   }
 
+  // Warn if there are subscriptions on barcode topic, because it's deprecated.
+  static bool alreadyWarnedDeprecation = false;
+  if (!alreadyWarnedDeprecation && count_subscribers("barcode") > 0) {
+    alreadyWarnedDeprecation = true;
+    RCLCPP_WARN(
+      get_logger(),
+      "A subscription was detected on the deprecated topic 'barcode'. Please update the node "
+      "that is subscribing to use the new topic 'symbol' with type "
+      "'zbar_ros_interfaces::msg::Symbol' instead. The 'barcode' topic will be removed "
+      "in the next distribution.");
+  }
+
   zbar_image.set_data(NULL, 0);
 }
 

diff --git a/zbar_ros_interfaces/CMakeLists.txt b/zbar_ros_interfaces/CMakeLists.txt
@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.5)
+project(zbar_ros_interfaces)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(vision_msgs REQUIRED)
+
+# generate interfaces
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Symbol.msg"
+  DEPENDENCIES vision_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/zbar_ros_interfaces/msg/Symbol.msg b/zbar_ros_interfaces/msg/Symbol.msg
@@ -0,0 +1,2 @@
+string data
+vision_msgs/Point2D[] points
diff --git a/zbar_ros_interfaces/package.xml b/zbar_ros_interfaces/package.xml
@@ -0,0 +1,24 @@
+<?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>zbar_ros_interfaces</name>
+  <version>0.0.0</version>
+  <description>Package containing interfaces for zbar_ros to use to publish results</description>
+  <maintainer email="[email protected]">ijnek</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>vision_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>