submagr / shell-reconstruction-ros

ROS2 package for shell-reconstruction

Overview

• shell_recon_interfaces defines DoShellRecon ros service
• shell_recon_service contains the shell reconstruction service and client
• We use ros2_numpy for conversion between numpy and ros2 sensor_msgs.msg. ros2_numpy is further dependent upon ament_cmake.

Setup

• Download submodules:

  git submodule update --init

• Make sure your ros2-foxy-fitzroy environment and colcon is correctly configured is correct.
• Setup python:

  python -m venv env  # Python should be >= 3.6 for open3d to work
  source env/bin/activate
  pip install -r build_requirements.txt
  pip install -r src/shell_recon_service/shell_recon_service/shell-reconstruction/requirements.txt 

• Build all the packages (make sure you are in the project root)

  colcon build

Running service:

From project root, run the following commands:

• Run service:

  . install/setup.bash  # ROS2 Path setup
  export PYTHONPATH=$PWD/env/lib/python3.8/site-packages:$PYTHONPATH  # Help ROS2 find python environment packages
  export PYTHONPATH=$PWD/src/shell_recon_service/shell_recon_service/shell-reconstruction/:$PYTHONPATH  # Add shell module path
  ros2 run shell_recon_service service

• In seperate terminal, run client:

  . install/setup.bash
  export PYTHONPATH=$PWD/env/lib/python3.8/site-packages:$PYTHONPATH  # Help ROS2 find python environment packages
  export PYTHONPATH=$PWD/src/shell_recon_service/shell_recon_service/shell-reconstruction/:$PYTHONPATH  # Add shell module path
  ros2 run shell_recon_service client --pkl_data_path $PWD/src/shell_recon_service/shell_recon_service/shell-reconstruction/demo_data/real_data.pkl

• The shell reconstruction results will be generated at the following location:

  src/shell_recon_service/shell_recon_service/shell-reconstruction/demo_data/reconstruction_ros_service