ibraEssam

 def on_new_messages(self, messages):
      ''' [Optional] Called according to the execution mode of the block.

      Parameters
      ----------
      messages : dict
          A dictionary of the port keys and the values of the incoming messages.

      '''
      bboxes = messages['bboxes'].bboxes #Bounding boxes

ibraEssam

#!/usr/bin/env python
from std_msgs.msg import Bool, Float64
from yonoarc_msgs.msg import ObjectBBoxArray
import rospy
import time


class EB():
    def __init__(self, node_name="eb_node"):
        rospy.init_node(node_name)

ibraEssam

import os
import subprocess
import time
import airsim
from std_msgs.msg import Header
import numpy as np
from sensor_msgs.msg import PointCloud2
from geometry_msgs.msg import Point32
import sensor_msgs.point_cloud2 as pcl2
from yonoarc_utils.image import to_ndarray, from_ndarray

ibraEssam

class AirSim:
  def download_run_airsim(self):
          # Environment variables to run AirSim headless
          os.environ["SDL_VIDEODRIVER_VALUE"] = "offscreen"
          os.environ['SDL_HINT_CUDA_DEVICE'] = "0"
          # AirSim Binaries List
          list_env = ["Blocks", "Africa", "Building_99",
                      "Zhangjiajie", "Neighborhood", "SoccerField", "LandscapeMountains", "TrapCam"]
          # Let's get the selected environment from our block properities
          self.enviroment = list_env[self.get_property("env")]

ibraEssam

class AirSim:
    def on_start(self):
        self.alert("creating airsim user and running ssh.....", "INFO")
        # username and password for ssh
        os.environ["USERNAME"] = "airsim"
        os.environ["PASSWORD"] = "airsim1234"
        # Run the ssh-server
        os.system("(mkdir /home/$USERNAME && useradd $USERNAME && echo $USERNAME:$PASSWORD | chpasswd && usermod -aG sudo $USERNAME && chown airsim:airsim /home/airsim && usermod -d /home/airsim airsim && mkdir /var/run/sshd && /usr/sbin/sshd) &")
        # Download and Run AirSim Binary
        self.download_run_airsim()

ibraEssam

class AirSim:
  def on_button_clicked(self, button_key):
          # Handle button Clicked Events.
          if button_key == 'move_to':
              # Parse the Move Command
              pos_string = self.get_property("pos").split(",")
              self.command_list = []
              for st in pos_string:
                  self.command_list.append(float(st))
              self.move_command = True

ibraEssam

class AirSim:
  def parse_lidarData(self, data):
        # function to create PointCloud2 from Lidar Data
        # reshape array of floats to array of [X,Y,Z]
        points = np.array(data.point_cloud, dtype=np.dtype('f4'))
        points = np.reshape(points, (int(points.shape[0]/3), 3))
        header = Header()
        header.frame_id = "lidar"
        pcl = pcl2.create_cloud_xyz32(header, points)
        return pcl

ibraEssam

Installing ROS Noetic on Raspberry Pi 4

Hello Everyone. I've been trying to install ROS Noetic on Raspbian GNU/Linux 10 (buster) from source but it was like a nightmare. Finally, I was able to install it and I want to share it with you.

Steps:

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

ibraEssam

import subprocess
import os
import time

class Gazebo:
    def on_start(self):
        # Get the world file path form block's properties
        self.world_file = self.get_property("world_file")
        # Get the models files path form block's properties
        self.models_path = self.get_property("models_path")

ibraEssam

import subprocess
import os
import time
class Gazebo:
    def on_start(self):
        """This block is used to launch gazebo in noVNC
        it builds the ros workspace, source it , then run a launch file
        which run gazebo ros and load the appropriate world file.  
        """
        self.ws_path = self.get_property("ws_path") # Workspace Path