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# rUNSWeep2024
## Getting started
To make it easy for you to get started with GitLab, here's a list of recommended next steps.
Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
## Add your files
- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
```
cd existing_repo
git remote add origin https://robolab.cse.unsw.edu.au/gitlab/toyota-hsr/runsweep2024.git
git branch -M main
git push -uf origin main
```
## Integrate with your tools
- [ ] [Set up project integrations](https://robolab.cse.unsw.edu.au/gitlab/toyota-hsr/runsweep2024/-/settings/integrations)
## Collaborate with your team
- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
## Test and Deploy
Use the built-in continuous integration in GitLab.
- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
***
# Editing this README
When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
## Suggestions for a good README
Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
## Name
Choose a self-explaining name for your project.
## Description
Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
This is a public release repository of the UNSW RoboCup@home team rUNSWeep's codebase. This repository is not for installation purposes - rather gives a snapshot of the teams code to qualify for RoboCup 2025. Below are short descriptions of the ROS packages contained in this release
## Badges
On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
### manipulation
- 'hsrb-interfaces-unsw': A fork of the toyota HSRB interface package
- 'object-grasper': package contains services for manipulation actions.
## Visuals
Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
### msgs
- 'unsw_action_msg': Custom msgs for action dispatch
- 'unsw_vision_msgs': Custom msgs for unsw vision pipeline
## Installation
Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
### navigation
- 'gmapping': fork of hsrb gmapping package used for mapping
- 'nav_utils': contains navigation scripts such as person-following. Intention to refactor to action_servers
- 'rosnav': edited fork of HSRB rosnav repository.
## Usage
Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
### planning
- 'action_clients': state machines to dispatch planner outputted actions to action action_servers
- 'action_servers': servers for all base actions. Containing manipulation actions at the moment.
- 'state_machine': package used as proof of concept for continuous feedback using smach library
- 'tr': in development proof of concept for teleo-reactive planner
## Support
Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
### speech
- 'sound_stream': package to publish microphone stream to ROS topic.
- 'speech_to_text: vosk based model for speech to speech_to_text
- NOT INCLUDED:
- 'nlp-rasa': package containing scripts for nlp using rasa model.
## Roadmap
If you have ideas for releases in the future, it is a good idea to list them in the README.
### tasks
- 'carry_my_luggage': state machine/behaviour tree based control for carry my luggage task using services
- 'clean_the_table': state machine based control for clean the table task, using action_clients and action_servers
- 'inspection_task': state machine based control for inspection_task
- 'pick_up_apple': state machine based control for simple integrated vision and manipulation task using services
- 'serve breakfast': state machine based control for serve_breakfast written at RoboCup 2024, unchanged and untested since competition. Will be refactored.
- 'store_groceries': state machine based control for store_groceries task written at RoboCup 2024, unchanged untested since competition. Will be refactored.
## Contributing
State if you are open to contributions and what your requirements are for accepting them.
### tools
- 'common_utils': scripts that don't really belong anywhere such as "door checker" to check if a door has opened.
For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
### vision
- 'person-recognition': person recognition and reidentification inserted in vision pipeline.
- 'utils': specific vision nodes used for small tasks such as identifying a bag handle or a person pointing
- 'yolov8': wrapper of yolov8 for ROS
You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
### world model
- 'world-model': world model and scripts used to maintain belief store.
## Authors and acknowledgment
Show your appreciation to those who have contributed to the project.
## License
For open source projects, say how it is licensed.
## Authors and acknowledgment
The contributing team as of 2024:
- Adam Golding
- Annalise Tran
- Daryl Lee
- Elizabeth Legge
- Janette Lin
- Nicholas Mangos
- Tara Hercz
- Theodore Mangos
- Zijie Li
## Project status
If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
# yoloV8
## Getting started
To make it easy for you to get started with GitLab, here's a list of recommended next steps.
Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
## Add your files
- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
```
cd existing_repo
git remote add origin https://robolab.cse.unsw.edu.au/gitlab/unsw-hsr/vision/yolov8.git
git branch -M main
git push -uf origin main
```
## Integrate with your tools
- [ ] [Set up project integrations](https://robolab.cse.unsw.edu.au/gitlab/unsw-hsr/vision/yolov8/-/settings/integrations)
## Collaborate with your team
- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
## Test and Deploy
Use the built-in continuous integration in GitLab.
- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
***
# Editing this README
When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
## Suggestions for a good README
Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
## Name
Choose a self-explaining name for your project.
## Description
Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
## Badges
On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
## Visuals
Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
## Installation
Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
## Usage
Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
## Support
Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
## Roadmap
If you have ideas for releases in the future, it is a good idea to list them in the README.
## Contributing
State if you are open to contributions and what your requirements are for accepting them.
For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
## Authors and acknowledgment
Show your appreciation to those who have contributed to the project.
## License
For open source projects, say how it is licensed.
## Project status
If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
02/10/2024
tracker.launch
- modify topic names for input and output topics
tracker_node.py
- modify topic names for input and output topics
- improve occlusion detection to use any part of bounding box overlapping instead of corners
plotter.py
- add feature to plot skeleton and bounding box of person and head. Can pass flag to toggle what to display.
19/09/2024
plotter.py
- add new function plot_object_and_skeleton
tracker_node.py
- call plot_object_and_skeleton to draw the new skeleton and plot_object_and_skeleton
tracker.launch
- update parameters
- iou_thres = 0.30
- mask_expansion_pc = 0.02
15/09/2024
tracker_node
- modify coocluded thresholds
- add occlusion for head against other person bbox
- improve occlusion checking using a map
tracker.launch
- modify mask_expansion_pct
08/09/2024
tracker_node.py
- align head with person skeleton
- reorder the way person is processed
- add vertical occlusion checking
plotter.py
- fix head plotting when touching edges
.gitignore
- add scripts/__pycache__/ to ignore vscode python cache files
04/09/2024
tracker_node.py
- the following change has been tested
- increase the bbox size on person by the threshold(the bbox in msg does not change but only increase the one used for masking image), so that it maintains more skeltons and body features when crop too tight.
tracker.launch
- add param to support the change above. It is a percentage in relation to original image size.
27/08/2024
tracker_node.py
- add distance calculation(in 2d, relavent to the base link. Height of the object position is ignored)
- add occulusion check for person and person head
- add a sleep in init to make sure tf is catch up
- increase the timeout for tf a little bit to decrease the chance of not getting tf and drop frame
- add a rospy.gettime() at the beginning so easier to other print statement in the middle to determine performance for debug purpose
traker.launch
- change some params for testing on the physical robot instead of bag file
tracking_id_handler.py
- remove the print statement
plotter.py
- add distance and occluded(turning red for bounding box edge)
26/08/2024
plotter.py
- adjust font and size and round confidence
23/08/2024
tracker_node.py
- instead of checbking conf score for skelton. Check its position being 0,0 because any skelton below thresh is set to 00
- add offset so skelton in msg is correct
20/08/2024
tracker_node.py
- remove some rospy.loginfo
- add check for invalid skelton(0,0,0) to make sure it is definitely not transform into 3d points
tracking_id_handler.py
- add resetting not seen when object track gets redetected(implemented for both object and person tracking).
custom_bytetturack.yaml
- tune parameters.
19/08/2024
tracker_node.py
- remove print statement
- add the custom tracking for person
tracking_id_handler.py
- implement the logic for it
custom_bytetrack.yaml
- change some params
17/08/2024
tracker_node.py
- fix the issue "local variable 'bbox3d' referenced before assignment" while 3d is off, by init it to be None
tracker.launch
- add threshold confidence score for bp detection
- false association never happens when people crossing each other unless near edges
- can be further tune to stop id switching on the same person.
- I got ideas of what most of the config param is.
15/08/2024
tracker_node.py
- update to use the latest msg
- use a genrealised appraoch so can use a boolean in launchfile to indicate if we want to populate 3d msgs
- everything in msg is populated in 3d mode, except for distance, need further discuss if needed
tracker_node_2d.py
- populate skeleton2d instead of skeleton
tracker.launch
- use arg for bp model
14/08/2024
tracker_conf\custom_bytetrack.yaml
- create custom tracker playing with parameters to get better tracking ids, less false associations
tracker_2d.launch
- change some parameters
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