S25_Crystal_Final_Project

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Components of this project

• Implementation on the ROSMASTER-X3
• Gazebo Simulation: Simulates the ROSMASTER-X3 responding to a stop light

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Important Note - Implementation on the ROSMASTER-X3

• Because I'm on Macos and docker and camera don't play nice the current node reads images from a mounted directory
• ~/camera_shared/frame.jpg if you want to test on an image before camera functionality is added you can add the image to that folder, and you will get an output /camera_shared/discretized.jpg.

TODO

• Custom message for color/counts (smth like this) or maybe even publishe the RGB color values,

ColorHistogram.msg
string[] color_labels
int32[] color_counts

• Add (maybe 60fps) sampling rate and verification to real time video feed.
• Interface with light bar to display the colors
• Add color list voice command
• Add color-based SLAM mapping
• ...

Setup & Build Instructions

Requirements

• ROS 2 (Foxy)
• colcon build tool
• Python 3.8+ (included with ROS 2)
• ROS 2 image and std_msgs dependencies

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Project Structure

ros2_final_proj/
├── src/
│   └── ColorReader/
│       ├── ColorReader/        # Main Python module
│       ├── resource/
│       ├── test/               # Unit & lint tests
│       ├── setup.py
│       ├── setup.cfg
│       └── package.xml
├── build/                      # Ignored build artifacts
├── install/                    # Ignored install artifacts
├── log/                        # Ignored logs
├── .gitignore
└── README.md

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Build the Workspace

# Clone this repository
git clone https://github.com/EndangeredConfusion/S25_Crystal_Final_Project.git
cd S25_Crystal_Final_Project
sudo apt install ros-foxy-rtabmap-ros

# Source your ROS 2 environment
source /opt/ros/foxy/setup.bash

# Build the workspace
colcon build

# Source again
source install/setup.bash

# After you build and source the project you should be able to do install the Python dependencies (torch might take a while)
cd src/ColorReader
pip3 install .

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Run the Node

# Source the overlay workspace
source install/setup.bash

# Run the node (update the name if you have a specific entry point)
# <type> should either be the value "image", "video", or "slam"
# Something else or nothing will default to video mode
ros2 run ColorReader img_processor --ros-args -p mode:=<type>

# Examples:
ros2 run ColorReader img_processor --ros-args -p mode:=image
ros2 run ColorReader img_processor --ros-args -p mode:=video
ros2 run ColorReader img_processor --ros-args -p mode:=slam
# Defaults to video mode
ros2 run ColorReader img_processor

# In a seperate terminal
ros2 topic echo /color_counts

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Developer Notes

GitHub Collaboration

• Ensure .gitignore is respected to avoid committing build/, install/, log/, and Python cache files.
• Created using VS Code with dev containers, .devcontainer/ is supported but ignored by Git.

Contributors

• Kaeshev Alapati (@EndangeredConfusion)
• Marilla Bongiovanni (@bongim5)
• Eric Carson (@carsoe2)
• Venkat Cherukupalli (@...)
• Noli Moyo (@...)
• Chacrica Pagadala (@...)
• Max Rueda (@RuedaM)