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geurtogeurto
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372 integration thermal (#450)
* initial commit; moving from laptop to PC Signed-off-by: Peter Geurts <peter.geurts@proton.me> * refactoring to raw TcpStream as camera API is very picky about header order Signed-off-by: Peter Geurts <peter.geurts@proton.me> * updated structure and added Dockerfile Signed-off-by: Peter Geurts <peter.geurts@proton.me> * implemented extract_response Signed-off-by: Peter Geurts <peter.geurts@proton.me> * implemented login data extraction Signed-off-by: Peter Geurts <peter.geurts@proton.me> * CHECKPOINT: ditching rust for python Signed-off-by: Peter Geurts <peter.geurts@proton.me> * switched to python Signed-off-by: Peter Geurts <peter.geurts@proton.me> * added IP address search based on MAC Signed-off-by: Peter Geurts <peter.geurts@proton.me> * first version of hardware working Signed-off-by: Peter Geurts <peter.geurts@proton.me> * gazebo world for thermal camera Signed-off-by: Peter Geurts <peter.geurts@proton.me> * added color palettes Signed-off-by: Peter Geurts <peter.geurts@proton.me> * docs Signed-off-by: Peter Geurts <peter.geurts@proton.me> * linting Signed-off-by: Peter Geurts <peter.geurts@proton.me> * added MacAddressFinder to look get IP address based on MAC address Signed-off-by: Peter Geurts <peter.geurts@proton.me> * fixed image and color palette Signed-off-by: Peter Geurts <peter.geurts@proton.me> * package restructuring without setup.py Signed-off-by: Peter Geurts <peter.geurts@proton.me> * package restructuring part 2, now the same as alliander_meta Signed-off-by: Peter Geurts <peter.geurts@proton.me> * publish image if simulation, compressed if hardware Signed-off-by: Peter Geurts <peter.geurts@proton.me> --------- Signed-off-by: Peter Geurts <peter.geurts@proton.me> Signed-off-by: Peter Geurts <25298249+geurto@users.noreply.github.com>
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‎.gitignore‎

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build/
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clangd/
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**/target/
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.cache
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.venv

‎alliander_core/src/alliander_description/CMakeLists.txt‎

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@@ -11,7 +11,7 @@ find_package(ament_cmake_python REQUIRED)
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# Shared folders:
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install(
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DIRECTORY ewellix franka husarion nmea_gps ouster realsense velodyne xsens zed
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DIRECTORY ewellix franka husarion nmea_gps ouster realsense seekthermal velodyne xsens zed
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DESTINATION share/${PROJECT_NAME}
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)
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‎alliander_core/src/alliander_description/seekthermal/urdf/seekthermal_g300.urdf.xacro‎

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<?xml version="1.0"?>
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<!--
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SPDX-FileCopyrightText: Alliander N. V.
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SPDX-License-Identifier: Apache-2.0
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="seekthermal_module">
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<xacro:macro name="seekthermal_g300"
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params="
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namespace
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parent
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use_sim:=true
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">
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<!-- Gazebo requires a joint to a link called "world" for statically mounted robots -->
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<xacro:if value="${parent == 'world'}">
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<link name="${parent}" />
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<joint name="${parent}_joint" type="fixed">
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<parent link="${parent}" />
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<child link="base_link" />
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</joint>
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</xacro:if>
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<link name="base_link"/>
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<link name="seekthermal_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.105 0.050 0.050"/>
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</geometry>
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<material name="dark_grey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.105 0.050 0.050"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.340"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="0.000142" ixy="0.0" ixz="0.0"
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iyy="0.000384" iyz="0.0"
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izz="0.000384"/>
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</inertial>
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</link>
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<joint name="seekthermal_joint" type="fixed">
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<parent link="base_link"/>
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<child link="seekthermal_link"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</joint>
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<link name="seekthermal_link_optical"/>
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<joint name="seekthermal_optical_joint" type="fixed">
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<parent link="seekthermal_link"/>
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<child link="seekthermal_link_optical"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</joint>
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<xacro:if value="${use_sim}">
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<gazebo reference="seekthermal_link_optical">
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<sensor type="thermal" name="seekthermal">
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<always_on>true</always_on>
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<update_rate>9.0</update_rate>
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<topic>${namespace}/thermal/image</topic>
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<visualize>true</visualize>
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<gz_frame_id>${namespace}/seekthermal_link_optical</gz_frame_id>
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<camera>
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<horizontal_fov>${58.0/180.0*pi}</horizontal_fov>
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<vertical_fov>${42.0/180.0*pi}</vertical_fov>
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<image>
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<width>320</width>
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<height>240</height>
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<format>L16</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100.0</far>
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</clip>
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</camera>
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<plugin
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filename="ignition-gazebo-thermal-sensor-system"
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name="gz::sim::systems::ThermalSensor">
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<!-- -20 °C to 550 °C -->
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<min_temp>253.15</min_temp>
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<max_temp>823.15</max_temp>
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<!-- 570 degrees / 16 bits ~ 0.009 degrees resolution -->
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<resolution>0.01</resolution>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:if>
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</xacro:macro>
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<xacro:arg name="namespace" default="seekthermal" />
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<xacro:arg name="parent" default="" />
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<xacro:seekthermal_g300 namespace="$(arg namespace)" parent="$(arg parent)" />
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</robot>

‎alliander_core/src/alliander_utilities/alliander_utilities/config_objects.py‎

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platform_type: str = "Camera"
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@dataclass
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class ThermalCamera(Platform):
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"""Configuration for a ThermalCamera platform.
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Attributes:
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platform_type (str): Type identifier for the platform.
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"""
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platform_type: str = "ThermalCamera"
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@dataclass
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class Lidar(Platform):
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"""Configuration for a Lidar platform.
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platforms: List[
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Annotated[
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Union[Platform, Arm, Vehicle, Camera, GPS, IMU, Lidar, Lift],
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Union[Platform, Arm, Vehicle, Camera, GPS, IMU, Lidar, Lift, ThermalCamera],
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Discriminator(field="platform_type", include_supertypes=True),
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]
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] = field(default_factory=list)

‎alliander_gazebo/src/alliander_gazebo/launch/gazebo.launch.py‎

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bridge_topics.append(
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f"/{platform.namespace}/gps/fix@sensor_msgs/msg/NavSatFix@gz.msgs.NavSat"
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)
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if platform.platform_type == "ThermalCamera":
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bridge_topics.append(
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f"/{platform.namespace}/thermal/image@sensor_msgs/msg/Image@gz.msgs.Image"
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)
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if platform.platform_type == "IMU":
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bridge_topics.append(
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f"/{platform.namespace}/imu/data@sensor_msgs/msg/Imu@gz.msgs.IMU"

‎alliander_gazebo/src/alliander_gazebo/worlds/thermal_camera.sdf‎

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<?xml version="1.0" ?>
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<!--
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SPDX-FileCopyrightText: Alliander N. V.
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SPDX-License-Identifier: Apache-2.0
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-->
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<!-- from https://github.com/gazebosim/gz-sim/blob/e647570f25f962d63af75cf669ff72731d57bd5e/examples/worlds/thermal_camera.sdf -->
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<!--
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Demo world consisting of a thermal camera sensor and several models with
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different temperatures specified via the thermal system plugin.
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-->
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<sdf version="1.6">
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<world name="thermal_camera">
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="ignition-gazebo-physics-system"
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name="ignition::gazebo::systems::Physics">
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</plugin>
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<plugin
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filename="ignition-gazebo-sensors-system"
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name="ignition::gazebo::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin>
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<plugin
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filename="ignition-gazebo-scene-broadcaster-system"
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name="ignition::gazebo::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="ignition-gazebo-user-commands-system"
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name="ignition::gazebo::systems::UserCommands">
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<atmosphere type="adiabatic">
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<temperature>300</temperature>
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</atmosphere>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<!--plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane-->
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<box>
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<size>20 20 0.1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<!--plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane-->
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<box>
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<size>20 20 0.1</size>
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</box>
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</geometry>
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<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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<plugin
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filename="ignition-gazebo-thermal-system"
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name="ignition::gazebo::systems::Thermal">
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<temperature>288.0</temperature>
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</plugin>
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</visual>
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</link>
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</model>
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<model name="hotbox">
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<pose>-1 1 0.5 0 0 0</pose>
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<link name="hotbox_link">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="hotbox_collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="hotbox_visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<ambient>1 0 0 1</ambient>
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<diffuse>1 0 0 1</diffuse>
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<specular>1 0 0 1</specular>
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</material>
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<plugin
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filename="ignition-gazebo-thermal-system"
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name="ignition::gazebo::systems::Thermal">
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<temperature>373.0</temperature>
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</plugin>
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</visual>
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</link>
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</model>
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<model name="coldbox">
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<pose>1 1.5 0.5 0 0 0</pose>
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<link name="coldbox_link">
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<inertial>
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<inertia>
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<ixx>1</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1</iyy>
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<iyz>0</iyz>
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<izz>1</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="coldbox_collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="coldbox_visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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<material>
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<ambient>1 0 0 1</ambient>
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<diffuse>1 0 0 1</diffuse>
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<specular>1 0 0 1</specular>
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</material>
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<plugin
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filename="ignition-gazebo-thermal-system"
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name="ignition::gazebo::systems::Thermal">
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<temperature>298.0</temperature>
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</plugin>
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</visual>
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</link>
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</model>
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</world>
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</sdf>

‎alliander_seekthermal/alliander_seekthermal.Dockerfile‎

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# SPDX-FileCopyrightText: Alliander N. V.
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#
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# SPDX-License-Identifier: Apache-2.0
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ARG BASE_IMAGE=ubuntu:latest
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FROM $BASE_IMAGE
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ARG COLCON_BUILD_SEQUENTIAL
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ENV ROS_DISTRO=jazzy
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# Install dependencies:
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RUN apt update && apt install -y --no-install-recommends \
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arp-scan \
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iproute2 \
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&& rm -rf /var/lib/apt/lists/* \
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&& apt autoremove -y \
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&& apt clean
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# Install repo package:
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WORKDIR /$WORKDIR/ros
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COPY alliander_core/src/ /$WORKDIR/ros/src
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COPY alliander_seekthermal/src/ /$WORKDIR/ros/src
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RUN /$WORKDIR/colcon_build.sh
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# Install python dependencies:
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WORKDIR $WORKDIR
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COPY pyproject.toml /$WORKDIR/pyproject.toml
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RUN uv sync --group alliander-seekthermal \
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&& echo "export PYTHONPATH=\"$(dirname $(dirname $(uv python find)))/lib/python3.12/site-packages:\$PYTHONPATH\"" >> /root/.bashrc \
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&& echo "export PATH=\"$(dirname $(dirname $(uv python find)))/bin:\$PATH\"" >> /root/.bashrc
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# Finalize
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WORKDIR /$WORKDIR
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ENTRYPOINT ["/entrypoint.sh"]
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CMD ["sleep", "infinity"]

‎alliander_seekthermal/docker-compose.yml‎

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# SPDX-FileCopyrightText: Alliander N. V.
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#
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# SPDX-License-Identifier: Apache-2.0
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services:
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alliander_seekthermal:
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image: allianderrobotics/seekthermal
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container_name: alliander_seekthermal
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runtime: nvidia
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network_mode: host
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privileged: true
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mem_limit: 6gb
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tty: true
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env_file:
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- .env
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volumes:
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- "/tmp/.X11-unix:/tmp/.X11-unix"
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- "/dev:/dev"
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command: ["/bin/bash", "-c", "ros2 launch alliander_seekthermal seekthermal.launch.py"]

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