=====Utilisation Ros de Thomas: notice et remarques en fin de stage (août 2018)=====

compilation de tous les noeuds
  cd /home/tdedieu/catkin_ws/
  catkin_make

noeud camera:
  roscd ueye_cam/
pour banc stereo + camera scene
  roslaunch ueye_cam master_slaves_tdedieu.launch
ou pour  camera scene seule
  roslaunch ueye_cam master_slaves_rgb8.launch

  rostopic list
<file txt listtopic.txt>
/rosout
/rosout_agg
/scene/camera_info
/scene/image_raw
/scene/image_raw/compressed
/scene/image_raw/compressed/parameter_descriptions
/scene/image_raw/compressed/parameter_updates
/scene/image_raw/compressedDepth
/scene/image_raw/compressedDepth/parameter_descriptions
/scene/image_raw/compressedDepth/parameter_updates
/scene/image_raw/theora
/scene/image_raw/theora/parameter_descriptions
/scene/image_raw/theora/parameter_updates
/stereo/left/camera_info
/stereo/left/image_raw
/stereo/left/image_raw/compressed
/stereo/left/image_raw/compressed/parameter_descriptions
/stereo/left/image_raw/compressed/parameter_updates
/stereo/left/image_raw/compressedDepth
/stereo/left/image_raw/compressedDepth/parameter_descriptions
/stereo/left/image_raw/compressedDepth/parameter_updates
/stereo/left/image_raw/theora
/stereo/left/image_raw/theora/parameter_descriptions
/stereo/left/image_raw/theora/parameter_updates
/stereo/right/camera_info
/stereo/right/image_raw
/stereo/right/image_raw/compressed
/stereo/right/image_raw/compressed/parameter_descriptions
/stereo/right/image_raw/compressed/parameter_updates
/stereo/right/image_raw/compressedDepth
/stereo/right/image_raw/compressedDepth/parameter_descriptions
/stereo/right/image_raw/compressedDepth/parameter_updates
/stereo/right/image_raw/theora
/stereo/right/image_raw/theora/parameter_descriptions
/stereo/right/image_raw/theora/parameter_updates
/ueye_cam_nodelet_left/parameter_descriptions
/ueye_cam_nodelet_left/parameter_updates
/ueye_cam_nodelet_right/parameter_descriptions
/ueye_cam_nodelet_right/parameter_updates
/ueye_cam_nodelet_scene/parameter_descriptions
/ueye_cam_nodelet_scene/parameter_updates
</file>

pour visualiser /scene/image_raw
  roslaunch ueye_cam view_scene.launch 
  roslaunch ueye_cam view_stereo.launch  
  roslaunch ueye_cam view_me.launch 


roscd eye_tracker/
pwd
  /home/tdedieu/catkin_ws/src/eye_tracker

  roslaunch eye_tracker eye_tracker_dedieu_stereo.launch 
 
  cd src/
  atom eye_tracker_nodelet.cpp &



eye_tracker echoue si image trop sombre: augmenter la duree d'exposition et/ou baisser le frame rate dans le script launch:
  master_slaves_tdedieu.launch
    <param name="exposure" type="double" value="100.0" />
  <param name="frame_rate" type="double" value="30.0" /> <!-- frame rate settings are ignored in camera_ext_trigger_mode -->
  

pour visualiser les ellipses extraites
   roslaunch eye_tracker view_pupils.launch


pour detection des tags:
  roslaunch camera_scene_detection scene.launch
 roscd camera_scene_detection/

  cd src/  
  atom camera_scene_detection_nodelet.cpp &



noeud optimisation stereo: (dans le paquet eye_tracker)
eye_tracker ->MainTriangulatePupils
les messages pupilles sont connus grace a import pupil2D as p2d
definis dans  /home/tdedieu/catkin_ws/src/eye_tracker/msg/Pupil_2D.msg


actuellement le noeuds attend 1 message par camera ->probleme de synchro -> il faudra faire un nodelets qui recupere les pixels candidats pour les 2 cameras et les met dans un seul message.

  roslaunch eye_tracker eye_tracker_dedieu_stereo.launch 
et 
  roslaunch eye_tracker tri_eye_tracker_stereo.launch

pour la synchronisation des messages:
  ajouter en sudo nano /opt/ros/kinetic/lib/python2.7/dist-packages/message_filters/__init__.py

<file txt __init__.py>
"""
Message Filter Objects
======================
"""


from functools import reduce
</file>



=====catkin=====
workspace dans /mnt/share/catkin_ws/
mais envv | grep catkin
  ROS_PACKAGE_PATH=/opt/ros/kinetic/share:/home/bvandepo/catkin_ws/
  LD_LIBRARY_PATH=/home/bvandepo/catkin_ws/devel/lib:/opt/ros/hydro/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/home/bvandepo/openrobots/lib/gearbox
  CATKIN_TEST_RESULTS_DIR=/home/bvandepo/catkin_ws/build/test_results
  CPATH=/home/bvandepo/catkin_ws/devel/include:/opt/ros/hydro/include
  ROS_TEST_RESULTS_DIR=/home/bvandepo/catkin_ws/build/test_results
  PATH=/home/bvandepo/catkin_ws/devel/bin:/opt/ros/hydro/bin:/usr/local/matlab/bin:/home/bvandepo/bin:/usr/local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:.:/usr/local/X11_Contrib/bin/unknown:/home/bvandepo/scripts/:/home/bvandepo/openrobots/bin:/home/bvandepo/scripts
  PYTHONPATH=/home/bvandepo/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages
  PKG_CONFIG_PATH=/home/bvandepo/catkin_ws/devel/lib/pkgconfig:/opt/ros/hydro/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig
  CMAKE_PREFIX_PATH=/home/bvandepo/catkin_ws/devel:/opt/ros/hydro


Il faut faire overlay
http://wiki.ros.org/catkin/Tutorials/workspace_overlaying