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| Original file line number | Diff line number | Diff line change |
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| ============================ | ||
| Integration Testing with BBN | ||
| ============================ | ||
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| Testing BBNUpdate Message to YAML Transmission | ||
| ============================================== | ||
| Relevant Node: ``ros2 run bbn_integration ZmqIntegrationClient`` | ||
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| Relevant Source Files: | ||
| * ``ros/bbn_integration/src/nodes/zmq_integration_client.cxx`` | ||
| * ``ros/bbn_integration/src/ros_to_yaml.cxx`` | ||
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| The files contained here are manually crafted YAML serializations of the ROS2 | ||
| BBNUpdate message format. | ||
| These can be emitted as ROS2 messages via ``ros2 topic pub ...`` to test the | ||
| functionality of our ``ZmqIntegrationClient`` converter node defined in this | ||
| package. | ||
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| How to publish message from YAML file | ||
| ------------------------------------- | ||
| Example Message YAML serializations: | ||
| * ``ros/bbn_integration/example_files/example_output.yml`` | ||
| * ``ros/bbn_integration/example_files/example_output_seq_1.yml`` | ||
| * ``ros/bbn_integration/example_files/example_output_seq_2.yml`` | ||
| * ``ros/bbn_integration/example_files/example_output_seq_3.yml`` | ||
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| The ``*_seq_*.yml`` files are intended to represent a sequence of BBNUpdate | ||
| messages showing the current step changing. | ||
| These are useful to send in succession to BBN's own service in order to | ||
| validate if our output YAML format is valid and that they are appropriately | ||
| seeing the expected content changes. | ||
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| Example CLI to manually publish a BBNUpdate message from a YAML file: | ||
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| .. code-block:: bash | ||
| ros2 topic pub --once \ | ||
| /BBNUpdates \ | ||
| bbn_integration_msgs/BBNUpdate \ | ||
| "$(cat ros/bbn_integration/example_files/example_output_seq_3.yml)" | ||
| The ``/BBNUpdates`` topic used in the example above is arbitrary and should be | ||
| replaced with whatever topic you parameterize ``-p topic_update_msg:=...`` for | ||
| the ``ZmqIntegrationClient`` node to be. |
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| Original file line number | Diff line number | Diff line change |
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| See documentation in `./docs/system/testing_with_bbn.rst` |
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| # | ||
| # System configuration to run the ANGEL system for the BBN system. | ||
| # | ||
| # This configuration is for the M2 tourniquet task. | ||
| # | ||
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| name: R18-Chest-Seal | ||
| root: <%= ENV["ANGEL_WORKSPACE_DIR"] %> | ||
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| # Optional tmux socket | ||
| # socket_name: foo | ||
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| # Note that the pre and post options have been deprecated and will be replaced by | ||
| # project hooks. | ||
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| # Project hooks | ||
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| # Runs on project start, always | ||
| # on_project_start: command | ||
| on_project_start: | | ||
| export ROS_NAMESPACE=${ROS_NAMESPACE:-/kitware} | ||
| export HL2SS_API_URL=${HL2SS_API_URL:-128.33.193.178:8000} | ||
| export BBN_OUTPUT_URL=${BBN_OUTPUT_URL:-tcp://128.33.193.178:6669} | ||
| export CONFIG_DIR=${ANGEL_WORKSPACE_DIR}/config | ||
| export NODE_CONFIG_DIR=${ANGEL_WORKSPACE_DIR}/src/angel_system_nodes/configs | ||
| export MODEL_DIR=${ANGEL_WORKSPACE_DIR}/model_files | ||
| # Run on project start, the first time | ||
| # on_project_first_start: command | ||
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| # Run on project start, after the first time | ||
| # on_project_restart: command | ||
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| # Run on project exit ( detaching from tmux session ) | ||
| # on_project_exit: command | ||
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| # Run on project stop | ||
| # on_project_stop: command | ||
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| # Runs in each window and pane before window/pane specific commands. Useful for setting up interpreter versions. | ||
| # pre_window: rbenv shell 2.0.0-p247 | ||
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| # Pass command line options to tmux. Useful for specifying a different tmux.conf. | ||
| # tmux_options: -f ~/.tmux.mac.conf | ||
| tmux_options: -f <%= ENV["ANGEL_WORKSPACE_DIR"] %>/tmux/tmux.conf | ||
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| windows: | ||
| # Connection with the HL2 app via HL2SS/REDIS sensor data streaming. | ||
| - sensor_input: ros2 run angel_system_nodes redis_ros_bridge --ros-args | ||
| -r __ns:=${ROS_NAMESPACE} | ||
| -p url:=${HL2SS_API_URL} | ||
| -p image_topic:=image_0 | ||
| -p hand_pose_topic:=HandJointPoseData | ||
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| - run_image_timestamp: ros2 run angel_system_nodes image_timestamp_relay --ros-args | ||
| -r __ns:=${ROS_NAMESPACE} | ||
| -p image_topic:=image_0 | ||
| -p output_topic:=image_0_ts | ||
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| - pose_estimation: ros2 run angel_system_nodes pose_estimator --ros-args | ||
| -r __ns:=${ROS_NAMESPACE} | ||
| -p image_topic:=image_0 | ||
| -p det_topic:=pose_dets | ||
| -p pose_topic:=PatientPose | ||
| -p det_net_checkpoint:=${ANGEL_WORKSPACE_DIR}/model_files/models/pose_det_model.pth | ||
| -p pose_net_checkpoint:=${ANGEL_WORKSPACE_DIR}/model_files/models/pose_model.pth | ||
| -p det_config:=${ANGEL_WORKSPACE_DIR}/python-tpl/TCN_HPL/tcn_hpl/data/utils/pose_generation/configs/medic_pose.yaml | ||
| -p pose_config:=${ANGEL_WORKSPACE_DIR}/python-tpl/TCN_HPL/tcn_hpl/data/utils/pose_generation/configs/ViTPose_base_medic_casualty_256x192.py | ||
| -p cuda_device_id:=0 | ||
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| - objects_hands_detection: ros2 run angel_system_nodes object_hand_detector --ros-args | ||
| -r __ns:=${ROS_NAMESPACE} | ||
| -p image_topic:=image_0 | ||
| -p det_topic:=ObjectDetections2d | ||
| -p net_checkpoint:=${ANGEL_WORKSPACE_DIR}/model_files/models/r18_det.pt | ||
| -p hand_net_checkpoint:=${ANGEL_WORKSPACE_DIR}/model_files/models/hands_model.pt | ||
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| - simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args | ||
| -r __ns:=${ROS_NAMESPACE} | ||
| -p topic_input_images:=image_0 | ||
| -p topic_input_det_2d:=ObjectDetections2d | ||
| -p topic_output_images:=pv_image_detections_2d | ||
| -p filter_top_k:=5 | ||
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| - run_tcn: ros2 run angel_system_nodes activity_classifier_tcn --ros-args | ||
| -r __ns:=${ROS_NAMESPACE} | ||
| -p image_ts_topic:=image_0_ts | ||
| -p det_topic:=ObjectDetections2d | ||
| -p pose_topic:=PatientPose | ||
| -p model_weights:=${ANGEL_WORKSPACE_DIR}/model_files/models/r18_tcn.ckpt | ||
| -p model_mapping:=${ANGEL_WORKSPACE_DIR}/model_files/data_mapping/r18_mapping.txt | ||
| -p model_det_label_mapping:=${ANGEL_WORKSPACE_DIR}/config/object_labels/medical/r18.json | ||
| -p act_topic:=activity_topic | ||
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| - task_monitor: | ||
| layout: even-vertical | ||
| panes: | ||
| - gsp: ros2 run angel_system_nodes global_step_predictor --ros-args | ||
| -r __ns:=${ROS_NAMESPACE} | ||
| -p config_file:=${CONFIG_DIR}/tasks/multi-task-config-medical-r18.yaml | ||
| -p activity_config_file:=${CONFIG_DIR}/activity_labels/r18.yaml | ||
| -p task_state_topic:=TaskUpdates | ||
| -p task_error_topic:=TaskErrors | ||
| -p system_command_topic:=SystemCommands | ||
| -p det_topic:=activity_topic | ||
| -p model_file:=${ANGEL_WORKSPACE_DIR}/model_files/coco/r18_test_activity_preds.mscoco.json | ||
| -p thresh_frame_count:=3 | ||
| -p deactivate_thresh_frame_count:=10 | ||
| -p threshold_multiplier_weak:=0.00 | ||
| -p threshold_frame_count_weak:=3 | ||
| -p step_mode:=granular | ||
| -p query_task_graph_topic:=query_task_graph | ||
| - echo: sleep 0.5 && ros2 topic echo --no-arr "${ROS_NAMESPACE}/TaskUpdates" | ||
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| # - engineering-ui: | ||
| # layout: even-vertical | ||
| # panes: | ||
| # - websocket: ros2 launch rosbridge_server rosbridge_websocket_launch.xml port:=9090 | ||
| # - engineering_ui_server: node ros/angel_utils/multi_task_demo_ui/index.js | ||
| # --namespace=${ROS_NAMESPACE} | ||
| # --image_topic=pv_image_detections_2d/compressed | ||
| # --query_task_graph_topic=query_task_graph | ||
| # --task_updates_topic=TaskUpdates | ||
| # --activity_detections_topic=activity_topic | ||
| # --task_errors_topic=TaskErrors | ||
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| - BBN Interface: | ||
| layout: even-vertical | ||
| panes: | ||
| - task-converter: ros2 run bbn_integration_py task_to_bbn_update --ros-args | ||
| -r __ns:=${ROS_NAMESPACE} | ||
| -p task_update_topic:=TaskUpdates | ||
| -p bbn_update_topic:=BBNUpdates | ||
| -p task_graph_srv_topic:=query_task_graph | ||
| -p config:=${CONFIG_DIR}/bbn_integration/m2_tourniquet.yml | ||
| - echo: sleep 0.5 && ros2 topic echo "${ROS_NAMESPACE}/BBNUpdates" | ||
| - zmq-publisher: ros2 run bbn_integration ZmqIntegrationClient --ros-args | ||
| -r __ns:=${ROS_NAMESPACE} | ||
| -p topic_update_msg:=BBNUpdates | ||
| -p server_address:=${BBN_OUTPUT_URL} |
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