Feedback PR 1

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/latest/usage/project/#working-with-version-control
+.pdm.toml
+.pdm-python
+.pdm-build/
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/

project/launch/brain.launch.py

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+import os
+import xacro
+
+from ament_index_python.packages import get_package_share_directory as pkgdir
+
+from launch                            import LaunchDescription
+from launch.actions                    import Shutdown
+from launch_ros.actions                import Node
+
+
+def generate_launch_description():
+    # node_usbcam = Node(
+    #     name       = 'usb_cam', 
+    #     package    = 'usb_cam',
+    #     executable = 'usb_cam_node_exe',
+    #     namespace  = 'usb_cam',
+    #     output     = 'screen',
+    #     parameters = [{'camera_name':  'logitech'},
+    #                   {'video_device': '/dev/video0'},
+    #                   {'pixel_format': 'yuyv2rgb'},
+    #                   {'image_width':  640},
+    #                   {'image_height': 480},
+    #                   {'framerate':    15.0}])
+
+    node_mapping = Node(
+        name       = 'brain', 
+        package    = 'project',
+        executable = 'brain',
+        output     = 'screen',
+        remappings = [('/image_raw', '/usb_cam/image_raw')])
+
+    return LaunchDescription([
+        # node_usbcam,
+        node_mapping,
+    ])

project/launch/detector.launch.py

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+"""Launch the USB camera node and ball detector.
+
+This launch file is intended show how the pieces come together.
+Please copy the relevant pieces.
+
+"""
+
+import os
+import xacro
+
+from ament_index_python.packages import get_package_share_directory as pkgdir
+
+from launch                            import LaunchDescription
+from launch.actions                    import Shutdown
+from launch_ros.actions                import Node
+
+
+#
+# Generate the Launch Description
+#
+def generate_launch_description():
+
+    ######################################################################
+    # PREPARE THE LAUNCH ELEMENTS
+
+    # Configure the USB camera node
+    node_usbcam = Node(
+        name       = 'usb_cam', 
+        package    = 'usb_cam',
+        executable = 'usb_cam_node_exe',
+        namespace  = 'usb_cam',
+        output     = 'screen',
+        parameters = [{'camera_name':  'logitech'},
+                      {'video_device': '/dev/video0'},
+                      {'pixel_format': 'yuyv2rgb'},
+                      {'image_width':  640},
+                      {'image_height': 480},
+                      {'framerate':    15.0},
+                      {'auto_white_balance': False},
+                      {'white_balance': 3100},
+                      {'auto_exposure': False},
+                      {'exposure': 100}])
+
+    # Configure the ball detector node
+    node_detector = Node(
+        name       = 'detector', 
+        package    = 'project',
+        executable = 'detector',
+        output     = 'screen',
+        remappings = [('/image_raw', '/usb_cam/image_raw')])
+
+
+    ######################################################################
+    # COMBINE THE ELEMENTS INTO ONE LIST
+
+    # Return the description, built as a python list.
+    return LaunchDescription([
+
+        # Start the nodes.
+        node_usbcam,
+        node_detector,
+    ])

project/launch/testurdf.launch.py

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+"""Show/Test the URDF of the robot (no actual hardware required)
+
+   This simply drives the URDF from the GUI, bypassing any hardware.
+
+   This should start
+     1) RVIZ, ready to view the robot
+     2) The robot_state_publisher (listening to /joint_states)
+     3) The GUI to drive the URDF (sending to /joint_states)
+
+"""
+
+import os
+import xacro
+
+from ament_index_python.packages import get_package_share_directory as pkgdir
+
+from launch                            import LaunchDescription
+from launch.actions                    import Shutdown
+from launch_ros.actions                import Node
+
+
+#
+# Generate the Launch Description
+#
+def generate_launch_description():
+
+    ######################################################################
+    # LOCATE FILES
+
+    # Locate the RVIZ configuration file.
+    rvizcfg = os.path.join(pkgdir('project'), 'rviz/viewurdf.rviz')
+
+    # Locate/load the robot's URDF file (XML).
+    # urdf = os.path.join(pkgdir('threedof'), 'urdf/threedof.urdf')
+    urdf = os.path.join(pkgdir('project'), 'urdf/threedof.urdf')
+    with open(urdf, 'r') as file:
+        robot_description = file.read()
+
+
+    ######################################################################
+    # PREPARE THE LAUNCH ELEMENTS
+
+    # Configure a node for RVIZ.
+    node_rviz = Node(
+        name       = 'rviz', 
+        package    = 'rviz2',
+        executable = 'rviz2',
+        output     = 'screen',
+        arguments  = ['-d', rvizcfg],
+        on_exit    = Shutdown())
+
+    # Configure a node for the robot_state_publisher.
+    node_robot_state_publisher = Node(
+        name       = 'robot_state_publisher', 
+        package    = 'robot_state_publisher',
+        executable = 'robot_state_publisher',
+        output     = 'screen',
+        parameters = [{'robot_description': robot_description}])
+
+    # Configure a node for the GUI to substitute for the robot.
+    node_gui = Node(
+        name       = 'gui', 
+        package    = 'joint_state_publisher_gui',
+        executable = 'joint_state_publisher_gui',
+        output     = 'screen',
+        on_exit    = Shutdown())
+
+
+    ######################################################################
+    # COMBINE THE ELEMENTS INTO ONE LIST
+
+    # Return the description, built as a python list.
+    return LaunchDescription([
+
+        # Use RVIZ to view the URDF commanded by the GUI.
+        node_rviz,
+        node_robot_state_publisher,
+        node_gui,
+    ])