Code files added

Chapter06/find_object_2d.launch

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+<launch>
+ <!-- Nodes -->
+ <node name="find_object_2d" pkg="find_object_2d" type="find_object_2d" output="screen">
+ <remap from="image" to="image"/>
+ <param name="gui" value="false" type="bool"/>
+ <param name="objects_path" value="~/objects" type="str"/>
+ <param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
+ </node>
+</launch>

Chapter06/find_object_2d_gui.launch

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+<launch>
+
+
+ <!-- Nodes -->
+ <node name="find_object_2d" pkg="find_object_2d" type="find_object_2d" output="screen">
+ <remap from="image" to="image"/>
+ <param name="gui" value="true" type="bool"/>
+ <param name="objects_path" value="~/objects" type="str"/>
+ <param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
+ </node>
+
+
+</launch>

Chapter06/find_object_3d.launch

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+<launch>
+ <!-- Example finding 3D poses of the objects detected -->
+ <!-- $roslaunch openni_launch openni.launch depth_registration:=true -->
+
+ <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
+ <param name="gui" value="true" type="bool"/>
+ <param name="settings_path" value="~/.ros/find_object_2d.ini" type="str"/>
+ <param name="subscribe_depth" value="true" type="bool"/>
+ <param name="objects_path" value="" type="str"/>
+ <param name="object_prefix" value="object" type="str"/>
+
+ <remap from="rgb/image_rect_color" to="camera/rgb/image_rect_color"/>
+ <remap from="depth_registered/image_raw" to="camera/depth_registered/image_raw"/>
+ <remap from="depth_registered/camera_info" to="camera/depth_registered/camera_info"/>
+ </node>
+
+ <!-- Example of tf synchronisation with the objectsStamped message -->
+ <node name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
+ <param name="map_frame_id" value="/map" type="string"/>
+ <param name="object_prefix" value="object" type="str"/>
+ </node>
+ <!-- fake some tf frames for the example /map -> /odom -> /base_link -> /camera_link -->
+ <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf" 
+ args="0.1 0.0 0.3 0.0 0.0 0.0 /base_link /camera_link 100" />
+ <node pkg="tf" type="static_transform_publisher" name="odom_to_base_tf" 
+ args="1.0 0.0 0.1 1.5707 0.0 0.0 /odom /base_link 100" />
+ <node pkg="tf" type="static_transform_publisher" name="map_to_odom_tf" 
+ args="0.0 0.5 0.0 0.7853 0.0 0.0 /map /odom 100" />
+</launch>

Chapter07/basic_svm.py

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+from sklearn import svm
+import numpy as np
+
+X = np.array([[-1, -1], [-2, -1], [1, 1], [2, 1]])
+y = np.array([1, 1, 2, 2])
+
+
+model = svm.SVC(kernel='linear',C=1,gamma=1)
+
+model.fit(X,y)
+
+print(model.predict([[-0.8,-1]]))

Chapter07/basic_tf.py

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+import tensorflow as tf
+
+sess = tf.Session()
+
+matrix1 = tf.constant([[3., 3.],[4., 4.]])
+matrix2 = tf.constant([[3., 3.],[4., 4.]])
+
+message = tf.constant('Results of matrix operations')
+
+product = tf.matmul(matrix1, matrix2)
+det = tf.matrix_determinant(matrix1)
+
+result1 = sess.run(product)
+result2 = sess.run(det)
+
+print(sess.run(message))
+print(result1)
+print("\n")
+print(result2)
+
+sess.close()

Chapter07/basic_tf_code.py

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+#!/usr/bin/env python
+
+import tensorflow as tf
+import time
+
+matrix_1 = tf.Variable([[1,2,3],[4,5,6],[7,8,9]],name="mat1")
+matrix_2 = tf.Variable([[1,2,3],[4,5,6],[7,8,9]],name="mat2")
+
+scalar = tf.constant(5)
+number = tf.Variable(1, name="counter")
+
+add_msg = tf.constant("\nResult of matrix addition\n")
+mul_msg = tf.constant("\nResult of matrix multiplication\n")
+scalar_mul_msg = tf.constant("\nResult of scalar multiplication\n")
+number_mul_msg = tf.constant("\nResult of Number multiplication\n")
+
+
+mat_add = tf.add(matrix_1,matrix_2)
+mat_mul = tf.matmul(matrix_1,matrix_2)
+mat_scalar_mul = tf.mul(scalar,mat_mul)
+mat_number_mul = tf.mul(number,mat_mul)
+
+
+init_op = tf.initialize_all_variables()
+sess = tf.Session()
+tf.device("/cpu:0")
+sess.run(init_op)
+
+for i in range(1,100):
+
+ print "\nFor i =",i
+
+ print(sess.run(add_msg))
+ print(sess.run(mat_add))
+
+ print(sess.run(mul_msg))
+ print(sess.run(mat_mul))
+
+ print(sess.run(scalar_mul_msg))
+ print(sess.run(mat_scalar_mul))
+
+ update = tf.assign(number,tf.constant(i))
+ sess.run(update)
+
+ print(sess.run(number_mul_msg))
+ print(sess.run(mat_number_mul))
+
+ time.sleep(0.1)
+
+
+sess.close()

Chapter07/ros_ml/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ros_ml)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See https://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES ros_ml
+# CATKIN_DEPENDS roscpp rospy std_msgs
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(ros_ml
+# src/${PROJECT_NAME}/ros_ml.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(ros_ml ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(ros_ml_node src/ros_ml_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(ros_ml_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(ros_ml_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See https://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ros_ml ros_ml_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_ml.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

Chapter07/ros_ml/data/pos_readings.csv

@@ -0,0 +1,34 @@
+5125,5125,1
+6210,6210,1
+3125,3125,1
+2210,2210,1
+3125,3125,1
+2340,2340,1
+3455,3455,1
+2232,2232,1
+1231,1231,1
+1213,1213,1
+
+10125,10125,2
+6410,6410,2
+5845,5845,2
+6570,6570,2
+8375,8375,2
+9545,9545,2
+3460,3460,2
+8678,8678,2
+6800,6800,2
+12403,12403,2
+
+
+14325,14325,3
+16304,16304,3
+18232,18232,3
+11233,11233,3
+23232,23232,3
+22223,22223,3
+15360,15360,3
+17120,17120,3
+15302,15302,3
+12303,12303,3
+