From c2c904760be5f33e0f81244a41e13ba68e56ef37 Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Mon, 23 Jan 2023 20:32:59 +0800 Subject: [PATCH 01/13] :heavy_plus_sign: Added README.md to intra_process_demo. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 intra_process_demo/README.md diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md new file mode 100644 index 000000000..fdf5e9e6e --- /dev/null +++ b/intra_process_demo/README.md @@ -0,0 +1,15 @@ +## **What Is This?** + +WIP + +## **Build** + +WIP + +## **Verify** + +WIP + +## **References** + +WIP From 002a8e34b12e64174e807fa4ce91f43cfcfe54e0 Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Mon, 23 Jan 2023 21:33:49 +0800 Subject: [PATCH 02/13] :blue_book: Elaborated intrao_process_demo README.md. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index fdf5e9e6e..6542e5db4 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -1,9 +1,23 @@ ## **What Is This?** -WIP +This demo is designed to showcase how intra-node communications can be implemented and this package consists of the following ROS2 nodes: + +1. `camera_node` +2. `watermark_node` +3. `image_view_node` +4. `image_pipeline_all_in_one` +5. `two_node_pipeline` +6. `cyclic_pipeline` +7. `image_pipeline_with_two_image_view` ## **Build** +```bash +colcon build --packages-up-to intra_process_demo +``` + +## **Run** + WIP ## **Verify** From e0c0f2c6dfe3a5889fd47e5e7266242ef694a2fc Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Mon, 23 Jan 2023 22:28:02 +0800 Subject: [PATCH 03/13] :blue_book: Elaborated instructional documentation in intra_process_demo with references and details to run basic nodes in package. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 50 ++++++++++++++++-- .../img/image_pipeline_all_in_one.png | Bin 0 -> 105761 bytes .../img/image_pipeline_all_separately.png | Bin 0 -> 106068 bytes 3 files changed, 46 insertions(+), 4 deletions(-) create mode 100644 intra_process_demo/img/image_pipeline_all_in_one.png create mode 100644 intra_process_demo/img/image_pipeline_all_separately.png diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index 6542e5db4..a7a604636 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -1,6 +1,6 @@ ## **What Is This?** -This demo is designed to showcase how intra-node communications can be implemented and this package consists of the following ROS2 nodes: +This demo is designed to showcase how developers can manually compose ROS2 nodes by defining them separately but combining them in varied process layouts while avoiding code overhauls or restriction. This package consists of the following ROS2 nodes: 1. `camera_node` 2. `watermark_node` @@ -10,6 +10,8 @@ This demo is designed to showcase how intra-node communications can be implement 6. `cyclic_pipeline` 7. `image_pipeline_with_two_image_view` +Through the use of intra-process (as opposed to standalone/inter-process node communication), lower latency and thus higher efficiency is observed for ROS2 topologies that utilizes this manner of communication. The improvements in latency reduction is even more pronounced when applied to ROS2 systems with more complex topology. + ## **Build** ```bash @@ -18,12 +20,52 @@ colcon build --packages-up-to intra_process_demo ## **Run** -WIP +### 1. Image Pipeline All In One + +Running the `image_pipeline_all_in_one` ROS2 node essentially runs narrow processes of `camera_node` +, `watermark_node` and `image_view_node` in one singular process. + +```bash +ros2 run intra_process_demo image_pipeline_all_in_one +``` + +### 2. Image Pipeline All Separately + +In direct contrast with the previous section, run the following commands in separate terminals to have `camera_node`, `watermark_node` and `image_view_node` all in their own process, utilizing **inter-process node communication**. + +This starts the `camera_node` ROS2 node and publishes image captured from your workstation web camera onto a ROS2 topic labelled `/image`. +```bash +# Open new terminal +ros2 run intra_process_demo camera_node +``` + +This starts the `watermarked_node` ROS2 node which subscribes to raw images from ROS2 topic `/image`, overlays both **process ID number** and **message address** on top of the image visually and publishes to ROS2 topic `/watermarked_image`. +```bash +# Open new terminal +ros2 run intra_process_demo watermarked_node +``` + +This starts the `image_view_node` ROS2 node which subscribes to `/watermarked_image` and displays the received images in an OpenCV GUI window. ## **Verify** -WIP +### 1. Image Pipeline All In One + +When executed correctly, you should see an OpenCV GUI window displaying something similar to what is shown below: + +![](img/image_pipeline_all_in_one.png) + +>Take note how the **process_id** and **Message Pointer Address** are all the same, proving that all 3 nodes are in the same process. + +### 2. Image Pipleline All Separately + +When executed correctly, you should see an OpenCV GUI window displaying something similar to what is show below: + +![](img/image_pipeline_all_separately.png) + +> Notice how all the **process_id** and **Message Pointer Address** are now all different, showing that all nodes are using different processes. ## **References** -WIP +1. [Intra Process Communication tutorial](https://daobook.github.io/ros2-docs/xin/Tutorials/Intra-Process-Communication.html) +2. 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README.md. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 39 +++++++++++++++++++++++++++++++----- 1 file changed, 34 insertions(+), 5 deletions(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index a7a604636..7aef6dbd6 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -20,16 +20,30 @@ colcon build --packages-up-to intra_process_demo ## **Run** -### 1. Image Pipeline All In One +### 1. Two Node Pipeline -Running the `image_pipeline_all_in_one` ROS2 node essentially runs narrow processes of `camera_node` +Run `two_node_pipeline` via the command below: + +```bash +ros2 run intra_process_demo two_node_pipeline +``` + +> This sets up two nodes, a ROS2 node that publishes a string with an incremeting integer value, as well as a ROS2 node that subscribes to print the received string. + +### 2. Image Pipeline All In One + +Please ensure you have a camera connected to your workstation. + +Running `image_pipeline_all_in_one` essentially runs narrow processes of `camera_node` , `watermark_node` and `image_view_node` in one singular process. ```bash ros2 run intra_process_demo image_pipeline_all_in_one ``` -### 2. Image Pipeline All Separately +### 1. Image Pipeline All Separately + +Please ensure you have a camera connected to your workstation. In direct contrast with the previous section, run the following commands in separate terminals to have `camera_node`, `watermark_node` and `image_view_node` all in their own process, utilizing **inter-process node communication**. @@ -49,7 +63,22 @@ This starts the `image_view_node` ROS2 node which subscribes to `/watermarked_im ## **Verify** -### 1. Image Pipeline All In One +### 1. Two Node Pipeline + +When executed correctly, you should see strings printed in your terminal similar to what is shown below: + +```bash +Published message with value: 0, and address: 0x55B68BCC6F20 + Received message with value: 0, and address: 0x55B68BCC6F20 +Published message with value: 1, and address: 0x55B68BCC6F20 + Received message with value: 1, and address: 0x55B68BCC6F20 +Published message with value: 2, and address: 0x55B68BCC6F20 + Received message with value: 2, and address: 0x55B68BCC6F20 +Published message with value: 3, and address: 0x55B68BCC6F20 + Received message with value: 3, and address: 0x55B68BCC6F20 +``` + +### 2. Image Pipeline All In One When executed correctly, you should see an OpenCV GUI window displaying something similar to what is shown below: @@ -57,7 +86,7 @@ When executed correctly, you should see an OpenCV GUI window displaying somethin >Take note how the **process_id** and **Message Pointer Address** are all the same, proving that all 3 nodes are in the same process. -### 2. Image Pipleline All Separately +### 3. Image Pipleline All Separately When executed correctly, you should see an OpenCV GUI window displaying something similar to what is show below: From caba9ebbe871d277d5e1b426fbcdd8494f2807c9 Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Mon, 23 Jan 2023 22:48:13 +0800 Subject: [PATCH 05/13] :blue_book: Fully elaborated Cyclic Pipeline Run and Verify sections. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 45 +++++++++++++++++++++++++++++++----- 1 file changed, 39 insertions(+), 6 deletions(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index 7aef6dbd6..6a9991a00 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -22,7 +22,7 @@ colcon build --packages-up-to intra_process_demo ### 1. Two Node Pipeline -Run `two_node_pipeline` via the command below: +Run `two_node_pipeline` via the commands below: ```bash ros2 run intra_process_demo two_node_pipeline @@ -30,7 +30,17 @@ ros2 run intra_process_demo two_node_pipeline > This sets up two nodes, a ROS2 node that publishes a string with an incremeting integer value, as well as a ROS2 node that subscribes to print the received string. -### 2. Image Pipeline All In One +### 2. Cyclic Pipeline + +Run `cyclic_pipelien` via the commands below: + +```bash +ros2 run intra_process_demo cyclic_pipeline +``` + +> Similar to the previous, instead of creating a new messaage for each new iteration, the publisher and subscriber nodes only ever use one message instance. This is achieved by having a cycle in the graph and kickstarting the communication externally by having one of the nodes publish before spinning executor. + +### 3. Image Pipeline All In One Please ensure you have a camera connected to your workstation. @@ -41,7 +51,7 @@ Running `image_pipeline_all_in_one` essentially runs narrow processes of `camera ros2 run intra_process_demo image_pipeline_all_in_one ``` -### 1. Image Pipeline All Separately +### 4. Image Pipeline All Separately Please ensure you have a camera connected to your workstation. @@ -65,7 +75,7 @@ This starts the `image_view_node` ROS2 node which subscribes to `/watermarked_im ### 1. Two Node Pipeline -When executed correctly, you should see strings printed in your terminal similar to what is shown below: +When executed correctly, strings should be printed in the terminal similar to what is shown below: ```bash Published message with value: 0, and address: 0x55B68BCC6F20 @@ -78,7 +88,30 @@ Published message with value: 3, and address: 0x55B68BCC6F20 Received message with value: 3, and address: 0x55B68BCC6F20 ``` -### 2. Image Pipeline All In One +### 2. Cyclic Pipeline + +When executed correclty, strings should be printed in the terminal similar to what is shown below: + +```bash +Published first message with value: 42, and address: 0x555E4F029480 +Received message with value: 42, and address: 0x555E4F029480 + sleeping for 1 second... + done. +Incrementing and sending with value: 43, and address: 0x555E4F029480 +Received message with value: 43, and address: 0x555E4F029480 + sleeping for 1 second... + done. +Incrementing and sending with value: 44, and address: 0x555E4F029480 +Received message with value: 44, and address: 0x555E4F029480 + sleeping for 1 second... + done. +Incrementing and sending with value: 45, and address: 0x555E4F029480 +Received message with value: 45, and address: 0x555E4F029480 + sleeping for 1 second... + +``` + +### 3. Image Pipeline All In One When executed correctly, you should see an OpenCV GUI window displaying something similar to what is shown below: @@ -86,7 +119,7 @@ When executed correctly, you should see an OpenCV GUI window displaying somethin >Take note how the **process_id** and **Message Pointer Address** are all the same, proving that all 3 nodes are in the same process. -### 3. Image Pipleline All Separately +### 4. Image Pipleline All Separately When executed correctly, you should see an OpenCV GUI window displaying something similar to what is show below: From e896690c532b3d703342b0252661e6d5a7baa499 Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Mon, 23 Jan 2023 23:15:43 +0800 Subject: [PATCH 06/13] :blue_book: Fully elaborated README.md for intra_process_demo ROS2 package. Ready for review. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 52 ++++++++++++++---- .../image_pipeline_all_in_one_rqtgraph.png | Bin 0 -> 31203 bytes .../image_pipeline_with_two_image_views.png | Bin 0 -> 204603 bytes ...pipeline_with_two_image_views_rqtgraph.png | Bin 0 -> 51193 bytes intra_process_demo/img/two_node_pipeline.png | Bin 0 -> 15494 bytes 5 files changed, 42 insertions(+), 10 deletions(-) create mode 100644 intra_process_demo/img/image_pipeline_all_in_one_rqtgraph.png create mode 100644 intra_process_demo/img/image_pipeline_with_two_image_views.png create mode 100644 intra_process_demo/img/image_pipeline_with_two_image_views_rqtgraph.png create mode 100644 intra_process_demo/img/two_node_pipeline.png diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index 6a9991a00..1ed9b87c2 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -1,6 +1,8 @@ ## **What Is This?** -This demo is designed to showcase how developers can manually compose ROS2 nodes by defining them separately but combining them in varied process layouts while avoiding code overhauls or restriction. This package consists of the following ROS2 nodes: +This demo is designed to showcase how developers can **manually compose ROS2 nodes** by **defining them separately** but **combining them in varied process layouts**.These can be done while avoiding code overhauls or performance restrictions. + +This package consists of the following ROS2 nodes: 1. `camera_node` 2. `watermark_node` @@ -10,7 +12,7 @@ This demo is designed to showcase how developers can manually compose ROS2 nodes 6. `cyclic_pipeline` 7. `image_pipeline_with_two_image_view` -Through the use of intra-process (as opposed to standalone/inter-process node communication), lower latency and thus higher efficiency is observed for ROS2 topologies that utilizes this manner of communication. The improvements in latency reduction is even more pronounced when applied to ROS2 systems with more complex topology. +Through the use of **intra-process** (as opposed to **inter-process** node communication), lower latency and thus **higher efficiency** is observed for ROS2 topologies that utilizes this manner of communication. These improvements in latency reduction is even **more pronounced when applied to ROS2 systems with more complex topology**. ## **Build** @@ -30,15 +32,17 @@ ros2 run intra_process_demo two_node_pipeline > This sets up two nodes, a ROS2 node that publishes a string with an incremeting integer value, as well as a ROS2 node that subscribes to print the received string. +![](img/two_node_pipeline.png) + ### 2. Cyclic Pipeline -Run `cyclic_pipelien` via the commands below: +Run `cyclic_pipeline` via the commands below: ```bash ros2 run intra_process_demo cyclic_pipeline ``` -> Similar to the previous, instead of creating a new messaage for each new iteration, the publisher and subscriber nodes only ever use one message instance. This is achieved by having a cycle in the graph and kickstarting the communication externally by having one of the nodes publish before spinning executor. +> Similar to the previous, instead of creating a new message for each new iteration, the publisher and subscriber nodes only ever use one message instance. This is achieved by having a cycle in the graph and kickstarting the communication externally by having one of the nodes publish before spinning executor. ### 3. Image Pipeline All In One @@ -51,11 +55,13 @@ Running `image_pipeline_all_in_one` essentially runs narrow processes of `camera ros2 run intra_process_demo image_pipeline_all_in_one ``` +![](img/image_pipeline_all_in_one_rqtgraph.png) + ### 4. Image Pipeline All Separately Please ensure you have a camera connected to your workstation. -In direct contrast with the previous section, run the following commands in separate terminals to have `camera_node`, `watermark_node` and `image_view_node` all in their own process, utilizing **inter-process node communication**. +**In direct contrast with the previous**, run the following commands in separate terminals to have `camera_node`, `watermark_node` and `image_view_node` all in their own process, utilizing **inter-process node communication**. This starts the `camera_node` ROS2 node and publishes image captured from your workstation web camera onto a ROS2 topic labelled `/image`. ```bash @@ -71,6 +77,24 @@ ros2 run intra_process_demo watermarked_node This starts the `image_view_node` ROS2 node which subscribes to `/watermarked_image` and displays the received images in an OpenCV GUI window. +```bash +# Open new terminal +ros2 run intra_process_demo image_view_node +``` + +### 5. Image Pipeline With Two Image Views + +Please ensure you have a camera connected to your workstation. + +Similar to the **Image Pipeline All In One**, running `image_pipeline_with_two_image_views` will display the image process through intra-process communications. However, it now instantiates 2 `image_view_node` ROS2 nodes. + +```bash +# Open new terminal +ros2 run intra_process_demo image_pipeline_with_two_image_views +``` + +![](img/image_pipeline_with_two_image_views_rqtgraph.png) + ## **Verify** ### 1. Two Node Pipeline @@ -90,7 +114,7 @@ Published message with value: 3, and address: 0x55B68BCC6F20 ### 2. Cyclic Pipeline -When executed correclty, strings should be printed in the terminal similar to what is shown below: +When executed correctly, strings should be printed in the terminal similar to what is shown below: ```bash Published first message with value: 42, and address: 0x555E4F029480 @@ -113,19 +137,27 @@ Received message with value: 45, and address: 0x555E4F029480 ### 3. Image Pipeline All In One -When executed correctly, you should see an OpenCV GUI window displaying something similar to what is shown below: +When executed correctly, an OpenCV GUI window should appear displaying something similar to what is shown below: ![](img/image_pipeline_all_in_one.png) ->Take note how the **process_id** and **Message Pointer Address** are all the same, proving that all 3 nodes are in the same process. +>Take note how the **process_id** and **Message Pointer Address** are **all the same**, proving that all 3 nodes are in the same process. ### 4. Image Pipleline All Separately -When executed correctly, you should see an OpenCV GUI window displaying something similar to what is show below: +When executed correctly, an OpenCV GUI window should appear displaying something similar to what is shown below: ![](img/image_pipeline_all_separately.png) -> Notice how all the **process_id** and **Message Pointer Address** are now all different, showing that all nodes are using different processes. +> Notice how all the **process_id** and **Message Pointer Address** are now **all different**, showing that all nodes are using different processes. + +### 5. Image Pipeline With Two Image Views + +When executed correctly, 2 OpenCV GUI window should appear displaying similar to what is show below: + +![](img/image_pipeline_with_two_image_views.png) + +> For more details on this implementations, please refer to the references below. ## **References** diff --git a/intra_process_demo/img/image_pipeline_all_in_one_rqtgraph.png b/intra_process_demo/img/image_pipeline_all_in_one_rqtgraph.png new file mode 100644 index 0000000000000000000000000000000000000000..865f3346aac5cf3edbcead14fcf5f4748a4e9895 GIT binary patch literal 31203 zcmXtAcRZGD`@dUKvJ0V|%Ae)j|RwM~oC7Ib7nJKbDwrtt_ zzSr}9et*30^OWayU)OmZ=W%@3dHG(wB1gHKc{hnfqLjZReT_ugF@S%+L{5hPx7#{- z1pnA&c}dHLM53x7{0BdbciG`Eve=hJrU!exwm?=x>s(eIs_4W0mj@I;+m2C|V z52rIWG`#*UE-Y-H`MrC0jE$?^j~zSq>RQUX)qj>EtW?Qrsht` z-H*&WcI*hzIALaH*52O!rK;-5y_=ev(-wT*<$d^?E0i*CH;4ZGxinU+u%KHS=1>wJ z|K;|rPlY9qShcPl&=~!BH8P$%>gCIm8qMoBKHe?;_3Orvl9JN9<>NN7Th6Ii2^Jfv 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z3u|j@8`f*#XVun{!4Vn(!nl-_?siJXemD&SXC9zx2%-A1iSIXqSnm7ZY6~GdZe+vTp3pv+iY}^|6?%li7NzDG= zh(rAUpE?5EeVPs_GN1eF_s}U~n+@>h;Q(@Bz7eWP3w@XXoY)g!XY- zq(KP>fzk;bz@7t8{*Z}D3`%s{7p9hCF#MpRh6Pd%)wQ)PJv}!78~%5+=XM4goSs@G zAcR125SZ}5ph_Rj}DeCZDVyH0=(0JgG-#k2)oJ#q1n~IHcaXKO- zZy;BExldI^QW|Vi1iiG1i`CN`~Y{10}6mYfEA3WudwKLHMO-`Q%f#n zpl-oCGWpis9bRQ?W7C5%23Yh|PBzmIa&Ry=;T}6Yu96&jX=)~RW+bS7E;2MQXkNdm z%*=#dh3f|Q+~PFLKtLFU;WvN1l5rq-%>Dj62}%khI7wD0G{$L!G7eo(hsa+971CcX z`h?IzVA5@0Ef^IQEJ6p_@jB-%z2j93LU9bPOEkie7}o0^3A?`<#|1|u9RTQxpE;w< zO|+q1A{FBxUGg=*oP>Lr`(siqUv5qzsi1Wt5lFNHkPQ)^jLU-{^idpbloa%A>gb>1 zJ?li%6H$w;Yq4%n>w;y+EkEhNF}5uSauU<>3i0--zC@>B+IhRpsb_C5^*s1 z#Z7Yh#NF48`phb($@kYMd3zh1M#Y;hyN&|mC_*W^fM6?Y$t_Mxi=tfP*_10Ex)wh| zTYC;^^{?gS*WrliMjGL3Vt=(>Zqyj`pUDvN_>Go0e?YyLNUX~SUcvyM@2a8eC&lJQ9pBe=GKeu2qJOBUy literal 0 HcmV?d00001 From 8de7ebff1d43609f80e2dc091822c5d12e25d4fd Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Tue, 24 Jan 2023 00:28:21 +0800 Subject: [PATCH 07/13] :hammer: Corrected phrasing following feedback on similar pull requests. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index 1ed9b87c2..6ef57c62e 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -1,8 +1,8 @@ ## **What Is This?** -This demo is designed to showcase how developers can **manually compose ROS2 nodes** by **defining them separately** but **combining them in varied process layouts**.These can be done while avoiding code overhauls or performance restrictions. +This demo is designed to showcase how developers can **manually compose ROS 2 nodes** by **defining them separately** but **combining them in varied process layouts**.These can be done while avoiding code overhauls or performance restrictions. -This package consists of the following ROS2 nodes: +This package consists of the following ROS 2 nodes: 1. `camera_node` 2. `watermark_node` @@ -12,7 +12,7 @@ This package consists of the following ROS2 nodes: 6. `cyclic_pipeline` 7. `image_pipeline_with_two_image_view` -Through the use of **intra-process** (as opposed to **inter-process** node communication), lower latency and thus **higher efficiency** is observed for ROS2 topologies that utilizes this manner of communication. These improvements in latency reduction is even **more pronounced when applied to ROS2 systems with more complex topology**. +Through the use of **intra-process** (as opposed to **inter-process** node communication), lower latency and thus **higher efficiency** is observed for ROS 2 topologies that utilizes this manner of communication. These improvements in latency reduction is even **more pronounced when applied to ROS 2 systems with more complex topology**. ## **Build** @@ -30,7 +30,7 @@ Run `two_node_pipeline` via the commands below: ros2 run intra_process_demo two_node_pipeline ``` -> This sets up two nodes, a ROS2 node that publishes a string with an incremeting integer value, as well as a ROS2 node that subscribes to print the received string. +> This sets up two nodes, a ROS 2 node that publishes a string with an incremeting integer value, as well as a ROS 2 node that subscribes to print the received string. ![](img/two_node_pipeline.png) @@ -63,19 +63,19 @@ Please ensure you have a camera connected to your workstation. **In direct contrast with the previous**, run the following commands in separate terminals to have `camera_node`, `watermark_node` and `image_view_node` all in their own process, utilizing **inter-process node communication**. -This starts the `camera_node` ROS2 node and publishes image captured from your workstation web camera onto a ROS2 topic labelled `/image`. +This starts the `camera_node` ROS 2 node and publishes image captured from your workstation web camera onto a ROS 2 topic labelled `/image`. ```bash # Open new terminal ros2 run intra_process_demo camera_node ``` -This starts the `watermarked_node` ROS2 node which subscribes to raw images from ROS2 topic `/image`, overlays both **process ID number** and **message address** on top of the image visually and publishes to ROS2 topic `/watermarked_image`. +This starts the `watermarked_node` ROS 2 node which subscribes to raw images from ROS 2 topic `/image`, overlays both **process ID number** and **message address** on top of the image visually and publishes to ROS 2 topic `/watermarked_image`. ```bash # Open new terminal ros2 run intra_process_demo watermarked_node ``` -This starts the `image_view_node` ROS2 node which subscribes to `/watermarked_image` and displays the received images in an OpenCV GUI window. +This starts the `image_view_node` ROS 2 node which subscribes to `/watermarked_image` and displays the received images in an OpenCV GUI window. ```bash # Open new terminal @@ -86,7 +86,7 @@ ros2 run intra_process_demo image_view_node Please ensure you have a camera connected to your workstation. -Similar to the **Image Pipeline All In One**, running `image_pipeline_with_two_image_views` will display the image process through intra-process communications. However, it now instantiates 2 `image_view_node` ROS2 nodes. +Similar to the **Image Pipeline All In One**, running `image_pipeline_with_two_image_views` will display the image process through intra-process communications. However, it now instantiates 2 `image_view_node` ROS 2 nodes. ```bash # Open new terminal From f6043297ff989f2e7f0d54eeda7ad7a085f611fd Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Tue, 24 Jan 2023 00:52:38 +0800 Subject: [PATCH 08/13] :hammer: Updated based on feedback for better formatting. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index 6ef57c62e..3ee2ee6eb 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -1,6 +1,8 @@ ## **What Is This?** -This demo is designed to showcase how developers can **manually compose ROS 2 nodes** by **defining them separately** but **combining them in varied process layouts**.These can be done while avoiding code overhauls or performance restrictions. +This demo is designed to showcase how developers can **manually compose ROS 2 nodes** by **defining them separately** but **combining them in varied process layouts**. + +These can be done while avoiding code overhauls or performance restrictions. This package consists of the following ROS 2 nodes: @@ -12,7 +14,9 @@ This package consists of the following ROS 2 nodes: 6. `cyclic_pipeline` 7. `image_pipeline_with_two_image_view` -Through the use of **intra-process** (as opposed to **inter-process** node communication), lower latency and thus **higher efficiency** is observed for ROS 2 topologies that utilizes this manner of communication. These improvements in latency reduction is even **more pronounced when applied to ROS 2 systems with more complex topology**. +Through the use of **intra-process** (as opposed to **inter-process** node communication), lower latency and thus **higher efficiency** is observed for ROS 2 topologies that utilizes this manner of communication. + +These improvements in latency reduction is even **more pronounced when applied to ROS 2 systems with more complex topology**. ## **Build** @@ -63,7 +67,7 @@ Please ensure you have a camera connected to your workstation. **In direct contrast with the previous**, run the following commands in separate terminals to have `camera_node`, `watermark_node` and `image_view_node` all in their own process, utilizing **inter-process node communication**. -This starts the `camera_node` ROS 2 node and publishes image captured from your workstation web camera onto a ROS 2 topic labelled `/image`. +This starts the `camera_node` ROS 2 node and publishes images captured from your workstation web camera onto a ROS 2 topic labelled `/image`. ```bash # Open new terminal ros2 run intra_process_demo camera_node @@ -86,7 +90,9 @@ ros2 run intra_process_demo image_view_node Please ensure you have a camera connected to your workstation. -Similar to the **Image Pipeline All In One**, running `image_pipeline_with_two_image_views` will display the image process through intra-process communications. However, it now instantiates 2 `image_view_node` ROS 2 nodes. +Similar to the **Image Pipeline All In One**, running `image_pipeline_with_two_image_views` will display the image process through intra-process communications. + +However, it now instantiates 2 `image_view_node` ROS 2 nodes. ```bash # Open new terminal From ee9601045fdfe4359d7cbc293995220ea59db9e5 Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Tue, 24 Jan 2023 00:54:23 +0800 Subject: [PATCH 09/13] :hammer: Updated based on feedback to link to official docs in References. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index 3ee2ee6eb..fb6909fb3 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -167,5 +167,5 @@ When executed correctly, 2 OpenCV GUI window should appear displaying similar to ## **References** -1. [Intra Process Communication tutorial](https://daobook.github.io/ros2-docs/xin/Tutorials/Intra-Process-Communication.html) +1. [Intra Process Communication tutorial](https://docs.ros.org/en/rolling/Tutorials/Demos/Intra-Process-Communication.html) 2. [Intra-process Communications in ROS 2](https://design.ros2.org/articles/intraprocess_communications.html) From ea28f98b8c278445381e5997f333f4c81bddf0aa Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Fri, 27 Jan 2023 13:38:41 +0800 Subject: [PATCH 10/13] :hammer: Updated based on feedback. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index fb6909fb3..d91941b61 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -1,6 +1,6 @@ ## **What Is This?** -This demo is designed to showcase how developers can **manually compose ROS 2 nodes** by **defining them separately** but **combining them in varied process layouts**. +he demos in this package are designed to showcase how developers can **manually compose ROS 2 nodes** by **defining them separately** but **combining them in varied process layouts**. These can be done while avoiding code overhauls or performance restrictions. @@ -14,9 +14,9 @@ This package consists of the following ROS 2 nodes: 6. `cyclic_pipeline` 7. `image_pipeline_with_two_image_view` -Through the use of **intra-process** (as opposed to **inter-process** node communication), lower latency and thus **higher efficiency** is observed for ROS 2 topologies that utilizes this manner of communication. +Through the use of **intra-process** (as opposed to **inter-process**) node communication, lower latency and thus **higher efficiency** is observed for ROS 2 topologies that utilizes this manner of communication. -These improvements in latency reduction is even **more pronounced when applied to ROS 2 systems with more complex topology**. +The improvements in latency reduction are even **more pronounced when applied to ROS 2 systems with more complex topologies**. ## **Build** @@ -46,7 +46,7 @@ Run `cyclic_pipeline` via the commands below: ros2 run intra_process_demo cyclic_pipeline ``` -> Similar to the previous, instead of creating a new message for each new iteration, the publisher and subscriber nodes only ever use one message instance. This is achieved by having a cycle in the graph and kickstarting the communication externally by having one of the nodes publish before spinning executor. +> Similar to the previous, instead of creating a new message for each new iteration, the publisher and subscriber nodes only ever use one message instance. This is achieved by having a cycle in the graph and kickstarting the communication externally by having one of the nodes publish before spinning the executor. ### 3. Image Pipeline All In One From 34206a4584fa34d070c8dade4cf5183de92dbf7b Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Tue, 28 Mar 2023 14:21:15 +0800 Subject: [PATCH 11/13] :hammer: Modified the paragraph describing image_pipeline_all_in_one functionality based on feedback. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index d91941b61..a44c3fbcb 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -52,8 +52,7 @@ ros2 run intra_process_demo cyclic_pipeline Please ensure you have a camera connected to your workstation. -Running `image_pipeline_all_in_one` essentially runs narrow processes of `camera_node` -, `watermark_node` and `image_view_node` in one singular process. +`image_pipeline_all_in_one` consists of **3** nodes, where `camera_node` publishes a `unique_ptr` message onto the topic, `\image`. Subsequently, `watermark_node` subscribes to the previous, republishes the image after adding a watermark on the topic, `\watermarked_image`, and the final node, `image_view_node`, subscribes to this last topic in order to display it for user. ```bash ros2 run intra_process_demo image_pipeline_all_in_one From fc0cd79f0b861266a89e4bbf0a3d9555ef003780 Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Tue, 28 Mar 2023 14:23:48 +0800 Subject: [PATCH 12/13] :hammer: Unbolded all primary headings. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index a44c3fbcb..e2bb86b37 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -1,4 +1,4 @@ -## **What Is This?** +## What Is This? he demos in this package are designed to showcase how developers can **manually compose ROS 2 nodes** by **defining them separately** but **combining them in varied process layouts**. @@ -18,13 +18,13 @@ Through the use of **intra-process** (as opposed to **inter-process**) node comm The improvements in latency reduction are even **more pronounced when applied to ROS 2 systems with more complex topologies**. -## **Build** +## Build ```bash colcon build --packages-up-to intra_process_demo ``` -## **Run** +## Run ### 1. Two Node Pipeline @@ -100,7 +100,7 @@ ros2 run intra_process_demo image_pipeline_with_two_image_views ![](img/image_pipeline_with_two_image_views_rqtgraph.png) -## **Verify** +## Verify ### 1. Two Node Pipeline @@ -164,7 +164,7 @@ When executed correctly, 2 OpenCV GUI window should appear displaying similar to > For more details on this implementations, please refer to the references below. -## **References** +## References 1. [Intra Process Communication tutorial](https://docs.ros.org/en/rolling/Tutorials/Demos/Intra-Process-Communication.html) 2. [Intra-process Communications in ROS 2](https://design.ros2.org/articles/intraprocess_communications.html) From 51c0ad2cf3f2aeac1c1c98b2d18fa9ccc67b4f1f Mon Sep 17 00:00:00 2001 From: Bey Hao Yun Date: Tue, 28 Mar 2023 14:24:59 +0800 Subject: [PATCH 13/13] :hammer: Rectified phrasing in first line in preface README.md. Signed-off-by: Bey Hao Yun --- intra_process_demo/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/intra_process_demo/README.md b/intra_process_demo/README.md index e2bb86b37..10a7aca50 100644 --- a/intra_process_demo/README.md +++ b/intra_process_demo/README.md @@ -1,6 +1,6 @@ ## What Is This? -he demos in this package are designed to showcase how developers can **manually compose ROS 2 nodes** by **defining them separately** but **combining them in varied process layouts**. +The demos in this package are designed to showcase how developers can **manually compose ROS 2 nodes** by **defining them separately** but **combining them in varied process layouts**. These can be done while avoiding code overhauls or performance restrictions.