Optional perception system (#62)

rae_sdk/rae_sdk/robot/display.py

@@ -103,7 +103,7 @@ def hex_to_rgb(hex):
             b_channel, g_channel, r_channel, alpha_channel = cv2.split(image)
             # Define the color to replace the transparent parts (purple in this case)
             # OpenCV uses BGR format, so purple is (128, 0, 128)
-            replacement_color = [r, g, b]
+            replacement_color = [b, g, r]
             # Find all pixels where the alpha channel is zero
             transparent_mask = alpha_channel < 150
             # Set the color of these pixels to the replacement color

rae_sdk/rae_sdk/robot/movement.py → rae_sdk/rae_sdk/robot/navigation.py

@@ -2,7 +2,7 @@
 from geometry_msgs.msg import Twist, TransformStamped
 
 
-class MovementController:
+class NavigationController:
     """
     A class for controlling the robot's movement.
 
@@ -19,7 +19,7 @@ class MovementController:
     def __init__(self, ros_interface):
         self._ros_interface = ros_interface
         self._ros_interface.create_publisher("/cmd_vel", Twist)
-        log.info("Movement Controller ready")
+        log.info("Navigation Controller ready")
 
     def move(self, linear, angular):
         """

rae_sdk/rae_sdk/robot/robot.py

@@ -3,11 +3,11 @@
 from .api.ros.ros_interface import ROSInterface
 from .display import DisplayController
 from .led import LEDController
-from .movement import MovementController
+from .navigation import NavigationController
 from .audio import AudioController
+from .state import StateController
 from .perception.perception_system import PerceptionSystem
 from .robot_options import RobotOptions
-from sensor_msgs.msg import BatteryState
 
 
 class Robot:
@@ -17,16 +17,15 @@ class Robot:
     Attributes
     ----------
         ros_interface (ROSInterface): An object for managing ROS2 communications and functionalities.
-        battery_state (BatteryState): Stores the current state of the robot's battery.
-        led_controller (LEDController): Controls the robot's LEDs.
-        display_controller (DisplayController): Manages the robot's display.
-        movement_controller (MovementController): Handles the robot's movement.
-        audio_controller (AudioController): Controls the robot's audio.
-        perception_system (PerceptionSystem): Handles the robot's perception system.
+        led (LEDController): Controls the robot's LEDs.
+        display (DisplayController): Manages the robot's display.
+        navigation (NavigationController): Handles the robot's movement.
+        audio (AudioController): Controls the robot's audio.
+        state (StateController): Manages the robot's state information.
+        perception (PerceptionSystem): Handles the robot's perception system.
 
     Methods
     -------
-        battery_state_cb(data): Callback method for updating battery state.
         start(): Initializes the robot's components and starts ROS2 communications.
         stop(): Stops the ROS2 communications and shuts down the robot's components.
 
@@ -47,12 +46,11 @@ def __init__(self, robot_options: RobotOptions = RobotOptions()):
         if robot_options.launch_controllers:
             self._led_controller = LEDController(self._ros_interface)
             self._display_controller = DisplayController(self._ros_interface)
-            self._movement_controller = MovementController(self._ros_interface)
+            self._navigation_controller = NavigationController(self._ros_interface)
             self._audio_controller = AudioController(self._ros_interface)
-            self._ros_interface.create_subscriber(
-                "/battery_status", BatteryState, self.battery_state_cb)
-        self._perception_system = PerceptionSystem(self._robot_options.namespace)
+            self._state_controller = StateController(self._ros_interface)
 
+        self._perception_system = None
         log.info('Robot ready')
 
     def __del__(self) -> None:
@@ -64,20 +62,21 @@ def stop(self):
 
         Ensures a clean shutdown of all components.
         """
-        self._perception_system.stop()
+        if self._perception_system is not None:
+            self._perception_system.stop()
         if self._display_controller is not None:
             self._display_controller.stop()
         self._ros_interface.stop()
 
-    def battery_state_cb(self, data):
-        self._battery_state = data
-
     @property
-    def battery_state(self) -> BatteryState:
-        return self._battery_state
+    def state(self) -> StateController:
+        return self._state_controller
 
     @property
-    def perception_system(self) -> PerceptionSystem:
+    def perception(self) -> PerceptionSystem:
+        """Create perception system if it doesn't exist and return it."""
+        if self._perception_system is None:
+            self._perception_system = PerceptionSystem(self._robot_options.namespace)
         return self._perception_system
 
     @property
@@ -93,8 +92,8 @@ def display(self) -> DisplayController:
         return self._display_controller
 
     @property
-    def movement(self) -> MovementController:
-        return self._movement_controller
+    def navigation(self) -> NavigationController:
+        return self._navigation_controller
 
     @property
     def audio(self) -> AudioController:

rae_sdk/rae_sdk/robot/robot_options.py

@@ -38,3 +38,4 @@ def namespace(self):
     @property
     def launch_controllers(self):
         return self._launch_controllers
+

rae_sdk/rae_sdk/robot/state.py

@@ -0,0 +1,31 @@
+import logging as log
+from sensor_msgs.msg import BatteryState
+
+class StateController:
+    """
+    A class for managing the robot's state.
+
+    Attributes
+    ----------
+        ros_interface (ROSInterface): An object for managing ROS2 communications and functionalities.
+        battery_state (BatteryState): Stores the current state of the robot's battery.
+
+    Methods
+    -------
+        battery_state_cb(data): Callback method for updating battery state.
+
+    """
+
+    def __init__(self, ros_interface):
+        self._ros_interface = ros_interface
+        self._ros_interface.create_subscriber(
+            "/battery_status", BatteryState, self.battery_state_cb)
+        self._battery_state = None
+        log.info("State Controller ready")
+
+    def battery_state_cb(self, data):
+        self._battery_state = data
+
+    @property
+    def battery_state(self):
+        return self._battery_state