From db157560f11fd94d90e84938f5e18031f64e8f93 Mon Sep 17 00:00:00 2001
From: Arthuino <vigouroux.art@gmail.com>
Date: Wed, 7 Feb 2024 16:15:13 +0100
Subject: [PATCH 1/2] add vim to ros2 docker

---
 .config/ros2_config/Dockerfile | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.config/ros2_config/Dockerfile b/.config/ros2_config/Dockerfile
index a5bf1da..8669863 100644
--- a/.config/ros2_config/Dockerfile
+++ b/.config/ros2_config/Dockerfile
@@ -126,6 +126,9 @@ RUN apt-get update && apt-get install -y \
 ### +++ Workspace config +++ ###
 ################################
 
+# install vim
+RUN apt-get update && apt-get install -y vim
+
 # Add shortcuts and aliases
 RUN echo "cd /workspace" >> /root/.bashrc
 COPY .config/ros2_config/aliases.bash /root/.bash_aliases

From e34c08d1cd5555e752c2965bd8d1952df4391263 Mon Sep 17 00:00:00 2001
From: Arthuino <vigouroux.art@gmail.com>
Date: Wed, 7 Feb 2024 17:00:29 +0100
Subject: [PATCH 2/2] rename message and topic for vision

---
 vision_ws/scripts/run_camera_yolo.sh               |  2 +-
 vision_ws/src/py_pubsub/py_pubsub/camera_yolo.py   | 14 +++++++-------
 vision_ws/src/py_pubsub_msgs/CMakeLists.txt        |  4 ++--
 ...sCoordinates.msg => CameraDetectionStamped.msg} |  0
 ...esArray.msg => CameraDetectionStampedArray.msg} |  2 +-
 5 files changed, 11 insertions(+), 11 deletions(-)
 rename vision_ws/src/py_pubsub_msgs/msg/{ClassCoordinates.msg => CameraDetectionStamped.msg} (100%)
 rename vision_ws/src/py_pubsub_msgs/msg/{ClassCoordinatesArray.msg => CameraDetectionStampedArray.msg} (82%)

diff --git a/vision_ws/scripts/run_camera_yolo.sh b/vision_ws/scripts/run_camera_yolo.sh
index ddd7850..1beee93 100644
--- a/vision_ws/scripts/run_camera_yolo.sh
+++ b/vision_ws/scripts/run_camera_yolo.sh
@@ -7,7 +7,7 @@ source install/setup.bash
 cam_id=${1:-1}
 echo "Cam : $cam_id"
 
-yolo_version=${2:-v5}
+yolo_version=${2:-v8}
 echo "Yolo : $yolo_version"
 
 tracker_enabled=${3:-False}
diff --git a/vision_ws/src/py_pubsub/py_pubsub/camera_yolo.py b/vision_ws/src/py_pubsub/py_pubsub/camera_yolo.py
index d87727f..e9fc733 100644
--- a/vision_ws/src/py_pubsub/py_pubsub/camera_yolo.py
+++ b/vision_ws/src/py_pubsub/py_pubsub/camera_yolo.py
@@ -10,8 +10,8 @@
 import time
 from deep_sort_realtime.deepsort_tracker import DeepSort
 
-from py_pubsub_msgs.msg import ClassCoordinates
-from py_pubsub_msgs.msg import ClassCoordinatesArray
+from py_pubsub_msgs.msg import CameraDetectionStamped
+from py_pubsub_msgs.msg import CameraDetectionStampedArray
 from py_pubsub.distance_calculator import DistanceCalculator
 
 CAMERA_ANGLE = 190
@@ -75,9 +75,9 @@ def __init__(self, camera_id, yolo_version, tracker_enabled):
             Image, self.topic_name_image, 10
         )
 
-        self.topic_name_information = f"information_{camera_id}"
+        self.topic_name_information = f"camera_detection_{camera_id}"
         self.publisher_information = self.create_publisher(
-            ClassCoordinatesArray, self.topic_name_information, 10
+            CameraDetectionStampedArray, self.topic_name_information, 10
         )
 
         self.subscription = self.create_subscription(
@@ -205,11 +205,11 @@ def listener_callback(self, image):
             self.publisher_annotated_image.publish(encoded_annotated_image)
 
             distance_calculator = DistanceCalculator()
-            info_array = ClassCoordinatesArray()
+            info_array = CameraDetectionStampedArray()
             info_array.header.stamp = self.get_clock().now().to_msg()
             for result in new_results:
                 # Informations part
-                informations = ClassCoordinates()
+                informations = CameraDetectionStamped()
                 informations.header = info_array.header
 
                 covariance_matrix, distance_centroid, theta_moy, class_name = (
@@ -244,7 +244,7 @@ def main(args=None):
 
     # Add your custom argument
     parser.add_argument("--cam", type=str, default="1", help="Camera identifier")
-    parser.add_argument("--yolo", type=str, default="v5", help="Yolo version")
+    parser.add_argument("--yolo", type=str, default="v8", help="Yolo version")
     parser.add_argument(
         "--tracker", type=str, default="false", help="Enable tracker (false | true)"
     )
diff --git a/vision_ws/src/py_pubsub_msgs/CMakeLists.txt b/vision_ws/src/py_pubsub_msgs/CMakeLists.txt
index 1615bfb..401e713 100644
--- a/vision_ws/src/py_pubsub_msgs/CMakeLists.txt
+++ b/vision_ws/src/py_pubsub_msgs/CMakeLists.txt
@@ -24,8 +24,8 @@ find_package(geometry_msgs REQUIRED)
 
 # Add custom message files
 set(msg_files
-  "msg/ClassCoordinates.msg"
-  "msg/ClassCoordinatesArray.msg"
+  "msg/CameraDetectionStamped.msg"
+  "msg/CameraDetectionStampedArray.msg"
 )
 
 # Generate message code
diff --git a/vision_ws/src/py_pubsub_msgs/msg/ClassCoordinates.msg b/vision_ws/src/py_pubsub_msgs/msg/CameraDetectionStamped.msg
similarity index 100%
rename from vision_ws/src/py_pubsub_msgs/msg/ClassCoordinates.msg
rename to vision_ws/src/py_pubsub_msgs/msg/CameraDetectionStamped.msg
diff --git a/vision_ws/src/py_pubsub_msgs/msg/ClassCoordinatesArray.msg b/vision_ws/src/py_pubsub_msgs/msg/CameraDetectionStampedArray.msg
similarity index 82%
rename from vision_ws/src/py_pubsub_msgs/msg/ClassCoordinatesArray.msg
rename to vision_ws/src/py_pubsub_msgs/msg/CameraDetectionStampedArray.msg
index 7719128..01c0fb6 100644
--- a/vision_ws/src/py_pubsub_msgs/msg/ClassCoordinatesArray.msg
+++ b/vision_ws/src/py_pubsub_msgs/msg/CameraDetectionStampedArray.msg
@@ -3,4 +3,4 @@
 #/ Time of sensor data acqusition, coordinate frame ID.
 std_msgs/Header header
 #/ Array of clusters
-ClassCoordinates[] detections
\ No newline at end of file
+CameraDetectionStamped[] detections
\ No newline at end of file