Aria hello world

.devcontainer/devcontainer.json

@@ -1,32 +1,38 @@
 // See https://aka.ms/vscode-remote/devcontainer.json for format details.
 {
-    "dockerFile": "Dockerfile",
-    "build": {
-        "args": {
-            "WORKSPACE": "${containerWorkspaceFolder}"
-        }
-    },
+    // "dockerFile": "../Dockerfile.devcontainer",
+    // "build": {
+    //     "args": {
+    //         "WORKSPACE": "${containerWorkspaceFolder}"
+    //     }
+    // },
+    "image": "irth7/ros2aria-dev",
     "remoteUser": "ros",
     "runArgs": [
         "--network=host",
         "--cap-add=SYS_PTRACE",
         "--security-opt=seccomp:unconfined",
         "--security-opt=apparmor:unconfined",
-        "--volume=/tmp/.X11-unix:/tmp/.X11-unix"
+        "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+        "--device=/dev/ttyS0"
     ],
     "containerEnv": {
         "DISPLAY": "${localEnv:DISPLAY}"
     },
-    // Set *default* container specific settings.json values on container create.
+    "workspaceFolder": "/ws",
+    "workspaceMount": "source=/home/lab1_5/ros2aria_ws,target=/ws,type=bind,consistency=delegated",
     "settings": {
         "terminal.integrated.shell.linux": "/bin/bash"
     },
+    "mounts": [
+        "source=ros2aria-dev-bashhistory,target=/commandhistory,type=volume",
+    ],
     "extensions": [
         "dotjoshjohnson.xml",
         "laurenttreguier.uncrustify",
         "ms-azuretools.vscode-docker",
-        "ms-iot.vscode-ros",
         "ms-python.python",
+        "ms-iot.vscode-ros",
         "ms-vscode.cpptools",
         "redhat.vscode-yaml",
         "smilerobotics.urdf",
@@ -34,4 +40,4 @@
         "twxs.cmake",
         "yzhang.markdown-all-in-one"
     ]
-}
+}

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/AriaCoda"]
+	path = src/AriaCoda
+	url = https://github.com/reedhedges/AriaCoda

.vscode/c_cpp_properties.json

@@ -8,7 +8,8 @@
       "includePath": [
         "/opt/ros/foxy/include/**",
         "/workspaces/ros2aria/src/ros2aria/include/**",
-        "/usr/include/**"
+        "/usr/include/**",
+        "/usr/local/Aria/include"
       ],
       "name": "ROS"
     }

Dockerfile.devcontainer

@@ -13,5 +13,17 @@ FROM athackst/ros2:foxy-dev
 # ENV DEBIAN_FRONTEND=dialog
 
 # Set up auto-source of workspace for ros user
+
+COPY ./src/AriaCoda /usr/local/Aria
+RUN cd /usr/local/Aria && make -j$(nproc)
+
 ARG WORKSPACE
 RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc
+
+ARG USERNAME=ros
+
+RUN SNIPPET="export PROMPT_COMMAND='history -a' && export HISTFILE=/commandhistory/.bash_history" \
+    && mkdir /commandhistory \
+    && touch /commandhistory/.bash_history \
+    && chown -R $USERNAME /commandhistory \
+    && echo $SNIPPET >> "/home/$USERNAME/.bashrc"

build_devcontainer.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+docker build --build-arg WORKSPACE=/ws -f Dockerfile.devcontainer -t irth7/ros2aria-dev .
+

src/AriaCoda

@@ -0,0 +1 @@
+Subproject commit 4f60425ef757bdd9c4e077c65d1c80665a2b33d6

src/ros2aria/CMakeLists.txt

@@ -21,10 +21,14 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
+
 add_executable(ros2aria src/ros2aria.cpp)
 target_include_directories(ros2aria PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
+  $<INSTALL_INTERFACE:include>
+  /usr/local/Aria/include)
+
+target_link_libraries(ros2aria /usr/local/Aria/lib/libAria.so)
 
 install(TARGETS ros2aria
   DESTINATION lib/${PROJECT_NAME})

src/ros2aria/src/ros2aria.cpp

@@ -1,10 +1,46 @@
 #include <cstdio>
 
-int main(int argc, char ** argv)
+#include "Aria/Aria.h"
+
+int main(int argc, char **argv)
 {
-  (void) argc;
-  (void) argv;
+  (void)argc;
+  (void)argv;
 
   printf("hello world ros2aria package\n");
+  ArRobot *robot = new ArRobot();
+
+  ArArgumentBuilder *args = new ArArgumentBuilder();        //  never freed
+  ArArgumentParser *argparser = new ArArgumentParser(args); // Warning never freed
+  argparser->loadDefaultArguments();                        // adds any arguments given in /etc/Aria.args.  Useful on robots with unusual serial port or baud rate (e.g. pioneer lx)
+  args->add("-robotPort /dev/ttyS0");                       // pass robot's serial port to Aria
+  // args->add("-robotLogPacketsReceived");                    // log received packets
+  // args->add("-robotLogPacketsSent");                        // log sent packets
+  args->add("-robotLogVelocitiesReceived"); // log received velocities
+  args->add("-robotLogMovementSent");
+  args->add("-robotLogMovementReceived");
+  ArRobotConnector *conn = new ArRobotConnector(argparser, robot); // warning never freed
+  if (!conn->connectRobot())
+  {
+    printf("RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device, or any errors reported above)\n");
+    return 1;
+  }
+  robot->runAsync(true);
+  sleep(3);
+  printf("Enabling motors\n");
+  robot->enableMotors();
+
+  printf("Enabled motors\n");
+  robot->setVel(2);
+  robot->move(500);
+
+  sleep(10);
+
+  robot->move(-500);
+  sleep(2);
+  conn->disconnectAll();
+
+  return 0;
+
   return 0;
 }