From 180637b2d0ced371e6398ee081c6ef6a4ea33a79 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Fri, 29 Jul 2022 11:44:09 +0000 Subject: [PATCH] old changes --- Dockerfile.devcontainer | 4 +- Makefile | 7 +- src/pionier_description/CMakeLists.txt | 40 + .../pionier_description_bringup.launch.py | 57 ++ src/pionier_description/meshes/d435.dae | 731 ++++++++++++++++++ src/pionier_description/package.xml | 18 + .../urdf/description.urdf.xacro | 164 ++++ src/ros2aria/CMakeLists.txt | 5 +- src/ros2aria/include/ros2aria/raiibot.hpp | 41 + .../{src => include/ros2aria}/ros2aria.hpp | 29 +- src/ros2aria/package.xml | 2 + src/ros2aria/src/clutch.cpp | 2 +- src/ros2aria/src/cmd_vel.cpp | 5 +- src/ros2aria/src/gripper.cpp | 2 +- src/ros2aria/src/main.cpp | 2 +- src/ros2aria/src/pose.cpp | 19 +- src/ros2aria/src/publish.cpp | 2 +- src/ros2aria/src/raiibot.cpp | 208 ++--- src/ros2aria/src/ros2aria.cpp | 8 +- src/ros2aria/src/sonar.cpp | 2 +- src/ros2aria/src/state.cpp | 2 +- src/ros2aria/src/wheels.cpp | 2 +- 22 files changed, 1192 insertions(+), 160 deletions(-) create mode 100644 src/pionier_description/CMakeLists.txt create mode 100644 src/pionier_description/launch/pionier_description_bringup.launch.py create mode 100644 src/pionier_description/meshes/d435.dae create mode 100644 src/pionier_description/package.xml create mode 100644 src/pionier_description/urdf/description.urdf.xacro create mode 100644 src/ros2aria/include/ros2aria/raiibot.hpp rename src/ros2aria/{src => include/ros2aria}/ros2aria.hpp (87%) diff --git a/Dockerfile.devcontainer b/Dockerfile.devcontainer index 11d765c..b3ee166 100644 --- a/Dockerfile.devcontainer +++ b/Dockerfile.devcontainer @@ -4,7 +4,7 @@ FROM athackst/ros2:foxy-dev # ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update \ - && apt-get -y install --no-install-recommends rsync \ + && apt-get -y install --no-install-recommends rsync ros-foxy-xacro ros-foxy-joint-state-publisher-gui ros-foxy-urg-node\ # # Clean up && apt-get autoremove -y \ @@ -26,4 +26,4 @@ RUN SNIPPET="export PROMPT_COMMAND='history -a' && export HISTFILE=/commandhisto && mkdir /commandhistory \ && touch /commandhistory/.bash_history \ && chown -R $USERNAME /commandhistory \ - && echo $SNIPPET >> "/home/$USERNAME/.bashrc" \ No newline at end of file + && echo $SNIPPET >> "/home/$USERNAME/.bashrc" diff --git a/Makefile b/Makefile index 24dc356..dcc1b2a 100644 --- a/Makefile +++ b/Makefile @@ -8,14 +8,15 @@ build/ros2aria/ros2aria: $(SOURCES) $(HEADERS) build: build/ros2aria/ros2aria -.uploaded: build/ros2aria/ros2aria +# .uploaded: build/ros2aria/ros2aria +upload: rsync -r . lab1_5@pionier6:~/ros2aria touch .uploaded -upload: .uploaded +# upload: .uploaded run: upload - ssh lab1_5@pionier6 -t -- docker run --rm --network=host -it --device /dev/ttyS0 -v /home/lab1_5:/ws irth7/ros2aria-dev /bin/bash /ws/ros2aria/run.sh + ssh lab1_5@pionier6 -t -- docker run --rm --net host -it --device /dev/ttyS0 -v /home/lab1_5:/ws -v /dev/shm:/dev/shm irth7/ros2aria-dev /bin/bash /ws/ros2aria/run.sh legacy: ssh lab1_5@pionier6 -t -- ./run.sh diff --git a/src/pionier_description/CMakeLists.txt b/src/pionier_description/CMakeLists.txt new file mode 100644 index 0000000..1478bfa --- /dev/null +++ b/src/pionier_description/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 3.5) +project(pionier_description) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install( + DIRECTORY launch urdf meshes + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/src/pionier_description/launch/pionier_description_bringup.launch.py b/src/pionier_description/launch/pionier_description_bringup.launch.py new file mode 100644 index 0000000..41f8933 --- /dev/null +++ b/src/pionier_description/launch/pionier_description_bringup.launch.py @@ -0,0 +1,57 @@ +import launch +from launch.substitutions import Command, LaunchConfiguration +import launch_ros +import os +from launch_ros.actions import Node + +def generate_launch_description(): + pkg_share = launch_ros.substitutions.FindPackageShare(package='pionier_description').find('pionier_description') + default_model_path = os.path.join(pkg_share, 'urdf/description.urdf.xacro') + # default_rviz_config_path = os.path.join(pkg_share, 'rviz/urdf_config.rviz') + + robot_state_publisher_node = launch_ros.actions.Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}] + ) + joint_state_publisher_node = launch_ros.actions.Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher', + condition=launch.conditions.UnlessCondition(LaunchConfiguration('gui')) + ) + joint_state_publisher_gui_node = launch_ros.actions.Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher', + # condition=launch.conditions.IfCondition(LaunchConfiguration('gui')) + ) + # rviz_node = launch_ros.actions.Node( + # package='rviz2', + # executable='rviz2', + # name='rviz2', + # output='screen', + # arguments=['-d', LaunchConfiguration('rvizconfig')], + # ) + + urg_node = Node( + package='urg_node', + executable='urg_node_driver', + emulate_tty=True, + parameters=[{'serial_port': '/dev/ttyACM0'}], + output='screen' + ) + + return launch.LaunchDescription([ + urg_node, + launch.actions.DeclareLaunchArgument(name='gui', default_value='True', + description='Flag to enable joint_state_publisher_gui'), + launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path, + description='Absolute path to robot urdf file'), + # launch.actions.DeclareLaunchArgument(name='rvizconfig', default_value=default_rviz_config_path, + # description='Absolute path to rviz config file'), + joint_state_publisher_node, + joint_state_publisher_gui_node, + robot_state_publisher_node, + # rviz_node + ]) \ No newline at end of file diff --git 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+ + + + + + + + + + + + + + + + + + 0.74902 0.74902 0.74902 1 + + + + + + + + + + + + + + diff --git a/src/pionier_description/package.xml b/src/pionier_description/package.xml new file mode 100644 index 0000000..a15fa2e --- /dev/null +++ b/src/pionier_description/package.xml @@ -0,0 +1,18 @@ + + + + pionier_description + 0.0.0 + TODO: Package description + root + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/pionier_description/urdf/description.urdf.xacro b/src/pionier_description/urdf/description.urdf.xacro new file mode 100644 index 0000000..cabaf5e --- /dev/null +++ b/src/pionier_description/urdf/description.urdf.xacro @@ -0,0 +1,164 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/ros2aria/CMakeLists.txt b/src/ros2aria/CMakeLists.txt index 43cd619..4729bf3 100644 --- a/src/ros2aria/CMakeLists.txt +++ b/src/ros2aria/CMakeLists.txt @@ -41,7 +41,7 @@ add_executable(ros2aria src/wheels.cpp src/clutch.cpp src/state.cpp) - + ament_target_dependencies(ros2aria rclcpp) ament_target_dependencies(ros2aria std_srvs) ament_target_dependencies(ros2aria geometry_msgs) @@ -50,7 +50,8 @@ ament_target_dependencies(ros2aria nav_msgs) ament_target_dependencies(ros2aria tf2) ament_target_dependencies(ros2aria ros2aria_msgs) -target_include_directories(ros2aria PUBLIC +target_include_directories(ros2aria PRIVATE + include $ $ /usr/local/Aria/include) diff --git a/src/ros2aria/include/ros2aria/raiibot.hpp b/src/ros2aria/include/ros2aria/raiibot.hpp new file mode 100644 index 0000000..7b5f050 --- /dev/null +++ b/src/ros2aria/include/ros2aria/raiibot.hpp @@ -0,0 +1,41 @@ +#pragma once +#include +#include +#include + +#include "Aria/Aria.h" +#include "rclcpp/rclcpp.hpp" + +using namespace std::chrono_literals; + +class RAIIBot +{ +public: + typedef std::shared_ptr SharedPtr; + + RAIIBot(rclcpp::Node *node, std::string port); + + ~RAIIBot(); + ArRobot *getRobot(); + + ArGripper *getGripper(); + rclcpp::Clock::SharedPtr getClock(); + + void lock(); + void unlock(); + void pokeWatchdog(); +private: + ArRobot *robot = nullptr; + ArRobotConnector *robotConn = nullptr; + ArArgumentBuilder *args = nullptr; + ArArgumentParser *argparser = nullptr; + ArGripper *gripper = nullptr; + rclcpp::Node *node = nullptr; + rclcpp::TimerBase::SharedPtr watchdogTimer; + rclcpp::Time lastWatchdogPoke; + rclcpp::Clock::SharedPtr clock; + + rclcpp::Logger get_logger(); + void startWatchdog(); + void watchdog_cb(); +}; \ No newline at end of file diff --git a/src/ros2aria/src/ros2aria.hpp b/src/ros2aria/include/ros2aria/ros2aria.hpp similarity index 87% rename from src/ros2aria/src/ros2aria.hpp rename to src/ros2aria/include/ros2aria/ros2aria.hpp index 69b0927..57b16b8 100644 --- a/src/ros2aria/src/ros2aria.hpp +++ b/src/ros2aria/include/ros2aria/ros2aria.hpp @@ -1,18 +1,20 @@ -#include "rclcpp/rclcpp.hpp" #include "Aria/Aria.h" - -#include "sensor_msgs/msg/point_cloud.hpp" -#include "sensor_msgs/msg/point_cloud2.hpp" -#include "sensor_msgs/msg/joint_state.hpp" +#include "geometry_msgs/msg/transform.hpp" #include "geometry_msgs/msg/twist.hpp" #include "nav_msgs/msg/odometry.hpp" -#include "std_srvs/srv/empty.hpp" -#include "std_msgs/msg/bool.hpp" -#include "std_msgs/msg/int8.hpp" -#include "std_msgs/msg/float32.hpp" - +#include "raiibot.hpp" +#include "rclcpp/rclcpp.hpp" #include "ros2aria_msgs/msg/robot_info_msg.hpp" -#include "./raiibot.cpp" +#include "sensor_msgs/msg/joint_state.hpp" +#include "sensor_msgs/msg/point_cloud.hpp" +#include "sensor_msgs/msg/point_cloud2.hpp" +#include "std_msgs/msg/bool.hpp" +#include "std_msgs/msg/float32.hpp" +#include "std_msgs/msg/int8.hpp" +#include "std_srvs/srv/empty.hpp" +#include "tf2/transform_datatypes.h" +#include "tf2/utils.h" +#include "tf2_ros/transform_broadcaster.h" #define UNUSED(x) (void)(x) @@ -43,6 +45,9 @@ private: rclcpp::Publisher::SharedPtr pose_pub_; void publishPose(nav_msgs::msg::Odometry pose); + void sendOdomTransform(rclcpp::Time stamp, tf2::Transform transform); + std::unique_ptr odom_tf_broadcaster_; + sensor_msgs::msg::JointState handleWheels(rclcpp::Time stamp); rclcpp::Publisher::SharedPtr wheels_pub_; void publishWheels(sensor_msgs::msg::JointState wheels); @@ -61,7 +66,7 @@ private: // services rclcpp::Service::SharedPtr stop_service_; - void stop(const std::shared_ptr request, std::shared_ptr response) const; + void stop(const std_srvs::srv::Empty::Response::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const; rclcpp::Service::SharedPtr gripper_open_service_; void gripper_open_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const; diff --git a/src/ros2aria/package.xml b/src/ros2aria/package.xml index 8828e9f..73aa18e 100644 --- a/src/ros2aria/package.xml +++ b/src/ros2aria/package.xml @@ -17,6 +17,8 @@ geometry_msgs sensor_msgs nav_msgs + tf2 + tf2_ros ros2aria_msgs diff --git a/src/ros2aria/src/clutch.cpp b/src/ros2aria/src/clutch.cpp index 5736226..ec1a2b7 100644 --- a/src/ros2aria/src/clutch.cpp +++ b/src/ros2aria/src/clutch.cpp @@ -1,4 +1,4 @@ -#include "ros2aria.hpp" +#include "ros2aria/ros2aria.hpp" void Ros2Aria::clutch_callback(const std_msgs::msg::Bool::SharedPtr msg) { diff --git a/src/ros2aria/src/cmd_vel.cpp b/src/ros2aria/src/cmd_vel.cpp index 0f829e5..c44f3a0 100644 --- a/src/ros2aria/src/cmd_vel.cpp +++ b/src/ros2aria/src/cmd_vel.cpp @@ -1,4 +1,4 @@ -#include "ros2aria.hpp" +#include "ros2aria/ros2aria.hpp" void Ros2Aria::cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg) { @@ -14,7 +14,8 @@ void Ros2Aria::cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg) auto r = robot->getRobot(); r->setVel(x * 1e3); - if (r->hasLatVel()) + if (r->hasLatVel()){ r->setLatVel(y * 1e3); + } r->setRotVel(z * 180 / M_PI); } diff --git a/src/ros2aria/src/gripper.cpp b/src/ros2aria/src/gripper.cpp index 3a37561..d0d71d4 100644 --- a/src/ros2aria/src/gripper.cpp +++ b/src/ros2aria/src/gripper.cpp @@ -1,4 +1,4 @@ -#include "./ros2aria.hpp" +#include "ros2aria/ros2aria.hpp" void Ros2Aria::gripper_open_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const { diff --git a/src/ros2aria/src/main.cpp b/src/ros2aria/src/main.cpp index 1947004..32848d3 100644 --- a/src/ros2aria/src/main.cpp +++ b/src/ros2aria/src/main.cpp @@ -1,7 +1,7 @@ #include #include -#include "ros2aria.hpp" +#include "ros2aria/ros2aria.hpp" int main(int argc, char **argv) { diff --git a/src/ros2aria/src/pose.cpp b/src/ros2aria/src/pose.cpp index edc2767..4e912e3 100644 --- a/src/ros2aria/src/pose.cpp +++ b/src/ros2aria/src/pose.cpp @@ -1,6 +1,5 @@ -#include "ros2aria.hpp" -#include "tf2/utils.h" -#include "tf2/transform_datatypes.h" +#include "ros2aria/ros2aria.hpp" + inline void convert_transform_to_pose(const tf2::Transform &trans, geometry_msgs::msg::Pose &pose) { @@ -30,13 +29,23 @@ nav_msgs::msg::Odometry Ros2Aria::handlePose(rclcpp::Time stamp) pose.twist.twist.linear.y = r->getLatVel() / 1000; pose.twist.twist.angular.z = r->getRotVel() * M_PI / 180; - pose.header.frame_id = "header.frame_id"; // TODO: use correct frame_id - pose.child_frame_id = "child_frame_id"; // TODO: use correct child_frame_id + pose.header.frame_id = "odom"; // TODO: use correct frame_id + pose.child_frame_id = "base_link"; // TODO: use correct child_frame_id pose.header.stamp = stamp; + sendOdomTransform(stamp, geometry_msgs::msg::Transform(rotation, position)); return pose; } +void Ros2Aria::sendOdomTransform(rclcpp::Time stamp, tf2::Transform transform){ + geometry_msgs::msg::TransformStamped t; + t.header.stamp = stamp; + t.header.frame_id = "odom"; + t.child_frame_id = "base_link"; + t.transform = transform; + odom_tf_broadcaster_->sendTransform(t); +} + void Ros2Aria::publishPose(nav_msgs::msg::Odometry pose) { if (this->pose_pub_->get_subscription_count() == 0) diff --git a/src/ros2aria/src/publish.cpp b/src/ros2aria/src/publish.cpp index 80f5d19..ef2715a 100644 --- a/src/ros2aria/src/publish.cpp +++ b/src/ros2aria/src/publish.cpp @@ -1,4 +1,4 @@ -#include "ros2aria.hpp" +#include "ros2aria/ros2aria.hpp" void Ros2Aria::publish() { diff --git a/src/ros2aria/src/raiibot.cpp b/src/ros2aria/src/raiibot.cpp index e5daf0f..69e7595 100644 --- a/src/ros2aria/src/raiibot.cpp +++ b/src/ros2aria/src/raiibot.cpp @@ -1,143 +1,105 @@ -#include -#include -#include - -#include "Aria/Aria.h" -#include "rclcpp/rclcpp.hpp" +#include "ros2aria/raiibot.hpp" using namespace std::chrono_literals; -class RAIIBot -{ -public: - typedef std::shared_ptr SharedPtr; +RAIIBot::RAIIBot(rclcpp::Node *node, std::string port) { + this->robot = new ArRobot(); + this->gripper = new ArGripper(this->robot); + this->node = node; + this->clock = rclcpp::Clock::make_shared(); - RAIIBot(rclcpp::Node *node, std::string port) - { - this->robot = new ArRobot(); - this->gripper = new ArGripper(this->robot); - this->node = node; - this->clock = rclcpp::Clock::make_shared(); - - args = new ArArgumentBuilder(); - this->argparser = new ArArgumentParser(args); - 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 // TODO: use `port` variable. - // args->add("-robotLogPacketsReceived"); // log received packets - // args->add("-robotLogPacketsSent"); // log sent packets - // args->add("-robotLogVelocitiesReceived"); // log received velocities - // args->add("-robotLogMovementSent"); - // args->add("-robotLogMovementReceived"); - this->robotConn = new ArRobotConnector(argparser, robot); - if (!this->robotConn->connectRobot()) - { - - // RCLCPP_INFO(this->get_logger(), "RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device, or any errors reported above)"); - // rclcpp::shutdown(); - } - - this->robot->runAsync(true); - this->robot->enableMotors(); - - this->startWatchdog(); + args = new ArArgumentBuilder(); + this->argparser = new ArArgumentParser(args); + 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 // TODO: use `port` variable. + // args->add("-robotLogPacketsReceived"); // log received packets + // args->add("-robotLogPacketsSent"); // log sent packets + // args->add("-robotLogVelocitiesReceived"); // log received velocities + // args->add("-robotLogMovementSent"); + // args->add("-robotLogMovementReceived"); + this->robotConn = new ArRobotConnector(argparser, robot); + if (!this->robotConn->connectRobot()) { + RCLCPP_ERROR(this->get_logger(), "RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device, or any errors reported above)"); + // rclcpp::shutdown(); } - ~RAIIBot() - { - std::cout << std::endl - << "RAIIBOT DESTRUCTOR RUNNING!" << std::endl; + this->robot->runAsync(true); + this->robot->enableMotors(); - if (this->robot != nullptr) - { - this->robot->lock(); - std::cout << "disabling motors" << std::endl; - this->robot->disableMotors(); - std::cout << "disabled motors" << std::endl; - Aria::shutdown(); - } - if (this->robotConn != nullptr) - { - std::cout << "disconnecting" << std::endl; - this->robotConn->disconnectAll(); - std::cout << "disconnected" << std::endl; - } + this->startWatchdog(); +} - if (this->args != nullptr) - delete this->args; - if (this->argparser != nullptr) - delete this->argparser; - if (this->robotConn != nullptr) - delete this->robotConn; - if (this->robot != nullptr) - delete this->robot; +RAIIBot::~RAIIBot() { + std::cout << std::endl + << "RAIIBOT DESTRUCTOR RUNNING!" << std::endl; + + if (this->robot != nullptr) { + this->robot->lock(); + std::cout << "disabling motors" << std::endl; + this->robot->disableMotors(); + std::cout << "disabled motors" << std::endl; + Aria::shutdown(); + } + if (this->robotConn != nullptr) { + std::cout << "disconnecting" << std::endl; + this->robotConn->disconnectAll(); + std::cout << "disconnected" << std::endl; } - ArRobot *getRobot() - { - return this->robot; - } + if (this->args != nullptr) + delete this->args; + if (this->argparser != nullptr) + delete this->argparser; + if (this->robotConn != nullptr) + delete this->robotConn; + if (this->robot != nullptr) + delete this->robot; +} - ArGripper *getGripper() - { - return this->gripper; - } +ArRobot *RAIIBot::getRobot() { + return this->robot; +} - rclcpp::Clock::SharedPtr getClock() - { - return this->clock; - } +ArGripper *RAIIBot::getGripper() { + return this->gripper; +} - void lock() - { - if (this->robot != nullptr) - this->robot->lock(); - } +rclcpp::Clock::SharedPtr RAIIBot::getClock() { + return this->clock; +} - void unlock() - { - if (this->robot != nullptr) - this->robot->unlock(); - } +void RAIIBot::lock() { + if (this->robot != nullptr) + this->robot->lock(); +} - void pokeWatchdog() - { - // this should probably be made thread safe, or something? - this->lastWatchdogPoke = this->clock->now(); - } +void RAIIBot::unlock() { + if (this->robot != nullptr) + this->robot->unlock(); +} -private: - ArRobot *robot = nullptr; - ArRobotConnector *robotConn = nullptr; - ArArgumentBuilder *args = nullptr; - ArArgumentParser *argparser = nullptr; - ArGripper *gripper = nullptr; - rclcpp::Node *node = nullptr; - rclcpp::TimerBase::SharedPtr watchdogTimer; - rclcpp::Time lastWatchdogPoke; - rclcpp::Clock::SharedPtr clock; +void RAIIBot::pokeWatchdog() { + // this should probably be made thread safe, or something? + this->lastWatchdogPoke = this->clock->now(); +} - rclcpp::Logger get_logger() - { - return this->node->get_logger(); - } +rclcpp::Logger RAIIBot::get_logger() { + return this->node->get_logger(); +} - void startWatchdog() - { - this->lastWatchdogPoke = clock->now(); - watchdogTimer = this->node->create_wall_timer(0.1s, std::bind(&RAIIBot::watchdog_cb, this)); - } +void RAIIBot::startWatchdog() { + this->lastWatchdogPoke = clock->now(); + watchdogTimer = this->node->create_wall_timer(0.1s, std::bind(&RAIIBot::watchdog_cb, this)); +} - void watchdog_cb() - { - auto now = this->clock->now(); - if (now - this->lastWatchdogPoke > 1s) - { - std::lock_guard lock(*this); - auto r = this->getRobot(); - r->setVel(0); - r->setRotVel(0); - if (r->hasLatVel()) - r->setLatVel(0); - } +void RAIIBot::watchdog_cb() { + auto now = this->clock->now(); + if (now - this->lastWatchdogPoke > 1s) { + std::lock_guard lock(*this); + auto r = this->getRobot(); + r->setVel(0); + r->setRotVel(0); + if (r->hasLatVel()) + r->setLatVel(0); } -}; \ No newline at end of file +} diff --git a/src/ros2aria/src/ros2aria.cpp b/src/ros2aria/src/ros2aria.cpp index 32b6768..85b3a01 100644 --- a/src/ros2aria/src/ros2aria.cpp +++ b/src/ros2aria/src/ros2aria.cpp @@ -1,4 +1,4 @@ -#include "ros2aria.hpp" +#include "ros2aria/ros2aria.hpp" using std::placeholders::_1; using std::placeholders::_2; @@ -19,10 +19,11 @@ Ros2Aria::Ros2Aria() sonar_pointcloud2_pub_ = this->create_publisher("sonar_pointcloud2", 10); pose_pub_ = this->create_publisher("pose", 1000); + odom_tf_broadcaster_ = std::make_unique(*this); wheels_pub_ = this->create_publisher("wheels", 1000); - battery_recharge_state_pub_ = this->create_publisher("battery_recharge_state", 10); // TODO: original rosaria latches this - what does that mean and how does it relate to ros2? + battery_recharge_state_pub_ = this->create_publisher("battery_recharge_state", 10); battery_state_of_charge_pub_ = this->create_publisher("battery_state_of_charge", 10); robot_info_pub_ = this->create_publisher("robot_info", 10); @@ -46,8 +47,7 @@ Ros2Aria::~Ros2Aria() r->remSensorInterpTask("ROSPublishingTask"); } -void Ros2Aria::stop(const std::shared_ptr request, std::shared_ptr response) const -{ +void Ros2Aria::stop(const std_srvs::srv::Empty::Response::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const { UNUSED(request); UNUSED(response); RCLCPP_INFO(this->get_logger(), "stop"); diff --git a/src/ros2aria/src/sonar.cpp b/src/ros2aria/src/sonar.cpp index de5f5d4..ed59591 100644 --- a/src/ros2aria/src/sonar.cpp +++ b/src/ros2aria/src/sonar.cpp @@ -1,4 +1,4 @@ -#include "ros2aria.hpp" +#include "ros2aria/ros2aria.hpp" #include "sensor_msgs/point_cloud_conversion.hpp" diff --git a/src/ros2aria/src/state.cpp b/src/ros2aria/src/state.cpp index 7525067..c307179 100644 --- a/src/ros2aria/src/state.cpp +++ b/src/ros2aria/src/state.cpp @@ -1,4 +1,4 @@ -#include "ros2aria.hpp" +#include "ros2aria/ros2aria.hpp" void Ros2Aria::publishState(rclcpp::Time stamp) { diff --git a/src/ros2aria/src/wheels.cpp b/src/ros2aria/src/wheels.cpp index 5292786..a1a827f 100644 --- a/src/ros2aria/src/wheels.cpp +++ b/src/ros2aria/src/wheels.cpp @@ -1,4 +1,4 @@ -#include "ros2aria.hpp" +#include "ros2aria/ros2aria.hpp" sensor_msgs::msg::JointState Ros2Aria::handleWheels(rclcpp::Time stamp) {