update
This commit is contained in:
parent
3c2f23dbf8
commit
93a170d2bf
36
.vscode/c_cpp_properties.json
vendored
36
.vscode/c_cpp_properties.json
vendored
@ -1,19 +1,21 @@
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{
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"configurations": [
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{
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"browse": {
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"databaseFilename": "",
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"limitSymbolsToIncludedHeaders": true
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},
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"includePath": [
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"/opt/ros/foxy/include/**",
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"/workspaces/ros2aria/src/ros2aria/include/**",
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"/workspaces/ros2aria/install/ros2aria_msgs/include/**",
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"/usr/include/**",
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"/usr/local/Aria/include"
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],
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"name": "ROS"
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}
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],
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"version": 4
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"configurations": [
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{
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"browse": {
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"databaseFilename": "",
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"limitSymbolsToIncludedHeaders": true
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},
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"includePath": [
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"/opt/ros/foxy/include/**",
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"/workspaces/ros2aria/src/ros2aria/include/**",
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"/workspaces/ros2aria/install/ros2aria_msgs/include/**",
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"/usr/include/**",
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"/usr/local/Aria/include",
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"${workspaceFolder}/src/ros2aria/include/**"
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],
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"name": "ROS",
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"configurationProvider": "ms-vscode.cmake-tools"
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}
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],
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"version": 4
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}
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3
.vscode/settings.json
vendored
3
.vscode/settings.json
vendored
@ -88,5 +88,6 @@
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"python.analysis.extraPaths": [
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"/opt/ros/foxy/lib/python3.8/site-packages"
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],
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"ros.distro": "humble"
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"ros.distro": "humble",
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"cmake.sourceDirectory": "/home/jdelicat/lab_repos/ros2aria/"
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}
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7
Dockerfile.hokuyo
Normal file
7
Dockerfile.hokuyo
Normal file
@ -0,0 +1,7 @@
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ARG ROS_DISTRO=humble
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FROM husarnet/ros:humble-ros-core
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SHELL ["/bin/bash", "-c"]
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RUN apt-get update && apt-get install -y \
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ros-$ROS_DISTRO-urg-node
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RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
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21
Dockerfile.rosbridge
Normal file
21
Dockerfile.rosbridge
Normal file
@ -0,0 +1,21 @@
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ARG ROS_DISTRO=humble
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FROM husarnet/ros:$ROS_DISTRO-ros-core
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SHELL ["/bin/bash", "-c"]
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RUN apt update && \
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apt upgrade -y && \
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apt install -y \
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ros-$ROS_DISTRO-rosbridge-suite \
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ros-$ROS_DISTRO-tf2-msgs \
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# custom msgs dependency
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ros-$ROS_DISTRO-rosidl-typesupport-c \
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&& \
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apt-get autoremove -y && \
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apt-get clean && \
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rm -rf /var/lib/apt/lists/*
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COPY --from=delicjusz/pioneer /ros2_ws /ros2_ws
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RUN echo $(dpkg -s ros-$ROS_DISTRO-rosbridge-suite | grep 'Version' | sed -r 's/Version:\s([0-9]+.[0-9]+.[0-9]*).*/\1/g') >> /version.txt
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8
Makefile
8
Makefile
@ -6,7 +6,8 @@ HEADERS := $(wildcard src/ros2aria/src/*.hpp)
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build/ros2aria/ros2aria: $(SOURCES) $(HEADERS)
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colcon build
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build: build/ros2aria/ros2aria
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build:
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docker build -f Dockerfile -t delicjusz/pioneer .
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# .uploaded: build/ros2aria/ros2aria
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upload:
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@ -29,5 +30,10 @@ push_ros2aria:
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push:
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docker build -f Dockerfile -t delicjusz/pioneer .
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docker push delicjusz/pioneer
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docker build -f Dockerfile.hokuyo -t delicjusz/hokuyo .
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docker push delicjusz/hokuyo
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pull:
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docker pull delicjusz/ros2aria
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rosbridge:
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docker build -f Dockerfile.rosbridge -t delicjusz/rosbridge .
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docker push delicjusz/rosbridge
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33
code.py
33
code.py
@ -1,33 +0,0 @@
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try:
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cl, addr = s.accept()
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print('client connected from', addr)
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request = cl.recv(1024)
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request = str(request)
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print("request: {}".format(request))
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led_on = request.find('/dioda/on')
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led_off = request.find('/dioda/off')
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text_index = request.find('/text')
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print( 'text = ' + str(text_index))
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print( 'led on = ' + str(led_on))
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print( 'led off = ' + str(led_off))
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if text_index == 6:
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entrypoint_text = request[text_index+len('/text/'):]
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text = entrypoint_text[:entrypoint_text.find(' ')]
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print('Hello world {}'.format(text))
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if led_on == 6:
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led.on()
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else:
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led.off()
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response = html
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response = html % stateis
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cl.send('HTTP/1.0 200 OK\r\nContent-type: text/html\r\n\r\n')
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cl.send(response)
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cl.close()
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except OSError as e:
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cl.close()
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print('connection closed')
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39
compose.foxglove.master.yaml
Normal file
39
compose.foxglove.master.yaml
Normal file
@ -0,0 +1,39 @@
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# docker compose -f compose.foxglove.master.yaml up
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services:
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restrictions-republisher:
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image: delicjusz/rosbridge
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network_mode: host
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ipc: host
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restart: on-failure
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environment:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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volumes:
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- ./fastdds.xml:/fastdds.xml
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- ./rescrictions_republisher.py:/rescrictions_republisher.py
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command: >
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bash -c "source /ros2_ws/install/setup.bash && python3 /rescrictions_republisher.py"
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rosbridge:
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image: delicjusz/rosbridge
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network_mode: host
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ipc: host
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restart: on-failure
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environment:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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volumes:
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- ./fastdds.xml:/fastdds.xml
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command: >
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bash -c "source /ros2_ws/install/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml"
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foxglove-master:
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image: husarion/foxglove:humble-1.39.1-20230220
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ports:
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- 5050:5050
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volumes:
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- ./config/master_layout.json:/src/FoxgloveDefaultLayout.json
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environment:
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- FOXGLOVE_PORT=5050
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- ROSBRIDGE_PORT=9090
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31
compose.foxglove.user.yaml
Normal file
31
compose.foxglove.user.yaml
Normal file
@ -0,0 +1,31 @@
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# docker compose -f compose.foxglove.yaml up
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x-net-config:
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&net-config
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network_mode: host
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ipc: host
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services:
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foxglove:
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image: husarion/foxglove:humble-1.39.1-20230220
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restart: on-failure
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ports:
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- 8080:8080
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volumes:
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- ./config/user_layout.json:/src/FoxgloveDefaultLayout.json
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environment:
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- FOXGLOVE_PORT=8080
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- ROSBRIDGE_PORT=9090
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# rosbridge:
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# image: delicjusz/rosbridge
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# <<: *net-config
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# restart: on-failure
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# environment:
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# - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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# - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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# volumes:
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# - ./fastdds.xml:/fastdds.xml
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# - ./rosbridge_websocket_launch.xml:/opt/ros/humble/share/rosbridge_server/launch/rosbridge_websocket_launch.xml
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# command: >
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# bash -c "source /ros2_ws/install/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml
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# pioneer_id:=${PIONEER_ID}"
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@ -1,27 +0,0 @@
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x-net-config:
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&net-config
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network_mode: host
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ipc: host
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services:
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foxglove:
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image: husarion/foxglove:humble-1.39.1-20230220
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ports:
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- 8080:8080
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volumes:
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- ./config/rosbot_sensors_foxglove.json:/src/FoxgloveDefaultLayout.json
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environment:
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- FOXGLOVE_PORT=8080
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- ROSBRIDGE_PORT=9090
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rosbridge:
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image: husarion/rosbridge:humble-1.3.1-20230220
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<<: *net-config
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ports:
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- 9090:9090
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environment:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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volumes:
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- ./fastdds.xml:/fastdds.xml
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command: ros2 launch rosbridge_server rosbridge_websocket_launch.xml
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19
compose.hokuyo.yaml
Normal file
19
compose.hokuyo.yaml
Normal file
@ -0,0 +1,19 @@
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# docker compose -f compose.hokuyo.yaml up
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services:
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hokuyo:
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image: delicjusz/hokuyo
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||||
network_mode: host
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||||
ipc: host
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||||
environment:
|
||||
- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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||||
- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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||||
volumes:
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- ./fastdds.xml:/fastdds.xml
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devices:
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# - /dev/hokuyo
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||||
- /dev/ttyACM0
|
||||
command: >
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ros2 run urg_node urg_node_driver --ros-args -r
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||||
__ns:=/pioneer${PIONEER_ID} -p
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||||
laser_frame_id:=pioneer${PIONEER_ID}/laser -p
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serial_port:=/dev/ttyACM0
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@ -12,4 +12,4 @@ services:
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- ./fastdds.xml:/fastdds.xml
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devices:
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||||
- /dev/ttyS0
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||||
command: ros2 launch pioneer_bringup robot.launch.py pioneer_id:=${PIONEER_ID}
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||||
command: ros2 launch pioneer_bringup robot.launch.py namespace:=pioneer${PIONEER_ID}/
|
||||
|
||||
279
config/master_layout copy.json
Normal file
279
config/master_layout copy.json
Normal file
@ -0,0 +1,279 @@
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{
|
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"configById": {
|
||||
"Gauge!36uqsdw": {
|
||||
"path": "/pioneers/restrictions.linear_velocity.data",
|
||||
"minValue": 0.1,
|
||||
"maxValue": 0.8,
|
||||
"colorMap": "turbo",
|
||||
"colorMode": "colormap",
|
||||
"gradient": [
|
||||
"#fff900",
|
||||
"#ff00ff"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Linear Velocity"
|
||||
},
|
||||
"Gauge!16s1huo": {
|
||||
"path": "/pioneers/restrictions.angular_velocity.data",
|
||||
"minValue": 0.1,
|
||||
"maxValue": 1.2,
|
||||
"colorMap": "turbo",
|
||||
"colorMode": "colormap",
|
||||
"gradient": [
|
||||
"#fff900",
|
||||
"#ff00ff"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Angular Velocity"
|
||||
},
|
||||
"Gauge!43oiv40": {
|
||||
"path": "/pioneers/restrictions.linear_velocity.data",
|
||||
"minValue": 0.02,
|
||||
"maxValue": 1.2,
|
||||
"colorMap": "rainbow",
|
||||
"colorMode": "gradient",
|
||||
"gradient": [
|
||||
"#ffffff",
|
||||
"#ff0000"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Distance"
|
||||
},
|
||||
"Indicator!2kcvhko": {
|
||||
"path": "/pioneer5/robot_info.state.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#a0a0a0",
|
||||
"fallbackLabel": "Inactive",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "true",
|
||||
"color": "#68e24a",
|
||||
"label": "Active"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Status"
|
||||
},
|
||||
"Publish!1jggeko": {
|
||||
"topicName": "/pioneer5/clutch",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "Enable",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#00A871",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": true\n}",
|
||||
"foxglovePanelTitle": "Motors"
|
||||
},
|
||||
"Publish!2bcq74b": {
|
||||
"topicName": "/pioneer5/clutch",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "Disable",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#aeaeae",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": false\n}",
|
||||
"foxglovePanelTitle": " Motors"
|
||||
},
|
||||
"Indicator!s9ir7d": {
|
||||
"path": "/pioneer5/robot_info.clutch.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#a0a0a0",
|
||||
"fallbackLabel": "Off",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "true",
|
||||
"color": "#68e24a",
|
||||
"label": "On"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Motors"
|
||||
},
|
||||
"Indicator!4am2dga": {
|
||||
"path": "/pioneer5/robot_info.obstacle_detected.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#a0a0a0",
|
||||
"fallbackLabel": "👌",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "true",
|
||||
"color": "#ff005e",
|
||||
"label": "😱"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Obstacle"
|
||||
},
|
||||
"Gauge!44f06dp": {
|
||||
"path": "/pioneer5/robot_info.battery_voltage.data",
|
||||
"minValue": 11.9,
|
||||
"maxValue": 12.9,
|
||||
"colorMap": "red-yellow-green",
|
||||
"colorMode": "colormap",
|
||||
"gradient": [
|
||||
"#0000ff",
|
||||
"#ff00ff"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Battry Voltage"
|
||||
},
|
||||
"Indicator!36yp9u": {
|
||||
"path": "/pioneers/master_stop.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#ff0000",
|
||||
"fallbackLabel": "Robots Stopped",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "true",
|
||||
"color": "#68e24a",
|
||||
"label": "Robots Released"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Master Stop"
|
||||
},
|
||||
"Publish!3ucy03l": {
|
||||
"topicName": "/pioneers/master_stop",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "Start",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#00A871",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": true\n}"
|
||||
},
|
||||
"Publish!3eo06na": {
|
||||
"topicName": "/pioneers/restrictions",
|
||||
"datatype": "ros2aria_msgs/msg/RestrictionsMsg",
|
||||
"buttonText": "Publish",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#00A871",
|
||||
"advancedView": true,
|
||||
"value": "{\n \"distance\": {\n \"data\": 0.2 },\n \"linear_velocity\": {\n \"data\": 0.2\n },\n \"angular_velocity\": {\n \"data\": ${ELKO}\n }\n}\n"
|
||||
},
|
||||
"Publish!2llenrw": {
|
||||
"topicName": "/pioneers/master_stop",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "STOP ",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#ff0000",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": false\n}",
|
||||
"foxglovePanelTitle": "Master"
|
||||
},
|
||||
"RawMessages!2n2d99y": {
|
||||
"diffEnabled": false,
|
||||
"diffMethod": "custom",
|
||||
"diffTopicPath": "",
|
||||
"showFullMessageForDiff": false,
|
||||
"topicPath": "/pioneers/restrictions"
|
||||
},
|
||||
"Tab!4eriapz": {
|
||||
"activeTabIdx": 0,
|
||||
"tabs": [
|
||||
{
|
||||
"title": "Restrictions",
|
||||
"layout": {
|
||||
"first": "Gauge!36uqsdw",
|
||||
"second": {
|
||||
"first": "Gauge!16s1huo",
|
||||
"second": "Gauge!43oiv40",
|
||||
"direction": "row",
|
||||
"splitPercentage": 51.44124168514412
|
||||
},
|
||||
"direction": "row",
|
||||
"splitPercentage": 32.84023668639053
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
"Tab!3irkbr4": {
|
||||
"activeTabIdx": 0,
|
||||
"tabs": [
|
||||
{
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"title": "5",
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"layout": {
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"first": {
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"first": "Indicator!2kcvhko",
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"second": {
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"first": {
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||||
"first": "Publish!1jggeko",
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"second": "Publish!2bcq74b",
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"direction": "row",
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"splitPercentage": 47.44522280433317
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},
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||||
"second": {
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"first": "Indicator!s9ir7d",
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"second": "Indicator!4am2dga",
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"direction": "row",
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"splitPercentage": 51.020408163265316
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"direction": "row",
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"direction": "row",
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"splitPercentage": 33.5482533335995
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"second": "Gauge!44f06dp",
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"direction": "row",
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"splitPercentage": 83.10937586339708
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}
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}
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"globalVariables": {
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"restrictions": {
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||||
"distance": {
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"data": 0
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||||
},
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||||
"linear_velocity": {
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"data": 0.2
|
||||
},
|
||||
"angular_velocity": {
|
||||
"data": 0.6
|
||||
}
|
||||
},
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"ELKO": 5,
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"elko": 6
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||||
},
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"userNodes": {
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"ed523c47-5740-4915-a163-89d74f63276b": {
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"sourceCode": "import { MessageWriter } from \"@foxglove/rosmsg2-serialization\";\n\n// message definition comes from `parse()` in @foxglove/rosmsg\nconst writer = new MessageWriter(pointStampedMessageDefinition);\n\n// serialize the passed in object to a Uint8Array as a geometry_msgs/PointStamped message\nconst uint8Array = writer.writeMessage({\n header: {\n stamp: { sec: 0, nanosec: 0 },\n frame_id: \"\"\n },\n x: 1,\n y: 0,\n z: 0\n});",
|
||||
"name": "ed523c47"
|
||||
}
|
||||
},
|
||||
"playbackConfig": {
|
||||
"speed": 1
|
||||
},
|
||||
"layout": {
|
||||
"first": "Indicator!36yp9u",
|
||||
"second": {
|
||||
"first": {
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||||
"first": {
|
||||
"first": {
|
||||
"first": "Publish!3ucy03l",
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||||
"second": "Publish!3eo06na",
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||||
"direction": "column",
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||||
"splitPercentage": 17.645846217274784
|
||||
},
|
||||
"second": {
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||||
"first": "Publish!2llenrw",
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"second": "RawMessages!2n2d99y",
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||||
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"splitPercentage": 18.30550401978973
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"direction": "row",
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"splitPercentage": 55.393939393939384
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"second": "Tab!4eriapz",
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||||
"direction": "column",
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"splitPercentage": 71.5909090909091
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"second": "Tab!3irkbr4",
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"direction": "column",
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"splitPercentage": 12.5
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||||
1173
config/master_layout.json
Normal file
1173
config/master_layout.json
Normal file
File diff suppressed because it is too large
Load Diff
@ -1,474 +0,0 @@
|
||||
{
|
||||
"configById": {
|
||||
"Plot!gjvhbp": {
|
||||
"paths": [
|
||||
{
|
||||
"value": "/range/fl.range",
|
||||
"enabled": true,
|
||||
"timestampMethod": "receiveTime"
|
||||
},
|
||||
{
|
||||
"value": "/range/rl.range",
|
||||
"enabled": true,
|
||||
"timestampMethod": "receiveTime"
|
||||
},
|
||||
{
|
||||
"value": "/range/fr.range",
|
||||
"enabled": true,
|
||||
"timestampMethod": "receiveTime"
|
||||
},
|
||||
{
|
||||
"value": "/range/rr.range",
|
||||
"enabled": true,
|
||||
"timestampMethod": "receiveTime"
|
||||
}
|
||||
],
|
||||
"minYValue": -0.039230484541325744,
|
||||
"maxYValue": 1,
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||||
"showXAxisLabels": true,
|
||||
"showYAxisLabels": true,
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||||
"showLegend": true,
|
||||
"legendDisplay": "floating",
|
||||
"showPlotValuesInLegend": false,
|
||||
"isSynced": true,
|
||||
"xAxisVal": "timestamp",
|
||||
"sidebarDimension": 240,
|
||||
"foxglovePanelTitle": "Plot",
|
||||
"followingViewWidth": 30
|
||||
},
|
||||
"Plot!1u5bb0v": {
|
||||
"paths": [
|
||||
{
|
||||
"value": "/imu_broadcaster/imu.orientation.w",
|
||||
"enabled": true,
|
||||
"timestampMethod": "receiveTime"
|
||||
},
|
||||
{
|
||||
"value": "/imu_broadcaster/imu.orientation.x",
|
||||
"enabled": true,
|
||||
"timestampMethod": "receiveTime"
|
||||
},
|
||||
{
|
||||
"value": "/imu_broadcaster/imu.orientation.y",
|
||||
"enabled": true,
|
||||
"timestampMethod": "receiveTime"
|
||||
},
|
||||
{
|
||||
"value": "/imu_broadcaster/imu.orientation.z",
|
||||
"enabled": true,
|
||||
"timestampMethod": "receiveTime"
|
||||
}
|
||||
],
|
||||
"minYValue": -1.1,
|
||||
"maxYValue": 1.1,
|
||||
"showXAxisLabels": true,
|
||||
"showYAxisLabels": true,
|
||||
"showLegend": true,
|
||||
"legendDisplay": "floating",
|
||||
"showPlotValuesInLegend": false,
|
||||
"isSynced": true,
|
||||
"xAxisVal": "timestamp",
|
||||
"sidebarDimension": 240,
|
||||
"foxglovePanelTitle": "Plot",
|
||||
"followingViewWidth": 30
|
||||
},
|
||||
"Tab!2qhku9u": {
|
||||
"activeTabIdx": 0,
|
||||
"tabs": [
|
||||
{
|
||||
"title": "Ranges Plots",
|
||||
"layout": "Plot!gjvhbp"
|
||||
},
|
||||
{
|
||||
"title": "IMU Plots",
|
||||
"layout": "Plot!1u5bb0v"
|
||||
}
|
||||
]
|
||||
},
|
||||
"3D!40jejke": {
|
||||
"cameraState": {
|
||||
"perspective": true,
|
||||
"distance": 4.7565377051017865,
|
||||
"phi": 0.5121483430698642,
|
||||
"thetaOffset": 89.80364880250498,
|
||||
"targetOffset": [
|
||||
0.04217571585974451,
|
||||
-0.03971452594915587,
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1.5648103050465003e-17
|
||||
],
|
||||
"target": [
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||||
0,
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0,
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||||
0
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],
|
||||
"targetOrientation": [
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
1
|
||||
],
|
||||
"fovy": 45,
|
||||
"near": 0.5,
|
||||
"far": 5000
|
||||
},
|
||||
"followMode": "follow-pose",
|
||||
"scene": {
|
||||
"transforms": {
|
||||
"axisScale": 0.4499999999999996,
|
||||
"labelSize": 0.013834613718625963
|
||||
},
|
||||
"enableStats": true,
|
||||
"ignoreColladaUpAxis": false,
|
||||
"syncCamera": false
|
||||
},
|
||||
"transforms": {
|
||||
"frame:base_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:body_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:cover_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:imu_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:camera_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:fl_range": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:fr_range": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:rl_range": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:rr_range": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:fl_wheel_link": {
|
||||
"visible": true
|
||||
},
|
||||
"frame:fr_wheel_link": {
|
||||
"visible": true
|
||||
},
|
||||
"frame:rl_wheel_link": {
|
||||
"visible": true
|
||||
},
|
||||
"frame:rr_wheel_link": {
|
||||
"visible": true
|
||||
},
|
||||
"frame:slamtec_rplidar_a2_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:laser": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:orbbec_astra_link": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:depth": {
|
||||
"visible": false
|
||||
},
|
||||
"frame:odom": {
|
||||
"visible": false
|
||||
}
|
||||
},
|
||||
"topics": {
|
||||
"/scan": {
|
||||
"visible": true,
|
||||
"colorField": "range",
|
||||
"colorMode": "flat",
|
||||
"colorMap": "turbo",
|
||||
"pointSize": 8,
|
||||
"flatColor": "#f90000"
|
||||
},
|
||||
"/robot_description": {
|
||||
"visible": false
|
||||
}
|
||||
},
|
||||
"layers": {
|
||||
"e827a6dc-875b-448a-8475-5497577c2e1b": {
|
||||
"visible": true,
|
||||
"frameLocked": true,
|
||||
"label": "URDF",
|
||||
"instanceId": "e827a6dc-875b-448a-8475-5497577c2e1b",
|
||||
"layerId": "foxglove.Urdf",
|
||||
"url": "http://{{.Host}}:{{env "FOXGLOVE_PORT"}}/rosbot.urdf",
|
||||
"order": 1
|
||||
},
|
||||
"b2c64820-a936-4f65-82b5-7a04ef902009": {
|
||||
"visible": true,
|
||||
"frameLocked": true,
|
||||
"label": "Grid",
|
||||
"instanceId": "b2c64820-a936-4f65-82b5-7a04ef902009",
|
||||
"layerId": "foxglove.Grid",
|
||||
"size": 10,
|
||||
"divisions": 100,
|
||||
"lineWidth": 1,
|
||||
"color": "#248eff",
|
||||
"position": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"rotation": [
|
||||
0,
|
||||
0,
|
||||
0
|
||||
],
|
||||
"order": 2
|
||||
}
|
||||
},
|
||||
"publish": {
|
||||
"type": "point",
|
||||
"poseTopic": "/move_base_simple/goal",
|
||||
"pointTopic": "/clicked_point",
|
||||
"poseEstimateTopic": "/initialpose",
|
||||
"poseEstimateXDeviation": 0.5,
|
||||
"poseEstimateYDeviation": 0.5,
|
||||
"poseEstimateThetaDeviation": 0.26179939
|
||||
},
|
||||
"foxglovePanelTitle": "Lidar View"
|
||||
},
|
||||
"RosOut!b0toow": {
|
||||
"searchTerms": [],
|
||||
"minLogLevel": 2
|
||||
},
|
||||
"Teleop!yh7wcv": {
|
||||
"topic": "/cmd_vel",
|
||||
"publishRate": 1,
|
||||
"upButton": {
|
||||
"field": "linear-x",
|
||||
"value": 0.19754204525471783
|
||||
},
|
||||
"downButton": {
|
||||
"field": "linear-x",
|
||||
"value": -0.20000000000000015
|
||||
},
|
||||
"leftButton": {
|
||||
"field": "angular-z",
|
||||
"value": 1
|
||||
},
|
||||
"rightButton": {
|
||||
"field": "angular-z",
|
||||
"value": -1
|
||||
},
|
||||
"foxglovePanelTitle": "Diff Drive"
|
||||
},
|
||||
"ImageViewPanel!40iocf4": {
|
||||
"cameraTopic": "/camera/color/image_raw/compressed",
|
||||
"enabledMarkerTopics": [],
|
||||
"mode": "fit",
|
||||
"pan": {
|
||||
"x": 0,
|
||||
"y": 0
|
||||
},
|
||||
"rotation": 0,
|
||||
"synchronize": true,
|
||||
"transformMarkers": false,
|
||||
"zoom": 1,
|
||||
"foxglovePanelTitle": "Astra Compressed Image"
|
||||
},
|
||||
"Gauge!4jffafa": {
|
||||
"path": "/battery.voltage",
|
||||
"minValue": 9.8,
|
||||
"maxValue": 12.6,
|
||||
"colorMap": "turbo",
|
||||
"colorMode": "colormap",
|
||||
"gradient": [
|
||||
"#0000ff",
|
||||
"#ff00ff"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Battery"
|
||||
},
|
||||
"Indicator!11kizr9": {
|
||||
"path": "/battery.voltage",
|
||||
"style": "background",
|
||||
"fallbackColor": "#000000",
|
||||
"fallbackLabel": "Ok",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "<",
|
||||
"rawValue": "10.8",
|
||||
"color": "#ff0000",
|
||||
"label": "Plug charger!"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Plug Charger Info"
|
||||
},
|
||||
"Plot!4dl4s92": {
|
||||
"paths": [
|
||||
{
|
||||
"value": "/battery.voltage",
|
||||
"enabled": true,
|
||||
"timestampMethod": "receiveTime"
|
||||
}
|
||||
],
|
||||
"minYValue": 9.482842712474614,
|
||||
"maxYValue": 13,
|
||||
"showXAxisLabels": true,
|
||||
"showYAxisLabels": true,
|
||||
"showLegend": true,
|
||||
"legendDisplay": "floating",
|
||||
"showPlotValuesInLegend": true,
|
||||
"isSynced": true,
|
||||
"xAxisVal": "timestamp",
|
||||
"sidebarDimension": 240,
|
||||
"foxglovePanelTitle": "Plot",
|
||||
"followingViewWidth": 60
|
||||
},
|
||||
"Publish!1f6cruz": {
|
||||
"topicName": "/led/left",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "LED1 Turn ON",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#00A871",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": true\n}",
|
||||
"foxglovePanelTitle": "LED1 Turn ON"
|
||||
},
|
||||
"Publish!1wozu40": {
|
||||
"topicName": "/led/right",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "LED2 Turn ON",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#00A871",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": true\n}",
|
||||
"foxglovePanelTitle": "LED2 Turn ON"
|
||||
},
|
||||
"Indicator!2z34jcy": {
|
||||
"path": "/button/left.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#ff0000",
|
||||
"fallbackLabel": "Released",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "true",
|
||||
"color": "#26c578",
|
||||
"label": "Pressed"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Left Button"
|
||||
},
|
||||
"Publish!3cb71c0": {
|
||||
"topicName": "/led/left",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "LED1 Turn OFF",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#a80000",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": false\n}",
|
||||
"foxglovePanelTitle": "LED1 Turn OFF"
|
||||
},
|
||||
"Publish!46onm9c": {
|
||||
"topicName": "/led/right",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "LED2 Turn OFF",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#a80000",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": false\n}",
|
||||
"foxglovePanelTitle": "LED2 Turn OFF"
|
||||
},
|
||||
"Indicator!1hywfa1": {
|
||||
"path": "/button/right.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#ff0000",
|
||||
"fallbackLabel": "Released",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "true",
|
||||
"color": "#26c578",
|
||||
"label": "Pressed"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Left Button"
|
||||
}
|
||||
},
|
||||
"globalVariables": {
|
||||
"globalVariable": 7
|
||||
},
|
||||
"userNodes": {
|
||||
"f5206e1d-deee-4f90-a03e-f561fbb9a7dd": {
|
||||
"sourceCode": "// The ./types module provides helper types for your Input events and messages.\nimport { Input, Message } from \"./types\";\n\n// Your script can output well-known message types, any of your custom message types, or\n// complete custom message types.\n//\n// Use `Message` to access your data source types or well-known types:\n// type Twist = Message<\"geometry_msgs/Twist\">;\n//\n// Conventionally, it's common to make a _type alias_ for your script's output type\n// and use that type name as the return type for your script function.\n// Here we've called the type `Output` but you can pick any type name.\ntype Output = {\n hello: string;\n};\n\n// These are the topics your script \"subscribes\" to. Studio will invoke your script function\n// when any message is received on one of these topics.\nexport const inputs = [\"/input/topic\"];\n\n// Any output your script produces is \"published\" to this topic. Published messages are only visible within Studio, not to your original data source.\nexport const output = \"/studio_script/output_topic\";\n\n// This function is called with messages from your input topics.\n// The first argument is an event with the topic, receive time, and message.\n// Use the `Input<...>` helper to get the correct event type for your input topic messages.\nexport default function script(event: Input<\"/input/topic\">): Output {\n return {\n hello: \"world!\",\n };\n};",
|
||||
"name": "f5206e1d"
|
||||
},
|
||||
"1a9e6183-d4b1-47dd-a024-efc14ab90b6b": {
|
||||
"sourceCode": "// This example shows how to subscribe to multiple input topics.\n//\n// NOTE:\n// User Scripts can subscribe to multiple input topics, but can only publish on a single topic.\n\nimport { Input } from \"./types\";\n\ntype Output = { topic: string };\ntype GlobalVariables = { id: number };\n\n// List all the input topics in the `input` array\nexport const inputs = [\"/input/topic\", \"/input/another\"];\nexport const output = \"/studio_script/output_topic\";\n\n// Make an InputEvent type alias. Since our node will get a message from either input topic, we need to enumerate the topics.\ntype InputEvent = Input<\"/input/topic\"> | Input<\"/input/another\">;\n\nexport default function node(event: InputEvent, globalVars: GlobalVariables): Output {\n // Remember that your node will get messages on each topic, so you\n // need to check each event's topic to know which fields are available on the message.\n switch (event.topic) {\n case \"/input/topic\":\n // topic specific input logic\n // Our message fields are specific to our topic message\n break;\n case \"/input/another\":\n // another specific logic\n break;\n }\n\n // Nodes can only output one type of message regardless of the inputs\n // Here we echo back the input topic as an example.\n return {\n topic: event.topic,\n };\n};\n",
|
||||
"name": "1a9e6183"
|
||||
}
|
||||
},
|
||||
"playbackConfig": {
|
||||
"speed": 1
|
||||
},
|
||||
"layout": {
|
||||
"first": {
|
||||
"direction": "row",
|
||||
"first": "Tab!2qhku9u",
|
||||
"second": {
|
||||
"first": "3D!40jejke",
|
||||
"second": {
|
||||
"first": "RosOut!b0toow",
|
||||
"second": "Teleop!yh7wcv",
|
||||
"direction": "column"
|
||||
},
|
||||
"direction": "row",
|
||||
"splitPercentage": 57.03330110757996
|
||||
},
|
||||
"splitPercentage": 30.5849582172702
|
||||
},
|
||||
"second": {
|
||||
"first": "ImageViewPanel!40iocf4",
|
||||
"second": {
|
||||
"first": {
|
||||
"first": {
|
||||
"first": "Gauge!4jffafa",
|
||||
"second": "Indicator!11kizr9",
|
||||
"direction": "column"
|
||||
},
|
||||
"second": "Plot!4dl4s92",
|
||||
"direction": "row"
|
||||
},
|
||||
"second": {
|
||||
"first": {
|
||||
"first": "Publish!1f6cruz",
|
||||
"second": {
|
||||
"first": "Publish!1wozu40",
|
||||
"second": "Indicator!2z34jcy",
|
||||
"direction": "row",
|
||||
"splitPercentage": 30.461538461538503
|
||||
},
|
||||
"direction": "row",
|
||||
"splitPercentage": 23.167848699763567
|
||||
},
|
||||
"second": {
|
||||
"first": {
|
||||
"first": "Publish!3cb71c0",
|
||||
"second": "Publish!46onm9c",
|
||||
"direction": "row",
|
||||
"splitPercentage": 49.49494949494945
|
||||
},
|
||||
"second": "Indicator!1hywfa1",
|
||||
"direction": "row",
|
||||
"splitPercentage": 46.808510638297854
|
||||
},
|
||||
"direction": "column"
|
||||
},
|
||||
"direction": "row",
|
||||
"splitPercentage": 57.106729218589656
|
||||
},
|
||||
"direction": "row",
|
||||
"splitPercentage": 30.63012301119672
|
||||
},
|
||||
"direction": "column",
|
||||
"splitPercentage": 67.44897959183673
|
||||
}
|
||||
}
|
||||
482
config/user_layout.json
Normal file
482
config/user_layout.json
Normal file
@ -0,0 +1,482 @@
|
||||
{
|
||||
"configById": {
|
||||
"Indicator!3tlipvy": {
|
||||
"path": "/pioneer5/robot_info.obstacle_detected.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#a0a0a0",
|
||||
"fallbackLabel": "Ok",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "true",
|
||||
"color": "#ff0000",
|
||||
"label": "Detected Obstacle"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Obstacle"
|
||||
},
|
||||
"Gauge!3u4tuia": {
|
||||
"path": "/pioneer5/robot_info.minimal_distance.data",
|
||||
"minValue": 0.02,
|
||||
"maxValue": 1.002,
|
||||
"colorMap": "turbo",
|
||||
"colorMode": "colormap",
|
||||
"gradient": [
|
||||
"#0000ff",
|
||||
"#ff00ff"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Actual Distance"
|
||||
},
|
||||
"Tab!25ni7og": {
|
||||
"activeTabIdx": 0,
|
||||
"tabs": [
|
||||
{
|
||||
"title": "Restrictions",
|
||||
"layout": {
|
||||
"first": {
|
||||
"first": "Gauge!njxcom",
|
||||
"second": {
|
||||
"first": "Indicator!cjpcwp",
|
||||
"second": {
|
||||
"first": "RawMessages!21kcr2s",
|
||||
"second": "Indicator!2f5tlku",
|
||||
"direction": "row"
|
||||
},
|
||||
"direction": "column"
|
||||
},
|
||||
"direction": "column"
|
||||
},
|
||||
"second": {
|
||||
"first": {
|
||||
"first": "Gauge!3h30jw7",
|
||||
"second": {
|
||||
"first": "Indicator!3i4t2ed",
|
||||
"second": {
|
||||
"first": "RawMessages!3rm8fcv",
|
||||
"second": "Indicator!c84ni4",
|
||||
"direction": "row"
|
||||
},
|
||||
"direction": "column"
|
||||
},
|
||||
"direction": "column"
|
||||
},
|
||||
"second": {
|
||||
"first": "Gauge!2nkb668",
|
||||
"second": {
|
||||
"first": "Indicator!1qk7sa6",
|
||||
"second": {
|
||||
"first": "RawMessages!260vbhh",
|
||||
"second": "Indicator!1o4qvq1",
|
||||
"direction": "row"
|
||||
},
|
||||
"direction": "column"
|
||||
},
|
||||
"direction": "column"
|
||||
},
|
||||
"direction": "row"
|
||||
},
|
||||
"direction": "row",
|
||||
"splitPercentage": 34.15445097342172
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
"Gauge!njxcom": {
|
||||
"path": "/pioneers/restrictions.linear_velocity.data",
|
||||
"minValue": 0.1,
|
||||
"maxValue": 0.8,
|
||||
"colorMap": "turbo",
|
||||
"colorMode": "colormap",
|
||||
"gradient": [
|
||||
"#0000ff",
|
||||
"#ff0000"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Max Linear Velocity"
|
||||
},
|
||||
"Indicator!cjpcwp": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "Linear",
|
||||
"rules": []
|
||||
},
|
||||
"RawMessages!21kcr2s": {
|
||||
"diffEnabled": false,
|
||||
"diffMethod": "custom",
|
||||
"diffTopicPath": "",
|
||||
"showFullMessageForDiff": false,
|
||||
"topicPath": "/pioneers/restrictions.linear_velocity.data"
|
||||
},
|
||||
"Indicator!2f5tlku": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "m/s",
|
||||
"rules": []
|
||||
},
|
||||
"Gauge!3h30jw7": {
|
||||
"path": "/pioneers/restrictions.angular_velocity.data",
|
||||
"minValue": 0.1,
|
||||
"maxValue": 1.2,
|
||||
"colorMap": "turbo",
|
||||
"colorMode": "colormap",
|
||||
"gradient": [
|
||||
"#0000ff",
|
||||
"#ff00ff"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Max Angular Velocity"
|
||||
},
|
||||
"Indicator!3i4t2ed": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "Angular",
|
||||
"rules": []
|
||||
},
|
||||
"RawMessages!3rm8fcv": {
|
||||
"diffEnabled": false,
|
||||
"diffMethod": "custom",
|
||||
"diffTopicPath": "",
|
||||
"showFullMessageForDiff": false,
|
||||
"topicPath": "/pioneers/restrictions.angular_velocity.data"
|
||||
},
|
||||
"Indicator!c84ni4": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "rad/s",
|
||||
"rules": []
|
||||
},
|
||||
"Gauge!2nkb668": {
|
||||
"path": "/pioneers/restrictions.distance.data",
|
||||
"minValue": 0.02,
|
||||
"maxValue": 1.002,
|
||||
"colorMap": "turbo",
|
||||
"colorMode": "colormap",
|
||||
"gradient": [
|
||||
"#0000ff",
|
||||
"#ff00ff"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Min Distance"
|
||||
},
|
||||
"Indicator!1qk7sa6": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "Distance",
|
||||
"rules": []
|
||||
},
|
||||
"RawMessages!260vbhh": {
|
||||
"diffEnabled": false,
|
||||
"diffMethod": "custom",
|
||||
"diffTopicPath": "",
|
||||
"showFullMessageForDiff": false,
|
||||
"topicPath": "/pioneers/restrictions.distance.data"
|
||||
},
|
||||
"Indicator!1o4qvq1": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "m",
|
||||
"rules": []
|
||||
},
|
||||
"Tab!352avk9": {
|
||||
"activeTabIdx": 0,
|
||||
"tabs": [
|
||||
{
|
||||
"title": "Power",
|
||||
"layout": {
|
||||
"first": "Indicator!2hteqsw",
|
||||
"second": {
|
||||
"first": "Gauge!3i4ynjz",
|
||||
"second": {
|
||||
"first": "RawMessages!1c7650k",
|
||||
"second": "Indicator!23srs9s",
|
||||
"direction": "row"
|
||||
},
|
||||
"direction": "row",
|
||||
"splitPercentage": 64.840306644664
|
||||
},
|
||||
"direction": "column",
|
||||
"splitPercentage": 43.13186813186813
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
"Tab!p30d7b": {
|
||||
"activeTabIdx": 0,
|
||||
"tabs": [
|
||||
{
|
||||
"title": "Robot Info",
|
||||
"layout": {
|
||||
"first": "Indicator!10t7upb",
|
||||
"second": {
|
||||
"first": {
|
||||
"first": "Publish!4g2w69i",
|
||||
"second": "Publish!16m0ff9",
|
||||
"direction": "row"
|
||||
},
|
||||
"second": {
|
||||
"first": {
|
||||
"first": "Indicator!1fbii9b",
|
||||
"second": {
|
||||
"first": "RawMessages!4asurb8",
|
||||
"second": "Indicator!4fr19o1",
|
||||
"direction": "row"
|
||||
},
|
||||
"direction": "column"
|
||||
},
|
||||
"second": {
|
||||
"first": "Indicator!3tmnyvt",
|
||||
"second": {
|
||||
"first": "RawMessages!a9n4ba",
|
||||
"second": "Indicator!3dorkxh",
|
||||
"direction": "row"
|
||||
},
|
||||
"direction": "column"
|
||||
},
|
||||
"direction": "row"
|
||||
},
|
||||
"direction": "column",
|
||||
"splitPercentage": 33.29027329235685
|
||||
},
|
||||
"direction": "column",
|
||||
"splitPercentage": 18.67321867321867
|
||||
}
|
||||
},
|
||||
{
|
||||
"title": "2"
|
||||
}
|
||||
]
|
||||
},
|
||||
"Indicator!2hteqsw": {
|
||||
"path": "/pioneer5/robot_info.battery_voltage.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "Ok",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "<",
|
||||
"rawValue": "12.2",
|
||||
"color": "#ff0000",
|
||||
"label": "Plug Charger"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Battery Status"
|
||||
},
|
||||
"Gauge!3i4ynjz": {
|
||||
"path": "/pioneer5/robot_info.battery_voltage.data",
|
||||
"minValue": 11.9,
|
||||
"maxValue": 12.9,
|
||||
"colorMap": "red-yellow-green",
|
||||
"colorMode": "colormap",
|
||||
"gradient": [
|
||||
"#0000ff",
|
||||
"#ff00ff"
|
||||
],
|
||||
"reverse": false,
|
||||
"foxglovePanelTitle": "Battery Voltage"
|
||||
},
|
||||
"RawMessages!1c7650k": {
|
||||
"diffEnabled": false,
|
||||
"diffMethod": "custom",
|
||||
"diffTopicPath": "",
|
||||
"showFullMessageForDiff": false,
|
||||
"topicPath": "/pioneer5/robot_info.battery_voltage.data"
|
||||
},
|
||||
"Indicator!23srs9s": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "V",
|
||||
"rules": []
|
||||
},
|
||||
"Indicator!10t7upb": {
|
||||
"path": "/pioneer5/clutch.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#a0a0a0",
|
||||
"fallbackLabel": "Off",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "true",
|
||||
"color": "#68e24a",
|
||||
"label": "On"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Motors"
|
||||
},
|
||||
"Publish!4g2w69i": {
|
||||
"topicName": "/pioneer5/clutch",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "Enable",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#68e24a",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": true\n}"
|
||||
},
|
||||
"Publish!16m0ff9": {
|
||||
"topicName": "/pioneer5/clutch",
|
||||
"datatype": "std_msgs/msg/Bool",
|
||||
"buttonText": "Disable",
|
||||
"buttonTooltip": "",
|
||||
"buttonColor": "#a0a0a0",
|
||||
"advancedView": false,
|
||||
"value": "{\n \"data\": false\n}"
|
||||
},
|
||||
"Indicator!1fbii9b": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "Linear",
|
||||
"rules": []
|
||||
},
|
||||
"RawMessages!4asurb8": {
|
||||
"diffEnabled": false,
|
||||
"diffMethod": "custom",
|
||||
"diffTopicPath": "",
|
||||
"showFullMessageForDiff": false,
|
||||
"topicPath": "/pioneer5/robot_info.twist.linear.x"
|
||||
},
|
||||
"Indicator!4fr19o1": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "m/s",
|
||||
"rules": []
|
||||
},
|
||||
"Indicator!3tmnyvt": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "Angular",
|
||||
"rules": []
|
||||
},
|
||||
"RawMessages!a9n4ba": {
|
||||
"diffEnabled": false,
|
||||
"diffMethod": "custom",
|
||||
"diffTopicPath": "",
|
||||
"showFullMessageForDiff": false,
|
||||
"topicPath": "/pioneer5/robot_info.twist.angular.z"
|
||||
},
|
||||
"Indicator!3dorkxh": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "rad/s",
|
||||
"rules": []
|
||||
},
|
||||
"Indicator!1b8x9ac": {
|
||||
"path": "/pioneers/master_stop.data",
|
||||
"style": "background",
|
||||
"fallbackColor": "#ff0000",
|
||||
"fallbackLabel": "Robots Stopped",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "false",
|
||||
"color": "#68e24a",
|
||||
"label": "Robots Released"
|
||||
}
|
||||
],
|
||||
"foxglovePanelTitle": "Master Stop"
|
||||
},
|
||||
"Tab!2vc4ruw": {
|
||||
"activeTabIdx": 0,
|
||||
"tabs": [
|
||||
{
|
||||
"title": "Restrictions",
|
||||
"layout": {
|
||||
"first": {
|
||||
"first": "Indicator!3tlipvy",
|
||||
"second": "Gauge!3u4tuia",
|
||||
"direction": "row",
|
||||
"splitPercentage": 77.87689562890276
|
||||
},
|
||||
"second": "Tab!25ni7og",
|
||||
"direction": "column",
|
||||
"splitPercentage": 18.796068796068795
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
"Indicator!2q85lgg": {
|
||||
"path": "",
|
||||
"style": "background",
|
||||
"fallbackColor": "#181818",
|
||||
"fallbackLabel": "",
|
||||
"rules": [
|
||||
{
|
||||
"operator": "=",
|
||||
"rawValue": "true",
|
||||
"color": "#68e24a",
|
||||
"label": "True"
|
||||
}
|
||||
]
|
||||
},
|
||||
"Tab!3q786g": {
|
||||
"activeTabIdx": 0,
|
||||
"tabs": [
|
||||
{
|
||||
"title": "1",
|
||||
"layout": {
|
||||
"first": "Tab!352avk9",
|
||||
"second": "Tab!p30d7b",
|
||||
"direction": "column",
|
||||
"splitPercentage": 45.796737766624844
|
||||
}
|
||||
}
|
||||
]
|
||||
},
|
||||
"Teleop!4981td7": {
|
||||
"topic": "/pioneer5/cmd_vel",
|
||||
"publishRate": 1,
|
||||
"upButton": {
|
||||
"field": "linear-x",
|
||||
"value": 1
|
||||
},
|
||||
"downButton": {
|
||||
"field": "linear-x",
|
||||
"value": -1
|
||||
},
|
||||
"leftButton": {
|
||||
"field": "angular-z",
|
||||
"value": 1
|
||||
},
|
||||
"rightButton": {
|
||||
"field": "angular-z",
|
||||
"value": -1
|
||||
}
|
||||
}
|
||||
},
|
||||
"globalVariables": {},
|
||||
"userNodes": {},
|
||||
"playbackConfig": {
|
||||
"speed": 1
|
||||
},
|
||||
"layout": {
|
||||
"first": "Indicator!1b8x9ac",
|
||||
"second": {
|
||||
"first": {
|
||||
"first": "Tab!2vc4ruw",
|
||||
"second": {
|
||||
"first": "Indicator!2q85lgg",
|
||||
"second": "Tab!3q786g",
|
||||
"direction": "row",
|
||||
"splitPercentage": 7.045834893512966
|
||||
},
|
||||
"direction": "row",
|
||||
"splitPercentage": 47.75143090760425
|
||||
},
|
||||
"second": "Teleop!4981td7",
|
||||
"direction": "row",
|
||||
"splitPercentage": 65.43606206527555
|
||||
},
|
||||
"direction": "column",
|
||||
"splitPercentage": 12.989690721649486
|
||||
}
|
||||
}
|
||||
@ -1,61 +0,0 @@
|
||||
--------------------------------------------------------------------------------
|
||||
Node [/PIONIER6/RosAria]
|
||||
Publications:
|
||||
* /PIONIER6/RosAria/battery_recharge_state [std_msgs/Int8]
|
||||
* /PIONIER6/RosAria/battery_state_of_charge [std_msgs/Float32]
|
||||
* /PIONIER6/RosAria/bumper_state [rosaria/BumperState]
|
||||
* /PIONIER6/RosAria/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
|
||||
* /PIONIER6/RosAria/parameter_updates [dynamic_reconfigure/Config]
|
||||
* /PIONIER6/RosAria/pose [nav_msgs/Odometry]
|
||||
* /PIONIER6/RosAria/robot_info [rosaria_msgs/RobotInfoMsg]
|
||||
* /PIONIER6/RosAria/sonar [sensor_msgs/PointCloud]
|
||||
* /PIONIER6/RosAria/sonar_pointcloud2 [sensor_msgs/PointCloud2]
|
||||
* /PIONIER6/RosAria/wheels [sensor_msgs/JointState]
|
||||
* /rosout [rosgraph_msgs/Log]
|
||||
* /tf [tf2_msgs/TFMessage]
|
||||
|
||||
Subscriptions:
|
||||
* /PIONIER/master_stop [std_msgs/Bool]
|
||||
* /PIONIER/restrictions [rosaria_msgs/RestrictionsMsg]
|
||||
* /PIONIER6/RosAria/clutch [std_msgs/Bool]
|
||||
* /PIONIER6/RosAria/cmd_vel [unknown type]
|
||||
* /PIONIER6/RosAria/user_stop [std_msgs/Bool]
|
||||
|
||||
Services:
|
||||
* /PIONIER6/RosAria/get_loggers
|
||||
* /PIONIER6/RosAria/gripper_close
|
||||
* /PIONIER6/RosAria/gripper_down
|
||||
* /PIONIER6/RosAria/gripper_open
|
||||
* /PIONIER6/RosAria/gripper_up
|
||||
* /PIONIER6/RosAria/set_logger_level
|
||||
* /PIONIER6/RosAria/set_parameters
|
||||
|
||||
|
||||
contacting node http://10.104.16.45:35307/ ...
|
||||
Pid: 52
|
||||
Connections:
|
||||
* topic: /rosout
|
||||
* to: /rosout
|
||||
* direction: outbound
|
||||
* transport: TCPROS
|
||||
* topic: /PIONIER6/RosAria/robot_info
|
||||
* to: /master_plugin_lab15_19_12824_1114070233125035517
|
||||
* direction: outbound
|
||||
* transport: TCPROS
|
||||
* topic: /PIONIER/restrictions
|
||||
* to: /master_plugin_lab15_19_12824_1114070233125035517 (http://10.104.16.29:35537/)
|
||||
* direction: inbound
|
||||
* transport: TCPROS
|
||||
* topic: /PIONIER6/RosAria/user_stop
|
||||
* to: /user_plugin_lab15_19_15229_5138248156866338464 (http://10.104.16.29:43275/)
|
||||
* direction: inbound
|
||||
* transport: TCPROS
|
||||
* topic: /PIONIER/master_stop
|
||||
* to: /master_plugin_lab15_19_12824_1114070233125035517 (http://10.104.16.29:35537/)
|
||||
* direction: inbound
|
||||
* transport: TCPROS
|
||||
* topic: /PIONIER6/RosAria/clutch
|
||||
* to: /user_plugin_lab15_19_15229_5138248156866338464 (http://10.104.16.29:43275/)
|
||||
* direction: inbound
|
||||
* transport: TCPROS
|
||||
|
||||
@ -16,7 +16,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.045 0 0.148"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/chassis.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/chassis.stl"/>
|
||||
</geometry>
|
||||
<material name="ChassisRed">
|
||||
<color rgba="0.851 0.0 0.0 1.0"/>
|
||||
@ -38,7 +38,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/top.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/top.stl"/>
|
||||
</geometry>
|
||||
<material name="TopBlack">
|
||||
<color rgba="0.038 0.038 0.038 1.0"/>
|
||||
@ -64,7 +64,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/front_sonar.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/front_sonar.stl"/>
|
||||
</geometry>
|
||||
<material name="SonarYellow">
|
||||
<color rgba="0.715 0.583 0.210 1.0"/>
|
||||
@ -93,7 +93,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/back_sonar.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/back_sonar.stl"/>
|
||||
</geometry>
|
||||
<material name="SonarYellow">
|
||||
<color rgba="0.715 0.583 0.210 1.0"/>
|
||||
@ -118,7 +118,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/caster_swivel.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_swivel.stl"/>
|
||||
</geometry>
|
||||
<material name="caster_swivel">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
@ -138,7 +138,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/caster_hubcap.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="caster_swivel">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
@ -172,7 +172,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/caster_wheel.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
@ -181,7 +181,7 @@
|
||||
<collision>
|
||||
<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/meshes/p3dx_meshes/caster_wheel.stl"/>-->
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
|
||||
<cylinder length="0.01" radius="0.0375"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
@ -198,7 +198,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/left_hubcap.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/left_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="HubcapYellow">
|
||||
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||
@ -207,7 +207,7 @@
|
||||
<collision>
|
||||
<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/meshes/p3dx_meshes/caster_wheel.stl"/>-->
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
|
||||
<cylinder length="0.01" radius="0.09"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
@ -222,14 +222,14 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/left_wheel.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/left_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="left_wheel_joint" type="fixed">
|
||||
<joint name="left_wheel_joint" type="continuous">
|
||||
<!-- type="continuous" -->
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="left_hub"/>
|
||||
@ -242,7 +242,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/right_hubcap.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/right_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="HubcapYellow">
|
||||
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||
@ -251,7 +251,7 @@
|
||||
<collision>
|
||||
<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/meshes/p3dx_meshes/caster_wheel.stl"/>-->
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
|
||||
<cylinder length="0.01" radius="0.09"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
@ -269,14 +269,14 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/meshes/p3dx_meshes/right_wheel.stl"/>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/right_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="right_wheel_joint" type="fixed">
|
||||
<joint name="right_wheel_joint" type="continuous">
|
||||
<!-- type="continuous" -->
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="right_hub"/>
|
||||
@ -285,6 +285,48 @@
|
||||
<gazebo reference="right_wheel_joint">
|
||||
<material value="Gazebo/Black"/>
|
||||
</gazebo>
|
||||
<link name="laser">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/hokuyo_convex.stl"/>
|
||||
</geometry>
|
||||
<material name="Hokuyo">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.040 0 0.0625"/>
|
||||
<parent link="front_sonar"/>
|
||||
<child link="laser"/>
|
||||
</joint>
|
||||
<link name="camera_frame">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.095 0.03 0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.040 0 0.1125"/>
|
||||
<parent link="front_sonar"/>
|
||||
<child link="camera_frame"/>
|
||||
</joint>
|
||||
<create>
|
||||
<back_sonar parent="base_link"/>
|
||||
<top_plate parent="base_link"/>
|
||||
|
||||
62
rescrictions_republisher.py
Normal file
62
rescrictions_republisher.py
Normal file
@ -0,0 +1,62 @@
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
|
||||
from std_msgs.msg import Bool
|
||||
from ros2aria_msgs.msg import RestrictionsMsg
|
||||
from rclpy.qos import QoSDurabilityPolicy
|
||||
from rclpy.qos import QoSHistoryPolicy
|
||||
from rclpy.qos import QoSLivelinessPolicy
|
||||
from rclpy.qos import QoSProfile
|
||||
from rclpy.qos import QoSReliabilityPolicy
|
||||
import sys
|
||||
|
||||
class RestrictionRepublisher(Node):
|
||||
|
||||
def __init__(self):
|
||||
|
||||
profile = QoSProfile(
|
||||
depth=10,
|
||||
history=QoSHistoryPolicy.KEEP_ALL,
|
||||
reliability=QoSReliabilityPolicy.RELIABLE,
|
||||
durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
|
||||
super().__init__('restriction_republisher')
|
||||
self.restriction_pub_ = self.create_publisher(RestrictionsMsg, '/pioneers/restrictions', qos_profile=profile)
|
||||
self.master_stop_pub_ = self.create_publisher(Bool, '/pioneers/master_stop', qos_profile=profile)
|
||||
self.restriction_sub_ = self.create_subscription(RestrictionsMsg, '/pioneers/restrictions', self.restriction_callback, qos_profile=profile)
|
||||
self.master_stop_sub_ = self.create_subscription(Bool, '/pioneers/master_stop', self.master_stop_callback, qos_profile=profile)
|
||||
timer_period = 1.0
|
||||
self.timer = self.create_timer(timer_period, self.timer_callback)
|
||||
|
||||
self.master_stop_msg = Bool()
|
||||
self.restriction_msg = RestrictionsMsg()
|
||||
self.master_stop_msg. data = True
|
||||
self.restriction_msg.distance.data = sys.float_info.max
|
||||
self.restriction_msg.linear_velocity.data = 0.0
|
||||
self.restriction_msg.angular_velocity.data = 0.0
|
||||
|
||||
def timer_callback(self):
|
||||
self.restriction_pub_.publish(self.restriction_msg)
|
||||
self.master_stop_pub_.publish(self.master_stop_msg)
|
||||
|
||||
def restriction_callback(self, msg):
|
||||
if msg != self.restriction_msg:
|
||||
self.get_logger().info('New restricitons.')
|
||||
self.restriction_msg = msg
|
||||
|
||||
def master_stop_callback(self, msg):
|
||||
if msg != self.master_stop_msg:
|
||||
self.get_logger().info('New master stop.')
|
||||
self.master_stop_msg = msg
|
||||
|
||||
def main(args=None):
|
||||
rclpy.init(args=args)
|
||||
|
||||
restriction_republisher = RestrictionRepublisher()
|
||||
|
||||
rclpy.spin(restriction_republisher)
|
||||
restriction_republisher.destroy_node()
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
74
rosbridge_websocket_launch.xml
Normal file
74
rosbridge_websocket_launch.xml
Normal file
@ -0,0 +1,74 @@
|
||||
<launch>
|
||||
<arg name="port" default="9090" />
|
||||
<arg name="address" default="" />
|
||||
<arg name="ssl" default="false" />
|
||||
<arg name="certfile" default=""/>
|
||||
<arg name="keyfile" default="" />
|
||||
|
||||
<arg name="retry_startup_delay" default="5.0" />
|
||||
|
||||
<arg name="fragment_timeout" default="600" />
|
||||
<arg name="delay_between_messages" default="0" />
|
||||
<arg name="max_message_size" default="10000000" />
|
||||
<arg name="unregister_timeout" default="10.0" />
|
||||
|
||||
<arg name="use_compression" default="false" />
|
||||
<arg name="call_services_in_new_thread" default="false" />
|
||||
|
||||
<arg name="topics_glob" default="" />
|
||||
<arg name="services_glob" default="" />
|
||||
<arg name="params_glob" default="" />
|
||||
<arg name="bson_only_mode" default="false" />
|
||||
<arg name="pioneer_id" default="0" />
|
||||
|
||||
<arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/>
|
||||
|
||||
<group if="$(var ssl)">
|
||||
<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
|
||||
<param name="certfile" value="$(var certfile)" />
|
||||
<param name="keyfile" value="$(var keyfile)" />
|
||||
<param name="port" value="$(var port)"/>
|
||||
<param name="address" value="$(var address)"/>
|
||||
<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
|
||||
<param name="fragment_timeout" value="$(var fragment_timeout)"/>
|
||||
<param name="delay_between_messages" value="$(var delay_between_messages)"/>
|
||||
<param name="max_message_size" value="$(var max_message_size)"/>
|
||||
<param name="unregister_timeout" value="$(var unregister_timeout)"/>
|
||||
<param name="use_compression" value="$(var use_compression)"/>
|
||||
<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
|
||||
|
||||
<param name="topics_glob" value="$(var topics_glob)"/>
|
||||
<param name="services_glob" value="$(var services_glob)"/>
|
||||
<param name="params_glob" value="$(var params_glob)"/>
|
||||
<remap from="/client_count" to="/pioneer$(var pioneer_id)/client_count"/>
|
||||
<remap from="/connected_clients" to="/pioneer$(var pioneer_id)/connected_clients"/>
|
||||
</node>
|
||||
</group>
|
||||
<group unless="$(var ssl)">
|
||||
<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
|
||||
<param name="port" value="$(var port)"/>
|
||||
<param name="address" value="$(var address)"/>
|
||||
<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
|
||||
<param name="fragment_timeout" value="$(var fragment_timeout)"/>
|
||||
<param name="delay_between_messages" value="$(var delay_between_messages)"/>
|
||||
<param name="max_message_size" value="$(var max_message_size)"/>
|
||||
<param name="unregister_timeout" value="$(var unregister_timeout)"/>
|
||||
<param name="use_compression" value="$(var use_compression)"/>
|
||||
<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
|
||||
|
||||
<param name="topics_glob" value="$(var topics_glob)"/>
|
||||
<param name="services_glob" value="$(var services_glob)"/>
|
||||
<param name="params_glob" value="$(var params_glob)"/>
|
||||
|
||||
<param name="bson_only_mode" value="$(var bson_only_mode)"/>
|
||||
<remap from="/client_count" to="/pioneer$(var pioneer_id)/client_count"/>
|
||||
<remap from="/connected_clients" to="/pioneer$(var pioneer_id)/connected_clients"/>
|
||||
</node>
|
||||
</group>
|
||||
|
||||
<node name="rosapi" pkg="rosapi" exec="rosapi_node">
|
||||
<param name="topics_glob" value="$(var topics_glob)"/>
|
||||
<param name="services_glob" value="$(var services_glob)"/>
|
||||
<param name="params_glob" value="$(var params_glob)"/>
|
||||
</node>
|
||||
</launch>
|
||||
@ -41,6 +41,9 @@ def generate_launch_description():
|
||||
namespace=namespace,
|
||||
package='ros2aria',
|
||||
executable='ros2aria',
|
||||
parameters=[
|
||||
{'use_sonar': False}
|
||||
]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
|
||||
@ -10,8 +10,8 @@
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<depend>xacro</depend>
|
||||
<depend>joint_state_publisher</depend>
|
||||
<depend>tf2_ros</depend>
|
||||
<depend>robot_state_publisher</depend>
|
||||
|
||||
<depend>pioneer_description</depend>
|
||||
|
||||
|
||||
@ -20,11 +20,6 @@
|
||||
<author>MobileRobots Inc.</author>
|
||||
<author email="jakub.delicat@pwr.edu.pl">Jakub Delicat</author>
|
||||
|
||||
<build_depend>urdf</build_depend>
|
||||
<build_depend>robot_state_publisher</build_depend>
|
||||
|
||||
<run_depend>urdf</run_depend>
|
||||
<run_depend>robot_state_publisher</run_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
|
||||
@ -317,8 +317,51 @@
|
||||
<material value="Gazebo/Black"/>
|
||||
</gazebo>
|
||||
|
||||
<link name="laser">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/hokuyo_convex.stl"/>
|
||||
</geometry>
|
||||
<material name="Hokuyo">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="1e-5" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<axis xyz="0 0 0" />
|
||||
<origin xyz="0.040 0 0.0625" rpy="0 0 0"/>
|
||||
<parent link="front_sonar"/>
|
||||
<child link="laser"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="camera_frame">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.095 0.03 0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<axis xyz="0 0 0" />
|
||||
<origin xyz="0.040 0 0.1125" rpy="0 0 0"/>
|
||||
<parent link="front_sonar"/>
|
||||
<child link="camera_frame"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<create>
|
||||
<back_sonar parent="base_link"/>
|
||||
|
||||
@ -78,7 +78,7 @@
|
||||
</transmission>
|
||||
|
||||
<joint name="base_${suffix}_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<anchor xyz="0 0 0"/>
|
||||
<limit effort="100" velocity="100" />
|
||||
<joint_properties damping="0.0" friction="0.0" />
|
||||
|
||||
@ -39,7 +39,10 @@ add_executable(ros2aria
|
||||
src/gripper.cpp
|
||||
src/wheels.cpp
|
||||
src/clutch.cpp
|
||||
src/state.cpp)
|
||||
src/state.cpp
|
||||
src/restrictions.cpp
|
||||
src/scan.cpp
|
||||
)
|
||||
|
||||
ament_target_dependencies(ros2aria rclcpp)
|
||||
ament_target_dependencies(ros2aria std_srvs)
|
||||
|
||||
@ -8,9 +8,11 @@
|
||||
#include "nav_msgs/msg/odometry.hpp"
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
#include "ros2aria_msgs/msg/robot_info_msg.hpp"
|
||||
#include "ros2aria_msgs/msg/restrictions_msg.hpp"
|
||||
#include "sensor_msgs/msg/joint_state.hpp"
|
||||
#include "sensor_msgs/msg/point_cloud.hpp"
|
||||
#include "sensor_msgs/msg/point_cloud2.hpp"
|
||||
#include "sensor_msgs/msg/laser_scan.hpp"
|
||||
#include "std_msgs/msg/bool.hpp"
|
||||
#include "std_msgs/msg/float32.hpp"
|
||||
#include "std_msgs/msg/int8.hpp"
|
||||
@ -20,6 +22,18 @@
|
||||
|
||||
#define UNUSED(x) (void)(x)
|
||||
|
||||
constexpr double mm_per_sec_to_rad_per_sec(double mm_per_sec){
|
||||
return mm_per_sec / 195.0 / 2.0; /*diameter in mm*/
|
||||
}
|
||||
|
||||
constexpr double encoder_to_rad(long int encoder){
|
||||
return static_cast<double>(encoder) * M_PI / 32768.0;
|
||||
}
|
||||
|
||||
constexpr float distance(float a, float b){
|
||||
return std::sqrt(a*a + b*b);
|
||||
}
|
||||
|
||||
class Ros2Aria : public rclcpp::Node
|
||||
{
|
||||
public:
|
||||
@ -27,11 +41,18 @@ public:
|
||||
~Ros2Aria();
|
||||
|
||||
private:
|
||||
// robot
|
||||
RAIIBot::SharedPtr robot;
|
||||
ArFunctorC<Ros2Aria> sensorCb;
|
||||
ros2aria_msgs::msg::RestrictionsMsg restrictions;
|
||||
float minimal_distance = 0.0;
|
||||
bool obstacle_too_close = true;
|
||||
bool master_stop = true;
|
||||
bool user_stop = true;
|
||||
bool use_sonar = true;
|
||||
uint8_t num_of_sonars = 0;
|
||||
|
||||
void handle_parameters();
|
||||
|
||||
// publishers
|
||||
void publish();
|
||||
|
||||
sensor_msgs::msg::PointCloud handleSonar(rclcpp::Time stamp);
|
||||
@ -56,12 +77,25 @@ private:
|
||||
void publishState();
|
||||
|
||||
// subscribers
|
||||
rclcpp::Subscription<ros2aria_msgs::msg::RestrictionsMsg>::SharedPtr restrictions_sub_;
|
||||
void restrictions_callback(const ros2aria_msgs::msg::RestrictionsMsg::SharedPtr msg);
|
||||
void init_restrictions();
|
||||
|
||||
rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr user_stop_sub_;
|
||||
void user_stop_callback(const std_msgs::msg::Bool::SharedPtr msg);
|
||||
|
||||
rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr master_stop_sub_;
|
||||
void master_stop_callback(const std_msgs::msg::Bool::SharedPtr msg);
|
||||
|
||||
rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
|
||||
void cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg);
|
||||
|
||||
rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr clutch_sub_;
|
||||
void clutch_callback(const std_msgs::msg::Bool::SharedPtr msg);
|
||||
|
||||
rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;
|
||||
void scan_callback(const sensor_msgs::msg::LaserScan msg);
|
||||
|
||||
// services
|
||||
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr stop_service_;
|
||||
void stop(const std::shared_ptr<std_srvs::srv::Empty::Request> request, std::shared_ptr<std_srvs::srv::Empty::Response> response) const;
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include <cmath>
|
||||
|
||||
void Ros2Aria::cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg) {
|
||||
float x, y, z;
|
||||
@ -12,8 +13,23 @@ void Ros2Aria::cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
|
||||
this->robot->pokeWatchdog();
|
||||
|
||||
auto r = robot->getRobot();
|
||||
r->setVel(x * 1e3);
|
||||
|
||||
if (master_stop or obstacle_too_close or user_stop){
|
||||
x = 0.0;
|
||||
y = 0.0;
|
||||
z = 0.0;
|
||||
}
|
||||
else{
|
||||
// apply limits
|
||||
x = std::abs(x) > restrictions.linear_velocity.data ? std::abs(x)/x * restrictions.linear_velocity.data : x;
|
||||
y = std::abs(y) > restrictions.linear_velocity.data ? std::abs(y)/y * restrictions.linear_velocity.data : y;
|
||||
z = std::abs(z) > restrictions.angular_velocity.data ? std::abs(z)/z * restrictions.angular_velocity.data : z;
|
||||
}
|
||||
x *= 1e3;
|
||||
y *= 1e3;
|
||||
z *= 180 / M_PI;
|
||||
r->setVel(x);
|
||||
if (r->hasLatVel())
|
||||
r->setLatVel(y * 1e3);
|
||||
r->setRotVel(z * 180 / M_PI);
|
||||
r->setLatVel(y);
|
||||
r->setRotVel(z);
|
||||
}
|
||||
|
||||
@ -2,12 +2,13 @@
|
||||
|
||||
void Ros2Aria::publish()
|
||||
{
|
||||
// RCLCPP_INFO(this->get_logger(), "publish");
|
||||
rclcpp::Time t = robot->getClock()->now();
|
||||
|
||||
sensor_msgs::msg::PointCloud sonarData = handleSonar(t);
|
||||
publishSonar(sonarData);
|
||||
publishSonarPointCloud2(sonarData);
|
||||
if(use_sonar){
|
||||
sensor_msgs::msg::PointCloud sonarData = handleSonar(t);
|
||||
publishSonar(sonarData);
|
||||
publishSonarPointCloud2(sonarData);
|
||||
}
|
||||
|
||||
auto pose = handlePose(t);
|
||||
publishPose(pose.first);
|
||||
|
||||
21
src/ros2aria/src/restrictions.cpp
Normal file
21
src/ros2aria/src/restrictions.cpp
Normal file
@ -0,0 +1,21 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include <limits>
|
||||
void Ros2Aria::restrictions_callback(const ros2aria_msgs::msg::RestrictionsMsg::SharedPtr msg){
|
||||
restrictions = *msg;
|
||||
RCLCPP_INFO(this->get_logger(), "restrictions: x:%f y:%f z:%f", restrictions.linear_velocity.data, restrictions.angular_velocity.data,
|
||||
restrictions.distance.data);
|
||||
}
|
||||
|
||||
void Ros2Aria::init_restrictions(){
|
||||
restrictions.linear_velocity.data = 0.0;
|
||||
restrictions.angular_velocity.data = 0.0;
|
||||
restrictions.distance.data = std::numeric_limits<float>::max();
|
||||
}
|
||||
|
||||
void Ros2Aria::user_stop_callback(const std_msgs::msg::Bool::SharedPtr msg){
|
||||
user_stop = msg->data;
|
||||
}
|
||||
|
||||
void Ros2Aria::master_stop_callback(const std_msgs::msg::Bool::SharedPtr msg){
|
||||
master_stop = msg->data;
|
||||
}
|
||||
@ -8,18 +8,36 @@ Ros2Aria::Ros2Aria()
|
||||
sensorCb(this, &Ros2Aria::publish)
|
||||
{
|
||||
this->robot = std::make_shared<RAIIBot>(this, "/dev/ttyS0");
|
||||
handle_parameters();
|
||||
|
||||
RCLCPP_INFO(this->get_logger(), "starting subscribers and services");
|
||||
restrictions_sub_ = this->create_subscription<ros2aria_msgs::msg::RestrictionsMsg>(
|
||||
"/pioneers/restrictions", 10, std::bind(&Ros2Aria::restrictions_callback, this, _1));
|
||||
init_restrictions();
|
||||
|
||||
master_stop_sub_ = this->create_subscription<std_msgs::msg::Bool>(
|
||||
"/pioneers/master_stop", 10, std::bind(&Ros2Aria::master_stop_callback, this, _1));
|
||||
user_stop_sub_ = this->create_subscription<std_msgs::msg::Bool>(
|
||||
"user_stop", 10, std::bind(&Ros2Aria::user_stop_callback, this, _1));
|
||||
cmd_vel_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
|
||||
"cmd_vel", 10, std::bind(&Ros2Aria::cmd_vel_callback, this, _1));
|
||||
clutch_sub_ = this->create_subscription<std_msgs::msg::Bool>(
|
||||
"clutch", 10, std::bind(&Ros2Aria::clutch_callback, this, _1));
|
||||
scan_sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
|
||||
"scan", 10, std::bind(&Ros2Aria::scan_callback, this, _1));
|
||||
|
||||
sonar_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud>("sonar", 10);
|
||||
sonar_pointcloud2_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("sonar_pointcloud2", 10);
|
||||
auto r = robot->getRobot();
|
||||
if(use_sonar){
|
||||
sonar_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud>("sonar", 10);
|
||||
sonar_pointcloud2_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("sonar_pointcloud2", 10);
|
||||
}
|
||||
else{
|
||||
r->disableSonar();
|
||||
}
|
||||
r->disableMotors();
|
||||
|
||||
pose_pub_ = this->create_publisher<nav_msgs::msg::Odometry>("odom/wheels", 1000);
|
||||
odom_tf_broadcaster_ =std::make_unique<tf2_ros::TransformBroadcaster>(*this);
|
||||
odom_tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(*this);
|
||||
|
||||
wheels_pub_ = this->create_publisher<sensor_msgs::msg::JointState>("joint_states", 1000);
|
||||
|
||||
@ -34,13 +52,21 @@ Ros2Aria::Ros2Aria()
|
||||
gripper_up_service_ = this->create_service<std_srvs::srv::Empty>("gripper_up", std::bind(&Ros2Aria::gripper_up_callback, this, _1, _2));
|
||||
gripper_down_service_ = this->create_service<std_srvs::srv::Empty>("gripper_down", std::bind(&Ros2Aria::gripper_down_callback, this, _1, _2));
|
||||
|
||||
// listen to sensors
|
||||
auto r = robot->getRobot();
|
||||
r->addSensorInterpTask("ROSPublishingTask", 100, &this->sensorCb);
|
||||
|
||||
RCLCPP_INFO(get_logger(), "NAMESPACE = %s", get_namespace());
|
||||
}
|
||||
|
||||
void Ros2Aria::handle_parameters(){
|
||||
declare_parameter("use_sonar", true);
|
||||
declare_parameter("num_of_sonars", 0);
|
||||
use_sonar = get_parameter("use_sonar").as_bool();
|
||||
num_of_sonars = get_parameter("num_of_sonars").as_int();
|
||||
|
||||
RCLCPP_INFO(get_logger(), "use_sonar = %d", use_sonar);
|
||||
RCLCPP_INFO(get_logger(), "num_of_sonars = %d", num_of_sonars);
|
||||
}
|
||||
|
||||
Ros2Aria::~Ros2Aria()
|
||||
{
|
||||
auto r = robot->getRobot();
|
||||
|
||||
19
src/ros2aria/src/scan.cpp
Normal file
19
src/ros2aria/src/scan.cpp
Normal file
@ -0,0 +1,19 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include <algorithm>
|
||||
#include <limits>
|
||||
|
||||
void Ros2Aria::scan_callback(const sensor_msgs::msg::LaserScan msg){
|
||||
float actual_minimal_distance = std::numeric_limits<float>::max();
|
||||
for(const auto &range: msg.ranges){
|
||||
if(not std::isnan(range) and range > msg.range_min and range < msg.range_max){
|
||||
actual_minimal_distance = std::min(actual_minimal_distance, range);
|
||||
}
|
||||
}
|
||||
minimal_distance = actual_minimal_distance;
|
||||
if(actual_minimal_distance < restrictions.distance.data){
|
||||
RCLCPP_INFO(this->get_logger(), "obstacle detected, minimal_distance: %f", actual_minimal_distance);
|
||||
obstacle_too_close = true;
|
||||
}else{
|
||||
obstacle_too_close = false;
|
||||
}
|
||||
}
|
||||
@ -3,14 +3,14 @@
|
||||
|
||||
sensor_msgs::msg::PointCloud Ros2Aria::handleSonar(rclcpp::Time stamp)
|
||||
{
|
||||
sensor_msgs::msg::PointCloud cloud; //sonar readings.
|
||||
sensor_msgs::msg::PointCloud cloud;
|
||||
cloud.header.stamp = stamp;
|
||||
// sonar sensors relative to base_link
|
||||
cloud.header.frame_id = "sonar_frame";
|
||||
cloud.header.frame_id = std::string(get_namespace()) + "/front_sonar";
|
||||
|
||||
auto r = robot->getRobot();
|
||||
|
||||
for (int i = 0; i < r->getNumSonar(); i++)
|
||||
auto lenght = r->getNumSonar()/2;
|
||||
for (int i = 0; i < num_of_sonars; i++)
|
||||
{
|
||||
ArSensorReading *reading = NULL;
|
||||
reading = r->getSonarReading(i);
|
||||
@ -37,6 +37,10 @@ sensor_msgs::msg::PointCloud Ros2Aria::handleSonar(rclcpp::Time stamp)
|
||||
p.y = reading->getLocalY() / 1000.0;
|
||||
p.z = 0.0;
|
||||
cloud.points.push_back(p);
|
||||
|
||||
if(distance(p.x, p.y) < minimal_distance){
|
||||
obstacle_too_close = true;
|
||||
}
|
||||
}
|
||||
return cloud;
|
||||
}
|
||||
|
||||
@ -20,16 +20,13 @@ void Ros2Aria::publishState()
|
||||
|
||||
robot_info_msg.robot_id.data = static_cast<uint8_t>(std::string(get_namespace()).back());
|
||||
robot_info_msg.battery_voltage.data = r->getRealBatteryVoltageNow();
|
||||
robot_info_msg.minimal_distance.data = minimal_distance;
|
||||
robot_info_msg.twist.linear.x = r->getVel() / 1000;
|
||||
robot_info_msg.twist.linear.y = r->getLatVel() / 1000.0;
|
||||
robot_info_msg.twist.angular.z = r->getRotVel() * M_PI / 180;
|
||||
|
||||
// TODO: actually keep track of robot state (true -> unlocked, false ->
|
||||
// locked). This requires safety plugin to be implemented
|
||||
robot_info_msg.state.data = true;
|
||||
robot_info_msg.state.data = not user_stop;
|
||||
robot_info_msg.clutch.data = r->areMotorsEnabled();
|
||||
// TODO: actually look for obstacles
|
||||
robot_info_msg.obstacle_detected.data = false;
|
||||
robot_info_msg.obstacle_detected.data = obstacle_too_close;
|
||||
|
||||
this->robot_info_pub_->publish(robot_info_msg);
|
||||
}
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
|
||||
#include <cmath>
|
||||
sensor_msgs::msg::JointState Ros2Aria::handleWheels(rclcpp::Time stamp)
|
||||
{
|
||||
sensor_msgs::msg::JointState wheels;
|
||||
@ -16,11 +16,11 @@ sensor_msgs::msg::JointState Ros2Aria::handleWheels(rclcpp::Time stamp)
|
||||
// robot_state_publisher gives namespace
|
||||
wheels.name[0] = "left_wheel_joint";
|
||||
wheels.name[1] = "right_wheel_joint";
|
||||
wheels.position[0] = r->getLeftEncoder();
|
||||
wheels.position[1] = r->getRightEncoder();
|
||||
wheels.velocity[0] = r->getLeftVel();
|
||||
wheels.velocity[1] = r->getRightVel();
|
||||
|
||||
wheels.position[0] = encoder_to_rad(r->getLeftEncoder());
|
||||
wheels.position[1] = encoder_to_rad(r->getRightEncoder());
|
||||
wheels.velocity[0] = mm_per_sec_to_rad_per_sec(r->getLeftVel());
|
||||
wheels.velocity[1] = mm_per_sec_to_rad_per_sec(r->getRightVel());
|
||||
return wheels;
|
||||
}
|
||||
|
||||
|
||||
@ -4,3 +4,4 @@ geometry_msgs/Twist twist
|
||||
std_msgs/Bool state
|
||||
std_msgs/Bool clutch
|
||||
std_msgs/Bool obstacle_detected
|
||||
std_msgs/Float64 minimal_distance
|
||||
|
||||
6
wymagania.md
Normal file
6
wymagania.md
Normal file
@ -0,0 +1,6 @@
|
||||
Student:
|
||||
- odblokowanie robota
|
||||
- odblokowanie
|
||||
|
||||
|
||||
- stan przejściowy na przyciskach
|
||||
Loading…
Reference in New Issue
Block a user