update comments, close #2

closes #10

.devcontainer/devcontainer.json

@@ -13,14 +13,14 @@
         "--cap-add=SYS_PTRACE",
         "--security-opt=seccomp:unconfined",
         "--security-opt=apparmor:unconfined",
-        "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-        "--device=/dev/ttyS0"
+        "--volume=/tmp/.X11-unix:/tmp/.X11-unix"
+        // "--device=/dev/ttyS0"
     ],
     "containerEnv": {
         "DISPLAY": "${localEnv:DISPLAY}"
     },
-    "workspaceFolder": "/ws",
-    "workspaceMount": "source=/home/lab1_5/ros2aria_ws,target=/ws,type=bind,consistency=delegated",
+    // "workspaceFolder": "/ws",
+    // "workspaceMount": "source=/home/lab1_5/ros2aria_ws,target=/ws,type=bind,consistency=delegated",
     "settings": {
         "terminal.integrated.shell.linux": "/bin/bash"
     },

.gitignore

@@ -51,3 +51,6 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+
+*.code-workspace
+.uploaded

.vscode/c_cpp_properties.json

@@ -8,6 +8,7 @@
       "includePath": [
         "/opt/ros/foxy/include/**",
         "/workspaces/ros2aria/src/ros2aria/include/**",
+        "/workspaces/ros2aria/install/ros2aria_msgs/include/**",
         "/usr/include/**",
         "/usr/local/Aria/include"
       ],

.vscode/settings.json

@@ -1,5 +1,69 @@
 {
     "python.autoComplete.extraPaths": [
         "/opt/ros/foxy/lib/python3.8/site-packages"
+    ],
+    "files.associations": {
+        "functional": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "chrono": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "condition_variable": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp"
+    },
+    "cSpell.words": [
+        "rclcpp"
     ]
 }

Dockerfile.devcontainer

@@ -2,15 +2,15 @@ FROM athackst/ros2:foxy-dev
 
 # ** [Optional] Uncomment this section to install additional packages. **
 #
-# ENV DEBIAN_FRONTEND=noninteractive
-# RUN apt-get update \
-#    && apt-get -y install --no-install-recommends <your-package-list-here> \
-#    #
-#    # Clean up
-#    && apt-get autoremove -y \
-#    && apt-get clean -y \
-#    && rm -rf /var/lib/apt/lists/*
-# ENV DEBIAN_FRONTEND=dialog
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update \
+    && apt-get -y install --no-install-recommends rsync \
+    #
+    # Clean up
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=dialog
 
 # Set up auto-source of workspace for ros user
 
@@ -18,7 +18,7 @@ COPY ./src/AriaCoda /usr/local/Aria
 RUN cd /usr/local/Aria && make -j$(nproc)
 
 ARG WORKSPACE
-RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc
+# RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc
 
 ARG USERNAME=ros
 

Makefile

@@ -0,0 +1,22 @@
+.PHONY: build run upload legacy
+
+SOURCES := $(wildcard src/ros2aria/src/*.cpp)
+HEADERS := $(wildcard src/ros2aria/src/*.hpp)
+
+build/ros2aria/ros2aria: $(SOURCES) $(HEADERS)
+	colcon build
+
+build: build/ros2aria/ros2aria
+
+# .uploaded: build/ros2aria/ros2aria
+upload:
+	rsync -r  . lab1_5@pionier6:~/ros2aria
+	touch .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
+
+legacy:
+	ssh lab1_5@pionier6 -t -- ./run.sh

node_info_ros1.txt

@@ -0,0 +1,61 @@
+--------------------------------------------------------------------------------
+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
+

run.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+export LD_LIBRARY_PATH=/usr/local/Aria/lib
+source /opt/ros/foxy/setup.bash
+source /ws/ros2aria/install/setup.bash
+ros2 run ros2aria ros2aria
+

src/ros2aria/CMakeLists.txt

@@ -17,17 +17,45 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(ros2aria_msgs REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
 
-add_executable(ros2aria src/ros2aria.cpp)
+add_executable(ros2aria
+  src/main.cpp
+  src/ros2aria.cpp
+  src/raiibot.cpp
+  src/cmd_vel.cpp
+  src/publish.cpp
+  src/sonar.cpp
+  src/pose.cpp
+  src/gripper.cpp
+  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)
+ament_target_dependencies(ros2aria sensor_msgs)
+ament_target_dependencies(ros2aria nav_msgs)
+ament_target_dependencies(ros2aria tf2)
+ament_target_dependencies(ros2aria ros2aria_msgs)
+
 target_include_directories(ros2aria PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
   /usr/local/Aria/include)
 
+
 target_link_libraries(ros2aria /usr/local/Aria/lib/libAria.so)
 
 install(TARGETS ros2aria

src/ros2aria/LICENSE

@@ -0,0 +1,285 @@
+Ros2Aria is a ROS 2 node to allow controlling AriaCoda compatible robots via
+ROS.
+    
+Copyright (C) 2021 Wrocław University of Science and Technology
+
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The licenses for most software are designed to take away your
+freedom to share and change it.  By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users.  This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it.  (Some other Free Software Foundation software is covered by
+the GNU Lesser General Public License instead.)  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+this service if you wish), that you receive source code or can get it
+if you want it, that you can change the software or use pieces of it
+in new free programs; and that you know you can do these things.
+
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+anyone to deny you these rights or to ask you to surrender the rights.
+These restrictions translate to certain responsibilities for you if you
+distribute copies of the software, or if you modify it.
+
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+
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+   TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
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+
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+                            NO WARRANTY
+
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+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
+PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
+OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.  THE ENTIRE RISK AS
+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
+REPAIR OR CORRECTION.
+
+  12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
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+POSSIBILITY OF SUCH DAMAGES.
+
+                     END OF TERMS AND CONDITIONS

src/ros2aria/package.xml

@@ -4,14 +4,21 @@
   <name>ros2aria</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
-  <maintainer email="me@irth.pl">ros</maintainer>
-  <license>TODO: License declaration</license>
+  <maintainer email="me@irth.pl">Wojciech Kwolek</maintainer>
+  <license>GPL2</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <depend>rclcpp</depend>
+  <depend>std_srvs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>ros2aria_msgs</depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

src/ros2aria/src/clutch.cpp

@@ -0,0 +1,12 @@
+#include "ros2aria.hpp"
+
+void Ros2Aria::clutch_callback(const std_msgs::msg::Bool::SharedPtr msg)
+{
+    std::lock_guard<RAIIBot> lock(*robot.get());
+
+    auto r = robot->getRobot();
+    if (msg->data)
+        r->enableMotors();
+    else
+        r->disableMotors();
+}

src/ros2aria/src/cmd_vel.cpp

@@ -0,0 +1,20 @@
+#include "ros2aria.hpp"
+
+void Ros2Aria::cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
+{
+    float x, y, z;
+    x = msg->linear.x;
+    y = msg->linear.y;
+    z = msg->angular.z;
+    RCLCPP_INFO(this->get_logger(), "cmd_vel: x:%f y:%f z:%f", x, y, z);
+
+    std::lock_guard<RAIIBot> lock(*robot.get());
+
+    this->robot->pokeWatchdog();
+
+    auto r = robot->getRobot();
+    r->setVel(x * 1e3);
+    if (r->hasLatVel())
+        r->setLatVel(y * 1e3);
+    r->setRotVel(z * 180 / M_PI);
+}

src/ros2aria/src/gripper.cpp

@@ -0,0 +1,34 @@
+#include "./ros2aria.hpp"
+
+void Ros2Aria::gripper_open_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const
+{
+    UNUSED(request);
+    UNUSED(response);
+    std::lock_guard<RAIIBot> lock(*robot.get());
+    auto g = robot->getGripper();
+    g->gripOpen();
+}
+void Ros2Aria::gripper_close_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const
+{
+    UNUSED(request);
+    UNUSED(response);
+    std::lock_guard<RAIIBot> lock(*robot.get());
+    auto g = robot->getGripper();
+    g->gripClose();
+}
+void Ros2Aria::gripper_up_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const
+{
+    UNUSED(request);
+    UNUSED(response);
+    std::lock_guard<RAIIBot> lock(*robot.get());
+    auto g = robot->getGripper();
+    g->liftUp();
+}
+void Ros2Aria::gripper_down_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const
+{
+    UNUSED(request);
+    UNUSED(response);
+    std::lock_guard<RAIIBot> lock(*robot.get());
+    auto g = robot->getGripper();
+    g->liftDown();
+}

src/ros2aria/src/main.cpp

@@ -0,0 +1,18 @@
+#include <cstdio>
+#include <memory>
+
+#include "ros2aria.hpp"
+
+int main(int argc, char **argv)
+{
+  (void)argc;
+  (void)argv;
+
+  printf("hello world ros2aria package\n");
+
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Ros2Aria>());
+  rclcpp::shutdown();
+
+  return 0;
+}

src/ros2aria/src/pose.cpp

@@ -0,0 +1,46 @@
+#include "ros2aria.hpp"
+#include "tf2/utils.h"
+#include "tf2/transform_datatypes.h"
+
+inline void convert_transform_to_pose(const tf2::Transform &trans, geometry_msgs::msg::Pose &pose)
+{
+    geometry_msgs::msg::Transform msg = tf2::toMsg(trans);
+    pose.orientation = msg.rotation;
+    pose.position.x = msg.translation.x;
+    pose.position.y = msg.translation.y;
+    pose.position.z = msg.translation.z;
+}
+
+nav_msgs::msg::Odometry Ros2Aria::handlePose(rclcpp::Time stamp)
+{
+    nav_msgs::msg::Odometry pose;
+
+    auto r = robot->getRobot();
+    ArPose p = r->getPose();
+
+    tf2::Quaternion rotation;
+    rotation.setRPY(0, 0, p.getTh() * M_PI / 180);
+
+    tf2::Vector3 position = tf2::Vector3(p.getX() / 1000, p.getY() / 1000, 0);
+
+    convert_transform_to_pose(tf2::Transform(rotation, position),
+                              pose.pose.pose);
+
+    pose.twist.twist.linear.x = r->getVel() / 1000;
+    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.stamp = stamp;
+
+    return pose;
+}
+
+void Ros2Aria::publishPose(nav_msgs::msg::Odometry pose)
+{
+    if (this->pose_pub_->get_subscription_count() == 0)
+        return;
+
+    this->pose_pub_->publish(pose);
+}

src/ros2aria/src/publish.cpp

@@ -0,0 +1,19 @@
+#include "ros2aria.hpp"
+
+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);
+
+    nav_msgs::msg::Odometry pose = handlePose(t);
+    publishPose(pose);
+
+    sensor_msgs::msg::JointState wheels = handleWheels(t);
+    publishWheels(wheels);
+
+    publishState(t);
+}

src/ros2aria/src/raiibot.cpp

@@ -0,0 +1,143 @@
+#include <string>
+#include <memory>
+#include <iostream>
+
+#include "Aria/Aria.h"
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono_literals;
+
+class RAIIBot
+{
+public:
+    typedef std::shared_ptr<RAIIBot> SharedPtr;
+
+    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();
+    }
+
+    ~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;
+        }
+
+        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;
+    }
+
+    ArRobot *getRobot()
+    {
+        return this->robot;
+    }
+
+    ArGripper *getGripper()
+    {
+        return this->gripper;
+    }
+
+    rclcpp::Clock::SharedPtr getClock()
+    {
+        return this->clock;
+    }
+
+    void lock()
+    {
+        if (this->robot != nullptr)
+            this->robot->lock();
+    }
+
+    void unlock()
+    {
+        if (this->robot != nullptr)
+            this->robot->unlock();
+    }
+
+    void pokeWatchdog()
+    {
+        // this should probably be made thread safe, or something?
+        this->lastWatchdogPoke = this->clock->now();
+    }
+
+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()
+    {
+        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 watchdog_cb()
+    {
+        auto now = this->clock->now();
+        if (now - this->lastWatchdogPoke > 1s)
+        {
+            std::lock_guard<RAIIBot> lock(*this);
+            auto r = this->getRobot();
+            r->setVel(0);
+            r->setRotVel(0);
+            if (r->hasLatVel())
+                r->setLatVel(0);
+        }
+    }
+};

src/ros2aria/src/ros2aria.cpp

@@ -1,46 +1,55 @@
-#include <cstdio>
+#include "ros2aria.hpp"
 
-#include "Aria/Aria.h"
+using std::placeholders::_1;
+using std::placeholders::_2;
 
-int main(int argc, char **argv)
+Ros2Aria::Ros2Aria()
+    : Node("ros2aria"),
+      sensorCb(this, &Ros2Aria::publish)
 {
-  (void)argc;
-  (void)argv;
+    this->robot = std::make_shared<RAIIBot>(this, "/dev/ttyS0"); // TODO: use args for port
 
-  printf("hello world ros2aria package\n");
-  ArRobot *robot = new ArRobot();
+    RCLCPP_INFO(this->get_logger(), "starting subscribers and services");
+    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));
 
-  ArArgumentBuilder *args = new ArArgumentBuilder();        //  never freed
-  ArArgumentParser *argparser = new ArArgumentParser(args); // Warning never freed
-  argparser->loadDefaultArguments();                        // adds any arguments given in /etc/Aria.args.  Useful on robots with unusual serial port or baud rate (e.g. pioneer lx)
-  args->add("-robotPort /dev/ttyS0");                       // pass robot's serial port to Aria
-  // args->add("-robotLogPacketsReceived");                    // log received packets
-  // args->add("-robotLogPacketsSent");                        // log sent packets
-  args->add("-robotLogVelocitiesReceived"); // log received velocities
-  args->add("-robotLogMovementSent");
-  args->add("-robotLogMovementReceived");
-  ArRobotConnector *conn = new ArRobotConnector(argparser, robot); // warning never freed
-  if (!conn->connectRobot())
-  {
-    printf("RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device, or any errors reported above)\n");
-    return 1;
-  }
-  robot->runAsync(true);
-  sleep(3);
-  printf("Enabling motors\n");
-  robot->enableMotors();
+    sonar_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud>("sonar", 10);
+    sonar_pointcloud2_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("sonar_pointcloud2", 10);
 
-  printf("Enabled motors\n");
-  robot->setVel(2);
-  robot->move(500);
+    pose_pub_ = this->create_publisher<nav_msgs::msg::Odometry>("pose", 1000);
 
-  sleep(10);
+    wheels_pub_ = this->create_publisher<sensor_msgs::msg::JointState>("wheels", 1000);
 
-  robot->move(-500);
-  sleep(2);
-  conn->disconnectAll();
+    battery_recharge_state_pub_ = this->create_publisher<std_msgs::msg::Int8>("battery_recharge_state", 10);
+    battery_state_of_charge_pub_ = this->create_publisher<std_msgs::msg::Float32>("battery_state_of_charge", 10);
+    robot_info_pub_ = this->create_publisher<ros2aria_msgs::msg::RobotInfoMsg>("robot_info", 10);
 
-  return 0;
+    // services
+    stop_service_ = this->create_service<std_srvs::srv::Empty>("stop", std::bind(&Ros2Aria::stop, this, _1, _2));
+    gripper_open_service_ = this->create_service<std_srvs::srv::Empty>("gripper_open", std::bind(&Ros2Aria::gripper_open_callback, this, _1, _2));
+    gripper_close_service_ = this->create_service<std_srvs::srv::Empty>("gripper_close", std::bind(&Ros2Aria::gripper_close_callback, this, _1, _2));
+    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));
 
-  return 0;
+    // listen to sensors
+    auto r = robot->getRobot();
+    r->addSensorInterpTask("ROSPublishingTask", 100, &this->sensorCb);
+
+    sonar_frame_id = "pionier6"; // TODO: use args
+}
+
+Ros2Aria::~Ros2Aria()
+{
+    auto r = robot->getRobot();
+    r->remSensorInterpTask("ROSPublishingTask");
+}
+
+void Ros2Aria::stop(const std::shared_ptr<std_srvs::srv::Empty::Request> request, std::shared_ptr<std_srvs::srv::Empty::Response> response) const
+{
+    UNUSED(request);
+    UNUSED(response);
+    RCLCPP_INFO(this->get_logger(), "stop");
+    rclcpp::shutdown();
 }

src/ros2aria/src/ros2aria.hpp

@@ -0,0 +1,77 @@
+#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/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 "ros2aria_msgs/msg/robot_info_msg.hpp"
+#include "./raiibot.cpp"
+
+#define UNUSED(x) (void)(x)
+
+class Ros2Aria : public rclcpp::Node
+{
+public:
+    Ros2Aria();
+    ~Ros2Aria();
+
+private:
+    // robot
+    RAIIBot::SharedPtr robot;
+    ArFunctorC<Ros2Aria> sensorCb;
+
+    // config
+    std::string sonar_frame_id;
+
+    // publishers
+    void publish();
+
+    sensor_msgs::msg::PointCloud handleSonar(rclcpp::Time stamp);
+    rclcpp::Publisher<sensor_msgs::msg::PointCloud>::SharedPtr sonar_pub_;
+    rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr sonar_pointcloud2_pub_;
+    void publishSonar(sensor_msgs::msg::PointCloud cloud);
+    void publishSonarPointCloud2(sensor_msgs::msg::PointCloud cloud);
+
+    nav_msgs::msg::Odometry handlePose(rclcpp::Time stamp);
+    rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pose_pub_;
+    void publishPose(nav_msgs::msg::Odometry pose);
+
+    sensor_msgs::msg::JointState handleWheels(rclcpp::Time stamp);
+    rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr wheels_pub_;
+    void publishWheels(sensor_msgs::msg::JointState wheels);
+
+    rclcpp::Publisher<std_msgs::msg::Int8>::SharedPtr battery_recharge_state_pub_;
+    rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr battery_state_of_charge_pub_;
+    rclcpp::Publisher<ros2aria_msgs::msg::RobotInfoMsg>::SharedPtr robot_info_pub_;
+    void publishState(rclcpp::Time stamp);
+
+    // subscribers
+    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);
+
+    // 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;
+
+    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr gripper_open_service_;
+    void gripper_open_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const;
+
+    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr gripper_close_service_;
+    void gripper_close_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const;
+
+    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr gripper_up_service_;
+    void gripper_up_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const;
+
+    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr gripper_down_service_;
+    void gripper_down_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const;
+};

src/ros2aria/src/sonar.cpp

@@ -0,0 +1,62 @@
+#include "ros2aria.hpp"
+
+#include "sensor_msgs/point_cloud_conversion.hpp"
+
+sensor_msgs::msg::PointCloud Ros2Aria::handleSonar(rclcpp::Time stamp)
+{
+    sensor_msgs::msg::PointCloud cloud; //sonar readings.
+    cloud.header.stamp = stamp;
+    // sonar sensors relative to base_link
+    cloud.header.frame_id = this->sonar_frame_id;
+
+    auto r = robot->getRobot();
+
+    for (int i = 0; i < r->getNumSonar(); i++)
+    {
+        ArSensorReading *reading = NULL;
+        reading = r->getSonarReading(i);
+        if (!reading)
+        {
+            RCLCPP_INFO(this->get_logger(), "did not receive a sonar reading.");
+            continue;
+        }
+
+        // getRange() will return an integer between 0 and 5000 (5m)
+        // local (x,y). Appears to be from the centre of the robot, since values may
+        // exceed 5000. This is good, since it means we only need 1 transform.
+        // x & y seem to be swapped though, i.e. if the robot is driving north
+        // x is north/south and y is east/west.
+        //
+        //ArPose sensor = reading->getSensorPosition();  //position sensor.
+        // sonar_debug_info << "(" << reading->getLocalX()
+        //                  << ", " << reading->getLocalY()
+        //                  << ") from (" << sensor.getX() << ", "
+        //                  << sensor.getY() << ") ;; " ;
+        //add sonar readings (robot-local coordinate frame) to cloud
+        geometry_msgs::msg::Point32 p;
+        p.x = reading->getLocalX() / 1000.0;
+        p.y = reading->getLocalY() / 1000.0;
+        p.z = 0.0;
+        cloud.points.push_back(p);
+    }
+    return cloud;
+}
+
+void Ros2Aria::publishSonar(sensor_msgs::msg::PointCloud cloud)
+{
+    if (this->sonar_pub_->get_subscription_count() == 0)
+        return;
+
+    this->sonar_pub_->publish(cloud);
+}
+
+void Ros2Aria::publishSonarPointCloud2(sensor_msgs::msg::PointCloud cloud)
+{
+    if (this->sonar_pointcloud2_pub_->get_subscription_count() == 0)
+        return;
+
+    sensor_msgs::msg::PointCloud2 cloud2;
+    sensor_msgs::convertPointCloudToPointCloud2(cloud, cloud2);
+
+    this->sonar_pointcloud2_pub_->publish(cloud2);
+}

src/ros2aria/src/state.cpp

@@ -0,0 +1,44 @@
+#include "ros2aria.hpp"
+
+void Ros2Aria::publishState(rclcpp::Time stamp)
+{
+    auto r = this->robot->getRobot();
+
+    // TODO: original rosaria only publishes it when it changes.
+    if (this->battery_recharge_state_pub_->get_subscription_count() > 0)
+    {
+        char s = r->getChargeState();
+        std_msgs::msg::Int8 recharge_state;
+        recharge_state.data = s;
+        this->battery_recharge_state_pub_->publish(recharge_state);
+    }
+
+    // TODO: our robots don't have this, cannot test
+    if (r->haveStateOfCharge() && this->battery_state_of_charge_pub_->get_subscription_count() > 0)
+    {
+        std_msgs::msg::Float32 soc;
+        soc.data = r->getStateOfCharge() / 100.0;
+        this->battery_state_of_charge_pub_->publish(soc);
+    }
+
+    if (this->robot_info_pub_->get_subscription_count() > 0)
+    {
+        ros2aria_msgs::msg::RobotInfoMsg robot_info_msg;
+
+        // TODO: allow setting the robot_id
+        robot_info_msg.robot_id.data = 6;
+        robot_info_msg.battery_voltage.data = r->getRealBatteryVoltageNow();
+        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.clutch.data = r->areMotorsEnabled();
+        // TODO: actually look for obstacles
+        robot_info_msg.obstacle_detected.data = false;
+
+        this->robot_info_pub_->publish(robot_info_msg);
+    }
+}

src/ros2aria/src/wheels.cpp

@@ -0,0 +1,32 @@
+#include "ros2aria.hpp"
+
+sensor_msgs::msg::JointState Ros2Aria::handleWheels(rclcpp::Time stamp)
+{
+    sensor_msgs::msg::JointState wheels;
+
+    auto r = this->robot->getRobot();
+
+    r->requestEncoderPackets(); // TODO: check if this is synchronous or do we have a race condition or something
+    wheels.header.stamp = stamp;
+    wheels.name.resize(2);
+    wheels.position.resize(2);
+    wheels.velocity.resize(2);
+    wheels.effort.resize(0);
+
+    wheels.name[0] = "Wheel_L";
+    wheels.name[1] = "Wheel_R";
+    wheels.position[0] = r->getLeftEncoder();
+    wheels.position[1] = r->getRightEncoder();
+    wheels.velocity[0] = r->getLeftVel();
+    wheels.velocity[1] = r->getRightVel();
+
+    return wheels;
+}
+
+void Ros2Aria::publishWheels(sensor_msgs::msg::JointState wheels)
+{
+    if (this->wheels_pub_->get_subscription_count() == 0)
+        return;
+
+    this->wheels_pub_->publish(wheels);
+}

src/ros2aria_msgs/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.5)
+project(ros2aria_msgs)
+
+# 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)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+rosidl_generate_interfaces(ros2aria_msgs
+	"msg/RestrictionsMsg.msg"
+	"msg/RobotInfoMsg.msg"
+	DEPENDENCIES std_msgs geometry_msgs
+	)
+
+
+
+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()
+
+
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

src/ros2aria_msgs/msg/RestrictionsMsg.msg

@@ -0,0 +1,3 @@
+std_msgs/Float64 distance
+std_msgs/Float64 linear_velocity
+std_msgs/Float64 angular_velocity

src/ros2aria_msgs/msg/RobotInfoMsg.msg

@@ -0,0 +1,6 @@
+std_msgs/UInt8 robot_id
+std_msgs/Float64 battery_voltage
+geometry_msgs/Twist twist
+std_msgs/Bool state
+std_msgs/Bool clutch
+std_msgs/Bool obstacle_detected

src/ros2aria_msgs/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+	<name>ros2aria_msgs</name>
+	<version>0.0.0</version>
+	<description>TODO: Package description</description>
+	<maintainer email="me@irth.pl">wojciech</maintainer>
+	<license>TODO: License declaration</license>
+
+	<buildtool_depend>ament_cmake</buildtool_depend>
+
+	<test_depend>ament_lint_auto</test_depend>
+	<test_depend>ament_lint_common</test_depend>
+
+	<build_depend>rosidl_default_generators</build_depend>
+
+	<exec_depend>rosidl_default_runtime</exec_depend>
+
+	<member_of_group>rosidl_interface_packages</member_of_group>
+
+	<export>
+		<build_type>ament_cmake</build_type>
+	</export>
+</package>