implement clutch

closes #10

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
+

src/ros2aria/CMakeLists.txt

@@ -37,7 +37,8 @@ add_executable(ros2aria
   src/sonar.cpp
   src/pose.cpp
   src/gripper.cpp
-  src/wheels.cpp)
+  src/wheels.cpp
+  src/clutch.cpp)
   
 ament_target_dependencies(ros2aria rclcpp)
 ament_target_dependencies(ros2aria std_srvs)

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/ros2aria.cpp

@@ -12,6 +12,8 @@ Ros2Aria::Ros2Aria()
     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));
 
     sonar_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud>("sonar", 10);
     sonar_pointcloud2_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("sonar_pointcloud2", 10);

src/ros2aria/src/ros2aria.hpp

@@ -7,6 +7,7 @@
 #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 "./raiibot.cpp"
 
@@ -47,6 +48,9 @@ private:
     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;