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No commits in common. "humble" and "main" have entirely different histories.
@ -6,7 +6,7 @@
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// "WORKSPACE": "${containerWorkspaceFolder}"
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// }
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// },
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"image": "delicjusz/ros2aria",
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"image": "irth7/ros2aria-dev",
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"remoteUser": "ros",
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"runArgs": [
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"--network=host",
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6
.vscode/c_cpp_properties.json
vendored
6
.vscode/c_cpp_properties.json
vendored
@ -10,11 +10,9 @@
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"/workspaces/ros2aria/src/ros2aria/include/**",
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"/workspaces/ros2aria/install/ros2aria_msgs/include/**",
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"/usr/include/**",
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"/usr/local/Aria/include",
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"${workspaceFolder}/src/ros2aria/include/**"
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"/usr/local/Aria/include"
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],
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"name": "ROS",
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"configurationProvider": "ms-vscode.cmake-tools"
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"name": "ROS"
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}
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],
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"version": 4
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29
.vscode/settings.json
vendored
29
.vscode/settings.json
vendored
@ -61,34 +61,9 @@
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||||
"thread": "cpp",
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"cinttypes": "cpp",
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"typeindex": "cpp",
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"typeinfo": "cpp",
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"any": "cpp",
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"hash_map": "cpp",
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"hash_set": "cpp",
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"strstream": "cpp",
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"bitset": "cpp",
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"cfenv": "cpp",
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"compare": "cpp",
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"complex": "cpp",
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"concepts": "cpp",
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"forward_list": "cpp",
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"unordered_set": "cpp",
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"source_location": "cpp",
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"iomanip": "cpp",
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"numbers": "cpp",
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"semaphore": "cpp",
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"stop_token": "cpp",
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"valarray": "cpp",
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"variant": "cpp",
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"regex": "cpp",
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"ranges": "cpp"
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"typeinfo": "cpp"
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},
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"cSpell.words": [
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"rclcpp"
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],
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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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"cmake.sourceDirectory": "/home/jdelicat/lab_repos/ros2aria/"
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]
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}
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@ -1,19 +0,0 @@
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ARG ROS_DISTRO=humble
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FROM husarnet/ros:humble-ros-core
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ARG ROS_DISTRO
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SHELL ["/bin/bash", "-c"]
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RUN mkdir -p /ros2_ws/src && cd /ros2_ws/src
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WORKDIR /ros2_ws
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RUN apt-get update && apt-get install -y \
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build-essential
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COPY ./src/AriaCoda /usr/local/Aria
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RUN cd /usr/local/Aria && make -j$(nproc) && export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/Aria
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# clear ubuntu packages
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RUN apt-get clean && \
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apt-get remove -y \
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build-essential && \
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rm -rf /var/lib/apt/lists/*
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@ -1,7 +0,0 @@
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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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25
Makefile
25
Makefile
@ -6,34 +6,17 @@ HEADERS := $(wildcard src/ros2aria/src/*.hpp)
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build/ros2aria/ros2aria: $(SOURCES) $(HEADERS)
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colcon build
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build:
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docker build -f Dockerfile -t delicjusz/pioneer .
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build: build/ros2aria/ros2aria
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# .uploaded: build/ros2aria/ros2aria
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upload:
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rsync -r . lab1_5@pionier2:~/ros2aria
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rsync -r . lab1_5@pionier6:~/ros2aria
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touch .uploaded
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# upload: .uploaded
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run: upload
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ssh lab1_5@pionier2 -t -- docker run --rm --network=host -it --device /dev/ttyS0 delicjusz/ros2aria /bin/bash /ros2_ws/ros2aria/run.sh
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# export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/Aria/lib ros2 run ros2aria ros2aria --ros-args -p pioneer_id:=2
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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
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legacy:
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ssh lab1_5@pionier2 -t -- ./run.sh
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push_ros2aria:
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./build_devcontainer.sh
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docker push delicjusz/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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ssh lab1_5@pionier6 -t -- ./run.sh
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21
README.md
21
README.md
@ -1,21 +0,0 @@
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# Instruction on station
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Export discovery server configuration file:
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```bash
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export FASTRTPS_DEFAULT_PROFILES_FILE=$(pwd)/fastdds.xml
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```
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Export discovery server ip:
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```
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export ROS_DISCOVERY_SERVER=10.104.16.240:11811
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```
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Export fastdds ros middleware implementation:
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```
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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```
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Restart ROS 2 daemon:
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```
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ros2 daemon stop
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ros2 daemon start
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```
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@ -1,3 +1,3 @@
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#!/bin/sh
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docker build -f Dockerfile.aria -t delicjusz/ros2aria .
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docker build --build-arg WORKSPACE=/ws -f Dockerfile.devcontainer -t irth7/ros2aria-dev .
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@ -1,14 +0,0 @@
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# docker compose -f compose.decawave.yaml up
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services:
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decawave:
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image: delicjusz/decawave
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network_mode: host
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ipc: host
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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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devices:
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- /dev/decawave
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command: ros2 launch decawave_driver decawave.launch.py namespace:=pioneer${PIONEER_ID}/
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@ -1,18 +0,0 @@
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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:
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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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devices:
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- /dev/hokuyo
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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/hokuyo
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@ -1,35 +0,0 @@
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# docker compose -f compose.ros2aria.yaml up
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services:
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ros2aria-dev:
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image: delicjusz/pioneer
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network_mode: host
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ipc: host
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environment:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/Aria/lib
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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- ROS_DISCOVERY_SERVER=10.104.16.240:11811
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volumes:
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- ./fastdds.xml:/fastdds.xml
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devices:
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- /dev/ttyS0
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command: ros2 launch pioneer_bringup robot.launch.py namespace:=pioneer${PIONEER_ID}/
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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:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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- ROS_DISCOVERY_SERVER=10.104.16.240:11811
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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
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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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@ -1,15 +0,0 @@
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# docker compose -f compose.ros2aria.yaml up
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services:
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ros2aria-dev:
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image: delicjusz/pioneer:humble-18012024
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network_mode: host
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ipc: host
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environment:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/Aria/lib
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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volumes:
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- ./fastdds.xml:/fastdds.xml
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devices:
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- /dev/ttyS0
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command: ros2 launch pioneer_bringup robot.launch.py namespace:=pioneer${PIONEER_ID}/
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@ -1,14 +0,0 @@
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[Unit]
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Description=%i service with docker compose
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PartOf=docker.service
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After=docker.service
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[Service]
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Type=oneshot
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RemainAfterExit=true
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WorkingDirectory=/etc/docker/compose/%i
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ExecStart=/usr/bin/docker compose up -d --remove-orphans
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ExecStop=/usr/bin/docker compose down
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[Install]
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WantedBy=multi-user.target
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25
fastdds.xml
25
fastdds.xml
@ -1,25 +0,0 @@
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<dds>
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<profiles>
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<participant profile_name="super_client_profile" is_default_profile="true">
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<rtps>
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<builtin>
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<discovery_config>
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<discoveryProtocol>SUPER_CLIENT</discoveryProtocol>
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<discoveryServersList>
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<RemoteServer prefix="44.53.00.5f.45.50.52.4f.53.49.4d.41">
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<metatrafficUnicastLocatorList>
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<locator>
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<udpv4>
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<address>10.104.16.240</address>
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<port>11811</port>
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||||
</udpv4>
|
||||
</locator>
|
||||
</metatrafficUnicastLocatorList>
|
||||
</RemoteServer>
|
||||
</discoveryServersList>
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||||
</discovery_config>
|
||||
</builtin>
|
||||
</rtps>
|
||||
</participant>
|
||||
</profiles>
|
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</dds>
|
||||
61
node_info_ros1.txt
Normal file
61
node_info_ros1.txt
Normal file
@ -0,0 +1,61 @@
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||||
--------------------------------------------------------------------------------
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||||
Node [/PIONIER6/RosAria]
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||||
Publications:
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||||
* /PIONIER6/RosAria/battery_recharge_state [std_msgs/Int8]
|
||||
* /PIONIER6/RosAria/battery_state_of_charge [std_msgs/Float32]
|
||||
* /PIONIER6/RosAria/bumper_state [rosaria/BumperState]
|
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* /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:
|
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* /PIONIER/master_stop [std_msgs/Bool]
|
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* /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
|
||||
|
||||
2
run.sh
2
run.sh
@ -1,6 +1,6 @@
|
||||
#!/bin/bash
|
||||
export LD_LIBRARY_PATH=/usr/local/Aria/lib
|
||||
source /opt/ros/foxy/setup.bash
|
||||
source /ros2_ws/ros2aria/install/setup.bash
|
||||
source /ws/ros2aria/install/setup.bash
|
||||
ros2 run ros2aria ros2aria
|
||||
|
||||
|
||||
@ -1,11 +0,0 @@
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(pioneer_bringup)
|
||||
|
||||
find_package(ament_cmake REQUIRED)
|
||||
|
||||
install(DIRECTORY
|
||||
launch
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
ament_package()
|
||||
@ -1,53 +0,0 @@
|
||||
from launch_ros.substitutions import FindPackageShare
|
||||
from launch_ros.actions import Node
|
||||
from launch.substitutions import Command, LaunchConfiguration, PythonExpression
|
||||
from launch.conditions import IfCondition, UnlessCondition
|
||||
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
|
||||
import launch
|
||||
from launch.substitutions import Command, LaunchConfiguration
|
||||
import launch_ros
|
||||
import os
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
from launch import LaunchDescription
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
|
||||
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||
from launch.conditions import IfCondition
|
||||
from launch_ros.actions import Node, PushRosNamespace
|
||||
from ament_index_python.packages import get_package_share_directory
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
pioneer_description = get_package_share_directory('pioneer_description')
|
||||
default_model_path = os.path.join(pioneer_description, 'urdf/pioneer3dx.urdf.xacro')
|
||||
|
||||
namespace = LaunchConfiguration('namespace')
|
||||
namespace_arg = DeclareLaunchArgument(
|
||||
'namespace',
|
||||
default_value='pioneer0/'
|
||||
)
|
||||
|
||||
robot_state_publisher_node = Node(
|
||||
namespace=namespace,
|
||||
package='robot_state_publisher',
|
||||
executable='robot_state_publisher',
|
||||
parameters=[
|
||||
{'robot_description': Command(['xacro ', default_model_path])},
|
||||
{'frame_prefix': namespace}
|
||||
]
|
||||
)
|
||||
|
||||
ros2aria = Node(
|
||||
namespace=namespace,
|
||||
package='ros2aria',
|
||||
executable='ros2aria',
|
||||
parameters=[
|
||||
{'use_sonar': False}
|
||||
]
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
namespace_arg,
|
||||
robot_state_publisher_node,
|
||||
ros2aria
|
||||
])
|
||||
@ -1,21 +0,0 @@
|
||||
<?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>pioneer_bringup</name>
|
||||
<version>0.0.0</version>
|
||||
<description>TODO: Package description</description>
|
||||
<maintainer email="jakub.delicat@husarion.com">deli</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||
|
||||
<depend>xacro</depend>
|
||||
<depend>tf2_ros</depend>
|
||||
<depend>robot_state_publisher</depend>
|
||||
|
||||
<depend>pioneer_description</depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@ -1,14 +0,0 @@
|
||||
cmake_minimum_required(VERSION 3.8)
|
||||
project(pioneer_description)
|
||||
|
||||
find_package(ament_cmake REQUIRED)
|
||||
|
||||
install(
|
||||
DIRECTORY
|
||||
meshes
|
||||
urdf
|
||||
DESTINATION share/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
|
||||
ament_package()
|
||||
Binary file not shown.
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@ -1,27 +0,0 @@
|
||||
<package>
|
||||
<name>pioneer_description</name>
|
||||
<version>1.1.0</version>
|
||||
<description>URDF file descriptions for various Adept MobileRobots/ActivMedia robots</description>
|
||||
<maintainer email="reed.hedges@adept.com">Reed Hedges</maintainer>
|
||||
|
||||
<license>BSD</license>
|
||||
|
||||
<url type="website">http://wiki.ros.org/Robots/Pioneer</url>
|
||||
|
||||
<author email="hunter.allen@Vanderbilt.edu">Hunter Allen</author>
|
||||
<author email="dfseifer@usc.edu">David Feil-Seifer</author>
|
||||
<author email="reed.hedges@adept.com">Reed Hedges</author>
|
||||
<author>Brian Gerkey</author>
|
||||
<author>Kasper Stoy</author>
|
||||
<author>Richard Vaughan</author>
|
||||
<author>Andrew Howard</author>
|
||||
<author>Tucker Hermans</author>
|
||||
<author>ActivMedia Robotics LLC</author>
|
||||
<author>MobileRobots Inc.</author>
|
||||
<author email="jakub.delicat@pwr.edu.pl">Jakub Delicat</author>
|
||||
|
||||
|
||||
<export>
|
||||
<build_type>ament_cmake</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@ -1,393 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="pioneer3dx"
|
||||
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
|
||||
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
|
||||
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
|
||||
xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<!--<include filename="$(find amr_robots_description)/urdf/materials.xacro"/>-->
|
||||
<xacro:include filename="$(find pioneer_description)/urdf/pioneer3dx_wheel.xacro"/>
|
||||
|
||||
<!-- Chassis -->
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<mass value="3.5"/>
|
||||
<!--<origin xyz="-0.025 0 -0.223"/>-->
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0"
|
||||
iyy="1" iyz="0"
|
||||
izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="-0.045 0 0.148" rpy="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="$(find pioneer_description)/meshes/chassis.stl"/>
|
||||
</geometry>
|
||||
<material name="ChassisRed">
|
||||
<color rgba="0.851 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="top_plate">
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0"
|
||||
iyy="1" iyz="0"
|
||||
izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="$(find pioneer_description)/meshes/top.stl"/>
|
||||
</geometry>
|
||||
<material name="TopBlack">
|
||||
<color rgba="0.038 0.038 0.038 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<gazebo reference="top_plate">
|
||||
<!-- material value="Gazebo/Black"/ -->
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
<joint name="base_top_joint" type="fixed">
|
||||
<origin xyz="-0.045 0 0.234" rpy="0 0 0"/>
|
||||
<axis xzy="0 0 1"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="top_plate"/>
|
||||
</joint>
|
||||
|
||||
<link name="front_sonar">
|
||||
<inertial>
|
||||
<mass value="0.0001"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0"
|
||||
iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="$(find pioneer_description)/meshes/front_sonar.stl"/>
|
||||
</geometry>
|
||||
<material name="SonarYellow">
|
||||
<color rgba="0.715 0.583 0.210 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<gazebo reference="front_sonar">
|
||||
<material value="Gazebo/Yellow"/>
|
||||
</gazebo>
|
||||
|
||||
<joint name="base_front_joint" type="fixed">
|
||||
<origin xyz="-0.198 0 0.208" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front_sonar"/>
|
||||
</joint>
|
||||
|
||||
<joint name="base_back_joint" type="fixed">
|
||||
<origin xyz="0.109 0 0.209" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="back_sonar"/>
|
||||
</joint>
|
||||
<link name="back_sonar">
|
||||
<inertial>
|
||||
<mass value="0"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0"
|
||||
iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="$(find pioneer_description)/meshes/back_sonar.stl"/>
|
||||
</geometry>
|
||||
<material name="SonarYellow">
|
||||
<color rgba="0.715 0.583 0.210 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<!-- Caster -->
|
||||
<joint name="base_caster_swivel_joint" type="continuous">
|
||||
<origin xyz="-0.185 0 0.055" rpy="0 0 0"/>
|
||||
<anchor xyz="0 0 0"/>
|
||||
<limit effort="100" velocity="100" k_velocity="0" />
|
||||
<joint_properties damping="0.0" friction="0.0" />
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_swivel"/>
|
||||
</joint>
|
||||
<link name="caster_swivel">
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.01" ixy="0" ixz="0"
|
||||
iyy="0.01" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="$(find pioneer_description)/meshes/caster_swivel.stl"/>
|
||||
</geometry>
|
||||
<material name="caster_swivel">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<gazebo reference="caster_swivel">
|
||||
<material value="Gazebo/Grey"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- Center Wheel + Hubcap -->
|
||||
<link name="caster_hubcap">
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
|
||||
iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="$(find pioneer_description)/meshes/caster_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="caster_swivel">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="caster_hubcap">
|
||||
<material value="Gazebo/Grey"/>
|
||||
</gazebo>
|
||||
|
||||
<joint name="caster_swivel_hubcap_joint" type="continuous">
|
||||
<origin xyz="-0.026 0 -0.016" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<anchor xyz="0 0 0"/>
|
||||
<limit effort="100" velocity="100" k_velocity="0" />
|
||||
<joint_properties damping="0.0" friction="0.0" />
|
||||
<parent link="caster_swivel"/>
|
||||
<child link="caster_wheel"/>
|
||||
</joint>
|
||||
|
||||
<link name="caster_wheel">
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
|
||||
iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="${-3.1415927/2.0} 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
|
||||
<cylinder radius="0.0375" length="0.01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="left_hub">
|
||||
<material value="Gazebo/Yellow"/>
|
||||
</gazebo>
|
||||
|
||||
<joint name="caster_wheel_joint" type="fixed">
|
||||
<origin xyz="-0.0035 0 -0.001" rpy="0 0 0"/>
|
||||
<parent link="caster_wheel"/>
|
||||
<child link="caster_hubcap"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_hub">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="$(find pioneer_description)/meshes/left_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="HubcapYellow">
|
||||
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="${-3.1415927/2.0} 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
|
||||
<cylinder radius="0.09" length="0.01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="left_hub_joint" type="fixed">
|
||||
<origin xyz="0 0.15 0.08" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="left_hub"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_wheel">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="$(find 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="continuous"> <!-- type="continuous" -->
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="left_hub"/>
|
||||
<child link="left_wheel"/>
|
||||
</joint>
|
||||
|
||||
<gazebo reference="left_wheel_joint">
|
||||
<material value="Gazebo/Black"/>
|
||||
</gazebo>
|
||||
|
||||
<link name="right_hub">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="$(find pioneer_description)/meshes/right_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="HubcapYellow">
|
||||
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="${-3.1415927/2.0} 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
|
||||
<cylinder radius="0.09" length="0.01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="right_hub">
|
||||
<material value="Gazebo/Yellow"/>
|
||||
</gazebo>
|
||||
|
||||
<joint name="right_hub_joint" type="fixed">
|
||||
<origin xyz="0 -0.15 0.08" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="right_hub"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_wheel">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="$(find 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="continuous"> <!-- type="continuous" -->
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<parent link="right_hub"/>
|
||||
<child link="right_wheel"/>
|
||||
</joint>
|
||||
<gazebo reference="right_wheel_joint">
|
||||
<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"/>
|
||||
<top_plate parent="base_link"/>
|
||||
</create>
|
||||
|
||||
<gazebo>
|
||||
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>100</updateRate>
|
||||
<leftJoint>left_wheel_joint</leftJoint>
|
||||
<rightJoint>right_wheel_joint</rightJoint>
|
||||
<wheelSeparation>0.158</wheelSeparation>
|
||||
<wheelDiameter>0.12</wheelDiameter>
|
||||
<torque>5</torque>
|
||||
<!-- interface:position name="position_iface_0"/ -->
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<robotBaseFrame>base_link</robotBaseFrame>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
</plugin>
|
||||
|
||||
<!-- TODO include P3D (ground truth) plugin -->
|
||||
|
||||
|
||||
<!-- XXX old urdf included a gazebo_ros_controller_manager plugin with a 1 second update rate -->
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
@ -1,108 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<robot
|
||||
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
|
||||
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
|
||||
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
|
||||
xmlns:xacro="http://ros.org/wiki/xacro"
|
||||
>
|
||||
|
||||
<!--<include filename="$(find amr_robots_description)/urdf/materials.xacro"/>-->
|
||||
|
||||
<!-- Properties (Constants) -->
|
||||
<property name="M_PI" value="3.14159"/>
|
||||
|
||||
<!-- Right/Left Hubcap + Wheel -->
|
||||
<xacro:macro name="p3dx_wheel" params="suffix reflect">
|
||||
<link name="p3dx_${suffix}_wheel">
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.012411765597" ixy="0" ixz="0"
|
||||
iyy="0.015218160428" iyz="0" izz="0.011763977943"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="$(find pioneer_description)/meshes/meshes/p3dx_meshes/${suffix}_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="${-3.1415927/2} 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/meshes/p3dx_meshes/${suffix}_wheel.stl"/>-->
|
||||
<cylinder radius="0.09" length="0.01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="base_${suffix}_hubcap_joint" type="fixed">
|
||||
<!--<origin xyz="0 ${reflect*0.158} 0.091" rpy="0 0 0"/>-->
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
|
||||
<parent link="p3dx_${suffix}_wheel"/>
|
||||
<child link="p3dx_${suffix}_hubcap"/>
|
||||
</joint>
|
||||
|
||||
<link name="p3dx_${suffix}_hubcap">
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.012411765597" ixy="0" ixz="0"
|
||||
iyy="0.015218160428" iyz="0" izz="0.011763977943"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="$(find pioneer_description)/meshes/meshes/p3dx_meshes/${suffix}_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="HubcapYellow">
|
||||
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0 0 0"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<transmission type="pr2_mechanism_model/SimpleTransmission" name="${suffix}_wheel_trans">
|
||||
<actuator name="base_${suffix}_wheel_motor" />
|
||||
<joint name="base_${suffix}_wheel_joint" />
|
||||
<mechanicalReduction>${reflect * 624/35 * 80/19}</mechanicalReduction>
|
||||
</transmission>
|
||||
|
||||
<joint name="base_${suffix}_wheel_joint" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<anchor xyz="0 0 0"/>
|
||||
<limit effort="100" velocity="100" />
|
||||
<joint_properties damping="0.0" friction="0.0" />
|
||||
<origin xyz="0 ${reflect*0.158} 0.091" rpy="0 0 0"/>
|
||||
<parent link="p3dx_${suffix}_hubcap"/>
|
||||
<child link="p3dx_${suffix}_wheel"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<gazebo reference="p3dx_${suffix}_hubcap">
|
||||
<material value="Gazebo/Yellow"/>
|
||||
</gazebo>
|
||||
|
||||
|
||||
<gazebo reference="p3dx_${suffix}_wheel">
|
||||
<material value="Gazebo/Black"/>
|
||||
<elem key="mu1" value="0.5" />
|
||||
<elem key="mu2" value="50.0" />
|
||||
<elem key="kp" value="100000000.0" />
|
||||
<elem key="kd" value="1.0" />
|
||||
</gazebo>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
|
||||
</robot>
|
||||
|
||||
@ -23,9 +23,10 @@ find_package(geometry_msgs REQUIRED)
|
||||
find_package(sensor_msgs REQUIRED)
|
||||
find_package(nav_msgs REQUIRED)
|
||||
find_package(tf2 REQUIRED)
|
||||
find_package(tf2_ros REQUIRED)
|
||||
find_package(tf2_geometry_msgs REQUIRED)
|
||||
find_package(ros2aria_msgs REQUIRED)
|
||||
# uncomment the following section in order to fill in
|
||||
# further dependencies manually.
|
||||
# find_package(<dependency> REQUIRED)
|
||||
|
||||
|
||||
add_executable(ros2aria
|
||||
@ -39,10 +40,7 @@ add_executable(ros2aria
|
||||
src/gripper.cpp
|
||||
src/wheels.cpp
|
||||
src/clutch.cpp
|
||||
src/state.cpp
|
||||
src/restrictions.cpp
|
||||
src/scan.cpp
|
||||
)
|
||||
src/state.cpp)
|
||||
|
||||
ament_target_dependencies(ros2aria rclcpp)
|
||||
ament_target_dependencies(ros2aria std_srvs)
|
||||
@ -50,8 +48,6 @@ ament_target_dependencies(ros2aria geometry_msgs)
|
||||
ament_target_dependencies(ros2aria sensor_msgs)
|
||||
ament_target_dependencies(ros2aria nav_msgs)
|
||||
ament_target_dependencies(ros2aria tf2)
|
||||
ament_target_dependencies(ros2aria tf2_ros)
|
||||
ament_target_dependencies(ros2aria tf2_geometry_msgs)
|
||||
ament_target_dependencies(ros2aria ros2aria_msgs)
|
||||
|
||||
target_include_directories(ros2aria PUBLIC
|
||||
@ -63,7 +59,7 @@ target_include_directories(ros2aria PUBLIC
|
||||
target_link_libraries(ros2aria /usr/local/Aria/lib/libAria.so)
|
||||
|
||||
install(TARGETS ros2aria
|
||||
DESTINATION lib/${PROJECT_NAME} )
|
||||
DESTINATION lib/${PROJECT_NAME})
|
||||
|
||||
if(BUILD_TESTING)
|
||||
find_package(ament_lint_auto REQUIRED)
|
||||
|
||||
@ -1,36 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <string>
|
||||
|
||||
#include "Aria/Aria.h"
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
|
||||
|
||||
class RAIIBot {
|
||||
public:
|
||||
typedef std::shared_ptr<RAIIBot> SharedPtr;
|
||||
|
||||
RAIIBot(rclcpp::Node *node, std::string port);
|
||||
~RAIIBot();
|
||||
ArRobot *getRobot();
|
||||
ArGripper *getGripper();
|
||||
rclcpp::Clock::SharedPtr getClock();
|
||||
void lock();
|
||||
void unlock();
|
||||
void pokeWatchdog();
|
||||
|
||||
private:
|
||||
ArRobot *robot = nullptr;
|
||||
ArRobotConnector *robotConn = nullptr;
|
||||
ArArgumentBuilder *args = nullptr;
|
||||
ArArgumentParser *argparser = nullptr;
|
||||
ArGripper *gripper = nullptr;
|
||||
rclcpp::Node *node = nullptr;
|
||||
rclcpp::TimerBase::SharedPtr watchdogTimer;
|
||||
rclcpp::Time lastWatchdogPoke;
|
||||
rclcpp::Clock::SharedPtr clock;
|
||||
|
||||
rclcpp::Logger get_logger();
|
||||
void startWatchdog();
|
||||
void watchdog_cb();
|
||||
};
|
||||
@ -15,7 +15,6 @@
|
||||
<depend>rclcpp</depend>
|
||||
<depend>std_srvs</depend>
|
||||
<depend>geometry_msgs</depend>
|
||||
<depend>tf2_geometry_msgs</depend>
|
||||
<depend>sensor_msgs</depend>
|
||||
<depend>nav_msgs</depend>
|
||||
<depend>ros2aria_msgs</depend>
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include "ros2aria.hpp"
|
||||
|
||||
void Ros2Aria::clutch_callback(const std_msgs::msg::Bool::SharedPtr msg) {
|
||||
void Ros2Aria::clutch_callback(const std_msgs::msg::Bool::SharedPtr msg)
|
||||
{
|
||||
std::lock_guard<RAIIBot> lock(*robot.get());
|
||||
|
||||
auto r = robot->getRobot();
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include <cmath>
|
||||
#include "ros2aria.hpp"
|
||||
|
||||
void Ros2Aria::cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg) {
|
||||
void Ros2Aria::cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
|
||||
{
|
||||
float x, y, z;
|
||||
x = msg->linear.x;
|
||||
y = msg->linear.y;
|
||||
@ -13,23 +13,8 @@ void Ros2Aria::cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
|
||||
this->robot->pokeWatchdog();
|
||||
|
||||
auto r = robot->getRobot();
|
||||
|
||||
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);
|
||||
r->setVel(x * 1e3);
|
||||
if (r->hasLatVel())
|
||||
r->setLatVel(y);
|
||||
r->setRotVel(z);
|
||||
r->setLatVel(y * 1e3);
|
||||
r->setRotVel(z * 180 / M_PI);
|
||||
}
|
||||
|
||||
@ -1,30 +1,31 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include "./ros2aria.hpp"
|
||||
|
||||
void Ros2Aria::gripper_open_callback(const std_srvs::srv::Empty::Request::SharedPtr request, std_srvs::srv::Empty::Response::SharedPtr response) const {
|
||||
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 {
|
||||
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 {
|
||||
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 {
|
||||
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());
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
#include <cstdio>
|
||||
#include <memory>
|
||||
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include "ros2aria.hpp"
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
|
||||
@ -1,47 +1,46 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include "ros2aria.hpp"
|
||||
#include "tf2/utils.h"
|
||||
#include "tf2/transform_datatypes.h"
|
||||
|
||||
std::pair<nav_msgs::msg::Odometry, geometry_msgs::msg::TransformStamped> Ros2Aria::handlePose(rclcpp::Time stamp) {
|
||||
nav_msgs::msg::Odometry odom_msg;
|
||||
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;
|
||||
auto position = tf2::Vector3(p.getX() / 1000, p.getY() / 1000, 0);
|
||||
rotation.setRPY(0, 0, p.getTh() * M_PI / 180);
|
||||
|
||||
odom_msg.pose.pose.orientation = tf2::toMsg(rotation);
|
||||
odom_msg.pose.pose.position.x = position.getX();
|
||||
odom_msg.pose.pose.position.y = position.getY();
|
||||
odom_msg.pose.pose.position.z = position.getZ();
|
||||
tf2::Vector3 position = tf2::Vector3(p.getX() / 1000, p.getY() / 1000, 0);
|
||||
|
||||
odom_msg.twist.twist.linear.x = r->getVel() / 1000;
|
||||
odom_msg.twist.twist.linear.y = r->getLatVel() / 1000;
|
||||
odom_msg.twist.twist.angular.z = r->getRotVel() * M_PI / 180;
|
||||
convert_transform_to_pose(tf2::Transform(rotation, position),
|
||||
pose.pose.pose);
|
||||
|
||||
odom_msg.header.frame_id = std::string(get_namespace()) + "/odom";
|
||||
odom_msg.child_frame_id = std::string(get_namespace()) + "/base_link";
|
||||
odom_msg.header.stamp = stamp;
|
||||
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;
|
||||
|
||||
geometry_msgs::msg::TransformStamped transform;
|
||||
transform.header = odom_msg.header;
|
||||
transform.child_frame_id= odom_msg.child_frame_id;
|
||||
transform.transform.translation.x = odom_msg.pose.pose.position.x;
|
||||
transform.transform.translation.y = odom_msg.pose.pose.position.y;
|
||||
transform.transform.translation.z = odom_msg.pose.pose.position.z;
|
||||
transform.transform.rotation = odom_msg.pose.pose.orientation;
|
||||
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;
|
||||
|
||||
std::pair<nav_msgs::msg::Odometry, geometry_msgs::msg::TransformStamped> pair_msgs = {odom_msg, transform};
|
||||
return pair_msgs;
|
||||
return pose;
|
||||
}
|
||||
|
||||
void Ros2Aria::publishPose(nav_msgs::msg::Odometry pose) {
|
||||
void Ros2Aria::publishPose(nav_msgs::msg::Odometry pose)
|
||||
{
|
||||
if (this->pose_pub_->get_subscription_count() == 0)
|
||||
return;
|
||||
|
||||
this->pose_pub_->publish(pose);
|
||||
}
|
||||
|
||||
void Ros2Aria::publishTf(geometry_msgs::msg::TransformStamped tf){
|
||||
odom_tf_broadcaster_->sendTransform(tf);
|
||||
}
|
||||
@ -1,21 +1,19 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include "ros2aria.hpp"
|
||||
|
||||
void Ros2Aria::publish()
|
||||
{
|
||||
// RCLCPP_INFO(this->get_logger(), "publish");
|
||||
rclcpp::Time t = robot->getClock()->now();
|
||||
|
||||
if(use_sonar){
|
||||
sensor_msgs::msg::PointCloud sonarData = handleSonar(t);
|
||||
publishSonar(sonarData);
|
||||
publishSonarPointCloud2(sonarData);
|
||||
}
|
||||
|
||||
auto pose = handlePose(t);
|
||||
publishPose(pose.first);
|
||||
publishTf(pose.second);
|
||||
nav_msgs::msg::Odometry pose = handlePose(t);
|
||||
publishPose(pose);
|
||||
|
||||
sensor_msgs::msg::JointState wheels = handleWheels(t);
|
||||
publishWheels(wheels);
|
||||
|
||||
publishState();
|
||||
publishState(t);
|
||||
}
|
||||
@ -1,7 +1,19 @@
|
||||
#include "ros2aria/raiibot.hpp"
|
||||
#include <string>
|
||||
#include <memory>
|
||||
#include <iostream>
|
||||
|
||||
#include "Aria/Aria.h"
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
|
||||
RAIIBot::RAIIBot(rclcpp::Node *node, std::string port) {
|
||||
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;
|
||||
@ -10,15 +22,16 @@ RAIIBot::RAIIBot(rclcpp::Node *node, std::string port) {
|
||||
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)
|
||||
std::string port_arg = "-robotPort " + port;
|
||||
args->add(port_arg.c_str()); // pass robot's serial port to Aria // TODO: use `port` variable.
|
||||
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()) {
|
||||
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();
|
||||
}
|
||||
@ -27,20 +40,23 @@ RAIIBot::RAIIBot(rclcpp::Node *node, std::string port) {
|
||||
this->robot->enableMotors();
|
||||
|
||||
this->startWatchdog();
|
||||
}
|
||||
}
|
||||
|
||||
RAIIBot ::~RAIIBot() {
|
||||
~RAIIBot()
|
||||
{
|
||||
std::cout << std::endl
|
||||
<< "RAIIBOT DESTRUCTOR RUNNING!" << std::endl;
|
||||
|
||||
if (this->robot != nullptr) {
|
||||
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) {
|
||||
if (this->robotConn != nullptr)
|
||||
{
|
||||
std::cout << "disconnecting" << std::endl;
|
||||
this->robotConn->disconnectAll();
|
||||
std::cout << "disconnected" << std::endl;
|
||||
@ -54,50 +70,68 @@ RAIIBot ::~RAIIBot() {
|
||||
delete this->robotConn;
|
||||
if (this->robot != nullptr)
|
||||
delete this->robot;
|
||||
}
|
||||
}
|
||||
|
||||
ArRobot *RAIIBot::getRobot() {
|
||||
ArRobot *getRobot()
|
||||
{
|
||||
return this->robot;
|
||||
}
|
||||
}
|
||||
|
||||
ArGripper *RAIIBot::getGripper() {
|
||||
ArGripper *getGripper()
|
||||
{
|
||||
return this->gripper;
|
||||
}
|
||||
}
|
||||
|
||||
rclcpp::Clock::SharedPtr RAIIBot::getClock() {
|
||||
rclcpp::Clock::SharedPtr getClock()
|
||||
{
|
||||
return this->clock;
|
||||
}
|
||||
}
|
||||
|
||||
void RAIIBot::lock() {
|
||||
void lock()
|
||||
{
|
||||
if (this->robot != nullptr)
|
||||
this->robot->lock();
|
||||
}
|
||||
}
|
||||
|
||||
void RAIIBot::unlock() {
|
||||
void unlock()
|
||||
{
|
||||
if (this->robot != nullptr)
|
||||
this->robot->unlock();
|
||||
}
|
||||
}
|
||||
|
||||
void RAIIBot::pokeWatchdog() {
|
||||
void pokeWatchdog()
|
||||
{
|
||||
// this should probably be made thread safe, or something?
|
||||
this->lastWatchdogPoke = this->clock->now();
|
||||
}
|
||||
}
|
||||
|
||||
rclcpp::Logger RAIIBot::get_logger() {
|
||||
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 RAIIBot::startWatchdog() {
|
||||
using namespace std::chrono_literals;
|
||||
void startWatchdog()
|
||||
{
|
||||
this->lastWatchdogPoke = clock->now();
|
||||
watchdogTimer = this->node->create_wall_timer(0.1s, std::bind(&RAIIBot::watchdog_cb, this));
|
||||
}
|
||||
|
||||
void RAIIBot::watchdog_cb() {
|
||||
using namespace std::chrono_literals;
|
||||
}
|
||||
|
||||
void watchdog_cb()
|
||||
{
|
||||
auto now = this->clock->now();
|
||||
if (now - this->lastWatchdogPoke > 1s) {
|
||||
if (now - this->lastWatchdogPoke > 1s)
|
||||
{
|
||||
std::lock_guard<RAIIBot> lock(*this);
|
||||
auto r = this->getRobot();
|
||||
r->setVel(0);
|
||||
@ -105,4 +139,5 @@ void RAIIBot::watchdog_cb() {
|
||||
if (r->hasLatVel())
|
||||
r->setLatVel(0);
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
@ -1,21 +0,0 @@
|
||||
#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;
|
||||
}
|
||||
@ -1,7 +1,5 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <sstream>
|
||||
#include "ros2aria.hpp"
|
||||
|
||||
using std::placeholders::_1;
|
||||
using std::placeholders::_2;
|
||||
|
||||
@ -9,42 +7,20 @@ Ros2Aria::Ros2Aria()
|
||||
: Node("ros2aria"),
|
||||
sensorCb(this, &Ros2Aria::publish)
|
||||
{
|
||||
id = extract_number_from_string(std::string(get_namespace()));
|
||||
|
||||
this->robot = std::make_shared<RAIIBot>(this, "/dev/ttyS0");
|
||||
handle_parameters();
|
||||
this->robot = std::make_shared<RAIIBot>(this, "/dev/ttyS0"); // TODO: use args for port
|
||||
|
||||
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));
|
||||
|
||||
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", 1000);
|
||||
odom_tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(*this);
|
||||
pose_pub_ = this->create_publisher<nav_msgs::msg::Odometry>("pose", 1000);
|
||||
|
||||
wheels_pub_ = this->create_publisher<sensor_msgs::msg::JointState>("joint_states", 1000);
|
||||
wheels_pub_ = this->create_publisher<sensor_msgs::msg::JointState>("wheels", 1000);
|
||||
|
||||
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);
|
||||
@ -57,35 +33,11 @@ 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());
|
||||
RCLCPP_INFO(get_logger(), "ID = %d", id);
|
||||
|
||||
}
|
||||
|
||||
std::size_t Ros2Aria::extract_number_from_string(const std::string& str) {
|
||||
std::string numericPart;
|
||||
for (char c : str) {
|
||||
if (isdigit(c)) {
|
||||
numericPart += c;
|
||||
} else if (!numericPart.empty()) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
int number;
|
||||
std::istringstream(numericPart) >> number;
|
||||
return number;
|
||||
}
|
||||
|
||||
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);
|
||||
sonar_frame_id = "pionier6"; // TODO: use args
|
||||
}
|
||||
|
||||
Ros2Aria::~Ros2Aria()
|
||||
|
||||
@ -1,39 +1,21 @@
|
||||
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
|
||||
#include <utility>
|
||||
#include<string>
|
||||
|
||||
#include "ros2aria/raiibot.hpp"
|
||||
#include <Aria/Aria.h>
|
||||
#include "geometry_msgs/msg/twist.hpp"
|
||||
#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 "Aria/Aria.h"
|
||||
|
||||
#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"
|
||||
#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 "tf2_ros/transform_broadcaster.h"
|
||||
#include "tf2/LinearMath/Quaternion.h"
|
||||
#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)
|
||||
|
||||
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:
|
||||
@ -41,20 +23,14 @@ public:
|
||||
~Ros2Aria();
|
||||
|
||||
private:
|
||||
std::size_t id;
|
||||
// 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;
|
||||
|
||||
std::size_t extract_number_from_string(const std::string& str);
|
||||
// config
|
||||
std::string sonar_frame_id;
|
||||
|
||||
void handle_parameters();
|
||||
// publishers
|
||||
void publish();
|
||||
|
||||
sensor_msgs::msg::PointCloud handleSonar(rclcpp::Time stamp);
|
||||
@ -63,11 +39,9 @@ private:
|
||||
void publishSonar(sensor_msgs::msg::PointCloud cloud);
|
||||
void publishSonarPointCloud2(sensor_msgs::msg::PointCloud cloud);
|
||||
|
||||
std::pair<nav_msgs::msg::Odometry, geometry_msgs::msg::TransformStamped> handlePose(rclcpp::Time stamp);
|
||||
std::unique_ptr<tf2_ros::TransformBroadcaster> odom_tf_broadcaster_;
|
||||
nav_msgs::msg::Odometry handlePose(rclcpp::Time stamp);
|
||||
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pose_pub_;
|
||||
void publishPose(nav_msgs::msg::Odometry pose);
|
||||
void publishTf(geometry_msgs::msg::TransformStamped tf);
|
||||
|
||||
sensor_msgs::msg::JointState handleWheels(rclcpp::Time stamp);
|
||||
rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr wheels_pub_;
|
||||
@ -76,28 +50,15 @@ private:
|
||||
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();
|
||||
void publishState(rclcpp::Time stamp);
|
||||
|
||||
// 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;
|
||||
@ -1,19 +0,0 @@
|
||||
#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;
|
||||
}
|
||||
}
|
||||
@ -1,16 +1,17 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include "ros2aria.hpp"
|
||||
|
||||
#include "sensor_msgs/point_cloud_conversion.hpp"
|
||||
|
||||
sensor_msgs::msg::PointCloud Ros2Aria::handleSonar(rclcpp::Time stamp)
|
||||
{
|
||||
sensor_msgs::msg::PointCloud cloud;
|
||||
sensor_msgs::msg::PointCloud cloud; //sonar readings.
|
||||
cloud.header.stamp = stamp;
|
||||
cloud.header.frame_id = std::string(get_namespace()) + "/front_sonar";
|
||||
// sonar sensors relative to base_link
|
||||
cloud.header.frame_id = this->sonar_frame_id;
|
||||
|
||||
auto r = robot->getRobot();
|
||||
|
||||
auto lenght = r->getNumSonar()/2;
|
||||
for (int i = 0; i < num_of_sonars; i++)
|
||||
for (int i = 0; i < r->getNumSonar(); i++)
|
||||
{
|
||||
ArSensorReading *reading = NULL;
|
||||
reading = r->getSonarReading(i);
|
||||
@ -37,10 +38,6 @@ 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;
|
||||
}
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include "ros2aria.hpp"
|
||||
|
||||
void Ros2Aria::publishState()
|
||||
void Ros2Aria::publishState(rclcpp::Time stamp)
|
||||
{
|
||||
auto r = this->robot->getRobot();
|
||||
|
||||
@ -13,21 +13,32 @@ void Ros2Aria::publishState()
|
||||
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 (robot_info_pub_->get_subscription_count() > 0)
|
||||
if (this->robot_info_pub_->get_subscription_count() > 0)
|
||||
{
|
||||
ros2aria_msgs::msg::RobotInfoMsg robot_info_msg;
|
||||
|
||||
robot_info_msg.robot_id.data = id;
|
||||
// TODO: allow setting the robot_id
|
||||
robot_info_msg.robot_id.data = 6;
|
||||
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;
|
||||
robot_info_msg.state.data = not user_stop;
|
||||
robot_info_msg.clutch.data = r->areMotorsEnabled();
|
||||
robot_info_msg.obstacle_detected.data = obstacle_too_close;
|
||||
|
||||
robot_info_pub_->publish(robot_info_msg);
|
||||
// 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);
|
||||
}
|
||||
}
|
||||
@ -1,5 +1,5 @@
|
||||
#include "ros2aria/ros2aria.hpp"
|
||||
#include <cmath>
|
||||
#include "ros2aria.hpp"
|
||||
|
||||
sensor_msgs::msg::JointState Ros2Aria::handleWheels(rclcpp::Time stamp)
|
||||
{
|
||||
sensor_msgs::msg::JointState wheels;
|
||||
@ -13,14 +13,13 @@ sensor_msgs::msg::JointState Ros2Aria::handleWheels(rclcpp::Time stamp)
|
||||
wheels.velocity.resize(2);
|
||||
wheels.effort.resize(0);
|
||||
|
||||
// robot_state_publisher gives namespace
|
||||
wheels.name[0] = "left_wheel_joint";
|
||||
wheels.name[1] = "right_wheel_joint";
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
@ -4,4 +4,3 @@ geometry_msgs/Twist twist
|
||||
std_msgs/Bool state
|
||||
std_msgs/Bool clutch
|
||||
std_msgs/Bool obstacle_detected
|
||||
std_msgs/Float64 minimal_distance
|
||||
|
||||
@ -1,6 +0,0 @@
|
||||
Student:
|
||||
- odblokowanie robota
|
||||
- odblokowanie
|
||||
|
||||
|
||||
- stan przejściowy na przyciskach
|
||||
Loading…
Reference in New Issue
Block a user