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8
.devcontainer/devcontainer.json
View File

@ -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"
},

3
.gitignore vendored
View File

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

1
.vscode/c_cpp_properties.json vendored
View File

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

64
.vscode/settings.json vendored
View File

@ -1,69 +1,5 @@
{
"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"
]
}

20
Dockerfile.devcontainer
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@ -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 rsync \
#
# 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 <your-package-list-here> \
# #
# # 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

22
Makefile
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@ -1,22 +0,0 @@
.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

0
build_devcontainer.sh Executable file → Normal file
View File

61
node_info_ros1.txt
View File

@ -1,61 +0,0 @@
--------------------------------------------------------------------------------
Node [/PIONIER6/RosAria]
Publications:
* /PIONIER6/RosAria/battery_recharge_state [std_msgs/Int8]
* /PIONIER6/RosAria/battery_state_of_charge [std_msgs/Float32]
* /PIONIER6/RosAria/bumper_state [rosaria/BumperState]
* /PIONIER6/RosAria/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
* /PIONIER6/RosAria/parameter_updates [dynamic_reconfigure/Config]
* /PIONIER6/RosAria/pose [nav_msgs/Odometry]
* /PIONIER6/RosAria/robot_info [rosaria_msgs/RobotInfoMsg]
* /PIONIER6/RosAria/sonar [sensor_msgs/PointCloud]
* /PIONIER6/RosAria/sonar_pointcloud2 [sensor_msgs/PointCloud2]
* /PIONIER6/RosAria/wheels [sensor_msgs/JointState]
* /rosout [rosgraph_msgs/Log]
* /tf [tf2_msgs/TFMessage]
Subscriptions:
* /PIONIER/master_stop [std_msgs/Bool]
* /PIONIER/restrictions [rosaria_msgs/RestrictionsMsg]
* /PIONIER6/RosAria/clutch [std_msgs/Bool]
* /PIONIER6/RosAria/cmd_vel [unknown type]
* /PIONIER6/RosAria/user_stop [std_msgs/Bool]
Services:
* /PIONIER6/RosAria/get_loggers
* /PIONIER6/RosAria/gripper_close
* /PIONIER6/RosAria/gripper_down
* /PIONIER6/RosAria/gripper_open
* /PIONIER6/RosAria/gripper_up
* /PIONIER6/RosAria/set_logger_level
* /PIONIER6/RosAria/set_parameters
contacting node http://10.104.16.45:35307/ ...
Pid: 52
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound
* transport: TCPROS
* topic: /PIONIER6/RosAria/robot_info
* to: /master_plugin_lab15_19_12824_1114070233125035517
* direction: outbound
* transport: TCPROS
* topic: /PIONIER/restrictions
* to: /master_plugin_lab15_19_12824_1114070233125035517 (http://10.104.16.29:35537/)
* direction: inbound
* transport: TCPROS
* topic: /PIONIER6/RosAria/user_stop
* to: /user_plugin_lab15_19_15229_5138248156866338464 (http://10.104.16.29:43275/)
* direction: inbound
* transport: TCPROS
* topic: /PIONIER/master_stop
* to: /master_plugin_lab15_19_12824_1114070233125035517 (http://10.104.16.29:35537/)
* direction: inbound
* transport: TCPROS
* topic: /PIONIER6/RosAria/clutch
* to: /user_plugin_lab15_19_15229_5138248156866338464 (http://10.104.16.29:43275/)
* direction: inbound
* transport: TCPROS

6
run.sh
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@ -1,6 +0,0 @@
#!/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

30
src/ros2aria/CMakeLists.txt
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@ -17,45 +17,17 @@ 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/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)
add_executable(ros2aria src/ros2aria.cpp)
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

285
src/ros2aria/LICENSE
View File

@ -1,285 +0,0 @@
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
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License is intended to guarantee your freedom to share and change free
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Foundation's software and to any other program whose authors commit to
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When we speak of free software, we are referring to freedom, not
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END OF TERMS AND CONDITIONS

11
src/ros2aria/package.xml
View File

@ -4,21 +4,14 @@
<name>ros2aria</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="me@irth.pl">Wojciech Kwolek</maintainer>
<license>GPL2</license>
<maintainer email="me@irth.pl">ros</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>
<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>

12
src/ros2aria/src/clutch.cpp
View File

@ -1,12 +0,0 @@
#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();
}

20
src/ros2aria/src/cmd_vel.cpp
View File

@ -1,20 +0,0 @@
#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);
}

34
src/ros2aria/src/gripper.cpp
View File

@ -1,34 +0,0 @@
#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();
}

18
src/ros2aria/src/main.cpp
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@ -1,18 +0,0 @@
#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;
}

46
src/ros2aria/src/pose.cpp
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@ -1,46 +0,0 @@
#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);
}

19
src/ros2aria/src/publish.cpp
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@ -1,19 +0,0 @@
#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);
}

143
src/ros2aria/src/raiibot.cpp
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#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);
}
}
};

79
src/ros2aria/src/ros2aria.cpp
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@ -1,55 +1,46 @@
#include "ros2aria.hpp"
#include <cstdio>
using std::placeholders::_1;
using std::placeholders::_2;
#include "Aria/Aria.h"
Ros2Aria::Ros2Aria()
: Node("ros2aria"),
sensorCb(this, &Ros2Aria::publish)
int main(int argc, char **argv)
{
this->robot = std::make_shared<RAIIBot>(this, "/dev/ttyS0"); // TODO: use args for port
(void)argc;
(void)argv;
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));
printf("hello world ros2aria package\n");
ArRobot *robot = new ArRobot();
sonar_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud>("sonar", 10);
sonar_pointcloud2_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("sonar_pointcloud2", 10);
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();
pose_pub_ = this->create_publisher<nav_msgs::msg::Odometry>("pose", 1000);
printf("Enabled motors\n");
robot->setVel(2);
robot->move(500);
wheels_pub_ = this->create_publisher<sensor_msgs::msg::JointState>("wheels", 1000);
sleep(10);
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);
robot->move(-500);
sleep(2);
conn->disconnectAll();
// 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
return 0;
}
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();
}

77
src/ros2aria/src/ros2aria.hpp
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@ -1,77 +0,0 @@
#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;
};

62
src/ros2aria/src/sonar.cpp
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@ -1,62 +0,0 @@
#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);
}

44
src/ros2aria/src/state.cpp
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@ -1,44 +0,0 @@
#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);
}
}

32
src/ros2aria/src/wheels.cpp
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#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);
}

49
src/ros2aria_msgs/CMakeLists.txt
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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()

3
src/ros2aria_msgs/msg/RestrictionsMsg.msg
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@ -1,3 +0,0 @@
std_msgs/Float64 distance
std_msgs/Float64 linear_velocity
std_msgs/Float64 angular_velocity

6
src/ros2aria_msgs/msg/RobotInfoMsg.msg
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@ -1,6 +0,0 @@
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

24
src/ros2aria_msgs/package.xml
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<?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>