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main
...
15536ba2d8
@ -13,14 +13,14 @@
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|||||||
"--cap-add=SYS_PTRACE",
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"--cap-add=SYS_PTRACE",
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||||||
"--security-opt=seccomp:unconfined",
|
"--security-opt=seccomp:unconfined",
|
||||||
"--security-opt=apparmor:unconfined",
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"--security-opt=apparmor:unconfined",
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||||||
"--volume=/tmp/.X11-unix:/tmp/.X11-unix"
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"--volume=/tmp/.X11-unix:/tmp/.X11-unix",
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||||||
// "--device=/dev/ttyS0"
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"--device=/dev/ttyS0"
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||||||
],
|
],
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||||||
"containerEnv": {
|
"containerEnv": {
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||||||
"DISPLAY": "${localEnv:DISPLAY}"
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"DISPLAY": "${localEnv:DISPLAY}"
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||||||
},
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},
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||||||
// "workspaceFolder": "/ws",
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"workspaceFolder": "/ws",
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||||||
// "workspaceMount": "source=/home/lab1_5/ros2aria_ws,target=/ws,type=bind,consistency=delegated",
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"workspaceMount": "source=/home/lab1_5/ros2aria_ws,target=/ws,type=bind,consistency=delegated",
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||||||
"settings": {
|
"settings": {
|
||||||
"terminal.integrated.shell.linux": "/bin/bash"
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"terminal.integrated.shell.linux": "/bin/bash"
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||||||
},
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},
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||||||
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|||||||
3
.gitignore
vendored
3
.gitignore
vendored
@ -51,6 +51,3 @@ qtcreator-*
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|||||||
|
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||||||
# Catkin custom files
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# Catkin custom files
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||||||
CATKIN_IGNORE
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CATKIN_IGNORE
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||||||
|
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||||||
*.code-workspace
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||||||
.uploaded
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||||||
1
.vscode/c_cpp_properties.json
vendored
1
.vscode/c_cpp_properties.json
vendored
@ -8,7 +8,6 @@
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|||||||
"includePath": [
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"includePath": [
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"/opt/ros/foxy/include/**",
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"/opt/ros/foxy/include/**",
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"/workspaces/ros2aria/src/ros2aria/include/**",
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"/workspaces/ros2aria/src/ros2aria/include/**",
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"/workspaces/ros2aria/install/ros2aria_msgs/include/**",
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"/usr/include/**",
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"/usr/include/**",
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"/usr/local/Aria/include"
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"/usr/local/Aria/include"
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||||||
],
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],
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||||||
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|||||||
64
.vscode/settings.json
vendored
64
.vscode/settings.json
vendored
@ -1,69 +1,5 @@
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|||||||
{
|
{
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||||||
"python.autoComplete.extraPaths": [
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"python.autoComplete.extraPaths": [
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||||||
"/opt/ros/foxy/lib/python3.8/site-packages"
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"/opt/ros/foxy/lib/python3.8/site-packages"
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||||||
],
|
|
||||||
"files.associations": {
|
|
||||||
"functional": "cpp",
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|
||||||
"array": "cpp",
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|
||||||
"atomic": "cpp",
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|
||||||
"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"
|
|
||||||
]
|
]
|
||||||
}
|
}
|
||||||
@ -2,15 +2,15 @@ FROM athackst/ros2:foxy-dev
|
|||||||
|
|
||||||
# ** [Optional] Uncomment this section to install additional packages. **
|
# ** [Optional] Uncomment this section to install additional packages. **
|
||||||
#
|
#
|
||||||
ENV DEBIAN_FRONTEND=noninteractive
|
# ENV DEBIAN_FRONTEND=noninteractive
|
||||||
RUN apt-get update \
|
# RUN apt-get update \
|
||||||
&& apt-get -y install --no-install-recommends rsync \
|
# && apt-get -y install --no-install-recommends <your-package-list-here> \
|
||||||
#
|
# #
|
||||||
# Clean up
|
# # Clean up
|
||||||
&& apt-get autoremove -y \
|
# && apt-get autoremove -y \
|
||||||
&& apt-get clean -y \
|
# && apt-get clean -y \
|
||||||
&& rm -rf /var/lib/apt/lists/*
|
# && rm -rf /var/lib/apt/lists/*
|
||||||
ENV DEBIAN_FRONTEND=dialog
|
# ENV DEBIAN_FRONTEND=dialog
|
||||||
|
|
||||||
# Set up auto-source of workspace for ros user
|
# 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$(nproc)
|
RUN cd /usr/local/Aria && make -j$(nproc)
|
||||||
|
|
||||||
ARG WORKSPACE
|
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
|
ARG USERNAME=ros
|
||||||
|
|
||||||
|
|||||||
22
Makefile
22
Makefile
@ -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
0
build_devcontainer.sh
Executable file → Normal 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
6
run.sh
@ -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
|
|
||||||
|
|
||||||
@ -17,45 +17,17 @@ endif()
|
|||||||
|
|
||||||
# find dependencies
|
# find dependencies
|
||||||
find_package(ament_cmake REQUIRED)
|
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
|
# uncomment the following section in order to fill in
|
||||||
# further dependencies manually.
|
# further dependencies manually.
|
||||||
# find_package(<dependency> REQUIRED)
|
# find_package(<dependency> REQUIRED)
|
||||||
|
|
||||||
|
|
||||||
add_executable(ros2aria
|
add_executable(ros2aria src/ros2aria.cpp)
|
||||||
src/main.cpp
|
|
||||||
src/ros2aria.cpp
|
|
||||||
src/raiibot.cpp
|
|
||||||
src/cmd_vel.cpp
|
|
||||||
src/publish.cpp
|
|
||||||
src/sonar.cpp
|
|
||||||
src/pose.cpp
|
|
||||||
src/gripper.cpp
|
|
||||||
src/wheels.cpp
|
|
||||||
src/clutch.cpp
|
|
||||||
src/state.cpp)
|
|
||||||
|
|
||||||
ament_target_dependencies(ros2aria rclcpp)
|
|
||||||
ament_target_dependencies(ros2aria std_srvs)
|
|
||||||
ament_target_dependencies(ros2aria geometry_msgs)
|
|
||||||
ament_target_dependencies(ros2aria sensor_msgs)
|
|
||||||
ament_target_dependencies(ros2aria nav_msgs)
|
|
||||||
ament_target_dependencies(ros2aria tf2)
|
|
||||||
ament_target_dependencies(ros2aria ros2aria_msgs)
|
|
||||||
|
|
||||||
target_include_directories(ros2aria PUBLIC
|
target_include_directories(ros2aria PUBLIC
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
$<INSTALL_INTERFACE:include>
|
$<INSTALL_INTERFACE:include>
|
||||||
/usr/local/Aria/include)
|
/usr/local/Aria/include)
|
||||||
|
|
||||||
|
|
||||||
target_link_libraries(ros2aria /usr/local/Aria/lib/libAria.so)
|
target_link_libraries(ros2aria /usr/local/Aria/lib/libAria.so)
|
||||||
|
|
||||||
install(TARGETS ros2aria
|
install(TARGETS ros2aria
|
||||||
|
|||||||
@ -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
|
|
||||||
freedom to share and change it. By contrast, the GNU General Public
|
|
||||||
License is intended to guarantee your freedom to share and change free
|
|
||||||
software--to make sure the software is free for all its users. This
|
|
||||||
General Public License applies to most of the Free Software
|
|
||||||
Foundation's software and to any other program whose authors commit to
|
|
||||||
using it. (Some other Free Software Foundation software is covered by
|
|
||||||
the GNU Lesser General Public License instead.) You can apply it to
|
|
||||||
your programs, too.
|
|
||||||
|
|
||||||
When we speak of free software, we are referring to freedom, not
|
|
||||||
price. Our General Public Licenses are designed to make sure that you
|
|
||||||
have the freedom to distribute copies of free software (and charge for
|
|
||||||
this service if you wish), that you receive source code or can get it
|
|
||||||
if you want it, that you can change the software or use pieces of it
|
|
||||||
in new free programs; and that you know you can do these things.
|
|
||||||
|
|
||||||
To protect your rights, we need to make restrictions that forbid
|
|
||||||
anyone to deny you these rights or to ask you to surrender the rights.
|
|
||||||
These restrictions translate to certain responsibilities for you if you
|
|
||||||
distribute copies of the software, or if you modify it.
|
|
||||||
|
|
||||||
For example, if you distribute copies of such a program, whether
|
|
||||||
gratis or for a fee, you must give the recipients all the rights that
|
|
||||||
you have. You must make sure that they, too, receive or can get the
|
|
||||||
source code. And you must show them these terms so they know their
|
|
||||||
rights.
|
|
||||||
|
|
||||||
We protect your rights with two steps: (1) copyright the software, and
|
|
||||||
(2) offer you this license which gives you legal permission to copy,
|
|
||||||
distribute and/or modify the software.
|
|
||||||
|
|
||||||
Also, for each author's protection and ours, we want to make certain
|
|
||||||
that everyone understands that there is no warranty for this free
|
|
||||||
software. If the software is modified by someone else and passed on, we
|
|
||||||
want its recipients to know that what they have is not the original, so
|
|
||||||
that any problems introduced by others will not reflect on the original
|
|
||||||
authors' reputations.
|
|
||||||
|
|
||||||
Finally, any free program is threatened constantly by software
|
|
||||||
patents. We wish to avoid the danger that redistributors of a free
|
|
||||||
program will individually obtain patent licenses, in effect making the
|
|
||||||
program proprietary. To prevent this, we have made it clear that any
|
|
||||||
patent must be licensed for everyone's free use or not licensed at all.
|
|
||||||
|
|
||||||
The precise terms and conditions for copying, distribution and
|
|
||||||
modification follow.
|
|
||||||
|
|
||||||
GNU GENERAL PUBLIC LICENSE
|
|
||||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
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|
||||||
|
|
||||||
0. This License applies to any program or other work which contains
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|
||||||
a notice placed by the copyright holder saying it may be distributed
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|
||||||
under the terms of this General Public License. The "Program", below,
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|
||||||
refers to any such program or work, and a "work based on the Program"
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|
||||||
means either the Program or any derivative work under copyright law:
|
|
||||||
that is to say, a work containing the Program or a portion of it,
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|
||||||
either verbatim or with modifications and/or translated into another
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|
||||||
language. (Hereinafter, translation is included without limitation in
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|
||||||
the term "modification".) Each licensee is addressed as "you".
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|
||||||
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|
||||||
Activities other than copying, distribution and modification are not
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|
||||||
covered by this License; they are outside its scope. The act of
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|
||||||
running the Program is not restricted, and the output from the Program
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|
||||||
is covered only if its contents constitute a work based on the
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|
||||||
Program (independent of having been made by running the Program).
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|
||||||
Whether that is true depends on what the Program does.
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|
||||||
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|
||||||
1. You may copy and distribute verbatim copies of the Program's
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|
||||||
source code as you receive it, in any medium, provided that you
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|
||||||
conspicuously and appropriately publish on each copy an appropriate
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|
||||||
copyright notice and disclaimer of warranty; keep intact all the
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|
||||||
notices that refer to this License and to the absence of any warranty;
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|
||||||
and give any other recipients of the Program a copy of this License
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|
||||||
along with the Program.
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|
||||||
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|
||||||
You may charge a fee for the physical act of transferring a copy, and
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|
||||||
you may at your option offer warranty protection in exchange for a fee.
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|
||||||
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|
||||||
2. You may modify your copy or copies of the Program or any portion
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|
||||||
of it, thus forming a work based on the Program, and copy and
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|
||||||
distribute such modifications or work under the terms of Section 1
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|
||||||
above, provided that you also meet all of these conditions:
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|
||||||
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|
||||||
a) You must cause the modified files to carry prominent notices
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|
||||||
stating that you changed the files and the date of any change.
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|
||||||
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|
||||||
b) You must cause any work that you distribute or publish, that in
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|
||||||
whole or in part contains or is derived from the Program or any
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|
||||||
part thereof, to be licensed as a whole at no charge to all third
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|
||||||
parties under the terms of this License.
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|
||||||
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|
||||||
c) If the modified program normally reads commands interactively
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|
||||||
when run, you must cause it, when started running for such
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|
||||||
interactive use in the most ordinary way, to print or display an
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|
||||||
announcement including an appropriate copyright notice and a
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|
||||||
notice that there is no warranty (or else, saying that you provide
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||||||
a warranty) and that users may redistribute the program under
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|
||||||
these conditions, and telling the user how to view a copy of this
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|
||||||
License. (Exception: if the Program itself is interactive but
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|
||||||
does not normally print such an announcement, your work based on
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|
||||||
the Program is not required to print an announcement.)
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|
||||||
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|
||||||
These requirements apply to the modified work as a whole. If
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|
||||||
identifiable sections of that work are not derived from the Program,
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|
||||||
and can be reasonably considered independent and separate works in
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|
||||||
themselves, then this License, and its terms, do not apply to those
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|
||||||
sections when you distribute them as separate works. But when you
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|
||||||
distribute the same sections as part of a whole which is a work based
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|
||||||
on the Program, the distribution of the whole must be on the terms of
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|
||||||
this License, whose permissions for other licensees extend to the
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|
||||||
entire whole, and thus to each and every part regardless of who wrote it.
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|
||||||
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|
||||||
Thus, it is not the intent of this section to claim rights or contest
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|
||||||
your rights to work written entirely by you; rather, the intent is to
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|
||||||
exercise the right to control the distribution of derivative or
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|
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collective works based on the Program.
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||||||
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|
||||||
In addition, mere aggregation of another work not based on the Program
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with the Program (or with a work based on the Program) on a volume of
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|
||||||
a storage or distribution medium does not bring the other work under
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|
||||||
the scope of this License.
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|
||||||
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|
||||||
3. You may copy and distribute the Program (or a work based on it,
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|
||||||
under Section 2) in object code or executable form under the terms of
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|
||||||
Sections 1 and 2 above provided that you also do one of the following:
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|
||||||
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|
||||||
a) Accompany it with the complete corresponding machine-readable
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|
||||||
source code, which must be distributed under the terms of Sections
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|
||||||
1 and 2 above on a medium customarily used for software interchange; or,
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|
||||||
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|
||||||
b) Accompany it with a written offer, valid for at least three
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|
||||||
years, to give any third party, for a charge no more than your
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|
||||||
cost of physically performing source distribution, a complete
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||||||
machine-readable copy of the corresponding source code, to be
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|
||||||
distributed under the terms of Sections 1 and 2 above on a medium
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|
||||||
customarily used for software interchange; or,
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|
||||||
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|
||||||
c) Accompany it with the information you received as to the offer
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|
||||||
to distribute corresponding source code. (This alternative is
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|
||||||
allowed only for noncommercial distribution and only if you
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|
||||||
received the program in object code or executable form with such
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|
||||||
an offer, in accord with Subsection b above.)
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|
||||||
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|
||||||
The source code for a work means the preferred form of the work for
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|
||||||
making modifications to it. For an executable work, complete source
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|
||||||
code means all the source code for all modules it contains, plus any
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|
||||||
associated interface definition files, plus the scripts used to
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|
||||||
control compilation and installation of the executable. However, as a
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|
||||||
special exception, the source code distributed need not include
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|
||||||
anything that is normally distributed (in either source or binary
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|
||||||
form) with the major components (compiler, kernel, and so on) of the
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||||||
operating system on which the executable runs, unless that component
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|
||||||
itself accompanies the executable.
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|
||||||
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|
||||||
If distribution of executable or object code is made by offering
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|
||||||
access to copy from a designated place, then offering equivalent
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|
||||||
access to copy the source code from the same place counts as
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|
||||||
distribution of the source code, even though third parties are not
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|
||||||
compelled to copy the source along with the object code.
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|
||||||
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|
||||||
4. You may not copy, modify, sublicense, or distribute the Program
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|
||||||
except as expressly provided under this License. Any attempt
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|
||||||
otherwise to copy, modify, sublicense or distribute the Program is
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|
||||||
void, and will automatically terminate your rights under this License.
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|
||||||
However, parties who have received copies, or rights, from you under
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|
||||||
this License will not have their licenses terminated so long as such
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|
||||||
parties remain in full compliance.
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|
||||||
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|
||||||
5. You are not required to accept this License, since you have not
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|
||||||
signed it. However, nothing else grants you permission to modify or
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|
||||||
distribute the Program or its derivative works. These actions are
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|
||||||
prohibited by law if you do not accept this License. Therefore, by
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|
||||||
modifying or distributing the Program (or any work based on the
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|
||||||
Program), you indicate your acceptance of this License to do so, and
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|
||||||
all its terms and conditions for copying, distributing or modifying
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|
||||||
the Program or works based on it.
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|
||||||
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|
||||||
6. Each time you redistribute the Program (or any work based on the
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|
||||||
Program), the recipient automatically receives a license from the
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|
||||||
original licensor to copy, distribute or modify the Program subject to
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|
||||||
these terms and conditions. You may not impose any further
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|
||||||
restrictions on the recipients' exercise of the rights granted herein.
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|
||||||
You are not responsible for enforcing compliance by third parties to
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|
||||||
this License.
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|
||||||
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|
||||||
7. If, as a consequence of a court judgment or allegation of patent
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|
||||||
infringement or for any other reason (not limited to patent issues),
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|
||||||
conditions are imposed on you (whether by court order, agreement or
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|
||||||
otherwise) that contradict the conditions of this License, they do not
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|
||||||
excuse you from the conditions of this License. If you cannot
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|
||||||
distribute so as to satisfy simultaneously your obligations under this
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|
||||||
License and any other pertinent obligations, then as a consequence you
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|
||||||
may not distribute the Program at all. For example, if a patent
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|
||||||
license would not permit royalty-free redistribution of the Program by
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|
||||||
all those who receive copies directly or indirectly through you, then
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|
||||||
the only way you could satisfy both it and this License would be to
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|
||||||
refrain entirely from distribution of the Program.
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|
||||||
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|
||||||
If any portion of this section is held invalid or unenforceable under
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|
||||||
any particular circumstance, the balance of the section is intended to
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|
||||||
apply and the section as a whole is intended to apply in other
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|
||||||
circumstances.
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|
||||||
|
|
||||||
It is not the purpose of this section to induce you to infringe any
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|
||||||
patents or other property right claims or to contest validity of any
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|
||||||
such claims; this section has the sole purpose of protecting the
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|
||||||
integrity of the free software distribution system, which is
|
|
||||||
implemented by public license practices. Many people have made
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|
||||||
generous contributions to the wide range of software distributed
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|
||||||
through that system in reliance on consistent application of that
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|
||||||
system; it is up to the author/donor to decide if he or she is willing
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|
||||||
to distribute software through any other system and a licensee cannot
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|
||||||
impose that choice.
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|
||||||
|
|
||||||
This section is intended to make thoroughly clear what is believed to
|
|
||||||
be a consequence of the rest of this License.
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|
||||||
|
|
||||||
8. If the distribution and/or use of the Program is restricted in
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|
||||||
certain countries either by patents or by copyrighted interfaces, the
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|
||||||
original copyright holder who places the Program under this License
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|
||||||
may add an explicit geographical distribution limitation excluding
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|
||||||
those countries, so that distribution is permitted only in or among
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|
||||||
countries not thus excluded. In such case, this License incorporates
|
|
||||||
the limitation as if written in the body of this License.
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|
||||||
|
|
||||||
9. The Free Software Foundation may publish revised and/or new versions
|
|
||||||
of the General Public License from time to time. Such new versions will
|
|
||||||
be similar in spirit to the present version, but may differ in detail to
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|
||||||
address new problems or concerns.
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|
||||||
|
|
||||||
Each version is given a distinguishing version number. If the Program
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|
||||||
specifies a version number of this License which applies to it and "any
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|
||||||
later version", you have the option of following the terms and conditions
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|
||||||
either of that version or of any later version published by the Free
|
|
||||||
Software Foundation. If the Program does not specify a version number of
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|
||||||
this License, you may choose any version ever published by the Free Software
|
|
||||||
Foundation.
|
|
||||||
|
|
||||||
10. If you wish to incorporate parts of the Program into other free
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|
||||||
programs whose distribution conditions are different, write to the author
|
|
||||||
to ask for permission. For software which is copyrighted by the Free
|
|
||||||
Software Foundation, write to the Free Software Foundation; we sometimes
|
|
||||||
make exceptions for this. Our decision will be guided by the two goals
|
|
||||||
of preserving the free status of all derivatives of our free software and
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|
||||||
of promoting the sharing and reuse of software generally.
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|
||||||
|
|
||||||
NO WARRANTY
|
|
||||||
|
|
||||||
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
|
|
||||||
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
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|
||||||
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
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|
||||||
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
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|
||||||
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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|
||||||
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
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|
||||||
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
|
|
||||||
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
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|
||||||
REPAIR OR CORRECTION.
|
|
||||||
|
|
||||||
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
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|
||||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
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|
||||||
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
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|
||||||
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
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|
||||||
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
|
|
||||||
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
|
|
||||||
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
|
|
||||||
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
|
|
||||||
POSSIBILITY OF SUCH DAMAGES.
|
|
||||||
|
|
||||||
END OF TERMS AND CONDITIONS
|
|
||||||
@ -4,21 +4,14 @@
|
|||||||
<name>ros2aria</name>
|
<name>ros2aria</name>
|
||||||
<version>0.0.0</version>
|
<version>0.0.0</version>
|
||||||
<description>TODO: Package description</description>
|
<description>TODO: Package description</description>
|
||||||
<maintainer email="me@irth.pl">Wojciech Kwolek</maintainer>
|
<maintainer email="me@irth.pl">ros</maintainer>
|
||||||
<license>GPL2</license>
|
<license>TODO: License declaration</license>
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
|
||||||
<test_depend>ament_lint_auto</test_depend>
|
<test_depend>ament_lint_auto</test_depend>
|
||||||
<test_depend>ament_lint_common</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>
|
<export>
|
||||||
<build_type>ament_cmake</build_type>
|
<build_type>ament_cmake</build_type>
|
||||||
</export>
|
</export>
|
||||||
|
|||||||
@ -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();
|
|
||||||
}
|
|
||||||
@ -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);
|
|
||||||
}
|
|
||||||
@ -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();
|
|
||||||
}
|
|
||||||
@ -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;
|
|
||||||
}
|
|
||||||
@ -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);
|
|
||||||
}
|
|
||||||
@ -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);
|
|
||||||
}
|
|
||||||
@ -1,143 +0,0 @@
|
|||||||
#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);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
@ -1,55 +1,46 @@
|
|||||||
#include "ros2aria.hpp"
|
#include <cstdio>
|
||||||
|
|
||||||
using std::placeholders::_1;
|
#include "Aria/Aria.h"
|
||||||
using std::placeholders::_2;
|
|
||||||
|
|
||||||
Ros2Aria::Ros2Aria()
|
int main(int argc, char **argv)
|
||||||
: Node("ros2aria"),
|
|
||||||
sensorCb(this, &Ros2Aria::publish)
|
|
||||||
{
|
{
|
||||||
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");
|
printf("hello world ros2aria package\n");
|
||||||
cmd_vel_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
|
ArRobot *robot = new ArRobot();
|
||||||
"cmd_vel", 10, std::bind(&Ros2Aria::cmd_vel_callback, this, _1));
|
|
||||||
clutch_sub_ = this->create_subscription<std_msgs::msg::Bool>(
|
|
||||||
"clutch", 10, std::bind(&Ros2Aria::clutch_callback, this, _1));
|
|
||||||
|
|
||||||
sonar_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud>("sonar", 10);
|
ArArgumentBuilder *args = new ArArgumentBuilder(); // never freed
|
||||||
sonar_pointcloud2_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("sonar_pointcloud2", 10);
|
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)
|
||||||
pose_pub_ = this->create_publisher<nav_msgs::msg::Odometry>("pose", 1000);
|
args->add("-robotPort /dev/ttyS0"); // pass robot's serial port to Aria
|
||||||
|
// args->add("-robotLogPacketsReceived"); // log received packets
|
||||||
wheels_pub_ = this->create_publisher<sensor_msgs::msg::JointState>("wheels", 1000);
|
// args->add("-robotLogPacketsSent"); // log sent packets
|
||||||
|
args->add("-robotLogVelocitiesReceived"); // log received velocities
|
||||||
battery_recharge_state_pub_ = this->create_publisher<std_msgs::msg::Int8>("battery_recharge_state", 10);
|
args->add("-robotLogMovementSent");
|
||||||
battery_state_of_charge_pub_ = this->create_publisher<std_msgs::msg::Float32>("battery_state_of_charge", 10);
|
args->add("-robotLogMovementReceived");
|
||||||
robot_info_pub_ = this->create_publisher<ros2aria_msgs::msg::RobotInfoMsg>("robot_info", 10);
|
ArRobotConnector *conn = new ArRobotConnector(argparser, robot); // warning never freed
|
||||||
|
if (!conn->connectRobot())
|
||||||
// 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));
|
|
||||||
|
|
||||||
// listen to sensors
|
|
||||||
auto r = robot->getRobot();
|
|
||||||
r->addSensorInterpTask("ROSPublishingTask", 100, &this->sensorCb);
|
|
||||||
|
|
||||||
sonar_frame_id = "pionier6"; // TODO: use args
|
|
||||||
}
|
|
||||||
|
|
||||||
Ros2Aria::~Ros2Aria()
|
|
||||||
{
|
{
|
||||||
auto r = robot->getRobot();
|
printf("RosAria: ARIA could not connect to robot! (Check ~port parameter is correct, and permissions on port device, or any errors reported above)\n");
|
||||||
r->remSensorInterpTask("ROSPublishingTask");
|
return 1;
|
||||||
}
|
}
|
||||||
|
robot->runAsync(true);
|
||||||
|
sleep(3);
|
||||||
|
printf("Enabling motors\n");
|
||||||
|
robot->enableMotors();
|
||||||
|
|
||||||
void Ros2Aria::stop(const std::shared_ptr<std_srvs::srv::Empty::Request> request, std::shared_ptr<std_srvs::srv::Empty::Response> response) const
|
printf("Enabled motors\n");
|
||||||
{
|
robot->setVel(2);
|
||||||
UNUSED(request);
|
robot->move(500);
|
||||||
UNUSED(response);
|
|
||||||
RCLCPP_INFO(this->get_logger(), "stop");
|
sleep(10);
|
||||||
rclcpp::shutdown();
|
|
||||||
|
robot->move(-500);
|
||||||
|
sleep(2);
|
||||||
|
conn->disconnectAll();
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
|
||||||
|
return 0;
|
||||||
}
|
}
|
||||||
@ -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;
|
|
||||||
};
|
|
||||||
@ -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);
|
|
||||||
}
|
|
||||||
@ -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);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,32 +0,0 @@
|
|||||||
#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);
|
|
||||||
}
|
|
||||||
@ -1,49 +0,0 @@
|
|||||||
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()
|
|
||||||
@ -1,3 +0,0 @@
|
|||||||
std_msgs/Float64 distance
|
|
||||||
std_msgs/Float64 linear_velocity
|
|
||||||
std_msgs/Float64 angular_velocity
|
|
||||||
@ -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
|
|
||||||
@ -1,24 +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>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>
|
|
||||||
Loading…
Reference in New Issue
Block a user