Added decawave
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parent
349f97c7db
commit
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1
99-decawave.rules
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1
99-decawave.rules
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@ -0,0 +1 @@
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SUBSYSTEM=="tty", ATTRS{idVendor}=="1366", ATTRS{idProduct}=="0105", SYMLINK+="decawave"
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@ -21,6 +21,7 @@ echo
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echo
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set -x
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rosrun rosaria RosAria _port:=$ARIA_PORT _tf_prefix:=${ROS_NAMESPACE} &
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rosrun hokuyo_node hokuyo_node _frame_id:="PIONIER${PIONIER_ID}/laser" &
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rosrun tf static_transform_publisher 0.16 0 0 0 0 0 ${ROS_NAMESPACE}/base_link "${ROS_NAMESPACE}/laser" 100
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rosrun rosaria RosAria _port:=$ARIA_PORT _tf_prefix:=PIONIER${PIONIER_ID} &
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rosrun hokuyo_node hokuyo_node _frame_id:="laser${PIONIER_ID}"
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@ -5,6 +5,15 @@ if [ "$EUID" -ne 0 ]
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exit
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fi
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cd radio-lap
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docker build . -t decawave
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cd ..
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cd Legacy
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docker build . -t irth7/rosaria-legacy
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cd ..
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cp 99-decawave.rules /etc/udev/rules.d/
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cp rosaria-docker.service /etc/systemd/system/
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chmod g+w /etc/systemd/system/rosaria-docker.service
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systemctl daemon-reload
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15
radio-lap/Dockerfile
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15
radio-lap/Dockerfile
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FROM ros:noetic-ros-core
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RUN apt-get update -y && apt-get install ros-noetic-tf python3-serial python3-catkin-tools build-essential -y \
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&& rm -rf /var/lib/apt/lists/*
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SHELL ["/bin/bash", "--login", "-c"]
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WORKDIR /ws
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COPY ./src /ws/src
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RUN source /opt/ros/noetic/setup.bash && catkin_make && \
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echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc && \
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echo "source /ws/devel/setup.bash" >> ~/.bashrc
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ENV ROS_MASTER_URI=http://10.104.16.29:11311/
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COPY entrypoint.sh /entrypoint.sh
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ENTRYPOINT ["/entrypoint.sh"]
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6
radio-lap/entrypoint.sh
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6
radio-lap/entrypoint.sh
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#!/usr/bin/env bash
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source /opt/ros/noetic/setup.bash
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source /ws/devel/setup.bash
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set -x
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roslaunch ros_decawave decawave_driver.launch pionier_id:=${PIONIER_ID}
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69
radio-lap/src/CMakeLists.txt
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69
radio-lap/src/CMakeLists.txt
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# toplevel CMakeLists.txt for a catkin workspace
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# catkin/cmake/toplevel.cmake
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cmake_minimum_required(VERSION 3.0.2)
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project(Project)
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set(CATKIN_TOPLEVEL TRUE)
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# search for catkin within the workspace
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set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
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execute_process(COMMAND ${_cmd}
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RESULT_VARIABLE _res
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OUTPUT_VARIABLE _out
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ERROR_VARIABLE _err
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OUTPUT_STRIP_TRAILING_WHITESPACE
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ERROR_STRIP_TRAILING_WHITESPACE
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)
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if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
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# searching fot catkin resulted in an error
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string(REPLACE ";" " " _cmd_str "${_cmd}")
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message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
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endif()
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# include catkin from workspace or via find_package()
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if(_res EQUAL 0)
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set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
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# include all.cmake without add_subdirectory to let it operate in same scope
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include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
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add_subdirectory("${_out}")
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else()
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# use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
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# or CMAKE_PREFIX_PATH from the environment
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if(NOT DEFINED CMAKE_PREFIX_PATH)
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if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
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if(NOT WIN32)
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string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
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else()
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set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
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endif()
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endif()
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endif()
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# list of catkin workspaces
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set(catkin_search_path "")
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foreach(path ${CMAKE_PREFIX_PATH})
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if(EXISTS "${path}/.catkin")
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list(FIND catkin_search_path ${path} _index)
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if(_index EQUAL -1)
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list(APPEND catkin_search_path ${path})
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endif()
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endif()
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endforeach()
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# search for catkin in all workspaces
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set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
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find_package(catkin QUIET
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NO_POLICY_SCOPE
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PATHS ${catkin_search_path}
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
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unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
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if(NOT catkin_FOUND)
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message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
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endif()
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endif()
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catkin_workspace()
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1
radio-lap/src/ros_decawave
Submodule
1
radio-lap/src/ros_decawave
Submodule
@ -0,0 +1 @@
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Subproject commit cee43c8ea4496df46ec00bc851082186b86ad169
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7
run.sh
7
run.sh
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# Script running rosaria inside docker container
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echo "ID: $PIONIER_ID"
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docker run --privileged --network=host --device=/dev/ttyS0 -i -e ROS_IP=$(hostname -I | awk '{print $1}') -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g'
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docker run -d --privileged --network=host --device=/dev/ttyS0 -i -e ROS_IP=$(hostname -I | awk '{print $1}') -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g'
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) irth7/rosaria-legacy
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if [ -e "/dev/decawave" ]; then
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echo "found tag"
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docker run --network=host --device=/dev/decawave -e PIONIER_ID=$(hostname | sed 's/[^0-9]//g') decawave
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fi
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