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eutobot_intergration
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Change the Yahboom Demo Code naming to Eutobot 

and Check correct Run Cartographer SLAM.
master
hojunlim 2023-12-19 16:46:41 +09:00
parent c7604fcfa6
commit 935ac7f9dc
250 changed files with 1967 additions and 270244 deletions
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76
.vscode/colcon.env vendored Normal file
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@ -0,0 +1,76 @@
SHELL=/bin/bash
SESSION_MANAGER=local/hjmatt-linux:@/tmp/.ICE-unix/2197,unix/hjmatt-linux:/tmp/.ICE-unix/2197
QT_ACCESSIBILITY=1
COLORTERM=truecolor
XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
XDG_MENU_PREFIX=gnome-
GNOME_DESKTOP_SESSION_ID=this-is-deprecated
TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
LC_ADDRESS=ko_KR.UTF-8
GNOME_SHELL_SESSION_MODE=ubuntu
LC_NAME=ko_KR.UTF-8
SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
ELECTRON_RUN_AS_NODE=1
TERMINATOR_UUID=urn:uuid:277bb516-a061-4c0a-86e5-886608b59917
XMODIFIERS=@im=ibus
DESKTOP_SESSION=ubuntu
LC_MONETARY=ko_KR.UTF-8
SSH_AGENT_PID=2159
NO_AT_BRIDGE=1
VSCODE_AMD_ENTRYPOINT=vs/workbench/api/node/extensionHostProcess
GTK_MODULES=gail:atk-bridge
PWD=/home/hjmatt/task8/13.ros/4.TaskSpace/eutobot_intergration
XDG_SESSION_DESKTOP=ubuntu
LOGNAME=hjmatt
XDG_SESSION_TYPE=x11
GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
VSCODE_CODE_CACHE_PATH=/home/hjmatt/.config/Code/CachedData/0ee08df0cf4527e40edc9aa28f4b5bd38bbff2b2
XAUTHORITY=/run/user/1000/gdm/Xauthority
GJS_DEBUG_TOPICS=JS ERROR;JS LOG
WINDOWPATH=2
HOME=/home/hjmatt
USERNAME=hjmatt
IM_CONFIG_PHASE=1
LC_PAPER=ko_KR.UTF-8
LANG=en_US.UTF-8
LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
XDG_CURRENT_DESKTOP=Unity
VSCODE_IPC_HOOK=/run/user/1000/vscode-7e50df75-1.85-main.sock
VTE_VERSION=6003
VSCODE_CLI=1
INVOCATION_ID=804838178d254e2993b3a443970b7363
TERMINATOR_DBUS_NAME=net.tenshu.Terminator21a9d5db22c73a993ff0b42f64b396873
MANAGERPID=1983
CHROME_DESKTOP=code-url-handler.desktop
GJS_DEBUG_OUTPUT=stderr
LESSCLOSE=/usr/bin/lesspipe %s %s
XDG_SESSION_CLASS=user
TERM=xterm-256color
LC_IDENTIFICATION=ko_KR.UTF-8
LESSOPEN=| /usr/bin/lesspipe %s
USER=hjmatt
DISPLAY=:0
VSCODE_PID=3999
SHLVL=1
LC_TELEPHONE=ko_KR.UTF-8
QT_IM_MODULE=ibus
LC_MEASUREMENT=ko_KR.UTF-8
VSCODE_CWD=/home/hjmatt/task8/13.ros/4.TaskSpace/eutobot_intergration
VSCODE_CRASH_REPORTER_PROCESS_TYPE=extensionHost
XDG_RUNTIME_DIR=/run/user/1000
LC_TIME=ko_KR.UTF-8
ELECTRON_NO_ATTACH_CONSOLE=1
JOURNAL_STREAM=8:58733
XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/
GDK_BACKEND=x11
PATH=/home/hjmatt/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
GDMSESSION=ubuntu
ORIGINAL_XDG_CURRENT_DESKTOP=ubuntu:GNOME
DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
VSCODE_NLS_CONFIG={"locale":"en-us","osLocale":"en-us","availableLanguages":{},"_languagePackSupport":true}
GIO_LAUNCHED_DESKTOP_FILE_PID=2719
GIO_LAUNCHED_DESKTOP_FILE=/usr/share/applications/terminator.desktop
VSCODE_HANDLES_UNCAUGHT_ERRORS=true
LC_NUMERIC=ko_KR.UTF-8
OLDPWD=/home/hjmatt/task8/13.ros/4.TaskSpace
_=/usr/bin/env

19
README.md
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@ -0,0 +1,19 @@
## Run Eutobot
1. Open Terminal in target board and Insert below command
```
$ ros2 launch eutobot_nav laser_bringup_launch.py
```
2. Open Terminal in Host PC and Insert below command
```
$ ros2 launch eutobot_nav cartographer_launch.py
```
3. Open second Terminal in Host PC and Insert below command
```
$ ros2 launch eutobot_nav display_map_launch.py
```
<br>
check the grid map through rviz.

21
src/.vscode/colcon.env vendored
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@ -1,5 +1,5 @@
SHELL=/bin/bash
SESSION_MANAGER=local/hjmatt-linux:@/tmp/.ICE-unix/2257,unix/hjmatt-linux:/tmp/.ICE-unix/2257
SESSION_MANAGER=local/hjmatt-linux:@/tmp/.ICE-unix/2197,unix/hjmatt-linux:/tmp/.ICE-unix/2197
QT_ACCESSIBILITY=1
COLORTERM=truecolor
XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
@ -11,11 +11,12 @@ GNOME_SHELL_SESSION_MODE=ubuntu
LC_NAME=ko_KR.UTF-8
SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
ELECTRON_RUN_AS_NODE=1
TERMINATOR_UUID=urn:uuid:1b1c9186-aec3-4494-ab5a-f51a9555abf6
TERMINATOR_UUID=urn:uuid:277bb516-a061-4c0a-86e5-886608b59917
XMODIFIERS=@im=ibus
DESKTOP_SESSION=ubuntu
LC_MONETARY=ko_KR.UTF-8
SSH_AGENT_PID=2219
SSH_AGENT_PID=2159
NO_AT_BRIDGE=1
VSCODE_AMD_ENTRYPOINT=vs/workbench/api/node/extensionHostProcess
GTK_MODULES=gail:atk-bridge
PWD=/home/hjmatt/task8/13.ros/SRDK/mnt_target/workspace/src
@ -23,7 +24,7 @@ XDG_SESSION_DESKTOP=ubuntu
LOGNAME=hjmatt
XDG_SESSION_TYPE=x11
GPG_AGENT_INFO=/run/user/1000/gnupg/S.gpg-agent:0:1
VSCODE_CODE_CACHE_PATH=/home/hjmatt/.config/Code/CachedData/1a5daa3a0231a0fbba4f14db7ec463cf99d7768e
VSCODE_CODE_CACHE_PATH=/home/hjmatt/.config/Code/CachedData/0ee08df0cf4527e40edc9aa28f4b5bd38bbff2b2
_=/usr/bin/env
XAUTHORITY=/run/user/1000/gdm/Xauthority
GJS_DEBUG_TOPICS=JS ERROR;JS LOG
@ -35,12 +36,12 @@ LC_PAPER=ko_KR.UTF-8
LANG=en_US.UTF-8
LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
XDG_CURRENT_DESKTOP=Unity
VSCODE_IPC_HOOK=/run/user/1000/vscode-7e50df75-1.84-main.sock
VSCODE_IPC_HOOK=/run/user/1000/vscode-7e50df75-1.85-main.sock
VTE_VERSION=6003
VSCODE_CLI=1
INVOCATION_ID=67cab6c134a244dba56513793b4cab58
INVOCATION_ID=804838178d254e2993b3a443970b7363
TERMINATOR_DBUS_NAME=net.tenshu.Terminator21a9d5db22c73a993ff0b42f64b396873
MANAGERPID=2041
MANAGERPID=1983
CHROME_DESKTOP=code-url-handler.desktop
GJS_DEBUG_OUTPUT=stderr
LESSCLOSE=/usr/bin/lesspipe %s %s
@ -50,7 +51,7 @@ LC_IDENTIFICATION=ko_KR.UTF-8
LESSOPEN=| /usr/bin/lesspipe %s
USER=hjmatt
DISPLAY=:0
VSCODE_PID=609928
VSCODE_PID=3999
SHLVL=1
LC_TELEPHONE=ko_KR.UTF-8
QT_IM_MODULE=ibus
@ -60,7 +61,7 @@ VSCODE_CRASH_REPORTER_PROCESS_TYPE=extensionHost
XDG_RUNTIME_DIR=/run/user/1000
LC_TIME=ko_KR.UTF-8
ELECTRON_NO_ATTACH_CONSOLE=1
JOURNAL_STREAM=8:55273
JOURNAL_STREAM=8:58733
XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/
GDK_BACKEND=x11
PATH=/home/hjmatt/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
@ -68,7 +69,7 @@ GDMSESSION=ubuntu
ORIGINAL_XDG_CURRENT_DESKTOP=ubuntu:GNOME
DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
VSCODE_NLS_CONFIG={"locale":"en-us","osLocale":"en-us","availableLanguages":{},"_languagePackSupport":true}
GIO_LAUNCHED_DESKTOP_FILE_PID=2710
GIO_LAUNCHED_DESKTOP_FILE_PID=2719
GIO_LAUNCHED_DESKTOP_FILE=/usr/share/applications/terminator.desktop
VSCODE_HANDLES_UNCAUGHT_ERRORS=true
LC_NUMERIC=ko_KR.UTF-8

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src/eutobot/.gitignore vendored
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# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app
# user setting
*.*~
*.bak
.svn
.tags
.tags_sorted_by_file
*.cfgc
*.txt.user*
*-build/
cpp/
bin/
build/
msg_gen/
srv_gen/
docs/
lib/
cmake_install.cmake
Makefile
CMakeFiles/
assets/
gen/
build.xml
lint.xml
local.properties
proguard-project.txt
build-*/
*.autosave
*.pyc
*.dat
*.txt.user
*.gch
/.project

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src/eutobot/LICENSE
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@ -1,202 +0,0 @@
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7
src/eutobot/eutobot/CHANGELOG.rst
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@ -1,7 +0,0 @@
================================================================================
Changelog for package eutobot
================================================================================
--------------------------------------------------------------------------------
0.1.0 (2023-11-06)
- First Draft

9
src/eutobot/eutobot/CMakeLists.txt
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@ -1,9 +0,0 @@
cmake_minimum_required(VERSION 3.5)
project(eutobot)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
find_package(ament_cmake REQUIRED)
ament_package()

27
src/eutobot/eutobot/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>eutobot</name>
<version>0.1.0</version>
<description>
ROS 2 packages for EutoBot
</description>
<maintainer email="ray@coasia.com">Ray Park</maintainer>
<license>Apache 2.0</license>
<url type="website">http://www.coasianexell.com/</url>
<url type="repository">http://cnst.coasianexell.com:53000/robotics/eutobot</url>
<url type="bugtracker">http://cnst.coasianexell.com:53000/issues</url>
<author email="sw.jo@coasia.com">Biela Jo</author>
<author email="emergency@coasia.com">Matt Lim</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>eutobot_bringup</exec_depend>
<exec_depend>eutobot_cartographer</exec_depend>
<exec_depend>eutobot_description</exec_depend>
<exec_depend>eutobot_example</exec_depend>
<exec_depend>eutobot_navigation2</exec_depend>
<exec_depend>eutobot_node</exec_depend>
<exec_depend>eutobot_teleop</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

7
src/eutobot/eutobot_bringup/CHANGELOG.rst
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@ -1,7 +0,0 @@
================================================================================
Changelog for package eutobot_bringup
================================================================================
--------------------------------------------------------------------------------
0.1.0 (2023-11-06)
- First Draft

31
src/eutobot/eutobot_bringup/CMakeLists.txt
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@ -1,31 +0,0 @@
################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(eutobot_bringup)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(ament_cmake REQUIRED)
################################################################################
# Install
################################################################################
install(
DIRECTORY launch param script
DESTINATION share/${PROJECT_NAME}
)
################################################################################
# Macro for ament package
################################################################################
ament_package()

58
src/eutobot/eutobot_bringup/launch/eutobot_state_publisher.launch.py
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@ -1,58 +0,0 @@
#!/usr/bin/env python3
#
# Copyright 2023 CoasiaNexell CO., LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Authors: Biela Jo
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
urdf_file_name = 'eutobot.urdf'
print("urdf_file_name : {}".format(urdf_file_name))
urdf = os.path.join(
get_package_share_directory('eutobot_description'),
'urdf',
urdf_file_name)
# Major refactor of the robot_state_publisher
# Reference page: https://github.com/ros2/demos/pull/426
with open(urdf, 'r') as infp:
robot_desc = infp.read()
rsp_params = {'robot_description': robot_desc}
# print (robot_desc) # Printing urdf information.
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true'),
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[rsp_params, {'use_sim_time': use_sim_time}])
])

90
src/eutobot/eutobot_bringup/launch/robot.launch.py
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@ -1,90 +0,0 @@
#!/usr/bin/env python3
#
# Copyright 2023 CoAsia Nexell Co.,LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Authors: Biela Jo
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.conditions import IfCondition, UnlessCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import ThisLaunchFileDir
from launch.substitutions import Command
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
def generate_launch_description():
# Dynamixel USB Port
dynamixel_usb_port = LaunchConfiguration('dynamixel_usb_port', default='/dev/ttyUSB1')
# eutobot_param_dir = LaunchConfiguration(
# 'eutobot_param_dir',
# default=os.path.join(
# get_package_share_directory('eutobot_bringup'),
# 'param',
# 'eutobot.yaml'))
lidar_pkg_dir = LaunchConfiguration(
'lidar_pkg_dir',
default=os.path.join(get_package_share_directory('ydlidar_ros2_driver'), 'launch'))
# LDS_LAUNCH_FILE = '/ydlidar_launch.py'
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
# YAHBOOM
yahboom_pkg_dir = LaunchConfiguration(
'yahboom_pkg_dir',
default=os.path.join(get_package_share_directory('yahboomcar_bringup'), 'launch'))
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
default_value=use_sim_time,
description='Use simulation (Gazebo) clock if true'),
# DeclareLaunchArgument(
# 'eutobot_param_dir',
# default_value=eutobot_param_dir,
# description='Full path to eutobot parameter file to load'),
# IncludeLaunchDescription(
# PythonLaunchDescriptionSource(
# [ThisLaunchFileDir(), '/eutobot_state_publisher.launch.py']),
# launch_arguments={'use_sim_time': use_sim_time}.items(),
# ),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([lidar_pkg_dir, '/ydlidar_launch.py']),
launch_arguments={'port': '/dev/ttySAC6', 'frame_id': 'base_scan'}.items(),
),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([yahboom_pkg_dir, "/yahboomcar_bringup_X3_launch.py"]),
),
# Node(
# package='eutobot_node',
# executable='eutobot_ros',
# parameters=[eutobot_param_dir],
# arguments=['-i', dynamixel_usb_port],
# output='screen'),
])

39
src/eutobot/eutobot_bringup/launch/rviz2.launch.py
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@ -1,39 +0,0 @@
#!/usr/bin/env python3
#
# Copyright 2023 CoAsia Nexell Co.,LTD.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Authors: Biela Jo
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
rviz_config_dir = os.path.join(
get_package_share_directory('eutobot_description'),
'rviz',
'model.rviz')
return LaunchDescription([
Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_dir],
output='screen'),
])

24
src/eutobot/eutobot_bringup/package.xml
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@ -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>eutobot_bringup</name>
<version>0.1.0</version>
<description>
ExynosAuto ROS2 launch scripts for string the eutobot
</description>
<maintainer email="ray@coasia.com">Ray Park</maintainer>
<license>Apache 2.0</license>
<url type="website">http://www.coasianexell.com/</url>
<url type="repository">http://cnst.coasianexell.com:53000/robotics/eutobot</url>
<url type="bugtracker">http://cnst.coasianexell.com:53000/issues</url>
<author email="sw.jo@coasia.com">Biela Jo</author>
<author email="emergency@coasia.com">Matt Lim</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>eutobot_description</exec_depend>
<exec_depend>eutobot_node</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

34
src/eutobot/eutobot_bringup/param/eutobot.yaml
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eutobot_node:
ros__parameters:
opencr:
id: 200
baud_rate: 1000000
protocol_version: 2.0
wheels:
separation: 0.160
radius: 0.033
motors:
profile_acceleration_constant: 214.577
# [rev/min2]
# ref) http://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#profile-acceleration
profile_acceleration: 0.0
sensors:
bumper_1: 0
bumper_2: 0
illumination: 0
ir: 0
sonar: 0
diff_drive_controller:
ros__parameters:
odometry:
publish_tf: true
use_imu: true
frame_id: "odom"
child_frame_id: "base_footprint"

10
src/eutobot/eutobot_bringup/script/99-eutobot-cdc.rules
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@ -1,10 +0,0 @@
#http://linux-tips.org/t/prevent-modem-manager-to-capture-usb-serial-devices/284/2.
#cp rules /etc/udev/rules.d/
#sudo udevadm control --reload-rules
#sudo udevadm trigger
ATTRS{idVendor}=="0483" ATTRS{idProduct}=="5740", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"
ATTRS{idVendor}=="0483" ATTRS{idProduct}=="df11", MODE:="0666"
ATTRS{idVendor}=="fff1" ATTRS{idProduct}=="ff48", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"
ATTRS{idVendor}=="10c4" ATTRS{idProduct}=="ea60", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"

14
src/eutobot/eutobot_bringup/script/create_udev_rules
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@ -1,14 +0,0 @@
#!/bin/bash
echo ""
echo "This script copies a udev rule to /etc to facilitate bringing"
echo "up the eutobot usb connection."
echo ""
sudo cp `sudo cp `ros2 pkg prefix eutobot_bringup`/share/eutobot_bringup/script/99-eutobot-cdc.rules /etc/udev/rules.d/
echo ""
echo "Reload rules"
echo ""
sudo udevadm control --reload-rules
sudo udevadm trigger

8
src/eutobot/eutobot_cartographer/CHANGELOG.rst
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@ -1,8 +0,0 @@
================================================================================
Changelog for package eutobot_cartographer
================================================================================
--------------------------------------------------------------------------------
0.1.0 (2023-11-06)
- First Draft

27
src/eutobot/eutobot_cartographer/CMakeLists.txt
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@ -1,27 +0,0 @@
################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(eutobot_cartographer)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(ament_cmake REQUIRED)
################################################################################
# Install
################################################################################
install(
DIRECTORY config launch rviz
DESTINATION share/${PROJECT_NAME}
)
################################################################################
# Macro for ament package
################################################################################
ament_package()

21
src/eutobot/eutobot_cartographer/package.xml
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@ -1,21 +0,0 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>eutobot_cartographer</name>
<version>0.1.0</version>
<description>
ROS 2 launch scripts for cartographer
</description>
<maintainer email="ray@coasia.com">Ray Park</maintainer>
<license>Apache 2.0</license>
<url type="website">http://www.coasianexell.com/</url>
<url type="repository">http://cnst.coasianexell.com:53000/robotics/eutobot</url>
<url type="bugtracker">http://cnst.coasianexell.com:53000/issues</url>
<author email="sw.jo@coasia.com">Biela Jo</author>
<author email="emergency@coasia.com">Matt Lim</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>cartographer_ros</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

476
src/eutobot/eutobot_cartographer/rviz/eutobot_cartographer.rviz
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@ -1,476 +0,0 @@
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /LaserScan1/Topic1
Splitter Ratio: 0.3916349709033966
Tree Height: 347
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /Publish Point1
- /2D Pose Estimate1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
base_scan:
Value: true
caster_back_link:
Value: true
imu_link:
Value: true
map:
Value: true
odom:
Value: true
wheel_left_link:
Value: true
wheel_right_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_footprint:
base_link:
base_scan:
{}
caster_back_link:
{}
imu_link:
{}
wheel_left_link:
{}
wheel_right_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4439
Min Color: 0; 0; 0
Min Intensity: 105
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.019999999552965164
Style: Boxes
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz_default_plugins/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: false
Keep: 100
Name: Odometry
Position Tolerance: 0.10000000149011612
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Value: Arrow
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /odom
Value: false
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map_updates
Use Timestamp: false
Value: true
- Class: rviz_common/Group
Displays:
- Class: rviz_common/Group
Displays:
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: true
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_plan
Value: true
Enabled: true
Name: Global Map
- Class: rviz_common/Group
Displays:
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/footprint
Value: true
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap_updates
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_plan
Value: true
Enabled: true
Name: Local Map
- Alpha: 1
Arrow Length: 0.05000000074505806
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz_default_plugins/PoseArray
Color: 0; 192; 0
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: PoseArray
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /particlecloud
Value: true
Enabled: false
Name: Navigation
- Class: rviz_common/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 0.18203988671302795
Min Value: 0.18195410072803497
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 0; 255; 0
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: scan_matched_points2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Boxes
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /scan_matched_points2
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Trajectories
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /trajectory_node_list
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Constraints
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /constraint_list
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Landmark Poses
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /landmark_poses_list
Value: false
Enabled: true
Name: Cartographer
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /move_base_simple/goal
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: initialpose
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Angle: 0
Class: rviz_default_plugins/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: 119.26066589355469
Target Frame: <Fixed Frame>
Value: TopDownOrtho (rviz_default_plugins)
X: 0.0023878198117017746
Y: -0.17037495970726013
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 576
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000017a000001e6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001e6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000236fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000236000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002db000001e600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1115
X: 164
Y: 106

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================================================================================
Changelog for package eutobot_description
================================================================================
--------------------------------------------------------------------------------
0.1.0 (2023-11-06)
- First Draft

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################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(eutobot_description)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(ament_cmake REQUIRED)
find_package(urdf REQUIRED)
################################################################################
# Install
################################################################################
install(DIRECTORY meshes rviz urdf
DESTINATION share/${PROJECT_NAME}
)
################################################################################
# Macro for ament package
################################################################################
ament_package()

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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>eutobot_description</name>
<version>2.1.5</version>
<description>
3D models of the Eutobot for simulation and visualization
</description>
<maintainer email="ray@coasia.com">Ray Park</maintainer>
<license>Apache 2.0</license>
<url type="website">http://www.coasianexell.com/</url>
<url type="repository">http://cnst.coasianexell.com:53000/robotics/eutobot</url>
<url type="bugtracker">http://cnst.coasianexell.com:53000/issues</url>
<author email="sw.jo@coasia.com">Biela Jo</author>
<author email="emergency@coasia.com">Matt Lim</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>urdf</depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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<?xml version="1.0" ?>
<robot name="xacro_properties"
xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Init colour -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="dark">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="light_black">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
<material name="orange">
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
</material>
<material name="brown">
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>

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<?xml version="1.0" ?>
<robot name="eutobot"
xmlns:xacro="http://ros.org/wiki/xacro">
<!-- <xacro:include filename="$(find eutobot_description)/urdf/common_properties.urdf"/> -->
<!-- Init colour -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="dark">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="light_black">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.4235 0.0392 1.0"/>
</material>
<material name="brown">
<color rgba="0.8706 0.8118 0.7647 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
</joint>
<link name="base_link">
<visual>
<origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://eutobot_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="light_black"/>
</visual>
<collision>
<origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
<geometry>
<box size="0.140 0.140 0.143"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="8.2573504e-01"/>
<inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05" iyy="2.1193702e-03" iyz="-5.0120904e-06" izz="2.0064271e-03" />
</inertial>
</link>
<joint name="wheel_left_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_left_link"/>
<origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_left_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://eutobot_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
</inertial>
</link>
<joint name="wheel_right_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_right_link"/>
<origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_right_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://eutobot_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
</inertial>
</link>
<joint name="caster_back_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_link"/>
<origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
</joint>
<link name="caster_back_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.005" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
</joint>
<link name="imu_link"/>
<joint name="scan_joint" type="fixed">
<parent link="base_link"/>
<child link="base_scan"/>
<origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
</joint>
<link name="base_scan">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://eutobot_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
<geometry>
<cylinder length="0.0315" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.114" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
</robot>

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================================================================================
Changelog for package eutobot_msgs
================================================================================
--------------------------------------------------------------------------------
0.1.0 (2023-11-06)
- First Draft

53
src/eutobot/eutobot_msgs/CMakeLists.txt
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################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(eutobot_msgs)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(action_msgs REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
################################################################################
# Setup for python modules and scripts
################################################################################
################################################################################
# Declare ROS messages, services and actions
################################################################################
set(msg_files
"msg/SensorState.msg"
"msg/Sound.msg"
"msg/VersionInfo.msg"
)
set(srv_files
"srv/Sound.srv"
"srv/Dqn.srv"
)
set(action_files
"action/Patrol.action"
)
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
${srv_files}
${action_files}
DEPENDENCIES action_msgs std_msgs
ADD_LINTER_TESTS
)
ament_export_dependencies(rosidl_default_runtime)
ament_package()

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src/eutobot/eutobot_msgs/action/Patrol.action
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@ -1,8 +0,0 @@
# Goal
float32 radius
---
# Result
bool success
---
# Feedback
float32 left_time

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src/eutobot/eutobot_msgs/msg/SensorState.msg
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@ -1,42 +0,0 @@
########################################
# CONSTANTS
########################################
# Bumper states (states are combined, when multiple bumpers are pressed)
uint8 BUMPER_FORWARD = 1
uint8 BUMPER_BACKWARD = 2
# Cliff sensor states (states are combined, when multiple cliff sensors are triggered)
uint8 CLIFF = 1
# Sonar sensor states (states are combined, when multiple sonar sensors are triggered)
uint8 SONAR = 1
# Illumination sensor (states are combined, when multiple illumination sensors are triggered)
uint8 ILLUMINATION = 1
# Button states (states are combined, when multiple buttons are pressed)
uint8 BUTTON0 = 1
uint8 BUTTON1 = 2
# Motor errors
uint8 ERROR_LEFT_MOTOR = 1
uint8 ERROR_RIGHT_MOTOR = 2
# Motor torque
uint8 TORQUE_ON = 1
uint8 TORQUE_OFF = 2
########################################
# Messages
########################################
std_msgs/Header header
uint8 bumper
float32 cliff
float32 sonar
float32 illumination
uint8 led
uint8 button
bool torque
int32 left_encoder # (-2,147,483,648 ~ 2,147,483,647)
int32 right_encoder # (-2,147,483,648 ~ 2,147,483,647)
float32 battery

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src/eutobot/eutobot_msgs/msg/Sound.msg
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@ -1,14 +0,0 @@
########################################
# CONSTANTS
########################################
uint8 OFF = 0
uint8 ON = 1
uint8 LOW_BATTERY = 2
uint8 ERROR = 3
uint8 BUTTON1 = 4
uint8 BUTTON2 = 5
########################################
# Messages
########################################
uint8 value

6
src/eutobot/eutobot_msgs/msg/VersionInfo.msg
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@ -1,6 +0,0 @@
########################################
# Messages
########################################
string hardware # <yyyy>.<mm>.<dd> : hardware version of EutoBot (ex. 2017.05.23)
string firmware # <major>.<minor>.<patch> : firmware version of OpenCR
string software # <major>.<minor>.<patch> : software version of EutoBot ROS packages

32
src/eutobot/eutobot_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>eutobot_msgs</name>
<version>2.2.3</version>
<description>
Message and service types: custom messages and services for EutoBot packages for ROS2
</description>
<maintainer email="ray@coasia.com">Ray Park</maintainer>
<license>Apache 2.0</license>
<url type="website">http://www.coasianexell.com/</url>
<url type="repository">http://cnst.coasianexell.com:53000/robotics/eutobot</url>
<url type="bugtracker">http://cnst.coasianexell.com:53000/issues</url>
<author email="sw.jo@coasia.com">Biela Jo</author>
<author email="emergency@coasia.com">Matt Lim</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<build_depend>action_msgs</build_depend>
<build_depend>builtin_interfaces</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>rosidl_default_runtime</build_depend>
<exec_depend>action_msgs</exec_depend>
<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<test_depend>ament_lint_common</test_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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src/eutobot/eutobot_msgs/srv/Dqn.srv
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@ -1,6 +0,0 @@
uint8 action
bool init
---
float32[] state
float32 reward
bool done

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src/eutobot/eutobot_msgs/srv/Sound.srv
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@ -1,14 +0,0 @@
########################################
# CONSTANTS
########################################
# uint8 OFF = 0
# uint8 ON = 1
# uint8 LOW_BATTERY = 2
# uint8 ERROR = 3
# uint8 BUTTON1 = 4
# uint8 BUTTON2 = 5
uint8 value
---
bool success
string message

7
src/eutobot/eutobot_navigation2/CHANGELOG.rst
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================================================================================
Changelog for package eutobot_navigation2
================================================================================
--------------------------------------------------------------------------------
0.1.0 (2023-11-06)
- First Draft

27
src/eutobot/eutobot_navigation2/CMakeLists.txt
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################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(eutobot_navigation2)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(ament_cmake REQUIRED)
################################################################################
# Install
################################################################################
install(
DIRECTORY launch map param rviz
DESTINATION share/${PROJECT_NAME}
)
################################################################################
# Macro for ament package
################################################################################
ament_package()

83
src/eutobot/eutobot_navigation2/launch/navigation2.launch.py
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@ -1,83 +0,0 @@
# Copyright 2019 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Author: Darby Lim
import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
map_dir = LaunchConfiguration(
'map',
default=os.path.join(
get_package_share_directory('eutobot_navigation2'),
'map',
'map.yaml'))
param_file_name = 'eutobot.yaml'
param_dir = LaunchConfiguration(
'params_file',
default=os.path.join(
get_package_share_directory('eutobot_navigation2'),
'param',
param_file_name))
nav2_launch_file_dir = os.path.join(get_package_share_directory('nav2_bringup'), 'launch')
rviz_config_dir = os.path.join(
get_package_share_directory('nav2_bringup'),
'rviz',
'nav2_default_view.rviz')
return LaunchDescription([
DeclareLaunchArgument(
'map',
default_value=map_dir,
description='Full path to map file to load'),
DeclareLaunchArgument(
'params_file',
default_value=param_dir,
description='Full path to param file to load'),
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use simulation (Gazebo) clock if true'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']),
launch_arguments={
'map': map_dir,
'use_sim_time': use_sim_time,
'params_file': param_dir}.items(),
),
Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_dir],
parameters=[{'use_sim_time': use_sim_time}],
output='screen'),
])

7
src/eutobot/eutobot_navigation2/map/map.yaml
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@ -1,7 +0,0 @@
image: map.pgm
resolution: 0.050000
origin: [-10.000000, -10.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

21
src/eutobot/eutobot_navigation2/package.xml
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@ -1,21 +0,0 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>eutobot_navigation2</name>
<version>2.1.5</version>
<description>
ROS 2 launch scripts for navigation2
</description>
<maintainer email="ray@coasia.com">Ray Park</maintainer>
<license>Apache 2.0</license>
<url type="website">http://www.coasianexell.com/</url>
<url type="repository">http://cnst.coasianexell.com:53000/robotics/eutobot</url>
<url type="bugtracker">http://cnst.coasianexell.com:53000/issues</url>
<author email="sw.jo@coasia.com">Biela Jo</author>
<author email="emergency@coasia.com">Matt Lim</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>nav2_bringup</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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src/eutobot/eutobot_navigation2/rviz/eutobot_navigation2.rviz
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@ -1,569 +0,0 @@
Panels:
- Class: rviz_common/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
- /TF1/Tree1
Splitter Ratio: 0.5833333134651184
Tree Height: 606
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: nav2_rviz_plugins/Navigation 2
Name: Navigation 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: false
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: ""
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: false
Visual Enabled: true
- Class: rviz_default_plugins/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
base_footprint:
Value: true
base_link:
Value: true
base_scan:
Value: true
camera_depth_frame:
Value: true
camera_depth_optical_frame:
Value: true
camera_link:
Value: true
camera_rgb_frame:
Value: true
camera_rgb_optical_frame:
Value: true
caster_back_left_link:
Value: true
caster_back_right_link:
Value: true
imu_link:
Value: true
map:
Value: true
odom:
Value: true
wheel_left_link:
Value: true
wheel_right_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
map:
odom:
base_footprint:
base_link:
base_scan:
{}
camera_link:
camera_depth_frame:
camera_depth_optical_frame:
{}
camera_rgb_frame:
camera_rgb_optical_frame:
{}
caster_back_left_link:
{}
caster_back_right_link:
{}
imu_link:
{}
wheel_left_link:
{}
wheel_right_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: ""
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Bumper Hit
Position Transformer: ""
Selectable: true
Size (Pixels): 3
Size (m): 0.07999999821186066
Style: Spheres
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /mobile_base/sensors/bumper_pointcloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Map
Topic:
Depth: 1
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: /map
Use Timestamp: false
Value: true
- Alpha: 1
Class: nav2_rviz_plugins/ParticleCloud
Color: 0; 180; 0
Enabled: true
Max Arrow Length: 0.3
Min Arrow Length: 0.02
Name: Amcl Particle Swarm
Shape: Arrow (Flat)
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /particle_cloud
Value: true
- Class: rviz_common/Group
Displays:
- Alpha: 0.3
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Global Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/costmap
Use Timestamp: false
Value: true
- Alpha: 0.3
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Downsampled Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: /downsampled_costmap
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 255; 0; 0
Enabled: true
Head Diameter: 0.019999999552965164
Head Length: 0.019999999552965164
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: Arrows
Radius: 0.029999999329447746
Shaft Diameter: 0.004999999888241291
Shaft Length: 0.019999999552965164
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /plan
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 125; 125; 125
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: VoxelGrid
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.05000000074505806
Style: Boxes
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/voxel_marked_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: false
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /global_costmap/published_footprint
Value: false
Enabled: true
Name: Global Planner
- Class: rviz_common/Group
Displays:
- Alpha: 0.699999988079071
Class: rviz_default_plugins/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Local Costmap
Topic:
Depth: 1
Durability Policy: Transient Local
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/costmap
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz_default_plugins/Path
Color: 0; 12; 255
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Local Plan
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_plan
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Trajectories
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /marker
Value: false
- Alpha: 1
Class: rviz_default_plugins/Polygon
Color: 25; 255; 0
Enabled: true
Name: Polygon
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/published_footprint
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: VoxelGrid
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /local_costmap/voxel_marked_cloud
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: Controller
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: RealsenseCamera
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /intel_realsense_r200_depth/image_raw
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: RealsenseDepthImage
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /intel_realsense_r200_depth/points
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: false
Name: Realsense
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: MarkerArray
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /waypoints
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
- Class: nav2_rviz_plugins/GoalTool
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Angle: -1.6150002479553223
Class: rviz_default_plugins/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: 127.88431549072266
Target Frame: <Fixed Frame>
Value: TopDownOrtho (rviz_default_plugins)
X: -0.044467076659202576
Y: -0.38726311922073364
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 932
Hide Left Dock: false
Hide Right Dock: true
Navigation 2:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000029b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000002de000000a90000008100fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000002800ffffff000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004990000034a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
RealsenseCamera:
collapsed: false
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1545
X: 696
Y: 229

8
src/eutobot/eutobot_node/CHANGELOG.rst
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@ -1,8 +0,0 @@
================================================================================
Changelog for package eutobot_node
================================================================================
--------------------------------------------------------------------------------
0.1.0 (2023-11-06)
- First Draft

94
src/eutobot/eutobot_node/CMakeLists.txt
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@ -1,94 +0,0 @@
################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(eutobot_node)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(ament_cmake REQUIRED)
find_package(dynamixel_sdk REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(message_filters REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rcutils REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(eutobot_msgs REQUIRED)
################################################################################
# Build
################################################################################
include_directories(
include
)
add_library(${PROJECT_NAME}_lib
"src/devices/motor_power.cpp"
"src/devices/sound.cpp"
"src/devices/reset.cpp"
"src/diff_drive_controller.cpp"
"src/dynamixel_sdk_wrapper.cpp"
"src/odometry.cpp"
"src/eutobot.cpp"
"src/sensors/battery_state.cpp"
"src/sensors/imu.cpp"
"src/sensors/joint_state.cpp"
"src/sensors/sensor_state.cpp"
)
set(DEPENDENCIES
"dynamixel_sdk"
"geometry_msgs"
"message_filters"
"nav_msgs"
"rclcpp"
"rcutils"
"sensor_msgs"
"std_msgs"
"std_srvs"
"tf2"
"tf2_ros"
"eutobot_msgs"
)
target_link_libraries(${PROJECT_NAME}_lib)
ament_target_dependencies(${PROJECT_NAME}_lib ${DEPENDENCIES})
set(EXECUTABLE_NAME "eutobot_ros")
add_executable(${EXECUTABLE_NAME} src/node_main.cpp)
target_link_libraries(${EXECUTABLE_NAME} ${PROJECT_NAME}_lib)
ament_target_dependencies(${EXECUTABLE_NAME} ${DEPENDENCIES})
################################################################################
# Install
################################################################################
install(DIRECTORY param
DESTINATION share/${PROJECT_NAME}
)
install(TARGETS ${EXECUTABLE_NAME}
DESTINATION lib/${PROJECT_NAME}
)
################################################################################
# Macro for ament package
################################################################################
ament_export_include_directories(include)
ament_package()

114
src/eutobot/eutobot_node/include/eutobot_node/control_table.hpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__CONTROL_TABLE_HPP_
#define EUTOBOT_NODE__CONTROL_TABLE_HPP_
#include <stdlib.h>
namespace robotis
{
namespace eutobot
{
constexpr uint8_t EEPROM = 1;
constexpr uint8_t RAM = 2;
constexpr uint8_t READ = 1;
constexpr uint8_t READ_WRITE = 3;
typedef struct
{
uint16_t addr;
uint8_t memory;
uint16_t length;
uint8_t rw;
} ControlItem;
typedef struct
{
ControlItem model_number = {0, EEPROM, 2, READ};
ControlItem model_information = {2, EEPROM, 4, READ};
ControlItem firmware_version = {6, EEPROM, 1, READ};
ControlItem id = {7, EEPROM, 1, READ};
ControlItem baud_rate = {8, EEPROM, 1, READ};
ControlItem millis = {10, RAM, 4, READ};
ControlItem micros = {14, RAM, 4, READ};
ControlItem device_status = {18, RAM, 1, READ};
ControlItem heartbeat = {19, RAM, 1, READ_WRITE};
ControlItem external_led_1 = {20, RAM, 1, READ_WRITE};
ControlItem external_led_2 = {21, RAM, 1, READ_WRITE};
ControlItem external_led_3 = {22, RAM, 1, READ_WRITE};
ControlItem external_led_4 = {23, RAM, 1, READ_WRITE};
ControlItem button_1 = {26, RAM, 1, READ};
ControlItem button_2 = {27, RAM, 1, READ};
ControlItem bumper_1 = {28, RAM, 1, READ};
ControlItem bumper_2 = {29, RAM, 1, READ};
ControlItem illumination = {30, RAM, 4, READ};
ControlItem ir = {34, RAM, 4, READ};
ControlItem sonar = {38, RAM, 4, READ};
ControlItem battery_voltage = {42, RAM, 4, READ};
ControlItem battery_percentage = {46, RAM, 4, READ};
ControlItem sound = {50, RAM, 1, READ_WRITE};
ControlItem imu_re_calibration = {59, RAM, 1, READ_WRITE};
ControlItem imu_angular_velocity_x = {60, RAM, 4, READ};
ControlItem imu_angular_velocity_y = {64, RAM, 4, READ};
ControlItem imu_angular_velocity_z = {68, RAM, 4, READ};
ControlItem imu_linear_acceleration_x = {72, RAM, 4, READ};
ControlItem imu_linear_acceleration_y = {76, RAM, 4, READ};
ControlItem imu_linear_acceleration_z = {80, RAM, 4, READ};
ControlItem imu_magnetic_x = {84, RAM, 4, READ};
ControlItem imu_magnetic_y = {88, RAM, 4, READ};
ControlItem imu_magnetic_z = {92, RAM, 4, READ};
ControlItem imu_orientation_w = {96, RAM, 4, READ};
ControlItem imu_orientation_x = {100, RAM, 4, READ};
ControlItem imu_orientation_y = {104, RAM, 4, READ};
ControlItem imu_orientation_z = {108, RAM, 4, READ};
ControlItem present_current_left = {120, RAM, 4, READ};
ControlItem present_current_right = {124, RAM, 4, READ};
ControlItem present_velocity_left = {128, RAM, 4, READ};
ControlItem present_velocity_right = {132, RAM, 4, READ};
ControlItem present_position_left = {136, RAM, 4, READ};
ControlItem present_position_right = {140, RAM, 4, READ};
ControlItem motor_torque_enable = {149, RAM, 1, READ_WRITE};
ControlItem cmd_velocity_linear_x = {150, RAM, 4, READ_WRITE};
ControlItem cmd_velocity_linear_y = {154, RAM, 4, READ_WRITE};
ControlItem cmd_velocity_linear_z = {158, RAM, 4, READ_WRITE};
ControlItem cmd_velocity_angular_x = {162, RAM, 4, READ_WRITE};
ControlItem cmd_velocity_angular_y = {166, RAM, 4, READ_WRITE};
ControlItem cmd_velocity_angular_z = {170, RAM, 4, READ_WRITE};
ControlItem profile_acceleration_left = {174, RAM, 4, READ_WRITE};
ControlItem profile_acceleration_right = {178, RAM, 4, READ_WRITE};
} ControlTable;
const ControlTable extern_control_table;
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__CONTROL_TABLE_HPP_

58
src/eutobot/eutobot_node/include/eutobot_node/devices/devices.hpp
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@ -1,58 +0,0 @@
// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__DEVICES__DEVICES_HPP_
#define EUTOBOT_NODE__DEVICES__DEVICES_HPP_
#include <memory>
#include <string>
#include <utility>
#include <rclcpp/rclcpp.hpp>
#include "eutobot_node/control_table.hpp"
#include "eutobot_node/dynamixel_sdk_wrapper.hpp"
namespace robotis
{
namespace eutobot
{
extern const ControlTable extern_control_table;
namespace devices
{
class Devices
{
public:
explicit Devices(
std::shared_ptr<rclcpp::Node> & nh,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper)
: nh_(nh),
dxl_sdk_wrapper_(dxl_sdk_wrapper)
{
}
virtual void command(const void * request, void * response) = 0;
protected:
std::shared_ptr<rclcpp::Node> nh_;
std::shared_ptr<DynamixelSDKWrapper> dxl_sdk_wrapper_;
rclcpp::QoS qos_ = rclcpp::QoS(rclcpp::ServicesQoS());
};
} // namespace devices
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__DEVICES__DEVICES_HPP_

53
src/eutobot/eutobot_node/include/eutobot_node/devices/motor_power.hpp
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@ -1,53 +0,0 @@
// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__DEVICES__MOTOR_POWER_HPP_
#define EUTOBOT_NODE__DEVICES__MOTOR_POWER_HPP_
#include <memory>
#include <string>
#include <std_srvs/srv/set_bool.hpp>
#include "eutobot_node/devices/devices.hpp"
namespace robotis
{
namespace eutobot
{
namespace devices
{
class MotorPower : public Devices
{
public:
static void request(
rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr client,
std_srvs::srv::SetBool::Request req);
explicit MotorPower(
std::shared_ptr<rclcpp::Node> & nh,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper,
const std::string & server_name = "motor_power");
void command(const void * request, void * response) override;
private:
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr srv_;
};
} // namespace devices
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__DEVICES__MOTOR_POWER_HPP_

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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__DEVICES__RESET_HPP_
#define EUTOBOT_NODE__DEVICES__RESET_HPP_
#include <memory>
#include <string>
#include <std_srvs/srv/trigger.hpp>
#include "eutobot_node/devices/devices.hpp"
namespace robotis
{
namespace eutobot
{
namespace devices
{
class Reset : public Devices
{
public:
static void request(
rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr client,
std_srvs::srv::Trigger::Request req);
explicit Reset(
std::shared_ptr<rclcpp::Node> & nh,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper,
const std::string & server_name = "reset");
void command(const void * request, void * response) override;
private:
rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr srv_;
};
} // namespace devices
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__DEVICES__RESET_HPP_

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src/eutobot/eutobot_node/include/eutobot_node/devices/sound.hpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__DEVICES__SOUND_HPP_
#define EUTOBOT_NODE__DEVICES__SOUND_HPP_
#include <eutobot_msgs/srv/sound.hpp>
#include <memory>
#include <string>
#include "eutobot_node/devices/devices.hpp"
namespace robotis
{
namespace eutobot
{
namespace devices
{
class Sound : public Devices
{
public:
static void request(
rclcpp::Client<eutobot_msgs::srv::Sound>::SharedPtr client,
eutobot_msgs::srv::Sound::Request req);
explicit Sound(
std::shared_ptr<rclcpp::Node> & nh,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper,
const std::string & server_name = "sound");
void command(const void * request, void * response) override;
private:
rclcpp::Service<eutobot_msgs::srv::Sound>::SharedPtr srv_;
};
} // namespace devices
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__DEVICES__SOUND_HPP_

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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__DIFF_DRIVE_CONTROLLER_HPP_
#define EUTOBOT_NODE__DIFF_DRIVE_CONTROLLER_HPP_
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include "eutobot_node/odometry.hpp"
namespace robotis
{
namespace eutobot
{
class DiffDriveController : public rclcpp::Node
{
public:
explicit DiffDriveController(const float wheel_seperation, const float wheel_radius);
virtual ~DiffDriveController() {}
private:
std::shared_ptr<rclcpp::Node> nh_;
std::unique_ptr<Odometry> odometry_;
};
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__DIFF_DRIVE_CONTROLLER_HPP_

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src/eutobot/eutobot_node/include/eutobot_node/dynamixel_sdk_wrapper.hpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__DYNAMIXEL_SDK_WRAPPER_HPP_
#define EUTOBOT_NODE__DYNAMIXEL_SDK_WRAPPER_HPP_
#include <rcutils/logging_macros.h>
#include <dynamixel_sdk/dynamixel_sdk.h>
#include <algorithm>
#include <array>
#include <chrono>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <thread>
#include <utility>
#define LOG_INFO RCUTILS_LOG_INFO_NAMED
#define LOG_WARN RCUTILS_LOG_WARN_NAMED
#define LOG_ERROR RCUTILS_LOG_ERROR_NAMED
#define LOG_DEBUG RCUTILS_LOG_DEBUG_NAMED
#define READ_DATA_SIZE 200
namespace robotis
{
namespace eutobot
{
class DynamixelSDKWrapper
{
public:
typedef struct
{
std::string usb_port;
uint8_t id;
int baud_rate;
float protocol_version;
} Device;
explicit DynamixelSDKWrapper(const Device & device);
virtual ~DynamixelSDKWrapper();
template<typename DataByteT>
DataByteT get_data_from_device(const uint16_t & addr, const uint16_t & length)
{
DataByteT data = 0;
uint8_t * p_data = reinterpret_cast<uint8_t *>(&data);
uint16_t index = addr - read_memory_.start_addr;
std::lock_guard<std::mutex> lock(read_data_mutex_);
switch (length) {
case 1:
p_data[0] = read_memory_.data[index + 0];
break;
case 2:
p_data[0] = read_memory_.data[index + 0];
p_data[1] = read_memory_.data[index + 1];
break;
case 4:
p_data[0] = read_memory_.data[index + 0];
p_data[1] = read_memory_.data[index + 1];
p_data[2] = read_memory_.data[index + 2];
p_data[3] = read_memory_.data[index + 3];
break;
default:
p_data[0] = read_memory_.data[index + 0];
break;
}
return data;
}
bool set_data_to_device(
const uint16_t & addr,
const uint16_t & length,
uint8_t * get_data,
std::string * msg);
void init_read_memory(const uint16_t & start_addr, const uint16_t & length);
void read_data_set();
bool is_connected_to_device();
private:
bool init_dynamixel_sdk_handlers();
bool read_register(
uint8_t id,
uint16_t address,
uint16_t length,
uint8_t * data_basket,
const char ** log = NULL);
bool write_register(
uint8_t id,
uint16_t address,
uint16_t length,
uint8_t * data,
const char ** log = NULL);
dynamixel::PortHandler * portHandler_;
dynamixel::PacketHandler * packetHandler_;
Device device_;
uint8_t read_data_[READ_DATA_SIZE] = {0, };
uint8_t read_data_buffer_[READ_DATA_SIZE] = {0, };
typedef struct
{
uint16_t start_addr;
uint16_t length;
uint8_t * data;
} Memory;
Memory read_memory_;
std::mutex sdk_mutex_;
std::mutex read_data_mutex_;
std::mutex write_data_mutex_;
};
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__DYNAMIXEL_SDK_WRAPPER_HPP_

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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__EUTOBOT_HPP_
#define EUTOBOT_NODE__EUTOBOT_HPP_
#include <array>
#include <chrono>
#include <list>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <queue>
#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/msg/twist.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/battery_state.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <eutobot_msgs/msg/sensor_state.hpp>
#include "eutobot_node/control_table.hpp"
#include "eutobot_node/devices/devices.hpp"
#include "eutobot_node/devices/motor_power.hpp"
#include "eutobot_node/devices/reset.hpp"
#include "eutobot_node/devices/sound.hpp"
#include "eutobot_node/dynamixel_sdk_wrapper.hpp"
#include "eutobot_node/odometry.hpp"
#include "eutobot_node/sensors/battery_state.hpp"
#include "eutobot_node/sensors/imu.hpp"
#include "eutobot_node/sensors/joint_state.hpp"
#include "eutobot_node/sensors/sensor_state.hpp"
#include "eutobot_node/sensors/sensors.hpp"
namespace robotis
{
namespace eutobot
{
extern const ControlTable extern_control_table;
class EutoBot : public rclcpp::Node
{
public:
typedef struct
{
float separation;
float radius;
} Wheels;
typedef struct
{
float profile_acceleration_constant;
float profile_acceleration;
} Motors;
explicit EutoBot(const std::string & usb_port);
virtual ~EutoBot() {}
Wheels * get_wheels();
Motors * get_motors();
private:
void init_dynamixel_sdk_wrapper(const std::string & usb_port);
void check_device_status();
void add_sensors();
void add_devices();
void add_motors();
void add_wheels();
void run();
void publish_timer(const std::chrono::milliseconds timeout);
void heartbeat_timer(const std::chrono::milliseconds timeout);
void cmd_vel_callback();
void parameter_event_callback();
Wheels wheels_;
Motors motors_;
std::shared_ptr<DynamixelSDKWrapper> dxl_sdk_wrapper_;
std::list<sensors::Sensors *> sensors_;
std::map<std::string, devices::Devices *> devices_;
std::unique_ptr<Odometry> odom_;
rclcpp::Node::SharedPtr node_handle_;
rclcpp::TimerBase::SharedPtr publish_timer_;
rclcpp::TimerBase::SharedPtr heartbeat_timer_;
rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
rclcpp::AsyncParametersClient::SharedPtr priv_parameters_client_;
rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_event_sub_;
};
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__EUTOBOT_HPP_

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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__ODOMETRY_HPP_
#define EUTOBOT_NODE__ODOMETRY_HPP_
#include <array>
#include <chrono>
#include <memory>
#include <string>
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/LinearMath/Quaternion.h>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
namespace robotis
{
namespace eutobot
{
class Odometry
{
public:
explicit Odometry(
std::shared_ptr<rclcpp::Node> & nh,
const double wheels_separation,
const double wheels_radius);
virtual ~Odometry() {}
private:
bool calculate_odometry(const rclcpp::Duration & duration);
void update_imu(const std::shared_ptr<sensor_msgs::msg::Imu const> & imu);
void update_joint_state(const std::shared_ptr<sensor_msgs::msg::JointState const> & joint_state);
void joint_state_callback(const sensor_msgs::msg::JointState::SharedPtr joint_state_msg);
void joint_state_and_imu_callback(
const std::shared_ptr<sensor_msgs::msg::JointState const> & joint_state_msg,
const std::shared_ptr<sensor_msgs::msg::Imu const> & imu_msg);
void publish(const rclcpp::Time & now);
std::shared_ptr<rclcpp::Node> nh_;
std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_;
std::shared_ptr<
message_filters::Subscriber<sensor_msgs::msg::JointState>> msg_ftr_joint_state_sub_;
std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::Imu>> msg_ftr_imu_sub_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::msg::JointState,
sensor_msgs::msg::Imu> SyncPolicyJointStateImu;
typedef message_filters::Synchronizer<SyncPolicyJointStateImu> SynchronizerJointStateImu;
std::shared_ptr<SynchronizerJointStateImu> joint_state_imu_sync_;
double wheels_separation_;
double wheels_radius_;
std::string frame_id_of_odometry_;
std::string child_frame_id_of_odometry_;
bool use_imu_;
bool publish_tf_;
std::array<double, 2> diff_joint_positions_;
double imu_angle_;
std::array<double, 3> robot_pose_;
std::array<double, 3> robot_vel_;
};
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__ODOMETRY_HPP_

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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__SENSORS__BATTERY_STATE_HPP_
#define EUTOBOT_NODE__SENSORS__BATTERY_STATE_HPP_
#include <sensor_msgs/msg/battery_state.hpp>
#include <memory>
#include <string>
#include "eutobot_node/sensors/sensors.hpp"
namespace robotis
{
namespace eutobot
{
namespace sensors
{
class BatteryState : public Sensors
{
public:
explicit BatteryState(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & topic_name = "battery_state");
void publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper) override;
private:
rclcpp::Publisher<sensor_msgs::msg::BatteryState>::SharedPtr pub_;
};
} // namespace sensors
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__SENSORS__BATTERY_STATE_HPP_

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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__SENSORS__IMU_HPP_
#define EUTOBOT_NODE__SENSORS__IMU_HPP_
#include <memory>
#include <string>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/magnetic_field.hpp>
#include "eutobot_node/sensors/sensors.hpp"
namespace robotis
{
namespace eutobot
{
namespace sensors
{
class Imu : public Sensors
{
public:
explicit Imu(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & imu_topic_name = "imu",
const std::string & mag_topic_name = "magnetic_field",
const std::string & frame_id = "imu_link");
void publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper) override;
private:
rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_pub_;
rclcpp::Publisher<sensor_msgs::msg::MagneticField>::SharedPtr mag_pub_;
};
} // namespace sensors
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__SENSORS__IMU_HPP_

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src/eutobot/eutobot_node/include/eutobot_node/sensors/joint_state.hpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__SENSORS__JOINT_STATE_HPP_
#define EUTOBOT_NODE__SENSORS__JOINT_STATE_HPP_
#include <sensor_msgs/msg/joint_state.hpp>
#include <memory>
#include <string>
#include "eutobot_node/sensors/sensors.hpp"
namespace robotis
{
namespace eutobot
{
namespace sensors
{
constexpr uint8_t JOINT_NUM = 2;
// ref) http://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#goal-velocity104
constexpr double RPM_TO_MS = 0.229 * 0.0034557519189487725;
// 0.087890625[deg] * 3.14159265359 / 180 = 0.001533981f
constexpr double TICK_TO_RAD = 0.001533981;
class JointState : public Sensors
{
public:
explicit JointState(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & topic_name = "joint_states",
const std::string & frame_id = "base_link");
void publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper) override;
private:
rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr pub_;
};
} // namespace sensors
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__SENSORS__JOINT_STATE_HPP_

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src/eutobot/eutobot_node/include/eutobot_node/sensors/sensor_state.hpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__SENSORS__SENSOR_STATE_HPP_
#define EUTOBOT_NODE__SENSORS__SENSOR_STATE_HPP_
#include <eutobot_msgs/msg/sensor_state.hpp>
#include <memory>
#include <string>
#include "eutobot_node/sensors/sensors.hpp"
namespace robotis
{
namespace eutobot
{
namespace sensors
{
class SensorState : public Sensors
{
public:
explicit SensorState(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & topic_name = "sensor_state",
const uint8_t & bumper_forward = 0,
const uint8_t & bumper_backward = 0,
const uint8_t & illumination = 0,
const uint8_t & cliff = 0,
const uint8_t & sonar = 0);
void publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper) override;
private:
rclcpp::Publisher<eutobot_msgs::msg::SensorState>::SharedPtr pub_;
uint8_t bumper_forward_;
uint8_t bumper_backward_;
uint8_t illumination_;
uint8_t cliff_;
uint8_t sonar_;
};
} // namespace sensors
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__SENSORS__SENSOR_STATE_HPP_

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src/eutobot/eutobot_node/include/eutobot_node/sensors/sensors.hpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#ifndef EUTOBOT_NODE__SENSORS__SENSORS_HPP_
#define EUTOBOT_NODE__SENSORS__SENSORS_HPP_
#include <memory>
#include <string>
#include <utility>
#include <rclcpp/rclcpp.hpp>
#include "eutobot_node/control_table.hpp"
#include "eutobot_node/dynamixel_sdk_wrapper.hpp"
namespace robotis
{
namespace eutobot
{
extern const ControlTable extern_control_table;
namespace sensors
{
class Sensors
{
public:
explicit Sensors(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & frame_id = "")
: nh_(nh),
frame_id_(frame_id)
{
}
virtual void publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper) = 0;
protected:
std::shared_ptr<rclcpp::Node> nh_;
std::string frame_id_;
rclcpp::QoS qos_ = rclcpp::QoS(rclcpp::KeepLast(10));
};
} // namespace sensors
} // namespace eutobot
} // namespace robotis
#endif // EUTOBOT_NODE__SENSORS__SENSORS_HPP_

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@ -1,32 +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>eutobot_node</name>
<version>2.1.5</version>
<description>
Eutobot driver node that include diff drive controller, odometry and tf node
</description>
<maintainer email="ray@coasia.com">Ray Park</maintainer>
<license>Apache 2.0</license>
<url type="website">http://www.coasianexell.com/</url>
<url type="repository">http://cnst.coasianexell.com:53000/robotics/eutobot</url>
<url type="bugtracker">http://cnst.coasianexell.com:53000/issues</url>
<author email="sw.jo@coasia.com">Biela Jo</author>
<author email="emergency@coasia.com">Matt Lim</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>dynamixel_sdk</depend>
<depend>geometry_msgs</depend>
<depend>message_filters</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rcutils</depend>
<depend>sensor_msgs</depend>
<depend>std_msgs</depend>
<depend>std_srvs</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>eutobot_msgs</depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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src/eutobot/eutobot_node/param/eutobot.yaml
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eutobot_node:
ros__parameters:
opencr:
id: 200
baud_rate: 1000000
protocol_version: 2.0
wheels:
separation: 0.287
radius: 0.033
motors:
profile_acceleration_constant: 214.577
# [rev/min2]
# ref) http://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#profile-acceleration
profile_acceleration: 0.0
sensors:
bumper_1: 0
bumper_2: 0
illumination: 0
ir: 0
sonar: 0
diff_drive_controller:
ros__parameters:
odometry:
publish_tf: true
use_imu: true
frame_id: "odom"
child_frame_id: "base_footprint"

60
src/eutobot/eutobot_node/src/devices/motor_power.cpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/devices/motor_power.hpp"
#include <memory>
#include <string>
using robotis::eutobot::devices::MotorPower;
MotorPower::MotorPower(
std::shared_ptr<rclcpp::Node> & nh,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper,
const std::string & server_name)
: Devices(nh, dxl_sdk_wrapper)
{
RCLCPP_INFO(nh_->get_logger(), "Succeeded to create motor power server");
srv_ = nh_->create_service<std_srvs::srv::SetBool>(
server_name,
[this](
const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
std::shared_ptr<std_srvs::srv::SetBool::Response> response) -> void
{
this->command(static_cast<void *>(request.get()), static_cast<void *>(response.get()));
}
);
}
void MotorPower::command(const void * request, void * response)
{
std_srvs::srv::SetBool::Request req = *(std_srvs::srv::SetBool::Request *)request;
std_srvs::srv::SetBool::Response * res = (std_srvs::srv::SetBool::Response *)response;
res->success = dxl_sdk_wrapper_->set_data_to_device(
extern_control_table.motor_torque_enable.addr,
extern_control_table.motor_torque_enable.length,
reinterpret_cast<uint8_t *>(&req.data),
&res->message);
}
void MotorPower::request(
rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr client,
std_srvs::srv::SetBool::Request req)
{
auto request = std::make_shared<std_srvs::srv::SetBool::Request>(req);
auto result = client->async_send_request(request);
}

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src/eutobot/eutobot_node/src/devices/reset.cpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/devices/reset.hpp"
#include <memory>
#include <string>
using robotis::eutobot::devices::Reset;
Reset::Reset(
std::shared_ptr<rclcpp::Node> & nh,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper,
const std::string & server_name)
: Devices(nh, dxl_sdk_wrapper)
{
RCLCPP_INFO(nh_->get_logger(), "Succeeded to create reset server");
srv_ = nh_->create_service<std_srvs::srv::Trigger>(
server_name,
[this](
const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
std::shared_ptr<std_srvs::srv::Trigger::Response> response) -> void
{
this->command(static_cast<void *>(request.get()), static_cast<void *>(response.get()));
}
);
}
void Reset::command(const void * request, void * response)
{
(void) request;
std_srvs::srv::Trigger::Response * res = (std_srvs::srv::Trigger::Response *)response;
uint8_t reset = 1;
res->success = dxl_sdk_wrapper_->set_data_to_device(
extern_control_table.imu_re_calibration.addr,
extern_control_table.imu_re_calibration.length,
&reset,
&res->message);
RCLCPP_INFO(nh_->get_logger(), "Start Calibration of Gyro");
rclcpp::sleep_for(std::chrono::seconds(5));
RCLCPP_INFO(nh_->get_logger(), "Calibration End");
}
void Reset::request(
rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr client,
std_srvs::srv::Trigger::Request req)
{
auto request = std::make_shared<std_srvs::srv::Trigger::Request>(req);
auto result = client->async_send_request(request);
}

60
src/eutobot/eutobot_node/src/devices/sound.cpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/devices/sound.hpp"
#include <memory>
#include <string>
using robotis::eutobot::devices::Sound;
Sound::Sound(
std::shared_ptr<rclcpp::Node> & nh,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper,
const std::string & server_name)
: Devices(nh, dxl_sdk_wrapper)
{
RCLCPP_INFO(nh_->get_logger(), "Succeeded to create sound server");
srv_ = nh_->create_service<eutobot_msgs::srv::Sound>(
server_name,
[this](
const std::shared_ptr<eutobot_msgs::srv::Sound::Request> request,
std::shared_ptr<eutobot_msgs::srv::Sound::Response> response) -> void
{
this->command(static_cast<void *>(request.get()), static_cast<void *>(response.get()));
}
);
}
void Sound::command(const void * request, void * response)
{
eutobot_msgs::srv::Sound::Request req = *(eutobot_msgs::srv::Sound::Request *)request;
eutobot_msgs::srv::Sound::Response * res = (eutobot_msgs::srv::Sound::Response *)response;
res->success = dxl_sdk_wrapper_->set_data_to_device(
extern_control_table.sound.addr,
extern_control_table.sound.length,
reinterpret_cast<uint8_t *>(&req.value),
&res->message);
}
void Sound::request(
rclcpp::Client<eutobot_msgs::srv::Sound>::SharedPtr client,
eutobot_msgs::srv::Sound::Request req)
{
auto request = std::make_shared<eutobot_msgs::srv::Sound::Request>(req);
auto result = client->async_send_request(request);
}

34
src/eutobot/eutobot_node/src/diff_drive_controller.cpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/diff_drive_controller.hpp"
#include <memory>
using robotis::eutobot::DiffDriveController;
DiffDriveController::DiffDriveController(const float wheel_seperation, const float wheel_radius)
: Node("diff_drive_controller", rclcpp::NodeOptions().use_intra_process_comms(true))
{
nh_ = std::shared_ptr<::rclcpp::Node>(this, [](::rclcpp::Node *) {});
odometry_ = std::make_unique<Odometry>(
nh_,
wheel_seperation,
wheel_radius);
RCLCPP_INFO(this->get_logger(), "Run!");
}

182
src/eutobot/eutobot_node/src/dynamixel_sdk_wrapper.cpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/dynamixel_sdk_wrapper.hpp"
#include <algorithm>
#include <string>
using robotis::eutobot::DynamixelSDKWrapper;
DynamixelSDKWrapper::DynamixelSDKWrapper(const Device & device)
: device_(device)
{
if (init_dynamixel_sdk_handlers() == false) {
LOG_ERROR("DynamixelSDKWrapper", "Failed to initialize SDK handlers");
return;
} else {
LOG_DEBUG("DynamixelSDKWrapper", "Success to initilize SDK handlers");
}
}
DynamixelSDKWrapper::~DynamixelSDKWrapper()
{
portHandler_->closePort();
}
bool DynamixelSDKWrapper::is_connected_to_device()
{
uint8_t data[2];
return this->read_register(device_.id, 0, 2, &data[0]);
}
void DynamixelSDKWrapper::init_read_memory(const uint16_t & start_addr, const uint16_t & length)
{
read_memory_.start_addr = start_addr;
read_memory_.length = length;
read_memory_.data = &read_data_[0];
}
void DynamixelSDKWrapper::read_data_set()
{
const char * log = NULL;
bool ret = this->read_register(
device_.id,
read_memory_.start_addr,
read_memory_.length,
&read_data_buffer_[0],
&log);
if (ret == false) {
LOG_ERROR("DynamixelSDKWrapper", "Failed to read[%s]", log);
} else {
std::lock_guard<std::mutex> lock(read_data_mutex_);
std::copy(read_data_buffer_, read_data_buffer_ + READ_DATA_SIZE, read_data_);
LOG_DEBUG("DynamixelSDKWrapper", "Succeeded to read");
}
}
bool DynamixelSDKWrapper::set_data_to_device(
const uint16_t & addr,
const uint16_t & length,
uint8_t * get_data,
std::string * msg)
{
const char * log = nullptr;
bool ret = false;
std::lock_guard<std::mutex> lock(write_data_mutex_);
ret = write_register(device_.id, addr, length, get_data, &log);
if (ret == true) {
*msg = "Succeeded to write data";
return true;
} else {
*msg = "Failed to write data" + std::string(log);
return false;
}
return ret;
}
bool DynamixelSDKWrapper::init_dynamixel_sdk_handlers()
{
portHandler_ = dynamixel::PortHandler::getPortHandler(device_.usb_port.c_str());
packetHandler_ =
dynamixel::PacketHandler::getPacketHandler(static_cast<int>(device_.protocol_version));
if (portHandler_->openPort()) {
LOG_INFO("DynamixelSDKWrapper", "Succeeded to open the port(%s)!", device_.usb_port.c_str());
} else {
LOG_ERROR("DynamixelSDKWrapper", "Failed to open the port(%s)!", device_.usb_port.c_str());
return false;
}
if (portHandler_->setBaudRate(static_cast<int>(device_.baud_rate))) {
LOG_INFO("DynamixelSDKWrapper", "Succeeded to change the baudrate!");
} else {
LOG_ERROR("DynamixelSDKWrapper", "Failed to change the baudrate(%d)!", device_.baud_rate);
return false;
}
return true;
}
bool DynamixelSDKWrapper::read_register(
uint8_t id,
uint16_t address,
uint16_t length,
uint8_t * data_basket,
const char ** log)
{
std::lock_guard<std::mutex> lock(sdk_mutex_);
int32_t dxl_comm_result = COMM_RX_FAIL;
uint8_t dxl_error = 0;
dxl_comm_result = packetHandler_->readTxRx(
portHandler_,
id,
address,
length,
data_basket,
&dxl_error);
if (dxl_comm_result != COMM_SUCCESS) {
if (log != NULL) {*log = packetHandler_->getTxRxResult(dxl_comm_result);}
return false;
} else if (dxl_error != 0) {
if (log != NULL) {*log = packetHandler_->getRxPacketError(dxl_error);}
return false;
} else {
return true;
}
return false;
}
bool DynamixelSDKWrapper::write_register(
uint8_t id,
uint16_t address,
uint16_t length,
uint8_t * data,
const char ** log)
{
std::lock_guard<std::mutex> lock(sdk_mutex_);
int32_t dxl_comm_result = COMM_TX_FAIL;
uint8_t dxl_error = 0;
dxl_comm_result = packetHandler_->writeTxRx(
portHandler_,
id,
address,
length,
data,
&dxl_error);
if (dxl_comm_result != COMM_SUCCESS) {
if (log != NULL) {*log = packetHandler_->getTxRxResult(dxl_comm_result);}
return false;
} else if (dxl_error != 0) {
if (log != NULL) {*log = packetHandler_->getRxPacketError(dxl_error);}
return false;
} else {
return true;
}
return false;
}

368
src/eutobot/eutobot_node/src/eutobot.cpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/eutobot.hpp"
#include <memory>
#include <string>
using robotis::eutobot::EutoBot;
using namespace std::chrono_literals;
EutoBot::EutoBot(const std::string &usb_port)
: Node("eutobot_node", rclcpp::NodeOptions().use_intra_process_comms(true))
{
RCLCPP_INFO(get_logger(), "Init EutoBot Node Main");
node_handle_ = std::shared_ptr<::rclcpp::Node>(this, [](::rclcpp::Node *) {});
// init_dynamixel_sdk_wrapper(usb_port);
// check_device_status();
// add_motors();
// add_wheels();
// add_sensors();
// add_devices();
run();
}
EutoBot::Wheels *EutoBot::get_wheels()
{
return &wheels_;
}
EutoBot::Motors *EutoBot::get_motors()
{
return &motors_;
}
void EutoBot::init_dynamixel_sdk_wrapper(const std::string &usb_port)
{
DynamixelSDKWrapper::Device opencr = {usb_port, 200, 1000000, 2.0f};
this->declare_parameter<uint8_t>("opencr.id");
this->declare_parameter<int>("opencr.baud_rate");
this->declare_parameter<float>("opencr.protocol_version");
this->get_parameter_or<uint8_t>("opencr.id", opencr.id, 200);
this->get_parameter_or<int>("opencr.baud_rate", opencr.baud_rate, 1000000);
this->get_parameter_or<float>("opencr.protocol_version", opencr.protocol_version, 2.0f);
RCLCPP_INFO(this->get_logger(), "Init DynamixelSDKWrapper");
dxl_sdk_wrapper_ = std::make_shared<DynamixelSDKWrapper>(opencr);
dxl_sdk_wrapper_->init_read_memory(
extern_control_table.millis.addr,
(extern_control_table.profile_acceleration_right.addr - extern_control_table.millis.addr) +
extern_control_table.profile_acceleration_right.length);
}
void EutoBot::check_device_status()
{
if (dxl_sdk_wrapper_->is_connected_to_device())
{
std::string sdk_msg;
uint8_t reset = 1;
dxl_sdk_wrapper_->set_data_to_device(
extern_control_table.imu_re_calibration.addr,
extern_control_table.imu_re_calibration.length,
&reset,
&sdk_msg);
RCLCPP_INFO(this->get_logger(), "Start Calibration of Gyro");
rclcpp::sleep_for(std::chrono::seconds(5));
RCLCPP_INFO(this->get_logger(), "Calibration End");
}
else
{
RCLCPP_ERROR(this->get_logger(), "Failed connection with Devices");
rclcpp::shutdown();
return;
}
const int8_t NOT_CONNECTED_MOTOR = -1;
int8_t device_status = dxl_sdk_wrapper_->get_data_from_device<int8_t>(
extern_control_table.device_status.addr,
extern_control_table.device_status.length);
switch (device_status)
{
case NOT_CONNECTED_MOTOR:
RCLCPP_WARN(this->get_logger(), "Please double check your Dynamixels and Power");
break;
default:
break;
}
}
void EutoBot::add_motors()
{
RCLCPP_INFO(this->get_logger(), "Add Motors");
this->declare_parameter<float>("motors.profile_acceleration_constant");
this->declare_parameter<float>("motors.profile_acceleration");
this->get_parameter_or<float>(
"motors.profile_acceleration_constant",
motors_.profile_acceleration_constant,
214.577);
this->get_parameter_or<float>(
"motors.profile_acceleration",
motors_.profile_acceleration,
0.0);
}
void EutoBot::add_wheels()
{
RCLCPP_INFO(this->get_logger(), "Add Wheels");
this->declare_parameter<float>("wheels.separation");
this->declare_parameter<float>("wheels.radius");
this->get_parameter_or<float>("wheels.separation", wheels_.separation, 0.160);
this->get_parameter_or<float>("wheels.radius", wheels_.radius, 0.033);
}
void EutoBot::add_sensors()
{
RCLCPP_INFO(this->get_logger(), "Add Sensors");
uint8_t is_connected_bumper_1 = 0;
uint8_t is_connected_bumper_2 = 0;
uint8_t is_connected_illumination = 0;
uint8_t is_connected_ir = 0;
uint8_t is_connected_sonar = 0;
this->declare_parameter<uint8_t>("sensors.bumper_1");
this->declare_parameter<uint8_t>("sensors.bumper_2");
this->declare_parameter<uint8_t>("sensors.illumination");
this->declare_parameter<uint8_t>("sensors.ir");
this->declare_parameter<uint8_t>("sensors.sonar");
this->get_parameter_or<uint8_t>(
"sensors.bumper_1",
is_connected_bumper_1,
0);
this->get_parameter_or<uint8_t>(
"sensors.bumper_2",
is_connected_bumper_2,
0);
this->get_parameter_or<uint8_t>(
"sensors.illumination",
is_connected_illumination,
0);
this->get_parameter_or<uint8_t>(
"sensors.ir",
is_connected_ir,
0);
this->get_parameter_or<uint8_t>(
"sensors.sonar",
is_connected_sonar,
0);
sensors_.push_back(
new sensors::BatteryState(
node_handle_,
"battery_state"));
sensors_.push_back(
new sensors::Imu(
node_handle_,
"imu",
"magnetic_field",
"imu_link"));
sensors_.push_back(
new sensors::SensorState(
node_handle_,
"sensor_state",
is_connected_bumper_1,
is_connected_bumper_2,
is_connected_illumination,
is_connected_ir,
is_connected_sonar));
sensors_.push_back(new sensors::JointState(node_handle_, "joint_states", "base_link"));
}
void EutoBot::add_devices()
{
RCLCPP_INFO(this->get_logger(), "Add Devices");
devices_["motor_power"] =
new devices::MotorPower(node_handle_, dxl_sdk_wrapper_, "motor_power");
devices_["reset"] =
new devices::Reset(node_handle_, dxl_sdk_wrapper_, "reset");
devices_["sound"] =
new devices::Sound(node_handle_, dxl_sdk_wrapper_, "sound");
}
void EutoBot::run()
{
RCLCPP_INFO(this->get_logger(), "Run!");
publish_timer(std::chrono::milliseconds(50));
heartbeat_timer(std::chrono::milliseconds(100));
parameter_event_callback();
cmd_vel_callback();
}
void EutoBot::publish_timer(const std::chrono::milliseconds timeout)
{
publish_timer_ = this->create_wall_timer(
timeout,
[this]() -> void
{
rclcpp::Time now = this->now();
dxl_sdk_wrapper_->read_data_set();
for (const auto &sensor : sensors_)
{
sensor->publish(now, dxl_sdk_wrapper_);
}
});
}
void EutoBot::heartbeat_timer(const std::chrono::milliseconds timeout)
{
heartbeat_timer_ = this->create_wall_timer(
timeout,
[this]() -> void
{
static uint8_t count = 0;
std::string msg;
dxl_sdk_wrapper_->set_data_to_device(
extern_control_table.heartbeat.addr,
extern_control_table.heartbeat.length,
&count,
&msg);
RCLCPP_DEBUG(this->get_logger(), "hearbeat count : %d, msg : %s", count, msg.c_str());
count++;
});
}
void EutoBot::parameter_event_callback()
{
priv_parameters_client_ = std::make_shared<rclcpp::AsyncParametersClient>(this);
while (!priv_parameters_client_->wait_for_service(std::chrono::seconds(1)))
{
if (!rclcpp::ok())
{
RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
return;
}
RCLCPP_WARN(this->get_logger(), "service not available, waiting again...");
}
auto param_event_callback =
[this](const rcl_interfaces::msg::ParameterEvent::SharedPtr event) -> void
{
for (const auto &changed_parameter : event->changed_parameters)
{
RCLCPP_DEBUG(
this->get_logger(),
"changed parameter name : %s",
changed_parameter.name.c_str());
if (changed_parameter.name == "motors.profile_acceleration")
{
std::string sdk_msg;
motors_.profile_acceleration =
rclcpp::Parameter::from_parameter_msg(changed_parameter).as_double();
motors_.profile_acceleration =
motors_.profile_acceleration / motors_.profile_acceleration_constant;
union Data
{
int32_t dword[2];
uint8_t byte[4 * 2];
} data;
data.dword[0] = static_cast<int32_t>(motors_.profile_acceleration);
data.dword[1] = static_cast<int32_t>(motors_.profile_acceleration);
uint16_t start_addr = extern_control_table.profile_acceleration_left.addr;
uint16_t addr_length =
(extern_control_table.profile_acceleration_right.addr -
extern_control_table.profile_acceleration_left.addr) +
extern_control_table.profile_acceleration_right.length;
uint8_t *p_data = &data.byte[0];
dxl_sdk_wrapper_->set_data_to_device(start_addr, addr_length, p_data, &sdk_msg);
RCLCPP_INFO(
this->get_logger(),
"changed parameter value : %f [rev/min2] sdk_msg : %s",
motors_.profile_acceleration,
sdk_msg.c_str());
}
}
};
parameter_event_sub_ = priv_parameters_client_->on_parameter_event(param_event_callback);
}
void EutoBot::cmd_vel_callback()
{
auto qos = rclcpp::QoS(rclcpp::KeepLast(10));
cmd_vel_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
"cmd_vel",
qos,
[this](const geometry_msgs::msg::Twist::SharedPtr msg) -> void
{
std::string sdk_msg;
union Data
{
int32_t dword[6];
uint8_t byte[4 * 6];
} data;
data.dword[0] = static_cast<int32_t>(msg->linear.x * 100);
data.dword[1] = 0;
data.dword[2] = 0;
data.dword[3] = 0;
data.dword[4] = 0;
data.dword[5] = static_cast<int32_t>(msg->angular.z * 100);
uint16_t start_addr = extern_control_table.cmd_velocity_linear_x.addr;
uint16_t addr_length =
(extern_control_table.cmd_velocity_angular_z.addr -
extern_control_table.cmd_velocity_linear_x.addr) +
extern_control_table.cmd_velocity_angular_z.length;
uint8_t *p_data = &data.byte[0];
dxl_sdk_wrapper_->set_data_to_device(start_addr, addr_length, p_data, &sdk_msg);
RCLCPP_DEBUG(
this->get_logger(),
"lin_vel: %f ang_vel: %f msg : %s", msg->linear.x, msg->angular.z, sdk_msg.c_str());
});
}

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src/eutobot/eutobot_node/src/node_main.cpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include <chrono>
#include <memory>
#include <string>
#include <rcutils/cmdline_parser.h>
#include <rclcpp/rclcpp.hpp>
#include "eutobot_node/diff_drive_controller.hpp"
#include "eutobot_node/eutobot.hpp"
void help_print()
{
printf("For eutobot node : \n");
printf("eutobot_node [-i usb_port] [-h]\n");
printf("options:\n");
printf("-h : Print this help function.\n");
printf("-i usb_port: Connected USB port with OpenCR.");
}
int main(int argc, char *argv[])
{
setvbuf(stdout, NULL, _IONBF, BUFSIZ);
if (rcutils_cli_option_exist(argv, argv + argc, "-h"))
{
help_print();
return 0;
}
rclcpp::init(argc, argv);
// Dynmixel Port
std::string usb_port = "/dev/ttyUSB0";
char *cli_options;
cli_options = rcutils_cli_get_option(argv, argv + argc, "-i");
if (nullptr != cli_options)
{
usb_port = std::string(cli_options);
}
rclcpp::executors::SingleThreadedExecutor executor;
auto eutobot = std::make_shared<robotis::eutobot::EutoBot>(usb_port);
auto diff_drive_controller =
std::make_shared<robotis::eutobot::DiffDriveController>(
eutobot->get_wheels()->separation,
eutobot->get_wheels()->radius);
executor.add_node(eutobot);
executor.add_node(diff_drive_controller);
executor.spin();
rclcpp::shutdown();
return 0;
}

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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/odometry.hpp"
#include <memory>
#include <string>
#include <utility>
using robotis::eutobot::Odometry;
using namespace std::chrono_literals;
Odometry::Odometry(
std::shared_ptr<rclcpp::Node> & nh,
const double wheels_separation,
const double wheels_radius)
: nh_(nh),
wheels_separation_(wheels_separation),
wheels_radius_(wheels_radius),
use_imu_(false),
publish_tf_(false),
imu_angle_(0.0f)
{
RCLCPP_INFO(nh_->get_logger(), "Init Odometry");
nh_->declare_parameter<std::string>("odometry.frame_id");
nh_->declare_parameter<std::string>("odometry.child_frame_id");
nh_->declare_parameter<bool>("odometry.use_imu");
nh_->declare_parameter<bool>("odometry.publish_tf");
nh_->get_parameter_or<bool>(
"odometry.use_imu",
use_imu_,
false);
nh_->get_parameter_or<bool>(
"odometry.publish_tf",
publish_tf_,
false);
nh_->get_parameter_or<std::string>(
"odometry.frame_id",
frame_id_of_odometry_,
std::string("odom"));
nh_->get_parameter_or<std::string>(
"odometry.child_frame_id",
child_frame_id_of_odometry_,
std::string("base_footprint"));
auto qos = rclcpp::QoS(rclcpp::KeepLast(10));
odom_pub_ = nh_->create_publisher<nav_msgs::msg::Odometry>("odom", qos);
tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(nh_);
if (use_imu_) {
uint32_t queue_size = 10;
joint_state_imu_sync_ = std::make_shared<SynchronizerJointStateImu>(queue_size);
msg_ftr_joint_state_sub_ =
std::make_shared<message_filters::Subscriber<sensor_msgs::msg::JointState>>(
nh_,
"joint_states");
msg_ftr_imu_sub_ =
std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Imu>>(
nh_,
"imu");
// connect message filters to synchronizer
joint_state_imu_sync_->connectInput(*msg_ftr_joint_state_sub_, *msg_ftr_imu_sub_);
joint_state_imu_sync_->setInterMessageLowerBound(
0,
rclcpp::Duration(75ms));
joint_state_imu_sync_->setInterMessageLowerBound(
1,
rclcpp::Duration(15ms));
joint_state_imu_sync_->registerCallback(
std::bind(
&Odometry::joint_state_and_imu_callback,
this,
std::placeholders::_1,
std::placeholders::_2));
} else {
joint_state_sub_ = nh_->create_subscription<sensor_msgs::msg::JointState>(
"joint_states",
qos,
std::bind(&Odometry::joint_state_callback, this, std::placeholders::_1));
}
}
void Odometry::joint_state_callback(const sensor_msgs::msg::JointState::SharedPtr joint_state_msg)
{
static rclcpp::Time last_time = joint_state_msg->header.stamp;
rclcpp::Duration duration(rclcpp::Duration::from_nanoseconds(
joint_state_msg->header.stamp.nanosec - last_time.nanoseconds()));
update_joint_state(joint_state_msg);
calculate_odometry(duration);
publish(joint_state_msg->header.stamp);
last_time = joint_state_msg->header.stamp;
}
void Odometry::joint_state_and_imu_callback(
const std::shared_ptr<sensor_msgs::msg::JointState const> & joint_state_msg,
const std::shared_ptr<sensor_msgs::msg::Imu const> & imu_msg)
{
RCLCPP_DEBUG(
nh_->get_logger(),
"[joint_state_msg_] nanosec : %d [imu_msg] nanosec : %d",
joint_state_msg->header.stamp.nanosec,
imu_msg->header.stamp.nanosec);
static rclcpp::Time last_time = joint_state_msg->header.stamp;
rclcpp::Duration duration(rclcpp::Duration::from_nanoseconds(
joint_state_msg->header.stamp.nanosec - last_time.nanoseconds()));
update_joint_state(joint_state_msg);
update_imu(imu_msg);
calculate_odometry(duration);
publish(joint_state_msg->header.stamp);
last_time = joint_state_msg->header.stamp;
}
void Odometry::publish(const rclcpp::Time & now)
{
auto odom_msg = std::make_unique<nav_msgs::msg::Odometry>();
odom_msg->header.frame_id = frame_id_of_odometry_;
odom_msg->child_frame_id = child_frame_id_of_odometry_;
odom_msg->header.stamp = now;
odom_msg->pose.pose.position.x = robot_pose_[0];
odom_msg->pose.pose.position.y = robot_pose_[1];
odom_msg->pose.pose.position.z = 0;
tf2::Quaternion q;
q.setRPY(0.0, 0.0, robot_pose_[2]);
odom_msg->pose.pose.orientation.x = q.x();
odom_msg->pose.pose.orientation.y = q.y();
odom_msg->pose.pose.orientation.z = q.z();
odom_msg->pose.pose.orientation.w = q.w();
odom_msg->twist.twist.linear.x = robot_vel_[0];
odom_msg->twist.twist.angular.z = robot_vel_[2];
// TODO(Will Son): Find more accurate covariance.
// odom_msg->pose.covariance[0] = 0.05;
// odom_msg->pose.covariance[7] = 0.05;
// odom_msg->pose.covariance[14] = 1.0e-9;
// odom_msg->pose.covariance[21] = 1.0e-9;
// odom_msg->pose.covariance[28] = 1.0e-9;
// odom_msg->pose.covariance[35] = 0.0872665;
// odom_msg->twist.covariance[0] = 0.001;
// odom_msg->twist.covariance[7] = 1.0e-9;
// odom_msg->twist.covariance[14] = 1.0e-9;
// odom_msg->twist.covariance[21] = 1.0e-9;
// odom_msg->twist.covariance[28] = 1.0e-9;
// odom_msg->twist.covariance[35] = 0.001;
geometry_msgs::msg::TransformStamped odom_tf;
odom_tf.transform.translation.x = odom_msg->pose.pose.position.x;
odom_tf.transform.translation.y = odom_msg->pose.pose.position.y;
odom_tf.transform.translation.z = odom_msg->pose.pose.position.z;
odom_tf.transform.rotation = odom_msg->pose.pose.orientation;
odom_tf.header.frame_id = frame_id_of_odometry_;
odom_tf.child_frame_id = child_frame_id_of_odometry_;
odom_tf.header.stamp = now;
odom_pub_->publish(std::move(odom_msg));
if (publish_tf_) {
tf_broadcaster_->sendTransform(odom_tf);
}
}
void Odometry::update_joint_state(
const std::shared_ptr<sensor_msgs::msg::JointState const> & joint_state)
{
static std::array<double, 2> last_joint_positions = {0.0f, 0.0f};
diff_joint_positions_[0] = joint_state->position[0] - last_joint_positions[0];
diff_joint_positions_[1] = joint_state->position[1] - last_joint_positions[1];
last_joint_positions[0] = joint_state->position[0];
last_joint_positions[1] = joint_state->position[1];
}
void Odometry::update_imu(const std::shared_ptr<sensor_msgs::msg::Imu const> & imu)
{
imu_angle_ = atan2f(
imu->orientation.x * imu->orientation.y + imu->orientation.w * imu->orientation.z,
0.5f - imu->orientation.y * imu->orientation.y - imu->orientation.z * imu->orientation.z);
}
bool Odometry::calculate_odometry(const rclcpp::Duration & duration)
{
// rotation value of wheel [rad]
double wheel_l = diff_joint_positions_[0];
double wheel_r = diff_joint_positions_[1];
double delta_s = 0.0;
double delta_theta = 0.0;
double theta = 0.0;
static double last_theta = 0.0;
// v = translational velocity [m/s]
// w = rotational velocity [rad/s]
double v = 0.0;
double w = 0.0;
double step_time = duration.seconds();
if (step_time == 0.0) {
return false;
}
if (std::isnan(wheel_l)) {
wheel_l = 0.0;
}
if (std::isnan(wheel_r)) {
wheel_r = 0.0;
}
delta_s = wheels_radius_ * (wheel_r + wheel_l) / 2.0;
if (use_imu_) {
theta = imu_angle_;
delta_theta = theta - last_theta;
} else {
theta = wheels_radius_ * (wheel_r - wheel_l) / wheels_separation_;
delta_theta = theta;
}
// compute odometric pose
robot_pose_[0] += delta_s * cos(robot_pose_[2] + (delta_theta / 2.0));
robot_pose_[1] += delta_s * sin(robot_pose_[2] + (delta_theta / 2.0));
robot_pose_[2] += delta_theta;
RCLCPP_DEBUG(nh_->get_logger(), "x : %f, y : %f", robot_pose_[0], robot_pose_[1]);
// compute odometric instantaneouse velocity
v = delta_s / step_time;
w = delta_theta / step_time;
robot_vel_[0] = v;
robot_vel_[1] = 0.0;
robot_vel_[2] = w;
last_theta = theta;
return true;
}

56
src/eutobot/eutobot_node/src/sensors/battery_state.cpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/sensors/battery_state.hpp"
#include <memory>
#include <string>
#include <utility>
using robotis::eutobot::sensors::BatteryState;
BatteryState::BatteryState(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & topic_name)
: Sensors(nh)
{
pub_ = nh->create_publisher<sensor_msgs::msg::BatteryState>(topic_name, this->qos_);
RCLCPP_INFO(nh_->get_logger(), "Succeeded to create battery state publisher");
}
void BatteryState::publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper)
{
auto msg = std::make_unique<sensor_msgs::msg::BatteryState>();
msg->header.stamp = now;
msg->design_capacity = 1.8f;
msg->voltage = 0.01f * dxl_sdk_wrapper->get_data_from_device<int32_t>(
extern_control_table.battery_voltage.addr,
extern_control_table.battery_voltage.length);
msg->percentage = 0.01f * dxl_sdk_wrapper->get_data_from_device<int32_t>(
extern_control_table.battery_percentage.addr,
extern_control_table.battery_percentage.length);
msg->voltage <= 7.0 ? msg->present = false : msg->present = true;
pub_->publish(std::move(msg));
}

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src/eutobot/eutobot_node/src/sensors/imu.cpp
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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/sensors/imu.hpp"
#include <memory>
#include <string>
#include <utility>
using robotis::eutobot::sensors::Imu;
Imu::Imu(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & imu_topic_name,
const std::string & mag_topic_name,
const std::string & frame_id)
: Sensors(nh, frame_id)
{
imu_pub_ = nh->create_publisher<sensor_msgs::msg::Imu>(imu_topic_name, this->qos_);
mag_pub_ = nh->create_publisher<sensor_msgs::msg::MagneticField>(mag_topic_name, this->qos_);
RCLCPP_INFO(nh_->get_logger(), "Succeeded to create imu publisher");
}
void Imu::publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper)
{
auto imu_msg = std::make_unique<sensor_msgs::msg::Imu>();
imu_msg->header.frame_id = this->frame_id_;
imu_msg->header.stamp = now;
imu_msg->orientation.w = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_orientation_w.addr,
extern_control_table.imu_orientation_w.length);
imu_msg->orientation.x = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_orientation_x.addr,
extern_control_table.imu_orientation_x.length);
imu_msg->orientation.y = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_orientation_y.addr,
extern_control_table.imu_orientation_y.length);
imu_msg->orientation.z = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_orientation_z.addr,
extern_control_table.imu_orientation_z.length);
imu_msg->angular_velocity.x = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_angular_velocity_x.addr,
extern_control_table.imu_angular_velocity_x.length);
imu_msg->angular_velocity.y = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_angular_velocity_y.addr,
extern_control_table.imu_angular_velocity_y.length);
imu_msg->angular_velocity.z = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_angular_velocity_z.addr,
extern_control_table.imu_angular_velocity_z.length);
imu_msg->linear_acceleration.x = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_linear_acceleration_x.addr,
extern_control_table.imu_linear_acceleration_x.length);
imu_msg->linear_acceleration.y = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_linear_acceleration_y.addr,
extern_control_table.imu_linear_acceleration_y.length);
imu_msg->linear_acceleration.z = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_linear_acceleration_z.addr,
extern_control_table.imu_linear_acceleration_z.length);
auto mag_msg = std::make_unique<sensor_msgs::msg::MagneticField>();
mag_msg->header.frame_id = this->frame_id_;
mag_msg->header.stamp = now;
mag_msg->magnetic_field.x = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_magnetic_x.addr,
extern_control_table.imu_magnetic_x.length);
mag_msg->magnetic_field.y = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_magnetic_y.addr,
extern_control_table.imu_magnetic_y.length);
mag_msg->magnetic_field.z = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.imu_magnetic_z.addr,
extern_control_table.imu_magnetic_z.length);
imu_pub_->publish(std::move(imu_msg));
mag_pub_->publish(std::move(mag_msg));
}

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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include <array>
#include <memory>
#include <string>
#include <utility>
#include "eutobot_node/sensors/joint_state.hpp"
using robotis::eutobot::sensors::JointState;
JointState::JointState(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & topic_name,
const std::string & frame_id)
: Sensors(nh, frame_id)
{
pub_ = nh->create_publisher<sensor_msgs::msg::JointState>(topic_name, this->qos_);
RCLCPP_INFO(nh_->get_logger(), "Succeeded to create joint state publisher");
}
void JointState::publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper)
{
auto msg = std::make_unique<sensor_msgs::msg::JointState>();
static std::array<int32_t, JOINT_NUM> last_diff_position, last_position;
std::array<int32_t, JOINT_NUM> position =
{dxl_sdk_wrapper->get_data_from_device<int32_t>(
extern_control_table.present_position_left.addr,
extern_control_table.present_position_left.length),
dxl_sdk_wrapper->get_data_from_device<int32_t>(
extern_control_table.present_position_right.addr,
extern_control_table.present_position_right.length)};
std::array<int32_t, JOINT_NUM> velocity =
{dxl_sdk_wrapper->get_data_from_device<int32_t>(
extern_control_table.present_velocity_left.addr,
extern_control_table.present_velocity_left.length),
dxl_sdk_wrapper->get_data_from_device<int32_t>(
extern_control_table.present_velocity_right.addr,
extern_control_table.present_velocity_right.length)};
// std::array<int32_t, JOINT_NUM> current =
// {dxl_sdk_wrapper->get_data_from_device<int32_t>(
// extern_control_table.resent_current_left.addr,
// extern_control_table.resent_current_left.length),
// dxl_sdk_wrapper->get_data_from_device<int32_t>(
// extern_control_table.resent_current_right.addr,
// extern_control_table.resent_current_right.length)};
msg->header.frame_id = this->frame_id_;
msg->header.stamp = now;
msg->name.push_back("wheel_left_joint");
msg->name.push_back("wheel_right_joint");
msg->position.push_back(TICK_TO_RAD * last_diff_position[0]);
msg->position.push_back(TICK_TO_RAD * last_diff_position[1]);
msg->velocity.push_back(RPM_TO_MS * velocity[0]);
msg->velocity.push_back(RPM_TO_MS * velocity[1]);
// msg->effort.push_back(current[0]);
// msg->effort.push_back(current[1]);
last_diff_position[0] += (position[0] - last_position[0]);
last_diff_position[1] += (position[1] - last_position[1]);
last_position = position;
pub_->publish(std::move(msg));
}

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// Copyright 2019 ROBOTIS CO., LTD.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Darby Lim
#include "eutobot_node/sensors/sensor_state.hpp"
#include <memory>
#include <string>
#include <utility>
using robotis::eutobot::sensors::SensorState;
SensorState::SensorState(
std::shared_ptr<rclcpp::Node> & nh,
const std::string & topic_name,
const uint8_t & bumper_forward,
const uint8_t & bumper_backward,
const uint8_t & illumination,
const uint8_t & cliff,
const uint8_t & sonar)
: Sensors(nh),
bumper_forward_(bumper_forward),
bumper_backward_(bumper_backward),
illumination_(illumination),
cliff_(cliff),
sonar_(sonar)
{
pub_ = nh->create_publisher<eutobot_msgs::msg::SensorState>(topic_name, this->qos_);
RCLCPP_INFO(nh_->get_logger(), "Succeeded to create sensor state publisher");
}
void SensorState::publish(
const rclcpp::Time & now,
std::shared_ptr<DynamixelSDKWrapper> & dxl_sdk_wrapper)
{
auto msg = std::make_unique<eutobot_msgs::msg::SensorState>();
msg->header.stamp = now;
if (bumper_forward_ || bumper_backward_) {
uint8_t bumper_push_state;
uint8_t bumper_forward_state;
uint8_t bumper_backward_state;
bumper_forward_state = dxl_sdk_wrapper->get_data_from_device<uint8_t>(
extern_control_table.bumper_1.addr,
extern_control_table.bumper_1.length);
bumper_backward_state = dxl_sdk_wrapper->get_data_from_device<uint8_t>(
extern_control_table.bumper_2.addr,
extern_control_table.bumper_2.length);
bumper_push_state = bumper_forward_state << 0;
bumper_push_state |= bumper_backward_state << 1;
msg->bumper = bumper_push_state;
} else if (!bumper_forward_ && !bumper_backward_) {
msg->bumper = 0;
}
if (cliff_) {
msg->cliff = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.ir.addr,
extern_control_table.ir.length);
} else {
msg->cliff = 0.0f;
}
if (sonar_) {
msg->sonar = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.sonar.addr,
extern_control_table.sonar.length);
} else {
msg->sonar = 0.0f;
}
if (illumination_) {
msg->illumination = dxl_sdk_wrapper->get_data_from_device<float>(
extern_control_table.illumination.addr,
extern_control_table.illumination.length);
} else {
msg->illumination = 0.0f;
}
// update button state
uint8_t button_push_state;
uint8_t button_0_state;
uint8_t button_1_state;
button_0_state = dxl_sdk_wrapper->get_data_from_device<uint8_t>(
extern_control_table.button_1.addr,
extern_control_table.button_1.length);
button_1_state = dxl_sdk_wrapper->get_data_from_device<uint8_t>(
extern_control_table.button_2.addr,
extern_control_table.button_2.length);
button_push_state = button_0_state << 0;
button_push_state |= button_1_state << 1;
msg->button = button_push_state;
// update torque enable state
msg->torque = dxl_sdk_wrapper->get_data_from_device<bool>(
extern_control_table.motor_torque_enable.addr,
extern_control_table.motor_torque_enable.length);
msg->left_encoder = dxl_sdk_wrapper->get_data_from_device<int32_t>(
extern_control_table.present_position_left.addr,
extern_control_table.present_position_left.length);
msg->right_encoder = dxl_sdk_wrapper->get_data_from_device<int32_t>(
extern_control_table.present_position_right.addr,
extern_control_table.present_position_right.length);
msg->battery = 0.01f * dxl_sdk_wrapper->get_data_from_device<int32_t>(
extern_control_table.battery_voltage.addr,
extern_control_table.battery_voltage.length);
pub_->publish(std::move(msg));
}

7
src/eutobot/eutobot_teleop/CHANGELOG.rst
View File

@ -1,7 +0,0 @@
================================================================================
Changelog for package eutobot_teleop
================================================================================
--------------------------------------------------------------------------------
0.1.0 (2023-11-06)
- First Draft

228
src/eutobot/eutobot_teleop/eutobot_teleop/script/teleop_keyboard.py
View File

@ -1,228 +0,0 @@
#!/usr/bin/env python
#
# Copyright (c) 2011, Willow Garage, Inc.
# All rights reserved.
#
# Software License Agreement (BSD License 2.0)
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of {copyright_holder} nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author: Darby Lim
import os
import select
import sys
import rclpy
from geometry_msgs.msg import Twist
from rclpy.qos import QoSProfile
if os.name == 'nt':
import msvcrt
else:
import termios
import tty
BURGER_MAX_LIN_VEL = 0.22
BURGER_MAX_ANG_VEL = 2.84
WAFFLE_MAX_LIN_VEL = 0.26
WAFFLE_MAX_ANG_VEL = 1.82
LIN_VEL_STEP_SIZE = 0.01
ANG_VEL_STEP_SIZE = 0.1
msg = """
Control Your EutoBot!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
space key, s : force stop
CTRL-C to quit
"""
e = """
Communications Failed
"""
def get_key(settings):
if os.name == 'nt':
return msvcrt.getch().decode('utf-8')
tty.setraw(sys.stdin.fileno())
rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
if rlist:
key = sys.stdin.read(1)
else:
key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
def print_vels(target_linear_velocity, target_angular_velocity):
print('currently:\tlinear velocity {0}\t angular velocity {1} '.format(
target_linear_velocity,
target_angular_velocity))
def make_simple_profile(output, input, slop):
if input > output:
output = min(input, output + slop)
elif input < output:
output = max(input, output - slop)
else:
output = input
return output
def constrain(input_vel, low_bound, high_bound):
if input_vel < low_bound:
input_vel = low_bound
elif input_vel > high_bound:
input_vel = high_bound
else:
input_vel = input_vel
return input_vel
def check_linear_limit_velocity(velocity):
return constrain(velocity, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL)
def check_angular_limit_velocity(velocity):
return constrain(velocity, -WAFFLE_MAX_ANG_VEL, WAFFLE_MAX_ANG_VEL)
def main():
settings = None
if os.name != 'nt':
settings = termios.tcgetattr(sys.stdin)
rclpy.init()
qos = QoSProfile(depth=10)
node = rclpy.create_node('teleop_keyboard')
pub = node.create_publisher(Twist, 'cmd_vel', qos)
status = 0
target_linear_velocity = 0.0
target_angular_velocity = 0.0
control_linear_velocity = 0.0
control_angular_velocity = 0.0
try:
print(msg)
while(1):
key = get_key(settings)
if key == 'w':
target_linear_velocity =\
check_linear_limit_velocity(target_linear_velocity + LIN_VEL_STEP_SIZE)
status = status + 1
print_vels(target_linear_velocity, target_angular_velocity)
elif key == 'x':
target_linear_velocity =\
check_linear_limit_velocity(target_linear_velocity - LIN_VEL_STEP_SIZE)
status = status + 1
print_vels(target_linear_velocity, target_angular_velocity)
elif key == 'a':
target_angular_velocity =\
check_angular_limit_velocity(target_angular_velocity + ANG_VEL_STEP_SIZE)
status = status + 1
print_vels(target_linear_velocity, target_angular_velocity)
elif key == 'd':
target_angular_velocity =\
check_angular_limit_velocity(target_angular_velocity - ANG_VEL_STEP_SIZE)
status = status + 1
print_vels(target_linear_velocity, target_angular_velocity)
elif key == ' ' or key == 's':
target_linear_velocity = 0.0
control_linear_velocity = 0.0
target_angular_velocity = 0.0
control_angular_velocity = 0.0
print_vels(target_linear_velocity, target_angular_velocity)
else:
if (key == '\x03'):
break
if status == 20:
print(msg)
status = 0
twist = Twist()
control_linear_velocity = make_simple_profile(
control_linear_velocity,
target_linear_velocity,
(LIN_VEL_STEP_SIZE / 2.0))
twist.linear.x = control_linear_velocity
twist.linear.y = 0.0
twist.linear.z = 0.0
control_angular_velocity = make_simple_profile(
control_angular_velocity,
target_angular_velocity,
(ANG_VEL_STEP_SIZE / 2.0))
twist.angular.x = 0.0
twist.angular.y = 0.0
twist.angular.z = control_angular_velocity
pub.publish(twist)
except Exception as e:
print(e)
finally:
twist = Twist()
twist.linear.x = 0.0
twist.linear.y = 0.0
twist.linear.z = 0.0
twist.angular.x = 0.0
twist.angular.y = 0.0
twist.angular.z = 0.0
pub.publish(twist)
if os.name != 'nt':
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
if __name__ == '__main__':
main()

21
src/eutobot/eutobot_teleop/package.xml
View File

@ -1,21 +0,0 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>eutobot_teleop</name>
<version>2.1.5</version>
<description>
Teleoperation node using keyboard for EutoBot.
</description>
<maintainer email="ray@coasia.com">Ray Park</maintainer>
<license>Apache 2.0</license>
<url type="website">http://www.coasianexell.com/</url>
<url type="repository">http://cnst.coasianexell.com:53000/robotics/eutobot</url>
<url type="bugtracker">http://cnst.coasianexell.com:53000/issues</url>
<author email="sw.jo@coasia.com">Biela Jo</author>
<author email="emergency@coasia.com">Matt Lim</author>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>rclpy</exec_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

4
src/eutobot/eutobot_teleop/setup.cfg
View File

@ -1,4 +0,0 @@
[develop]
script-dir=$base/lib/eutobot_teleop
[install]
install-scripts=$base/lib/eutobot_teleop

39
src/eutobot/eutobot_teleop/setup.py
View File

@ -1,39 +0,0 @@
from setuptools import find_packages
from setuptools import setup
package_name = 'eutobot_teleop'
setup(
name=package_name,
version='2.1.5',
packages=find_packages(exclude=[]),
data_files=[
('share/ament_index/resource_index/packages', ['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=[
'setuptools',
],
zip_safe=True,
author='Darby Lim',
author_email='thlim@robotis.com',
maintainer='Will Son',
maintainer_email='willson@robotis.com',
keywords=['ROS'],
classifiers=[
'Intended Audience :: Developers',
'License :: OSI Approved :: Apache Software License',
'Programming Language :: Python',
'Topic :: Software Development',
],
description=(
'Teleoperation node using keyboard for EutoBot.'
),
license='Apache License, Version 2.0',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'teleop_keyboard = eutobot_teleop.script.teleop_keyboard:main'
],
},
)

14
src/yahboomcar_base_node/CMakeLists.txt → src/eutobot_base_node/CMakeLists.txt
View File

@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
project(yahboomcar_base_node)
project(eutobot_base_node)
# Default to C99
if(NOT CMAKE_C_STANDARD)
@ -37,16 +37,10 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()
add_executable(base_node_X3 src/base_node_X3.cpp)
add_executable(base_node_x1 src/base_node_x1.cpp)
add_executable(base_node_R2 src/base_node_R2.cpp)
ament_target_dependencies(base_node_X3 rclcpp tf2 tf2_ros nav_msgs geometry_msgs)
ament_target_dependencies(base_node_x1 rclcpp tf2 tf2_ros nav_msgs geometry_msgs)
ament_target_dependencies(base_node_R2 rclcpp tf2 tf2_ros nav_msgs geometry_msgs)
add_executable(base_node src/base_node.cpp)
ament_target_dependencies(base_node rclcpp tf2 tf2_ros nav_msgs geometry_msgs)
install(TARGETS
base_node_X3
base_node_x1
base_node_R2
base_node
DESTINATION lib/${PROJECT_NAME}
)
ament_package()

2
src/yahboomcar_base_node/package.xml → src/eutobot_base_node/package.xml
View File

@ -1,7 +1,7 @@
<?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>yahboomcar_base_node</name>
<name>eutobot_base_node</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="nx-ros2@todo.todo">nx-ros2</maintainer>

0
src/yahboomcar_base_node/src/base_node_X3.cpp → src/eutobot_base_node/src/base_node.cpp
View File

34
src/yahboomcar_bringup/yahboomcar_bringup/Mcnamu_driver_X3.py → src/eutobot_bringup/eutobot_bringup/Mcnamu_driver_X3.py
View File

@ -18,24 +18,12 @@ from geometry_msgs.msg import Twist
from sensor_msgs.msg import Imu,MagneticField, JointState
from rclpy.clock import Clock
#from dynamic_reconfigure.server import Server
car_type_dic={
'R2':5,
'X3':1,
'NONE':-1
}
class yahboomcar_driver(Node):
class eutobot_driver(Node):
def __init__(self, name):
super().__init__(name)
global car_type_dic
self.RA2DE = 180 / pi
# self.car = Rosmaster()
self.car = Rosmaster(1, "/dev/ttyUSB0", 2, False);
self.car.set_car_type(1)
self.car = Rosmaster(1, "/dev/ttyUSB1", 2, False)
#get parameter
self.declare_parameter('car_type', 'X3')
self.car_type = self.get_parameter('car_type').get_parameter_value().string_value
print (self.car_type)
self.declare_parameter('imu_link', 'imu_link')
self.imu_link = self.get_parameter('imu_link').get_parameter_value().string_value
print (self.imu_link)
@ -82,15 +70,10 @@ class yahboomcar_driver(Node):
vy = msg.linear.y*1.0
angular = msg.angular.z*1.0 # wait for chang
self.car.set_car_motion(vx, vy, angular)
'''print("cmd_vx: ",vx)
print("cmd_vy: ",vy)
print("cmd_angular: ",angular)'''
#rospy.loginfo("nav_use_rot:{}".format(self.nav_use_rotvel))
#print(self.nav_use_rotvel)
def RGBLightcallback(self,msg):
# RGBLight control
if not isinstance(msg, Int32): return
# print ("RGBLight: ", msg.data)
for i in range(3): self.car.set_colorful_effect(msg.data, 6, parm=1)
def Buzzercallback(self,msg):
if not isinstance(msg, Bool): return
@ -127,9 +110,7 @@ class yahboomcar_driver(Node):
my = my * 1.0
mz = mz * 1.0
vx, vy, angular = self.car.get_motion_data()
'''print("vx: ",vx)
print("vy: ",vy)
print("angular: ",angular)'''
# Publish gyroscope data
imu.header.stamp = time_stamp.to_msg()
imu.header.frame_id = self.imu_link
@ -151,11 +132,6 @@ class yahboomcar_driver(Node):
twist.linear.y = vy *1.0
twist.angular.z = angular*1.0
self.velPublisher.publish(twist)
# print("ax: %.5f, ay: %.5f, az: %.5f" % (ax, ay, az))
# print("gx: %.5f, gy: %.5f, gz: %.5f" % (gx, gy, gz))
# print("mx: %.5f, my: %.5f, mz: %.5f" % (mx, my, mz))
# rospy.loginfo("battery: {}".format(battery))
# rospy.loginfo("vx: {}, vy: {}, angular: {}".format(twist.linear.x, twist.linear.y, twist.angular.z))
self.imuPublisher.publish(imu)
self.magPublisher.publish(mag)
self.volPublisher.publish(battery)
@ -163,6 +139,6 @@ class yahboomcar_driver(Node):
def main():
rclpy.init()
driver = yahboomcar_driver('driver_node')
driver = eutobot_driver('driver_node')
rclpy.spin(driver)

0
src/eutobot/eutobot_teleop/eutobot_teleop/__init__.py → src/eutobot_bringup/eutobot_bringup/__init__.py
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28
src/yahboomcar_bringup/launch/yahboomcar_bringup_X3_launch.py → src/eutobot_bringup/launch/eutobot_bringup_launch.py
View File

@ -4,6 +4,8 @@ from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import Command, LaunchConfiguration
from launch.substitutions import ThisLaunchFileDir
from launch.substitutions import Command
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
@ -16,9 +18,9 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
print("---------------------robot_type = x3---------------------")
def generate_launch_description():
urdf_tutorial_path = get_package_share_path('yahboomcar_description')
default_model_path = urdf_tutorial_path / 'urdf/yahboomcar_X3.urdf'
default_rviz_config_path = urdf_tutorial_path / 'rviz/yahboomcar.rviz'
urdf_tutorial_path = get_package_share_path('eutobot_description')
default_model_path = urdf_tutorial_path / 'urdf/eutobot_X3.urdf'
default_rviz_config_path = urdf_tutorial_path / 'rviz/eutobot.rviz'
gui_arg = DeclareLaunchArgument(name='gui', default_value='false', choices=['true', 'false'],
description='Flag to enable joint_state_publisher_gui')
@ -60,26 +62,29 @@ def generate_launch_description():
)
imu_filter_config = os.path.join(
get_package_share_directory('yahboomcar_bringup'),
get_package_share_directory('eutobot_bringup'),
'param',
'imu_filter_param.yaml'
)
ekf_filter_config = os.path.join(
get_package_share_directory('yahboomcar_bringup'),
get_package_share_directory('eutobot_bringup'),
'param',
'ekf.yaml'
)
lidar_pkg_dir = LaunchConfiguration(
'lidar_pkg_dir',
default=os.path.join(get_package_share_directory('ydlidar_ros2_driver'), 'launch'))
driver_node = Node(
package='yahboomcar_bringup',
package='eutobot_bringup',
executable='Mcnamu_driver_X3',
)
base_node = Node(
package='yahboomcar_base_node',
executable='base_node_X3',
# 이 tf는 ekf 융합을 사용할 때 ekf로 publish 된다.
package='eutobot_base_node',
executable='base_node',
parameters=[{'pub_odom_tf': LaunchConfiguration('pub_odom_tf')}]
)
@ -103,6 +108,10 @@ def generate_launch_description():
)
return LaunchDescription([
# IncludeLaunchDescription(
# PythonLaunchDescriptionSource([lidar_pkg_dir, '/ydlidar_launch.py']),
# launch_arguments={'port': '/dev/ttySAC6', 'frame_id': 'base_scan'}.items(),
# ),
gui_arg,
model_arg,
rviz_arg,
@ -115,5 +124,4 @@ def generate_launch_description():
base_node,
imu_filter_node,
ekf_filter_node
# yahboom_joy_node
])

2
src/yahboomcar_bringup/package.xml → src/eutobot_bringup/package.xml
View File

@ -1,7 +1,7 @@
<?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>yahboomcar_bringup</name>
<name>eutobot_bringup</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="nx-ros2@todo.todo">nx-ros2</maintainer>

0
src/yahboomcar_bringup/param/ekf.yaml → src/eutobot_bringup/param/ekf.yaml
View File

0
src/yahboomcar_bringup/param/ekf_origin.yaml → src/eutobot_bringup/param/ekf_origin.yaml
View File

0
src/yahboomcar_bringup/param/imu_filter_param.yaml → src/eutobot_bringup/param/imu_filter_param.yaml
View File

0
src/eutobot/README.md → src/eutobot_bringup/resource/eutobot_bringup
View File

0
src/yahboomcar_bringup/rviz/yahboomcar.rviz → src/eutobot_bringup/rviz/eutobot.rviz
View File

4
src/eutobot_bringup/setup.cfg Normal file
View File

@ -0,0 +1,4 @@
[develop]
script-dir=$base/lib/eutobot_bringup
[install]
install-scripts=$base/lib/eutobot_bringup

43
src/eutobot_bringup/setup.py Normal file
View File

@ -0,0 +1,43 @@
from setuptools import setup
import os
from glob import glob
package_name = 'eutobot_bringup'
setup(
name=package_name,
version='0.0.0',
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
(os.path.join('share',package_name,'launch'),glob(os.path.join('launch','*launch.py'))),
#(os.path.join('share','eutobot_description','urdf'),glob(os.path.join('urdf','*.*'))),
#(os.path.join('share','eutobot_description','meshes'),glob(os.path.join('meshes','*.*'))),
(os.path.join('share','eutobot_description','rviz'),glob(os.path.join('rviz','*.rviz*'))),
(os.path.join('share', package_name, 'param'), glob(os.path.join('param', '*.yaml'))),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='nx-ros2',
maintainer_email='nx-ros2@todo.todo',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'Mcnamu_driver_X3 = eutobot_bringup.Mcnamu_driver_X3:main',
'Mcnamu_driver_x1 = eutobot_bringup.Mcnamu_driver_x1:main',
'calibrate_linear_X3 = eutobot_bringup.calibrate_linear_X3:main',
'calibrate_angular_X3 = eutobot_bringup.calibrate_angular_X3:main',
'patrol_4ROS = eutobot_bringup.patrol_4ROS:main',
'patrol_a1_X3 = eutobot_bringup.patrol_a1_X3:main',
'Ackman_driver_R2 = eutobot_bringup.Ackman_driver_R2:main',
'calibrate_linear_R2 = eutobot_bringup.calibrate_linear_R2:main',
'calibrate_angular_R2 = eutobot_bringup.calibrate_angular_R2:main',
'patrol_4ROS_R2 = eutobot_bringup.patrol_4ROS_R2:main',
'patrol_a1_R2 = eutobot_bringup.patrol_a1_R2:main',
],
},
)

0
src/yahboomcar_bringup/test/test_copyright.py → src/eutobot_bringup/test/test_copyright.py
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