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eutobot_intergration
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* ld08_driver delete 

* ekf_node topic remmaping
* U2D2, Yahboom Expasion Board Port fix
* verify cartographer node activation on rivz
  but odometry link point incorrect
master
hojunlim 2023-12-15 11:04:27 +09:00
parent f37154ff00
commit 9d916a95d3
7 changed files with 43 additions and 130 deletions
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75
src/.vscode/colcon.env vendored
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@ -1,75 +0,0 @@
SHELL=/bin/bash
SESSION_MANAGER=local/hjmatt-linux:@/tmp/.ICE-unix/2257,unix/hjmatt-linux:/tmp/.ICE-unix/2257
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:1b1c9186-aec3-4494-ab5a-f51a9555abf6
XMODIFIERS=@im=ibus
DESKTOP_SESSION=ubuntu
LC_MONETARY=ko_KR.UTF-8
SSH_AGENT_PID=2219
VSCODE_AMD_ENTRYPOINT=vs/workbench/api/node/extensionHostProcess
GTK_MODULES=gail:atk-bridge
PWD=/home/hjmatt/task8/13.ros/SRDK/mnt_target/workspace/src
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
_=/usr/bin/env
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-7e50df75-1.84-main.sock
VTE_VERSION=6003
VSCODE_CLI=1
INVOCATION_ID=67cab6c134a244dba56513793b4cab58
TERMINATOR_DBUS_NAME=net.tenshu.Terminator21a9d5db22c73a993ff0b42f64b396873
MANAGERPID=2041
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=609928
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/SRDK/mnt_target/workspace/src
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
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=2710
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/SRDK/mnt_target/workspace

12
src/eutobot/eutobot_bringup/launch/robot.launch.py
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@ -68,9 +68,9 @@ def generate_launch_description():
# YAHBOOM
# yahboom_pkg_dir = LaunchConfiguration(
# 'yahboom_pkg_dir',
# default=os.path.join(get_package_share_directory('yahboomcar_bringup'), 'launch'))
yahboom_pkg_dir = LaunchConfiguration(
'yahboom_pkg_dir',
default=os.path.join(get_package_share_directory('yahboomcar_bringup'), 'launch'))
return LaunchDescription([
@ -95,9 +95,9 @@ def generate_launch_description():
launch_arguments={'port': '/dev/ttySAC6', 'frame_id': 'base_scan'}.items(),
),
# IncludeLaunchDescription(
# PythonLaunchDescriptionSource([yahboom_pkg_dir, "/yahboomcar_bringup_X3_launch.py"]),
# ),
IncludeLaunchDescription(
PythonLaunchDescriptionSource([yahboom_pkg_dir, "/yahboomcar_bringup_X3_launch.py"]),
),
Node(
package='eutobot_node',

1
src/ld08_driver

@ -1 +0,0 @@
Subproject commit f63c92d178dab1d54cee0f0ed143a2b706c17487

32
src/yahboomcar_bringup/launch/yahboomcar_bringup_X3_launch.py
View File

@ -83,20 +83,19 @@ def generate_launch_description():
parameters=[imu_filter_config]
)
ekf_node = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('robot_localization'), 'launch'),
'/ekf.launch.py'])
)
yahboom_joy_node = Node(
package='yahboomcar_ctrl',
executable='yahboom_joy_X3',
)
yahboom_keyboard_node = Node(
package='yahboomcar_ctrl',
executable='yahboom_keyboard',
ekf_filter_node = Node(
package='robot_localization',
executable='ekf_node',
name='ekf_filter_node',
output='screen',
parameters=[
os.path.join(get_package_share_directory("robot_localization"), 'params', 'ekf.yaml')
],
remappings=[
("/example/imu", "/imu/data"),
("/example/odom", "/odom_raw"),
("/odometry/filtered", "/odom"),
]
)
return LaunchDescription([
@ -111,7 +110,6 @@ def generate_launch_description():
driver_node,
base_node,
imu_filter_node,
ekf_node,
# yahboom_keyboard_node
yahboom_joy_node
ekf_filter_node
# yahboom_joy_node
])

8
src/yahboomcar_bringup/yahboomcar_bringup/Mcnamu_driver_X3.py
View File

@ -74,10 +74,8 @@ class yahboomcar_driver(Node):
self.car.create_receive_threading()
#callback function
def cmd_vel_callback(self,msg):
# 小车运动控制，订阅者回调函数
# Car motion control, subscriber callback function
if not isinstance(msg, Twist): return
# 下发线速度和角速度
# Issue linear vel and angular vel
vx = msg.linear.x*1.0
#vy = msg.linear.y/1000.0*180.0/3.1416 #Radian system
@ -90,7 +88,7 @@ class yahboomcar_driver(Node):
#rospy.loginfo("nav_use_rot:{}".format(self.nav_use_rotvel))
#print(self.nav_use_rotvel)
def RGBLightcallback(self,msg):
# 流水灯控制，服务端回调函数 RGBLight control
# 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)
@ -132,7 +130,6 @@ class yahboomcar_driver(Node):
'''print("vx: ",vx)
print("vy: ",vy)
print("angular: ",angular)'''
# 发布陀螺仪的数据
# Publish gyroscope data
imu.header.stamp = time_stamp.to_msg()
imu.header.frame_id = self.imu_link
@ -149,7 +146,6 @@ class yahboomcar_driver(Node):
mag.magnetic_field.y = my*1.0
mag.magnetic_field.z = mz*1.0
# 将小车当前的线速度和角速度发布出去
# Publish the current linear vel and angular vel of the car
twist.linear.x = vx *1.0
twist.linear.y = vy *1.0
@ -170,5 +166,3 @@ def main():
driver = yahboomcar_driver('driver_node')
rclpy.spin(driver)
'''if __name__ == '__main__':
main()'''

BIN
src/yahboomcar_bringup/yahboomcar_bringup/__pycache__/Mcnamu_driver_X3.cpython-310.pyc
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45
src/yahboomcar_bringup/yahboomcar_bringup/calibrate_linear_X3.py
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@ -20,32 +20,32 @@ class CalibrateLinear(Node):
#declare_parameter
self.declare_parameter('rate',20.0)
self.rate = self.get_parameter('rate').get_parameter_value().double_value
self.declare_parameter('test_distance',1.0)
self.test_distance = self.get_parameter('test_distance').get_parameter_value().double_value
self.declare_parameter('speed',0.5)
self.speed = self.get_parameter('speed').get_parameter_value().double_value
self.declare_parameter('tolerance',0.03)
self.tolerance = self.get_parameter('tolerance').get_parameter_value().double_value
self.declare_parameter('odom_linear_scale_correction',1.0)
self.odom_linear_scale_correction = self.get_parameter('odom_linear_scale_correction').get_parameter_value().double_value
self.declare_parameter('start_test',False)
self.declare_parameter('direction',True)
self.direction = self.get_parameter('direction').get_parameter_value().bool_value
self.declare_parameter('base_frame','base_footprint')
self.base_frame = self.get_parameter('base_frame').get_parameter_value().string_value
self.declare_parameter('odom_frame','odom')
self.odom_frame = self.get_parameter('odom_frame').get_parameter_value().string_value
#init the tf listener
self.tf_buffer = Buffer()
self.tf_listener = TransformListener(self.tf_buffer, self)
@ -54,15 +54,13 @@ class CalibrateLinear(Node):
self.position = Point()
self.x_start = self.position.x
self.y_start = self.position.y
print ("finish init work")
now = rclpy.time.Time()
#trans = self.tf_buffer.lookup_transform(self.odom_frame,self.base_frame,now,timeout=Duration(seconds = 10.0))
#create timer
#trans = self.tf_buffer.lookup_transform(self.odom_frame,self.base_frame,now,timeout=Duration(seconds = 10.0))
#create timer
self.timer = self.create_timer(0.05, self.on_timer)
def on_timer(self):
move_cmd = Twist()
#self.get_param()
@ -95,7 +93,7 @@ class CalibrateLinear(Node):
self.start_test = rclpy.parameter.Parameter('start_test',rclpy.Parameter.Type.BOOL,False)
all_new_parameters = [self.start_test]
self.set_parameters(all_new_parameters)
print("done")
else:
if self.direction:
@ -114,8 +112,8 @@ class CalibrateLinear(Node):
print("self.x_start: ",self.x_start)
print("self.y_start:",self.y_start)
self.cmd_vel.publish(Twist())
#self.cmd_vel.publish(Twist() )
#self.cmd_vel.publish(Twist() )
def get_param(self):
#self.start_test = self.get_parameter('start_test').get_parameter_value().bool_value
self.rate = self.get_parameter('rate').get_parameter_value().double_value
@ -123,18 +121,17 @@ class CalibrateLinear(Node):
self.direction = self.get_parameter('direction').get_parameter_value().bool_value
self.tolerance = self.get_parameter('tolerance').get_parameter_value().double_value
self.speed = self.get_parameter('speed').get_parameter_value().double_value
def get_position(self):
try:
now = rclpy.time.Time()
trans = self.tf_buffer.lookup_transform(self.odom_frame,self.base_frame,now)
return trans
trans = self.tf_buffer.lookup_transform(self.odom_frame,self.base_frame,now)
return trans
except (LookupException, ConnectivityException, ExtrapolationException):
self.get_logger().info('transform not ready')
raise
return
def main():
rclpy.init()
class_calibratelinear = CalibrateLinear("calibrate_linear")