* ld08_driver delete

* ekf_node topic remmaping
* U2D2, Yahboom Expasion Board Port fix
* verify cartographer node activation on rivz
  but odometry link point incorrect

src/.vscode/colcon.env

@@ -1,75 +0,0 @@
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-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:
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-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

src/eutobot/eutobot_bringup/launch/robot.launch.py

@@ -68,9 +68,9 @@ def generate_launch_description():
 
 
     # YAHBOOM
-    # yahboom_pkg_dir = LaunchConfiguration(
+    yahboom_pkg_dir = LaunchConfiguration(
-    #     'yahboom_pkg_dir',
+        'yahboom_pkg_dir',
-    #     default=os.path.join(get_package_share_directory('yahboomcar_bringup'), 'launch'))
+        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(
+        IncludeLaunchDescription(
-        #     PythonLaunchDescriptionSource([yahboom_pkg_dir, "/yahboomcar_bringup_X3_launch.py"]),
+            PythonLaunchDescriptionSource([yahboom_pkg_dir, "/yahboomcar_bringup_X3_launch.py"]),
-        # ),
+        ),
 
        Node(
            package='eutobot_node',

src/ld08_driver

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

src/yahboomcar_bringup/launch/yahboomcar_bringup_X3_launch.py

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

src/yahboomcar_bringup/yahboomcar_bringup/Mcnamu_driver_X3.py

@@ -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()'''

src/yahboomcar_bringup/yahboomcar_bringup/calibrate_linear_X3.py

@@ -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))               
+        #trans = self.tf_buffer.lookup_transform(self.odom_frame,self.base_frame,now,timeout=Duration(seconds = 10.0))
-        #create timer 
+        #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)   
+            trans = self.tf_buffer.lookup_transform(self.odom_frame,self.base_frame,now)
-            return trans       
+            return trans
          except (LookupException, ConnectivityException, ExtrapolationException):
             self.get_logger().info('transform not ready')
             raise
             return
-         
+
 def main():
     rclpy.init()
     class_calibratelinear = CalibrateLinear("calibrate_linear")