diff --git a/.gitignore b/.gitignore index 5c15165..9835878 100644 --- a/.gitignore +++ b/.gitignore @@ -105,3 +105,4 @@ AMENT_IGNORE .vscode .cache +src/modelec/src \ No newline at end of file diff --git a/src/modelec/CMakeLists.txt b/src/modelec/CMakeLists.txt index 3cd42af..2f871f4 100644 --- a/src/modelec/CMakeLists.txt +++ b/src/modelec/CMakeLists.txt @@ -93,6 +93,21 @@ target_include_directories(button_gpio_controller PUBLIC $ ) +add_executable(lidar_controller src/lidar_controller.cpp) +ament_target_dependencies(lidar_controller rclcpp std_msgs sensor_msgs modelec_interface) +target_include_directories(lidar_controller PUBLIC + $ + $ +) + +# Enable testing and linting +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + # Install targets install(TARGETS usb_arduino_listener @@ -112,18 +127,10 @@ install(DIRECTORY include/ DESTINATION include/ ) -# Install launch files -install(DIRECTORY launch/ - DESTINATION share/${PROJECT_NAME}/launch +install( + DIRECTORY config description launch worlds + DESTINATION share/${PROJECT_NAME} ) -# Enable testing and linting -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - set(ament_cmake_copyright_FOUND TRUE) - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - # Finalize package ament_package() diff --git a/src/modelec/config/gz_bridge.yaml b/src/modelec/config/gz_bridge.yaml new file mode 100644 index 0000000..c7e6896 --- /dev/null +++ b/src/modelec/config/gz_bridge.yaml @@ -0,0 +1,48 @@ +- ros_topic_name: "clock" + gz_topic_name: "clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin +- ros_topic_name: "scan" + gz_topic_name: "scan" + ros_type_name: "sensor_msgs/msg/LaserScan" + gz_type_name: "gz.msgs.LaserScan" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin (Camera) +- ros_topic_name: "camera/camera_info" + gz_topic_name: "camera/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS + + +# gz topic published by DiffDrive plugin +- ros_topic_name: "odom" + gz_topic_name: "odom" + ros_type_name: "nav_msgs/msg/Odometry" + gz_type_name: "gz.msgs.Odometry" + direction: GZ_TO_ROS + +# gz topic published by DiffDrive plugin +- ros_topic_name: "tf" + gz_topic_name: "tf" + ros_type_name: "tf2_msgs/msg/TFMessage" + gz_type_name: "gz.msgs.Pose_V" + direction: GZ_TO_ROS + +# gz topic subscribed to by DiffDrive plugin +- ros_topic_name: "diff_cont/cmd_vel_unstamped" + gz_topic_name: "cmd_vel" + ros_type_name: "geometry_msgs/msg/Twist" + gz_type_name: "gz.msgs.Twist" + direction: ROS_TO_GZ + +# gz topic published by JointState plugin +- ros_topic_name: "joint_states" + gz_topic_name: "joint_states" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS \ No newline at end of file diff --git a/src/modelec/config/rviz_view.rviz b/src/modelec/config/rviz_view.rviz new file mode 100644 index 0000000..e132998 --- /dev/null +++ b/src/modelec/config/rviz_view.rviz @@ -0,0 +1,216 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 555 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +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: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + caster_wheel: + Value: true + chassis: + Value: true + left_wheel: + Value: true + right_wheel: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + chassis: + caster_wheel: + {} + left_wheel: + {} + right_wheel: + {} + Update Interval: 0 + 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: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - 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 + 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 + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 1.2347779273986816 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3903981149196625 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.6003981232643127 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 28 + Y: 28 diff --git a/src/modelec/description/gazebo_control.xacro b/src/modelec/description/gazebo_control.xacro new file mode 100644 index 0000000..8df320f --- /dev/null +++ b/src/modelec/description/gazebo_control.xacro @@ -0,0 +1,42 @@ + + + + + + + + left_wheel_joint + right_wheel_joint + 0.297 + 0.033 + + + + + 0.33 + + + cmd_vel + + + + odom + base_link + odom + 30 + + /tf + + + + + + joint_states + left_wheel_joint + right_wheel_joint + + + + + \ No newline at end of file diff --git a/src/modelec/description/inertial_macros.xacro b/src/modelec/description/inertial_macros.xacro new file mode 100644 index 0000000..5cf1cac --- /dev/null +++ b/src/modelec/description/inertial_macros.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/modelec/description/robot.urdf.xacro b/src/modelec/description/robot.urdf.xacro new file mode 100644 index 0000000..879656c --- /dev/null +++ b/src/modelec/description/robot.urdf.xacro @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/src/modelec/description/robot_core.xacro b/src/modelec/description/robot_core.xacro new file mode 100644 index 0000000..450432b --- /dev/null +++ b/src/modelec/description/robot_core.xacro @@ -0,0 +1,156 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/White + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Blue + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Blue + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + \ No newline at end of file diff --git a/src/modelec/include/modelec/lidar_controller.hpp b/src/modelec/include/modelec/lidar_controller.hpp new file mode 100644 index 0000000..afeee04 --- /dev/null +++ b/src/modelec/include/modelec/lidar_controller.hpp @@ -0,0 +1,18 @@ +#pragma once + +#include +#include +#include + +namespace Modelec { + class LidarController : public rclcpp::Node { + private: + + public: + LidarController(); + private: + rclcpp::Subscription::SharedPtr subscription_; + + void processLidarData(const sensor_msgs::msg::LaserScan::SharedPtr msg); + }; +} \ No newline at end of file diff --git a/src/modelec/launch/launch_sim.launch.py b/src/modelec/launch/launch_sim.launch.py new file mode 100644 index 0000000..cf68ac2 --- /dev/null +++ b/src/modelec/launch/launch_sim.launch.py @@ -0,0 +1,74 @@ +import os + +from ament_index_python.packages import get_package_share_directory + + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + +from launch_ros.actions import Node + + + +def generate_launch_description(): + + + # Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled + # !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!! + + package_name='modelec' #<--- CHANGE ME + + rsp = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory(package_name),'launch','rsp.launch.py' + )]), launch_arguments={'use_sim_time': 'true'}.items() + ) + + default_world = os.path.join( + get_package_share_directory(package_name), + 'worlds', + 'empty.world' + ) + + world = LaunchConfiguration('world') + world_arg = DeclareLaunchArgument( + 'world', + default_value=default_world, + description='World to load' + ) + + # Include the Gazebo launch file, provided by the gazebo_ros package + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')]), + launch_arguments={'gz_args': ['-r -v4 ', world], 'on_exit_shutdown': 'true'}.items() + ) + + # Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot. + spawn_entity = Node(package='ros_gz_sim', executable='create', + arguments=['-topic', 'robot_description', + '-name', 'my_bot', + '-z', '0.1'], + output='screen') + + bridge_params = os.path.join(get_package_share_directory(package_name),'config','gz_bridge.yaml') + ros_gz_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + '--ros-args', + '-p', + f'config_file:={bridge_params}', + ] + ) + + # Launch them all! + return LaunchDescription([ + rsp, + world_arg, + gazebo, + spawn_entity, + ros_gz_bridge, + ]) \ No newline at end of file diff --git a/src/modelec/launch/rsp.launch.py b/src/modelec/launch/rsp.launch.py new file mode 100644 index 0000000..5e02d68 --- /dev/null +++ b/src/modelec/launch/rsp.launch.py @@ -0,0 +1,41 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +import xacro + + +def generate_launch_description(): + + # Check if we're told to use sim time + use_sim_time = LaunchConfiguration('use_sim_time') + + # Process the URDF file + pkg_path = os.path.join(get_package_share_directory('modelec')) + xacro_file = os.path.join(pkg_path,'description','robot.urdf.xacro') + robot_description_config = xacro.process_file(xacro_file) + + # Create a robot_state_publisher node + params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time} + node_robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + output='screen', + parameters=[params] + ) + + + # Launch! + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use sim time if true'), + + node_robot_state_publisher + ]) \ No newline at end of file diff --git a/src/modelec/package.xml b/src/modelec/package.xml index d5f4a3f..6b47f26 100644 --- a/src/modelec/package.xml +++ b/src/modelec/package.xml @@ -12,6 +12,7 @@ modelec_interface rclcpp std_msgs + sensor_msgs boost boost diff --git a/src/modelec/src/pca9685_controller.cpp b/src/modelec/src/pca9685_controller.cpp index a239791..5fe7bbd 100644 --- a/src/modelec/src/pca9685_controller.cpp +++ b/src/modelec/src/pca9685_controller.cpp @@ -53,6 +53,8 @@ namespace Modelec { [this](const std::vector ¶meters) { return onParameterChange(parameters); }); + + clearAllDevices(); } // Initialize PCA9685 in normal operation mode diff --git a/src/modelec/src/usb_arduino_listener_newlib.cpp b/src/modelec/src/usb_arduino_listener_newlib.cpp index e6777c5..3901718 100644 --- a/src/modelec/src/usb_arduino_listener_newlib.cpp +++ b/src/modelec/src/usb_arduino_listener_newlib.cpp @@ -109,27 +109,22 @@ namespace Modelec { // Reopen the connection with updated parameters try { - if (port.is_open()) { - port.close(); // Close the current port before reopening - } + serialClose(fd); if (!initializeConnection()) { RCLCPP_ERROR(this->get_logger(), "Failed to reopen the serial port, shutting down."); rclcpp::shutdown(); // Graceful shutdown if port opening fails } - } catch (boost::system::system_error &e) { - RCLCPP_ERROR(this->get_logger(), "Error during connection update: %s", e.what()); - rclcpp::shutdown(); + } catch (std::exception &e) { + RCLCPP_ERROR(this->get_logger(), "Error updating connection parameters: %s", e.what()); } } void USBListener::write_to_arduino(const std::string &data) { - try { - boost::asio::write(port, boost::asio::buffer(data)); - } catch (boost::system::system_error &e) { - RCLCPP_ERROR(this->get_logger(), "Error writing to serial port: %s", e.what()); - } + serialPuts(fd, data.c_str()); + serialFlush(fd); + RCLCPP_INFO(this->get_logger(), "Sent data: %s", data.c_str()); } } diff --git a/src/modelec/worlds/empty.world b/src/modelec/worlds/empty.world new 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