diff --git a/.gitmodules b/.gitmodules
index a8afdba..69a4d5c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -2,6 +2,3 @@
path = src/rplidar_ros
url = https://github.com/Slamtec/rplidar_ros
branch = ros2
-[submodule "WiringPi"]
- path = WiringPi
- url = https://github.com/WiringPi/WiringPi.git
diff --git a/WiringPi b/WiringPi
deleted file mode 160000
index ee3e2a9..0000000
--- a/WiringPi
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit ee3e2a9fb08931c266490c3253905d53c2f9bb39
diff --git a/build.sh b/build.sh
index c075c61..8b6d4c1 100755
--- a/build.sh
+++ b/build.sh
@@ -1,3 +1,3 @@
-MAKEFLAGS="-j2" colcon build --executor sequential --parallel-workers 1 --cmake-args -DCMAKE_BUILD_TYPE=Release
+colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
source install/setup.bash
\ No newline at end of file
diff --git a/src/modelec_api/CMakeLists.txt b/src/modelec_api/CMakeLists.txt
deleted file mode 100644
index a07fba0..0000000
--- a/src/modelec_api/CMakeLists.txt
+++ /dev/null
@@ -1,28 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(modelec_api)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(sensor_msgs REQUIRED)
-
-find_package(modelec_interfaces REQUIRED)
-
-if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
- # the following line skips the linter which checks for copyrights
- # comment the line when a copyright and license is added to all source files
- set(ament_cmake_copyright_FOUND TRUE)
- # the following line skips cpplint (only works in a git repo)
- # comment the line when this package is in a git repo and when
- # a copyright and license is added to all source files
- set(ament_cmake_cpplint_FOUND TRUE)
- ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/modelec_api/LICENSE b/src/modelec_api/LICENSE
deleted file mode 100644
index f288702..0000000
--- a/src/modelec_api/LICENSE
+++ /dev/null
@@ -1,674 +0,0 @@
- GNU GENERAL PUBLIC LICENSE
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-License will continue to apply to the part which is the covered work,
-but the special requirements of the GNU Affero General Public License,
-section 13, concerning interaction through a network will apply to the
-combination as such.
-
- 14. Revised Versions of this License.
-
- The Free Software Foundation may publish revised and/or new versions of
-the GNU General Public License from time to time. Such new versions will
-be similar in spirit to the present version, but may differ in detail to
-address new problems or concerns.
-
- Each version is given a distinguishing version number. If the
-Program specifies that a certain numbered version of the GNU General
-Public License "or any later version" applies to it, you have the
-option of following the terms and conditions either of that numbered
-version or of any later version published by the Free Software
-Foundation. If the Program does not specify a version number of the
-GNU General Public License, you may choose any version ever published
-by the Free Software Foundation.
-
- If the Program specifies that a proxy can decide which future
-versions of the GNU General Public License can be used, that proxy's
-public statement of acceptance of a version permanently authorizes you
-to choose that version for the Program.
-
- Later license versions may give you additional or different
-permissions. However, no additional obligations are imposed on any
-author or copyright holder as a result of your choosing to follow a
-later version.
-
- 15. Disclaimer of Warranty.
-
- THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
-APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
-HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
-OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
-THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
-IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
-ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
-
- 16. Limitation of Liability.
-
- IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
-WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
-THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
-GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
-USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
-DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
-PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
-EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
-SUCH DAMAGES.
-
- 17. Interpretation of Sections 15 and 16.
-
- If the disclaimer of warranty and limitation of liability provided
-above cannot be given local legal effect according to their terms,
-reviewing courts shall apply local law that most closely approximates
-an absolute waiver of all civil liability in connection with the
-Program, unless a warranty or assumption of liability accompanies a
-copy of the Program in return for a fee.
-
- END OF TERMS AND CONDITIONS
-
- How to Apply These Terms to Your New Programs
-
- If you develop a new program, and you want it to be of the greatest
-possible use to the public, the best way to achieve this is to make it
-free software which everyone can redistribute and change under these terms.
-
- To do so, attach the following notices to the program. It is safest
-to attach them to the start of each source file to most effectively
-state the exclusion of warranty; and each file should have at least
-the "copyright" line and a pointer to where the full notice is found.
-
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- Copyright (C)
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see .
-
-Also add information on how to contact you by electronic and paper mail.
-
- If the program does terminal interaction, make it output a short
-notice like this when it starts in an interactive mode:
-
- Copyright (C)
- This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
- This is free software, and you are welcome to redistribute it
- under certain conditions; type `show c' for details.
-
-The hypothetical commands `show w' and `show c' should show the appropriate
-parts of the General Public License. Of course, your program's commands
-might be different; for a GUI interface, you would use an "about box".
-
- You should also get your employer (if you work as a programmer) or school,
-if any, to sign a "copyright disclaimer" for the program, if necessary.
-For more information on this, and how to apply and follow the GNU GPL, see
-.
-
- The GNU General Public License does not permit incorporating your program
-into proprietary programs. If your program is a subroutine library, you
-may consider it more useful to permit linking proprietary applications with
-the library. If this is what you want to do, use the GNU Lesser General
-Public License instead of this License. But first, please read
-.
diff --git a/src/modelec_api/package.xml b/src/modelec_api/package.xml
deleted file mode 100644
index e8be931..0000000
--- a/src/modelec_api/package.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-
-
-
- modelec_api
- 0.0.0
- TODO: Package description
- modelec
- GPL-3.0-only
-
- ament_cmake
-
- modelec_interfaces
- rclcpp
- std_msgs
- sensor_msgs
-
- ros2launch
-
- ament_lint_auto
- ament_lint_common
-
-
- ament_cmake
-
-
diff --git a/src/modelec_com/CMakeLists.txt b/src/modelec_com/CMakeLists.txt
index feb415e..f9150cd 100644
--- a/src/modelec_com/CMakeLists.txt
+++ b/src/modelec_com/CMakeLists.txt
@@ -16,7 +16,6 @@ find_package(ament_index_cpp REQUIRED)
find_package(modelec_interfaces REQUIRED)
find_package(modelec_utils REQUIRED)
-find_library(WIRINGPI_LIB wiringPi)
# Serial listener Node
add_executable(serial_listener src/multiple_serial_listener.cpp)
@@ -54,15 +53,6 @@ target_include_directories(pcb_action_interface PUBLIC
$
)
-# PCA9685 Listener Node
-add_executable(pca9685_controller src/pca9685_controller.cpp)
-ament_target_dependencies(pca9685_controller rclcpp std_msgs modelec_interfaces)
-target_link_libraries(pca9685_controller ${WIRINGPI_LIB} modelec_utils::utils)
-target_include_directories(pca9685_controller PUBLIC
- $
- $
-)
-
# Enable testing and linting
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
@@ -78,7 +68,6 @@ install(TARGETS
pcb_alim_interface
pcb_odo_interface
pcb_action_interface
- pca9685_controller
DESTINATION lib/${PROJECT_NAME}
)
diff --git a/src/modelec_com/include/modelec_com/pca9685_controller.hpp b/src/modelec_com/include/modelec_com/pca9685_controller.hpp
deleted file mode 100644
index 720a75d..0000000
--- a/src/modelec_com/include/modelec_com/pca9685_controller.hpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#pragma once
-
-#include
-#include
-#include
-#include
-
-#include
-#include
-#include
-
-#define PCA9685_FREQUENCY 25000000.0
-#define PCA9685_RESOLUTION 4096.0
-
-// Servo and solenoid PWM limits
-#define SERVO_MIN 82
-#define SERVO_MAX 492
-#define PCA9685_ADDR 0x40 // I2C address for the PCA9685
-
-namespace Modelec
-{
- class PCA9685Controller : public rclcpp::Node
- {
- public:
- PCA9685Controller();
-
- private:
- int fd; // File descriptor for I2C communication
- rclcpp::Subscription::SharedPtr servo_subscriber_;
- rclcpp::Subscription::SharedPtr clear_subscriber_;
- int frequency = 50; // Default PWM frequency (Hz)
-
- std::unordered_set active_servos;
-
- // service to add a servo
- rclcpp::Service::SharedPtr add_servo_service_;
-
- OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_;
- rcl_interfaces::msg::SetParametersResult onParameterChange(const std::vector& parameters);
- void updatePCA9685();
-
- // PCA9685 configuration and control
- void initializePCA9685();
- void configurePCA9685Frequency(int frequency);
- void SetPCA9685PWM(int channel, int on_time, int off_time);
- void setServoPWM(int channel, double angle);
- void clearAllDevices();
- void writePCA9685Register(uint8_t reg, uint8_t value);
- };
-}
diff --git a/src/modelec_com/src/pca9685_controller.cpp b/src/modelec_com/src/pca9685_controller.cpp
deleted file mode 100644
index 835bb63..0000000
--- a/src/modelec_com/src/pca9685_controller.cpp
+++ /dev/null
@@ -1,155 +0,0 @@
-#include "modelec_com/pca9685_controller.hpp"
-
-namespace Modelec
-{
- PCA9685Controller::PCA9685Controller() : Node("pca9685_controller")
- {
- if (wiringPiSetup() == -1)
- {
- RCLCPP_ERROR(this->get_logger(), "WiringPi setup failed.");
- return;
- }
-
- // Initialize I2C communication with PCA9685
- fd = wiringPiI2CSetup(PCA9685_ADDR);
- if (fd == -1)
- {
- RCLCPP_ERROR(this->get_logger(), "Failed to initialize I2C communication with PCA9685.");
- return;
- }
-
- initializePCA9685();
-
- // Subscribe to topics for servo and solenoid control
- servo_subscriber_ = this->create_subscription(
- "servo_control", 10, [this](const modelec_interfaces::msg::PCA9685Servo::SharedPtr msg)
- {
- if (active_servos.find(msg->pin) == active_servos.end())
- {
- RCLCPP_ERROR(this->get_logger(), "Servo on pin %d is not active.", msg->pin);
- return;
- }
- this->setServoPWM(msg->pin, msg->angle);
- });
-
- clear_subscriber_ = this->create_subscription(
- "clear_pca9685", 10, [this](const std_msgs::msg::Empty::SharedPtr)
- {
- this->clearAllDevices();
- });
-
- add_servo_service_ = this->create_service(
- "add_servo", [this](const modelec_interfaces::srv::AddServoMotor::Request::SharedPtr request,
- modelec_interfaces::srv::AddServoMotor::Response::SharedPtr response)
- {
- if (active_servos.find(request->pin) == active_servos.end())
- {
- active_servos.insert(request->pin);
- response->success = true;
- }
- else
- {
- response->success = false;
- }
- });
-
- // Declare frequency as a parameter and configure the PCA9685
- this->declare_parameter("frequency", 50);
- frequency = this->get_parameter("frequency").as_int();
- configurePCA9685Frequency(frequency);
-
- // Handle dynamic parameter changes
- parameter_callback_handle_ = this->add_on_set_parameters_callback(
- [this](const std::vector& parameters)
- {
- return onParameterChange(parameters);
- });
-
- clearAllDevices();
- }
-
- // Initialize PCA9685 in normal operation mode
- void PCA9685Controller::initializePCA9685()
- {
- writePCA9685Register(0x00, 0x00);
- }
-
- // Configure the PWM frequency
- void PCA9685Controller::configurePCA9685Frequency(int frequency)
- {
- int prescale = static_cast(PCA9685_FREQUENCY / (PCA9685_RESOLUTION * frequency) - 1);
- writePCA9685Register(0x00, 0x10); // Enter sleep mode
- writePCA9685Register(0xFE, prescale); // Set prescale value
- writePCA9685Register(0x00, 0x00); // Restart PCA9685
- }
-
- void PCA9685Controller::SetPCA9685PWM(int channel, int on_time, int off_time)
- {
- wiringPiI2CWriteReg8(fd, 0x06 + 4 * channel, on_time & 0xFF);
- wiringPiI2CWriteReg8(fd, 0x07 + 4 * channel, on_time >> 8);
- wiringPiI2CWriteReg8(fd, 0x08 + 4 * channel, off_time & 0xFF);
- wiringPiI2CWriteReg8(fd, 0x09 + 4 * channel, off_time >> 8);
- }
-
- // Set the servo angle on a specific channel
- void PCA9685Controller::setServoPWM(int channel, double angle)
- {
- int on_time = static_cast(SERVO_MIN + (SERVO_MAX - SERVO_MIN) * angle / 180);
- SetPCA9685PWM(channel, 0, on_time);
- }
-
- // Clear all channels (reset devices)
- void PCA9685Controller::clearAllDevices()
- {
- for (int channel = 0; channel < 16; ++channel)
- {
- SetPCA9685PWM(channel, 0, 0);
- }
- }
-
- // Write to a specific PCA9685 register
- void PCA9685Controller::writePCA9685Register(uint8_t reg, uint8_t value)
- {
- if (wiringPiI2CWriteReg8(fd, reg, value) == -1)
- {
- RCLCPP_ERROR(this->get_logger(), "Failed to write to register 0x%02X", reg);
- }
- }
-
- // Handle dynamic parameter changes
- rcl_interfaces::msg::SetParametersResult PCA9685Controller::onParameterChange(
- const std::vector& parameters)
- {
- rcl_interfaces::msg::SetParametersResult result;
- result.successful = true;
-
- for (const auto& parameter : parameters)
- {
- if (parameter.get_name() == "frequency")
- {
- updatePCA9685();
- }
- }
-
- return result;
- }
-
- // Update PCA9685 when frequency parameter changes
- void PCA9685Controller::updatePCA9685()
- {
- int new_frequency = this->get_parameter("frequency").as_int();
- if (new_frequency != frequency)
- {
- frequency = new_frequency;
- configurePCA9685Frequency(frequency);
- }
- }
-}
-
-int main(int argc, char** argv)
-{
- rclcpp::init(argc, argv);
- rclcpp::spin(std::make_shared());
- rclcpp::shutdown();
- return 0;
-}
diff --git a/src/modelec_core/CMakeLists.txt b/src/modelec_core/CMakeLists.txt
index 750f9bf..5cceb3c 100644
--- a/src/modelec_core/CMakeLists.txt
+++ b/src/modelec_core/CMakeLists.txt
@@ -16,7 +16,6 @@ find_package(Boost REQUIRED COMPONENTS system)
find_package(modelec_interfaces REQUIRED)
find_package(modelec_utils REQUIRED)
-find_library(WIRINGPI_LIB wiringPi)
add_executable(gamecontroller_listener src/gamecontroller_listener.cpp)
ament_target_dependencies(gamecontroller_listener rclcpp std_msgs sensor_msgs modelec_interfaces)
@@ -26,30 +25,6 @@ target_include_directories(gamecontroller_listener PUBLIC
$
)
-add_executable(solenoid_controller src/solenoid_controller.cpp)
-ament_target_dependencies(solenoid_controller rclcpp modelec_interfaces)
-target_link_libraries(solenoid_controller ${WIRINGPI_LIB} modelec_utils::utils)
-target_include_directories(solenoid_controller PUBLIC
- $
- $
-)
-
-add_executable(arm_controller src/arm_controller.cpp)
-ament_target_dependencies(arm_controller rclcpp std_msgs modelec_interfaces)
-target_link_libraries(arm_controller ${WIRINGPI_LIB} modelec_utils::utils)
-target_include_directories(arm_controller PUBLIC
- $
- $
-)
-
-add_executable(button_gpio_controller src/button_gpio_controller.cpp)
-ament_target_dependencies(button_gpio_controller rclcpp std_msgs modelec_interfaces)
-target_link_libraries(button_gpio_controller ${WIRINGPI_LIB} modelec_utils::utils)
-target_include_directories(button_gpio_controller PUBLIC
- $
- $
-)
-
add_executable(speed_result src/speed_result.cpp)
ament_target_dependencies(speed_result rclcpp std_msgs sensor_msgs modelec_interfaces)
target_link_libraries(speed_result modelec_utils::utils)
@@ -69,9 +44,6 @@ endif()
# Install targets
install(TARGETS
gamecontroller_listener
- solenoid_controller
- arm_controller
- button_gpio_controller
speed_result
DESTINATION lib/${PROJECT_NAME}
)
diff --git a/src/modelec_core/include/modelec/arm_controller.hpp b/src/modelec_core/include/modelec/arm_controller.hpp
deleted file mode 100644
index 7938713..0000000
--- a/src/modelec_core/include/modelec/arm_controller.hpp
+++ /dev/null
@@ -1,60 +0,0 @@
-#pragma once
-
-#include
-#include
-#include
-#include
-#include
-#include
-#include