From 29cd883b707197e4218d899800225273afb07038 Mon Sep 17 00:00:00 2001 From: Your Name Date: Sun, 23 Apr 2023 10:51:42 +0800 Subject: [PATCH] --- README-ZH.md | 125 + README.md | 119 + scout_base/CMakeLists.txt | 63 + .../include/scout_base/scout_messenger.hpp | 77 + .../include/scout_base/scout_params.hpp | 33 + scout_base/launch/display_model.launch | 10 + scout_base/launch/scout_base.launch | 30 + scout_base/launch/scout_mini_base.launch | 30 + scout_base/launch/scout_mini_omni.launch | 30 + scout_base/package.xml | 30 + scout_base/rviz/model_display.rviz | 209 + scout_base/src/scout_base_node.cpp | 124 + scout_base/src/scout_messenger.cpp | 302 ++ scout_bringup/CMakeLists.txt | 203 + .../launch/scout_mini_robot_base.launch | 22 + .../launch/scout_miniomni_robot_base.launch | 24 + scout_bringup/launch/scout_robot_base.launch | 21 + .../launch/scout_teleop_keyboard.launch | 7 + scout_bringup/package.xml | 58 + scout_bringup/scripts/bringup_can2usb.bash | 4 + scout_bringup/scripts/setup_can2usb.bash | 10 + scout_description/CHANGELOG.rst | 132 + scout_description/CMakeLists.txt | 13 + .../launch/display_scout_mini.launch | 8 + .../launch/display_scout_v2.launch | 7 + scout_description/launch/gazebo.launch | 20 + .../launch/scout_mini_stock.launch | 9 + .../launch/scout_v2_stock.launch | 9 + scout_description/meshes/1_Link.STL | Bin 0 -> 3128234 bytes scout_description/meshes/2_Link.STL | Bin 0 -> 3128234 bytes scout_description/meshes/3_Link.STL | Bin 0 -> 3128234 bytes scout_description/meshes/4_Link.STL | Bin 0 -> 3128234 bytes scout_description/meshes/base_link.dae | 442 ++ .../meshes/scout_mini_base_link.STL | Bin 0 -> 10249784 bytes .../meshes/scout_mini_base_link.dae | 4558 +++++++++++++++++ scout_description/meshes/wheel.dae | 610 +++ scout_description/meshes/wheel_type1.dae | 274 + scout_description/meshes/wheel_type2.dae | 274 + scout_description/package.xml | 21 + scout_description/rviz/model_display.rviz | 201 + scout_description/rviz/navigation.rviz | 202 + .../rviz/scout_mini_model_display.rviz | 187 + scout_description/urdf/empty.urdf | 6 + scout_description/urdf/scout_mini.gazebo | 74 + scout_description/urdf/scout_mini.urdf.xacro | 97 + .../urdf/scout_mini_wheel.gazebo | 42 + scout_description/urdf/scout_mini_wheel.xacro | 36 + scout_description/urdf/scout_v2.gazebo | 101 + scout_description/urdf/scout_v2.xacro | 119 + scout_description/urdf/scout_wheel.gazebo | 42 + .../urdf/scout_wheel_type1.xacro | 65 + .../urdf/scout_wheel_type2.xacro | 65 + scout_msgs/CHANGELOG.md | 6 + scout_msgs/CMakeLists.txt | 204 + scout_msgs/msg/ScoutBmsStatus.msg | 12 + scout_msgs/msg/ScoutDriverState.msg | 3 + scout_msgs/msg/ScoutLightCmd.msg | 10 + scout_msgs/msg/ScoutLightState.msg | 2 + scout_msgs/msg/ScoutMotorState.msg | 4 + scout_msgs/msg/ScoutStatus.msg | 29 + scout_msgs/package.xml | 26 + 61 files changed, 9441 insertions(+) create mode 100644 README-ZH.md create mode 100644 README.md create mode 100644 scout_base/CMakeLists.txt create mode 100644 scout_base/include/scout_base/scout_messenger.hpp create mode 100644 scout_base/include/scout_base/scout_params.hpp create mode 100644 scout_base/launch/display_model.launch create mode 100644 scout_base/launch/scout_base.launch create mode 100644 scout_base/launch/scout_mini_base.launch create mode 100644 scout_base/launch/scout_mini_omni.launch create mode 100644 scout_base/package.xml create mode 100644 scout_base/rviz/model_display.rviz create mode 100644 scout_base/src/scout_base_node.cpp create mode 100644 scout_base/src/scout_messenger.cpp create mode 100644 scout_bringup/CMakeLists.txt create mode 100644 scout_bringup/launch/scout_mini_robot_base.launch create mode 100644 scout_bringup/launch/scout_miniomni_robot_base.launch create mode 100644 scout_bringup/launch/scout_robot_base.launch create mode 100644 scout_bringup/launch/scout_teleop_keyboard.launch create mode 100644 scout_bringup/package.xml create mode 100755 scout_bringup/scripts/bringup_can2usb.bash create mode 100755 scout_bringup/scripts/setup_can2usb.bash create mode 100644 scout_description/CHANGELOG.rst create mode 100644 scout_description/CMakeLists.txt create mode 100644 scout_description/launch/display_scout_mini.launch create mode 100644 scout_description/launch/display_scout_v2.launch create mode 100644 scout_description/launch/gazebo.launch create mode 100644 scout_description/launch/scout_mini_stock.launch create mode 100644 scout_description/launch/scout_v2_stock.launch create mode 100644 scout_description/meshes/1_Link.STL create mode 100644 scout_description/meshes/2_Link.STL create mode 100644 scout_description/meshes/3_Link.STL create mode 100644 scout_description/meshes/4_Link.STL create mode 100644 scout_description/meshes/base_link.dae create mode 100644 scout_description/meshes/scout_mini_base_link.STL create mode 100755 scout_description/meshes/scout_mini_base_link.dae create mode 100755 scout_description/meshes/wheel.dae create mode 100644 scout_description/meshes/wheel_type1.dae create mode 100644 scout_description/meshes/wheel_type2.dae create mode 100644 scout_description/package.xml create mode 100644 scout_description/rviz/model_display.rviz create mode 100644 scout_description/rviz/navigation.rviz create mode 100644 scout_description/rviz/scout_mini_model_display.rviz create mode 100644 scout_description/urdf/empty.urdf create mode 100644 scout_description/urdf/scout_mini.gazebo create mode 100644 scout_description/urdf/scout_mini.urdf.xacro create mode 100644 scout_description/urdf/scout_mini_wheel.gazebo create mode 100644 scout_description/urdf/scout_mini_wheel.xacro create mode 100644 scout_description/urdf/scout_v2.gazebo create mode 100644 scout_description/urdf/scout_v2.xacro create mode 100644 scout_description/urdf/scout_wheel.gazebo create mode 100644 scout_description/urdf/scout_wheel_type1.xacro create mode 100644 scout_description/urdf/scout_wheel_type2.xacro create mode 100644 scout_msgs/CHANGELOG.md create mode 100644 scout_msgs/CMakeLists.txt create mode 100644 scout_msgs/msg/ScoutBmsStatus.msg create mode 100644 scout_msgs/msg/ScoutDriverState.msg create mode 100644 scout_msgs/msg/ScoutLightCmd.msg create mode 100644 scout_msgs/msg/ScoutLightState.msg create mode 100644 scout_msgs/msg/ScoutMotorState.msg create mode 100644 scout_msgs/msg/ScoutStatus.msg create mode 100644 scout_msgs/package.xml diff --git a/README-ZH.md b/README-ZH.md new file mode 100644 index 0000000..6d49532 --- /dev/null +++ b/README-ZH.md @@ -0,0 +1,125 @@ +# 松灵机器人产品SCOUT 的ROS package + +## ROS Packages 说明 + +* scout_bringup: launch and configuration files to start ROS nodes +* scout_base: a ROS wrapper around Scout SDK to monitor and control the robot +* scout_msgs: scout related message definitions +* (scout_ros: meta package for the Scout robot ROS packages) + + +下图是是整个ros package的一个基本框架说明，或许它可以帮助你理解你理解整个ros package内部是如何工作的，他们之间的是相互联系的。 +其中最底层的是移动机器人底盘，它通过can或者usart实现运行在计算平台的sdk进行基本信息的获取，具体可以根据wrp_sdk了解更多信息。 仿真部分是基于Webots，构建起的仿真环境。 + + + +其中上图中紫色部分是包含在这个ros-package中的部分。 + +## 通讯接口设置 + +### 设置串口 + +通常来说，usb转串口设备在Linux或者Ubuntu系统中会被自动识别为“/dev/ttyUSB0” 或者看起来类似的设备，这个可以通过指令查询 +``` +$ ls -l /dev/ttyUSB* +``` +如果在打开设备的操作过程中出现了"... permission denied ..."的错误，有可能因为权限的原因造成的，您需要向您的用户帐户授予端口访问权限，可以通过如下指令： + +``` +$ sudo usermod -a -G dialout $USER +``` + +需要重新登录账户才能使刚刚的操作生效。 +### 配置 CAN-TO-USB适配器 + +1. 设置CAN转USB适配器，启用gs_usb内核模块（本指令需要搭配相应的硬件设备才可以使用，需要Linux内部版本>4.5） + + ``` + $ sudo modprobe gs_usb + ``` + +2. 设置can设备参数 + + ``` + $ sudo ip link set can0 up type can bitrate 500000 + ``` + +3. 如果在前面的步骤中没有发生错误，您可以使用以下指令查看can设备 + + ``` + $ ifconfig -a + ``` + +4. 安装和使用can-utils来测试硬件 + + ``` + $ sudo apt install can-utils + ``` + +5. 测试指令 + + ``` + # receiving data from can0 + $ candump can0 + # send data to can0 + $ cansend can0 001#1122334455667788 + ``` + +文件中提供了 "./scripts"文件夹里的两个脚本以便于设置。您可以在首次安装时运行“ ./setup_can2usb.bash”，并在每次拔出和重新插入适配器时运行“ ./bringup_can2usb.bash”以启动设备。 + +## ROS package 的基础使用 + +1. 安装 ROS packages 依赖 + + ``` + $ sudo apt install ros-melodic-teleop-twist-keyboard + ``` + + 如果你使用是 Kinetic版本，把上述指令中的“melodic” 改成 “kinetic” 即可 + +2. 将scout ros package 下载至的您的catkin 工作空间，并编译 + + (下面的操作是假定你的catkin编译工作空间在: ~/catkin_ws/src 目录下） + + ``` + $ cd ~/catkin_ws/src + $ git clone --recursive https://github.com/agilexrobotics/ugv_sdk.git + $ git clone https://github.com/agilexrobotics/scout_ros.git + $ cd .. + $ catkin_make + ``` + 如果你买的小车版本是1.0通信协议版本，执行以下指令切换ugv_sdk的版本至1.0版本 + ``` + $ cd ugv_sdk && git checkout master + ``` + 然后重新编译 + +3. 启动 ROS nodes + +* 启动scout车节点 + + ``` + $ roslaunch scout_bringup scout_minimal.launch + ``` + +* 启动scout-mini车节点 + + ``` + $ roslaunch scout_bringup scout_mini_minimal.launch + ``` + +* 启动scout-mini车的全向轮模式（麦克纳母轮） + + ```bash + $ roslaunch scout_bringup scout_miniomni_robot_base.launch + ``` + +* Start the keyboard tele-op node + + ``` + $ roslaunch scout_bringup scout_teleop_keyboard.launch + ``` + + **SAFETY PRECAUSION**: + + The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary. diff --git a/README.md b/README.md new file mode 100644 index 0000000..6cae13a --- /dev/null +++ b/README.md @@ -0,0 +1,119 @@ +# ROS Packages for Scout Mobile Robot + +## Packages + +This repository contains minimal packages to control the scout robot using ROS. + +* scout_bringup: launch and configuration files to start ROS nodes +* scout_base: a ROS wrapper around [ugv_sdk](https://github.com/agilexrobotics/ugv_sdk) to monitor and control the scout robot +* scout_description: URDF model for the mobile base, a sample urdf (scout_description/sample/scout_v2_nav.xacro) is provided for customized robot with addtional sensors +* scout_msgs: scout related message definitions + +### Update the packages for your customized robot + +**Additional sensors** + +It's likely that you may want to add additional sensors to the scout mobile platform, such as a Lidar for navigation. In such cases, a new ".xacro" file needs to be created to describe the relative pose of the new sensor with respect to the robot base, so that the sensor frame can be reflected in the robot tf tree. + +A [sample](scout_description/sample/scout_v2_nav.xacro) ".xacro" file is present in this repository, in which the base ".xacro" file of an empty scout platform is first included, and then additional links are defined. + +The nodes in this ROS package are made to handle only the control of the scout base and publishing of the status. Additional nodes may need to be created by the user to handle the sensors. + +**Alternative odometry calculation** + +By default the scout_base package will publish odometry message to topic "/odom". In case you want to use a different approach to calculate the odometry, for example estimating the position together with an IMU, you could rename the default odometry topic to be something else. + +``` +$ roslaunch scout_bringup scout_base_robot.launch odom_topic_name:="" +``` + +## Communication interface setup + +Please refer to the [README](https://github.com/westonrobot/ugv_sdk_sdk#hardware-interface) of "ugv_sdk" package for setup of communication interfaces. + +#### Note on CAN interface on Nvidia Jetson Platforms + +Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main SOC. If you're using a dev kit, you need to add a CAN transceiver for proper CAN communication. + +## Basic usage of the ROS packages + +1. Install dependent libraries + + ``` + $ sudo apt install -y libasio-dev + $ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard + ``` + +2. Clone the packages into your catkin workspace and compile + + (the following instructions assume your catkin workspace is at: ~/catkin_ws/src) + + ``` + $ cd ~/catkin_ws/src + $ git clone https://github.com/agilexrobotics/ugv_sdk.git + $ git clone https://github.com/agilexrobotics/scout_ros.git + $ cd .. + $ catkin_make + ``` + +3. Setup CAN-To-USB adapter + +* Enable gs_usb kernel module(If you have already added this module, you do not need to add it) + ``` + $ sudo modprobe gs_usb + ``` + +* first time use scout-ros package + ``` + $ rosrun scout_bringup setup_can2usb.bash + ``` + +* if not the first time use scout-ros package(Run this command every time you turn off the power) + ``` + $ rosrun scout_bringup bringup_can2usb.bash + ``` + +* Testing command + ``` + # receiving data from can0 + $ candump can0 + ``` + +4. Launch ROS nodes + +* Start the base node for scout + + ``` + $ roslaunch scout_bringup scout_robot_base.launch + ``` + + The [scout_bringup/scout_minimal.launch](scout_bringup/launch/scout_minimal.launch) has 5 parameters: + + - port_name: specifies the port used to communicate with the robot, default = "can0" + - simulated_robot: indicates if launching with a simulation, default = "false" + - model_xacro: specifies the target ".xacro" file for the publishing of tf frames, default = [scout_v2.xacro](scout_base/description/scout_v2.xacro) + - odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom" + - is_scout_mini:Suitable for chassis of type scout_mini,defaults = "false" + +* Start the base node for scout-mini + + ``` + $ roslaunch scout_bringup scout_mini_robot_base.launch + ``` + +* Start the base node for scout-min(omni mode) + + ```bash + $ roslaunch scout_bringup scout_miniomni_robot_base.launch + ``` + + +* Start the keyboard tele-op node + + ``` + $ roslaunch scout_bringup scout_teleop_keyboard.launch + ``` + + **SAFETY PRECAUSION**: + + The default command values of the keyboard teleop node are high, make sure you decrease the speed commands before starting to control the robot with your keyboard! Have your remote controller ready to take over the control whenever necessary. diff --git a/scout_base/CMakeLists.txt b/scout_base/CMakeLists.txt new file mode 100644 index 0000000..ed4c5d0 --- /dev/null +++ b/scout_base/CMakeLists.txt @@ -0,0 +1,63 @@ +cmake_minimum_required(VERSION 2.8.3) +project(scout_base) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED COMPONENTS + roslaunch + roscpp + sensor_msgs + std_msgs + geometry_msgs + tf2 + tf2_ros + ugv_sdk + scout_msgs +) + +# find_package(Boost REQUIRED COMPONENTS chrono) + +################################### +## catkin specific configuration ## +################################### + +catkin_package( + INCLUDE_DIRS include + LIBRARIES scout_messenger + CATKIN_DEPENDS ugv_sdk scout_msgs +# DEPENDS Boost +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +add_library(scout_messenger STATIC src/scout_messenger.cpp) +target_link_libraries(scout_messenger ${catkin_LIBRARIES}) +add_dependencies(scout_messenger ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +add_executable(scout_base_node src/scout_base_node.cpp) +target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES}) + +############# +## Install ## +############# + +install(TARGETS scout_messenger scout_base_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/scout_base/include/scout_base/scout_messenger.hpp b/scout_base/include/scout_base/scout_messenger.hpp new file mode 100644 index 0000000..a37c308 --- /dev/null +++ b/scout_base/include/scout_base/scout_messenger.hpp @@ -0,0 +1,77 @@ +/* + * scout_messenger.hpp + * + * Created on: Jun 14, 2019 10:24 + * Description: + * + * Copyright (c) 2019 Ruixiang Du (rdu) + */ + +#ifndef SCOUT_MESSENGER_HPP +#define SCOUT_MESSENGER_HPP + +#include + +#include +#include +// #include +#include + +#include "scout_msgs/ScoutLightCmd.h" +#include "ugv_sdk/mobile_robot/scout_robot.hpp" +#include + +namespace westonrobot +{ +class ScoutROSMessenger +{ +public: + explicit ScoutROSMessenger(ros::NodeHandle *nh); + ScoutROSMessenger(ScoutRobot *scout, ros::NodeHandle *nh, bool is_scout_omni); + + std::string odom_frame_; + std::string base_frame_; + std::string odom_topic_name_; + bool pub_tf; + bool is_scout_omni; + bool simulated_robot_ = false; + int sim_control_rate_ = 50; + + void SetupSubscription(); + + void PublishStateToROS(); + void PublishSimStateToROS(double linear, double angular); + + void GetCurrentMotionCmdForSim(double &linear, double &angular); + +private: + ScoutRobot *scout_; + ros::NodeHandle *nh_; + + std::mutex twist_mutex_; + geometry_msgs::Twist current_twist_; + + ros::Publisher odom_publisher_; + ros::Publisher status_publisher_; + ros::Publisher BMS_status_publisher_; + ros::Subscriber motion_cmd_subscriber_; + ros::Subscriber light_cmd_subscriber_; + tf2_ros::TransformBroadcaster tf_broadcaster_; + + // speed variables + double linear_speed_ = 0.0; + double angular_speed_ = 0.0; + double position_x_ = 0.0; + double position_y_ = 0.0; + double theta_ = 0.0; + + ros::Time last_time_; + ros::Time current_time_; + + void TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg); + void LightCmdCallback(const scout_msgs::ScoutLightCmd::ConstPtr &msg); + void PublishOdometryToROS(double linear, double angular, double dt); +}; +} // namespace westonrobot + +#endif /* SCOUT_MESSENGER_HPP */ diff --git a/scout_base/include/scout_base/scout_params.hpp b/scout_base/include/scout_base/scout_params.hpp new file mode 100644 index 0000000..3c1f55d --- /dev/null +++ b/scout_base/include/scout_base/scout_params.hpp @@ -0,0 +1,33 @@ +/* + * scout_params.hpp + * + * Created on: Sep 27, 2019 15:08 + * Description: + * + * Copyright (c) 2020 Ruixiang Du (rdu) + */ + +#ifndef SCOUT_PARAMS_HPP +#define SCOUT_PARAMS_HPP + +namespace westonrobot +{ + struct ScoutParams + { + /* Scout Parameters */ + static constexpr double max_steer_angle = 30.0; // in degree + + static constexpr double track = 0.58306; // in meter (left & right wheel distance) + static constexpr double wheelbase = 0.498; // in meter (front & rear wheel distance) + static constexpr double wheel_radius = 0.165; // in meter + + // from user manual v1.2.8 P18 + // max linear velocity: 1.5 m/s + // max angular velocity: 0.7853 rad/s + static constexpr double max_linear_speed = 1.5; // in m/s + static constexpr double max_angular_speed = 0.7853; // in rad/s + static constexpr double max_speed_cmd = 10.0; // in rad/s + }; +} // namespace westonrobot + +#endif /* SCOUT_PARAMS_HPP */ diff --git a/scout_base/launch/display_model.launch b/scout_base/launch/display_model.launch new file mode 100644 index 0000000..17270a5 --- /dev/null +++ b/scout_base/launch/display_model.launch @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/scout_base/launch/scout_base.launch b/scout_base/launch/scout_base.launch new file mode 100644 index 0000000..a02dc33 --- /dev/null +++ b/scout_base/launch/scout_base.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/scout_base/launch/scout_mini_base.launch b/scout_base/launch/scout_mini_base.launch new file mode 100644 index 0000000..2e6bfc0 --- /dev/null +++ b/scout_base/launch/scout_mini_base.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/scout_base/launch/scout_mini_omni.launch b/scout_base/launch/scout_mini_omni.launch new file mode 100644 index 0000000..982ca91 --- /dev/null +++ b/scout_base/launch/scout_mini_omni.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/scout_base/package.xml b/scout_base/package.xml new file mode 100644 index 0000000..dab095a --- /dev/null +++ b/scout_base/package.xml @@ -0,0 +1,30 @@ + + + scout_base + 0.3.3 + AgileX Scout robot driver + + Ruixiang Du + WestonRobot + + BSD + + TODO + TODO + TODO + + catkin + scout_msgs + roscpp + roslaunch + sensor_msgs + ugv_sdk + controller_manager + geometry_msgs + scout_msgs + roscpp + sensor_msgs + topic_tools + ugv_sdk + + diff --git a/scout_base/rviz/model_display.rviz b/scout_base/rviz/model_display.rviz new file mode 100644 index 0000000..337a0b1 --- /dev/null +++ b/scout_base/rviz/model_display.rviz @@ -0,0 +1,209 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 732 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/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 + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + 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 + chassis_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + inertial_link: + Alpha: 1 + Show Axes: false + Show Trail: false + rear_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + chassis_link: + Value: true + front_left_wheel_link: + Value: true + front_right_wheel_link: + Value: true + inertial_link: + Value: true + rear_left_wheel_link: + Value: true + rear_right_wheel_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + chassis_link: + front_left_wheel_link: + {} + front_right_wheel_link: + {} + rear_left_wheel_link: + {} + rear_right_wheel_link: + {} + inertial_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 2.9432930946350098 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.027046792209148407 + Y: -0.03490818291902542 + Z: -0.09952529519796371 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5447957515716553 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.27542781829834 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1029 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1869 + X: 632 + Y: 291 diff --git a/scout_base/src/scout_base_node.cpp b/scout_base/src/scout_base_node.cpp new file mode 100644 index 0000000..f35067c --- /dev/null +++ b/scout_base/src/scout_base_node.cpp @@ -0,0 +1,124 @@ +#include + +#include +#include +#include +#include + +#include "ugv_sdk/mobile_robot/scout_robot.hpp" +#include "ugv_sdk/utilities/protocol_detector.hpp" +#include "scout_base/scout_messenger.hpp" + +using namespace westonrobot; + +std::unique_ptr robot; + +int main(int argc, char **argv) { + // setup ROS node + ros::init(argc, argv, "scout_odom"); + ros::NodeHandle node(""), private_node("~"); + + // check wether controlling scout mini + bool is_scout_mini = false; + static bool is_scout_omni = false; + //private_node.param("is_scout_mini", is_scout_mini, false); + private_node.getParam("is_scout_mini",is_scout_mini); + std::cout << "Working as scout mini: " << is_scout_mini << std::endl; + + private_node.getParam("is_scout_omni",is_scout_omni); + std::cout << "Working as scout omni: " << is_scout_omni << std::endl; + + // check protocol version + ProtocolDetector detector; + try + { + detector.Connect("can0"); + auto proto = detector.DetectProtocolVersion(5); + if(is_scout_mini && is_scout_omni) + { + if (proto == ProtocolVersion::AGX_V1) { + std::cout << "Detected protocol: AGX_V1 omni" << std::endl; + robot = std::unique_ptr( + new ScoutMiniOmniRobot(ProtocolVersion::AGX_V1)); + } else if (proto == ProtocolVersion::AGX_V2) { + std::cout << "Detected protocol: AGX_V2 omni" << std::endl; + robot = std::unique_ptr( + new ScoutMiniOmniRobot(ProtocolVersion::AGX_V2)); + } else { + std::cout << "Detected protocol: UNKONWN" << std::endl; + return -1; + } + } + else + { + if (proto == ProtocolVersion::AGX_V1) { + std::cout << "Detected protocol: AGX_V1" << std::endl; + robot = std::unique_ptr( + new ScoutRobot(ProtocolVersion::AGX_V1, is_scout_mini)); + } else if (proto == ProtocolVersion::AGX_V2) { + std::cout << "Detected protocol: AGX_V2" << std::endl; + robot = std::unique_ptr( + new ScoutRobot(ProtocolVersion::AGX_V2, is_scout_mini)); + } else { + std::cout << "Detected protocol: UNKONWN" << std::endl; + return -1; + } + } + if (robot == nullptr) + std::cout << "Failed to create robot object" << std::endl; + } + catch (const std::exception error) + { + ROS_ERROR("please bringup up can or make sure can port exist"); + ros::shutdown(); + } + ScoutROSMessenger messenger(robot.get(),&node,is_scout_omni); + + // fetch parameters before connecting to rt + std::string port_name; + private_node.param("port_name", port_name, std::string("can0")); + private_node.param("odom_frame", messenger.odom_frame_, + std::string("odom")); + private_node.param("base_frame", messenger.base_frame_, + std::string("base_link")); + private_node.param("simulated_robot", messenger.simulated_robot_, + false); + private_node.param("control_rate", messenger.sim_control_rate_, 50); + private_node.param("odom_topic_name", messenger.odom_topic_name_, + std::string("odom")); + private_node.param("pub_tf", messenger.pub_tf,true); + if (!messenger.simulated_robot_) { + // connect to robot and setup ROS subscription + if (port_name.find("can") != std::string::npos) { + robot->Connect(port_name); + robot->EnableCommandedMode(); + ROS_INFO("Using CAN bus to talk with the robot"); + } else { +// robot->Connect(port_name, 115200); + ROS_INFO("Only CAN bus interface is supported for now"); + } + } + + messenger.SetupSubscription(); + + // publish robot state at 50Hz while listening to twist commands + ros::Rate rate(50); + while (ros::ok()) { + if (!messenger.simulated_robot_) { + + messenger.PublishStateToROS(); + + } else { + double linear, angular; + + messenger.GetCurrentMotionCmdForSim(linear, angular); + + messenger.PublishSimStateToROS(linear, angular); + + } + ros::spinOnce(); + rate.sleep(); + } + + return 0; +} diff --git a/scout_base/src/scout_messenger.cpp b/scout_base/src/scout_messenger.cpp new file mode 100644 index 0000000..e766f36 --- /dev/null +++ b/scout_base/src/scout_messenger.cpp @@ -0,0 +1,302 @@ +/* + * scout_messenger.cpp + * + * Created on: Apr 26, 2019 22:14 + * Description: + * + * Copyright (c) 2019 Ruixiang Du (rdu) + */ + +#include "scout_base/scout_messenger.hpp" + +#include + +#include "scout_msgs/ScoutStatus.h" +#include "scout_msgs/ScoutBmsStatus.h" +#include "scout_msgs/ScoutLightCmd.h" + +namespace westonrobot +{ + ScoutROSMessenger::ScoutROSMessenger(ros::NodeHandle *nh) + : scout_(nullptr), nh_(nh) {} + + ScoutROSMessenger::ScoutROSMessenger(ScoutRobot *scout, ros::NodeHandle *nh, bool is_scout_omni) + : scout_(scout), nh_(nh) ,is_scout_omni(is_scout_omni){} + + void ScoutROSMessenger::SetupSubscription() + { + // odometry publisher + odom_publisher_ = nh_->advertise(odom_topic_name_, 50); + status_publisher_ = nh_->advertise("/scout_status", 10); + BMS_status_publisher_ = nh_->advertise("/BMS_status", 10); + + // cmd subscriber + motion_cmd_subscriber_ = nh_->subscribe( + "/cmd_vel", 5, &ScoutROSMessenger::TwistCmdCallback, this); + light_cmd_subscriber_ = nh_->subscribe( + "/scout_light_control", 5, &ScoutROSMessenger::LightCmdCallback, this); + } + + void ScoutROSMessenger::TwistCmdCallback( + const geometry_msgs::Twist::ConstPtr &msg) + { + if (!simulated_robot_) + { + if(is_scout_omni) + dynamic_cast(scout_)->SetMotionCommand(msg->linear.x, msg->angular.z, msg->linear.y); + else + scout_->SetMotionCommand(msg->linear.x, msg->angular.z); + } + else + { + std::lock_guard guard(twist_mutex_); + current_twist_ = *msg.get(); + } + // ROS_INFO("cmd received:%f, %f", msg->linear.x, msg->angular.z); + } + + void ScoutROSMessenger::GetCurrentMotionCmdForSim(double &linear, + double &angular) + { + std::lock_guard guard(twist_mutex_); + linear = current_twist_.linear.x; + angular = current_twist_.angular.z; + } + + void ScoutROSMessenger::LightCmdCallback( + const scout_msgs::ScoutLightCmd::ConstPtr &msg) + { + if (!simulated_robot_) + { + if (msg->enable_cmd_light_control) + { + LightCommandMessage cmd; + + switch (msg->front_mode) + { + case scout_msgs::ScoutLightCmd::LIGHT_CONST_OFF: + { + cmd.front_light.mode = CONST_OFF; + break; + } + case scout_msgs::ScoutLightCmd::LIGHT_CONST_ON: + { + cmd.front_light.mode = CONST_ON; + break; + } + case scout_msgs::ScoutLightCmd::LIGHT_BREATH: + { + cmd.front_light.mode = BREATH; + break; + } + case scout_msgs::ScoutLightCmd::LIGHT_CUSTOM: + { + cmd.front_light.mode = CUSTOM; + cmd.front_light.custom_value = msg->front_custom_value; + break; + } + } + + switch (msg->rear_mode) + { + case scout_msgs::ScoutLightCmd::LIGHT_CONST_OFF: + { + cmd.rear_light.mode = CONST_OFF; + break; + } + case scout_msgs::ScoutLightCmd::LIGHT_CONST_ON: + { + cmd.rear_light.mode = CONST_ON; + break; + } + case scout_msgs::ScoutLightCmd::LIGHT_BREATH: + { + cmd.rear_light.mode = BREATH; + break; + } + case scout_msgs::ScoutLightCmd::LIGHT_CUSTOM: + { + cmd.rear_light.mode = CUSTOM; + cmd.rear_light.custom_value = msg->rear_custom_value; + break; + } + } + + scout_->SetLightCommand(cmd.front_light.mode,cmd.front_light.custom_value,cmd.rear_light.mode,cmd.rear_light.custom_value); + } + else + { + scout_->DisableLightControl(); + } + } + else + { + std::cout << "simulated robot received light control cmd" << std::endl; + } + } + + void ScoutROSMessenger::PublishStateToROS() + { + current_time_ = ros::Time::now(); + double dt = (current_time_ - last_time_).toSec(); + + static bool init_run = true; + if (init_run) + { + last_time_ = current_time_; + init_run = false; + return; + } + + auto robot_state = scout_->GetRobotState(); + auto actuator_state = scout_->GetActuatorState(); + + // publish scout state message + scout_msgs::ScoutStatus status_msg; + scout_msgs::ScoutBmsStatus bms_status; + + status_msg.header.stamp = current_time_; + status_msg.linear_velocity = robot_state.motion_state.linear_velocity; + status_msg.angular_velocity = robot_state.motion_state.angular_velocity; + status_msg.base_state = robot_state.system_state.vehicle_state; + status_msg.control_mode = robot_state.system_state.control_mode; + status_msg.fault_code = robot_state.system_state.error_code; + status_msg.battery_voltage = robot_state.system_state.battery_voltage; + status_msg.light_control_enabled = robot_state.light_state.enable_cmd_ctrl; + status_msg.front_light_state.mode = robot_state.light_state.front_light.mode; + status_msg.front_light_state.custom_value = robot_state.light_state.front_light.custom_value; + status_msg.rear_light_state.mode = robot_state.light_state.rear_light.mode; + status_msg.rear_light_state.custom_value = robot_state.light_state.rear_light.custom_value; + if(scout_->GetParserProtocolVersion() == ProtocolVersion::AGX_V1) + { + for (int i = 0; i < 4; ++i) + { + status_msg.motor_states[i].current = actuator_state.actuator_state[i].current; + status_msg.motor_states[i].rpm = actuator_state.actuator_state[i].rpm; + status_msg.motor_states[i].temperature = actuator_state.actuator_state[i].motor_temp; + status_msg.driver_states[i].driver_temperature = actuator_state.actuator_state[i].driver_temp; + } + } + else + { + for (int i = 0; i < 4; ++i) + { + status_msg.motor_states[i].current = actuator_state.actuator_hs_state[i].current; + status_msg.motor_states[i].rpm = actuator_state.actuator_hs_state[i].rpm; + status_msg.motor_states[i].temperature = actuator_state.actuator_ls_state[i].motor_temp; + status_msg.motor_states[i].motor_pose = actuator_state.actuator_hs_state[i].pulse_count; + status_msg.driver_states[i].driver_state = actuator_state.actuator_ls_state[i].driver_state; + status_msg.driver_states[i].driver_voltage = actuator_state.actuator_ls_state[i].driver_voltage; + status_msg.driver_states[i].driver_temperature = actuator_state.actuator_ls_state[i].driver_temp; + } + + + } + +// bms_status.SOC = state.SOC; +// bms_status.SOH = state.SOH; +// bms_status.battery_voltage = state.bms_battery_voltage; +// bms_status.battery_current = state.battery_current; +// bms_status.battery_temperature = state.battery_temperature; +// bms_status.Alarm_Status_1 = state.Alarm_Status_1; +// bms_status.Alarm_Status_2 = state.Alarm_Status_2; +// bms_status.Warning_Status_1 = state.Warning_Status_1; +// bms_status.Warning_Status_2 = state.Warning_Status_2; + BMS_status_publisher_.publish(bms_status); + + + status_publisher_.publish(status_msg); + + + // publish odometry and tf + PublishOdometryToROS(robot_state.motion_state.linear_velocity, robot_state.motion_state.angular_velocity, dt); + + // record time for next integration + last_time_ = current_time_; + } + + void ScoutROSMessenger::PublishSimStateToROS(double linear, double angular) + { + current_time_ = ros::Time::now(); + + double dt = (current_time_ - last_time_).toSec(); + + static bool init_run = true; + if (init_run) + { + last_time_ = current_time_; + init_run = false; + return; + } + + // publish scout state message + scout_msgs::ScoutStatus status_msg; + + status_msg.header.stamp = current_time_; + + status_msg.linear_velocity = linear; + status_msg.angular_velocity = angular; + + status_msg.base_state = 0x00; + status_msg.control_mode = 0x01; + status_msg.fault_code = 0x00; + status_msg.battery_voltage = 29.5; + status_msg.light_control_enabled = false; + + status_publisher_.publish(status_msg); + + // publish odometry and tf + PublishOdometryToROS(linear, angular, dt); + + // record time for next integration + last_time_ = current_time_; + } + + void ScoutROSMessenger::PublishOdometryToROS(double linear, double angular, + double dt) + { + // perform numerical integration to get an estimation of pose + linear_speed_ = linear; + angular_speed_ = angular; + + double d_x = linear_speed_ * std::cos(theta_) * dt; + double d_y = linear_speed_ * std::sin(theta_) * dt; + double d_theta = angular_speed_ * dt; + + position_x_ += d_x; + position_y_ += d_y; + theta_ += d_theta; + + geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(theta_); + + // publish tf transformation + geometry_msgs::TransformStamped tf_msg; + tf_msg.header.stamp = current_time_; + tf_msg.header.frame_id = odom_frame_; + tf_msg.child_frame_id = base_frame_; + + tf_msg.transform.translation.x = position_x_; + tf_msg.transform.translation.y = position_y_; + tf_msg.transform.translation.z = 0.0; + tf_msg.transform.rotation = odom_quat; + + if(pub_tf)tf_broadcaster_.sendTransform(tf_msg); + + // publish odometry and tf messages + nav_msgs::Odometry odom_msg; + odom_msg.header.stamp = current_time_; + odom_msg.header.frame_id = odom_frame_; + odom_msg.child_frame_id = base_frame_; + + odom_msg.pose.pose.position.x = position_x_; + odom_msg.pose.pose.position.y = position_y_; + odom_msg.pose.pose.position.z = 0.0; + odom_msg.pose.pose.orientation = odom_quat; + + odom_msg.twist.twist.linear.x = linear_speed_; + odom_msg.twist.twist.linear.y = 0.0; + odom_msg.twist.twist.angular.z = angular_speed_; + + odom_publisher_.publish(odom_msg); + } +} // namespace westonrobot diff --git a/scout_bringup/CMakeLists.txt b/scout_bringup/CMakeLists.txt new file mode 100644 index 0000000..ca0910b --- /dev/null +++ b/scout_bringup/CMakeLists.txt @@ -0,0 +1,203 @@ +cmake_minimum_required(VERSION 2.8.3) +project(scout_bringup) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES scout_bringup +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/scout_bringup.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/scout_bringup_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +install(DIRECTORY launch scripts + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_bringup.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/scout_bringup/launch/scout_mini_robot_base.launch b/scout_bringup/launch/scout_mini_robot_base.launch new file mode 100644 index 0000000..60c46b7 --- /dev/null +++ b/scout_bringup/launch/scout_mini_robot_base.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/scout_bringup/launch/scout_miniomni_robot_base.launch b/scout_bringup/launch/scout_miniomni_robot_base.launch new file mode 100644 index 0000000..aeb8725 --- /dev/null +++ b/scout_bringup/launch/scout_miniomni_robot_base.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/scout_bringup/launch/scout_robot_base.launch b/scout_bringup/launch/scout_robot_base.launch new file mode 100644 index 0000000..436c7a4 --- /dev/null +++ b/scout_bringup/launch/scout_robot_base.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/scout_bringup/launch/scout_teleop_keyboard.launch b/scout_bringup/launch/scout_teleop_keyboard.launch new file mode 100644 index 0000000..73381f1 --- /dev/null +++ b/scout_bringup/launch/scout_teleop_keyboard.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/scout_bringup/package.xml b/scout_bringup/package.xml new file mode 100644 index 0000000..f09240f --- /dev/null +++ b/scout_bringup/package.xml @@ -0,0 +1,58 @@ + + + scout_bringup + 0.0.0 + The scout_bringup package + + rdu + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/scout_bringup/scripts/bringup_can2usb.bash b/scout_bringup/scripts/bringup_can2usb.bash new file mode 100755 index 0000000..e638f6a --- /dev/null +++ b/scout_bringup/scripts/bringup_can2usb.bash @@ -0,0 +1,4 @@ +#!/bin/bash + +# bring up can interface +sudo ip link set can0 up type can bitrate 500000 \ No newline at end of file diff --git a/scout_bringup/scripts/setup_can2usb.bash b/scout_bringup/scripts/setup_can2usb.bash new file mode 100755 index 0000000..6a8d891 --- /dev/null +++ b/scout_bringup/scripts/setup_can2usb.bash @@ -0,0 +1,10 @@ +#!/bin/bash + +# enable kernel module: gs_usb +sudo modprobe gs_usb + +# bring up can interface +sudo ip link set can0 up type can bitrate 500000 + +# install can utils +sudo apt install -y can-utils \ No newline at end of file diff --git a/scout_description/CHANGELOG.rst b/scout_description/CHANGELOG.rst new file mode 100644 index 0000000..1126889 --- /dev/null +++ b/scout_description/CHANGELOG.rst @@ -0,0 +1,132 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package husky_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.4.2 (2019-12-11) +------------------ + +0.4.1 (2019-09-30) +------------------ + +0.4.0 (2019-08-01) +------------------ + +0.3.4 (2019-08-01) +------------------ + +0.3.3 (2019-04-18) +------------------ +* Fixed bumper extensions, cleaned up collision meshes +* Contributors: Dave Niewinski + +0.3.2 (2019-03-25) +------------------ +* Added some additional frames on the top plates and an environment variable for diabling the user rails +* Added env var to allow a 7cm forward bumper extension (`#92 `_) + * Added env var to allow for extendable front bumper + * Fix weird spacing + * Uploaded bumper extension meshes + * Allowed for different lengths of bumper extensions +* Contributors: Dave Niewinski, Guy Stoppi + +0.3.1 (2018-08-02) +------------------ +* Removed unnecessary dae objects and duplicate vertices +* Contributors: Dave Niewinski + +0.3.0 (2018-04-11) +------------------ +* Updated all package versions to 0.2.6. +* Added a large top plate (used for waterproofing upgrade and UR5 upgrade) and an environment variable for controlling it HUSKY_LARGE_TOP_PLATE +* changed Husky wheel radius, a Husky outdoor tire is 13 inchs (0.3302m) +* [husky_description] Updated inertial parameters. +* [husky_description] Fixed depreciated syntax. +* Remove defunct email address +* Updated maintainers. +* Changes for xacro updates in kinetic. +* Add interface definitions +* Purge more UR; Implement urdf_extras +* Update URDF for multirobot +* Move packages into monorepo for kinetic; strip out ur packages +* wheel.urdf.xacro: swap iyy, izz inertias + Fixes `#34 `_. +* Contributors: Dave Niewinski, Martin Cote, Paul Bovbel, Steven Peters, Tony Baltovski + +0.2.7 (2015-12-31) +------------------ +* Fixed indent. +* Added Sick LMS1XX URDF. +* Contributors: Tony Baltovski + +0.2.6 (2015-07-08) +------------------ +* Adjust Kinect angle so it doesn't hit top plate +* Contributors: Paul Bovbel + +0.2.5 (2015-04-16) +------------------ +* Add standard mount for lms1xx +* Contributors: Paul Bovbel + +0.2.4 (2015-04-13) +------------------ +* Add argument to enable/disable top plate +* Fix sensor arch name +* Fix conflict with underlay + When using -z check, underlayed instances of husky_gazebo would override overlays. +* Update top plate model +* Contributors: Paul Bovbel + +0.2.3 (2015-04-08) +------------------ +* Integrate husky_customization workflow +* Disable all accessories by default +* Contributors: Paul Bovbel + +0.2.2 (2015-03-23) +------------------ +* Fix package urls +* Contributors: Paul Bovbel + +0.2.1 (2015-03-23) +------------------ +* Port stl to dae format, removing material/gazebo colours +* Make base_footprint a child of base_link +* Contributors: Paul Bovbel + +0.2.0 (2015-03-23) +------------------ +* Add Kinect, UR5 peripherals +* Contributors: Paul Bovbel, Devon Ash + +0.1.2 (2015-01-30) +------------------ +* Update maintainers and description +* Get rid of chassis_link, switch to base_footprint and base_link +* Switch to NED orientation for UM6 standard package +* Contributors: Paul Bovbel + +0.1.1 (2015-01-14) +------------------ +* Remove multirobot changes, experiment later +* Contributors: Paul Bovbel + +0.1.0 (2015-01-13) +------------------ +* Major refactor for indigo release: + * base_link is now located on the ground plane, while chassis_link + * refactored joint names for consistency with Jackal and Grizzly for ros_control + * moved plugins requiring gazebo dependencies to husky_gazebo (imu, gps, lidar, ros_control) + * initial prefixing for multirobot +* Contributors: Alex Bencz, James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma + +0.0.2 (2013-09-30) +------------------ +* Renamed /models folder to /meshes to follow the convention of other gazebo simulation packages. +* Changed the base.urdf.xacro to use base_footprint as the parent frame. For some reason, the new Gazebo paints all parts the same color as base_link when base_link is the parent. + +0.0.1 (2013-09-11) +------------------ +* Move to model-only launchfile. +* Catkinize package, add install targets. +* husky_description moved up to repository root. diff --git a/scout_description/CMakeLists.txt b/scout_description/CMakeLists.txt new file mode 100644 index 0000000..71e40aa --- /dev/null +++ b/scout_description/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(scout_description) + +find_package(catkin REQUIRED COMPONENTS roslaunch) + +catkin_package() + +roslaunch_add_file_check(launch) + +install( + DIRECTORY launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/scout_description/launch/display_scout_mini.launch b/scout_description/launch/display_scout_mini.launch new file mode 100644 index 0000000..0d15c59 --- /dev/null +++ b/scout_description/launch/display_scout_mini.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/scout_description/launch/display_scout_v2.launch b/scout_description/launch/display_scout_v2.launch new file mode 100644 index 0000000..0c63d9a --- /dev/null +++ b/scout_description/launch/display_scout_v2.launch @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/scout_description/launch/gazebo.launch b/scout_description/launch/gazebo.launch new file mode 100644 index 0000000..a318582 --- /dev/null +++ b/scout_description/launch/gazebo.launch @@ -0,0 +1,20 @@ + + + + + + diff --git a/scout_description/launch/scout_mini_stock.launch b/scout_description/launch/scout_mini_stock.launch new file mode 100644 index 0000000..224c922 --- /dev/null +++ b/scout_description/launch/scout_mini_stock.launch @@ -0,0 +1,9 @@ + + + + + + + diff --git a/scout_description/launch/scout_v2_stock.launch b/scout_description/launch/scout_v2_stock.launch new file mode 100644 index 0000000..337b624 --- /dev/null +++ b/scout_description/launch/scout_v2_stock.launch @@ -0,0 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