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Migrate to ROS2 Humble #4

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Migrate to ROS2 Humble #4

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4 changes: 4 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ find_package(serial REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(controller_manager REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(pluginlib REQUIRED)


Expand All @@ -36,6 +37,7 @@ ament_target_dependencies(
controller_manager
serial
rclcpp
rclcpp_lifecycle
pluginlib
)

Expand All @@ -56,6 +58,7 @@ ament_target_dependencies(
hardware_interface
controller_manager
rclcpp
rclcpp_lifecycle
pluginlib
)

Expand Down Expand Up @@ -87,6 +90,7 @@ ament_export_dependencies(
controller_manager
serial
rclcpp
rclcpp_lifecycle
pluginlib
)

Expand Down
17 changes: 9 additions & 8 deletions include/diffdrive_arduino/diffdrive_arduino.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,41 +3,42 @@

#include <cstring>
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
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@fridfinnurm fridfinnurm Mar 29, 2023 •
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This import may actually be unnecessary (line 7)


#include "hardware_interface/base_interface.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "hardware_interface/types/hardware_interface_status_values.hpp"

#include "config.h"
#include "wheel.h"
#include "arduino_comms.h"


using hardware_interface::return_type;
using hardware_interface::CallbackReturn;

class DiffDriveArduino : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
class DiffDriveArduino : public hardware_interface::SystemInterface
{


public:
DiffDriveArduino();

return_type configure(const hardware_interface::HardwareInfo & info) override;
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;

std::vector<hardware_interface::StateInterface> export_state_interfaces() override;

std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

return_type start() override;
CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;

return_type stop() override;
CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;

return_type read() override;
return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;

return_type write() override;
return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;



Expand Down
18 changes: 10 additions & 8 deletions include/diffdrive_arduino/fake_robot.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,39 +3,41 @@


#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/state.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"

#include "hardware_interface/base_interface.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/handle.hpp"
#include "hardware_interface/hardware_info.hpp"
#include "hardware_interface/types/hardware_interface_return_values.hpp"
#include "hardware_interface/types/hardware_interface_status_values.hpp"

#include "config.h"
#include "wheel.h"

using hardware_interface::return_type;
using hardware_interface::CallbackReturn;

class FakeRobot : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
class FakeRobot : public hardware_interface::SystemInterface
{


public:
using rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
FakeRobot();

return_type configure(const hardware_interface::HardwareInfo & info) override;
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;

std::vector<hardware_interface::StateInterface> export_state_interfaces() override;

std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

return_type start() override;
CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;

return_type stop() override;
CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;

return_type read() override;
return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;

return_type write() override;
return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) override;



Expand Down
3 changes: 2 additions & 1 deletion package.xml
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>diffdrive_arduino</name>
<version>0.0.1</version>
<version>1.0.0</version>
<description>Provides an interface between diff_drive_controller and an Arduino.</description>

<maintainer email="[email protected]">Josh Newans</maintainer>
Expand All @@ -21,6 +21,7 @@
<depend>controller_manager</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<depend>serial</depend>


Expand Down
24 changes: 10 additions & 14 deletions src/diffdrive_arduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,10 +14,10 @@ DiffDriveArduino::DiffDriveArduino()



return_type DiffDriveArduino::configure(const hardware_interface::HardwareInfo & info)
CallbackReturn DiffDriveArduino::on_init(const hardware_interface::HardwareInfo & info)
{
if (configure_default(info) != return_type::OK) {
return return_type::ERROR;
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) {
return CallbackReturn::ERROR;
}

RCLCPP_INFO(logger_, "Configuring...");
Expand All @@ -41,8 +41,7 @@ return_type DiffDriveArduino::configure(const hardware_interface::HardwareInfo &

RCLCPP_INFO(logger_, "Finished Configuration");

status_ = hardware_interface::status::CONFIGURED;
return return_type::OK;
return CallbackReturn::SUCCESS;
}

std::vector<hardware_interface::StateInterface> DiffDriveArduino::export_state_interfaces()
Expand Down Expand Up @@ -72,7 +71,7 @@ std::vector<hardware_interface::CommandInterface> DiffDriveArduino::export_comma
}


return_type DiffDriveArduino::start()
CallbackReturn DiffDriveArduino::on_activate(const rclcpp_lifecycle::State & previous_state)
{
RCLCPP_INFO(logger_, "Starting Controller...");

Expand All @@ -81,20 +80,17 @@ return_type DiffDriveArduino::start()
// arduino.setPidValues(14,7,0,100);
arduino_.setPidValues(30, 20, 0, 100);

status_ = hardware_interface::status::STARTED;

return return_type::OK;
return CallbackReturn::SUCCESS;
}

return_type DiffDriveArduino::stop()
CallbackReturn DiffDriveArduino::on_deactivate(const rclcpp_lifecycle::State & previous_state)
{
RCLCPP_INFO(logger_, "Stopping Controller...");
status_ = hardware_interface::status::STOPPED;

return return_type::OK;
return CallbackReturn::SUCCESS;
}

hardware_interface::return_type DiffDriveArduino::read()
hardware_interface::return_type DiffDriveArduino::read(const rclcpp::Time & time, const rclcpp::Duration & period)
{

// TODO fix chrono duration
Expand Down Expand Up @@ -128,7 +124,7 @@ hardware_interface::return_type DiffDriveArduino::read()

}

hardware_interface::return_type DiffDriveArduino::write()
hardware_interface::return_type DiffDriveArduino::write(const rclcpp::Time & time, const rclcpp::Duration & period)
{

if (!arduino_.connected())
Expand Down
23 changes: 10 additions & 13 deletions src/fake_robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,10 @@ FakeRobot::FakeRobot()



return_type FakeRobot::configure(const hardware_interface::HardwareInfo & info)
CallbackReturn FakeRobot::on_init(const hardware_interface::HardwareInfo & info)
{
if (configure_default(info) != return_type::OK) {
return return_type::ERROR;
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS){
return CallbackReturn::ERROR;
}

RCLCPP_INFO(logger_, "Configuring...");
Expand All @@ -33,8 +33,7 @@ return_type FakeRobot::configure(const hardware_interface::HardwareInfo & info)

RCLCPP_INFO(logger_, "Finished Configuration");

status_ = hardware_interface::status::CONFIGURED;
return return_type::OK;
return CallbackReturn::SUCCESS;
}

std::vector<hardware_interface::StateInterface> FakeRobot::export_state_interfaces()
Expand Down Expand Up @@ -64,23 +63,21 @@ std::vector<hardware_interface::CommandInterface> FakeRobot::export_command_inte
}


return_type FakeRobot::start()
CallbackReturn FakeRobot::on_activate(const rclcpp_lifecycle::State & previous_state)
{
RCLCPP_INFO(logger_, "Starting Controller...");
status_ = hardware_interface::status::STARTED;

return return_type::OK;
return CallbackReturn::SUCCESS;
}

return_type FakeRobot::stop()
CallbackReturn FakeRobot::on_deactivate(const rclcpp_lifecycle::State & previous_state)
{
RCLCPP_INFO(logger_, "Stopping Controller...");
status_ = hardware_interface::status::STOPPED;

return return_type::OK;
return CallbackReturn::SUCCESS;
}

hardware_interface::return_type FakeRobot::read()
hardware_interface::return_type FakeRobot::read(const rclcpp::Time & time, const rclcpp::Duration & period)
{

// TODO fix chrono duration
Expand All @@ -101,7 +98,7 @@ hardware_interface::return_type FakeRobot::read()

}

hardware_interface::return_type FakeRobot::write()
hardware_interface::return_type FakeRobot::write(const rclcpp::Time & time, const rclcpp::Duration & period)
{

// Set the wheel velocities to directly match what is commanded
Expand Down