From 0ca8fa6db883b29b7fe47e40009f9b36b4cbe449 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Fri, 26 May 2023 10:38:41 +0200 Subject: [PATCH] initial commit --- .vscode/c_cpp_properties.json | 22 +++++ .vscode/settings.json | 14 +++ bot_mini_bringup/__init__.py | 0 config/bot_mini.rviz | 176 ++++++++++++++++++++++++++++++++++ config/twist_mux.yaml | 15 +++ launch/joy_bot_mini.launch.py | 88 +++++++++++++++++ launch/sim_bot_mini.launch.py | 138 ++++++++++++++++++++++++++ package.xml | 21 ++++ resource/bot_mini_bringup | 0 setup.cfg | 4 + setup.py | 28 ++++++ test/test_copyright.py | 25 +++++ test/test_flake8.py | 25 +++++ test/test_pep257.py | 23 +++++ 14 files changed, 579 insertions(+) create mode 100644 .vscode/c_cpp_properties.json create mode 100644 .vscode/settings.json create mode 100644 bot_mini_bringup/__init__.py create mode 100644 config/bot_mini.rviz create mode 100644 config/twist_mux.yaml create mode 100644 launch/joy_bot_mini.launch.py create mode 100644 launch/sim_bot_mini.launch.py create mode 100644 package.xml create mode 100644 resource/bot_mini_bringup create mode 100644 setup.cfg create mode 100644 setup.py create mode 100644 test/test_copyright.py create mode 100644 test/test_flake8.py create mode 100644 test/test_pep257.py diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..710c782 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,22 @@ +{ + "configurations": [ + { + "browse": { + "databaseFilename": "${default}", + "limitSymbolsToIncludedHeaders": false + }, + "includePath": [ + "/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/odrive_hardware_interface/include/**", + "/opt/ros/humble/include/**", + "/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/src/odrive_ros2_control/odrive_hardware_interface/include/**", + "/usr/include/**" + ], + "name": "ROS", + "intelliSenseMode": "gcc-x64", + "compilerPath": "/usr/bin/gcc", + "cStandard": "gnu11", + "cppStandard": "c++14" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..3de7662 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,14 @@ +{ + "python.autoComplete.extraPaths": [ + "/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/rmp220_teleop/lib/python3.10/site-packages", + "/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/cam_opencv/lib/python3.10/site-packages", + "/opt/ros/humble/lib/python3.10/site-packages", + "/opt/ros/humble/local/lib/python3.10/dist-packages" + ], + "python.analysis.extraPaths": [ + "/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/rmp220_teleop/lib/python3.10/site-packages", + "/home/bjorn/Documents/ros-projects/cps_bot_mini_ws/install/cam_opencv/lib/python3.10/site-packages", + "/opt/ros/humble/lib/python3.10/site-packages", + "/opt/ros/humble/local/lib/python3.10/dist-packages" + ] +} \ No newline at end of file diff --git a/bot_mini_bringup/__init__.py b/bot_mini_bringup/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/config/bot_mini.rviz b/config/bot_mini.rviz new file mode 100644 index 0000000..5b4d091 --- /dev/null +++ b/config/bot_mini.rviz @@ -0,0 +1,176 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 549 + - 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 + - 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: "" + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: "" + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: "" + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + 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: 10 + 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: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000231000000bc0000002800ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 2132 + Y: 96 diff --git a/config/twist_mux.yaml b/config/twist_mux.yaml new file mode 100644 index 0000000..97411fc --- /dev/null +++ b/config/twist_mux.yaml @@ -0,0 +1,15 @@ +twist_mux: + ros__parameters: + topics: + navigation: + topic : cmd_vel + timeout : 0.5 + priority: 10 + tracker: + topic : cmd_vel_tracker + timeout : 0.5 + priority: 20 + joystick: + topic : cmd_vel_joy + timeout : 0.5 + priority: 100 \ No newline at end of file diff --git a/launch/joy_bot_mini.launch.py b/launch/joy_bot_mini.launch.py new file mode 100644 index 0000000..b6eabee --- /dev/null +++ b/launch/joy_bot_mini.launch.py @@ -0,0 +1,88 @@ +# Copyright 2022 Factor Robotics +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("odrive_demo_description"), + "urdf", + "odrive_diffbot.urdf.xacro" + ] + ), + ] + ) + robot_description = {"robot_description": robot_description_content} + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare("odrive_demo_bringup"), + "config", + "diffbot_controllers.yaml", + ] + ) + + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[robot_description, robot_controllers], + output="both", + ) + + robot_state_pub_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + + joint_state_broadcaster_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster", "-c", "/controller_manager"], + ) + + robot_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["diffbot_base_controller", "-c", "/controller_manager"], + ) + + joystick_spawner = Node( + package="joy", + executable="joy_node" + ) + + teleop_spawner = Node( + package="rmp220_teleop", + executable="rmp220_teleop" + ) + + return LaunchDescription([ + control_node, + robot_state_pub_node, + joint_state_broadcaster_spawner, + robot_controller_spawner, + joystick_spawner, + teleop_spawner + ]) \ No newline at end of file diff --git a/launch/sim_bot_mini.launch.py b/launch/sim_bot_mini.launch.py new file mode 100644 index 0000000..aa4c26c --- /dev/null +++ b/launch/sim_bot_mini.launch.py @@ -0,0 +1,138 @@ +# Copyright 2022 Factor Robotics +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +import os +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [ + FindPackageShare("odrive_demo_description"), + "urdf", + "odrive_diffbot.urdf.xacro" + ] + ), + ] + ) + robot_description = {"robot_description": robot_description_content} + + robot_controllers = PathJoinSubstitution( + [ + FindPackageShare("odrive_demo_bringup"), + "config", + "diffbot_controllers.yaml", + ] + ) + + rviz_config_file = PathJoinSubstitution( + [ + FindPackageShare("bot_mini_bringup"), + "config", + "bot_mini.rviz" + ] + ) + + control_node = Node( + package="controller_manager", + executable="ros2_control_node", + parameters=[robot_description, robot_controllers], + output="both", + ) + + robot_state_pub_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + + joint_state_broadcaster_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_state_broadcaster", "-c", "/controller_manager"], + ) + + robot_controller_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["diffbot_base_controller", "-c", "/controller_manager"], + ) + + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + arguments=["-d", rviz_config_file], + ) + + package_name='bot_mini_bringup' + gazebo_params_file = os.path.join(get_package_share_directory(package_name),'config','gazebo_params.yaml') + + # Include the Gazebo launch file, provided by the gazebo_ros package + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]), + launch_arguments={'extra_gazebo_args': '--ros-args --params-file ' + gazebo_params_file}.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='gazebo_ros', executable='spawn_entity.py', + arguments=['-topic', 'robot_description', + '-entity', 'my_bot'], + output='screen') + + + diff_drive_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["diff_cont"], + ) + + joint_broad_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_broad"], + ) + + twist_mux_params = os.path.join(get_package_share_directory(package_name),'config','twist_mux.yaml') + twist_mux = Node( + package="twist_mux", + executable="twist_mux", + parameters=[twist_mux_params, {'use_sim_time': True}], + remappings=[('/cmd_vel_out','/diff_cont/cmd_vel_unstamped')] + ) + + return LaunchDescription([ + #control_node, + robot_state_pub_node, + joint_state_broadcaster_spawner, + #robot_controller_spawner, + rviz_node, + gazebo, + spawn_entity, + diff_drive_spawner, + #joint_broad_spawner, + twist_mux + ]) \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..475201a --- /dev/null +++ b/package.xml @@ -0,0 +1,21 @@ + + + + bot_mini_bringup + 0.0.0 + TODO: Package description + bjorn + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + odrive_demo_description + rmp220_teleop + + + ament_python + + diff --git a/resource/bot_mini_bringup b/resource/bot_mini_bringup new file mode 100644 index 0000000..e69de29 diff --git a/setup.cfg b/setup.cfg new file mode 100644 index 0000000..c10ffd0 --- /dev/null +++ b/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/bot_mini_bringup +[install] +install_scripts=$base/lib/bot_mini_bringup diff --git a/setup.py b/setup.py new file mode 100644 index 0000000..54c3d91 --- /dev/null +++ b/setup.py @@ -0,0 +1,28 @@ +from setuptools import setup +import os +from glob import glob + +package_name = 'bot_mini_bringup' + +setup( + name=package_name, + version='0.0.1', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name), glob('launch/*.launch.py')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='bjorn', + maintainer_email='bjoern.ellensohn@gmail.com', + description='Launch Files for CPS Robot Mini', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/test/test_copyright.py b/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/test/test_flake8.py b/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/test/test_pep257.py b/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings'