mirror of
https://github.com/bjoernellens1/rmp220_middleware.git
synced 2025-01-18 08:07:00 +00:00
update: noetic version
This commit is contained in:
parent
f265f8a0dd
commit
65ef4f630d
@ -1,26 +1,33 @@
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cmake_minimum_required(VERSION 3.8)
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cmake_minimum_required(VERSION 3.0.2)
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project(rmp220_middleware)
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# Set compiler options for warnings
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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# Find catkin and required components
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find_package(catkin REQUIRED COMPONENTS
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rospy
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std_msgs
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geometry_msgs
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sensor_msgs
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segway_msgs
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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# Declare catkin package
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catkin_package(
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CATKIN_DEPENDS rospy std_msgs geometry_msgs sensor_msgs segway_msgs
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)
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# Install Python scripts
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catkin_install_python(PROGRAMS
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rmp220_middleware/rmp220_middleware.py # Replace with the actual script path
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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# Testing (optional)
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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# Add tests here if needed
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endif()
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ament_package()
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28
package.xml
28
package.xml
@ -1,18 +1,28 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<package format="2">
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<name>rmp220_middleware</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="bjoern.ellensohn@gmail.com">bjorn</maintainer>
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<description>Middleware package for controlling the RMP220 chassis in ROS 1.</description>
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<maintainer email="bjoern.ellensohn@gmail.com">Bjorn Ellensohn</maintainer>
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<license>TODO: License declaration</license>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<!-- Dependencies -->
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<build_depend>catkin</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>segway_msgs</build_depend>
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<exec_depend>rospy</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>sensor_msgs</exec_depend>
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<exec_depend>segway_msgs</exec_depend>
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<!-- Export build type -->
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<export>
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<build_type>ament_python</build_type>
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<build_type>catkin</build_type>
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</export>
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</package>
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@ -1,7 +1,6 @@
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#!/usr/bin/env python3
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#!/usr/bin/env python
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import rclpy
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from rclpy.node import Node
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import rospy
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from std_msgs.msg import Bool
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from geometry_msgs.msg import Twist
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from sensor_msgs.msg import Joy
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@ -9,146 +8,124 @@ from enum import Enum
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from segway_msgs.srv import RosSetChassisEnableCmd
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from segway_msgs.msg import ChassisModeFb
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class State(Enum):
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DISABLED = 0 # solid yellow
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ENABLED = 1 # solid green
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PASSIVE = 2 # solid white (push)
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STOPPED = 3 # solid red
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PAUSED = 4 # no extra visual feedback, solid yellow
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import atexit
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import signal
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import sys
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class State(Enum): # is this best-practice?
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DISABLED = 0 # solid yellow
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ENABLED = 1 # solid green
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PASSIVE = 2 # solid white (push)
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STOPPED = 3 # solid red
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PAUSED = 4 # no extra visual feedback, solid yellow
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class StateMachineNode(Node):
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class StateMachineNode:
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def __init__(self):
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super().__init__('state_machine_node')
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rospy.init_node('state_machine_node', anonymous=True)
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# Initialize state and other variables
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self.state = State.DISABLED # is this necessary?
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self.state = State.DISABLED
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self.timeout = 20.0 # Timeout in seconds
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# Create twist class for publishing velocities
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self.twist = Twist()
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self.latest_cmd_vel = Twist()
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self.abs_x = 0.0
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self.abs_z = 0.0
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#self.limit = 0.5 # Limit for linear and angular velocity
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# Publishers and subscribers
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self.cmd_vel_pub = rospy.Publisher('/cmd_vel_out', Twist, queue_size=10)
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self.cmd_vel_sub = rospy.Subscriber('/cmd_vel_mux', Twist, self.cmd_vel_callback)
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self.joy_sub = rospy.Subscriber('/joy', Joy, self.joy_callback)
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self.chassis_mode_sub = rospy.Subscriber('/chassis_mode_fb', ChassisModeFb, self.chassis_mode_callback)
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# Create publishers, subscribers, timers, and service clients
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self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel_out', 10)
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self.cmd_vel_sub = self.create_subscription(Twist, '/cmd_vel_mux', self.cmd_vel_callback, 10)
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self.joy_sub = self.create_subscription(Joy, '/joy', self.joy_callback, 10)
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self.timer = self.create_timer(0.01, self.timer_callback) # changed to 100 Hz for now
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# Service clients
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rospy.wait_for_service('set_chassis_enable')
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self.chassis_enable_client = rospy.ServiceProxy('set_chassis_enable', RosSetChassisEnableCmd)
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rospy.loginfo('Chassis enable service available.')
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# Create service clients for chassis enable and disable
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self.chassis_enable_client = self.create_client(RosSetChassisEnableCmd, 'set_chassis_enable')
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while not self.chassis_enable_client.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('Service not available, waiting for chassis enable service...')
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self.get_logger().info('Chassis enable service available.')
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# Create a subscriber for the chassis status topic
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self.chassis_mode_sub = self.create_subscription(
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ChassisModeFb,
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'/chassis_mode_fb',
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self.chassis_mode_callback,
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10
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)
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# Timer for periodic updates
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self.timer = rospy.Timer(rospy.Duration(0.01), self.timer_callback) # 100 Hz
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def chassis_mode_callback(self, msg):
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# Need to evaluate that for possible errors
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# Handle the incoming chassis status message, will update every second
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if self.state == State.PAUSED: # trying to save processing time by skipping directly if PAUSED
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if self.state == State.PAUSED:
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return
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else:
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if msg.chassis_mode == 0:
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self.state = State.DISABLED
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self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
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if msg.chassis_mode == 1: # Assuming 1 represents enabled and 0 represents disabled
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self.state = State.ENABLED
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self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
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if msg.chassis_mode == 2:
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self.state = State.PASSIVE
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self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
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if msg.chassis_mode == 3:
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self.state = State.STOPPED
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self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
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if msg.chassis_mode == 0:
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self.state = State.DISABLED
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rospy.loginfo('Set chassis_mode to DISABLED')
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elif msg.chassis_mode == 1:
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self.state = State.ENABLED
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rospy.loginfo('Set chassis_mode to ENABLED')
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elif msg.chassis_mode == 2:
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self.state = State.PASSIVE
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rospy.loginfo('Set chassis_mode to PASSIVE')
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elif msg.chassis_mode == 3:
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self.state = State.STOPPED
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rospy.loginfo('Set chassis_mode to STOPPED')
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def enable_chassis(self):
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req = RosSetChassisEnableCmd.Request()
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req.ros_set_chassis_enable_cmd = True
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self.chassis_enable_client.call_async(req)
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self.state = State.ENABLED
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self.get_logger().info('Enabling chassis...')
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try:
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self.chassis_enable_client(True)
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self.state = State.ENABLED
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rospy.loginfo('Enabling chassis...')
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except rospy.ServiceException as e:
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rospy.logerr(f'Failed to enable chassis: {e}')
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def pause_chassis(self):
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req = RosSetChassisEnableCmd.Request()
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req.ros_set_chassis_enable_cmd = False
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self.chassis_enable_client.call_async(req)
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self.state = State.PAUSED
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self.get_logger().info('Pausing chassis...')
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try:
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self.chassis_enable_client(False)
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self.state = State.PAUSED
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rospy.loginfo('Pausing chassis...')
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except rospy.ServiceException as e:
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rospy.logerr(f'Failed to pause chassis: {e}')
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def disable_chassis(self):
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req = RosSetChassisEnableCmd.Request()
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req.ros_set_chassis_enable_cmd = False
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self.chassis_enable_client.call_async(req)
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self.state = State.DISABLED
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self.get_logger().info('Disabling chassis...')
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try:
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self.chassis_enable_client(False)
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self.state = State.DISABLED
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rospy.loginfo('Disabling chassis...')
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except rospy.ServiceException as e:
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rospy.logerr(f'Failed to disable chassis: {e}')
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def joy_callback(self, msg):
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start_button = msg.buttons[7] # Joystick button 'start'
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select_button = msg.buttons[6] # Joystick button 'select'
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start_button = msg.buttons[7] # Joystick button 'start'
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select_button = msg.buttons[6] # Joystick button 'select'
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if start_button == 1:
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self.get_logger().info("State: ENABLED (Button 'start')")
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rospy.loginfo("State: ENABLED (Button 'start')")
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self.enable_chassis()
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self.timeout = 20
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if select_button == 1:
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self.get_logger().info("State: DISABLED (Button 'select')")
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rospy.loginfo("State: DISABLED (Button 'select')")
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self.pause_chassis()
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def cmd_vel_callback(self, msg):
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# Should be called everytime a new cmd_vel is received on /cmd_vel_mux
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# This method shall only update the latest_cmd_vel attribute so it can be republished by the timer_callback with 100 HZ. Should have a look at performance though.
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self.latest_cmd_vel = msg
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# Will also derive the absolute values of the linear and angular velocity
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self.abs_x = abs(msg.linear.x)
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self.abs_z = abs(msg.angular.z)
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# Reset timeout when receiving commands
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self.timeout = 20.0
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def timer_callback(self):
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if self.state == State.PAUSED or self.state == State.STOPPED or self.state == State.PASSIVE:
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return # Do nothing if chassis is disabled, stopped or passive --> should save processing power
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def timer_callback(self, event):
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if self.state in [State.PAUSED, State.STOPPED, State.PASSIVE]:
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return
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if self.state == State.ENABLED:
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if self.timeout <= 0:
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self.state = State.DISABLED
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self.get_logger().info("State: DISABLED (Timeout)")
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rospy.loginfo("State: DISABLED (Timeout)")
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self.disable_chassis()
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else:
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self.timeout -= 0.01 # at a rate of 100 Hz this equals to -1 per second.
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self.timeout -= 0.01
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self.cmd_vel_pub.publish(self.latest_cmd_vel)
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if self.state == State.DISABLED and (self.abs_x > 0.002 or self.abs_z > 0.002): # This is a hack to enable the chassis when receiving commands e.g. from Nav2
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if self.state == State.DISABLED and (self.abs_x > 0.002 or self.abs_z > 0.002):
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self.state = State.ENABLED
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self.get_logger().info("State: ENABLED (cmd_vel)")
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rospy.loginfo("State: ENABLED (cmd_vel)")
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self.enable_chassis()
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def main(args=None):
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rclpy.init(args=args)
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if __name__ == '__main__':
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node = StateMachineNode()
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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rospy.spin()
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except rospy.ROSInterruptException:
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pass
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finally:
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node.disable_chassis()
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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rospy.loginfo('Shutting down node...')
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@ -1,4 +0,0 @@
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[develop]
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script_dir=$base/lib/rmp220_middleware
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[install]
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install_scripts=$base/lib/rmp220_middleware
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26
setup.py
26
setup.py
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from setuptools import setup
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package_name = 'rmp220_middleware'
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setup(
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name=package_name,
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version='0.0.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='bjorn',
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maintainer_email='bjoern.ellensohn@gmail.com',
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description='TODO: Package description',
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license='TODO: License declaration',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'rmp220_middleware = rmp220_middleware.rmp220_middleware:main'
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],
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},
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)
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@ -1,25 +0,0 @@
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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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||||
#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
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# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
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from ament_copyright.main import main
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import pytest
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# Remove the `skip` decorator once the source file(s) have a copyright header
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@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
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@pytest.mark.copyright
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@pytest.mark.linter
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def test_copyright():
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rc = main(argv=['.', 'test'])
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assert rc == 0, 'Found errors'
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@ -1,25 +0,0 @@
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# Copyright 2017 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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||||
# You may obtain a copy of the License at
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||||
#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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||||
# limitations under the License.
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from ament_flake8.main import main_with_errors
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import pytest
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@pytest.mark.flake8
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@pytest.mark.linter
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def test_flake8():
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rc, errors = main_with_errors(argv=[])
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assert rc == 0, \
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'Found %d code style errors / warnings:\n' % len(errors) + \
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'\n'.join(errors)
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@ -1,23 +0,0 @@
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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
|
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
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||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
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||||
# limitations under the License.
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from ament_pep257.main import main
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import pytest
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@pytest.mark.linter
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@pytest.mark.pep257
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def test_pep257():
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rc = main(argv=['.', 'test'])
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assert rc == 0, 'Found code style errors / warnings'
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Loading…
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Block a user