commit 307a3f8a53ce78c917d41771623cfe33c5b1b2e6 Author: jazzpi Date: Thu Nov 17 17:58:33 2022 +0100 Initial commit diff --git a/.clangd b/.clangd new file mode 100644 index 0000000..978acb6 --- /dev/null +++ b/.clangd @@ -0,0 +1,2 @@ +CompileFlags: + CompilationDatabase: ../../build/rideheight_sensing/ diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..f7463bd --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +.vscode/ +.cache/ diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..43e6993 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,227 @@ +cmake_minimum_required(VERSION 3.0.2) +project(rideheight_sensing) + +find_package(catkin_simple REQUIRED) +catkin_simple(ALL_DEPS_REQUIRED) + +set(CMAKE_CXX_STANDARD 11) + +find_library(I2C_LIBRARY i2c REQUIRED) +if ("${I2C_LIBRARY}" STREQUAL "I2C_LIBRARY-NOTFOUND") + message(FATAL_ERROR "libi2c not found!") +else() + message("libi2c found at ${I2C_LIBRARY}") +endif() + +cs_add_executable(${PROJECT_NAME} + src/rideheight_sensing_node.cpp + src/rideheight_sensing.cpp +) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${I2C_LIBRARY} +) + +cs_install() +cs_export() + +## 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) + +## 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 # Or other packages containing 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 rideheight_sensing +# CATKIN_DEPENDS other_catkin_pkg +# 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/${PROJECT_NAME}/rideheight_sensing.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/rideheight_sensing_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 ## +############# + +# 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 +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${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_rideheight_sensing.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/include/rideheight_sensing/rideheight_sensing.h b/include/rideheight_sensing/rideheight_sensing.h new file mode 100644 index 0000000..4ea69d8 --- /dev/null +++ b/include/rideheight_sensing/rideheight_sensing.h @@ -0,0 +1,22 @@ +#pragma once + +#include + +namespace rh_sensing +{ +class RideheightSensing +{ +public: + RideheightSensing(ros::NodeHandle nh, ros::NodeHandle nh_private); + + void spin(); + +private: + ros::NodeHandle nh; + ros::NodeHandle nh_private; + + ros::Publisher vl6180x_pub; + ros::Publisher vl53l0x_pub; +}; + +} // namespace rh_sensing diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..8095c05 --- /dev/null +++ b/package.xml @@ -0,0 +1,62 @@ + + + rideheight_sensing + 0.0.0 + The rideheight_sensing package + + + + + root + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + catkin_simple + + roscpp + sensor_msgs + + + + + + + diff --git a/src/rideheight_sensing.cpp b/src/rideheight_sensing.cpp new file mode 100644 index 0000000..7921ca3 --- /dev/null +++ b/src/rideheight_sensing.cpp @@ -0,0 +1,33 @@ +#include "rideheight_sensing/rideheight_sensing.h" + +#include + +namespace rh_sensing +{ +RideheightSensing::RideheightSensing(ros::NodeHandle nh, ros::NodeHandle nh_private) + : nh{ nh } + , nh_private{ nh_private } + , vl6180x_pub{ nh.advertise("vl6180x", 10) } + , vl53l0x_pub{ nh.advertise("vl53l0x", 10) } +{ +} + +void RideheightSensing::spin() +{ + sensor_msgs::Range vl6180x_msg, vl53l0x_msg; + vl6180x_msg.radiation_type = vl53l0x_msg.radiation_type = sensor_msgs::Range::INFRARED; + vl6180x_msg.field_of_view = vl53l0x_msg.field_of_view = 25.0f / 180 * M_PI; + vl6180x_msg.min_range = 0.005f; + vl6180x_msg.max_range = 0.1f; + vl53l0x_msg.min_range = 0.05f; + vl53l0x_msg.max_range = 1.0f; + + ros::Rate loop_rate(10); + while (ros::ok()) + { + ros::spinOnce(); + loop_rate.sleep(); + } +} + +} // namespace rh_sensing diff --git a/src/rideheight_sensing_node.cpp b/src/rideheight_sensing_node.cpp new file mode 100644 index 0000000..d2c08fd --- /dev/null +++ b/src/rideheight_sensing_node.cpp @@ -0,0 +1,15 @@ +#include "rideheight_sensing/rideheight_sensing.h" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "rh_sensing"); + + ros::NodeHandle nh; + ros::NodeHandle nh_private("~"); + + rh_sensing::RideheightSensing sensing(nh, nh_private); + + sensing.spin(); + + return 0; +}