Big push
This commit is contained in:
wittenator
parent
8383aae8ff
commit
be853eea93
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@ -0,0 +1,14 @@
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# build ROS2 Iron src in container and install depenedencies with rosdep
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FROM ros:iron
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ADD src /root/ros2_ws/src
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RUN apt-get update && apt-get install -y \
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python3-argcomplete \
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python3-colcon-common-extensions \
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python3-vcstool \
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&& rm -rf /var/lib/apt/lists/*
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CMD ["bash"]
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@ -0,0 +1,10 @@
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# docker compose file for the ROS2 Iron project
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version: '3'
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services:
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ft24:
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build: .
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command: bash
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volumes:
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- ./src:/root/ros2_ws/src
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@ -3,34 +3,38 @@
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<ros2_control name="RealRobot" type="system">
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<ros2_control name="RealRobot" type="system">
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<hardware>
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<hardware>
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<plugin>ros2_control_can/Ros2ControlCAN</plugin>
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<plugin>ros2_control_can/Ros2ControlCAN</plugin>
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<param name="left_wheel_name">left_wheel_joint</param>
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<param name="front_left_wheel_name">front_left_steer_joint</param>
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<param name="right_wheel_name">right_wheel_joint</param>
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<param name="front_right_wheel_name">front_right_steer_joint</param>
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<param name="loop_rate">30</param>
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<param name="rear_left_wheel_name">rear_left_wheel_joint</param>
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<param name="device">/dev/ttyUSB0</param>
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<param name="rear_right_wheel_name">rear_right_wheel_joint</param>
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<param name="baud_rate">57600</param>
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<param name="device">vcan0</param>
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<param name="timeout">1000</param>
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<param name="loop_rate">50</param>
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</hardware>
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</hardware>
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<!-- Note everything below here is the same as the Gazebo one -->
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<!-- Note everything below here is the same as the Gazebo one -->
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<joint name="left_wheel_joint">
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<joint name="rear_right_wheel_joint">
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<command_interface name="velocity">
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<command_interface name="velocity"/>
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<param name="min">-0.5</param>
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<param name="max">0.5</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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</joint>
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<joint name="right_wheel_joint">
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<joint name="rear_left_wheel_joint">
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<command_interface name="velocity">
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<command_interface name="velocity"/>
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<param name="min">-0.5</param>
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<param name="max">0.5</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<joint name="front_left_steer_joint">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<joint name="front_right_steer_joint">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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</joint>
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</ros2_control>
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</ros2_control>
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<gazebo>
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<gazebo>
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<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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<parameters>$(find ft24_control)/config/dcaiti_config.yml</parameters>
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<parameters>$(find ft24_control)/config/ft24_config.yml</parameters>
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</plugin>
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</plugin>
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</gazebo>
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</gazebo>
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</robot>
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</robot>
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</ros2_control>
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</ros2_control>
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<gazebo>
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<gazebo>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
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<parameters>$(find ft24_control)/config/dcaiti_config.yml</parameters>
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<parameters>$(find ft24_control)/config/ft24_config.yml</parameters>
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<parameters>$(find ft24_control)/config/gaz_ros2_ctl_sim.yml</parameters>
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<parameters>$(find ft24_control)/config/gaz_ros2_ctl_sim.yml</parameters>
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</plugin>
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</plugin>
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</gazebo>
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</gazebo>
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@ -41,7 +41,7 @@ def generate_launch_description():
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controller_params = os.path.join(
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controller_params = os.path.join(
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get_package_share_directory('ft24_control'), # <-- Replace with your package name
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get_package_share_directory('ft24_control'), # <-- Replace with your package name
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'config',
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'config',
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'dcaiti_config.yml'
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'ft24_config.yml'
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)
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)
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controller_manager = Node(
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controller_manager = Node(
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@ -55,7 +55,7 @@ def generate_launch_description():
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diff_drive_spawner = Node(
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diff_drive_spawner = Node(
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package="controller_manager",
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package="controller_manager",
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executable="spawner",
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executable="spawner",
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arguments=["diff_cont"],
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arguments=["ackermann_steering_controller"],
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)
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)
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joint_broad_spawner = Node(
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joint_broad_spawner = Node(
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@ -62,7 +62,6 @@ def generate_launch_description():
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arguments=[
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arguments=[
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'/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
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'/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
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'/boxes@vision_msgs/msg/Detection2DArray@ignition.msgs.AnnotatedAxisAligned2DBox_V',
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'/boxes@vision_msgs/msg/Detection2DArray@ignition.msgs.AnnotatedAxisAligned2DBox_V',
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'/lidar@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan',
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'/lidar/points@sensor_msgs/msg/PointCloud2@ignition.msgs.PointCloudPacked',
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'/lidar/points@sensor_msgs/msg/PointCloud2@ignition.msgs.PointCloudPacked',
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'lidar/imu@sensor_msgs/msg/Imu@gz.msgs.IMU'
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'lidar/imu@sensor_msgs/msg/Imu@gz.msgs.IMU'
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],
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],
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spawn_entity,
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spawn_entity,
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delayed_diff_drive_spawner,
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delayed_diff_drive_spawner,
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delayed_joint_broad_spawner,
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delayed_joint_broad_spawner,
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imu_covariance_adder,
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#imu_covariance_adder,
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#ukf_node
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#ukf_node
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])
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])
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@ -3,9 +3,19 @@
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<package format="3">
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<package format="3">
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<name>ft24_control </name>
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<name>ft24_control </name>
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<version>0.0.0</version>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<description>This package houses all ros2_control related code</description>
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<maintainer email="my_email@email.com">MY NAME</maintainer>
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<maintainer email="fake@email.com">Tim Korjakow</maintainer>
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<license>TODO: License declaration</license>
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<license>Todo</license>
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<depend>ros2_control</depend>
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<depend>ros2_controllers</depend>
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<depend>ros_gz</depend>
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<depend>robot_localization</depend>
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<depend>joint_state_publisher</depend>
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<depend>twist_mux</depend>
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<depend>gz_ros2_control</depend>
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<depend>robot_state_publisher</depend>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ament_cmake</buildtool_depend>
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@ -1,7 +1,7 @@
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<?xml version="1.0" ?>
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<sdf version="1.6">
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<world name="empty">
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<world name="empty">
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<physics name="phys" type="dart">
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<physics name="phys" type="ode">
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<max_step_size>0.005</max_step_size>
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<max_step_size>0.005</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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<real_time_factor>1.0</real_time_factor>
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<ode>
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<ode>
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@ -23,16 +23,41 @@ find_package(rclcpp REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(pluginlib REQUIRED)
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set( GENERATED_CAN_HEADER
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${CMAKE_CURRENT_SOURCE_DIR}/include/can1__main_ft24.h
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)
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set(
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GENERATED_CAN_SRC
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${CMAKE_CURRENT_SOURCE_DIR}/src/can1__main_ft24.cpp
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)
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add_custom_command(OUTPUT ${GENERATED_CAN_HEADER} ${GENERATED_CAN_SRC}
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COMMAND python3 -m cantools generate_c_source --prune ${CMAKE_CURRENT_SOURCE_DIR}/dbc/CAN1-MainFT24.dbc
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COMMAND mv ${CMAKE_CURRENT_SOURCE_DIR}/src/can1__main_ft24.h ${CMAKE_CURRENT_SOURCE_DIR}/include/can1__main_ft24.h
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COMMAND mv ${CMAKE_CURRENT_SOURCE_DIR}/src/can1__main_ft24.c ${CMAKE_CURRENT_SOURCE_DIR}/src/can1__main_ft24.cpp
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WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/src"
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DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/dbc/CAN1-MainFT24.dbc"
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PRE_BUILD
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COMMENT "Generating CAN header files and code from DBC file"
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VERBATIM
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)
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add_library(
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ros2_control_can
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SHARED
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src/ros2_control_can.cpp
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src/wheel.cpp
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${GENERATED_CAN_HEADER}
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${GENERATED_CAN_SRC}
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)
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add_library(ros2_control_can SHARED src/ros2_control_can.cpp src/wheel.cpp )
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target_include_directories(
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target_include_directories(
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ros2_control_can
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ros2_control_can
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PRIVATE
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PRIVATE
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include
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include
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)
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)
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ament_target_dependencies(
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ament_target_dependencies(
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ros2_control_can
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ros2_control_can
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hardware_interface
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hardware_interface
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@ -42,41 +67,20 @@ ament_target_dependencies(
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pluginlib
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pluginlib
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)
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)
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pluginlib_export_plugin_description_file(hardware_interface robot_hardware.xml)
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pluginlib_export_plugin_description_file(
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add_library(fake_robot SHARED src/fake_robot.cpp src/wheel.cpp)
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set_property(TARGET fake_robot PROPERTY POSITION_INDEPENDENT_CODE ON)
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target_include_directories(
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fake_robot
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PRIVATE
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include
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)
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ament_target_dependencies(
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fake_robot
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hardware_interface
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hardware_interface
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controller_manager
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robot_hardware.xml
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rclcpp
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rclcpp_lifecycle
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pluginlib
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)
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)
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pluginlib_export_plugin_description_file(hardware_interface fake_robot_hardware.xml)
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install(
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install(
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TARGETS ros2_control_can fake_robot
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TARGETS ros2_control_can
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DESTINATION lib
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DESTINATION lib
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)
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)
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ament_export_libraries(
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ament_export_libraries(
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ros2_control_can
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ros2_control_can
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fake_robot
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)
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)
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ament_export_dependencies(
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ament_export_dependencies(
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hardware_interface
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hardware_interface
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controller_manager
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controller_manager
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File diff suppressed because it is too large
Load Diff
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@ -1,93 +0,0 @@
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VERSION ""
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NS_ :
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NS_DESC_
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CM_
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BA_DEF_
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BA_
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VAL_
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CAT_DEF_
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CAT_
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FILTER
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BA_DEF_DEF_
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EV_DATA_
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ENVVAR_DATA_
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SGTYPE_
|
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SGTYPE_VAL_
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BA_DEF_SGTYPE_
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BA_SGTYPE_
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SIG_TYPE_REF_
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||||||
VAL_TABLE_
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SIG_GROUP_
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SIG_VALTYPE_
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SIGTYPE_VALTYPE_
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BO_TX_BU_
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BA_DEF_REL_
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||||||
BA_REL_
|
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||||||
BA_DEF_DEF_REL_
|
|
||||||
BU_SG_REL_
|
|
||||||
BU_EV_REL_
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BU_BO_REL_
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SG_MUL_VAL_
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|
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BS_:
|
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||||||
|
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BU_: ABX RES FS_Datalogger
|
|
||||||
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||||||
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BO_ 1072 FS_Datalogger_Status: 6 FS_Datalogger
|
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SG_ Current : 32|16@1+ (64,0) [0|4194240] "mA" ABX
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SG_ Voltage : 16|16@1+ (16,0) [0|1048560] "mV" ABX
|
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SG_ Status_Triggered_Current : 11|1@1- (1,0) [0|0] "" ABX
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SG_ Status_Triggered_Voltage : 10|1@1- (1,0) [0|0] "" ABX
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SG_ Status_Logging : 9|1@1- (1,0) [0|0] "" ABX
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SG_ Status_Ready : 8|1@1- (1,0) [0|0] "" ABX
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|
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SG_ MsgCnt : 0|8@1+ (1,0) [0|255] "" ABX
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||||||
|
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||||||
BO_ 1298 DV_ContinuousMonitoring: 1 ABX
|
|
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SG_ Pressure_charged : 5|1@1+ (1,0) [0|1] "bool" FS_Datalogger
|
|
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SG_ PDU_comm_alive : 2|1@1+ (1,0) [0|1] "bool" FS_Datalogger
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||||||
SG_ Position_sensors_closed : 4|1@1+ (1,0) [0|1] "bool" FS_Datalogger
|
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SG_ AS_error : 3|1@1+ (1,0) [0|1] "bool" FS_Datalogger
|
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SG_ AS_comm_alive : 1|1@1+ (1,0) [0|1] "bool" FS_Datalogger
|
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SG_ SDC_opened : 0|1@1+ (1,0) [0|1] "bool" FS_Datalogger
|
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||||||
|
|
||||||
BO_ 1280 DV_driving_dynamics_1: 8 ABX
|
|
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SG_ Speed_actual : 0|8@1+ (1,0) [0|250] "km/h" FS_Datalogger
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|
||||||
SG_ Speed_target : 8|8@1+ (1,0) [0|250] "km/h" FS_Datalogger
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|
||||||
SG_ Steering_angle_actual : 16|8@1- (0.5,0) [-60|60] "°" FS_Datalogger
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|
||||||
SG_ Steering_angle_target : 24|8@1- (0.5,0) [-60|60] "°" FS_Datalogger
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|
||||||
SG_ Brake_hydr_actual : 32|8@1+ (1,0) [0|100] "%" FS_Datalogger
|
|
||||||
SG_ Brake_hydr_target : 40|8@1+ (1,0) [0|100] "%" FS_Datalogger
|
|
||||||
SG_ Motor_moment_actual : 48|8@1- (1,0) [-100|100] "%" FS_Datalogger
|
|
||||||
SG_ Motor_moment_target : 56|8@1- (1,0) [-100|100] "%" FS_Datalogger
|
|
||||||
|
|
||||||
BO_ 1281 DV_driving_dynamics_2: 6 ABX
|
|
||||||
SG_ Acceleration_longitudinal : 0|16@1- (0.00195313,0) [-50|50] "m/s^2" FS_Datalogger
|
|
||||||
SG_ Acceleration_lateral : 16|16@1- (0.00195313,0) [-50|50] "m/s^2" FS_Datalogger
|
|
||||||
SG_ Yaw_rate : 32|16@1- (0.0078125,0) [-200|200] "°/s" FS_Datalogger
|
|
||||||
|
|
||||||
BO_ 1282 DV_system_status: 5 ABX
|
|
||||||
SG_ AS_state : 0|3@1+ (1,0) [1|5] "" FS_Datalogger
|
|
||||||
SG_ EBS_state : 3|2@1+ (1,0) [1|3] "" FS_Datalogger
|
|
||||||
SG_ AMI_state : 5|3@1+ (1,0) [1|6] "" FS_Datalogger
|
|
||||||
SG_ Steering_state : 8|1@1+ (1,0) [0|1] "" FS_Datalogger
|
|
||||||
SG_ Service_brake_state : 9|2@1+ (1,0) [1|3] "" FS_Datalogger
|
|
||||||
SG_ Lap_counter : 11|4@1+ (1,0) [0|10] "" FS_Datalogger
|
|
||||||
SG_ Cones_count_actual : 15|8@1+ (1,0) [0|250] "" FS_Datalogger
|
|
||||||
SG_ Cones_count_all : 23|17@1+ (1,0) [0|131000] "" FS_Datalogger
|
|
||||||
|
|
||||||
BO_ 1297 DV_SEBSS_Pressures: 8 ABX
|
|
||||||
SG_ EBS_Pressure_tank_A : 0|16@1+ (0.1,0) [0|50] "Bar" FS_Datalogger
|
|
||||||
SG_ EBS_Pressure_tank_B : 16|16@1+ (0.1,0) [0|50] "Bar" FS_Datalogger
|
|
||||||
SG_ Brake_Pressure_front : 32|16@1+ (0.1,0) [0|200] "Bar" FS_Datalogger
|
|
||||||
SG_ Brake_Pressure_rear : 48|16@1+ (0.1,0) [0|200] "Bar" FS_Datalogger
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
VAL_ 1282 AS_state 1 "AS_state_off" 2 "AS_state_ready" 3 "AS_state_driving" 4 "AS_state_emergency_brake" 5 "AS_state_finish" ;
|
|
||||||
VAL_ 1282 EBS_state 1 "EBS_state_unavailable" 2 "EBS_state_armed" 3 "EBS_state_activated" ;
|
|
||||||
VAL_ 1282 AMI_state 1 "AMI_state_acceleration" 2 "AMI_state_skidpad" 3 "AMI_state_trackdrive" 4 "AMI_state_braketest" 5 "AMI_state_inspection" 6 "AMI_state_autocross" ;
|
|
||||||
VAL_ 1282 Service_brake_state 1 "Service_brake_state_disengaged" 2 "Service_brake_state_engaged" 3 "Service_brake_state_available" ;
|
|
||||||
|
|
||||||
|
|
@ -1,9 +0,0 @@
|
||||||
<library path="fake_robot">
|
|
||||||
<class name="fake_robot/FakeRobot"
|
|
||||||
type="FakeRobot"
|
|
||||||
base_class_type="hardware_interface::SystemInterface">
|
|
||||||
<description>
|
|
||||||
The ROS2 Control minimal robot protocol. This is example for start porting the robot from ROS 1.
|
|
||||||
</description>
|
|
||||||
</class>
|
|
||||||
</library>
|
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -6,13 +6,12 @@
|
||||||
|
|
||||||
struct Config
|
struct Config
|
||||||
{
|
{
|
||||||
std::string left_wheel_name = "left_wheel";
|
std::string front_left_wheel_name = "front_left_wheel";
|
||||||
std::string right_wheel_name = "right_wheel";
|
std::string front_right_wheel_name = "front_right_wheel";
|
||||||
float loop_rate = 30;
|
std::string rear_left_wheel_name = "rear_left_wheel";
|
||||||
std::string device = "/dev/ttyUSB0";
|
std::string rear_right_wheel_name = "rear_right_wheel";
|
||||||
int baud_rate = 115200;
|
float loop_rate = 50;
|
||||||
int timeout = 1000;
|
std::string device = "vcan0";
|
||||||
int enc_counts_per_rev = 1920;
|
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -12,6 +12,7 @@
|
||||||
|
|
||||||
#include "config.h"
|
#include "config.h"
|
||||||
#include "wheel.h"
|
#include "wheel.h"
|
||||||
|
#include "can1__main_ft24.h"
|
||||||
|
|
||||||
using hardware_interface::CallbackReturn;
|
using hardware_interface::CallbackReturn;
|
||||||
using hardware_interface::return_type;
|
using hardware_interface::return_type;
|
||||||
|
|
@ -44,13 +45,21 @@ private:
|
||||||
|
|
||||||
Config cfg_;
|
Config cfg_;
|
||||||
|
|
||||||
Wheel l_wheel_;
|
Wheel f_l_wheel_;
|
||||||
Wheel r_wheel_;
|
Wheel f_r_wheel_;
|
||||||
|
Wheel r_l_wheel_;
|
||||||
|
Wheel r_r_wheel_;
|
||||||
|
|
||||||
|
can1__main_ft24_jetson_tx_t tx_frame;
|
||||||
|
can1__main_ft24_jetson_rx_t rx_frame;
|
||||||
|
uint8_t can_buffer[64];
|
||||||
|
|
||||||
rclcpp::Logger logger_;
|
rclcpp::Logger logger_;
|
||||||
|
|
||||||
std::chrono::time_point<std::chrono::system_clock> time_;
|
std::chrono::time_point<std::chrono::system_clock> time_;
|
||||||
|
|
||||||
|
int socket_instance;
|
||||||
|
|
||||||
};
|
};
|
||||||
} // namespace ros2_control_can
|
} // namespace ros2_control_can
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -16,6 +16,7 @@ class Wheel
|
||||||
double vel = 0;
|
double vel = 0;
|
||||||
double eff = 0;
|
double eff = 0;
|
||||||
double velSetPt = 0;
|
double velSetPt = 0;
|
||||||
|
double steer = 0;
|
||||||
|
|
||||||
Wheel() = default;
|
Wheel() = default;
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -4,9 +4,12 @@
|
||||||
<version>0.0.1</version>
|
<version>0.0.1</version>
|
||||||
<description>Provides an interface between ROS2_control and a CAN device.</description>
|
<description>Provides an interface between ROS2_control and a CAN device.</description>
|
||||||
|
|
||||||
<maintainer email="josh.newans@gmail.com">Tim Korjakow</maintainer>
|
<maintainer email="fake@email.com">Tim Korjakow</maintainer>
|
||||||
<author email="josh.newans@gmail.com">Tim Korjakow</author>
|
<author>Tim Korjakow</author>
|
||||||
<license>BSD</license>
|
<license>Todo</license>
|
||||||
|
|
||||||
|
<depend>ros2_control</depend>
|
||||||
|
<depend>ros2_controllers</depend>
|
||||||
|
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
|
||||||
|
|
@ -18,7 +21,6 @@
|
||||||
<!-- <depend>rclcpp_lifecyle</depend> -->
|
<!-- <depend>rclcpp_lifecyle</depend> -->
|
||||||
|
|
||||||
|
|
||||||
<test_depend>ament_add_gmock</test_depend>
|
|
||||||
<test_depend>hardware_interface</test_depend>
|
<test_depend>hardware_interface</test_depend>
|
||||||
|
|
||||||
<export>
|
<export>
|
||||||
|
|
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,129 +0,0 @@
|
||||||
#include "ros2_control_can/fake_robot.h"
|
|
||||||
|
|
||||||
|
|
||||||
#include "hardware_interface/types/hardware_interface_type_values.hpp"
|
|
||||||
|
|
||||||
#include "rclcpp/rclcpp.hpp"
|
|
||||||
#include <string>
|
|
||||||
|
|
||||||
|
|
||||||
CallbackReturn FakeRobot::on_init(const hardware_interface::HardwareInfo & info)
|
|
||||||
{
|
|
||||||
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
|
|
||||||
{
|
|
||||||
return CallbackReturn::ERROR;
|
|
||||||
}
|
|
||||||
|
|
||||||
RCLCPP_INFO(logger_, "Configuring Fakerobot...");
|
|
||||||
|
|
||||||
time_ = std::chrono::system_clock::now();
|
|
||||||
|
|
||||||
cfg_.left_wheel_name = info_.hardware_parameters["left_wheel_name"];
|
|
||||||
cfg_.right_wheel_name = info_.hardware_parameters["right_wheel_name"];
|
|
||||||
|
|
||||||
|
|
||||||
// Set up the wheels
|
|
||||||
// Note: It doesn't matter that we haven't set encoder counts per rev
|
|
||||||
// since the fake robot bypasses the encoder code completely
|
|
||||||
|
|
||||||
l_wheel_.setup(cfg_.left_wheel_name);
|
|
||||||
r_wheel_.setup(cfg_.right_wheel_name);
|
|
||||||
|
|
||||||
RCLCPP_INFO(logger_, "Finished Configuration Fakerobot");
|
|
||||||
|
|
||||||
return CallbackReturn::SUCCESS;
|
|
||||||
}
|
|
||||||
|
|
||||||
std::vector<hardware_interface::StateInterface> FakeRobot::export_state_interfaces()
|
|
||||||
{
|
|
||||||
// We need to set up a position and a velocity interface for each wheel
|
|
||||||
|
|
||||||
std::vector<hardware_interface::StateInterface> state_interfaces;
|
|
||||||
|
|
||||||
state_interfaces.emplace_back(hardware_interface::StateInterface(l_wheel_.name, hardware_interface::HW_IF_VELOCITY, &l_wheel_.vel));
|
|
||||||
state_interfaces.emplace_back(hardware_interface::StateInterface(l_wheel_.name, hardware_interface::HW_IF_POSITION, &l_wheel_.pos));
|
|
||||||
state_interfaces.emplace_back(hardware_interface::StateInterface(r_wheel_.name, hardware_interface::HW_IF_VELOCITY, &r_wheel_.vel));
|
|
||||||
state_interfaces.emplace_back(hardware_interface::StateInterface(r_wheel_.name, hardware_interface::HW_IF_POSITION, &r_wheel_.pos));
|
|
||||||
|
|
||||||
return state_interfaces;
|
|
||||||
}
|
|
||||||
|
|
||||||
std::vector<hardware_interface::CommandInterface> FakeRobot::export_command_interfaces()
|
|
||||||
{
|
|
||||||
// We need to set up a velocity command interface for each wheel
|
|
||||||
|
|
||||||
std::vector<hardware_interface::CommandInterface> command_interfaces;
|
|
||||||
|
|
||||||
command_interfaces.emplace_back(hardware_interface::CommandInterface(l_wheel_.name, hardware_interface::HW_IF_VELOCITY, &l_wheel_.cmd));
|
|
||||||
command_interfaces.emplace_back(hardware_interface::CommandInterface(r_wheel_.name, hardware_interface::HW_IF_VELOCITY, &r_wheel_.cmd));
|
|
||||||
|
|
||||||
return command_interfaces;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#if OLD_ROS_CONTROL_SIGNATURE
|
|
||||||
return_type FakeRobot::read()
|
|
||||||
#else
|
|
||||||
return_type FakeRobot::read(const rclcpp::Time & /* time */, const rclcpp::Duration & /* period */)
|
|
||||||
#endif
|
|
||||||
{
|
|
||||||
|
|
||||||
// TODO fix chrono duration
|
|
||||||
|
|
||||||
// Calculate time delta
|
|
||||||
auto new_time = std::chrono::system_clock::now();
|
|
||||||
std::chrono::duration<double> diff = new_time - time_;
|
|
||||||
double deltaSeconds = diff.count();
|
|
||||||
time_ = new_time;
|
|
||||||
|
|
||||||
|
|
||||||
// Force the wheel position
|
|
||||||
l_wheel_.pos = l_wheel_.pos + l_wheel_.vel * deltaSeconds;
|
|
||||||
r_wheel_.pos = r_wheel_.pos + r_wheel_.vel * deltaSeconds;
|
|
||||||
|
|
||||||
return return_type::OK;
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
#if OLD_ROS_CONTROL_SIGNATURE
|
|
||||||
return_type FakeRobot::write()
|
|
||||||
#else
|
|
||||||
return_type FakeRobot::write(const rclcpp::Time & /* time */, const rclcpp::Duration & /* period */)
|
|
||||||
#endif
|
|
||||||
{
|
|
||||||
|
|
||||||
// Set the wheel velocities to directly match what is commanded
|
|
||||||
|
|
||||||
l_wheel_.vel = l_wheel_.cmd;
|
|
||||||
r_wheel_.vel = r_wheel_.cmd;
|
|
||||||
|
|
||||||
|
|
||||||
return return_type::OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
#if OLD_ROS_CONTROL_SIGNATURE
|
|
||||||
CallbackReturn FakeRobot::on_activate(const rclcpp_lifecycle::State & /* previous_state */, const rclcpp_lifecycle::State & /* current_state */)
|
|
||||||
#else
|
|
||||||
CallbackReturn FakeRobot::on_activate(const rclcpp_lifecycle::State & /* previous_state */)
|
|
||||||
#endif
|
|
||||||
{
|
|
||||||
RCLCPP_INFO(logger_, "Starting Controller...");
|
|
||||||
|
|
||||||
return CallbackReturn::SUCCESS;
|
|
||||||
}
|
|
||||||
|
|
||||||
CallbackReturn FakeRobot::on_deactivate(const rclcpp_lifecycle::State & /* previous_state */)
|
|
||||||
{
|
|
||||||
RCLCPP_INFO(logger_, "Stopping Controller...");
|
|
||||||
|
|
||||||
return CallbackReturn::SUCCESS;
|
|
||||||
}
|
|
||||||
|
|
||||||
#include "pluginlib/class_list_macros.hpp"
|
|
||||||
|
|
||||||
PLUGINLIB_EXPORT_CLASS(
|
|
||||||
FakeRobot,
|
|
||||||
hardware_interface::SystemInterface
|
|
||||||
)
|
|
||||||
|
|
@ -7,6 +7,13 @@
|
||||||
#include "rclcpp/rclcpp.hpp"
|
#include "rclcpp/rclcpp.hpp"
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|
||||||
|
#include <net/if.h>
|
||||||
|
#include <sys/ioctl.h>
|
||||||
|
#include <sys/socket.h>
|
||||||
|
|
||||||
|
#include <linux/can.h>
|
||||||
|
#include <linux/can/raw.h>
|
||||||
|
|
||||||
#define RADSTORPM(a)(a*60.0/(2.0*M_PI))
|
#define RADSTORPM(a)(a*60.0/(2.0*M_PI))
|
||||||
#define RPMSTORADS(a)(a*2.0*M_PI/60.0)
|
#define RPMSTORADS(a)(a*2.0*M_PI/60.0)
|
||||||
#define REVSTORAD(a)(a*2.0*M_PI)
|
#define REVSTORAD(a)(a*2.0*M_PI)
|
||||||
|
|
@ -23,27 +30,29 @@ Ros2ControlCAN::Ros2ControlCAN()
|
||||||
CallbackReturn Ros2ControlCAN::on_init(const hardware_interface::HardwareInfo & info)
|
CallbackReturn Ros2ControlCAN::on_init(const hardware_interface::HardwareInfo & info)
|
||||||
{
|
{
|
||||||
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
|
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
|
||||||
{
|
{
|
||||||
return CallbackReturn::ERROR;
|
return CallbackReturn::ERROR;
|
||||||
}
|
}
|
||||||
|
|
||||||
RCLCPP_INFO(logger_, "Configuring...");
|
RCLCPP_INFO(logger_, "Configuring...");
|
||||||
|
|
||||||
time_ = std::chrono::system_clock::now();
|
time_ = std::chrono::system_clock::now();
|
||||||
|
|
||||||
cfg_.left_wheel_name = info_.hardware_parameters["left_wheel_name"];
|
cfg_.front_left_wheel_name = info_.hardware_parameters["front_left_wheel_name"];
|
||||||
cfg_.right_wheel_name = info_.hardware_parameters["right_wheel_name"];
|
cfg_.front_right_wheel_name = info_.hardware_parameters["front_right_wheel_name"];
|
||||||
|
cfg_.rear_left_wheel_name = info_.hardware_parameters["rear_left_wheel_name"];
|
||||||
|
cfg_.rear_right_wheel_name = info_.hardware_parameters["rear_right_wheel_name"];
|
||||||
cfg_.loop_rate = std::stof(info_.hardware_parameters["loop_rate"]);
|
cfg_.loop_rate = std::stof(info_.hardware_parameters["loop_rate"]);
|
||||||
cfg_.device = info_.hardware_parameters["device"];
|
cfg_.device = info_.hardware_parameters["device"];
|
||||||
cfg_.baud_rate = std::stoi(info_.hardware_parameters["baud_rate"]);
|
|
||||||
cfg_.timeout = std::stoi(info_.hardware_parameters["timeout"]);
|
|
||||||
|
|
||||||
// Set up the wheels
|
// Set up the wheels
|
||||||
l_wheel_.setup(cfg_.left_wheel_name);
|
f_l_wheel_.setup(cfg_.front_left_wheel_name);
|
||||||
r_wheel_.setup(cfg_.right_wheel_name);
|
f_r_wheel_.setup(cfg_.front_right_wheel_name);
|
||||||
|
r_l_wheel_.setup(cfg_.front_left_wheel_name);
|
||||||
|
r_r_wheel_.setup(cfg_.front_right_wheel_name);
|
||||||
|
|
||||||
// Set up the Arduino
|
// init tx frame
|
||||||
//arduino_.setup(cfg_.device, cfg_.baud_rate, cfg_.timeout);
|
can1__main_ft24_jetson_tx_init(&tx_frame);
|
||||||
|
|
||||||
RCLCPP_INFO(logger_, "Finished Configuration");
|
RCLCPP_INFO(logger_, "Finished Configuration");
|
||||||
|
|
||||||
|
|
@ -56,10 +65,12 @@ std::vector<hardware_interface::StateInterface> Ros2ControlCAN::export_state_int
|
||||||
|
|
||||||
std::vector<hardware_interface::StateInterface> state_interfaces;
|
std::vector<hardware_interface::StateInterface> state_interfaces;
|
||||||
|
|
||||||
state_interfaces.emplace_back(hardware_interface::StateInterface(l_wheel_.name, hardware_interface::HW_IF_VELOCITY, &l_wheel_.vel));
|
state_interfaces.emplace_back(hardware_interface::StateInterface(f_l_wheel_.name, hardware_interface::HW_IF_POSITION, &f_l_wheel_.steer));
|
||||||
state_interfaces.emplace_back(hardware_interface::StateInterface(l_wheel_.name, hardware_interface::HW_IF_POSITION, &l_wheel_.pos));
|
state_interfaces.emplace_back(hardware_interface::StateInterface(f_r_wheel_.name, hardware_interface::HW_IF_POSITION, &f_r_wheel_.steer));
|
||||||
state_interfaces.emplace_back(hardware_interface::StateInterface(r_wheel_.name, hardware_interface::HW_IF_VELOCITY, &r_wheel_.vel));
|
state_interfaces.emplace_back(hardware_interface::StateInterface(r_l_wheel_.name, hardware_interface::HW_IF_VELOCITY, &r_l_wheel_.vel));
|
||||||
state_interfaces.emplace_back(hardware_interface::StateInterface(r_wheel_.name, hardware_interface::HW_IF_POSITION, &r_wheel_.pos));
|
state_interfaces.emplace_back(hardware_interface::StateInterface(r_r_wheel_.name, hardware_interface::HW_IF_VELOCITY, &r_r_wheel_.vel));
|
||||||
|
state_interfaces.emplace_back(hardware_interface::StateInterface(r_l_wheel_.name, hardware_interface::HW_IF_POSITION, &r_l_wheel_.pos));
|
||||||
|
state_interfaces.emplace_back(hardware_interface::StateInterface(r_r_wheel_.name, hardware_interface::HW_IF_POSITION, &r_r_wheel_.pos));
|
||||||
|
|
||||||
return state_interfaces;
|
return state_interfaces;
|
||||||
}
|
}
|
||||||
|
|
@ -70,8 +81,10 @@ std::vector<hardware_interface::CommandInterface> Ros2ControlCAN::export_command
|
||||||
|
|
||||||
std::vector<hardware_interface::CommandInterface> command_interfaces;
|
std::vector<hardware_interface::CommandInterface> command_interfaces;
|
||||||
|
|
||||||
command_interfaces.emplace_back(hardware_interface::CommandInterface(l_wheel_.name, hardware_interface::HW_IF_VELOCITY, &l_wheel_.cmd));
|
command_interfaces.emplace_back(hardware_interface::CommandInterface(f_l_wheel_.name, hardware_interface::HW_IF_POSITION, &f_l_wheel_.steer));
|
||||||
command_interfaces.emplace_back(hardware_interface::CommandInterface(r_wheel_.name, hardware_interface::HW_IF_VELOCITY, &r_wheel_.cmd));
|
command_interfaces.emplace_back(hardware_interface::CommandInterface(f_r_wheel_.name, hardware_interface::HW_IF_POSITION, &f_r_wheel_.steer));
|
||||||
|
command_interfaces.emplace_back(hardware_interface::CommandInterface(r_l_wheel_.name, hardware_interface::HW_IF_VELOCITY, &r_l_wheel_.vel));
|
||||||
|
command_interfaces.emplace_back(hardware_interface::CommandInterface(r_r_wheel_.name, hardware_interface::HW_IF_VELOCITY, &r_r_wheel_.vel));
|
||||||
|
|
||||||
return command_interfaces;
|
return command_interfaces;
|
||||||
}
|
}
|
||||||
|
|
@ -80,13 +93,44 @@ CallbackReturn Ros2ControlCAN::on_activate(const rclcpp_lifecycle::State & previ
|
||||||
{
|
{
|
||||||
RCLCPP_INFO(logger_, "Starting Controller...");
|
RCLCPP_INFO(logger_, "Starting Controller...");
|
||||||
|
|
||||||
return CallbackReturn::SUCCESS;
|
if ((socket_instance = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
|
||||||
}
|
perror("Socket");
|
||||||
|
return CallbackReturn::ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
struct ifreq ifr;
|
||||||
|
const char *cstr = cfg_.device.c_str();
|
||||||
|
strcpy(ifr.ifr_name, cstr );
|
||||||
|
ioctl(socket_instance, SIOCGIFINDEX, &ifr);
|
||||||
|
|
||||||
|
struct sockaddr_can addr;
|
||||||
|
memset(&addr, 0, sizeof(addr));
|
||||||
|
addr.can_family = AF_CAN;
|
||||||
|
addr.can_ifindex = ifr.ifr_ifindex;
|
||||||
|
if (bind(socket_instance, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
|
||||||
|
perror("Bind");
|
||||||
|
return CallbackReturn::ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
struct can_filter rfilter[1];
|
||||||
|
rfilter[0].can_id = 0x550;
|
||||||
|
rfilter[0].can_mask = 0xFF0;
|
||||||
|
//rfilter[1].can_id = 0x200;
|
||||||
|
//rfilter[1].can_mask = 0x700;
|
||||||
|
setsockopt(socket_instance, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
|
||||||
|
|
||||||
|
return CallbackReturn::SUCCESS;
|
||||||
|
}
|
||||||
|
|
||||||
CallbackReturn Ros2ControlCAN::on_deactivate(const rclcpp_lifecycle::State & previous_state)
|
CallbackReturn Ros2ControlCAN::on_deactivate(const rclcpp_lifecycle::State & previous_state)
|
||||||
{
|
{
|
||||||
RCLCPP_INFO(logger_, "Stopping Controller...");
|
RCLCPP_INFO(logger_, "Stopping Controller...");
|
||||||
|
|
||||||
|
if (close(socket_instance) < 0) {
|
||||||
|
perror("Close");
|
||||||
|
return CallbackReturn::ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
return CallbackReturn::SUCCESS;
|
return CallbackReturn::SUCCESS;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -101,20 +145,17 @@ return_type Ros2ControlCAN::read(const rclcpp::Time & /* time */, const rclcpp::
|
||||||
double deltaSeconds = diff.count();
|
double deltaSeconds = diff.count();
|
||||||
time_ = new_time;
|
time_ = new_time;
|
||||||
|
|
||||||
|
|
||||||
if (false)
|
if (false)
|
||||||
{
|
{
|
||||||
return return_type::ERROR;
|
return return_type::ERROR;
|
||||||
}
|
}
|
||||||
|
|
||||||
//arduino_.readEncoderValues(l_wheel_.vel, r_wheel_.vel, l_wheel_.pos, r_wheel_.pos);
|
|
||||||
// convert rpm to rad/s
|
// convert rpm to rad/s
|
||||||
l_wheel_.vel = RPMSTORADS(l_wheel_.vel);
|
//l_wheel_.vel = RPMSTORADS(l_wheel_.vel);
|
||||||
r_wheel_.vel = RPMSTORADS(r_wheel_.vel);
|
//r_wheel_.vel = RPMSTORADS(r_wheel_.vel);
|
||||||
|
|
||||||
|
|
||||||
// convert rev to rad
|
|
||||||
l_wheel_.pos = REVSTORAD(l_wheel_.pos);
|
|
||||||
r_wheel_.pos = REVSTORAD(r_wheel_.pos);
|
|
||||||
return return_type::OK;
|
return return_type::OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -124,8 +165,27 @@ return_type Ros2ControlCAN::write(const rclcpp::Time & /* time */, const rclcpp:
|
||||||
{
|
{
|
||||||
return return_type::ERROR;
|
return return_type::ERROR;
|
||||||
}
|
}
|
||||||
// convert rad/s to rpm and write to motors
|
|
||||||
//arduino_.setMotorValues(RADSTORPM(l_wheel_.cmd), RADSTORPM(r_wheel_.cmd));
|
// send can frame
|
||||||
|
tx_frame.jetson_steering_angle = can1__main_ft24_jetson_tx_jetson_steering_angle_encode((f_l_wheel_.steer + f_r_wheel_.steer)/2.0);
|
||||||
|
|
||||||
|
// pack tx_frame
|
||||||
|
int tx_size = can1__main_ft24_jetson_tx_pack(can_buffer, &tx_frame, 64);
|
||||||
|
|
||||||
|
if (tx_size < 0) {
|
||||||
|
perror("Pack");
|
||||||
|
return return_type::ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
// send tx_frame
|
||||||
|
struct can_frame frame;
|
||||||
|
frame.can_id = 0x550;
|
||||||
|
frame.can_dlc = tx_size;
|
||||||
|
memcpy(frame.data, can_buffer, tx_size);
|
||||||
|
if (::write(socket_instance, &frame, sizeof(struct can_frame)) < 0) {
|
||||||
|
perror("Write");
|
||||||
|
return return_type::ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
return return_type::OK;
|
return return_type::OK;
|
||||||
}
|
}
|
||||||
|
|
|
||||||
59
start.bash
59
start.bash
|
|
@ -1,59 +0,0 @@
|
||||||
#!/bin/bash
|
|
||||||
|
|
||||||
DCAITI_PATH=.
|
|
||||||
|
|
||||||
# Define your windows, working dirs, and commands
|
|
||||||
declare -a windows=(
|
|
||||||
"performance"
|
|
||||||
"robot_control"
|
|
||||||
"remote_control"
|
|
||||||
"lidar"
|
|
||||||
# "slam"
|
|
||||||
"nav2"
|
|
||||||
)
|
|
||||||
declare -a work_dirs=(
|
|
||||||
$HOME
|
|
||||||
$DCAITI_PATH
|
|
||||||
$DCAITI_PATH/src/dcaitirobot/launch
|
|
||||||
$DCAITI_PATH
|
|
||||||
# $DCAITI_PATH/src/dcaitirobot/launch
|
|
||||||
$DCAITI_PATH/src/dcaiti_navigation/launch
|
|
||||||
)
|
|
||||||
declare -a commands=(
|
|
||||||
"htop"
|
|
||||||
"ros2 launch ft24_control launch_robot.py"
|
|
||||||
"ros2 launch remote_control_launch.py"
|
|
||||||
"ros2 launch velodyne velodyne-all-nodes-VLP16-launch.py"
|
|
||||||
# "ros2 launch launch_slam.py"
|
|
||||||
"ros2 launch start_nav2.py"
|
|
||||||
)
|
|
||||||
|
|
||||||
# Start tmux
|
|
||||||
tmux start-server
|
|
||||||
|
|
||||||
SESSION=dcaiti
|
|
||||||
|
|
||||||
# Create a new session without attaching yet
|
|
||||||
tmux new-session -d -s $SESSION
|
|
||||||
|
|
||||||
# Iterate over sessions array and create them
|
|
||||||
for index in ${!windows[*]}; do
|
|
||||||
window=${windows[$index]}
|
|
||||||
work_dir=${work_dirs[$index]}
|
|
||||||
command=${commands[$index]}
|
|
||||||
|
|
||||||
# If it's the first window, rename the existing window, otherwise create a new one
|
|
||||||
if [ $index -eq 0 ]; then
|
|
||||||
tmux rename-window -t $SESSION:0 $window
|
|
||||||
else
|
|
||||||
tmux new-window -t $SESSION -n $window
|
|
||||||
fi
|
|
||||||
|
|
||||||
# Switch to work_dir and execute the command
|
|
||||||
tmux send-keys -t $SESSION:$window "cd $work_dir" C-m
|
|
||||||
tmux send-keys -t $SESSION:$window "$command" C-m
|
|
||||||
done
|
|
||||||
|
|
||||||
# Finally attach to the tmux session
|
|
||||||
tmux attach-session -t $SESSION
|
|
||||||
|
|
||||||
Loading…
Reference in New Issue