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MarcoDotIOMarcoDotIO
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feat: implement animation recorder
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‎coffee_ws/motion_recorder_msgs/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(motion_recorder_msgs)
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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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find_package(std_msgs REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"srv/SaveMotion.srv"
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"srv/LoadMotion.srv"
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"srv/ListMotions.srv"
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DEPENDENCIES std_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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endif()
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ament_package()

‎coffee_ws/motion_recorder_msgs/package.xml‎

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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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<name>motion_recorder_msgs</name>
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<version>0.0.0</version>
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<description>Message definitions for motion recorder package</description>
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<maintainer email="[email protected]">kpatch</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>std_msgs</depend>
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎coffee_ws/motion_recorder_msgs/srv/ListMotions.srv‎

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# Empty request
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---
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bool success # Whether the operation was successful
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string message # Success/error message
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string[] motion_list # List of available motion names

‎coffee_ws/motion_recorder_msgs/srv/LoadMotion.srv‎

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string name # Motion name to load
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---
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bool success # Whether the operation was successful
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string message # Additional information or error message

‎coffee_ws/motion_recorder_msgs/srv/SaveMotion.srv‎

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string name # Motion name to save
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---
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bool success # Whether the operation was successful
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string message # Additional information or error message

‎coffee_ws/src/motion_recorder/README.md‎

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# Motion Recorder
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A ROS2 package for recording and playing back motion sequences for Dynamixel servo-controlled robot head. This package allows you to manually position your robot's head and record the motion for later playback.
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## Features
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- Record head motion by manually moving it with torque disabled
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- Mark keyframes during recording to identify important positions
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- Save and load motion sequences
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- Play back recorded motion sequences with smooth interpolation
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- User-friendly Qt-based interface
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## Requirements
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- ROS2 (Jazzy or compatible)
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- Python 3
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- PyQt5
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- Dynamixel SDK
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- XM540-W270 Dynamixel servo motors
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## Installation
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1. Clone this repository into your ROS2 workspace:
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```bash
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cd /path/to/your/workspace/src
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git clone https://github.com/yourusername/motion_recorder.git
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```
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2. Install dependencies:
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```bash
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sudo apt-get install python3-pyqt5
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pip3 install dynamixel-sdk
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```
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3. Build the package:
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```bash
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cd /path/to/your/workspace
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colcon build --packages-select motion_recorder
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```
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4. Source the workspace:
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```bash
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source /path/to/your/workspace/install/setup.bash
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```
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## Usage
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### Launch the Motion Recorder
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```bash
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ros2 launch motion_recorder motion_recorder.launch.py
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```
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### Launch Parameters
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The launch file accepts several parameters:
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- `serial_port`: Serial port for connecting to Dynamixel servos (default: '/dev/ttyUSB0')
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- `baudrate`: Baudrate for Dynamixel communication (default: 1000000)
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- `sampling_rate`: Sampling rate in Hz for motion recording (default: 50.0)
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- `motion_files_dir`: Directory to store motion files (default: ~/.ros/motion_files)
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Example with custom parameters:
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```bash
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ros2 launch motion_recorder motion_recorder.launch.py serial_port:=/dev/ttyUSB1 baudrate:=57600
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```
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### Recording Motion
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1. Launch the motion recorder
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2. Click "Disable Torque" to allow manual positioning
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3. Click "Start Recording" to begin recording
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4. Manually move the robot head to create your motion
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5. Click "Mark Keyframe" at important positions
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6. Click "Stop Recording" when finished
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7. Enter a name for your motion and click "Save Motion"
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### Playing Back Motion
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1. Launch the motion recorder
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2. Select a motion from the "Motion Library" tab or load a motion
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3. Click "Play Motion" to play back the recorded motion
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4. Click "Stop Playback" to stop the motion
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## License
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Apache License 2.0

‎coffee_ws/src/motion_recorder/launch/motion_recorder.launch.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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Launch file for the motion recorder package.
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Launches both the recorder node and the UI node.
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"""
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import os
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration, EnvironmentVariable, PathJoinSubstitution
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from launch_ros.actions import Node
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def generate_launch_description():
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"""Generate launch description for motion recorder."""
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# Declare launch arguments
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serial_port = LaunchConfiguration('serial_port', default='/dev/ttyUSB0')
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baudrate = LaunchConfiguration('baudrate', default='1000000')
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sampling_rate = LaunchConfiguration('sampling_rate', default='50.0')
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motion_files_dir = LaunchConfiguration(
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'motion_files_dir',
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default=PathJoinSubstitution([EnvironmentVariable('HOME'), '.ros/motion_files'])
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)
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# Create list of declared arguments
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declared_arguments = [
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DeclareLaunchArgument(
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'serial_port',
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default_value='/dev/ttyUSB0',
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description='Serial port for connecting to Dynamixel servos'
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),
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DeclareLaunchArgument(
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'baudrate',
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default_value='1000000',
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description='Baudrate for Dynamixel communication'
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),
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DeclareLaunchArgument(
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'sampling_rate',
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default_value='50.0',
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description='Sampling rate in Hz for motion recording'
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),
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DeclareLaunchArgument(
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'motion_files_dir',
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default_value=PathJoinSubstitution([EnvironmentVariable('HOME'), '.ros/motion_files']),
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description='Directory to store motion files'
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),
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]
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# Configure nodes
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recorder_node = Node(
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package='motion_recorder',
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executable='recorder_node',
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name='motion_recorder',
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output='screen',
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parameters=[{
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'port': serial_port,
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'baudrate': baudrate,
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'sampling_rate': sampling_rate,
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'motion_files_dir': motion_files_dir,
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}],
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emulate_tty=True
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)
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ui_node = Node(
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package='motion_recorder',
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executable='recorder_ui',
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name='motion_recorder_ui',
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output='screen',
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emulate_tty=True
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)
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# Return launch description
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return LaunchDescription(
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declared_arguments + [recorder_node, ui_node]
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)

‎coffee_ws/src/motion_recorder/motion_recorder/__init__.py‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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Motion Recorder Package
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Provides tools for recording and playing back motion
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sequences for Dynamixel servo-controlled robot head
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"""
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__author__ = 'Your Name'
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__version__ = '0.1.0'
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__license__ = 'Apache-2.0'

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