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GonzaCerGonzaCer
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0.1.0 release
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‎.gitmodules‎

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[submodule "differential-drive"]
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path = differential-drive
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url = git@github.com:GonzaCerv/differential-drive.git

‎differential-drive‎

Submodule differential-drive added at 36cd696

‎noah_behaviour/config/environment.yaml‎

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#information about the robot
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# PCB communication
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PCB_UART_PORT: "/dev/ttyACM0"
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PCB_UART_UPDATE_RATE_HZ: 20
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# Physical characteristics of the robot
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# export TICK_METERS=3653
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ticks_meter: 3653
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BASE_WIDTH: 0.2
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# Motor Drive configuration
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MAX_SPEED_METER_SEC: 0.5
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MIN_SPEED_METER_SEC: 0.1
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PID_MIN: 10.0
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PID_MAX: 700.0
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PID_P: 50.0
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PID_I: 200.0
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PID_D: 2.0
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ENCODER_MIN: -32768
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ENCODER_MAX: 32767

‎noah_behaviour/launch/main.launch‎

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<?xml version="1.0"?>
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<launch>
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<arg name="port_name" default="/dev/ttyS0" />
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<rosparam file="$(find noah_behaviour)/config/environment.yaml" command="load" />
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<!-- Spawn the service that communicates with the robot-->
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<param name="/uart_comms_node/port_name" value="$(arg port_name)" />
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<node name="uart_comms_node" pkg="noah_drivers" type="noah_drivers_uart_comms_node" output="screen" required="true" />
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<!-- Launch the node for communication with PCB -->
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<include file="$(find noah_drivers)/launch/drivers_node.launch"/>
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<node pkg="differential_drive" type="twist_to_motors.py" name="twist_to_motors" output="screen">
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<remap from="lwheel_vtarget" to="/motor_left_pwm"/>
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<remap from="rwheel_vtarget" to="/motor_right_pwm"/>
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<rosparam param="base_width">0.16</rosparam>
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<rosparam param="rate">25</rosparam>
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</node>
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<node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" name="teleop_keyboard" output="screen">
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<remap from="cmd_vel" to="/twist"/>
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<rosparam param="speed">0.3</rosparam>
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<rosparam param="turn">0.8</rosparam>
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</node>
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</launch>

‎noah_behaviour/scripts/start_ports.sh‎

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#!/usr/bin/env bash
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# Author: Gonzalo Cervetti (cervetti.g@gmail.com)
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#
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# Description: Starts 2 serial ports communicated between
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# each other (bridge) the service keep running in background
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# in a tmux session.
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# The ports started run
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tmux new-session -d -s socat_virtual_ports 'socat -d -d pty,raw,echo=0,crnl pty,raw,echo=0,crnl'

‎noah_drivers/CMakeLists.txt‎

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@@ -15,13 +15,44 @@ find_package(catkin REQUIRED COMPONENTS
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std_msgs
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)
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find_library (serial_LIB
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NAMES serial
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HINTS "/usr/local/lib/")
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if(serial_LIB)
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message(STATUS "Looking for libserial - found")
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else()
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message(STATUS "Looking for libserial - not found")
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endif()
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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INCLUDE_DIRS
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include
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CATKIN_DEPENDS
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geometry_msgs
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roscpp
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rospy
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std_msgs
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noah_msgs
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LIBRARIES
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${PROJECT_NAME}_uart_comms_node
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${PROJECT_NAME}_uart
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geometry_msgs
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roscpp
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rospy
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std_msgs
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geometry_msgs
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LIBRARIES
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DEPENDS
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)
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###########
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## Build ##
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###########
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## C++ executables ##
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add_executable(${PROJECT_NAME}_uart_comms_node
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src/PackageManager.cpp
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src/PCBCommsNode.cpp
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src/PCBCommsNodeRunner.cpp)
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target_link_libraries(${PROJECT_NAME}_uart_comms_node
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${catkin_LIBRARIES}
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${PROJECT_NAME}_uart
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add_executable(${PROJECT_NAME}_node
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src/DriversNodeRunner.cpp
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src/DriversNode.cpp
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src/PCBBridgeManager.cpp
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)
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add_dependencies(${PROJECT_NAME}_uart_comms_node
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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## C++ libraries ##
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add_library(${PROJECT_NAME}_uart
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src/Uart.cpp
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)
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target_link_libraries(${PROJECT_NAME}_uart
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target_link_libraries(${PROJECT_NAME}_node
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${catkin_LIBRARIES}
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${serial_LIB}
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)
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add_dependencies(${PROJECT_NAME}_uart
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add_dependencies(${PROJECT_NAME}_node
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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#############
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## Testing ##
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## Install ##
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#############
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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###### Enable Gmock ##########
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set(gmock_SOURCE_DIR /usr/src/gmock)
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set(gtest_SOURCE_DIR /usr/src/gtest)
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set(gtest_INCLUDE_DIR /usr/include/gtest)
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include_directories(
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${gmock_SOURCE_DIR}/include
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${gmock_SOURCE_DIR}
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${gmock_SOURCE_DIR}/gtest/include
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${gmock_SOURCE_DIR}/gtest
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${gtest_INCLUDE_DIR}
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${gtest_SOURCE_DIR}
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${gtest_SOURCE_DIR}/src
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)
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# GMock + Catkin need help: https://answers.ros.org/question/199680/catkin-doesnt-play-nice-with-google-mock/
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# TODO(build_time): Only build gmock if not already built
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add_library(${PROJECT_NAME}_gmock
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${gmock_SOURCE_DIR}/src/gmock-all.cc
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${gtest_SOURCE_DIR}/src/gtest-all.cc
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)
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target_link_libraries(${PROJECT_NAME}_gmock pthread)
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install(
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TARGETS
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${PROJECT_NAME}_gmock
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LIBRARY DESTINATION
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${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION
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${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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# Replace catkin variable
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set(GTEST_LIBRARIES ${PROJECT_NAME}_gmock)
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###### END Enable Gmock ##########
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add_rostest_gtest(uart_tests test/uart_tests.test test/uart_tests.cpp)
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target_link_libraries(uart_tests
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${catkin_LIBRARIES}
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${PROJECT_NAME}_uart
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${GTEST_LIBRARIES})
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add_rostest_gtest(package_manager_tests test/package_manager_tests.test
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test/package_manager_tests.cpp
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src/PackageManager.cpp)
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target_link_libraries(package_manager_tests
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${catkin_LIBRARIES}
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${GTEST_LIBRARIES}
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${PROJECT_NAME}_uart )
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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endif()
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# catkin_install_python(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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#############
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## Install ##
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#############
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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install(TARGETS
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${PROJECT_NAME}_uart
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${PROJECT_NAME}_uart_comms_node
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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${PROJECT_NAME}_node
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_noah_drivers.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎noah_drivers/include/noah_drivers/DriversNode.hpp‎

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/**
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* @file DriversNode.hpp
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* @author Gonzalo Cervetti (cervetti.g@gmail.com)
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* @brief Provides communication between the hardware PCB and the raspberry.
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* @version 0.1
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* @date 2020-01-03
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*
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* @copyright Copyright (c) 2020
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*
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*/
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#pragma once
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// Standard libraries
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#include <memory>
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// ROS libraries
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#include "ros/ros.h"
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#include "std_msgs/String.h"
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// Noah libraries
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#include "noah_drivers/PCBBridgeManager.hpp"
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namespace noah_drivers {
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class DriversNode {
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public:
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DriversNode();
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void chatterCallback(const std_msgs::String::ConstPtr& msg);
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int run();
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private:
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ros::NodeHandle nh_;
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ros::Subscriber sub;
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ros::Publisher chatter_pub;
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std::unique_ptr<PCBBridgeManager> pcb_bridge_manager_;
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};
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} // namespace noah_drivers

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