Change repository structure

Ar-Ray-code · Ar-Ray-code · commit 45decdbe07a1 · 2025-03-16T00:39:25.000+09:00
diff --git a/.github/workflows/ci_humble.yml b/.github/workflows/ci_humble.yml
@@ -31,6 +31,8 @@ jobs:
         with:
           target-ros2-distro: ${{ matrix.ros_distribution }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
+          vcs-repo-file-url: build_depends.repos
           package-name: |
-            cxd5602pwbimu_bringup
-            cxd5602pwbimu_node
+            cxd5602pwbimu_driver
+            cxd5602pwbimu_driver_bringup
+            cxd5602pwbimu_driver_node
diff --git a/cxd5602pwbimu_bringup/setup.cfg b/cxd5602pwbimu_bringup/setup.cfg
diff --git a/cxd5602pwbimu_driver/CMakeLists.txt b/cxd5602pwbimu_driver/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.8)
+project(cxd5602pwbimu_driver)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/cxd5602pwbimu_driver/package.xml b/cxd5602pwbimu_driver/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>cxd5602pwbimu_driver</name>
+  <version>0.0.0</version>
+  <description>cxd5602pwbimu_driver Base Package</description>
+  <maintainer email="ray255ar@gmail.com">Ar-Ray-code</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>cxd5602pwbimu_driver_bringup</depend>
+  <depend>cxd5602pwbimu_driver_node</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/cxd5602pwbimu_driver_bringup/cxd5602pwbimu_driver_bringup/__init__.py b/cxd5602pwbimu_driver_bringup/cxd5602pwbimu_driver_bringup/__init__.py
diff --git a/cxd5602pwbimu_driver_bringup/launch/cxd5602pwbimu.launch.py b/cxd5602pwbimu_driver_bringup/launch/cxd5602pwbimu.launch.py
@@ -3,11 +3,11 @@
 from launch_ros.actions import Node
 
 def generate_launch_description():
-    rviz_config_path = get_package_share_directory('cxd5602pwbimu_bringup') + '/rviz/rvizconfig.rviz'
+    rviz_config_path = get_package_share_directory('cxd5602pwbimu_driver_bringup') + '/rviz/rvizconfig.rviz'
     cxp_node = Node(
-        package='cxd5602pwbimu_node',
-        executable='cxd5602pwbimu_node_exec',
-        name='cxd5602pwbimu_node',
+        package='cxd5602pwbimu_driver_node',
+        executable='cxd5602pwbimu_driver_node_exec',
+        name='cxd5602pwbimu_driver_node',
         output='screen',
         parameters=[{'device': '/dev/ttyUSB0'}]
     )
diff --git a/cxd5602pwbimu_driver_bringup/package.xml b/cxd5602pwbimu_driver_bringup/package.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>cxd5602pwbimu_bringup</name>
+  <name>cxd5602pwbimu_driver_bringup</name>
   <version>0.0.0</version>
   <description>cxd5602pwbimu launch file package.</description>
   <maintainer email="ray255ar@gmail.com">Ar-Ray-code</maintainer>
   <license>Apache-2.0</license>
 
-  <exec_depend>cxd5602pwbimu_node</exec_depend>
+  <exec_depend>cxd5602pwbimu_driver_node</exec_depend>
   <exec_depend>imu_filter_madgwick</exec_depend>
   <exec_depend>rviz2</exec_depend>
 
diff --git a/cxd5602pwbimu_driver_bringup/resource/cxd5602pwbimu_driver_bringup b/cxd5602pwbimu_driver_bringup/resource/cxd5602pwbimu_driver_bringup
diff --git a/cxd5602pwbimu_driver_bringup/rviz/rvizconfig.rviz b/cxd5602pwbimu_driver_bringup/rviz/rvizconfig.rviz
diff --git a/cxd5602pwbimu_driver_bringup/setup.cfg b/cxd5602pwbimu_driver_bringup/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/cxd5602pwbimu_driver_bringup
+[install]
+install_scripts=$base/lib/cxd5602pwbimu_driver_bringup
diff --git a/cxd5602pwbimu_driver_bringup/setup.py b/cxd5602pwbimu_driver_bringup/setup.py
@@ -4,7 +4,7 @@
 
 from setuptools import setup
 
-package_name = 'cxd5602pwbimu_bringup'
+package_name = 'cxd5602pwbimu_driver_bringup'
 
 setup(
     name=package_name,
diff --git a/cxd5602pwbimu_driver_node/CMakeLists.txt b/cxd5602pwbimu_driver_node/CMakeLists.txt
@@ -2,7 +2,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.8)
-project(cxd5602pwbimu_node)
+project(cxd5602pwbimu_driver_node)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -14,7 +14,7 @@ ament_auto_find_build_dependencies()
 include_directories(include)
 
 # Simple ReadUntil Node ==================================================
-set(TARGET cxd5602pwbimu_node)
+set(TARGET cxd5602pwbimu_driver_node)
 set(MY_LIB_NAME ${PROJECT_NAME}_${TARGET})
 ament_auto_add_library(${MY_LIB_NAME} SHARED
   src/${TARGET}.cpp
@@ -24,7 +24,7 @@ ament_auto_add_library(${MY_LIB_NAME} SHARED
 
 rclcpp_components_register_node(
   ${MY_LIB_NAME}
-  PLUGIN "${PROJECT_NAME}::Cxd5602pwbimuNode"
+  PLUGIN "${PROJECT_NAME}::Cxd5602pwbimuDriverNode"
   EXECUTABLE ${TARGET}_exec)
 
 
diff --git a/cxd5602pwbimu_driver_node/include/cxd5602pwbimu_driver_node/crc8.hpp b/cxd5602pwbimu_driver_node/include/cxd5602pwbimu_driver_node/crc8.hpp
@@ -25,8 +25,8 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 // SOFTWARE.
 
-#ifndef ____CXD5602PWBIMU_CRC8_HPP__
-#define ____CXD5602PWBIMU_CRC8_HPP__
+#ifndef ____CXD5602PWBIMU_DRIVER_NODE_CRC8_HPP__
+#define ____CXD5602PWBIMU_DRIVER_NODE_CRC8_HPP__
 
 #include <cstdint>
 
@@ -38,7 +38,7 @@ typedef uint32_t crc_size_t;
 #define CRC8_REV_OUT                false
 
 
-namespace cxd5602pwbimu_node
+namespace cxd5602pwbimu_driver_node
 {
 
 class CRC8
@@ -129,6 +129,6 @@ class CRC8
 };
 
 
-}  // namespace cxd5602pwbimu_node
+}  // namespace cxd5602pwbimu_driver_node
 
-#endif  // ____CXD5602PWBIMU_CRC8_HPP__
+#endif  // ____CXD5602PWBIMU_DRIVER_NODE_CRC8_HPP__
diff --git a/cxd5602pwbimu_driver_node/include/cxd5602pwbimu_driver_node/cxd5602pwbimu_driver_node.hpp b/cxd5602pwbimu_driver_node/include/cxd5602pwbimu_driver_node/cxd5602pwbimu_driver_node.hpp
@@ -4,8 +4,8 @@
 * SPDX-License-Identifier: Apache-2.0
 */
 
-#ifndef ____CXD5602PWBIMU_CXD5602PWBIMU_NODE_HPP__
-#define ____CXD5602PWBIMU_CXD5602PWBIMU_NODE_HPP__
+#ifndef ____CXD5602PWBIMU_DRIVER_NODE_CXD5602PWBIMU_DRIVER_NODE_HPP__
+#define ____CXD5602PWBIMU_DRIVER_NODE_CXD5602PWBIMU_DRIVER_NODE_HPP__
 
 #include <functional>
 #include <h6x_serial_interface/h6x_serial_interface.hpp>
@@ -14,10 +14,10 @@
 
 #include "imu_class.hpp"
 
-namespace cxd5602pwbimu_node
+namespace cxd5602pwbimu_driver_node
 {
 
-class Cxd5602pwbimuNode : public rclcpp::Node
+class Cxd5602pwbimuDriverNode : public rclcpp::Node
 {
 private:
   using PortHandler = h6x_serial_interface::PortHandler;
@@ -32,14 +32,14 @@ class Cxd5602pwbimuNode : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;
 
 public:
-  Cxd5602pwbimuNode() = delete;
-  explicit Cxd5602pwbimuNode(const rclcpp::NodeOptions &);
-  ~Cxd5602pwbimuNode();
+  Cxd5602pwbimuDriverNode() = delete;
+  explicit Cxd5602pwbimuDriverNode(const rclcpp::NodeOptions &);
+  ~Cxd5602pwbimuDriverNode();
 
 private:
   void timerCallback();
 
 
 };
-}   // namespace cxd5602pwbimu_node
-#endif  // ____CXD5602PWBIMU_CXD5602PWBIMU_NODE_HPP__
+}   // namespace cxd5602pwbimu_driver_node
+#endif  // ____CXD5602PWBIMU_DRIVER_NODE_CXD5602PWBIMU_DRIVER_NODE_HPP__
diff --git a/cxd5602pwbimu_driver_node/include/cxd5602pwbimu_driver_node/imu_class.hpp b/cxd5602pwbimu_driver_node/include/cxd5602pwbimu_driver_node/imu_class.hpp
@@ -4,8 +4,8 @@
 * SPDX-License-Identifier: Apache-2.0
 */
 
-#ifndef ____CXD5602PWBIMU_IMU_CLASS_HPP__
-#define ____CXD5602PWBIMU_IMU_CLASS_HPP__
+#ifndef ____CXD5602PWBIMU_DRIVER_NODE_IMU_CLASS_HPP__
+#define ____CXD5602PWBIMU_DRIVER_NODE_IMU_CLASS_HPP__
 
 #include <array>
 #include <cstdint>
@@ -16,7 +16,7 @@
 
 #include "crc8.hpp"
 
-namespace cxd5602pwbimu_node
+namespace cxd5602pwbimu_driver_node
 {
 
 class ImuClass
@@ -35,6 +35,6 @@ class ImuClass
   uint32_t msec_;
 };
 
-}  // namespace cxd5602pwbimu_node
+}  // namespace cxd5602pwbimu_driver_node
 
-#endif  // ____CXD5602PWBIMU_IMU_CLASS_HPP__
+#endif  // ____CXD5602PWBIMU_DRIVER_NODE_IMU_CLASS_HPP__
diff --git a/cxd5602pwbimu_driver_node/package.xml b/cxd5602pwbimu_driver_node/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>cxd5602pwbimu_node</name>
+  <name>cxd5602pwbimu_driver_node</name>
   <version>0.0.0</version>
   <description>CXD5602PWMIMU Node</description>
   <maintainer email="ray255ar@gmail.com">Ar-Ray-code</maintainer>
diff --git a/cxd5602pwbimu_driver_node/src/crc8.cpp b/cxd5602pwbimu_driver_node/src/crc8.cpp
@@ -25,9 +25,9 @@
 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 // SOFTWARE.
 
-#include "cxd5602pwbimu/imu_class.hpp"
+#include "cxd5602pwbimu_driver_node/imu_class.hpp"
 
-namespace cxd5602pwbimu_node
+namespace cxd5602pwbimu_driver_node
 {
 
 CRC8::CRC8(
diff --git a/cxd5602pwbimu_driver_node/src/cxd5602pwbimu_driver_node.cpp b/cxd5602pwbimu_driver_node/src/cxd5602pwbimu_driver_node.cpp
@@ -4,12 +4,12 @@
 * SPDX-License-Identifier: Apache-2.0
 */
 
-#include "cxd5602pwbimu/cxd5602pwbimu_node.hpp"
+#include "cxd5602pwbimu_driver_node/cxd5602pwbimu_driver_node.hpp"
 
-namespace cxd5602pwbimu_node
+namespace cxd5602pwbimu_driver_node
 {
 
-Cxd5602pwbimuNode::Cxd5602pwbimuNode(const rclcpp::NodeOptions & options)
+Cxd5602pwbimuDriverNode::Cxd5602pwbimuDriverNode(const rclcpp::NodeOptions & options)
 : rclcpp::Node("imu_publisher", options),
   port_handler_(this->declare_parameter<std::string>("dev", "/dev/ttyUSB0")),
   time_offset_(0),
@@ -34,15 +34,15 @@ Cxd5602pwbimuNode::Cxd5602pwbimuNode(const rclcpp::NodeOptions & options)
   }
 
   this->timer_ = this->create_wall_timer(
-    std::chrono::milliseconds(spin_ms), std::bind(&Cxd5602pwbimuNode::timerCallback, this));
+    std::chrono::milliseconds(spin_ms), std::bind(&Cxd5602pwbimuDriverNode::timerCallback, this));
 }
 
-Cxd5602pwbimuNode::~Cxd5602pwbimuNode()
+Cxd5602pwbimuDriverNode::~Cxd5602pwbimuDriverNode()
 {
   this->port_handler_.close();
 }
 
-void Cxd5602pwbimuNode::timerCallback()
+void Cxd5602pwbimuDriverNode::timerCallback()
 {
   this->timer_->cancel();
 
@@ -81,4 +81,4 @@ void Cxd5602pwbimuNode::timerCallback()
 }
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(cxd5602pwbimu_node::Cxd5602pwbimuNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(cxd5602pwbimu_driver_node::Cxd5602pwbimuDriverNode)
diff --git a/cxd5602pwbimu_driver_node/src/imu_class.cpp b/cxd5602pwbimu_driver_node/src/imu_class.cpp
@@ -4,9 +4,9 @@
 * SPDX-License-Identifier: Apache-2.0
 */
 
-#include "cxd5602pwbimu/imu_class.hpp"
+#include "cxd5602pwbimu_driver_node/imu_class.hpp"
 
-namespace cxd5602pwbimu_node
+namespace cxd5602pwbimu_driver_node
 {
 
 ImuClass::ImuClass()
@@ -71,4 +71,4 @@ std::tuple<std::array<float, 3>, std::array<float, 3>, uint32_t,
   return {linear_acceleration_, angular_velocity_, sec_, msec_};
 }
 
-}  // namespace cxd5602pwbimu_node
+}  // namespace cxd5602pwbimu_driver_node
diff --git a/firmware/cxd5602pwbimu.ino b/firmware/cxd5602pwbimu.ino
@@ -14,7 +14,7 @@
 #include "CRC8.h"
 #include "CRC.h"
 
-#define CXD5602PWBIMU_DEVPATH      "/dev/imu0"
+#define CXD5602PWBIMU_DRIVER_DEVPATH      "/dev/imu0"
 #define MAX_NFIFO 4
 const char SERIAL_HEADER = 'X';
 
@@ -68,7 +68,7 @@ void setup() {
   int devfd;
   board_cxd5602pwbimu_initialize(5);
 
-  devfd = open(CXD5602PWBIMU_DEVPATH, O_RDONLY);
+  devfd = open(CXD5602PWBIMU_DRIVER_DEVPATH, O_RDONLY);
   start_sensing(devfd, 960, 16, 4000, MAX_NFIFO);
   drop_50msdata(devfd, 960);
   delay(2000);
