Ackermann launch files

.gitignore

@@ -1 +1,2 @@
 *.swp
+**/**/compile_commands.json

vesc_ackermann/launch/ackermann_to_vesc_node.launch.py

@@ -0,0 +1,80 @@
+# Copyright 2020 F1TENTH Foundation
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#
+#   * Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#
+#   * Neither the name of the {copyright_holder} nor the names of its
+#     contributors may be used to endorse or promote products derived from
+#     this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    # Get default config file.
+    vesc_ackermann_config = os.path.join(
+        get_package_share_directory('vesc_ackermann'),
+        'params',
+        'ackermann_to_vesc_config.yaml'
+        )
+
+    # Create the launch configuration variables
+    config_yaml = LaunchConfiguration("config")
+    log_level = LaunchConfiguration('log_level')
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
+    declare_config_yaml_cmd = DeclareLaunchArgument(
+            name="config",
+            default_value=vesc_ackermann_config,
+            description="Ackermann to vesc configuration file.",
+            )
+
+    # Specify the actions
+    start_vesc_ackermann_cmd = Node(
+            package='vesc_ackermann',
+            executable='ackermann_to_vesc_node',
+            name='ackermann_to_vesc_node',
+            parameters=[config_yaml],
+            arguments=['--ros-args', '--log-level', log_level],
+        )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_config_yaml_cmd)
+    ld.add_action(declare_log_level_cmd)
+
+    # Add the action to launch the node
+    ld.add_action(start_vesc_ackermann_cmd)
+
+    return ld

vesc_ackermann/launch/vesc_to_odom_node.launch.py

@@ -0,0 +1,80 @@
+# Copyright 2020 F1TENTH Foundation
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#
+#   * Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#
+#   * Neither the name of the {copyright_holder} nor the names of its
+#     contributors may be used to endorse or promote products derived from
+#     this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    # Get default config file.
+    vesc_ackermann_config = os.path.join(
+        get_package_share_directory('vesc_ackermann'),
+        'params',
+        'vesc_to_odom_config.yaml'
+        )
+
+    # Create the launch configuration variables
+    config_yaml = LaunchConfiguration("config")
+    log_level = LaunchConfiguration('log_level')
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
+    declare_config_yaml_cmd = DeclareLaunchArgument(
+            name="config",
+            default_value=vesc_ackermann_config,
+            description="Vesc to odom configuration file.",
+            )
+
+    # Specify the actions
+    start_vesc_to_odom_cmd = Node(
+            package='vesc_ackermann',
+            executable='vesc_to_odom_node',
+            name='vesc_to_odom_node',
+            parameters=[config_yaml],
+            arguments=['--ros-args', '--log-level', log_level],
+        )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_config_yaml_cmd)
+    ld.add_action(declare_log_level_cmd)
+
+    # Add the action to launch the node
+    ld.add_action(start_vesc_to_odom_cmd)
+
+    return ld

vesc_ackermann/params/ackermann_to_vesc_config.yaml

@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    speed_to_erpm_gain: 4614.0   # ERPM/(m/s)
+    speed_to_erpm_offset: 0.0    # ERPM
+    steering_angle_to_servo_gain:  -1.2135  # ppm/rad
+    steering_angle_to_servo_offset: 0.5304  # ppm

vesc_ackermann/params/vesc_to_odom_config.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    speed_to_erpm_gain: 1.0      # ERPM/(m/s)
+    speed_to_erpm_offset: 0.0    # ERPM
+    steering_angle_to_servo_gain: 1.0   #  ppm/rad
+    steering_angle_to_servo_offset: 0.2 # ppm
+    odom_frame: "odom"
+    base_frame: "base_link"
+    use_servo_cmd_to_calc_angular_velocity: True
+    wheelbase: 0.2 # m
+    publish_tf: True

vesc_driver/launch/vesc_driver_node.launch.py

@@ -37,22 +37,43 @@
 
 def generate_launch_description():
 
-    vesc_config = os.path.join(
+    # Get default config file.
+    config = os.path.join(
         get_package_share_directory('vesc_driver'),
         'params',
-        'vesc_config.yaml'
+        'config.yaml'
         )
-    return LaunchDescription([
-        DeclareLaunchArgument(
+
+    # Create the launch configuration variables
+    config_yaml = LaunchConfiguration("config")
+    log_level = LaunchConfiguration('log_level')
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
+    declare_config_yaml_cmd = DeclareLaunchArgument(
             name="config",
-            default_value=vesc_config,
-            description="VESC yaml configuration file.",
-            ),
-        Node(
+            default_value=config,
+            description="Vesc driver configuration file.",
+            )
+
+    start_vesc_driver_cmd = Node(
             package='vesc_driver',
             executable='vesc_driver_node',
             name='vesc_driver_node',
-            parameters=[LaunchConfiguration("config")]
-        ),
+            parameters=[config_yaml],
+            arguments=['--ros-args', '--log-level', log_level],
+        )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_config_yaml_cmd)
+    ld.add_action(declare_log_level_cmd)
+
+    # Add the action to launch the node
+    ld.add_action(start_vesc_driver_cmd)
 
-    ])
+    return ld