fix to run loop exactly at 150 msec

eye_display/CMakeLists.txt

@@ -9,4 +9,5 @@ include_directories()
 
 catkin_install_python(PROGRAMS
   node_scripts/build.py node_scripts/demo_move_eye.py node_scripts/pub_eye_status.py
+  node_scripts/ros_to_i2c.py node_scripts/asset_param_list.py
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/node_scripts)

eye_display/README.md

@@ -97,20 +97,85 @@ $rosparam get eye_display/eye_asset/names
 
 If you want to control the device through I2C bus, please use following env.
 
-- `stampc3-i2c-right`: Stamp C3 device on right eye
-- `stampc3-i2c-left`: Stamp C3 device on left eye
-- `stamps3-i2c-right`: Stamp C3 device on right eye
-- `stamps3-i2c-left`: Stamp C3 device on left eye
+- `stampc3-i2c`: Stamp C3 device
+- `stamps3-i2c`: Stamp S3 device
 
 ```bash
 roscd eye_display
-pio run -e stampc3-i2c-right
-pio run -e stampc3-i2c-right -t uploadfs --upload-port <port to device>
-pio run -e stampc3-i2c-right -t upload --upload-port <port to device>
+pio run -e stampc3-i2c
+pio run -e stampc3-i2c -t uploadfs --upload-port <port to device>
+pio run -e stampc3-i2c -t upload --upload-port <port to device>
 ```
 
 Then you can control the device with I2C.
 
+```bash
+roslaunch eye_display demo.launch use_i2c:=true i2c_device:=<device number> i2c_bus:=<bus number>
+```
+
+See `node_scripts/ros_to_i2c.py` for control protocol.
+
+To monitor the serial output in the dual I2C mode. Use the following logger tool.
+
+```bash
+./node_scripts/dual_serial_logger.py /dev/ttyACM0 /dev/ttyACM1 115200
+```
+#### Dual eye mode
+
+You can start two device with `demo_dual.launch`
+
+```bash
+roslaunch eye_display demo_dual.launch use_i2c:=false port_right:=/dev/ttyACM0 port_left:=/dev/ttyACM1 baud:=115200 debug:=true
+```
+
+You can control dual eye status with demo scripts
+```bash
+rosrun eye_display pub_eye_status.py --dual --rate 0.3 --names sleepy surprised happy
+```
+
+#### extra images
+
+If you need more than the standard images (outline, iris, pupil, reflex, upperlid), use the extra　images.
+
+
+```
+  path_extra1: "/krmt_reflex_shine1.png"
+  extra1_default_pos_x: 75
+  extra1_default_pos_y: 75
+  extra1_default_theta: 0
+  extra1_position_x: [  0,  20, 40,  20,   0, -20, -40, -20]
+  extra1_position_y: [ 40,  20,  0, -20, -40, -20,   0,  20]
+  extra1_rotation_theta: [  0,  40,  80,  40,  0,  -40, -80, -40]
+  extra1_zoom: [  1.0, 1.1, 1.2, 1.3, 1.4, 1.2, 1.0, 0.8, 0.7, 0.8, 0.9]
+  path_extra2: "/krmt_reflex_heart.png"
+  extra2_position_x: [  0,  20,   0, -20]
+  extra2_position_y: [  0,  10,   0, -10]
+  extra2_rotation_theta: [  0,  -40,  -80,  -40,  0,  40, 80, 40]
+  extra2_zoom: [1.0, 1.2, 1.4, 1.6, 1.8, 2.0, 1.5, 1.0, 0.5]
+  extra2_default_pos_x: 75
+  extra2_default_pos_y: 75
+  extra2_default_theta: 0
+```
+
+#### Advanced control
+
+You can control the eye status in more detail through the `eye_status` topics.
+Use the following low-level commands.
+`<emotion>` is defined in the names list in the configuration YAML file (e.g., `names: [normal, happy, blink]`).
+`<type>` can be one of `iris`, `pupil`, `reflex`, `upperlid`, `extra1`, `extra2`.
+
+```
+eye_asset_image_path: <emotion>: <type>: <file name>
+eye_asset_default_pos_x: <emotion>: <type>: <value>
+eye_asset_default_pos_y: <emotion>: <type>: <value>
+eye_asset_default_theta: <emotion>: <type>: <value in degree>
+eye_asset_default_zoom: <emotion>: <type>: <value>
+eye_asset_position_x: <emotion>: <type>: <comma separated values>
+eye_asset_position_y: <emotion>: <type>: <comma separated values>
+eye_asset_rotation_theta: <emotion>: <type>: <comma separated values>
+eye_asset_zoom: <emotion>: <type>: <comma separated values>
+```
+
 ### Description of direction
 
 ![eye_display_direction](./doc/eye_display_direction.svg)
@@ -140,6 +205,8 @@ rosrun eye_display update_ros_lib.sh
 This feature requires git 2.27+, so if you use Ubuntu<=20.04, please install latest version of git https://git-scm.com/downloads/linux
 
 ```
-$ git clone --filter=blob:none --sparse https://github.com/jsk-ros-pkg/jsk_3rdparty.git -b eye_display
-$ git sparse-checkout set eye_display
+git clone --filter=blob:none --sparse https://github.com/jsk-ros-pkg/jsk_3rdparty.git
+cd jsk_3rdparty
+git sparse-checkout set eye_display
+git checkout eye_display
 ```