thruster testing works to an extent, needs modification of stoppping values

JPGC04 · JPGC04 · commit a5be499bfd60 · 2025-04-27T15:17:58.000-04:00
diff --git a/pio_workspace/test/thruster_tests/Docker/Dockerfile b/pio_workspace/test/thruster_tests/Docker/Dockerfile
@@ -0,0 +1,17 @@
+# Start from the ROS Noetic base image
+FROM ros:noetic
+
+# Set noninteractive frontend for apt
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Update package lists and install necessary packages
+RUN apt update && \
+    apt install -y tmux git vim \
+    ros-noetic-rosserial ros-noetic-rosserial-arduino python3-catkin-tools && \
+    rm -rf /var/lib/apt/lists/*
+
+# Source ROS setup
+RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc
+
+# Default command
+CMD ["bash"]
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/.gitignore b/pio_workspace/test/thruster_tests/Docker/catkin_ws/.gitignore
@@ -0,0 +1,5 @@
+build
+logs
+devel
+.catkin_tools
+src/propulsion/src/__pycache__
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/CMakeLists.txt b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/CMakeLists.txt
@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(auv_msgs)
+
+# set of packages whose message types are used
+set(MSG_DEP_SET 
+	actionlib_msgs
+	geometry_msgs 
+	std_msgs
+)
+
+
+find_package(catkin REQUIRED COMPONENTS
+	${MSG_DEP_SET}
+	message_generation
+) 
+
+add_message_files(FILES
+	ThrusterMicroseconds.msg
+	ThrusterForces.msg
+	PingerBearing.msg
+	PingerTimeDifference.msg
+	VisionObject.msg
+	VisionObjectArray.msg
+	DeadReckonReport.msg
+	VelocityReport.msg
+	UnityState.msg
+)
+
+
+add_action_files(FILES
+	StateQuaternion.action
+	Effort.action
+)
+
+generate_messages(DEPENDENCIES
+	${MSG_DEP_SET}
+)
+
+catkin_package(CATKIN_DEPENDS 
+	${MSG_DEP_SET}
+	message_runtime
+)
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/action/Effort.action b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/action/Effort.action
@@ -0,0 +1,14 @@
+# goal
+geometry_msgs/Wrench effort
+std_msgs/Bool do_surge
+std_msgs/Bool do_sway
+std_msgs/Bool do_heave
+std_msgs/Bool do_roll
+std_msgs/Bool do_pitch
+std_msgs/Bool do_yaw
+---
+# result
+std_msgs/Bool stopped
+---
+# feedback 
+std_msgs/Bool moving
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/action/StateQuaternion.action b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/action/StateQuaternion.action
@@ -0,0 +1,14 @@
+# goal
+geometry_msgs/Pose pose
+std_msgs/Bool do_x
+std_msgs/Bool do_y
+std_msgs/Bool do_z
+std_msgs/Bool do_quaternion
+std_msgs/Bool displace
+std_msgs/Bool local
+---
+# result
+std_msgs/Bool status
+---
+# feedback 
+std_msgs/Bool status
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/DeadReckonReport.msg b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/DeadReckonReport.msg
@@ -0,0 +1,11 @@
+float64 x
+float64 y
+float64 z
+
+float64 roll
+float64 pitch
+float64 yaw
+
+float64 std
+
+bool status
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/PingerBearing.msg b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/PingerBearing.msg
@@ -0,0 +1,6 @@
+int32 frequency
+geometry_msgs/Vector3 pinger_bearing
+
+float64 state_x
+float64 state_y
+float64 state_z
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/PingerTimeDifference.msg b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/PingerTimeDifference.msg
@@ -0,0 +1,2 @@
+int32 frequency
+uint32[] times
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/ThrusterForces.msg b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/ThrusterForces.msg
@@ -0,0 +1,9 @@
+# force with which to spin each thruster (N)
+float64 BACK_LEFT
+float64 HEAVE_BACK_LEFT
+float64 HEAVE_FRONT_LEFT
+float64 FRONT_LEFT
+float64 FRONT_RIGHT
+float64 HEAVE_FRONT_RIGHT
+float64 HEAVE_BACK_RIGHT
+float64 BACK_RIGHT
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/ThrusterMicroseconds.msg b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/ThrusterMicroseconds.msg
@@ -0,0 +1,11 @@
+#Thruster definitions
+uint8 BACK_LEFT=0
+uint8 HEAVE_BACK_LEFT=1
+uint8 HEAVE_FRONT_LEFT=2
+uint8 FRONT_LEFT=3
+uint8 FRONT_RIGHT=4
+uint8 HEAVE_FRONT_RIGHT=5
+uint8 HEAVE_BACK_RIGHT=6
+uint8 BACK_RIGHT=7
+
+uint16[8] microseconds
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/UnityState.msg b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/UnityState.msg
@@ -0,0 +1,15 @@
+geometry_msgs/Vector3 position
+geometry_msgs/Quaternion orientation
+geometry_msgs/Vector3 velocity
+geometry_msgs/Vector3 angular_velocity
+geometry_msgs/Vector3 linear_acceleration
+int32[] frequencies
+uint32[] times_pinger_1
+uint32[] times_pinger_2
+uint32[] times_pinger_3
+uint32[] times_pinger_4
+
+int32 isDVLActive
+int32 isDepthSensorActive
+int32 isIMUActive
+int32 isHydrophonesActive
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/VelocityReport.msg b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/VelocityReport.msg
@@ -0,0 +1,12 @@
+float64 vx
+float64 vy
+float64 vz
+float64 altitude
+
+bool valid
+float64 fom
+float64[] covariance
+float64 time_of_validity
+float64 time_of_transmission
+float64 time
+bool status
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/VisionObject.msg b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/VisionObject.msg
@@ -0,0 +1,11 @@
+# Vision Object class
+string label
+#pose info
+float64 x
+float64 y
+float64 z
+float64 theta_z
+#additional data field (for additional info on objects like lane marker second heading)
+float64 extra_field
+#confidence field
+float64 confidence
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/VisionObjectArray.msg b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/msg/VisionObjectArray.msg
@@ -0,0 +1,3 @@
+# array containing vision objects
+
+VisionObject[] array
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/package.xml b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/auv_msgs/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>auv_msgs</name>
+  <version>0.1.0</version>
+  <description>Custom messages for AUV</description>
+  <maintainer email="dev@mcgillrobotics.com">McGill Robotics</maintainer>
+  <license>GPLv3</license>
+  <url type="repository">https://github.com/mcgill-robotics/AUV-2020</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+</package>
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/CMakeLists.txt b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(propulsion)
+
+# set of packages whose message types are used
+set(MSG_DEP_SET auv_msgs geometry_msgs) 
+
+find_package(catkin REQUIRED COMPONENTS
+	${MSG_DEP_SET}
+	roscpp
+	rospy
+)
+
+catkin_package(CATKIN_DEPENDS 
+	${MSG_DEP_SET}
+	roscpp
+	rospy
+)
+
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/README.md b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/README.md
@@ -0,0 +1,61 @@
+# Propulsion
+
+
+## Overview
+
+
+The propulsion package is responsible for moving the AUV and provides a hardware-agnostic interface.
+
+The propulsion package has been tested under ROS Noetic for Ubuntu 20.04.
+
+### License
+
+The source code is released under a GPLv3 license.
+
+## Package Interface
+
+### Published Topics
+
+*none*
+
+### Subscribed Topics
+
+| Topic | Message | description |
+| ------ | ------- | ---------- |
+| `/effort` | `geometry_msgs/Wrench` | Force and torque, relative to the robot's frame of reference to be applied at a given moment |
+
+
+## Installation
+
+### Dependencies
+
+- `catkin`
+- `geometry_msgs`
+- `propulsion_msgs`
+
+### Building
+
+	source /opt/ros/noetic/setup.bash
+	cd <AUV-2020>/catkin_ws/src
+	catkin build propulsion
+
+After build is complete, make the packages visible to ROS
+
+	source ../devel/setup.bash
+
+### Running
+
+Flash arduino
+
+	catkin build --no-deps  propulsion --make-args propulsion_embedded_thrusters-upload
+
+Launch all package nodes
+
+	roslaunch propulsion propulsion.launch
+	
+### Usage
+
+Publishing a `geometry_msgs/Wrench` message onto `/effort` topic:
+
+	
+	rostopic pub -1 /effort geometry_msgs/Wrench "{force: {x: 1.0, y: 0.0, z: -0.5}, torque: {x: 1.0, y: -0.5, z: -2.0}}"
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/launch/drytest.launch b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/launch/drytest.launch
@@ -0,0 +1,5 @@
+<launch>
+	<include file="$(find propulsion)/launch/propulsion.launch" />
+
+	<node name="thrusters_test" pkg="propulsion" type="drytest.py" respawn="false" output="screen"/>
+</launch>
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/launch/propulsion.launch b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/launch/propulsion.launch
@@ -0,0 +1,19 @@
+<launch>
+    <arg name="sim" default="false" />
+    <group unless="$(arg sim)">
+        <node name="thrusters_serial_server" pkg="rosserial_python" type="serial_node.py" respawn="true">
+            <param name="port" value="/dev/power"/>
+            <param name="baud" value="115200"/>
+        </node>
+    </group>
+
+    <param name="thruster_PWM_lower_limit" value="1228" />
+    <param name="thruster_PWM_upper_limit" value="1768" />
+    <param name="distance_thruster_thruster_length" value="0.4" />
+    <param name="distance_thruster_thruster_width" value="0.47" />
+    <param name="angle_thruster" value="45" />
+    <param name="distance_thruster_middle_length" value="0.0925" />
+
+
+	<node name="thrust_mapper" pkg="propulsion" type="thrust_mapper.py" respawn="true" output="screen"/>
+</launch>
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/launch/wettest.launch b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/launch/wettest.launch
@@ -0,0 +1,3 @@
+<launch>
+	<include file="$(find propulsion)/launch/drytest.launch" />
+</launch>
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/package.xml b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>propulsion</name>
+  <version>0.1.0</version>
+  <description>
+	  Package for moving the AUV. Designed to abstract away the mechanical 
+	  implementation details of the propulsion mechanism.
+  </description>
+	  
+  <maintainer email="dev@mcgillrobotics.com">McGill Robotics</maintainer>
+  <license>GPLv3</license>
+  <url type="repository">https://github.com/mcgill-robotics/AUV-2025</url>
+  <author email="vasily.fedotov@mail.mcgill.ca">Vasily Fedotov</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>auv_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>python3-numpy</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+
+  <exec_depend>auv_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+
+</package>
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/drytest.py b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/drytest.py
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/thrust_mapper.py b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/thrust_mapper.py
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/thrust_mapper_utils.py b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/thrust_mapper_utils.py
diff --git a/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/thruster_tests.py b/pio_workspace/test/thruster_tests/Docker/catkin_ws/src/propulsion/src/thruster_tests.py
diff --git a/pio_workspace/test/thruster_tests/Docker/compose.yml b/pio_workspace/test/thruster_tests/Docker/compose.yml
diff --git a/pio_workspace/test/thruster_tests/Docker/tmux_thrusters.sh b/pio_workspace/test/thruster_tests/Docker/tmux_thrusters.sh

-Original file line number
+Diff line change
@@ @@ -0,0 +1,5 @@ @@
 +build
 +logs
 +devel
 +.catkin_tools
 +src/propulsion/src/__pycache__