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knatsukiknatsuki
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Port over Wiimote to ROS2 Foxy (#175)
* Port over Wiimote to ROS2 Foxy * update PR based on feedbacks
1 parent e8e7f9c commit d2ee107

37 files changed

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‎wiimote/AMENT_IGNORE‎

Whitespace-only changes.

‎wiimote/CMakeLists.txt‎

Lines changed: 86 additions & 79 deletions
Original file line numberDiff line numberDiff line change
@@ -1,94 +1,101 @@
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cmake_minimum_required(VERSION 3.5)
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project(wiimote)
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set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Save the command line compile commands in the build output
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set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
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# View the makefile commands during build
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#set(CMAKE_VERBOSE_MAKEFILE on)
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# Set compile flags
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set(CMAKE_CXX_FLAGS "-fPIE -fPIC -O2 -D_FORTIFY_SOURCE=2 -fstack-protector -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")
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# Flags executables
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set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now")
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# Flags shared libraries
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set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now ${CMAKE_SHARED_LINKER_FLAGS}")
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# Load catkin and all dependencies required for this package
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set(CATKIN_DEPS geometry_msgs sensor_msgs std_msgs std_srvs rospy roscpp roslib genmsg roslint)
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find_package(catkin REQUIRED ${CATKIN_DEPS})
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catkin_python_setup()
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# generate the messages
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add_message_files(
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DIRECTORY msg
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FILES
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IrSourceInfo.msg
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State.msg
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TimedSwitch.msg
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)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_library(BLUETOOTH_LIB bluetooth)
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if(BLUETOOTH_LIB)
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message(STATUS "Found bluetooth library.")
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else()
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message(FATAL_ERROR "bluetooth library not found.")
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endif()
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find_library(CWIID_LIB cwiid)
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if(CWIID_LIB)
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message(STATUS "Found cwiid library.")
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else()
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message(FATAL_ERROR "cwiid library not found.")
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endif()
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generate_messages(DEPENDENCIES geometry_msgs std_msgs sensor_msgs)
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# ROS Lint the code
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roslint_cpp()
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roslint_python()
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS
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geometry_msgs
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sensor_msgs
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std_msgs
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std_srvs
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies(
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REQUIRED
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rclcpp
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rclcpp_components
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rclcpp_lifecycle
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sensor_msgs
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std_srvs
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wiimote_msgs
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)
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## Specify additional locations of header files
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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## C++ Wiimote Lib
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set(wiimote_lib_HEADERS
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include/wiimote/wiimote_controller.hpp
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include/wiimote/stat_vector_3d.hpp)
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set(wiimote_lib_SOURCES
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src/wiimote_controller.cpp
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src/stat_vector_3d.cpp)
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ament_auto_add_library(wiimote_lib SHARED ${wiimote_lib_HEADERS} ${wiimote_lib_SOURCES})
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target_link_libraries(wiimote_lib bluetooth cwiid)
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rclcpp_components_register_node(
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wiimote_lib
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PLUGIN "WiimoteNode"
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EXECUTABLE wiimote_node
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)
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## End C++ Wiimote Lib
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## C++ Wiimote Node: Declare cpp executables
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add_executable(wiimote_node src/wiimote_controller.cpp src/stat_vector_3d.cpp)
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target_link_libraries(wiimote_node ${catkin_LIBRARIES} bluetooth cwiid)
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add_dependencies(wiimote_node wiimote_generate_messages_cpp)
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## End of C++ Wiimote Node
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# C++ Teleop for Wiimote Node: Declare cpp executables
66+
set(teleop_wiimote_HEADERS include/wiimote/teleop_wiimote.hpp)
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set(teleop_wiimote_SOURCES src/teleop_wiimote.cpp)
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ament_auto_add_library(teleop_wiimote SHARED ${teleop_wiimote_HEADERS} ${teleop_wiimote_SOURCES})
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## C++ Teleop for Wiimote Node: Declare cpp executables
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add_executable(teleop_wiimote src/teleop_wiimote.cpp)
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target_link_libraries(teleop_wiimote ${catkin_LIBRARIES})
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add_dependencies(teleop_wiimote wiimote_generate_messages_cpp)
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## End C++ Teleop for Wiimote Node
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rclcpp_components_register_node(
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teleop_wiimote
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PLUGIN "TeleopWiimote"
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EXECUTABLE teleop_wiimote_node
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)
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# End C++ Teleop for Wiimote Node
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if(CATKIN_ENABLE_TESTING)
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roslint_add_test()
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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80-
# Install launch files
81-
install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)
82+
# Install lib
83+
install(TARGETS wiimote_lib teleop_wiimote
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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install(DIRECTORY include/ DESTINATION include)
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# Install launch and config files
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install(DIRECTORY launch config
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DESTINATION share/${PROJECT_NAME})
8492

85-
# Install targets
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install(PROGRAMS nodes/feedbackTester.py nodes/wiimote_node.py
87-
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark executables and/or libraries for installation
93+
# Install Executables
9094
install(TARGETS wiimote_node
91-
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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DESTINATION lib/${PROJECT_NAME})
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97+
install(PROGRAMS nodes/feedback_tester.py
98+
DESTINATION lib/${PROJECT_NAME}
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)
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101+
ament_package()

‎wiimote/config/teleop_wiimote_params.yaml‎

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/**:
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ros__parameters:
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linear:
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x:
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max_velocity: 0.65024
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min_velocity: -0.65024
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throttle_percent: 0.75
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angular:
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z:
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max_velocity: 3.14159265358979323846
11+
min_velocity: -3.14159265358979323846
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throttle_percent: 0.75

‎wiimote/config/wiimote_params.yaml‎

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/**:
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ros__parameters:
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bluetooth_addr: "00:00:00:00:00:00"
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pair_timeout: -1
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check_connection_interval: 1.0
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publish_interval: .2
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require_nunchuk: true
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require_classic: false
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require_motionplus: false

‎wiimote/include/wiimote/stat_vector_3d.h‎ renamed to ‎wiimote/include/wiimote/stat_vector_3d.hpp‎

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@@ -1,16 +1,20 @@
1+
// Copyright 2020 Intel Corporation
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// This program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
9+
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
10+
// GNU General Public License for more details.
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//
12+
// You should have received a copy of the GNU General Public License
13+
// along with this program. If not, see <https://www.gnu.org/licenses/>.
14+
115
/*
216
* Three dimensional statistic vector for use with the
317
* for ROS Node which interfaces with a wiimote control unit.
4-
* Copyright (c) 2016, Intel Corporation.
5-
*
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* This program is free software; you can redistribute it and/or modify it
7-
* under the terms and conditions of the GNU General Public License,
8-
* version 2, as published by the Free Software Foundation.
9-
*
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* This program is distributed in the hope it will be useful, but WITHOUT
11-
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
12-
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
13-
* more details.
1418
*/
1519

1620
/*
@@ -22,13 +26,11 @@
2226
*/
2327

2428
#pragma once
25-
#ifndef WIIMOTE_STAT_VECTOR_3D_H
26-
#define WIIMOTE_STAT_VECTOR_3D_H
29+
#ifndef WIIMOTE__STAT_VECTOR_3D_HPP_
30+
#define WIIMOTE__STAT_VECTOR_3D_HPP_
31+
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2833
#include <vector>
29-
#include <numeric>
30-
#include <algorithm>
31-
#include <math.h>
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3335
// The vector of 3 values collected to generate:
3436
// mean, standard deviation, and variance.
@@ -60,4 +62,4 @@ class StatVector3d
6062
std::vector<int> z_;
6163
};
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63-
#endif // WIIMOTE_STAT_VECTOR_3D_H
65+
#endif // WIIMOTE__STAT_VECTOR_3D_HPP_

‎wiimote/include/wiimote/teleop_wiimote.h‎

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This file was deleted.

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