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Changed code so rover can run without FrSky for EXPO

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This commit is contained in:
Corwin Perren
2018-05-17 21:46:59 -07:00
parent 1d9797f00b
commit 23035c11ba
9 changed files with 291 additions and 79 deletions
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4
software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
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@@ -22,4 +22,6 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{seria
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS_2_2"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2UFVE1", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_2_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyTEST"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyLEFT"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H89E", SYMLINK+="rover/ttyRIGHT"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A906H7P0", SYMLINK+="rover/ttyREAR"

2
software/firmware/motor_driver/motor_driver.ino
View File

@@ -53,7 +53,7 @@ void setup() {
setup_hardware();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(2000000); // baud-rate at 19200
slave.begin(115200); // baud-rate at 19200
slave.setTimeOut(150);
Serial.begin(9600);

33
software/ros_packages/ground_station/src/Framework/StatusSystems/StatusCore.py
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@@ -67,9 +67,6 @@ class SensorCore(QtCore.QThread):
self.main_cam = self.screen_main_window.main_cam # type: QtWidgets.QLabel
self.chassis_cam = self.screen_main_window.chassis_cam # type: QtWidgets.QLabel
self.under_cam = self.screen_main_window.under_cam # type: QtWidgets.QLabel
self.bogie_right = self.screen_main_window.right_bogie # type: QtWidgets.QLabel
self.bogie_left = self.screen_main_window.left_bogie # type: QtWidgets.QLabel
self.bogie_rear = self.screen_main_window.rear_bogie # type: QtWidgets.QLabel
self.clock = self.screen_main_window.clock_qlcdnumber # type: QtWidgets.QLCDNumber
self.cpu = self.screen_main_window.cpu # type: QtWidgets.QLabel
self.ram = self.screen_main_window.ram # type: QtWidgets.QLabel
@@ -78,7 +75,6 @@ class SensorCore(QtCore.QThread):
# ########## subscriptions pulling data from system_statuses_node.py ##########
self.camera_status = rospy.Subscriber(CAMERA_TOPIC_NAME, CameraStatuses, self.__camera_callback)
self.bogie_status = rospy.Subscriber(BOGIE_TOPIC_NAME, BogieStatuses, self.__bogie_callback)
self.frsky_status = rospy.Subscriber(FRSKY_TOPIC_NAME, FrSkyStatus, self.__frsky_callback)
self.gps_status = rospy.Subscriber(GPS_TOPIC_NAME, GPSInfo, self.__gps_callback)
self.jetson_status = rospy.Subscriber(JETSON_TOPIC_NAME, JetsonInfo, self.__jetson_callback)
@@ -140,32 +136,6 @@ class SensorCore(QtCore.QThread):
else:
self.frsky_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __bogie_callback(self, data):
self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
if data.bogie_connection_1 is False:
# self.bogie_right.setStyleSheet("background-color: darkred;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkred;")
else:
# self.bogie_right.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_1_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if data.bogie_connection_2 is False:
# self.bogie_left.setStyleSheet("background-color: darkred;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkred;")
else:
# self.bogie_left.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_2_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
if data.bogie_connection_3 is False:
# self.bogie_rear.setStyleSheet("background-color: darkred;")
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkred;")
else:
# self.bogie_rear.setStyleSheet("background-color: darkgreen;")
self.bogie_connection_3_stylesheet_change_ready__signal.emit("background-color: darkgreen;")
def __jetson_callback(self, data):
self.jetson_cpu_update_ready__signal.emit("TX2 CPU\n" + str(data.jetson_CPU) + "%")
@@ -238,9 +208,6 @@ class SensorCore(QtCore.QThread):
self.jetson_emmc_stylesheet_change_ready__signal.connect(self.emmc.setStyleSheet)
self.jetson_gpu_temp_update_ready__signal.connect(self.gpu_temp.setText)
self.jetson_gpu_temp_stylesheet_change_ready__signal.connect(self.gpu_temp.setStyleSheet)
self.bogie_connection_1_stylesheet_change_ready__signal.connect(self.bogie_right.setStyleSheet)
self.bogie_connection_2_stylesheet_change_ready__signal.connect(self.bogie_left.setStyleSheet)
self.bogie_connection_3_stylesheet_change_ready__signal.connect(self.bogie_rear.setStyleSheet)
self.camera_zed_stylesheet_change_ready__signal.connect(self.zed.setStyleSheet)
self.camera_under_stylesheet_change_ready__signal.connect(self.under_cam.setStyleSheet)
self.camera_chassis_stylesheet_change_ready__signal.connect(self.chassis_cam.setStyleSheet)

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software/ros_packages/ground_station/src/Resources/Images/osurclogo.png
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207
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
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@@ -277,7 +277,7 @@
</property>
</widget>
</item>
<item row="5" column="5">
<item row="9" column="5">
<widget class="QLabel" name="chassis_cam">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -322,7 +322,7 @@ Connected</string>
</property>
</widget>
</item>
<item row="5" column="4">
<item row="9" column="4">
<widget class="QLabel" name="under_cam">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -395,7 +395,7 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
@@ -443,7 +443,7 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="text">
<string>FrSky
@@ -485,7 +485,7 @@ Connected</string>
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="text">
<string>3D Nav Mouse
@@ -524,7 +524,7 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
@@ -538,7 +538,7 @@ Connected</string>
</property>
</widget>
</item>
<item row="5" column="2">
<item row="9" column="2">
<widget class="QLabel" name="main_cam">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -611,7 +611,7 @@ Connected</string>
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="text">
<string>GPS
@@ -623,7 +623,7 @@ Fix</string>
</widget>
</item>
<item row="4" column="4">
<widget class="QLabel" name="right_bogie">
<widget class="QLabel" name="middle_left_wheel_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -656,8 +656,8 @@ Fix</string>
<string notr="true">background-color:darkred;</string>
</property>
<property name="text">
<string>Right Bogie
Connected</string>
<string>Middle Left Wheel
Disconnected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -665,7 +665,7 @@ Connected</string>
</widget>
</item>
<item row="4" column="5">
<widget class="QLabel" name="rear_bogie">
<widget class="QLabel" name="rear_left_wheel_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -692,13 +692,13 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Rear Bogie
<string>Rear Left Wheel
Connected</string>
</property>
<property name="alignment">
@@ -707,7 +707,7 @@ Connected</string>
</widget>
</item>
<item row="4" column="2">
<widget class="QLabel" name="left_bogie">
<widget class="QLabel" name="front_left_wheel_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -734,13 +734,13 @@ Connected</string>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Left Bogie
<string>Front Left Wheel
Connected</string>
</property>
<property name="alignment">
@@ -748,7 +748,7 @@ Connected</string>
</property>
</widget>
</item>
<item row="5" column="1">
<item row="9" column="1">
<widget class="QLabel" name="zed">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -782,7 +782,8 @@ Connected</string>
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>ZED Connected</string>
<string>ZED
Disconnected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -815,6 +816,174 @@ Connected</string>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="front_right_wheel_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>9999999</width>
<height>9999999</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Front Right Wheel
Connected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="battery_voltage_status_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>9999999</width>
<height>9999999</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Battery Voltage
N/A</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QLabel" name="middle_right_wheel_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>9999999</width>
<height>9999999</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkred;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Middle Right Wheel
Disconnected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="6" column="5">
<widget class="QLabel" name="rear_right_wheel_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>9999999</width>
<height>9999999</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">background-color:darkgreen;</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="text">
<string>Rear Right Wheel
Connected</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>

88
software/ros_packages/rover_arm/src/rover_arm.cpp
View File

@@ -11,20 +11,84 @@ using namespace std;
int device_address = 1;
int main(int argc, char** argv){
smbus busHandle = smOpenBus("/dev/ttyUSB0");
////////// Global Variables //////////
// ROS Parameter Defaults
const string default_port = "/dev/ttyUSB0";
if (busHandle >= 0) {
cout << "Successfully connected bus" << endl;
// deviceAddress=ui->deviceAddress->value();
} else
cout << "Couldn't connect to bus";
while(1){
smSetParameter(busHandle, device_address, SMP_FAULTS, 0);
smSetParameter(busHandle, device_address, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smSetParameter(busHandle, device_address, SMP_ABSOLUTE_SETPOINT, 1000);
cout << "Test" << endl;
// Axis Defaults
const smint32 axis1_max_count = 100000;
float axis1_max_degrees = 180.0;
const smint32 axis2_max_count = 100000;
const smint32 axis3_max_count = 100000;
const smint32 axis4_max_count = 100000;
const smint32 axis5_max_count = 320000;
const smint32 axis6_max_count = 100000;
class RoverArm{
public:
RoverArm(int argc, char** argv){
ros::init(argc, argv, "rover_arm");
node_handle = new ros::NodeHandle("~");
node_handle->param("port", arm_port, default_port);
// Connect to arm, exit if failed
arm_bus_handle = smOpenBus(arm_port.c_str());
if(arm_bus_handle < 0){
ROS_ERROR("Could not connect to arm");
}
}
void run(){
char dir = 0;
printf("OK?: %d", ros::ok());
while(ros::ok()){
smSetParameter(arm_bus_handle, device_address, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, device_address, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smint32 status = 0;
while(!(status & STAT_TARGET_REACHED)){
smRead1Parameter(arm_bus_handle, device_address, SMP_STATUS, &status);
}
dir = !dir;
if(dir){
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 0);
}else{
smSetParameter(arm_bus_handle, device_address, SMP_ABSOLUTE_SETPOINT, 330000);
}
ros::spinOnce();
}
ROS_ERROR("Shutting down.");
}
private:
ros::NodeHandle *node_handle;
string arm_port;
smbus arm_bus_handle;
};
int main(int argc, char** argv){
RoverArm rover_arm(argc, argv);
rover_arm.run();
}

8
software/ros_packages/rover_control/src/control_coordinators/drive_coordinator.py
View File

@@ -91,10 +91,10 @@ class DriveCoordinator(object):
sleep(max(self.wait_time - time_diff, 0))
def process_drive_commands(self):
if not self.drive_command_data["iris"]["message"].ignore_drive_control:
self.send_drive_control_command(self.drive_command_data["iris"])
else:
self.send_drive_control_command(self.drive_command_data["ground_station"])
# if not self.drive_command_data["iris"]["message"].ignore_drive_control:
# self.send_drive_control_command(self.drive_command_data["iris"])
# else:
self.send_drive_control_command(self.drive_command_data["ground_station"])
def send_drive_control_command(self, drive_command_data):

10
software/ros_packages/rover_control/src/drive_control/drive_control.py
View File

@@ -68,6 +68,11 @@ class DriveControl(object):
self.port = rospy.get_param("~port", DEFAULT_PORT)
self.baud = rospy.get_param("~baud", DEFAULT_BAUD)
print self.port
self.first_motor_id = rospy.get_param("~first_motor_id", FIRST_MOTOR_ID)
self.second_motor_id = rospy.get_param("~second_motor_id", SECOND_MOTOR_ID)
self.first_motor_inverted = rospy.get_param("~invert_first_motor", DEFAULT_INVERT)
self.second_motor_inverted = rospy.get_param("~invert_second_motor", DEFAULT_INVERT)
@@ -117,6 +122,7 @@ class DriveControl(object):
print "Error occurred:", error
if (time() - self.bogie_last_seen) > BOGIE_LAST_SEEN_TIMEOUT:
print "Bogie not seen for", BOGIE_LAST_SEEN_TIMEOUT, "seconds. Exiting."
return # Exit so respawn can take over
time_diff = time() - start_time
@@ -124,8 +130,8 @@ class DriveControl(object):
sleep(max(self.wait_time - time_diff, 0))
def connect_to_bogie(self):
self.first_motor = minimalmodbus.Instrument(self.port, FIRST_MOTOR_ID)
self.second_motor = minimalmodbus.Instrument(self.port, SECOND_MOTOR_ID)
self.first_motor = minimalmodbus.Instrument(self.port, int(self.first_motor_id))
self.second_motor = minimalmodbus.Instrument(self.port, int(self.second_motor_id))
self.__setup_minimalmodbus_for_485()
def send_drive_control_message(self):

18
software/ros_packages/rover_main/launch/rover/control.launch
View File

@@ -1,18 +1,20 @@
<launch>
<group ns="rover_control">
<node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyIRIS"/>
<param name="hertz" value="20"/>
</node>
<!--<node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">-->
<!--<param name="port" value="/dev/rover/ttyIRIS"/>-->
<!--<param name="hertz" value="20"/>-->
<!--</node>-->
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyBogieRear"/>
<param name="port" value="/dev/rover/ttyREAR"/>
<param name="drive_control_topic" value="drive_control/rear"/>
<param name="drive_control_status_topic" value="drive_status/rear"/>
<param name="first_motor_id" value="2"/>
<param name="second_motor_id" value="1"/>
</node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyBogieLeft"/>
<param name="port" value="/dev/rover/ttyLEFT"/>
<param name="drive_control_topic" value="drive_control/left"/>
<param name="drive_control_status_topic" value="drive_status/left"/>
<param name="invert_first_motor" value="True"/>
@@ -20,9 +22,11 @@
</node>
<node name="right_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyBogieRight"/>
<param name="port" value="/dev/rover/ttyRIGHT"/>
<param name="drive_control_topic" value="drive_control/right"/>
<param name="drive_control_status_topic" value="drive_status/right"/>
<param name="first_motor_id" value="2"/>
<param name="second_motor_id" value="1"/>
</node>
<node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" output="screen"/>