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Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

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This commit is contained in:
Dylan Thrush
2018-08-07 00:23:12 -07:00
parent 1c994875aa 5e65f9dfdd
commit 8d2e28ae16
93 changed files with 6336 additions and 606 deletions
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30
electrical/documents/ioni/base.drc
View File

@@ -9,7 +9,7 @@ GranityVersionInt=11400
1\scaling=1
1\offset=0
1\readonly=true
1\value=10702
1\value=10707
1\min=2
1\max=1
2\name=HWTYPE
@@ -25,7 +25,7 @@ GranityVersionInt=11400
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028853
3\value=110028573
3\min=2
3\max=1
4\name=BUILDREVISION
@@ -33,7 +33,7 @@ GranityVersionInt=11400
4\scaling=1
4\offset=0
4\readonly=true
4\value=163070257
4\value=157269493
4\min=2
4\max=1
5\name=CEI
@@ -49,7 +49,7 @@ GranityVersionInt=11400
6\scaling=1
6\offset=0
6\readonly=true
6\value=-314970192
6\value=526566403
6\min=2
6\max=1
7\name=SMO
@@ -153,7 +153,7 @@ GranityVersionInt=11400
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\value=-19123927
19\min=-536870912
19\max=536870911
20\name=FBR
@@ -291,7 +291,7 @@ GranityVersionInt=11400
36\readonly=false
36\value=3
36\min=0
36\max=5.99999999999999
36\max=6
37\name=FOV
37\addr=569
37\scaling=100
@@ -313,7 +313,7 @@ GranityVersionInt=11400
39\scaling=1
39\offset=0
39\readonly=false
39\value=100000
39\value=175000
39\min=0
39\max=1000000
40\name=FVT
@@ -377,7 +377,7 @@ GranityVersionInt=11400
47\scaling=1
47\offset=0
47\readonly=false
47\value=7
47\value=39
47\min=0
47\max=32767
48\name=TCH
@@ -385,7 +385,7 @@ GranityVersionInt=11400
48\scaling=1
48\offset=0
48\readonly=false
48\value=96
48\value=128
48\min=0
48\max=-1
49\name=TTR
@@ -393,7 +393,7 @@ GranityVersionInt=11400
49\scaling=1
49\offset=0
49\readonly=false
49\value=4
49\value=5
49\min=0
49\max=536870911
50\name=TBT
@@ -521,7 +521,7 @@ GranityVersionInt=11400
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\value=416
65\min=0
65\max=-1
66\name=HMV
@@ -537,7 +537,7 @@ GranityVersionInt=11400
67\scaling=1
67\offset=0
67\readonly=false
67\value=10
67\value=1
67\min=1
67\max=32767
68\name=HMH
@@ -561,7 +561,7 @@ GranityVersionInt=11400
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\value=2861472
70\min=-536870912
70\max=536870911
71\name=HLL
@@ -569,7 +569,7 @@ GranityVersionInt=11400
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\value=-2861472
71\min=-536870912
71\max=536870911
72\name=HMF
@@ -673,7 +673,7 @@ GranityVersionInt=11400
84\scaling=1
84\offset=0
84\readonly=true
84\value=4194047
84\value=62914303
84\min=0
84\max=0
85\name=CAPS2

34
electrical/documents/ioni/elbow.drc
View File

@@ -9,7 +9,7 @@ GranityVersionInt=11400
1\scaling=1
1\offset=0
1\readonly=true
1\value=10702
1\value=10707
1\min=2
1\max=1
2\name=HWTYPE
@@ -25,7 +25,7 @@ GranityVersionInt=11400
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028853
3\value=110028686
3\min=2
3\max=1
4\name=BUILDREVISION
@@ -33,7 +33,7 @@ GranityVersionInt=11400
4\scaling=1
4\offset=0
4\readonly=true
4\value=163070257
4\value=157269493
4\min=2
4\max=1
5\name=CEI
@@ -49,7 +49,7 @@ GranityVersionInt=11400
6\scaling=1
6\offset=0
6\readonly=true
6\value=-314970192
6\value=-29713247
6\min=2
6\max=1
7\name=SMO
@@ -153,7 +153,7 @@ GranityVersionInt=11400
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\value=3222680
19\min=-536870912
19\max=536870911
20\name=FBR
@@ -193,7 +193,7 @@ GranityVersionInt=11400
24\scaling=1
24\offset=0
24\readonly=false
24\value=1000
24\value=600
24\min=0
24\max=300000
25\name=KVI
@@ -201,7 +201,7 @@ GranityVersionInt=11400
25\scaling=1
25\offset=0
25\readonly=false
25\value=150
25\value=100
25\min=0
25\max=300000
26\name=KPP
@@ -209,7 +209,7 @@ GranityVersionInt=11400
26\scaling=1
26\offset=0
26\readonly=false
26\value=50
26\value=40
26\min=0
26\max=300000
27\name=VFF
@@ -291,7 +291,7 @@ GranityVersionInt=11400
36\readonly=false
36\value=3
36\min=0
36\max=5.99999999999999
36\max=6
37\name=FOV
37\addr=569
37\scaling=100
@@ -385,7 +385,7 @@ GranityVersionInt=11400
48\scaling=1
48\offset=0
48\readonly=false
48\value=96
48\value=128
48\min=0
48\max=-1
49\name=TTR
@@ -393,7 +393,7 @@ GranityVersionInt=11400
49\scaling=1
49\offset=0
49\readonly=false
49\value=4
49\value=2
49\min=0
49\max=536870911
50\name=TBT
@@ -401,7 +401,7 @@ GranityVersionInt=11400
50\scaling=1
50\offset=0
50\readonly=false
50\value=10
50\value=90
50\min=-1000000
50\max=100
51\name=CRI
@@ -457,7 +457,7 @@ GranityVersionInt=11400
57\scaling=1
57\offset=0
57\readonly=false
57\value=1630
57\value=1200
57\min=1
57\max=32767
58\name=CRV
@@ -521,7 +521,7 @@ GranityVersionInt=11400
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\value=416
65\min=0
65\max=-1
66\name=HMV
@@ -561,7 +561,7 @@ GranityVersionInt=11400
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\value=2457601
70\min=-536870912
70\max=536870911
71\name=HLL
@@ -569,7 +569,7 @@ GranityVersionInt=11400
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\value=-2457601
71\min=-536870912
71\max=536870911
72\name=HMF
@@ -673,7 +673,7 @@ GranityVersionInt=11400
84\scaling=1
84\offset=0
84\readonly=true
84\value=4194047
84\value=62914303
84\min=0
84\max=0
85\name=CAPS2

22
electrical/documents/ioni/roll.drc
View File

@@ -1,7 +1,7 @@
[Header]
DRCVersion=110
GranityVersion=1.14.1
GranityVersionInt=11401
GranityVersion=1.14.0
GranityVersionInt=11400
[GDT3Params]
1\name=GCFWVER
@@ -153,7 +153,7 @@ GranityVersionInt=11401
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\value=769700
19\min=-536870912
19\max=536870911
20\name=FBR
@@ -193,7 +193,7 @@ GranityVersionInt=11401
24\scaling=1
24\offset=0
24\readonly=false
24\value=1100
24\value=500
24\min=0
24\max=300000
25\name=KVI
@@ -201,7 +201,7 @@ GranityVersionInt=11401
25\scaling=1
25\offset=0
25\readonly=false
25\value=800
25\value=50
25\min=0
25\max=300000
26\name=KPP
@@ -209,7 +209,7 @@ GranityVersionInt=11401
26\scaling=1
26\offset=0
26\readonly=false
26\value=1600
26\value=10
26\min=0
26\max=300000
27\name=VFF
@@ -473,7 +473,7 @@ GranityVersionInt=11401
59\scaling=1000
59\offset=0
59\readonly=false
59\value=3.855
59\value=4.086
59\min=0.001
59\max=200
60\name=ML
@@ -481,7 +481,7 @@ GranityVersionInt=11401
60\scaling=1000
60\offset=0
60\readonly=false
60\value=2.079
60\value=1.825
60\min=0.001
60\max=200
61\name=MTC
@@ -521,7 +521,7 @@ GranityVersionInt=11401
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\value=416
65\min=0
65\max=-1
66\name=HMV
@@ -561,7 +561,7 @@ GranityVersionInt=11401
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\value=408781
70\min=-536870912
70\max=536870911
71\name=HLL
@@ -569,7 +569,7 @@ GranityVersionInt=11401
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\value=-408781
71\min=-536870912
71\max=536870911
72\name=HMF

24
electrical/documents/ioni/shoulder.drc
View File

@@ -1,7 +1,7 @@
[Header]
DRCVersion=110
GranityVersion=1.14.1
GranityVersionInt=11401
GranityVersion=1.14.0
GranityVersionInt=11400
[GDT3Params]
1\name=GCFWVER
@@ -153,7 +153,7 @@ GranityVersionInt=11401
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\value=28407
19\min=-536870912
19\max=536870911
20\name=FBR
@@ -273,7 +273,7 @@ GranityVersionInt=11401
34\scaling=1000
34\offset=0
34\readonly=false
34\value=5
34\value=10
34\min=0.001
34\max=23.478
35\name=MCC
@@ -385,7 +385,7 @@ GranityVersionInt=11401
48\scaling=1
48\offset=0
48\readonly=false
48\value=96
48\value=224
48\min=0
48\max=-1
49\name=TTR
@@ -393,7 +393,7 @@ GranityVersionInt=11401
49\scaling=1
49\offset=0
49\readonly=false
49\value=4
49\value=2
49\min=0
49\max=536870911
50\name=TBT
@@ -401,7 +401,7 @@ GranityVersionInt=11401
50\scaling=1
50\offset=0
50\readonly=false
50\value=10
50\value=90
50\min=-1000000
50\max=100
51\name=CRI
@@ -457,7 +457,7 @@ GranityVersionInt=11401
57\scaling=1
57\offset=0
57\readonly=false
57\value=870
57\value=700
57\min=1
57\max=32767
58\name=CRV
@@ -521,7 +521,7 @@ GranityVersionInt=11401
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\value=416
65\min=0
65\max=-1
66\name=HMV
@@ -537,7 +537,7 @@ GranityVersionInt=11401
67\scaling=1
67\offset=0
67\readonly=false
67\value=10
67\value=1
67\min=1
67\max=32767
68\name=HMH
@@ -561,7 +561,7 @@ GranityVersionInt=11401
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\value=654050
70\min=-536870912
70\max=536870911
71\name=HLL
@@ -569,7 +569,7 @@ GranityVersionInt=11401
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\value=-654050
71\min=-536870912
71\max=536870911
72\name=HMF

20
electrical/documents/ioni/wrist_pitch.drc
View File

@@ -9,7 +9,7 @@ GranityVersionInt=11400
1\scaling=1
1\offset=0
1\readonly=true
1\value=10702
1\value=10707
1\min=2
1\max=1
2\name=HWTYPE
@@ -25,7 +25,7 @@ GranityVersionInt=11400
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028853
3\value=110028746
3\min=2
3\max=1
4\name=BUILDREVISION
@@ -33,7 +33,7 @@ GranityVersionInt=11400
4\scaling=1
4\offset=0
4\readonly=true
4\value=163070257
4\value=157269493
4\min=2
4\max=1
5\name=CEI
@@ -49,7 +49,7 @@ GranityVersionInt=11400
6\scaling=1
6\offset=0
6\readonly=true
6\value=-314970192
6\value=-390223875
6\min=2
6\max=1
7\name=SMO
@@ -153,7 +153,7 @@ GranityVersionInt=11400
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\value=-17238226
19\min=-536870912
19\max=536870911
20\name=FBR
@@ -291,7 +291,7 @@ GranityVersionInt=11400
36\readonly=false
36\value=3
36\min=0
36\max=5.99999999999999
36\max=6
37\name=FOV
37\addr=569
37\scaling=100
@@ -521,7 +521,7 @@ GranityVersionInt=11400
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\value=416
65\min=0
65\max=-1
66\name=HMV
@@ -561,7 +561,7 @@ GranityVersionInt=11400
70\scaling=1
70\offset=0
70\readonly=false
70\value=0
70\value=948448
70\min=-536870912
70\max=536870911
71\name=HLL
@@ -569,7 +569,7 @@ GranityVersionInt=11400
71\scaling=1
71\offset=0
71\readonly=false
71\value=0
71\value=-948448
71\min=-536870912
71\max=536870911
72\name=HMF
@@ -673,7 +673,7 @@ GranityVersionInt=11400
84\scaling=1
84\offset=0
84\readonly=true
84\value=4194047
84\value=62914303
84\min=0
84\max=0
85\name=CAPS2

16
electrical/documents/ioni/wrist_roll.drc
View File

@@ -9,7 +9,7 @@ GranityVersionInt=11400
1\scaling=1
1\offset=0
1\readonly=true
1\value=10702
1\value=10707
1\min=2
1\max=1
2\name=HWTYPE
@@ -25,7 +25,7 @@ GranityVersionInt=11400
3\scaling=1
3\offset=0
3\readonly=true
3\value=110028853
3\value=110028918
3\min=2
3\max=1
4\name=BUILDREVISION
@@ -33,7 +33,7 @@ GranityVersionInt=11400
4\scaling=1
4\offset=0
4\readonly=true
4\value=163070257
4\value=157269493
4\min=2
4\max=1
5\name=CEI
@@ -49,7 +49,7 @@ GranityVersionInt=11400
6\scaling=1
6\offset=0
6\readonly=true
6\value=-314970192
6\value=-69557674
6\min=2
6\max=1
7\name=SMO
@@ -153,7 +153,7 @@ GranityVersionInt=11400
19\scaling=1
19\offset=0
19\readonly=false
19\value=0
19\value=-21753107
19\min=-536870912
19\max=536870911
20\name=FBR
@@ -291,7 +291,7 @@ GranityVersionInt=11400
36\readonly=false
36\value=3
36\min=0
36\max=5.99999999999999
36\max=6
37\name=FOV
37\addr=569
37\scaling=100
@@ -521,7 +521,7 @@ GranityVersionInt=11400
65\scaling=1
65\offset=0
65\readonly=false
65\value=0
65\value=416
65\min=0
65\max=-1
66\name=HMV
@@ -673,7 +673,7 @@ GranityVersionInt=11400
84\scaling=1
84\offset=0
84\readonly=true
84\value=4194047
84\value=62914303
84\min=0
84\max=0
85\name=CAPS2

6
software/environment/rover/UDEV_rules/99-rover-usb-serial.rules
View File

@@ -7,11 +7,13 @@
#########################
##### NOTE!!!! The IONIs cannot be on IRIS. The throughput is too high for it to handle with only a 12Mbit usb hub onboard #####
# IRIS Board Mappings
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyREAR"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyLEFT"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyRIGHT"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyIRIS_0_3"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2CZLZF", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyEffectors"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="00", SYMLINK+="rover/ttyIRIS_1_0"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM2HPA6V", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="rover/ttyTowerAndPanTilt"
@@ -23,6 +25,8 @@ SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{seria
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="02", SYMLINK+="rover/ttyIRIS"
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6011", ATTRS{serial}=="NM34WE0R", ENV{ID_USB_INTERFACE_NUM}=="03", SYMLINK+="rover/ttyExtraUART"
# External 485 adapter for the ARM
SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyARM"
##### Mappings from OMSI / EXPO driving with individual adapters
# SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="AH05K2Y8", SYMLINK+="rover/ttyLEFT"

1
software/environment/rover/UDEV_rules/install_rules.sh
View File

@@ -1,3 +1,4 @@
#!/bin/bash
sudo cp 99-rover-cameras.rules /etc/udev/rules.d/.
sudo cp 99-rover-usb-serial.rules /etc/udev/rules.d/.
sudo reboot

637
software/firmware/mining/mining.ino
View File

@@ -1,302 +1,335 @@
////////// Includes //////////
#include "HX711.h"
#include <ModbusRtu.h>
////////// Hardware / Data Enumerations //////////
enum HARDWARE {
RS485_EN = 6,
RS485_RX = 9,
RS485_TX = 10,
MOTOR_LIFT_A = 27,
MOTOR_LIFT_B = 28,
MOTOR_LIFT_PWM = 25,
MOTOR_LIFT_CS = 31,
MOTOR_LIFT_EN = 24,
MOTOR_LIFT_FB = A10,
MOTOR_TILT_A = 30,
MOTOR_TILT_B = 29,
MOTOR_TILT_PWM = 32,
MOTOR_TILT_CS = 26,
MOTOR_TILT_EN = 33,
MOTOR_TILT_FB = A11,
LED_13 = 13,
LED_RED = 20,
LED_BLUE = 21,
LED_GREEN = 22,
SCALE_DOUT = 8,
SCALE_CLK = 7
};
enum MOTORS {
LIFT = 0,
TILT = 1,
};
enum MODBUS_REGISTERS {
// Inputs
SET_POSITION_LIFT = 0,
SET_POSITION_TILT = 1,
TARE = 2,
CALIBRATION_FACTOR = 3,
// Outputs
CURRENT_POSITION_LIFT = 4,
CURRENT_POSITION_TILT = 5,
MEASURED_WEIGHT = 6,
};
////////// Global Variables //////////
int set_position_lift = 0;
int set_position_tilt = 0;
int current_position_lift = 0;
int current_position_tilt = 0;
int tolerance = 20; //tolerance for position
float calibration_factor = -120000; //for the scale
// modbus stuff
const uint8_t node_id = 2;
const uint8_t mobus_serial_port_number = 2;
uint16_t modbus_data[] = {1023, 350, 0, 0, 0, 0, 0};
uint8_t num_modbus_registers = 0;
int8_t poll_state = 0;
bool communication_good = false;
uint8_t message_count = 0;
// nice human words for motor states
#define BRAKEVCC 0
#define CW 1
#define CCW 2
#define BRAKEGND 3
////////// Class Instantiations //////////
HX711 scale(HARDWARE::SCALE_DOUT, HARDWARE::SCALE_CLK);
Modbus slave(node_id, mobus_serial_port_number, HARDWARE::RS485_EN);
void setup() {
Serial.begin(9600); // debug
setup_hardware();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(115200); // baud-rate at 19200
slave.setTimeOut(500);
}
void loop() {
poll_modbus();
set_leds();
set_motors();
set_scale();
poll_scale();
}
void setup_hardware() {
pinMode(HARDWARE::RS485_EN, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_A, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_B, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_PWM, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_EN, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_CS, INPUT);
pinMode(HARDWARE::MOTOR_LIFT_FB, INPUT);
pinMode(HARDWARE::MOTOR_TILT_A, OUTPUT);
pinMode(HARDWARE::MOTOR_TILT_B, OUTPUT);
pinMode(HARDWARE::MOTOR_TILT_PWM, OUTPUT);
pinMode(HARDWARE::MOTOR_TILT_EN, OUTPUT);
pinMode(HARDWARE::MOTOR_TILT_CS, INPUT);
pinMode(HARDWARE::MOTOR_TILT_FB, INPUT);
pinMode(HARDWARE::LED_13, OUTPUT);
pinMode(HARDWARE::LED_RED, OUTPUT);
pinMode(HARDWARE::LED_BLUE, OUTPUT);
pinMode(HARDWARE::LED_GREEN, OUTPUT);
// set defualt states
digitalWrite(HARDWARE::LED_RED, LOW);
digitalWrite(HARDWARE::LED_GREEN, HIGH);
digitalWrite(HARDWARE::LED_BLUE, HIGH);
digitalWrite(HARDWARE::LED_13, LOW);
digitalWrite(HARDWARE::MOTOR_LIFT_EN, HIGH);
digitalWrite(HARDWARE::MOTOR_TILT_EN, HIGH);
// Change motor PWM frequency so it's not in the audible range
analogWriteFrequency(HARDWARE::MOTOR_LIFT_PWM, 25000);
analogWriteFrequency(HARDWARE::MOTOR_TILT_PWM, 25000);
// set the current desired position to the current position
set_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
set_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
current_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
// setup scale
scale.set_scale(calibration_factor);
scale.tare(); //Reset the scale to 0
}
void poll_modbus(){
poll_state = slave.poll(modbus_data, num_modbus_registers);
communication_good = !slave.getTimeOutState();
}
void set_leds(){
if(poll_state > 4){
message_count++;
if(message_count > 2){
digitalWrite(HARDWARE::LED_13, !digitalRead(HARDWARE::LED_13));
message_count = 0;
}
digitalWrite(HARDWARE::LED_GREEN, LOW);
digitalWrite(HARDWARE::LED_RED, HIGH);
}else if(!communication_good){
digitalWrite(HARDWARE::LED_13, LOW);
digitalWrite(HARDWARE::LED_GREEN, HIGH);
digitalWrite(HARDWARE::LED_RED, LOW);
}
}
void set_motors() {
set_position_lift = modbus_data[MODBUS_REGISTERS::SET_POSITION_LIFT];
set_position_tilt = modbus_data[MODBUS_REGISTERS::SET_POSITION_TILT];
current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
current_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
modbus_data[MODBUS_REGISTERS::CURRENT_POSITION_LIFT] = current_position_lift;
modbus_data[MODBUS_REGISTERS::CURRENT_POSITION_TILT] = current_position_tilt;
if (abs(current_position_lift - set_position_lift) > tolerance) {
if (current_position_lift < set_position_lift) {
set_motor_output(MOTORS::LIFT, CCW, 255);
}
else {
set_motor_output(MOTORS::LIFT, CW, 255);
}
}
else {
motor_off(MOTORS::LIFT);
}
if (abs(current_position_tilt - set_position_tilt) > tolerance) {
if (current_position_tilt < set_position_tilt) {
set_motor_output(MOTORS::TILT, CCW, 255);
}
else {
set_motor_output(MOTORS::TILT, CW, 255);
}
}
else {
motor_off(MOTORS::TILT);
}
}
void set_scale(){
scale.set_scale(modbus_data[MODBUS_REGISTERS::CALIBRATION_FACTOR]*-1000);
if (modbus_data[MODBUS_REGISTERS::TARE] == 1){
scale.tare();
modbus_data[MODBUS_REGISTERS::TARE] = 0;
}
}
void poll_scale(){
modbus_data[MODBUS_REGISTERS::MEASURED_WEIGHT] = scale.get_units()*-1000;
}
//---Set Motor Output---//
/*
Inputs: motor number, direction, pwm value
Returns: nothing
Will set a motor going in a specific direction the motor will continue
going in that direction, at that speed until told to do otherwise.
direct: Should be between 0 and 3, with the following result
0: Brake to VCC
1: Clockwise
2: CounterClockwise
3: Brake to GND
pwm: should be a value between 0 and 255, higher the number, the faster
it'll go
----------------
Control Logic:
----------------
A | B
Brake VCC: 1 1
CW: 1 0
CCW: 0 1
Brake GND: 0 0
----------------
*/
void set_motor_output(int motor, int direction, int pwm_input) {
int a;
int b;
int pwm;
if (motor == MOTORS::LIFT) {
a = HARDWARE::MOTOR_LIFT_A;
b = HARDWARE::MOTOR_LIFT_B;
pwm = HARDWARE::MOTOR_LIFT_PWM;
}
else if (motor == MOTORS::TILT) {
a = HARDWARE::MOTOR_TILT_A;
b = HARDWARE::MOTOR_TILT_B;
pwm = HARDWARE::MOTOR_TILT_PWM;
}
else {
return;
}
if (direction <= 4) {
// Set A
if (direction <= 1) {
digitalWrite(a, HIGH);
}
else {
digitalWrite(a, LOW);
}
// Set B
if ((direction == 0) || (direction == 2)) {
digitalWrite(b, HIGH);
}
else {
digitalWrite(b, LOW);
}
analogWrite(pwm, pwm_input);
}
}
void motor_off(int motor) {
int a;
int b;
int pwm;
if (motor == MOTORS::LIFT) {
a = HARDWARE::MOTOR_LIFT_A;
b = HARDWARE::MOTOR_LIFT_B;
pwm = HARDWARE::MOTOR_LIFT_PWM;
}
else if (motor == MOTORS::TILT) {
a = HARDWARE::MOTOR_TILT_A;
b = HARDWARE::MOTOR_TILT_B;
pwm = HARDWARE::MOTOR_TILT_PWM;
}
else {
return;
}
digitalWrite(a, LOW);
digitalWrite(b, LOW);
analogWrite(pwm, 0);
}
////////// Includes //////////
#include "HX711.h"
#include <ModbusRtu.h>
////////// Hardware / Data Enumerations //////////
enum HARDWARE {
RS485_EN = 6,
RS485_RX = 9,
RS485_TX = 10,
MOTOR_LIFT_A = 27,
MOTOR_LIFT_B = 28,
MOTOR_LIFT_PWM = 25,
MOTOR_LIFT_CS = 31,
MOTOR_LIFT_EN = 24,
MOTOR_LIFT_FB = A10,
MOTOR_TILT_A = 30,
MOTOR_TILT_B = 29,
MOTOR_TILT_PWM = 32,
MOTOR_TILT_CS = 26,
MOTOR_TILT_EN = 33,
MOTOR_TILT_FB = A11,
LED_13 = 13,
LED_RED = 20,
LED_BLUE = 21,
LED_GREEN = 22,
SCALE_DOUT = 8,
SCALE_CLK = 7
};
enum MOTORS {
LIFT = 0,
TILT = 1,
};
enum MODBUS_REGISTERS {
// Inputs
SET_POSITION_LIFT_POSITIVE = 0,
SET_POSITION_LIFT_NEGATIVE = 1,
SET_POSITION_TILT_POSITIVE = 2,
SET_POSITION_TILT_NEGATIVE = 3,
SET_POSITION_LIFT_ABSOLUTE = 4,
SET_POSITION_TILT_ABSOLUTE = 5,
MEASURE = 6,
TARE = 7,
CALIBRATION_FACTOR = 8,
// Outputs
CURRENT_POSITION_LIFT = 9,
CURRENT_POSITION_TILT = 10,
MEASURED_WEIGHT = 11
};
////////// Global Variables //////////
int set_position_lift = 1023;
int set_position_tilt = 350;
int current_position_lift = 0;
int current_position_tilt = 0;
int tolerance = 20; //tolerance for position
float last_calibration_factor = -120000; //for the scale
// modbus stuff
const uint8_t node_id = 2;
const uint8_t mobus_serial_port_number = 2;
uint16_t modbus_data[] = {0, 0, 0, 0, 9999, 9999, 0, 0, 972, 0, 0, 0};
uint8_t num_modbus_registers = 0;
int8_t poll_state = 0;
bool communication_good = false;
uint8_t message_count = 0;
// nice human words for motor states
#define BRAKEVCC 0
#define CW 1
#define CCW 2
#define BRAKEGND 3
////////// Class Instantiations //////////
HX711 scale(HARDWARE::SCALE_DOUT, HARDWARE::SCALE_CLK);
Modbus slave(node_id, mobus_serial_port_number, HARDWARE::RS485_EN);
void setup() {
Serial.begin(9600); // debug
// while(!Serial);
setup_hardware();
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(115200); // baud-rate at 19200
slave.setTimeOut(200);
}
void loop() {
poll_modbus();
set_leds();
set_motors();
set_scale();
poll_scale();
}
void setup_hardware() {
pinMode(HARDWARE::RS485_EN, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_A, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_B, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_PWM, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_EN, OUTPUT);
pinMode(HARDWARE::MOTOR_LIFT_CS, INPUT);
pinMode(HARDWARE::MOTOR_LIFT_FB, INPUT);
pinMode(HARDWARE::MOTOR_TILT_A, OUTPUT);
pinMode(HARDWARE::MOTOR_TILT_B, OUTPUT);
pinMode(HARDWARE::MOTOR_TILT_PWM, OUTPUT);
pinMode(HARDWARE::MOTOR_TILT_EN, OUTPUT);
pinMode(HARDWARE::MOTOR_TILT_CS, INPUT);
pinMode(HARDWARE::MOTOR_TILT_FB, INPUT);
pinMode(HARDWARE::LED_13, OUTPUT);
pinMode(HARDWARE::LED_RED, OUTPUT);
pinMode(HARDWARE::LED_BLUE, OUTPUT);
pinMode(HARDWARE::LED_GREEN, OUTPUT);
// set defualt states
digitalWrite(HARDWARE::LED_RED, LOW);
digitalWrite(HARDWARE::LED_GREEN, HIGH);
digitalWrite(HARDWARE::LED_BLUE, HIGH);
digitalWrite(HARDWARE::LED_13, LOW);
digitalWrite(HARDWARE::MOTOR_LIFT_EN, HIGH);
digitalWrite(HARDWARE::MOTOR_TILT_EN, HIGH);
// Change motor PWM frequency so it's not in the audible range
analogWriteFrequency(HARDWARE::MOTOR_LIFT_PWM, 25000);
analogWriteFrequency(HARDWARE::MOTOR_TILT_PWM, 25000);
// set the current desired position to the current position
// set_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
// set_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
current_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
// setup scale
scale.set_scale(last_calibration_factor);
scale.tare(); //Reset the scale to 0
}
void poll_modbus(){
poll_state = slave.poll(modbus_data, num_modbus_registers);
communication_good = !slave.getTimeOutState();
}
void set_leds(){
if(poll_state > 4){
message_count++;
if(message_count > 2){
digitalWrite(HARDWARE::LED_13, !digitalRead(HARDWARE::LED_13));
message_count = 0;
}
digitalWrite(HARDWARE::LED_GREEN, LOW);
digitalWrite(HARDWARE::LED_RED, HIGH);
}else if(!communication_good){
digitalWrite(HARDWARE::LED_13, LOW);
digitalWrite(HARDWARE::LED_GREEN, HIGH);
digitalWrite(HARDWARE::LED_RED, LOW);
}
}
void set_motors() {
if (modbus_data[MODBUS_REGISTERS::SET_POSITION_LIFT_ABSOLUTE] < 1024 ){
set_position_lift = modbus_data[MODBUS_REGISTERS::SET_POSITION_LIFT_ABSOLUTE];
modbus_data[MODBUS_REGISTERS::SET_POSITION_LIFT_ABSOLUTE] = 1024;
}else{
set_position_lift += modbus_data[MODBUS_REGISTERS::SET_POSITION_LIFT_POSITIVE] - modbus_data[MODBUS_REGISTERS::SET_POSITION_LIFT_NEGATIVE];
set_position_lift = constrain(set_position_lift, 0, 1023);
modbus_data[MODBUS_REGISTERS::SET_POSITION_LIFT_POSITIVE] = 0;
modbus_data[MODBUS_REGISTERS::SET_POSITION_LIFT_NEGATIVE] = 0;
}
if(modbus_data[MODBUS_REGISTERS::SET_POSITION_TILT_ABSOLUTE] < 1024){
set_position_tilt = modbus_data[MODBUS_REGISTERS::SET_POSITION_TILT_ABSOLUTE];
modbus_data[MODBUS_REGISTERS::SET_POSITION_TILT_ABSOLUTE] = 1024;
}else{
set_position_tilt += modbus_data[MODBUS_REGISTERS::SET_POSITION_TILT_POSITIVE] - modbus_data[MODBUS_REGISTERS::SET_POSITION_TILT_NEGATIVE] ;
set_position_tilt = constrain(set_position_tilt, 0, 1023);
modbus_data[MODBUS_REGISTERS::SET_POSITION_TILT_POSITIVE] = 0;
modbus_data[MODBUS_REGISTERS::SET_POSITION_TILT_NEGATIVE] = 0;
}
current_position_lift = analogRead(HARDWARE::MOTOR_LIFT_FB);
current_position_tilt = analogRead(HARDWARE::MOTOR_TILT_FB);
modbus_data[MODBUS_REGISTERS::CURRENT_POSITION_LIFT] = current_position_lift;
modbus_data[MODBUS_REGISTERS::CURRENT_POSITION_TILT] = current_position_tilt;
if (abs(current_position_lift - set_position_lift) > tolerance) {
if (current_position_lift < set_position_lift) {
set_motor_output(MOTORS::LIFT, CCW, 255);
}
else {
set_motor_output(MOTORS::LIFT, CW, 255);
}
}
else {
motor_off(MOTORS::LIFT);
}
if (abs(current_position_tilt - set_position_tilt) > tolerance) {
if (current_position_tilt < set_position_tilt) {
set_motor_output(MOTORS::TILT, CCW, 255);
}
else {
set_motor_output(MOTORS::TILT, CW, 255);
}
}
else {
motor_off(MOTORS::TILT);
}
}
void set_scale(){
float cal_factor = modbus_data[MODBUS_REGISTERS::CALIBRATION_FACTOR] * -100;
if(cal_factor != last_calibration_factor){
scale.set_scale(cal_factor);
last_calibration_factor = cal_factor;
}
if (modbus_data[MODBUS_REGISTERS::TARE] == 1){
scale.tare();
modbus_data[MODBUS_REGISTERS::TARE] = 0;
}
}
void poll_scale(){
if(modbus_data[MODBUS_REGISTERS::MEASURE] == 1){
// Serial.println(scale.get_units()*-1000);
modbus_data[MODBUS_REGISTERS::MEASURED_WEIGHT] = scale.get_units()*-1000;
modbus_data[MODBUS_REGISTERS::MEASURE] = 0;
}
}
//---Set Motor Output---//
/*
Inputs: motor number, direction, pwm value
Returns: nothing
Will set a motor going in a specific direction the motor will continue
going in that direction, at that speed until told to do otherwise.
direct: Should be between 0 and 3, with the following result
0: Brake to VCC
1: Clockwise
2: CounterClockwise
3: Brake to GND
pwm: should be a value between 0 and 255, higher the number, the faster
it'll go
----------------
Control Logic:
----------------
A | B
Brake VCC: 1 1
CW: 1 0
CCW: 0 1
Brake GND: 0 0
----------------
*/
void set_motor_output(int motor, int direction, int pwm_input) {
int a;
int b;
int pwm;
if (motor == MOTORS::LIFT) {
a = HARDWARE::MOTOR_LIFT_A;
b = HARDWARE::MOTOR_LIFT_B;
pwm = HARDWARE::MOTOR_LIFT_PWM;
}
else if (motor == MOTORS::TILT) {
a = HARDWARE::MOTOR_TILT_A;
b = HARDWARE::MOTOR_TILT_B;
pwm = HARDWARE::MOTOR_TILT_PWM;
}
else {
return;
}
if (direction <= 4) {
// Set A
if (direction <= 1) {
digitalWrite(a, HIGH);
}
else {
digitalWrite(a, LOW);
}
// Set B
if ((direction == 0) || (direction == 2)) {
digitalWrite(b, HIGH);
}
else {
digitalWrite(b, LOW);
}
analogWrite(pwm, pwm_input);
}
}
void motor_off(int motor) {
int a;
int b;
int pwm;
if (motor == MOTORS::LIFT) {
a = HARDWARE::MOTOR_LIFT_A;
b = HARDWARE::MOTOR_LIFT_B;
pwm = HARDWARE::MOTOR_LIFT_PWM;
}
else if (motor == MOTORS::TILT) {
a = HARDWARE::MOTOR_TILT_A;
b = HARDWARE::MOTOR_TILT_B;
pwm = HARDWARE::MOTOR_TILT_PWM;
}
else {
return;
}
digitalWrite(a, LOW);
digitalWrite(b, LOW);
analogWrite(pwm, 0);
}

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////////// Includes //////////
#include <ModbusRtu.h>
////////// Hardware / Data Enumerations //////////
enum HARDWARE {
COMMS_RS485_EN = 3,
COMMS_RS485_RX = 9,
COMMS_RS485_TX = 10,
// COMMS_RS485_EN = 2,
// COMMS_RS485_RX = 0,
// COMMS_RS485_TX = 1,
RDF_INPUT = A7,
LED_BLUE_EXTRA = 13
};
enum MODBUS_REGISTERS {
RAW_DATA = 0
};
////////// Global Variables //////////
///// Modbus
const uint8_t node_id = 1;
const uint8_t modbus_serial_port_number = 2;
uint16_t modbus_data[] = {0};
uint8_t num_modbus_registers = 0;
int8_t poll_state = 0;
bool communication_good = false;
uint8_t message_count = 0;
////////// Class Instantiations //////////
Modbus slave(node_id, modbus_serial_port_number, HARDWARE::COMMS_RS485_EN);
void setup() {
// Debugging
// Serial.begin(9600);
// while (!Serial);
// Raw pin setup
setup_hardware();
// Setup modbus serial communication
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(115200); // baud-rate at 19200
slave.setTimeOut(100);
}
void loop() {
// Do normal polling
poll_modbus();
set_leds();
}
void setup_hardware() {
// Setup pins as inputs / outputs
pinMode(HARDWARE::RDF_INPUT, INPUT);
pinMode(HARDWARE::LED_BLUE_EXTRA, OUTPUT);
analogReadResolution(13);
}
void poll_modbus() {
poll_state = slave.poll(modbus_data, num_modbus_registers);
communication_good = !slave.getTimeOutState();
modbus_data[MODBUS_REGISTERS::RAW_DATA] = analogRead(HARDWARE::RDF_INPUT);
}
void set_leds() {
if (poll_state > 4) {
message_count++;
if (message_count > 2) {
digitalWrite(HARDWARE::LED_BLUE_EXTRA, !digitalRead(HARDWARE::LED_BLUE_EXTRA));
message_count = 0;
}
} else if (!communication_good) {
digitalWrite(HARDWARE::LED_BLUE_EXTRA, LOW);
}
}

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////////// Includes //////////
#include <ModbusRtu.h>
////////// Hardware / Data Enumerations //////////
enum HARDWARE {
COMMS_RS485_EN = 3,
COMMS_RS485_RX = 9,
COMMS_RS485_TX = 10,
// COMMS_RS485_EN = 2,
// COMMS_RS485_RX = 0,
// COMMS_RS485_TX = 1,
RDF_INPUT = A7,
LED_BLUE_EXTRA = 13
};
enum MODBUS_REGISTERS {
SENSITIVITY = 0,
RAW_DATA = 1, // Input
CLEAN_DATA_POSITIVE = 2,
CLEAN_DATA_NEGATIVE = 3,
FREQUENCY = 4,
};
////////// Global Variables //////////
///// Modbus
const uint8_t node_id = 1;
const uint8_t modbus_serial_port_number = 2;
uint16_t modbus_data[] = {50, 0, 0, 0, 0};
uint8_t num_modbus_registers = 0;
int8_t poll_state = 0;
bool communication_good = false;
uint8_t message_count = 0;
//////////////// Anothony's stuff /////////////
int state;
float freq;
float ambientNoise;
unsigned long totalDataPoints;
int dataBuff[3];
int data[3];
unsigned long t1,t2,t3;
int dt1,dt2 =0;
float dtavg;
int tcnt =2;
bool upstate = false;
////////// Class Instantiations //////////
Modbus slave(node_id, modbus_serial_port_number, HARDWARE::COMMS_RS485_EN);
void setup() {
// Debugging
Serial.begin(9600);
while (!Serial);
// Raw pin setup
setup_hardware();
// Setup modbus serial communication
num_modbus_registers = sizeof(modbus_data) / sizeof(modbus_data[0]);
slave.begin(115200); // baud-rate at 19200
slave.setTimeOut(150);
}
void loop() {
anthonys_rdf_code();
// Do normal polling
poll_modbus();
set_leds();
}
void anthonys_rdf_code(){
modbus_data[MODBUS_REGISTERS::RAW_DATA] = analogRead(HARDWARE::RDF_INPUT);
for(int i=0;i<3;i++){
dataBuff[i] = data[i];
}
dataSet();
int change = changeCheck();
if(change){
state = change;
if(change == 1){
t1 = millis();
dt1 = t1-t2;
}else{
t2 = millis();
dt2 = t2-t1;
}
if(dt2>dt1-100&&dt1>dt2-100){
dtavg = (dtavg*float(tcnt-2)/float(tcnt))+(((dt1+dt2)/2.0)*float(2.0/tcnt));
tcnt += 2;
freq = 500.0/dtavg;
}
}
if(change ==1 || millis() > dtavg*2+t3){
t3 = millis();
upstate = true;
}
if(millis()<t3+dtavg){
for(int i=0;i<3;i++){
int out_data = data[i]-ambientNoise;
if(out_data >=0){
modbus_data[MODBUS_REGISTERS::CLEAN_DATA_NEGATIVE] = 0;
modbus_data[MODBUS_REGISTERS::CLEAN_DATA_POSITIVE] = out_data;
}else{
modbus_data[MODBUS_REGISTERS::CLEAN_DATA_POSITIVE] = 0;
modbus_data[MODBUS_REGISTERS::CLEAN_DATA_NEGATIVE] = out_data;
}
modbus_data[MODBUS_REGISTERS::FREQUENCY] = freq * 100;
// Serial.print(data[i]-ambientNoise);
// Serial.print(", ");
Serial.println(freq);
}
}else{
float avgdat,dtot =0;
for(int i=0;i<3;i++)
dtot+=data[i];
avgdat = dtot/3.0;
ambientNoise = ambientNoise*float(totalDataPoints)/float(totalDataPoints+3)+avgdat*(3.0/float(totalDataPoints+3));
}
}
void dataSet(){
for(int i=0;i<3;i++){
data[i]=analogRead(HARDWARE::RDF_INPUT);
delay(1);
}
}
int changeCheck(){
uint16_t sensitivity = modbus_data[MODBUS_REGISTERS::SENSITIVITY];
int newSignalState = 0; // 0= no change 1= signal start 2= signal stop
if((data[0])>(dataBuff[2]+sensitivity)||data[2] > data[0]+sensitivity)
newSignalState = 1;
if((data[2] < data[0]-sensitivity)||(data[0]<(dataBuff[2]-sensitivity)))
newSignalState = 2;
return newSignalState;
}
void setup_hardware() {
// Setup pins as inputs / outputs
pinMode(HARDWARE::RDF_INPUT, INPUT);
pinMode(HARDWARE::LED_BLUE_EXTRA, OUTPUT);
}
void poll_modbus() {
poll_state = slave.poll(modbus_data, num_modbus_registers);
communication_good = !slave.getTimeOutState();
}
void set_leds() {
if (poll_state > 4) {
message_count++;
if (message_count > 2) {
digitalWrite(HARDWARE::LED_BLUE_EXTRA, !digitalRead(HARDWARE::LED_BLUE_EXTRA));
message_count = 0;
}
} else if (!communication_good) {
digitalWrite(HARDWARE::LED_BLUE_EXTRA, LOW);
}
}

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#define Rpin A5 //Reciever pin is A1
int sensitivity = 50; //the lower this number, the more sensitive.
int state; //=1 if can hear ping =2 if cannot hear ping
float freq;
float ambientNoise;
unsigned long totalDataPoints;
int dataBuff[3];
int data[3];
unsigned long t1,t2,t3;
int dt1,dt2 =0;
float dtavg;
int tcnt =2;
bool upstate = false;
bool mode = false; //switches between two modes (t/f)
void setup() {
pinMode(Rpin, INPUT);
Serial.begin(9600);
totalDataPoints = 0;
state = 2;
}
void dataSet(){
for(int i=0;i<3;i++){
data[i]=analogRead(Rpin);
delay(1);
}
}
int changeCheck(){
int newSignalState = 0; // 0= no change 1= signal start 2= signal stop
if((data[0])>(dataBuff[2]+sensitivity)||data[2] > data[0]+sensitivity)
newSignalState = 1;
if((data[2] < data[0]-sensitivity)||(data[0]<(dataBuff[2]-sensitivity)))
newSignalState = 2;
return newSignalState;
}
void loop() {
if(Serial.available()){
Serial.read();
mode = !mode;
}
if(mode == true){ //mode 1 is raw output from the antena.
Serial.println(analogRead(Rpin));
delay(1);
}
else{
for(int i=0;i<3;i++)
dataBuff[i] = data[i];
dataSet();
int change = changeCheck();
if(change){
state = change;
if(change == 1){
t1 = millis();
dt1 = t1-t2;
}else{
t2 = millis();
dt2 = t2-t1;
}
if(dt2>dt1-100&&dt1>dt2-100){
dtavg = (dtavg*float(tcnt-2)/float(tcnt))+(((dt1+dt2)/2.0)*float(2.0/tcnt));
tcnt += 2;
freq = 500.0/dtavg;
}
}
if(change ==1 || millis() > dtavg*2+t3){
t3 = millis();
upstate = true;
}
if(millis()<t3+dtavg){
for(int i=0;i<3;i++){
Serial.print(data[i]-ambientNoise);
Serial.print(", ");
Serial.println(freq);
}
}else{
float avgdat,dtot =0;
for(int i=0;i<3;i++)
dtot+=data[i];
avgdat = dtot/3.0;
ambientNoise = ambientNoise*float(totalDataPoints)/float(totalDataPoints+3)+avgdat*(3.0/float(totalDataPoints+3));
}
}
}

1
software/ground_station_setup.sh
View File

@@ -13,6 +13,7 @@ folders_to_link=(
rover_main
rover_camera
rover_status
rover_arm
)
# Print heading

79
software/ros_packages/ground_station/src/Framework/ArmSystems/ArmIndication.py
View File

@@ -5,21 +5,26 @@
# Python native imports
from PyQt5 import QtCore, QtWidgets, QtGui
import logging
from time import time
import rospy
from rover_arm.msg import ArmStatusMessage
#####################################
# Global Variables
#####################################
THREAD_HERTZ = 2
ROTATION_SPEED_MODIFIER = 0.15
ARM_STATUS_TOPIC = "/rover_arm/status"
#####################################
# Controller Class Definition
#####################################
class ArmIndication(QtCore.QThread):
arm_joint_position_updated__signal = QtCore.pyqtSignal(int)
class ArmIndication(QtCore.QObject):
base_position_updated__signal = QtCore.pyqtSignal(int)
shoulder_position_updated__signal = QtCore.pyqtSignal(int)
elbow_position_updated__signal = QtCore.pyqtSignal(int)
roll_position_updated__signal = QtCore.pyqtSignal(int)
wrist_pitch_position_updated__signal = QtCore.pyqtSignal(int)
wrist_roll_position_updated__signal = QtCore.pyqtSignal(int)
def __init__(self, shared_objects):
super(ArmIndication, self).__init__()
@@ -41,56 +46,26 @@ class ArmIndication(QtCore.QThread):
# ########## Get the Pick And Plate instance of the logger ##########
self.logger = logging.getLogger("groundstation")
# ########## Thread Flags ##########
self.run_thread_flag = True
# ########## Class Variables ##########
self.wait_time = 1.0 / THREAD_HERTZ
self.arm_status_subscriber = rospy.Subscriber(ARM_STATUS_TOPIC, ArmStatusMessage, self.on_arm_status_update_received__callback)
self.current_position_delta = 0
self.shown_position = 0
def run(self):
while self.run_thread_flag:
start_time = time()
self.change_position_if_needed()
time_diff = time() - start_time
self.msleep(max(int(self.wait_time - time_diff), 0))
def change_position_if_needed(self):
self.shown_position += self.current_position_delta * ROTATION_SPEED_MODIFIER
self.shown_position %= 360
self.arm_joint_position_updated__signal.emit(self.shown_position)
def __on_position_change_requested__slot(self, event):
if event.button() == QtCore.Qt.LeftButton:
self.current_position_delta = 1
elif event.button() == QtCore.Qt.RightButton:
self.current_position_delta = 0
# ########## Connect Signals and Slots ##########
self.connect_signals_and_slots()
def connect_signals_and_slots(self):
self.arm_joint_position_updated__signal.connect(self.base_rotation_dial.setValue)
self.arm_joint_position_updated__signal.connect(self.shoulder_pitch_dial.setValue)
self.arm_joint_position_updated__signal.connect(self.elbow_pitch_dial.setValue)
self.arm_joint_position_updated__signal.connect(self.elbow_roll_dial.setValue)
self.arm_joint_position_updated__signal.connect(self.end_effector_pitch_dial.setValue)
self.arm_joint_position_updated__signal.connect(self.end_effector_rotation_dial.setValue)
self.base_position_updated__signal.connect(self.base_rotation_dial.setValue)
self.shoulder_position_updated__signal.connect(self.shoulder_pitch_dial.setValue)
self.elbow_position_updated__signal.connect(self.elbow_pitch_dial.setValue)
self.roll_position_updated__signal.connect(self.elbow_roll_dial.setValue)
self.wrist_pitch_position_updated__signal.connect(self.end_effector_pitch_dial.setValue)
self.wrist_roll_position_updated__signal.connect(self.end_effector_rotation_dial.setValue)
self.base_rotation_dial.mousePressEvent = self.__on_position_change_requested__slot
self.shoulder_pitch_dial.mousePressEvent = self.__on_position_change_requested__slot
self.elbow_pitch_dial.mousePressEvent = self.__on_position_change_requested__slot
self.elbow_roll_dial.mousePressEvent = self.__on_position_change_requested__slot
self.end_effector_pitch_dial.mousePressEvent = self.__on_position_change_requested__slot
self.end_effector_rotation_dial.mousePressEvent = self.__on_position_change_requested__slot
def on_arm_status_update_received__callback(self, data):
self.base_position_updated__signal.emit(int(data.base * 1000))
self.shoulder_position_updated__signal.emit(int(data.shoulder * 1000))
self.elbow_position_updated__signal.emit(int(data.elbow * 1000))
self.roll_position_updated__signal.emit(int(data.roll * 1000))
self.wrist_pitch_position_updated__signal.emit(int(data.wrist_pitch * 1000))
self.wrist_roll_position_updated__signal.emit(int(data.wrist_roll * 1000))
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

136
software/ros_packages/ground_station/src/Framework/InputSystems/JoystickControlSender.py → software/ros_packages/ground_station/src/Framework/InputSystems/LogitechControllerControlSender.py
View File

@@ -13,7 +13,7 @@ from rover_control.msg import DriveCommandMessage, TowerPanTiltControlMessage
#####################################
# Global Variables
#####################################
GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
GAME_CONTROLLER_NAME = "Logitech Logitech Dual Action"
DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
DEFAULT_TOWER_PAN_TILT_COMMAND_TOPIC = "/rover_control/tower/pan_tilt/control"
@@ -21,8 +21,10 @@ DEFAULT_CHASSIS_PAN_TILT_COMMAND_TOPIC = "/rover_control/chassis/pan_tilt/contro
DRIVE_COMMAND_HERTZ = 20
Y_AXIS_DEADBAND = 0.05
X_AXIS_DEADBAND = 0.05
STICK_DEADBAND = 8
STICK_MAX = 128.0
STICK_OFFSET = 127
THROTTLE_MIN = 0.05
@@ -56,51 +58,57 @@ class LogitechJoystick(QtCore.QThread):
self.gamepad = None # type: GamePad
self.controller_states = {
"x_axis": 512,
"y_axis": 512,
"z_axis": 128,
"throttle_axis": 128,
"left_x_axis": 127,
"left_y_axis": 127,
"right_x_axis": 127,
"right_y_axis": 127,
"hat_x_axis": 0,
"hat_y_axis": 0,
"left_trigger": 0,
"right_trigger": 0,
"trigger_pressed": 0,
"thumb_pressed": 0,
"three_pressed": 0,
"four_pressed": 0,
"five_pressed": 0,
"six_pressed": 0,
"left_stick": 0,
"right_right": 0,
"seven_pressed": 0,
"eight_pressed": 0,
"nine_pressed": 0,
"ten_pressed": 0,
"eleven_pressed": 0,
"twelve_pressed": 0,
"left_bumper": 0,
"right_bumper": 0,
"d_pad_x": 0,
"d_pad_y": 0,
"back": 0,
"start": 0,
"a": 0,
"x": 0,
"y": 0,
"b": 0,
}
self.raw_mapping_to_class_mapping = {
"ABS_X": "x_axis",
"ABS_Y": "y_axis",
"ABS_RZ": "z_axis",
"ABS_THROTTLE": "throttle_axis",
"ABS_X": "left_x_axis",
"ABS_Y": "left_y_axis",
"ABS_Z": "right_x_axis",
"ABS_RZ": "right_y_axis",
"ABS_HAT0X": "hat_x_axis",
"ABS_HAT0Y": "hat_y_axis",
"BTN_BASE": "left_trigger",
"BTN_BASE2": "right_trigger",
"BTN_TRIGGER": "trigger_pressed",
"BTN_THUMB": "thumb_pressed",
"BTN_THUMB2": "three_pressed",
"BTN_TOP": "four_pressed",
"BTN_TOP2": "five_pressed",
"BTN_PINKIE": "six_pressed",
"BTN_BASE5": "left_stick",
"BTN_BASE6": "right_right",
"BTN_BASE": "seven_pressed",
"BTN_BASE2": "eight_pressed",
"BTN_BASE3": "nine_pressed",
"BTN_BASE4": "ten_pressed",
"BTN_BASE5": "eleven_pressed",
"BTN_BASE6": "twelve_pressed"
"BTN_TOP2": "left_bumper",
"BTN_PINKIE": "right_bumper",
"ABS_HAT0X": "d_pad_x",
"ABS_HAT0Y": "d_pad_y",
"BTN_BASE3": "back",
"BTN_BASE4": "start",
"BTN_THUMB": "a",
"BTN_TRIGGER": "x",
"BTN_TOP": "y",
"BTN_THUMB2": "b",
}
self.ready = False
@@ -118,6 +126,7 @@ class LogitechJoystick(QtCore.QThread):
def __setup_controller(self):
for device in devices.gamepads:
# print device
if device.name == GAME_CONTROLLER_NAME:
self.gamepad = device
@@ -129,7 +138,7 @@ class LogitechJoystick(QtCore.QThread):
events = self.gamepad.read()
for event in events:
# print event.code
print event.code, event.state
if event.code in self.raw_mapping_to_class_mapping:
self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state
@@ -139,7 +148,7 @@ class LogitechJoystick(QtCore.QThread):
#####################################
# Controller Class Definition
#####################################
class JoystickControlSender(QtCore.QThread):
class LogitechControllerControlSender(QtCore.QThread):
set_speed_limit__signal = QtCore.pyqtSignal(int)
set_left_drive_output__signal = QtCore.pyqtSignal(int)
set_right_drive_output__signal = QtCore.pyqtSignal(int)
@@ -149,7 +158,7 @@ class JoystickControlSender(QtCore.QThread):
toggle_selected_gui_camera__signal = QtCore.pyqtSignal()
def __init__(self, shared_objects):
super(JoystickControlSender, self).__init__()
super(LogitechControllerControlSender, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
@@ -193,6 +202,8 @@ class JoystickControlSender(QtCore.QThread):
self.last_camera_toggle_time = time()
def run(self):
self.logger.debug("Starting Joystick Thread")
while self.run_thread_flag:
start_time = time()
@@ -203,6 +214,8 @@ class JoystickControlSender(QtCore.QThread):
self.msleep(max(int(self.wait_time - time_diff), 0))
self.logger.debug("Stopping Joystick Thread")
def connect_signals_and_slots(self):
self.set_speed_limit__signal.connect(self.speed_limit_progress_bar.setValue)
self.set_left_drive_output__signal.connect(self.left_drive_progress_bar.setValue)
@@ -211,7 +224,7 @@ class JoystickControlSender(QtCore.QThread):
self.video_coordinator.pan_tilt_selection_changed__signal.connect(self.on_pan_tilt_selection_changed__slot)
def check_and_set_pause_state(self):
thumb_pressed = self.joystick.controller_states["thumb_pressed"]
thumb_pressed = self.joystick.controller_states["start"]
if thumb_pressed and (time() - self.last_pause_state_time) > PAUSE_STATE_CHANGE_TIME:
self.drive_paused = not self.drive_paused
self.show_changed_pause_state()
@@ -223,7 +236,8 @@ class JoystickControlSender(QtCore.QThread):
self.publish_pan_tilt_control_commands()
def publish_drive_command(self):
throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN)
throttle_axis = 1
# throttle_axis = max((255 - self.joystick.controller_states["throttle_axis"]) / 255.0, THROTTLE_MIN)
if self.drive_paused:
drive_message = DriveCommandMessage()
@@ -240,11 +254,11 @@ class JoystickControlSender(QtCore.QThread):
self.drive_command_publisher.publish(drive_message)
def publish_camera_control_commands(self):
trigger_pressed = self.joystick.controller_states["trigger_pressed"]
three_pressed = self.joystick.controller_states["three_pressed"]
four_pressed = self.joystick.controller_states["four_pressed"]
five_pressed = self.joystick.controller_states["five_pressed"]
six_pressed = self.joystick.controller_states["six_pressed"]
trigger_pressed = self.joystick.controller_states["y"]
three_pressed = self.joystick.controller_states["left_bumper"]
four_pressed = self.joystick.controller_states["right_bumper"]
five_pressed = self.joystick.controller_states["left_trigger"]
six_pressed = self.joystick.controller_states["right_trigger"]
if (five_pressed or six_pressed) and (time() - self.last_camera_change_time) > CAMERA_CHANGE_TIME:
change = -1 if five_pressed else 1
@@ -261,9 +275,9 @@ class JoystickControlSender(QtCore.QThread):
self.last_camera_toggle_time = time()
def publish_pan_tilt_control_commands(self):
button_eight = self.joystick.controller_states["seven_pressed"]
hat_x = self.joystick.controller_states["hat_x_axis"]
hat_y = self.joystick.controller_states["hat_y_axis"]
button_eight = self.joystick.controller_states["a"]
hat_x = self.joystick.controller_states["d_pad_x"]
hat_y = self.joystick.controller_states["d_pad_y"]
if (hat_x == 0 and not self.last_hat_x_was_movement) and (
hat_y == 0 and not self.last_hat_y_was_movement) and not button_eight:
@@ -290,20 +304,14 @@ class JoystickControlSender(QtCore.QThread):
def get_drive_message(self, throttle_axis):
drive_message = DriveCommandMessage()
y_axis = throttle_axis * (-(self.joystick.controller_states["y_axis"] - 512) / 512.0)
z_axis = throttle_axis * (-(self.joystick.controller_states["z_axis"] - 128) / 128.0)
x_axis = throttle_axis * (-(self.joystick.controller_states["x_axis"] - 512) / 512.0)
left_y_axis = self.joystick.controller_states["left_y_axis"] if abs(self.joystick.controller_states["left_y_axis"]) > STICK_DEADBAND else 0
right_y_axis = self.joystick.controller_states["right_y_axis"] if abs(self.joystick.controller_states["right_y_axis"]) > STICK_DEADBAND else 0
if abs(y_axis) < Y_AXIS_DEADBAND:
y_axis = 0
left_y_axis = throttle_axis * (-(left_y_axis - STICK_OFFSET) / STICK_MAX)
right_y_axis = throttle_axis * (-(right_y_axis - STICK_OFFSET) / STICK_MAX)
if abs(x_axis) < X_AXIS_DEADBAND and y_axis == 0:
twist = z_axis
else:
twist = x_axis if y_axis >= 0 else -x_axis
drive_message.drive_twist.linear.x = y_axis
drive_message.drive_twist.angular.z = twist
drive_message.drive_twist.linear.x = (left_y_axis + right_y_axis) / 2.0
drive_message.drive_twist.angular.z = (right_y_axis - left_y_axis) / 2.0
return drive_message

35
software/ros_packages/ground_station/src/Framework/InputSystems/SpaceNavControlSender.py
View File

@@ -9,10 +9,20 @@ import spnav
import rospy
from rover_control.msg import MiningControlMessage
#####################################
# Global Variables
#####################################
THREAD_HERTZ = 15
THREAD_HERTZ = 100
MINING_CONTROL_TOPIC = "/rover_control/mining/control"
Y_ANGULAR_DEADBAND = 0.05
Z_LINEAR_DEADBAND = 0.15
MINING_LIFT_SCALAR = 5
MINING_TILT_SCALAR = 5
#####################################
@@ -21,7 +31,7 @@ THREAD_HERTZ = 15
class SpaceNavControlSender(QtCore.QThread):
spacenav_state_update__signal = QtCore.pyqtSignal(object)
GUI_MODE = 0
MINING_MODE = 0
ARM_MODE = 1
def __init__(self, shared_objects):
@@ -95,9 +105,13 @@ class SpaceNavControlSender(QtCore.QThread):
5: "f_pressed"
}
self.current_control_mode = self.GUI_MODE
# ##### Mining Control #####
self.mining_control_publisher = rospy.Publisher(MINING_CONTROL_TOPIC, MiningControlMessage, queue_size=1)
self.current_control_mode = self.MINING_MODE
def run(self):
self.logger.debug("Starting SpaceNav Mouse Thread")
spnav.spnav_open()
while self.run_thread_flag:
@@ -110,12 +124,15 @@ class SpaceNavControlSender(QtCore.QThread):
time_diff = time() - start_time
self.msleep(max(int((self.wait_time - time_diff) * 1000), 0))
# self.msleep(max(int((self.wait_time - time_diff) * 1000), 0))
self.logger.debug("Stopping SpaceNav Mouse Thread")
def process_spnav_events(self):
event = spnav.spnav_poll_event()
if event:
# print event
if event.ev_type == spnav.SPNAV_EVENT_MOTION:
self.spnav_states["linear_x"] = event.translation[0] / 350.0
self.spnav_states["linear_y"] = event.translation[2] / 350.0
@@ -132,16 +149,20 @@ class SpaceNavControlSender(QtCore.QThread):
def check_control_mode_change(self):
if self.spnav_states["1_pressed"]:
self.current_control_mode = self.GUI_MODE
self.current_control_mode = self.MINING_MODE
elif self.spnav_states["2_pressed"]:
self.current_control_mode = self.ARM_MODE
def broadcast_control_state(self):
if self.current_control_mode == self.GUI_MODE:
self.spacenav_state_update__signal.emit(self.spnav_states)
if self.current_control_mode == self.MINING_MODE:
self.send_mining_commands()
# self.spacenav_state_update__signal.emit(self.spnav_states)
elif self.current_control_mode == self.ARM_MODE:
pass
# print self.spnav_states["linear_z"], self.spnav_states["angular_y"]
def connect_signals_and_slots(self):
pass

309
software/ros_packages/ground_station/src/Framework/InputSystems/XBOXControllerControlSender.py Normal file
View File

@@ -0,0 +1,309 @@
#####################################
# Imports
#####################################
# Python native imports
from PyQt5 import QtCore, QtWidgets
import logging
from inputs import devices, GamePad
from time import time
import rospy
from rover_arm.msg import ArmControlMessage
from rover_control.msg import MiningControlMessage
#####################################
# Global Variables
#####################################
GAME_CONTROLLER_NAME = "Afterglow Gamepad for Xbox 360"
DRIVE_COMMAND_HERTZ = 20
RELATIVE_ARM_CONTROL_TOPIC = "/rover_arm/control/relative"
MINING_CONTROL_TOPIC = "/rover_control/mining/control"
BASE_SCALAR = 0.003
SHOULDER_SCALAR = 0.002
ELBOW_SCALAR = 0.002
ROLL_SCALAR = 0.003
WRIST_PITCH_SCALAR = 0.003
WRIST_ROLL_SCALAR = 0.006
LEFT_X_AXIS_DEADZONE = 1500
LEFT_Y_AXIS_DEADZONE = 1500
RIGHT_X_AXIS_DEADZONE = 1500
RIGHT_Y_AXIS_DEADZONE = 1500
THUMB_STICK_MAX = 32768.0
MINING_LIFT_SCALAR = 5
MINING_TILT_SCALAR = 5
COLOR_GREEN = "background-color:darkgreen; border: 1px solid black;"
COLOR_NONE = "border: 1px solid black;"
#####################################
# Controller Class Definition
#####################################
class XBOXController(QtCore.QThread):
def __init__(self):
super(XBOXController, self).__init__()
# ########## Thread Flags ##########
self.run_thread_flag = True
self.setup_controller_flag = True
self.data_acquisition_and_broadcast_flag = True
self.controller_acquired = False
# ########## Class Variables ##########
self.gamepad = None # type: GamePad
self.controller_states = {
"left_x_axis": 0,
"left_y_axis": 0,
"left_stick_button": 0,
"right_x_axis": 0,
"right_y_axis": 0,
"right_stick_button": 0,
"left_trigger": 0,
"left_bumper": 0,
"right_trigger": 0,
"right_bumper": 0,
"hat_x_axis": 0,
"hat_y_axis": 0,
"back_button": 0,
"start_button": 0,
"xbox_button": 0,
"x_button": 0,
"a_button": 0,
"b_button": 0,
"y_button": 0
}
self.raw_mapping_to_class_mapping = {
"ABS_X": "left_x_axis",
"ABS_Y": "left_y_axis",
"BTN_THUMBL": "left_stick_button",
"ABS_RX": "right_x_axis",
"ABS_RY": "right_y_axis",
"BTN_THUMBR": "right_stick_button",
"ABS_Z": "left_trigger",
"BTN_TL": "left_bumper",
"ABS_RZ": "right_trigger",
"BTN_TR": "right_bumper",
"ABS_HAT0X": "hat_x_axis",
"ABS_HAT0Y": "hat_y_axis",
"BTN_SELECT": "back_button",
"BTN_START": "start_button",
"BTN_MODE": "xbox_button",
"BTN_NORTH": "x_button",
"BTN_SOUTH": "a_button",
"BTN_EAST": "b_button",
"BTN_WEST": "y_button"
}
self.ready = False
self.start()
def run(self):
while self.run_thread_flag:
if self.setup_controller_flag:
self.controller_acquired = self.__setup_controller()
self.setup_controller_flag = False
if self.data_acquisition_and_broadcast_flag:
self.__get_controller_data()
def __setup_controller(self):
for device in devices.gamepads:
# print device
if device.name == GAME_CONTROLLER_NAME:
self.gamepad = device
return True
return False
def __get_controller_data(self):
if self.controller_acquired:
events = self.gamepad.read()
for event in events:
# For seeing codes you haven't added yet...
# if event.code not in self.raw_mapping_to_class_mapping and event.code != "SYN_REPORT":
# print event.code, ":", event.state
if event.code in self.raw_mapping_to_class_mapping:
# print event.code, ":", event.state
self.controller_states[self.raw_mapping_to_class_mapping[event.code]] = event.state
self.ready = True
#####################################
# Controller Class Definition
#####################################
class XBOXControllerControlSender(QtCore.QThread):
STATES = [
"ARM",
"MINING"
]
xbox_control_arm_stylesheet_update_ready__signal = QtCore.pyqtSignal(str)
xbox_control_mining_stylesheet_update_ready__signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects):
super(XBOXControllerControlSender, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
self.left_screen = self.shared_objects["screens"]["left_screen"]
self.xbox_mode_arm_label = self.left_screen.xbox_mode_arm_label # type: QtWidgets.QLabel
self.xbox_mode_mining_label = self.left_screen.xbox_mode_mining_label # type: QtWidgets.QLabel
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
# ########## Get the Pick And Plate instance of the logger ##########
self.logger = logging.getLogger("groundstation")
# ########## Thread Flags ##########
self.run_thread_flag = True
self.controller = XBOXController()
# ########## Class Variables ##########
self.wait_time = 1.0 / DRIVE_COMMAND_HERTZ
self.relative_arm_control_publisher = rospy.Publisher(RELATIVE_ARM_CONTROL_TOPIC, ArmControlMessage,
queue_size=1)
self.mining_control_publisher = rospy.Publisher(MINING_CONTROL_TOPIC, MiningControlMessage, queue_size=1)
self.current_state = self.STATES.index("ARM")
self.state_just_changed = False
self.last_xbox_button_state = 0
def run(self):
self.logger.debug("Starting Joystick Thread")
while self.run_thread_flag:
start_time = time()
self.change_control_state_if_needed()
if self.current_state == self.STATES.index("ARM"):
self.process_and_send_arm_control()
elif self.current_state == self.STATES.index("MINING"):
self.send_mining_commands()
time_diff = time() - start_time
self.msleep(max(int(self.wait_time - time_diff), 0))
self.logger.debug("Stopping Joystick Thread")
def connect_signals_and_slots(self):
self.xbox_control_arm_stylesheet_update_ready__signal.connect(self.xbox_mode_arm_label.setStyleSheet)
self.xbox_control_mining_stylesheet_update_ready__signal.connect(self.xbox_mode_mining_label.setStyleSheet)
def change_control_state_if_needed(self):
if self.state_just_changed:
self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_NONE)
self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_GREEN)
self.state_just_changed = False
xbox_state = self.controller.controller_states["xbox_button"]
if self.last_xbox_button_state == 0 and xbox_state == 1:
self.current_state += 1
self.current_state = self.current_state % len(self.STATES)
self.state_just_changed = True
self.last_xbox_button_state = 1
elif self.last_xbox_button_state == 1 and xbox_state == 0:
self.last_xbox_button_state = 0
def process_and_send_arm_control(self):
if self.state_just_changed:
self.xbox_control_arm_stylesheet_update_ready__signal.emit(COLOR_GREEN)
self.xbox_control_mining_stylesheet_update_ready__signal.emit(COLOR_NONE)
self.state_just_changed = False
message = ArmControlMessage()
should_publish = False
left_trigger = self.controller.controller_states["left_trigger"]
right_trigger = self.controller.controller_states["right_trigger"]
left_x_axis = self.controller.controller_states["left_x_axis"] if abs(self.controller.controller_states[
"left_x_axis"]) > LEFT_X_AXIS_DEADZONE else 0
left_y_axis = self.controller.controller_states["left_y_axis"] if abs(self.controller.controller_states[
"left_y_axis"]) > LEFT_Y_AXIS_DEADZONE else 0
right_y_axis = self.controller.controller_states["right_y_axis"] if abs(self.controller.controller_states[
"right_y_axis"]) > RIGHT_Y_AXIS_DEADZONE else 0
right_x_axis = self.controller.controller_states["right_x_axis"] if abs(self.controller.controller_states[
"right_x_axis"]) > RIGHT_X_AXIS_DEADZONE else 0
# print left_x_axis, ":", left_y_axis, ":", right_x_axis, ":", right_y_axis
left_trigger_ratio = left_trigger / 255.0
right_trigger_ratio = right_trigger / 255.0
if left_trigger > 25:
should_publish = True
message.base = ((left_x_axis / THUMB_STICK_MAX) * BASE_SCALAR) * left_trigger_ratio
message.shoulder = ((left_y_axis / THUMB_STICK_MAX) * SHOULDER_SCALAR) * left_trigger_ratio
message.elbow = (-(right_y_axis / THUMB_STICK_MAX) * ELBOW_SCALAR) * left_trigger_ratio
message.roll = (-(right_x_axis / THUMB_STICK_MAX) * ROLL_SCALAR) * left_trigger_ratio
elif right_trigger > 25:
should_publish = True
message.wrist_roll = ((right_x_axis / THUMB_STICK_MAX) * WRIST_ROLL_SCALAR) * right_trigger_ratio
message.wrist_pitch = (-(left_y_axis / THUMB_STICK_MAX) * WRIST_PITCH_SCALAR) * right_trigger_ratio
if should_publish:
self.relative_arm_control_publisher.publish(message)
def send_mining_commands(self):
left_y_axis = self.controller.controller_states["left_y_axis"] if abs(self.controller.controller_states["left_y_axis"]) > LEFT_Y_AXIS_DEADZONE else 0
right_y_axis = self.controller.controller_states["right_y_axis"] if abs(self.controller.controller_states[
"right_y_axis"]) > RIGHT_Y_AXIS_DEADZONE else 0
if left_y_axis or right_y_axis:
message = MiningControlMessage()
message.lift_set_absolute = 1024
message.tilt_set_absolute = 1024
message.lift_set_relative = (-(left_y_axis / THUMB_STICK_MAX) * MINING_LIFT_SCALAR)
message.tilt_set_relative = ((right_y_axis / THUMB_STICK_MAX) * MINING_TILT_SCALAR)
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

32
software/ros_packages/ground_station/src/Framework/MiscSystems/SSHConsoleCore.py → software/ros_packages/ground_station/src/Framework/MiscSystems/BashConsoleCore.py
View File

@@ -6,29 +6,26 @@
from PyQt5 import QtCore, QtWidgets
import logging
from time import time
import paramiko
#####################################
# Global Variables
#####################################
ACCESS_POINT_IP = "192.168.1.20" # The channel only has to be set on the access point. The staion will adjust.
ACCESS_POINT_USER = "ubnt"
ACCESS_POINT_PASSWORD = "rover4lyfe^" # We don't care about this password, don't freak out. Wifi is open anyways...
THREAD_HERTZ = 5
#####################################
# UbiquitiRadioSettings Class Definition
#####################################
class SSHConsole(QtCore.QThread):
class BashConsole(QtCore.QThread):
def __init__(self, shared_objects):
super(SSHConsole, self).__init__()
super(BashConsole, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
self.left_screen = self.shared_objects["screens"]["left_screen"]
self.ubiquiti_channel_spin_box = self.left_screen.ssh_console_widget # type: QtWidgets.QSpinBox
self.ubiquiti_channel_apply_button = self.left_screen.ubiquiti_channel_apply_button # type: QtWidgets.QPushButton
self.ssh_widget = self.left_screen.ssh_console_widget # type: QtWidgets.QSpinBox
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
@@ -40,8 +37,23 @@ class SSHConsole(QtCore.QThread):
self.run_thread_flag = True
# ########## Class Variables ##########
self.wait_time = 1.0 / THREAD_HERTZ
self.connect_signals_and_slots()
def run(self):
while self.run_thread_flag:
start_time = time()
time_diff = time() - start_time
self.msleep(max(int(self.wait_time - time_diff), 0))
def connect_signals_and_slots(self):
pass
pass
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

143
software/ros_packages/ground_station/src/Framework/MiscSystems/MiningCore.py Normal file
View File

@@ -0,0 +1,143 @@
# coding=utf-8
#####################################
# Imports
#####################################
# Python native imports
from PyQt5 import QtCore, QtWidgets
import logging
import rospy
from rover_control.msg import MiningStatusMessage, MiningControlMessage
#####################################
# Global Variables
#####################################
MINING_STATUS_TOPIC = "/rover_control/mining/status"
MINING_CONTROL_TOPIC = "/rover_control/mining/control"
TRAVEL_POSITION_LIFT = 110
TRAVEL_POSITION_TILT = 1023
MEASURE_POSITION_LIFT = 350
MEASURE_POSITION_TILT = 1023
SCOOP_POSITION_LIFT = 228
SCOOP_POSITION_TILT = 215
#####################################
# UbiquitiRadioSettings Class Definition
#####################################
class Mining(QtCore.QObject):
lift_position_update_ready__signal = QtCore.pyqtSignal(int)
tilt_position_update_ready__signal = QtCore.pyqtSignal(int)
weight_measurement_update_ready__signal = QtCore.pyqtSignal(int)
def __init__(self, shared_objects):
super(Mining, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
self.left_screen = self.shared_objects["screens"]["left_screen"]
self.mining_qlcdnumber = self.left_screen.mining_qlcdnumber # type:QtWidgets.QLCDNumber
self.mining_tare_button = self.left_screen.mining_tare_button # type:QtWidgets.QPushButton
self.mining_measure_button = self.left_screen.mining_measure_button # type:QtWidgets.QPushButton
self.mining_cal_factor_spinbox = self.left_screen.mining_cal_factor_spinbox # type:QtWidgets.QSpinBox
self.mining_set_cal_factor_button = self.left_screen.mining_set_cal_factor_button # type:QtWidgets.QPushButton
self.lift_position_progress_bar = self.left_screen.lift_position_progress_bar # type:QtWidgets.QProgressBar
self.tilt_position_progress_bar = self.left_screen.tilt_position_progress_bar # type:QtWidgets.QProgressBar
self.mining_measure_move_button = self.left_screen.mining_measure_move_button # type:QtWidgets.QPushButton
self.mining_transport_move_button = self.left_screen.mining_transport_move_button # type:QtWidgets.QPushButton
self.mining_scoop_move_button = self.left_screen.mining_scoop_move_button # type:QtWidgets.QPushButton
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
# ########## Get the Pick And Plate instance of the logger ##########
self.logger = logging.getLogger("groundstation")
# ########## Thread Flags ##########
self.run_thread_flag = True
# ########## Class Variables ##########
self.mining_status_subscriber = rospy.Subscriber(MINING_STATUS_TOPIC, MiningStatusMessage,
self.mining_status_message_received__callback)
self.mining_control_publisher = rospy.Publisher(MINING_CONTROL_TOPIC, MiningControlMessage, queue_size=1)
self.connect_signals_and_slots()
def connect_signals_and_slots(self):
self.mining_set_cal_factor_button.clicked.connect(self.on_mining_set_cal_factor_clicked__slot)
self.mining_tare_button.clicked.connect(self.on_mining_tare_clicked__slot)
self.mining_measure_button.clicked.connect(self.on_mining_measure_clicked__slot)
self.mining_measure_move_button.clicked.connect(self.on_mining_move_measure_clicked__slot)
self.mining_transport_move_button.clicked.connect(self.on_mining_move_transport_clicked__slot)
self.mining_scoop_move_button.clicked.connect(self.on_mining_move_scoop_clicked__slot)
self.tilt_position_update_ready__signal.connect(self.tilt_position_progress_bar.setValue)
self.lift_position_update_ready__signal.connect(self.lift_position_progress_bar.setValue)
self.weight_measurement_update_ready__signal.connect(self.mining_qlcdnumber.display)
def on_mining_set_cal_factor_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = 1024
message.lift_set_absolute = 1024
message.cal_factor = self.mining_cal_factor_spinbox.value()
self.mining_control_publisher.publish(message)
def on_mining_tare_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = 1024
message.lift_set_absolute = 1024
message.cal_factor = -1
message.tare = 1
self.mining_control_publisher.publish(message)
def on_mining_measure_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = 1024
message.lift_set_absolute = 1024
message.cal_factor = -1
message.measure = True
self.mining_control_publisher.publish(message)
def on_mining_move_transport_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = TRAVEL_POSITION_TILT
message.lift_set_absolute = TRAVEL_POSITION_LIFT
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def on_mining_move_measure_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = MEASURE_POSITION_TILT
message.lift_set_absolute = MEASURE_POSITION_LIFT
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def on_mining_move_scoop_clicked__slot(self):
message = MiningControlMessage()
message.tilt_set_absolute = SCOOP_POSITION_TILT
message.lift_set_absolute = SCOOP_POSITION_LIFT
message.cal_factor = -1
self.mining_control_publisher.publish(message)
def mining_status_message_received__callback(self, status):
status = status # type:MiningStatusMessage
self.tilt_position_update_ready__signal.emit(status.tilt_position)
self.lift_position_update_ready__signal.emit(status.lift_position)
self.weight_measurement_update_ready__signal.emit(status.measured_weight)

367
software/ros_packages/ground_station/src/Framework/MiscSystems/MiscArmCore.py Normal file
View File

@@ -0,0 +1,367 @@
# coding=utf-8
#####################################
# Imports
#####################################
# Python native imports
from PyQt5 import QtCore, QtWidgets
import logging
import rospy
from time import time
from rover_arm.msg import ArmControlMessage, ArmStatusMessage
#####################################
# Global Variables
#####################################
ARM_RELATIVE_CONTROL_TOPIC = "/rover_arm/control/relative"
ARM_ABSOLUTE_CONTROL_TOPIC = "/rover_arm/control/absolute"
ARM_STATUS_TOPIC = "/rover_arm/status"
THREAD_HERTZ = 5
COMMS_TO_STRING = {
0: "NO STATUS",
1: "COMMS OK",
2: "NO DEVICE",
4: "BUS ERROR",
8: "GEN COMM ERROR",
16: "PARAMETER ERROR",
32: "LENGTH ERROR"
}
TARGET_REACHED_BIT_POSITION = 1
STATUS_TO_STRING = {
1: "TARGET REACHED",
2: "ERROR RECOVERY",
3: "RUN",
4: "ENABLED",
5: "FAULT STOP",
6: "WARNING",
7: "STO ACTIVE",
8: "SERVO READY",
10: "BRAKING",
11: "HOMING",
12: "INITIALIZED",
13: "VOLT OK",
15: "PERMANENT STOP"
}
FAULT_TO_STRING = {
1: "TRACKING ERROR",
2: "OVER CURRENT",
# 3: "COMMUNICATION ERROR", # Was showing even though things were working???
4: "ENCODER FAILURE",
5: "OVER TEMP",
6: "UNDER VOLTAGE",
7: "OVER VOLTAGE",
8: "PROG OR MEM ERROR",
9: "HARDWARE ERROR",
10: "OVER VELOCITY",
11: "INIT ERROR",
12: "MOTION ERROR",
13: "RANGE ERROR",
14: "POWER STAGE FORCED OFF",
15: "HOST COMM ERROR"
}
POSITIONAL_TOLERANCE = 0.02
# Order is [base, shoulder, elbow, roll, wrist_pitch, wrist_roll]
ARM_STOW_PROCEDURE = [
[0.0, -0.035, -0.28, 0.0, 0.0, 0.0],
[0.0, -0.035, -0.28, -0.25, 0.25, 0.0],
[0.0, -0.035, -0.5, -0.25, 0.25, 0.0],
[0.0, -0.25, -0.5, -0.25, 0.25, -0.25]
]
ARM_UNSTOW_PROCEDURE = [
[0.0, -0.25, -0.5, -0.25, 0.25, -0.25],
[0.0, -0.035, -0.5, -0.25, 0.25, 0.0],
[0.0, -0.035, -0.28, -0.25, 0.25, 0.0],
[0.0, -0.035, -0.28, 0.0, 0.0, 0.0]
]
#####################################
# UbiquitiRadioSettings Class Definition
#####################################
class MiscArm(QtCore.QThread):
base_comms_state_update_ready__signal = QtCore.pyqtSignal(str)
shoulder_comms_state_update_ready__signal = QtCore.pyqtSignal(str)
elbow_comms_state_update_ready__signal = QtCore.pyqtSignal(str)
roll_comms_state_update_ready__signal = QtCore.pyqtSignal(str)
wrist_pitch_comms_state_update_ready__signal = QtCore.pyqtSignal(str)
wrist_roll_comms_state_update_ready__signal = QtCore.pyqtSignal(str)
base_status_update_ready__signal = QtCore.pyqtSignal(str)
shoulder_status_update_ready__signal = QtCore.pyqtSignal(str)
elbow_status_update_ready__signal = QtCore.pyqtSignal(str)
roll_status_update_ready__signal = QtCore.pyqtSignal(str)
wrist_pitch_status_update_ready__signal = QtCore.pyqtSignal(str)
wrist_roll_status_update_ready__signal = QtCore.pyqtSignal(str)
base_faults_update_ready__signal = QtCore.pyqtSignal(str)
shoulder_faults_update_ready__signal = QtCore.pyqtSignal(str)
elbow_faults_update_ready__signal = QtCore.pyqtSignal(str)
roll_faults_update_ready__signal = QtCore.pyqtSignal(str)
wrist_pitch_faults_update_ready__signal = QtCore.pyqtSignal(str)
wrist_roll_faults_update_ready__signal = QtCore.pyqtSignal(str)
def __init__(self, shared_objects):
super(MiscArm, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
self.left_screen = self.shared_objects["screens"]["left_screen"]
self.arm_control_upright_zeroed_button = self.left_screen.arm_control_upright_zeroed_button # type:QtWidgets.QPushButton
self.arm_controls_stow_arm_button = self.left_screen.arm_controls_stow_arm_button # type:QtWidgets.QPushButton
self.arm_controls_unstow_arm_button = self.left_screen.arm_controls_unstow_arm_button # type:QtWidgets.QPushButton
self.arm_controls_calibration_button = self.left_screen.arm_controls_calibration_button # type:QtWidgets.QPushButton
self.arm_controls_clear_faults_button = self.left_screen.arm_controls_clear_faults_button # type:QtWidgets.QPushButton
self.arm_controls_reset_motor_drivers_button = self.left_screen.arm_controls_reset_motor_drivers_button # type:QtWidgets.QPushButton
self.arm_controls_base_comms_label = self.left_screen.arm_controls_base_comms_label # type:QtWidgets.QLabel
self.arm_controls_base_status_label = self.left_screen.arm_controls_base_status_label # type:QtWidgets.QLabel
self.arm_controls_base_faults_label = self.left_screen.arm_controls_base_faults_label # type:QtWidgets.QLabel
self.arm_controls_shoulder_comms_label = self.left_screen.arm_controls_shoulder_comms_label # type:QtWidgets.QLabel
self.arm_controls_shoulder_status_label = self.left_screen.arm_controls_shoulder_status_label # type:QtWidgets.QLabel
self.arm_controls_shoulder_faults_label = self.left_screen.arm_controls_shoulder_faults_label # type:QtWidgets.QLabel
self.arm_controls_elbow_comms_label = self.left_screen.arm_controls_elbow_comms_label # type:QtWidgets.QLabel
self.arm_controls_elbow_status_label = self.left_screen.arm_controls_elbow_status_label # type:QtWidgets.QLabel
self.arm_controls_elbow_faults_label = self.left_screen.arm_controls_elbow_faults_label # type:QtWidgets.QLabel
self.arm_controls_roll_comms_label = self.left_screen.arm_controls_roll_comms_label # type:QtWidgets.QLabel
self.arm_controls_roll_status_label = self.left_screen.arm_controls_roll_status_label # type:QtWidgets.QLabel
self.arm_controls_roll_faults_label = self.left_screen.arm_controls_roll_faults_label # type:QtWidgets.QLabel
self.arm_controls_wrist_pitch_comms_label = self.left_screen.arm_controls_wrist_pitch_comms_label # type:QtWidgets.QLabel
self.arm_controls_wrist_pitch_status_label = self.left_screen.arm_controls_wrist_pitch_status_label # type:QtWidgets.QLabel
self.arm_controls_wrist_pitch_faults_label = self.left_screen.arm_controls_wrist_pitch_faults_label # type:QtWidgets.QLabel
self.arm_controls_wrist_roll_comms_label = self.left_screen.arm_controls_wrist_roll_comms_label # type:QtWidgets.QLabel
self.arm_controls_wrist_roll_status_label = self.left_screen.arm_controls_wrist_roll_status_label # type:QtWidgets.QLabel
self.arm_controls_wrist_roll_faults_label = self.left_screen.arm_controls_wrist_roll_faults_label # type:QtWidgets.QLabel
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
# ########## Get the Pick And Plate instance of the logger ##########
self.logger = logging.getLogger("groundstation")
# ########## Thread Flags ##########
self.run_thread_flag = True
# ########## Class Variables ##########
self.wait_time = 1.0 / THREAD_HERTZ
self.arm_status_subscriber = rospy.Subscriber(ARM_STATUS_TOPIC, ArmStatusMessage,
self.new_arm_status_message_received__callback)
self.arm_relative_control_publisher = rospy.Publisher(ARM_RELATIVE_CONTROL_TOPIC, ArmControlMessage,
queue_size=1)
self.arm_absolute_control_publisher = rospy.Publisher(ARM_ABSOLUTE_CONTROL_TOPIC, ArmControlMessage,
queue_size=1)
self.base_position = 0
self.shoulder_position = 0
self.elbow_position = 0
self.roll_position = 0
self.wrist_pitch_position = 0
self.wrist_roll_position = 0
self.should_stow_arm = False
self.should_unstow_arm = False
def run(self):
self.logger.debug("Starting MiscArm Thread")
while self.run_thread_flag:
start_time = time()
if self.should_stow_arm:
self.stow_rover_arm()
self.should_stow_arm = False
elif self.should_unstow_arm:
self.unstow_rover_arm()
self.should_unstow_arm = False
time_diff = time() - start_time
self.msleep(max(int(self.wait_time - time_diff), 0))
self.logger.debug("Stopping MiscArm Thread")
def stow_rover_arm(self):
for movement in ARM_STOW_PROCEDURE:
self.process_absolute_move_command(movement)
def unstow_rover_arm(self):
for movement in ARM_UNSTOW_PROCEDURE:
self.process_absolute_move_command(movement)
def process_absolute_move_command(self, movement):
message = ArmControlMessage()
message.base = movement[0]
message.shoulder = movement[1]
message.elbow = movement[2]
message.roll = movement[3]
message.wrist_pitch = movement[4]
message.wrist_roll = movement[5]
print message
self.arm_absolute_control_publisher.publish(message)
self.wait_for_targets_reached(movement)
def wait_for_targets_reached(self, movement):
base_set = movement[0]
shoulder_set = movement[1]
elbow_set = movement[2]
roll_set = movement[3]
wrist_pitch_set = movement[4]
wrist_roll_set = movement[5] - (wrist_pitch_set / 2.0)
while abs(self.base_position - base_set) > POSITIONAL_TOLERANCE:
self.logger.debug("Waiting for base| %f\t%f" % (self.base_position, base_set))
self.msleep(10)
while abs(self.shoulder_position - shoulder_set) > POSITIONAL_TOLERANCE:
self.logger.debug("Waiting for shoulder| %f\t%f" % (self.shoulder_position, shoulder_set))
self.msleep(10)
while abs(self.elbow_position - elbow_set) > POSITIONAL_TOLERANCE:
self.logger.debug("Waiting for elbow| %f\t%f" % (self.elbow_position, elbow_set))
self.msleep(10)
while abs(self.roll_position - roll_set) > POSITIONAL_TOLERANCE:
self.logger.debug("Waiting for roll| %f\t%f" % (self.roll_position, roll_set))
self.msleep(10)
while abs(self.wrist_pitch_position - wrist_pitch_set) > POSITIONAL_TOLERANCE:
self.logger.debug("Waiting for wrist_pitch| %f\t%f" % (self.wrist_pitch_position, wrist_pitch_set))
self.msleep(10)
while abs(self.wrist_roll_position - wrist_roll_set) > POSITIONAL_TOLERANCE:
self.logger.debug("Waiting for wrist_roll| %f\t%f" % (self.wrist_roll_position, wrist_roll_set))
self.msleep(10)
def connect_signals_and_slots(self):
self.arm_controls_stow_arm_button.clicked.connect(self.on_stow_arm_button_pressed__slot)
self.arm_controls_unstow_arm_button.clicked.connect(self.on_unstow_arm_button_pressed__slot)
self.arm_control_upright_zeroed_button.clicked.connect(self.on_upright_zeroed_button_pressed__slot)
self.arm_controls_calibration_button.clicked.connect(self.on_set_calibration_button_pressed__slot)
self.arm_controls_clear_faults_button.clicked.connect(self.on_clear_faults_button_pressed__slot)
self.arm_controls_reset_motor_drivers_button.clicked.connect(self.on_reset_drivers_button_pressed__slot)
self.base_comms_state_update_ready__signal.connect(self.arm_controls_base_comms_label.setText)
self.shoulder_comms_state_update_ready__signal.connect(self.arm_controls_shoulder_comms_label.setText)
self.elbow_comms_state_update_ready__signal.connect(self.arm_controls_elbow_comms_label.setText)
self.roll_comms_state_update_ready__signal.connect(self.arm_controls_roll_comms_label.setText)
self.wrist_pitch_comms_state_update_ready__signal.connect(self.arm_controls_wrist_pitch_comms_label.setText)
self.wrist_roll_comms_state_update_ready__signal.connect(self.arm_controls_wrist_roll_comms_label.setText)
self.base_status_update_ready__signal.connect(self.arm_controls_base_status_label.setText)
self.shoulder_status_update_ready__signal.connect(self.arm_controls_shoulder_status_label.setText)
self.elbow_status_update_ready__signal.connect(self.arm_controls_elbow_status_label.setText)
self.roll_status_update_ready__signal.connect(self.arm_controls_roll_status_label.setText)
self.wrist_pitch_status_update_ready__signal.connect(self.arm_controls_wrist_pitch_status_label.setText)
self.wrist_roll_status_update_ready__signal.connect(self.arm_controls_wrist_roll_status_label.setText)
self.base_faults_update_ready__signal.connect(self.arm_controls_base_faults_label.setText)
self.shoulder_faults_update_ready__signal.connect(self.arm_controls_shoulder_faults_label.setText)
self.elbow_faults_update_ready__signal.connect(self.arm_controls_elbow_faults_label.setText)
self.roll_faults_update_ready__signal.connect(self.arm_controls_roll_faults_label.setText)
self.wrist_pitch_faults_update_ready__signal.connect(self.arm_controls_wrist_pitch_faults_label.setText)
self.wrist_roll_faults_update_ready__signal.connect(self.arm_controls_wrist_roll_faults_label.setText)
def on_upright_zeroed_button_pressed__slot(self):
self.process_absolute_move_command([0 for _ in range(6)])
def on_set_calibration_button_pressed__slot(self):
message = ArmControlMessage()
message.calibrate = True
self.arm_relative_control_publisher.publish(message)
def on_clear_faults_button_pressed__slot(self):
message = ArmControlMessage()
message.clear_faults = True
self.arm_relative_control_publisher.publish(message)
def on_reset_drivers_button_pressed__slot(self):
message = ArmControlMessage()
message.reset_controllers = True
self.arm_relative_control_publisher.publish(message)
def on_stow_arm_button_pressed__slot(self):
self.should_stow_arm = True
def on_unstow_arm_button_pressed__slot(self):
self.should_unstow_arm = True
def new_arm_status_message_received__callback(self, data):
self.base_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.base_comm_status))
self.shoulder_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.shoulder_comm_status))
self.elbow_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.elbow_comm_status))
self.roll_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.roll_comm_status))
self.wrist_pitch_comms_state_update_ready__signal.emit(
self.process_comms_to_string(data.wrist_pitch_comm_status))
self.wrist_roll_comms_state_update_ready__signal.emit(self.process_comms_to_string(data.wrist_roll_comm_status))
self.base_status_update_ready__signal.emit(self.process_statuses_to_string(data.base_status))
self.shoulder_status_update_ready__signal.emit(self.process_statuses_to_string(data.shoulder_status))
self.elbow_status_update_ready__signal.emit(self.process_statuses_to_string(data.elbow_status))
self.roll_status_update_ready__signal.emit(self.process_statuses_to_string(data.roll_status))
self.wrist_pitch_status_update_ready__signal.emit(self.process_statuses_to_string(data.wrist_pitch_status))
self.wrist_roll_status_update_ready__signal.emit(self.process_statuses_to_string(data.wrist_roll_status))
self.base_faults_update_ready__signal.emit(self.process_faults_to_string(data.base_faults))
self.shoulder_faults_update_ready__signal.emit(self.process_faults_to_string(data.shoulder_faults))
self.elbow_faults_update_ready__signal.emit(self.process_faults_to_string(data.elbow_faults))
self.roll_faults_update_ready__signal.emit(self.process_faults_to_string(data.roll_faults))
self.wrist_pitch_faults_update_ready__signal.emit(self.process_faults_to_string(data.wrist_pitch_faults))
self.wrist_roll_faults_update_ready__signal.emit(self.process_faults_to_string(data.wrist_roll_faults))
self.base_position = data.base
self.shoulder_position = data.shoulder
self.elbow_position = data.elbow
self.roll_position = data.roll
self.wrist_pitch_position = data.wrist_pitch
self.wrist_roll_position = data.wrist_roll
@staticmethod
def process_faults_to_string(faults):
fault_output = ""
for bit_position in FAULT_TO_STRING:
if (1 << bit_position) & faults:
fault_output += FAULT_TO_STRING[bit_position] + "\n"
return fault_output[:-1]
@staticmethod
def process_statuses_to_string(statuses):
status_output = ""
for bit_position in STATUS_TO_STRING:
if (1 << bit_position) & statuses:
status_output += STATUS_TO_STRING[bit_position] + "\n"
return status_output[:-1]
@staticmethod
def process_comms_to_string(comms):
return COMMS_TO_STRING[comms] if comms in COMMS_TO_STRING else "UNKNOWN"
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

91
software/ros_packages/ground_station/src/Framework/MiscSystems/RDFCore.py Normal file
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@@ -0,0 +1,91 @@
# coding=utf-8
#####################################
# Imports
#####################################
# Python native imports
from PyQt5 import QtCore, QtWidgets
import logging
import rospy
from time import time
from std_msgs.msg import Float64MultiArray
#####################################
# Global Variables
#####################################
RDF_DATA_TOPIC = "/rdf/data"
THREAD_HERTZ = 5
#####################################
# UbiquitiRadioSettings Class Definition
#####################################
class RDF(QtCore.QThread):
lcd_number_update_ready__signal = QtCore.pyqtSignal(int)
def __init__(self, shared_objects):
super(RDF, self).__init__()
# ########## Reference to class init variables ##########
self.shared_objects = shared_objects
self.left_screen = self.shared_objects["screens"]["left_screen"]
self.rssi_lcdnumber = self.left_screen.rssi_lcdnumber # type:QtWidgets.QLCDNumber
# ########## Get the settings instance ##########
self.settings = QtCore.QSettings()
# ########## Get the Pick And Plate instance of the logger ##########
self.logger = logging.getLogger("groundstation")
# ########## Thread Flags ##########
self.run_thread_flag = True
# ########## Class Variables ##########
self.wait_time = 1.0 / THREAD_HERTZ
self.rdf_subscriber = rospy.Subscriber(RDF_DATA_TOPIC, Float64MultiArray, self.new_rdf_message_received__callback)
self.data = []
self.data_limit = 100
def run(self):
self.logger.debug("Starting RDF Thread")
while self.run_thread_flag:
start_time = time()
temp = list(self.data)
if temp:
average = sum(temp) / len(temp)
self.lcd_number_update_ready__signal.emit(average)
time_diff = time() - start_time
self.msleep(max(int(self.wait_time - time_diff), 0))
self.logger.debug("Stopping RDF Thread")
def new_rdf_message_received__callback(self, data):
if len(self.data) >= self.data_limit:
del self.data[0]
# if len(self.times) >= self.data_limit:
# del self.times[0]
self.data.append(data.data[0])
# self.times.append(data.data[1])
def connect_signals_and_slots(self):
self.lcd_number_update_ready__signal.connect(self.rssi_lcdnumber.display)
def setup_signals(self, start_signal, signals_and_slots_signal, kill_signal):
start_signal.connect(self.start)
signals_and_slots_signal.connect(self.connect_signals_and_slots)
kill_signal.connect(self.on_kill_threads_requested__slot)
def on_kill_threads_requested__slot(self):
self.run_thread_flag = False

1208
software/ros_packages/ground_station/src/Resources/Ui/left_screen.ui
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46
software/ros_packages/ground_station/src/Resources/Ui/right_screen.ui
View File

@@ -151,7 +151,7 @@
</font>
</property>
<property name="text">
<string>Base Rotation</string>
<string>Base</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -167,10 +167,10 @@
</size>
</property>
<property name="minimum">
<number>0</number>
<number>-500</number>
</property>
<property name="maximum">
<number>360</number>
<number>500</number>
</property>
<property name="pageStep">
<number>10</number>
@@ -218,7 +218,7 @@
</font>
</property>
<property name="text">
<string>Shoulder Pitch</string>
<string>Shoulder</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -234,10 +234,10 @@
</size>
</property>
<property name="minimum">
<number>0</number>
<number>-250</number>
</property>
<property name="maximum">
<number>360</number>
<number>250</number>
</property>
<property name="pageStep">
<number>10</number>
@@ -267,7 +267,7 @@
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>false</bool>
<bool>true</bool>
</property>
</widget>
</item>
@@ -289,7 +289,7 @@
</font>
</property>
<property name="text">
<string>Elbow Pitch</string>
<string>Elbow</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -305,10 +305,10 @@
</size>
</property>
<property name="minimum">
<number>0</number>
<number>-500</number>
</property>
<property name="maximum">
<number>360</number>
<number>500</number>
</property>
<property name="pageStep">
<number>10</number>
@@ -338,7 +338,7 @@
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>false</bool>
<bool>true</bool>
</property>
</widget>
</item>
@@ -358,7 +358,7 @@
</font>
</property>
<property name="text">
<string>Elbow Roll</string>
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -374,10 +374,10 @@
</size>
</property>
<property name="minimum">
<number>0</number>
<number>-250</number>
</property>
<property name="maximum">
<number>360</number>
<number>250</number>
</property>
<property name="pageStep">
<number>10</number>
@@ -407,7 +407,7 @@
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>false</bool>
<bool>true</bool>
</property>
</widget>
</item>
@@ -431,7 +431,7 @@
</font>
</property>
<property name="text">
<string>End Effector Pitch</string>
<string>Wrist Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -447,10 +447,10 @@
</size>
</property>
<property name="minimum">
<number>0</number>
<number>-250</number>
</property>
<property name="maximum">
<number>360</number>
<number>250</number>
</property>
<property name="pageStep">
<number>10</number>
@@ -480,7 +480,7 @@
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>false</bool>
<bool>true</bool>
</property>
</widget>
</item>
@@ -498,7 +498,7 @@
</font>
</property>
<property name="text">
<string>End Effector Rotation</string>
<string>Wrist Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -514,10 +514,10 @@
</size>
</property>
<property name="minimum">
<number>0</number>
<number>-1000</number>
</property>
<property name="maximum">
<number>360</number>
<number>1000</number>
</property>
<property name="pageStep">
<number>10</number>
@@ -547,7 +547,7 @@
<double>90.000000000000000</double>
</property>
<property name="notchesVisible">
<bool>false</bool>
<bool>true</bool>
</property>
</widget>
</item>

21
software/ros_packages/ground_station/src/ground_station.py
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@@ -15,14 +15,18 @@ import Framework.StartupSystems.ROSMasterChecker as ROSMasterChecker
import Framework.LoggingSystems.Logger as Logger
import Framework.VideoSystems.RoverVideoCoordinator as RoverVideoCoordinator
import Framework.MapSystems.RoverMapCoordinator as RoverMapCoordinator
import Framework.InputSystems.JoystickControlSender as JoystickControlSender
import Framework.InputSystems.LogitechControllerControlSender as JoystickControlSender
import Framework.InputSystems.XBOXControllerControlSender as ControllerControlSender
import Framework.NavigationSystems.SpeedAndHeadingIndication as SpeedAndHeading
import Framework.NavigationSystems.WaypointsCoordinator as WaypointsCoordinator
import Framework.ArmSystems.ArmIndication as ArmIndication
import Framework.StatusSystems.StatusCore as StatusCore
import Framework.StatusSystems.UbiquitiStatusCore as UbiquitiStatusCore
import Framework.SettingsSystems.UbiquitiRadioSettings as UbiquitiRadioSettings
import Framework.InputSystems.SpaceNavControlSender as SpaceNavControlSender
import Framework.MiscSystems.MiningCore as MiningCore
import Framework.MiscSystems.BashConsoleCore as BashConsoleCore
import Framework.MiscSystems.MiscArmCore as MiscArmCore
import Framework.MiscSystems.RDFCore as RDFCore
#####################################
# Global Variables
@@ -101,18 +105,22 @@ class GroundStation(QtCore.QObject):
rospy.init_node("ground_station")
# ##### Instantiate Regular Classes ######
self.__add_non_thread("Mining System", MiningCore.Mining(self.shared_objects))
self.__add_non_thread("Arm Indication", ArmIndication.ArmIndication(self.shared_objects))
# ##### Instantiate Threaded Classes ######
self.__add_thread("Video Coordinator", RoverVideoCoordinator.RoverVideoCoordinator(self.shared_objects))
self.__add_thread("Map Coordinator", RoverMapCoordinator.RoverMapCoordinator(self.shared_objects))
self.__add_thread("Joystick Sender", JoystickControlSender.JoystickControlSender(self.shared_objects))
self.__add_thread("Joystick Sender", JoystickControlSender.LogitechControllerControlSender(self.shared_objects))
self.__add_thread("Controller Sender", ControllerControlSender.XBOXControllerControlSender(self.shared_objects))
self.__add_thread("Speed and Heading", SpeedAndHeading.SpeedAndHeadingIndication(self.shared_objects))
self.__add_thread("Arm Indication", ArmIndication.ArmIndication(self.shared_objects))
self.__add_thread("Rover Status", StatusCore.SensorCore(self.shared_objects))
self.__add_thread("Ubiquiti Status", UbiquitiStatusCore.UbiquitiStatus(self.shared_objects))
self.__add_thread("Ubiquiti Radio Settings", UbiquitiRadioSettings.UbiquitiRadioSettings(self.shared_objects))
self.__add_thread("Waypoints Coordinator", WaypointsCoordinator.WaypointsCoordinator(self.shared_objects))
self.__add_thread("Spacenav Sender", SpaceNavControlSender.SpaceNavControlSender(self.shared_objects))
self.__add_thread("Bash Console", BashConsoleCore.BashConsole(self.shared_objects))
self.__add_thread("Misc Arm", MiscArmCore.MiscArm(self.shared_objects))
self.__add_thread("RDF", RDFCore.RDF(self.shared_objects))
self.connect_signals_and_slots_signal.emit()
self.__connect_signals_to_slots()
@@ -132,6 +140,9 @@ class GroundStation(QtCore.QObject):
instance.setup_signals(self.start_threads_signal, self.connect_signals_and_slots_signal,
self.kill_threads_signal)
def __add_non_thread(self, name, instance):
self.shared_objects["regular_classes"][name] = instance
def __connect_signals_to_slots(self):
self.shared_objects["screens"]["left_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)
self.shared_objects["screens"]["right_screen"].exit_requested_signal.connect(self.on_exit_requested__slot)

14
software/ros_packages/mr1718-arm-urdf_export/CMakeLists.txt Normal file
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@@ -0,0 +1,14 @@
cmake_minimum_required(VERSION 2.8.3)
project(mr1718-arm-urdf_export)
find_package(catkin REQUIRED)
catkin_package()
find_package(roslaunch)
foreach(dir config launch meshes urdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)

1
software/ros_packages/mr1718-arm-urdf_export/config/joint_names_mr1718-arm-urdf_export.yaml Normal file
View File

@@ -0,0 +1 @@
controller_joint_names: ['shoulder', 'elbow', 'roll', 'wrist_base', 'wrist_pitch', 'wrist_roll', ]

26
software/ros_packages/mr1718-arm-urdf_export/launch/display.launch Normal file
View File

@@ -0,0 +1,26 @@
<launch>
<arg
name="model" />
<arg
name="gui"
default="False" />
<param
name="robot_description"
textfile="$(find mr1718-arm-urdf_export)/robots/mr1718-arm-urdf_export.urdf" />
<param
name="use_gui"
value="$(arg gui)" />
<node
name="joint_state_publisher"
pkg="joint_state_publisher"
type="joint_state_publisher" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find mr1718-arm-urdf_export)/urdf.rviz" />
</launch>

20
software/ros_packages/mr1718-arm-urdf_export/launch/gazebo.launch Normal file
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@@ -0,0 +1,20 @@
<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find mr1718-arm-urdf_export)/robots/mr1718-arm-urdf_export.urdf -urdf -model mr1718-arm-urdf_export"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>

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software/ros_packages/mr1718-arm-urdf_export/meshes/base_link.STL Normal file
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software/ros_packages/mr1718-arm-urdf_export/meshes/elbow_link.STL Normal file
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software/ros_packages/mr1718-arm-urdf_export/meshes/roll_link.STL Normal file
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software/ros_packages/mr1718-arm-urdf_export/meshes/shoulder_link.STL Normal file
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software/ros_packages/mr1718-arm-urdf_export/meshes/wrist_link.STL Normal file
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software/ros_packages/mr1718-arm-urdf_export/meshes/wrist_pitch_link.STL Normal file
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software/ros_packages/mr1718-arm-urdf_export/meshes/wrist_roll_link.STL Normal file
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21
software/ros_packages/mr1718-arm-urdf_export/package.xml Normal file
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@@ -0,0 +1,21 @@
<package>
<name>mr1718-arm-urdf_export</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for mr1718-arm-urdf_export</p>
<p>This package contains configuration data, 3D models and launch files
for mr1718-arm-urdf_export robot</p>
</description>
<author>me</author>
<maintainer email="me@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roslaunch</build_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>gazebo</run_depend>
<export>
<architecture_independent />
</export>
</package>

361
software/ros_packages/mr1718-arm-urdf_export/robots/mr1718-arm-urdf_export.urdf Normal file
View File

@@ -0,0 +1,361 @@
<robot
name="mr1718-arm-urdf_export">
<link
name="base_link">
<inertial>
<origin
xyz="5.4755E-05 0.015543 0.0086991"
rpy="0 0 0" />
<mass
value="1.5519" />
<inertia
ixx="0.0045029"
ixy="-1.9571E-05"
ixz="1.1071E-05"
iyy="0.001083"
iyz="0.0012614"
izz="0.0038307" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="shoulder_link">
<inertial>
<origin
xyz="-0.0076779 0.072439 -0.00025927"
rpy="0 0 0" />
<mass
value="1.2323" />
<inertia
ixx="0.00071817"
ixy="8.2844E-05"
ixz="4.663E-06"
iyy="0.0012756"
iyz="3.6626E-06"
izz="0.0019919" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/shoulder_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/shoulder_link.STL" />
</geometry>
</collision>
</link>
<joint
name="shoulder"
type="continuous">
<origin
xyz="0 0.0025248 0.091246"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="shoulder_link" />
<axis
xyz="0 1 0" />
</joint>
<link
name="elbow_link">
<inertial>
<origin
xyz="0.052746 3.5254E-06 0.25018"
rpy="0 0 0" />
<mass
value="1.5164" />
<inertia
ixx="0.082218"
ixy="3.201E-09"
ixz="0.00060003"
iyy="0.082526"
iyz="-8.6916E-07"
izz="0.00030787" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/elbow_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/elbow_link.STL" />
</geometry>
</collision>
</link>
<joint
name="elbow"
type="continuous">
<origin
xyz="0.0335058907562339 0.0827436823988177 0"
rpy="0 0 0" />
<parent
link="shoulder_link" />
<child
link="elbow_link" />
<axis
xyz="1 0 0" />
</joint>
<link
name="roll_link">
<inertial>
<origin
xyz="-0.030978 -3.4831E-06 -0.0054534"
rpy="0 0 0" />
<mass
value="1.0721" />
<inertia
ixx="0.00049287"
ixy="3.3206E-08"
ixz="-3.6397E-06"
iyy="0.00051016"
iyz="-4.5289E-08"
izz="2.4367E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/roll_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/roll_link.STL" />
</geometry>
</collision>
</link>
<joint
name="roll"
type="continuous">
<origin
xyz="0 0 0.523621"
rpy="0 0 0" />
<parent
link="elbow_link" />
<child
link="roll_link" />
<axis
xyz="1 0 0" />
</joint>
<link
name="wrist_link">
<inertial>
<origin
xyz="-0.00095192 -4.7142E-05 0.25454"
rpy="0 0 0" />
<mass
value="0.60759" />
<inertia
ixx="0.0039577"
ixy="4.5025E-07"
ixz="5.7684E-05"
iyy="0.0042265"
iyz="1.2153E-06"
izz="0.00026882" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/wrist_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/wrist_link.STL" />
</geometry>
</collision>
</link>
<joint
name="wrist_base"
type="continuous">
<origin
xyz="-0.0345081407562338 0 0.048642197732"
rpy="0 0 0" />
<parent
link="roll_link" />
<child
link="wrist_link" />
<axis
xyz="0 0 1" />
</joint>
<link
name="wrist_pitch_link">
<inertial>
<origin
xyz="0.00095959 0.00027042 0.014957"
rpy="0 0 0" />
<mass
value="0.32143" />
<inertia
ixx="0.00011388"
ixy="-2.4963E-06"
ixz="2.1367E-06"
iyy="0.00018114"
iyz="1.3277E-06"
izz="6.9395E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/wrist_pitch_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/wrist_pitch_link.STL" />
</geometry>
</collision>
</link>
<joint
name="wrist_pitch"
type="continuous">
<origin
xyz="0 0 0.343027"
rpy="0 0 0" />
<parent
link="wrist_link" />
<child
link="wrist_pitch_link" />
<axis
xyz="1 0 0" />
</joint>
<link
name="wrist_roll_link">
<inertial>
<origin
xyz="-3.3391E-05 7.6495E-05 0.034573"
rpy="0 0 0" />
<mass
value="0.090203" />
<inertia
ixx="4.2212E-06"
ixy="9.452E-08"
ixz="1.6547E-08"
iyy="3.9599E-06"
iyz="-5.2152E-08"
izz="3.8149E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/wrist_roll_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.75294 0.75294 0.75294 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://mr1718-arm-urdf_export/meshes/wrist_roll_link.STL" />
</geometry>
</collision>
</link>
<joint
name="wrist_roll"
type="continuous">
<origin
xyz="0 0 0.0227193855733502"
rpy="0 0 0" />
<parent
link="wrist_pitch_link" />
<child
link="wrist_roll_link" />
<axis
xyz="0 0 1" />
</joint>
</robot>

23
software/ros_packages/rover_arm/CMakeLists.txt
View File

@@ -9,8 +9,9 @@ add_compile_options(-std=c++11)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
#message_generation
std_msgs
std_msgs
message_generation
)
## System dependencies are found with CMake's conventions
@@ -47,9 +48,11 @@ find_package(catkin REQUIRED COMPONENTS
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
#add_message_files(
# FILES
#)
add_message_files(
FILES
ArmControlMessage.msg
ArmStatusMessage.msg
)
## Generate services in the 'srv' folder
# add_service_files(
@@ -66,10 +69,10 @@ find_package(catkin REQUIRED COMPONENTS
# )
## Generate added messages and services with any dependencies listed here
#generate_messages(
# DEPENDENCIES
# std_msgs
#)
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
@@ -103,7 +106,7 @@ find_package(catkin REQUIRED COMPONENTS
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES rover_arm
CATKIN_DEPENDS roscpp std_msgs
CATKIN_DEPENDS roscpp std_msgs message_generation
# DEPENDS system_lib
)
@@ -150,7 +153,7 @@ add_executable(${PROJECT_NAME} src/rover_arm.cpp )
target_link_libraries(
${PROJECT_NAME}
${catkin_LIBRARIES}
simplemotion
simplemotion2
)
#############

10
software/ros_packages/rover_arm/msg/ArmControlMessage.msg Normal file
View File

@@ -0,0 +1,10 @@
float64 base
float64 shoulder
float64 elbow
float64 roll
float64 wrist_pitch
float64 wrist_roll
bool clear_faults
bool reset_controllers
bool calibrate

27
software/ros_packages/rover_arm/msg/ArmStatusMessage.msg Normal file
View File

@@ -0,0 +1,27 @@
float64 base
float64 shoulder
float64 elbow
float64 roll
float64 wrist_pitch
float64 wrist_roll
int32 base_comm_status
int32 shoulder_comm_status
int32 elbow_comm_status
int32 roll_comm_status
int32 wrist_pitch_comm_status
int32 wrist_roll_comm_status
int32 base_status
int32 shoulder_status
int32 elbow_status
int32 roll_status
int32 wrist_pitch_status
int32 wrist_roll_status
int32 base_faults
int32 shoulder_faults
int32 elbow_faults
int32 roll_faults
int32 wrist_pitch_faults
int32 wrist_roll_faults

6
software/ros_packages/rover_arm/package.xml
View File

@@ -51,10 +51,16 @@
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>ros_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>ros_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>ros_msgs</exec_depend>
<exec_depend>message_generation</exec_depend>
<exec_depend>message_runtime</exec_depend>
<!-- The export tag contains other, unspecified, tags -->

469
software/ros_packages/rover_arm/src/rover_arm.cpp
View File

@@ -1,10 +1,14 @@
#include <string>
#include <iostream>
#include <unistd.h>
#include <algorithm>
#include <ros/ros.h>
#include <ros/console.h>
#include "simplemotion/simplemotion.h"
#include <rover_arm/ArmControlMessage.h>
#include <rover_arm/ArmStatusMessage.h>
using namespace std;
@@ -12,83 +16,468 @@ using namespace std;
int device_address = 1;
////////// Global Variables //////////
////////// Simplemotion variables and defines /////
#define SMP_SERIAL_ENC_OFFSET 575 //This was missing from simplemotion_defs.h
////////// ROS Variables and Defines /////
// ROS Parameter Defaults
const string default_port = "/dev/ttyUSB0";
//const string default_port = "/dev/ttyUSB0";
const string default_port = "/dev/rover/ttyARM";
const string default_absolute_position_control_topic = "control/absolute";
const string default_relative_position_control_topic = "control/relative";
const string default_arm_status_topic = "status";
////////// Axis limits and conversions //////////
// Base
const smuint8 base_address = 1;
const smint32 base_counts_per_rev = 5725807;
const double base_min_rev = -0.5;
const double base_max_rev = 0.5;
smint32 base_min_rev_counts = 0;
smint32 base_max_rev_counts = 0;
// Shoulder
const smuint8 shoulder_address = 2;
const smint32 shoulder_counts_per_rev = 2620130;
const double shoulder_min_rev = -0.25;
const double shoulder_max_rev = 0.25;
smint32 shoulder_min_rev_counts = 0;
smint32 shoulder_max_rev_counts = 0;
//Elbow
const smuint8 elbow_address = 3;
const smint32 elbow_counts_per_rev = 4917661;
const double elbow_min_rev = -0.5;
const double elbow_max_rev = 0.5;
smint32 elbow_min_rev_counts = 0;
smint32 elbow_max_rev_counts = 0;
//Roll
const smuint8 roll_address = 4;
const smint32 roll_counts_per_rev = 1637581;
const double roll_min_rev = -0.25;
const double roll_max_rev = 0.25;
smint32 roll_min_rev_counts = 0;
smint32 roll_max_rev_counts = 0;
//Wrist Pitch
const smuint8 wrist_pitch_address = 5;
const smint32 wrist_pitch_counts_per_rev = 3799492;
const double wrist_pitch_min_rev = -0.25;
const double wrist_pitch_max_rev = 0.25;
smint32 wrist_pitch_min_rev_counts = 0;
smint32 wrist_pitch_max_rev_counts = 0;
//Wrist Roll
const smuint8 wrist_roll_address = 6;
const smint32 wrist_roll_counts_per_rev = 3799492;
// 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{
class RoverArm {
public:
RoverArm(int argc, char** argv){
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){
if (arm_bus_handle < 0) {
ROS_ERROR("Could not connect to arm");
return;
} else {
arm_successfully_connected = true;
}
absolute_position_control_subscriber = node_handle->subscribe(default_absolute_position_control_topic, 1,
&RoverArm::absolute_position_callback, this);
relative_position_control_subscriber = node_handle->subscribe(default_relative_position_control_topic, 1,
&RoverArm::relative_position_callback, this);
status_publisher = node_handle->advertise<rover_arm::ArmStatusMessage>(default_arm_status_topic, 1);
base_min_rev_counts = smint32(base_min_rev * base_counts_per_rev);
base_max_rev_counts = smint32(base_max_rev * base_counts_per_rev);
shoulder_min_rev_counts = smint32(shoulder_min_rev * shoulder_counts_per_rev);
shoulder_max_rev_counts = smint32(shoulder_max_rev * shoulder_counts_per_rev);
elbow_min_rev_counts = smint32(elbow_min_rev * elbow_counts_per_rev);
elbow_max_rev_counts = smint32(elbow_max_rev * elbow_counts_per_rev);
roll_min_rev_counts = smint32(roll_min_rev * roll_counts_per_rev);
roll_max_rev_counts = smint32(roll_max_rev * roll_counts_per_rev);
wrist_pitch_min_rev_counts = smint32(wrist_pitch_min_rev * wrist_pitch_counts_per_rev);
wrist_pitch_max_rev_counts = smint32(wrist_pitch_max_rev * wrist_pitch_counts_per_rev);
}
void run(){
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);
while (ros::ok()) {
if (!arm_successfully_connected) { return; }
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);
}
clear_faults();
set_calibration();
get_joint_statuses();
set_joint_positions();
reset_controllers();
ros::spinOnce();
}
ROS_ERROR("Shutting down.");
}
void reset_controllers() {
if (should_reset) {
smSetParameter(arm_bus_handle, base_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_RESTART);
smSetParameter(arm_bus_handle, shoulder_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_RESTART);
smSetParameter(arm_bus_handle, elbow_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_RESTART);
smSetParameter(arm_bus_handle, roll_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_RESTART);
smSetParameter(arm_bus_handle, wrist_pitch_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_RESTART);
smSetParameter(arm_bus_handle, wrist_roll_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_RESTART);
// arm_successfully_connected = false;
should_reset = false;
}
}
void clear_faults() {
if (should_clear_faults) {
smSetParameter(arm_bus_handle, base_address, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, base_address, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smSetParameter(arm_bus_handle, shoulder_address, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, shoulder_address, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smSetParameter(arm_bus_handle, elbow_address, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, elbow_address, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smSetParameter(arm_bus_handle, roll_address, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, roll_address, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smSetParameter(arm_bus_handle, wrist_pitch_address, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, wrist_pitch_address, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
smSetParameter(arm_bus_handle, wrist_roll_address, SMP_FAULTS, 0);
smSetParameter(arm_bus_handle, wrist_roll_address, SMP_CONTROL_BITS1, SMP_CB1_ENABLE);
should_clear_faults = false;
}
}
void set_calibration() {
if (should_calibrate) {
// Base
smint32 base_current_offset;
smint32 base_position_to_offset;
smRead2Parameters(arm_bus_handle, base_address, SMP_SERIAL_ENC_OFFSET, &base_current_offset,
SMP_ACTUAL_POSITION_FB, &base_position_to_offset);
smSetParameter(arm_bus_handle, base_address, SMP_SERIAL_ENC_OFFSET, base_current_offset - base_position_to_offset);
// Shoulder
smint32 shoulder_current_offset;
smint32 shoulder_position_to_offset;
smRead2Parameters(arm_bus_handle, shoulder_address, SMP_SERIAL_ENC_OFFSET, &shoulder_current_offset,
SMP_ACTUAL_POSITION_FB, &shoulder_position_to_offset);
smSetParameter(arm_bus_handle, shoulder_address, SMP_SERIAL_ENC_OFFSET, shoulder_current_offset - shoulder_position_to_offset);
// Elbow
smint32 elbow_current_offset;
smint32 elbow_position_to_offset;
smRead2Parameters(arm_bus_handle, elbow_address, SMP_SERIAL_ENC_OFFSET, &elbow_current_offset,
SMP_ACTUAL_POSITION_FB, &elbow_position_to_offset);
smSetParameter(arm_bus_handle, elbow_address, SMP_SERIAL_ENC_OFFSET, elbow_current_offset - elbow_position_to_offset);
// Roll
smint32 roll_current_offset;
smint32 roll_position_to_offset;
smRead2Parameters(arm_bus_handle, roll_address, SMP_SERIAL_ENC_OFFSET, &roll_current_offset,
SMP_ACTUAL_POSITION_FB, &roll_position_to_offset);
smSetParameter(arm_bus_handle, roll_address, SMP_SERIAL_ENC_OFFSET, roll_current_offset - roll_position_to_offset);
// Wrist Pitch
smint32 wrist_pitch_current_offset;
smint32 wrist_pitch_position_to_offset;
smRead2Parameters(arm_bus_handle, wrist_pitch_address, SMP_SERIAL_ENC_OFFSET, &wrist_pitch_current_offset,
SMP_ACTUAL_POSITION_FB, &wrist_pitch_position_to_offset);
smSetParameter(arm_bus_handle, wrist_pitch_address, SMP_SERIAL_ENC_OFFSET, wrist_pitch_current_offset - wrist_pitch_position_to_offset);
// Wrist Roll
smint32 wrist_roll_current_offset;
smint32 wrist_roll_position_to_offset;
smRead2Parameters(arm_bus_handle, wrist_roll_address, SMP_SERIAL_ENC_OFFSET, &wrist_roll_current_offset,
SMP_ACTUAL_POSITION_FB, &wrist_roll_position_to_offset);
smSetParameter(arm_bus_handle, wrist_roll_address, SMP_SERIAL_ENC_OFFSET, wrist_roll_current_offset - wrist_roll_position_to_offset);
// Save config through reboots
smSetParameter(arm_bus_handle, base_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_SAVECFG);
smSetParameter(arm_bus_handle, shoulder_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_SAVECFG);
smSetParameter(arm_bus_handle, elbow_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_SAVECFG);
smSetParameter(arm_bus_handle, roll_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_SAVECFG);
smSetParameter(arm_bus_handle, wrist_pitch_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_SAVECFG);
smSetParameter(arm_bus_handle, wrist_roll_address, SMP_SYSTEM_CONTROL, SMP_SYSTEM_CONTROL_SAVECFG);
should_reset = true;
should_calibrate = false;
}
}
void get_joint_statuses() {
base_comm_state = smRead3Parameters(arm_bus_handle, base_address, SMP_STATUS, &base_status, SMP_FAULTS,
&base_faults, SMP_ACTUAL_POSITION_FB, &base_current_position);
shoulder_comm_state = smRead3Parameters(arm_bus_handle, shoulder_address, SMP_STATUS, &shoulder_status,
SMP_FAULTS,
&shoulder_faults, SMP_ACTUAL_POSITION_FB, &shoulder_current_position);
elbow_comm_state = smRead3Parameters(arm_bus_handle, elbow_address, SMP_STATUS, &elbow_status, SMP_FAULTS,
&elbow_faults, SMP_ACTUAL_POSITION_FB, &elbow_current_position);
roll_comm_state = smRead3Parameters(arm_bus_handle, roll_address, SMP_STATUS, &roll_status, SMP_FAULTS,
&roll_faults, SMP_ACTUAL_POSITION_FB, &roll_current_position);
wrist_pitch_comm_state = smRead3Parameters(arm_bus_handle, wrist_pitch_address, SMP_STATUS, &wrist_pitch_status,
SMP_FAULTS,
&wrist_pitch_faults, SMP_ACTUAL_POSITION_FB,
&wrist_pitch_current_position);
wrist_roll_comm_state = smRead3Parameters(arm_bus_handle, wrist_roll_address, SMP_STATUS, &wrist_roll_status,
SMP_FAULTS,
&wrist_roll_faults, SMP_ACTUAL_POSITION_FB,
&wrist_roll_current_position);
if (!received_first_joint_position_update) {
base_set_position = base_current_position;
shoulder_set_position = shoulder_current_position;
elbow_set_position = elbow_current_position;
roll_set_position = roll_current_position;
wrist_pitch_last_set_position = wrist_pitch_current_position;
wrist_pitch_set_position = wrist_pitch_current_position;
wrist_roll_set_position = wrist_roll_current_position;
received_first_joint_position_update = true;
}
status_message.base = base_current_position / double(base_counts_per_rev);
status_message.shoulder = shoulder_current_position / double(shoulder_counts_per_rev);
status_message.elbow = elbow_current_position / double(elbow_counts_per_rev);
status_message.roll = roll_set_position / double(roll_counts_per_rev);
status_message.wrist_pitch = wrist_pitch_set_position / double(wrist_pitch_counts_per_rev);
status_message.wrist_roll = wrist_roll_set_position / double(wrist_roll_counts_per_rev);
status_message.base_comm_status = base_comm_state;
status_message.shoulder_comm_status = shoulder_comm_state;
status_message.elbow_comm_status = elbow_comm_state;
status_message.roll_comm_status = roll_comm_state;
status_message.wrist_pitch_comm_status = wrist_pitch_comm_state;
status_message.wrist_roll_comm_status = wrist_roll_comm_state;
status_message.base_status = base_status;
status_message.shoulder_status = shoulder_status;
status_message.elbow_status = elbow_status;
status_message.roll_status = roll_status;
status_message.wrist_pitch_status = wrist_pitch_status;
status_message.wrist_roll_status = wrist_roll_status;
status_message.base_faults = base_faults;
status_message.shoulder_faults = shoulder_faults;
status_message.elbow_faults = elbow_faults;
status_message.roll_faults = roll_faults;
status_message.wrist_pitch_faults = wrist_pitch_faults;
status_message.wrist_roll_faults = wrist_roll_faults;
status_publisher.publish(status_message);
}
void set_joint_positions() {
if (new_positions_received) {
set_base_position();
set_shoulder_position();
set_elbow_position();
set_roll_position();
set_wrist_positions();
new_positions_received = false;
}
}
void set_base_position() {
smSetParameter(arm_bus_handle, base_address, SMP_ABSOLUTE_SETPOINT, base_set_position);
}
void set_shoulder_position() {
smSetParameter(arm_bus_handle, shoulder_address, SMP_ABSOLUTE_SETPOINT, shoulder_set_position);
}
void set_elbow_position() {
smSetParameter(arm_bus_handle, elbow_address, SMP_ABSOLUTE_SETPOINT, elbow_set_position);
}
void set_roll_position() {
smSetParameter(arm_bus_handle, roll_address, SMP_ABSOLUTE_SETPOINT, roll_set_position);
}
void set_wrist_positions() {
smSetParameter(arm_bus_handle, wrist_roll_address, SMP_ABSOLUTE_SETPOINT, wrist_roll_set_position);
smSetParameter(arm_bus_handle, wrist_pitch_address, SMP_ABSOLUTE_SETPOINT, wrist_pitch_set_position);
}
void constrain_set_positions(){
base_set_position = min(max(base_set_position, base_min_rev_counts), base_max_rev_counts);
shoulder_set_position = min(max(shoulder_set_position, shoulder_min_rev_counts), shoulder_max_rev_counts);
elbow_set_position = min(max(elbow_set_position, elbow_min_rev_counts), elbow_max_rev_counts);
roll_set_position = min(max(roll_set_position, roll_min_rev_counts), roll_max_rev_counts);
wrist_pitch_set_position = min(max(wrist_pitch_set_position, wrist_pitch_min_rev_counts), wrist_pitch_max_rev_counts);
}
void absolute_position_callback(const rover_arm::ArmControlMessage::ConstPtr &msg) {
if (!received_first_joint_position_update) { return; }
base_set_position = msg->base * base_counts_per_rev;
shoulder_set_position = msg->shoulder * shoulder_counts_per_rev;
elbow_set_position = msg->elbow * elbow_counts_per_rev;
roll_set_position = msg->roll * roll_counts_per_rev;
wrist_roll_set_position = msg->wrist_roll * wrist_roll_counts_per_rev;
wrist_pitch_set_position = msg->wrist_pitch * wrist_pitch_counts_per_rev;
smint32 roll_pitch_position_difference = wrist_pitch_set_position / 2;
wrist_roll_set_position -= roll_pitch_position_difference;
wrist_pitch_last_set_position = wrist_pitch_set_position;
ROS_INFO("BASE: %ld\tSHOULDER: %ld\tELBOW: %ld\tROLL: %ld\tWRIST_PITCH: %ld\tWRIST_ROLL: %ld\t", base_set_position, shoulder_set_position, elbow_set_position, roll_set_position, wrist_pitch_set_position, wrist_roll_set_position);
constrain_set_positions();
ROS_INFO("BASE: %ld\tSHOULDER: %ld\tELBOW: %ld\tROLL: %ld\tWRIST_PITCH: %ld\tWRIST_ROLL: %ld\t", base_set_position, shoulder_set_position, elbow_set_position, roll_set_position, wrist_pitch_set_position, wrist_roll_set_position);
should_clear_faults = (msg->clear_faults);
should_reset = (msg->reset_controllers);
should_calibrate = msg->calibrate;
if(!should_calibrate && !should_reset){
new_positions_received = true;
}
}
void relative_position_callback(const rover_arm::ArmControlMessage::ConstPtr &msg) {
if (!received_first_joint_position_update) { return; }
base_set_position += msg->base * base_counts_per_rev;
shoulder_set_position += msg->shoulder * shoulder_counts_per_rev;
elbow_set_position += msg->elbow * elbow_counts_per_rev;
roll_set_position += msg->roll * roll_counts_per_rev;
wrist_roll_set_position += msg->wrist_roll * wrist_roll_counts_per_rev;
wrist_pitch_set_position += msg->wrist_pitch * wrist_pitch_counts_per_rev;
smint32 roll_pitch_position_difference = (wrist_pitch_set_position - wrist_pitch_last_set_position) / 2;
wrist_roll_set_position -= roll_pitch_position_difference;
wrist_pitch_last_set_position = wrist_pitch_set_position;
constrain_set_positions();
should_clear_faults = (msg->clear_faults);
should_reset = (msg->reset_controllers);
should_calibrate = msg->calibrate;
if(!should_calibrate && !should_reset) {
new_positions_received = true;
}
}
private:
ros::NodeHandle *node_handle;
string arm_port;
smbus arm_bus_handle;
bool arm_successfully_connected = false;
ros::Publisher status_publisher;
rover_arm::ArmStatusMessage status_message;
ros::Subscriber absolute_position_control_subscriber;
ros::Subscriber relative_position_control_subscriber;
bool received_first_joint_position_update = false;
bool new_positions_received = false;
smint32 base_set_position = 0;
smint32 base_current_position = 0;
smint32 base_comm_state = 0;
smint32 base_status = 0;
smint32 base_faults = 0;
smint32 shoulder_set_position = 0;
smint32 shoulder_current_position = 0;
smint32 shoulder_comm_state = 0;
smint32 shoulder_status = 0;
smint32 shoulder_faults = 0;
smint32 elbow_set_position = 0;
smint32 elbow_current_position = 0;
smint32 elbow_comm_state = 0;
smint32 elbow_status = 0;
smint32 elbow_faults = 0;
smint32 roll_set_position = 0;
smint32 roll_current_position = 0;
smint32 roll_comm_state = 0;
smint32 roll_status = 0;
smint32 roll_faults = 0;
smint32 wrist_pitch_last_set_position = 0;
smint32 wrist_pitch_set_position = 0;
smint32 wrist_pitch_current_position = 0;
smint32 wrist_pitch_comm_state = 0;
smint32 wrist_pitch_status = 0;
smint32 wrist_pitch_faults = 0;
smint32 wrist_roll_set_position = 0;
smint32 wrist_roll_current_position = 0;
smint32 wrist_roll_comm_state = 0;
smint32 wrist_roll_status = 0;
smint32 wrist_roll_faults = 0;
bool should_calibrate = false;
bool should_clear_faults = true;
bool should_reset = false;
};
int main(int argc, char** argv){
int main(int argc, char **argv) {
RoverArm rover_arm(argc, argv);
rover_arm.run();
}

4
software/ros_packages/rover_arm/src/simplemotion/CMakeLists.txt
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@@ -1,3 +1,3 @@
add_library(simplemotion rs232.c simplemotion.c busdevice.c sm_consts.c)
add_library(simplemotion2 rs232.c simplemotion.c busdevice.c sm_consts.c)
target_include_directories (simplemotion PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_include_directories (simplemotion2 PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

2
software/ros_packages/rover_arm/src/simplemotion/busdevice.c
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@@ -63,7 +63,7 @@ smbusdevicehandle smBDOpen( const char *devicename )
//all handles in use
if(handle>=SM_MAX_BUSES) return -1;
if(strncmp(devicename,"COM",3) == 0 || strncmp(devicename,"/dev/tty",8) == 0) //use rs232 lib
if(strncmp(devicename,"COM",3) == 0 || strncmp(devicename,"/dev/tty",8) == 0 || strncmp(devicename,"/dev/rover/tty",8) == 0)
{
BusDevice[handle].comPort=OpenComport( devicename, SM_BAUDRATE );
if( BusDevice[handle].comPort == -1 )

11
software/ros_packages/rover_arm_moveit_config/.setup_assistant Normal file
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@@ -0,0 +1,11 @@
moveit_setup_assistant_config:
URDF:
package: mr1718-arm-urdf_export
relative_path: robots/mr1718-arm-urdf_export.urdf
xacro_args: "--inorder "
SRDF:
relative_path: config/mr1718-arm-urdf_export.srdf
CONFIG:
author_name: Corwin Perren
author_email: caperren@gmail.com
generated_timestamp: 1533095742

10
software/ros_packages/rover_arm_moveit_config/CMakeLists.txt Normal file
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@@ -0,0 +1,10 @@
cmake_minimum_required(VERSION 2.8.3)
project(rover_arm_moveit_config)
find_package(catkin REQUIRED)
catkin_package()
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "setup_assistant.launch" EXCLUDE)
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

9
software/ros_packages/rover_arm_moveit_config/config/fake_controllers.yaml Normal file
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@@ -0,0 +1,9 @@
controller_list:
- name: fake_manipulator_controller
joints:
- shoulder
- elbow
- roll
- wrist_base
- wrist_pitch
- wrist_roll

34
software/ros_packages/rover_arm_moveit_config/config/joint_limits.yaml Normal file
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@@ -0,0 +1,34 @@
# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
elbow:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
roll:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
shoulder:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
wrist_base:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
wrist_pitch:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0
wrist_roll:
has_velocity_limits: false
max_velocity: 0
has_acceleration_limits: false
max_acceleration: 0

5
software/ros_packages/rover_arm_moveit_config/config/kinematics.yaml Normal file
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@@ -0,0 +1,5 @@
manipulator:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3

48
software/ros_packages/rover_arm_moveit_config/config/mr1718-arm-urdf_export.srdf Normal file
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@@ -0,0 +1,48 @@
<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="mr1718-arm-urdf_export">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="manipulator">
<chain base_link="base_link" tip_link="wrist_roll_link" />
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="straight_up" group="manipulator">
<joint name="elbow" value="-1.57" />
<joint name="roll" value="0" />
<joint name="shoulder" value="0" />
<joint name="wrist_base" value="0" />
<joint name="wrist_pitch" value="0" />
<joint name="wrist_roll" value="0" />
</group_state>
<group_state name="stowed" group="manipulator">
<joint name="elbow" value="-3.1415" />
<joint name="roll" value="3.1415" />
<joint name="shoulder" value="0" />
<joint name="wrist_base" value="1.57" />
<joint name="wrist_pitch" value="-1.57" />
<joint name="wrist_roll" value="0" />
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="gripper" parent_link="wrist_roll_link" group="manipulator" />
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="world" type="fixed" parent_frame="world" child_link="base_link" />
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="base_link" link2="roll_link" reason="Never" />
<disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="elbow_link" link2="roll_link" reason="Adjacent" />
<disable_collisions link1="elbow_link" link2="shoulder_link" reason="Adjacent" />
<disable_collisions link1="roll_link" link2="shoulder_link" reason="Never" />
<disable_collisions link1="roll_link" link2="wrist_link" reason="Adjacent" />
<disable_collisions link1="roll_link" link2="wrist_pitch_link" reason="Never" />
<disable_collisions link1="roll_link" link2="wrist_roll_link" reason="Never" />
<disable_collisions link1="shoulder_link" link2="wrist_link" reason="Never" />
<disable_collisions link1="wrist_link" link2="wrist_pitch_link" reason="Adjacent" />
<disable_collisions link1="wrist_pitch_link" link2="wrist_roll_link" reason="Adjacent" />
</robot>

150
software/ros_packages/rover_arm_moveit_config/config/ompl_planning.yaml Normal file
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@@ -0,0 +1,150 @@
planner_configs:
SBL:
type: geometric::SBL
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
EST:
type: geometric::EST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LBKPIECE:
type: geometric::LBKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
BKPIECE:
type: geometric::BKPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
KPIECE:
type: geometric::KPIECE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.]
failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5
min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5
RRT:
type: geometric::RRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
RRTConnect:
type: geometric::RRTConnect
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
RRTstar:
type: geometric::RRTstar
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1
TRRT:
type: geometric::TRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05
max_states_failed: 10 # when to start increasing temp. default: 10
temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0
min_temperature: 10e-10 # lower limit of temp change. default: 10e-10
init_temperature: 10e-6 # initial temperature. default: 10e-6
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup()
PRM:
type: geometric::PRM
max_nearest_neighbors: 10 # use k nearest neighbors. default: 10
PRMstar:
type: geometric::PRMstar
FMT:
type: geometric::FMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1
nearest_k: 1 # use Knearest strategy. default: 1
cache_cc: 1 # use collision checking cache. default: 1
heuristics: 0 # activate cost to go heuristics. default: 0
extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
BFMT:
type: geometric::BFMT
num_samples: 1000 # number of states that the planner should sample. default: 1000
radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0
nearest_k: 1 # use the Knearest strategy. default: 1
balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
heuristics: 1 # activates cost to go heuristics. default: 1
cache_cc: 1 # use the collision checking cache. default: 1
extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
PDST:
type: geometric::PDST
STRIDE:
type: geometric::STRIDE
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
max_degree: 18 # max degree of a node in the GNAT. default: 12
min_degree: 12 # min degree of a node in the GNAT. default: 12
max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6
estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0
min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2
BiTRRT:
type: geometric::BiTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1
init_temperature: 100 # initial temperature. default: 100
frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
LBTRRT:
type: geometric::LBTRRT
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
epsilon: 0.4 # optimality approximation factor. default: 0.4
BiEST:
type: geometric::BiEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
ProjEST:
type: geometric::ProjEST
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05
LazyPRM:
type: geometric::LazyPRM
range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
LazyPRMstar:
type: geometric::LazyPRMstar
SPARS:
type: geometric::SPARS
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 1000 # maximum consecutive failure limit. default: 1000
SPARStwo:
type: geometric::SPARStwo
stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001
max_failures: 5000 # maximum consecutive failure limit. default: 5000
manipulator:
default_planner_config: NonekConfigDefault
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
- FMTkConfigDefault
- BFMTkConfigDefault
- PDSTkConfigDefault
- STRIDEkConfigDefault
- BiTRRTkConfigDefault
- LBTRRTkConfigDefault
- BiESTkConfigDefault
- ProjESTkConfigDefault
- LazyPRMkConfigDefault
- LazyPRMstarkConfigDefault
- SPARSkConfigDefault
- SPARStwokConfigDefault
projection_evaluator: joints(shoulder,elbow)
longest_valid_segment_fraction: 0.005

15
software/ros_packages/rover_arm_moveit_config/launch/default_warehouse_db.launch Normal file
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<launch>
<arg name="reset" default="false"/>
<!-- If not specified, we'll use a default database location -->
<arg name="moveit_warehouse_database_path" default="$(find rover_arm_moveit_config)/default_warehouse_mongo_db" />
<!-- Launch the warehouse with the configured database location -->
<include file="$(find rover_arm_moveit_config)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
</include>
<!-- If we want to reset the database, run this node -->
<node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
</launch>

57
software/ros_packages/rover_arm_moveit_config/launch/demo.launch Normal file
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@@ -0,0 +1,57 @@
<launch>
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- Allow user to specify database location -->
<arg name="db_path" default="$(find rover_arm_moveit_config)/default_warehouse_mongo_db" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!--
By default, hide joint_state_publisher's GUI
MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
The latter one maintains and publishes the current joint configuration of the simulated robot.
It also provides a GUI to move the simulated robot around "manually".
This corresponds to moving around the real robot without the use of MoveIt.
-->
<arg name="use_gui" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find rover_arm_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="$(arg use_gui)"/>
<rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find rover_arm_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find rover_arm_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- If database loading was enabled, start mongodb as well -->
<include file="$(find rover_arm_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
</include>
</launch>

9
software/ros_packages/rover_arm_moveit_config/launch/fake_moveit_controller_manager.launch.xml Normal file
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@@ -0,0 +1,9 @@
<launch>
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
<!-- The rest of the params are specific to this plugin -->
<rosparam file="$(find rover_arm_moveit_config)/config/fake_controllers.yaml"/>
</launch>

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software/ros_packages/rover_arm_moveit_config/launch/joystick_control.launch Normal file
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<launch>
<!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
<arg name="dev" default="/dev/input/js0" />
<!-- Launch joy node -->
<node pkg="joy" type="joy_node" name="joy">
<param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
<param name="deadzone" value="0.2" />
<param name="autorepeat_rate" value="40" />
<param name="coalesce_interval" value="0.025" />
</node>
<!-- Launch python interface -->
<node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
</launch>

72
software/ros_packages/rover_arm_moveit_config/launch/move_group.launch Normal file
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<launch>
<include file="$(find rover_arm_moveit_config)/launch/planning_context.launch" />
<!-- GDB Debug Option -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix"
value="gdb -x $(find rover_arm_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
<!-- Verbose Mode Option -->
<arg name="info" default="$(arg debug)" />
<arg unless="$(arg info)" name="command_args" value="" />
<arg if="$(arg info)" name="command_args" value="--debug" />
<!-- move_group settings -->
<arg name="allow_trajectory_execution" default="true"/>
<arg name="fake_execution" default="false"/>
<arg name="max_safe_path_cost" default="1"/>
<arg name="jiggle_fraction" default="0.05" />
<arg name="publish_monitored_planning_scene" default="true"/>
<!-- Planning Functionality -->
<include ns="move_group" file="$(find rover_arm_moveit_config)/launch/planning_pipeline.launch.xml">
<arg name="pipeline" value="ompl" />
</include>
<!-- Trajectory Execution Functionality -->
<include ns="move_group" file="$(find rover_arm_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_manage_controllers" value="true" />
<arg name="moveit_controller_manager" value="mr1718-arm-urdf_export" unless="$(arg fake_execution)"/>
<arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
</include>
<!-- Sensors Functionality -->
<include ns="move_group" file="$(find rover_arm_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
<arg name="moveit_sensor_manager" value="mr1718-arm-urdf_export" />
</include>
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)" />
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
<!-- load these non-default MoveGroup capabilities -->
<!--
<param name="capabilities" value="
a_package/AwsomeMotionPlanningCapability
another_package/GraspPlanningPipeline
" />
-->
<!-- inhibit these default MoveGroup capabilities -->
<!--
<param name="disable_capabilities" value="
move_group/MoveGroupKinematicsService
move_group/ClearOctomapService
" />
-->
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
</node>
</launch>

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software/ros_packages/rover_arm_moveit_config/launch/moveit.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 84
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
Splitter Ratio: 0.74256
Tree Height: 664
- Class: rviz/Help
Name: Help
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: moveit_rviz_plugin/MotionPlanning
Enabled: true
MoveIt_Goal_Tolerance: 0
MoveIt_Planning_Time: 5
MoveIt_Use_Constraint_Aware_IK: true
MoveIt_Warehouse_Host: 127.0.0.1
MoveIt_Warehouse_Port: 33829
Name: MotionPlanning
Planned Path:
Links:
base_bellow_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
double_stereo_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_ir_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_rgb_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_prosilica_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_plate_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_motor_accelerometer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_tilt_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_motor_accelerometer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sensor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Loop Animation: true
Robot Alpha: 0.5
Show Robot Collision: false
Show Robot Visual: true
Show Trail: false
State Display Time: 0.05 s
Trajectory Topic: move_group/display_planned_path
Planning Metrics:
Payload: 1
Show Joint Torques: false
Show Manipulability: false
Show Manipulability Index: false
Show Weight Limit: false
Planning Request:
Colliding Link Color: 255; 0; 0
Goal State Alpha: 1
Goal State Color: 250; 128; 0
Interactive Marker Size: 0
Joint Violation Color: 255; 0; 255
Planning Group: left_arm
Query Goal State: true
Query Start State: false
Show Workspace: false
Start State Alpha: 1
Start State Color: 0; 255; 0
Planning Scene Topic: move_group/monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.2
Show Scene Geometry: true
Voxel Coloring: Z-Axis
Voxel Rendering: Occupied Voxels
Scene Robot:
Attached Body Color: 150; 50; 150
Links:
base_bellow_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
bl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
br_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
double_stereo_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fl_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_l_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_r_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_caster_rotation_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_ir_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_kinect_rgb_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_mount_prosilica_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_plate_frame:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head_tilt_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_l_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_motor_accelerometer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
l_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_tilt_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_elbow_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_forearm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_l_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_motor_accelerometer_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_palm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_gripper_r_finger_tip_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_shoulder_pan_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_upper_arm_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_flex_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
r_wrist_roll_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sensor_mount_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
torso_lift_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Robot Alpha: 0.5
Show Scene Robot: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: /base_link
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 2.9965
Focal Point:
X: 0.113567
Y: 0.10592
Z: 2.23518e-07
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.509797
Target Frame: /base_link
Value: XYOrbit (rviz)
Yaw: 5.65995
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1337
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
Motion Planning:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1828
X: 459
Y: -243

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software/ros_packages/rover_arm_moveit_config/launch/moveit_rviz.launch Normal file
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<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="config" default="false" />
<arg unless="$(arg config)" name="command_args" value="" />
<arg if="$(arg config)" name="command_args" value="-d $(find rover_arm_moveit_config)/launch/moveit.rviz" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find rover_arm_moveit_config)/config/kinematics.yaml"/>
</node>
</launch>

3
software/ros_packages/rover_arm_moveit_config/launch/mr1718-arm-urdf_export_moveit_controller_manager.launch.xml Normal file
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<launch>
</launch>

3
software/ros_packages/rover_arm_moveit_config/launch/mr1718-arm-urdf_export_moveit_sensor_manager.launch.xml Normal file
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<launch>
</launch>

22
software/ros_packages/rover_arm_moveit_config/launch/ompl_planning_pipeline.launch.xml Normal file
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<launch>
<!-- OMPL Plugin for MoveIt! -->
<arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
<!-- The request adapters (plugins) used when planning with OMPL.
ORDER MATTERS -->
<arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints" />
<arg name="start_state_max_bounds_error" value="0.1" />
<param name="planning_plugin" value="$(arg planning_plugin)" />
<param name="request_adapters" value="$(arg planning_adapters)" />
<param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
<rosparam command="load" file="$(find rover_arm_moveit_config)/config/ompl_planning.yaml"/>
</launch>

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software/ros_packages/rover_arm_moveit_config/launch/planning_context.launch Normal file
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<launch>
<!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
<arg name="load_robot_description" default="false"/>
<!-- The name of the parameter under which the URDF is loaded -->
<arg name="robot_description" default="robot_description"/>
<!-- Load universal robot description format (URDF) -->
<param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mr1718-arm-urdf_export)/robots/mr1718-arm-urdf_export.urdf"/>
<!-- The semantic description that corresponds to the URDF -->
<param name="$(arg robot_description)_semantic" textfile="$(find rover_arm_moveit_config)/config/mr1718-arm-urdf_export.srdf" />
<!-- Load updated joint limits (override information from URDF) -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find rover_arm_moveit_config)/config/joint_limits.yaml"/>
</group>
<!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
<group ns="$(arg robot_description)_kinematics">
<rosparam command="load" file="$(find rover_arm_moveit_config)/config/kinematics.yaml"/>
</group>
</launch>

10
software/ros_packages/rover_arm_moveit_config/launch/planning_pipeline.launch.xml Normal file
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<launch>
<!-- This file makes it easy to include different planning pipelines;
It is assumed that all planning pipelines are named XXX_planning_pipeline.launch -->
<arg name="pipeline" default="ompl" />
<include file="$(find rover_arm_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
</launch>

22
software/ros_packages/rover_arm_moveit_config/launch/run_benchmark_ompl.launch Normal file
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<launch>
<!-- This argument must specify the list of .cfg files to process for benchmarking -->
<arg name="cfg" />
<!-- Load URDF -->
<include file="$(find rover_arm_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- Start the database -->
<include file="$(find rover_arm_moveit_config)/launch/warehouse.launch">
<arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
</include>
<!-- Start Benchmark Executable -->
<node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
<rosparam command="load" file="$(find rover_arm_moveit_config)/config/kinematics.yaml"/>
<rosparam command="load" file="$(find rover_arm_moveit_config)/config/ompl_planning.yaml"/>
</node>
</launch>

14
software/ros_packages/rover_arm_moveit_config/launch/sensor_manager.launch.xml Normal file
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@@ -0,0 +1,14 @@
<launch>
<!-- This file makes it easy to include the settings for sensor managers -->
<!-- Params for the octomap monitor -->
<!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />
<!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
<arg name="moveit_sensor_manager" default="mr1718-arm-urdf_export" />
<include file="$(find rover_arm_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
</launch>

15
software/ros_packages/rover_arm_moveit_config/launch/setup_assistant.launch Normal file
View File

@@ -0,0 +1,15 @@
<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
<launch>
<!-- Debug Info -->
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<!-- Run -->
<node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
args="--config_pkg=rover_arm_moveit_config"
launch-prefix="$(arg launch_prefix)"
output="screen" />
</launch>

20
software/ros_packages/rover_arm_moveit_config/launch/trajectory_execution.launch.xml Normal file
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@@ -0,0 +1,20 @@
<launch>
<!-- This file makes it easy to include the settings for trajectory execution -->
<!-- Flag indicating whether MoveIt! is allowed to load/unload or switch controllers -->
<arg name="moveit_manage_controllers" default="true"/>
<param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
<!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
<param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
<!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
<param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
<!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
<param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
<!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
<arg name="moveit_controller_manager" default="mr1718-arm-urdf_export" />
<include file="$(find rover_arm_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
</launch>

15
software/ros_packages/rover_arm_moveit_config/launch/warehouse.launch Normal file
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@@ -0,0 +1,15 @@
<launch>
<!-- The path to the database must be specified -->
<arg name="moveit_warehouse_database_path" />
<!-- Load warehouse parameters -->
<include file="$(find rover_arm_moveit_config)/launch/warehouse_settings.launch.xml" />
<!-- Run the DB server -->
<node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
<param name="overwrite" value="false"/>
<param name="database_path" value="$(arg moveit_warehouse_database_path)" />
</node>
</launch>

16
software/ros_packages/rover_arm_moveit_config/launch/warehouse_settings.launch.xml Normal file
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@@ -0,0 +1,16 @@
<launch>
<!-- Set the parameters for the warehouse and run the mongodb server. -->
<!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
<arg name="moveit_warehouse_port" default="33829" />
<!-- The default DB host for moveit -->
<arg name="moveit_warehouse_host" default="localhost" />
<!-- Set parameters for the warehouse -->
<param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
<param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
<param name="warehouse_exec" value="mongod" />
<param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
</launch>

33
software/ros_packages/rover_arm_moveit_config/package.xml Normal file
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@@ -0,0 +1,33 @@
<package>
<name>rover_arm_moveit_config</name>
<version>0.3.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the mr1718-arm-urdf_export with the MoveIt! Motion Planning Framework
</description>
<author email="caperren@gmail.com">Corwin Perren</author>
<maintainer email="caperren@gmail.com">Corwin Perren</maintainer>
<license>BSD</license>
<url type="website">http://moveit.ros.org/</url>
<url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
<url type="repository">https://github.com/ros-planning/moveit</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>moveit_ros_move_group</run_depend>
<run_depend>moveit_fake_controller_manager</run_depend>
<run_depend>moveit_kinematics</run_depend>
<run_depend>moveit_planners_ompl</run_depend>
<run_depend>moveit_ros_visualization</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>xacro</run_depend>
<!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
<!-- <run_depend>warehouse_ros_mongo</run_depend> -->
<build_depend>mr1718-arm-urdf_export</build_depend>
<run_depend>mr1718-arm-urdf_export</run_depend>
</package>

2
software/ros_packages/rover_control/CMakeLists.txt
View File

@@ -55,6 +55,8 @@ find_package(catkin REQUIRED COMPONENTS
DriveStatusMessage.msg
IrisStatusMessage.msg
TowerPanTiltControlMessage.msg
MiningControlMessage.msg
MiningStatusMessage.msg
)
## Generate services in the 'srv' folder

10
software/ros_packages/rover_control/msg/MiningControlMessage.msg Normal file
View File

@@ -0,0 +1,10 @@
int32 lift_set_relative
int32 tilt_set_relative
uint16 lift_set_absolute
uint16 tilt_set_absolute
bool measure
bool tare
int16 cal_factor

4
software/ros_packages/rover_control/msg/MiningStatusMessage.msg Normal file
View File

@@ -0,0 +1,4 @@
uint16 lift_position
uint16 tilt_position
uint16 measured_weight

2
software/ros_packages/rover_control/src/chassis_pan_tilt_control/chassis_pan_tilt_control.py
View File

@@ -96,7 +96,7 @@ class ChassisPanTiltControl(object):
delay_before_tx=TX_DELAY)
def run(self):
self.send_startup_centering_command()
# self.send_startup_centering_command()
while not rospy.is_shutdown():
start_time = time()

280
software/ros_packages/rover_control/src/effectors_control/effectors_control.py Executable file
View File

@@ -0,0 +1,280 @@
#!/usr/bin/env python
#####################################
# Imports
#####################################
# Python native imports
import rospy
from time import time, sleep
import serial.rs485
import minimalmodbus
# from std_msgs.msg import UInt8, UInt16
# Custom Imports
from rover_control.msg import MiningControlMessage, MiningStatusMessage
#####################################
# Global Variables
#####################################
NODE_NAME = "effectors_control"
# ##### Communication Defines #####
DEFAULT_PORT = "/dev/rover/ttyEffectors"
DEFAULT_BAUD = 115200
GRIPPER_NODE_ID = 1
MINING_NODE_ID = 2
SCIENCE_NODE_ID = 3
GRIPPER_TIMEOUT = 0.15
MINING_TIMEOUT = 0.3
SCIENCE_TIMEOUT = 0.15
RX_DELAY = 0.01
TX_DELAY = 0.01
DEFAULT_HERTZ = 40
GRIPPER_CONTROL_SUBSCRIBER_TOPIC = "gripper/control"
MINING_CONTROL_SUBSCRIBER_TOPIC = "mining/control"
MINING_STATUS_PUBLISHER_TOPIC = "mining/status"
SCIENCE_CONTROL_SUBSCRIBER_TOPIC = "science/control"
# ##### Arm Defines #####
# ##### Mining Defines #####
MINING_MODBUS_REGISTERS = {
"LIFT_SET_POSITIVE": 0,
"LIFT_SET_NEGATIVE": 1,
"TILT_SET_POSITIVE": 2,
"TILT_SET_NEGATIVE": 3,
"TILT_SET_ABSOLUTE": 4,
"LIFT_SET_ABSOLUTE": 5,
"MEASURE": 6,
"TARE": 7,
"CAL_FACTOR": 8,
"LIFT_POSITION": 9,
"TILT_POSITION": 10,
"MEASURED_WEIGHT": 11
}
MINING_POSITIONAL_THRESHOLD = 20
# ##### Science Defines #####
# ##### Misc Defines #####
NODE_LAST_SEEN_TIMEOUT = 2 # seconds
UINT16_MAX = 65535
#####################################
# DriveControl Class Definition
#####################################
class EffectorsControl(object):
def __init__(self):
rospy.init_node(NODE_NAME)
self.port = rospy.get_param("~port", DEFAULT_PORT)
self.baud = rospy.get_param("~baud", DEFAULT_BAUD)
self.gripper_node_id = rospy.get_param("~gripper_node_id", GRIPPER_NODE_ID)
self.mining_node_id = rospy.get_param("~mining_node_id", MINING_NODE_ID)
self.science_node_id = rospy.get_param("~science_node_id", SCIENCE_NODE_ID)
self.gripper_control_subscriber_topic = rospy.get_param("~gripper_control_subscriber_topic",
GRIPPER_CONTROL_SUBSCRIBER_TOPIC)
self.mining_control_subscriber_topic = rospy.get_param("~mining_control_subscriber_topic",
MINING_CONTROL_SUBSCRIBER_TOPIC)
self.mining_status_publisher_topic = rospy.get_param("~mining_status_publisher_topic",
MINING_STATUS_PUBLISHER_TOPIC)
self.science_control_subscriber_topic = rospy.get_param("~science_control_subscriber_topic",
SCIENCE_CONTROL_SUBSCRIBER_TOPIC)
self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
self.gripper_node = None # type:minimalmodbus.Instrument
self.mining_node = None # type:minimalmodbus.Instrument
self.science_node = None # type:minimalmodbus.Instrument
self.gripper_node_present = False
self.mining_node_present = True
self.science_node_present = False
self.connect_to_nodes()
# self.check_which_nodes_present()
# ##### Subscribers #####
self.mining_control_subscriber = rospy.Subscriber(self.mining_control_subscriber_topic, MiningControlMessage,
self.mining_control_message_received__callback)
# ##### Publishers #####
self.mining_status_publisher = rospy.Publisher(self.mining_status_publisher_topic, MiningStatusMessage, queue_size=1)
# ##### Misc #####
self.modbus_nodes_seen_time = time()
# ##### Mining Variables #####
self.mining_registers = [0 for _ in MINING_MODBUS_REGISTERS]
self.mining_control_message = None # type:MiningControlMessage
self.new_mining_control_message = False
self.run()
def __setup_minimalmodbus_for_485(self):
self.gripper_node.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=GRIPPER_TIMEOUT)
self.gripper_node.serial.rs485_mode = serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0,
delay_before_rx=RX_DELAY,
delay_before_tx=TX_DELAY)
self.mining_node.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=MINING_TIMEOUT)
self.mining_node.serial.rs485_mode = serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0,
delay_before_rx=RX_DELAY,
delay_before_tx=TX_DELAY)
self.science_node.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=SCIENCE_TIMEOUT)
self.science_node.serial.rs485_mode = serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0,
delay_before_rx=RX_DELAY,
delay_before_tx=TX_DELAY)
def run(self):
# self.initialize_mining_system()
while not rospy.is_shutdown():
try:
self.process_mining_control_message()
except IOError, e:
print e
if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
print "Lost connection to mining system. Exiting for reconnect."
return
except Exception, e:
print e
try:
self.send_mining_status_message()
except IOError, e:
print e
if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
print "Lost connection to mining system. Exiting for reconnect."
return
except Exception, e:
print e
def connect_to_nodes(self):
self.gripper_node = minimalmodbus.Instrument(self.port, int(self.gripper_node_id))
self.mining_node = minimalmodbus.Instrument(self.port, int(self.mining_node_id))
self.science_node = minimalmodbus.Instrument(self.port, int(self.science_node_id))
self.__setup_minimalmodbus_for_485()
def check_which_nodes_present(self):
try:
self.gripper_node.read_register(0)
self.gripper_node_present = True
except:
self.gripper_node_present = False
try:
self.mining_node.read_register(0)
self.mining_node_present = True
except:
self.mining_node_present = False
try:
self.science_node.read_register(0)
self.science_node_present = True
except:
self.science_node_present = False
def initialize_mining_system(self):
if self.mining_node_present:
self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]] = 1023
self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]] = 350
self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = 114
while abs(self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_POSITION"]] - self.mining_registers[
MINING_MODBUS_REGISTERS["LIFT_SET"]]) > MINING_POSITIONAL_THRESHOLD or \
abs(self.mining_registers[MINING_MODBUS_REGISTERS["TILT_POSITION"]] - self.mining_registers[
MINING_MODBUS_REGISTERS["TILT_SET"]]) > MINING_POSITIONAL_THRESHOLD:
try:
self.mining_node.write_registers(0, self.mining_registers)
self.mining_registers = self.mining_node.read_registers(0, 7)
except Exception, e:
print "Had trouble communicating:", e
try:
self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = 1
self.mining_node.write_registers(0, self.mining_registers)
self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = 0
except:
print "Had trouble communicating: no tare: ", e
def process_mining_control_message(self):
if self.new_mining_control_message and self.mining_node_present:
lift_set_relative = self.mining_control_message.lift_set_relative
tilt_set_relative = self.mining_control_message.tilt_set_relative
lift_set_absolute = self.mining_control_message.lift_set_absolute
tilt_set_absolute = self.mining_control_message.tilt_set_absolute
cal_factor = min(self.mining_control_message.cal_factor, UINT16_MAX)
measure = self.mining_control_message.measure
tare = self.mining_control_message.tare
if lift_set_absolute < 1024:
self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET_ABSOLUTE"]] = lift_set_absolute
else:
if lift_set_relative >= 0:
self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET_POSITIVE"]] = lift_set_relative
else:
self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET_NEGATIVE"]] = -lift_set_relative
if tilt_set_absolute < 1024:
self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET_ABSOLUTE"]] = tilt_set_absolute
else:
if tilt_set_relative >= 0:
self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET_POSITIVE"]] = tilt_set_relative
else:
self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET_NEGATIVE"]] = -tilt_set_relative
if cal_factor > -1:
self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = cal_factor
self.mining_registers[MINING_MODBUS_REGISTERS["MEASURE"]] = int(measure)
self.mining_registers[MINING_MODBUS_REGISTERS["TARE"]] = int(tare)
self.mining_node.write_registers(0, self.mining_registers)
self.modbus_nodes_seen_time = time()
self.new_mining_control_message = False
def send_mining_status_message(self):
if self.mining_node_present:
self.mining_registers = self.mining_node.read_registers(0, len(MINING_MODBUS_REGISTERS))
message = MiningStatusMessage()
message.lift_position = self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_POSITION"]]
message.tilt_position = self.mining_registers[MINING_MODBUS_REGISTERS["TILT_POSITION"]]
message.measured_weight = self.mining_registers[MINING_MODBUS_REGISTERS["MEASURED_WEIGHT"]]
self.mining_status_publisher.publish(message)
self.modbus_nodes_seen_time = time()
def mining_control_message_received__callback(self, control_message):
self.mining_control_message = control_message
self.new_mining_control_message = True
if __name__ == "__main__":
EffectorsControl()

31
software/ros_packages/rover_control/src/effectors_control/effectors_tester.py Executable file
View File

@@ -0,0 +1,31 @@
#!/usr/bin/env python
import rospy
import time
from rover_control.msg import MiningControlMessage
DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC = "/rover_control/mining/control"
rospy.init_node("effectors_tester")
publisher = rospy.Publisher(DEFAULT_TOWER_PAN_TILT_CONTROL_TOPIC, MiningControlMessage, queue_size=1)
time.sleep(2)
message = MiningControlMessage()
message.lift_set = 200
message.tilt_set = 1023
message.cal_factor = -1
publisher.publish(message)
time.sleep(5)
# message = MiningControlMessage()
# message.lift_set = -200
# message.tilt_set = -100
# message.cal_factor = -1
#
# publisher.publish(message)
#
# time.sleep(2)

6
software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py
View File

@@ -172,9 +172,9 @@ class TowerPanTiltControl(object):
def send_startup_centering_and_lights_off_command(self):
try:
registers = list(PAN_TILT_CONTROL_DEFAULT_MESSAGE)
registers[PAN_TILT_MODBUS_REGISTERS["CENTER_ALL"]] = 1
self.pan_tilt_node.write_registers(0, registers)
# registers = list(PAN_TILT_CONTROL_DEFAULT_MESSAGE)
# registers[PAN_TILT_MODBUS_REGISTERS["CENTER_ALL"]] = 1
# self.pan_tilt_node.write_registers(0, registers)
self.tower_node.write_register(0, TOWER_LIGHT_STATES["LIGHT_OFF"])
except:

4
software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
View File

@@ -79,5 +79,9 @@
<param name="port" value="17019" />
</node>
<node name="udp_arm_statuses" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17020" />
</node>
</group>
</launch>

7
software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch
View File

@@ -8,7 +8,9 @@
<rosparam param="topics">
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
{name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0}]
{name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/mining/control", compress: true, rate: 30.0},
{name: "/rover_arm/control/relative", compress: true, rate: 30.0}]
</rosparam>
</node>
@@ -20,7 +22,8 @@
{name: "/cameras/undercarriage/camera_control", compress: false, rate: 5.0},
{name: "/cameras/main_navigation/camera_control", compress: false, rate: 5.0},
{name: "/cameras/end_effector/camera_control", compress: false, rate: 5.0},
{name: "/rover_status/update_requested", compress: false, rate: 5.0},]
{name: "/rover_status/update_requested", compress: false, rate: 5.0},
{name: "/rover_arm/control/absolute", compress: true, rate: 5.0}]
</rosparam>
</node>
</group>

2
software/ros_packages/rover_main/launch/rover.launch
View File

@@ -1,6 +1,8 @@
<launch>
<!-- ########## Start Rover Control Nodes ########## -->
<include file="$(find rover_main)/launch/rover/control.launch"/>
<include file="$(find rover_main)/launch/rover/arm.launch"/>
<include file="$(find rover_main)/launch/rover/science.launch"/>
<!-- ########## Start All Rover Camera Nodes ########## -->
<include file="$(find rover_main)/launch/rover/cameras.launch"/>

3
software/ros_packages/rover_main/launch/rover/arm.launch Normal file
View File

@@ -0,0 +1,3 @@
<launch>
<node name="rover_arm" pkg="rover_arm" type="rover_arm" respawn="true" output="screen"/>
</launch>

2
software/ros_packages/rover_main/launch/rover/control.launch
View File

@@ -34,5 +34,7 @@
<node name="tower_and_pan_tilt" pkg="rover_control" type="tower_and_pan_tilt_control.py" respawn="true" output="screen"/>
<node name="chassis_pan_tilt" pkg="rover_control" type="chassis_pan_tilt_control.py" respawn="true" output="screen"/>
<node name="effectors" pkg="rover_control" type="effectors_control.py" respawn="true" output="screen"/>
</group>
</launch>

3
software/ros_packages/rover_main/launch/rover/science.launch Normal file
View File

@@ -0,0 +1,3 @@
<launch>
<node name="rover_science" pkg="rover_science" type="rover_science.py" respawn="true" output="screen"/>
</launch>

6
software/ros_packages/rover_main/launch/rover/test_control.launch Normal file
View File

@@ -0,0 +1,6 @@
<launch>
<group ns="rover_control">
<node name="effectors" pkg="rover_control" type="effectors_control.py" respawn="true" output="screen">
</node>
</group>
</launch>

12
software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
View File

@@ -155,6 +155,18 @@
{name: "/rover_status/battery_status", compress: false, rate: 1.0},
{name: "/rover_control/tower/status/co2", compress: false, rate: 1.0},
{name: "/rover_odometry/imu/data", compress: false, rate: 10.0},
{name: "/rover_control/mining/status", compress: false, rate: 5.0},
{name: "/rdf/data", compress: false, rate: 50.0}
]
</rosparam>
</node>
<node name="arm_status_udp_sender" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17020" />
<rosparam param="topics">
[
{name: "/rover_arm/status", compress: false, rate: 5.0}
]
</rosparam>
</node>

204
software/ros_packages/rover_science/CMakeLists.txt Normal file
View File

@@ -0,0 +1,204 @@
cmake_minimum_required(VERSION 2.8.3)
project(rover_science)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
add_message_files(
FILES
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES system_statuses
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/system_statuses.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/system_statuses_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_system_statuses.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

2
software/ros_packages/rover_science/msg/RDFStatusMessage.msg Normal file
View File

@@ -0,0 +1,2 @@
uint16 raw_value
double time

68
software/ros_packages/rover_science/package.xml Normal file
View File

@@ -0,0 +1,68 @@
<?xml version="1.0"?>
<package format="2">
<name>rover_science</name>
<version>0.0.0</version>
<description>The rover_status package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="matcurtay@matcurtay.net">matcurtay</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>BSD</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/rover_status</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<build_depend>message_generation</build_depend>
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<exec_depend>message_runtime</exec_depend>
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

128
software/ros_packages/rover_science/src/freq_estimates.py Normal file
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@@ -0,0 +1,128 @@
from __future__ import division
from numpy.fft import rfft
from numpy import argmax, mean, diff, log
from matplotlib.mlab import find
from scipy.signal import blackmanharris, fftconvolve
from numpy import polyfit, arange
def freq_from_crossings(sig, fs):
"""
Estimate frequency by counting zero crossings
"""
# Find all indices right before a rising-edge zero crossing
indices = find((sig[1:] >= 0) & (sig[:-1] < 0))
# Naive (Measures 1000.185 Hz for 1000 Hz, for instance)
# crossings = indices
# More accurate, using linear interpolation to find intersample
# zero-crossings (Measures 1000.000129 Hz for 1000 Hz, for instance)
crossings = [i - sig[i] / (sig[i+1] - sig[i]) for i in indices]
# Some other interpolation based on neighboring points might be better.
# Spline, cubic, whatever
return fs / mean(diff(crossings))
def freq_from_fft(sig, fs):
"""
Estimate frequency from peak of FFT
"""
# Compute Fourier transform of windowed signal
windowed = sig * blackmanharris(len(sig))
f = rfft(windowed)
# Find the peak and interpolate to get a more accurate peak
i = argmax(abs(f)) # Just use this for less-accurate, naive version
true_i = parabolic(log(abs(f)), i)[0]
# Convert to equivalent frequency
return fs * true_i / len(windowed)
def freq_from_autocorr(sig, fs):
"""
Estimate frequency using autocorrelation
"""
# Calculate autocorrelation (same thing as convolution, but with
# one input reversed in time), and throw away the negative lags
corr = fftconvolve(sig, sig[::-1], mode='full')
corr = corr[len(corr)//2:]
# Find the first low point
d = diff(corr)
start = find(d > 0)[0]
# Find the next peak after the low point (other than 0 lag). This bit is
# not reliable for long signals, due to the desired peak occurring between
# samples, and other peaks appearing higher.
# Should use a weighting function to de-emphasize the peaks at longer lags.
peak = argmax(corr[start:]) + start
px, py = parabolic(corr, peak)
return fs / px
def freq_from_HPS(sig, fs):
"""
Estimate frequency using harmonic product spectrum (HPS)
"""
windowed = sig * blackmanharris(len(sig))
from pylab import subplot, plot, log, copy, show
# harmonic product spectrum:
c = abs(rfft(windowed))
maxharms = 8
subplot(maxharms, 1, 1)
plot(log(c))
for x in range(2, maxharms):
a = copy(c[::x]) # Should average or maximum instead of decimating
# max(c[::x],c[1::x],c[2::x],...)
c = c[:len(a)]
i = argmax(abs(c))
true_i = parabolic(abs(c), i)[0]
print 'Pass %d: %f Hz' % (x, fs * true_i / len(windowed))
c *= a
subplot(maxharms, 1, x)
plot(log(c))
show()
def parabolic(f, x):
"""Quadratic interpolation for estimating the true position of an
inter-sample maximum when nearby samples are known.
f is a vector and x is an index for that vector.
Returns (vx, vy), the coordinates of the vertex of a parabola that goes
through point x and its two neighbors.
Example:
Defining a vector f with a local maximum at index 3 (= 6), find local
maximum if points 2, 3, and 4 actually defined a parabola.
In [3]: f = [2, 3, 1, 6, 4, 2, 3, 1]
In [4]: parabolic(f, argmax(f))
Out[4]: (3.2142857142857144, 6.1607142857142856)
"""
xv = 1 / 2. * (f[x - 1] - f[x + 1]) / (f[x - 1] - 2 * f[x] + f[x + 1]) + x
yv = f[x] - 1 / 4. * (f[x - 1] - f[x + 1]) * (xv - x)
return (xv, yv)
def parabolic_polyfit(f, x, n):
"""Use the built-in polyfit() function to find the peak of a parabola
f is a vector and x is an index for that vector.
n is the number of samples of the curve used to fit the parabola.
"""
a, b, c = polyfit(arange(x - n // 2, x + n // 2 + 1), f[x - n // 2:x + n // 2 + 1], 2)
xv = -0.5 * b / a
yv = a * xv ** 2 + b * xv + c
return (xv, yv)

197
software/ros_packages/rover_science/src/rover_science.py Executable file
View File

@@ -0,0 +1,197 @@
#!/usr/bin/env python
#####################################
# Imports
#####################################
# Python native imports
import rospy
from time import time, sleep
import serial.rs485
import minimalmodbus
import numpy
# Custom Imports
from rover_control.msg import TowerPanTiltControlMessage
from std_msgs.msg import Float64MultiArray
#####################################
# Global Variables
#####################################
NODE_NAME = "science_node"
DEFAULT_PORT = "/dev/rover/ttyIRIS_2_0"
DEFAULT_BAUD = 115200
DEFAULT_INVERT = False
DEFAULT_RDF_PUBLISHER_TOPIC = "rdf/data"
PAN_TILT_NODE_ID = 1
COMMUNICATIONS_TIMEOUT = 0.005 # Seconds
RX_DELAY = 0.01
TX_DELAY = 0.01
DEFAULT_HERTZ = 20
PAN_TILT_MODBUS_REGISTERS = {
"CENTER_ALL": 0,
"PAN_ADJUST_POSITIVE": 1,
"PAN_ADJUST_NEGATIVE": 2,
"TILT_ADJUST_POSITIVE": 3,
"TILT_ADJUST_NEGATIVE": 4
}
NODE_LAST_SEEN_TIMEOUT = 2 # seconds
#####################################
# DriveControl Class Definition
#####################################
class RoverScience(object):
def __init__(self):
rospy.init_node(NODE_NAME)
self.port = rospy.get_param("~port", DEFAULT_PORT)
self.baud = rospy.get_param("~baud", DEFAULT_BAUD)
self.pan_tilt_node_id = rospy.get_param("~pan_tilt_node_id", PAN_TILT_NODE_ID)
self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
self.pan_tilt_node = None
self.tower_node = None
self.connect_to_pan_tilt_and_tower()
self.rdf_publisher = rospy.Publisher(DEFAULT_RDF_PUBLISHER_TOPIC, Float64MultiArray, queue_size=1)
self.pan_tilt_control_message = None
self.new_pan_tilt_control_message = False
self.modbus_nodes_seen_time = time()
self.data = numpy.array([])
self.times = numpy.array([])
self.max_data_len = 200
self.count = 0
self.start_time = time()
self.run()
def __setup_minimalmodbus_for_485(self):
self.pan_tilt_node.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=COMMUNICATIONS_TIMEOUT)
self.pan_tilt_node.serial.rs485_mode = serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0,
delay_before_rx=RX_DELAY,
delay_before_tx=TX_DELAY)
def run(self):
# self.send_startup_centering_command()
while not rospy.is_shutdown():
start_time = time()
try:
registers = self.pan_tilt_node.read_registers(0, 1)
self.rdf_publisher.publish(Float64MultiArray(data=[registers[0], time()]))
self.modbus_nodes_seen_time = time()
except Exception, Error:
print Error
if (time() - self.modbus_nodes_seen_time) > NODE_LAST_SEEN_TIMEOUT:
print "Science not seen for", NODE_LAST_SEEN_TIMEOUT, "seconds. Exiting."
return # Exit so respawn can take over
time_diff = time() - start_time
# def run(self):
# # self.send_startup_centering_command()
# while not rospy.is_shutdown():
# registers = self.pan_tilt_node.read_registers(0, 1)
# self.data = numpy.append(self.data, registers[0])
# self.times = numpy.append(self.times, time())
#
# if len(self.data) > self.max_data_len:
# numpy.delete(self.data, 0)
# numpy.delete(self.times, 0)
#
# # for item in self.smoothListTriangle(self.data):
# # print item
#
# print fq.freq_from_fft(self.data, 1/40.0)
# # self.data = self.smoothListGaussian(self.data)
# #
# # w = numpy.fft.fft(self.data)
# #
# # # for item in w:
# # # print abs(item)
# # #
# # # print
# # # print
# # numpy.delete(w, 0)
# # freqs = numpy.fft.fftfreq(len(w), 1/40.0)
# # # # print len(freqs), len(w)
# # #
# # # # print freqs
# # # # print(freqs.min(), freqs.max())
# # # # # (-0.5, 0.499975)
# # # #
# # # # # Find the peak in the coefficients
# # idx = numpy.argmax(numpy.abs(w))
# # freq = freqs[idx]
# # freq_in_hertz = abs(freq * 40)
# # print(freq_in_hertz)
def smoothListTriangle(self, list, strippedXs=False, degree=5):
weight = []
window = degree * 2 - 1
smoothed = [0.0] * (len(list) - window)
for x in range(1, 2 * degree): weight.append(degree - abs(degree - x))
w = numpy.array(weight)
for i in range(len(smoothed)):
smoothed[i] = sum(numpy.array(list[i:i + window]) * w) / float(sum(w))
return smoothed
def smoothListGaussian(self, list, strippedXs=False, degree=5):
window = degree * 2 - 1
weight = numpy.array([1.0] * window)
weightGauss = []
for i in range(window):
i = i - degree + 1
frac = i / float(window)
gauss = 1 / (numpy.exp((4 * (frac)) ** 2))
weightGauss.append(gauss)
weight = numpy.array(weightGauss) * weight
smoothed = [0.0] * (len(list) - window)
for i in range(len(smoothed)):
smoothed[i] = sum(numpy.array(list[i:i + window]) * weight) / sum(weight)
return smoothed
def connect_to_pan_tilt_and_tower(self):
self.pan_tilt_node = minimalmodbus.Instrument(self.port, int(self.pan_tilt_node_id))
self.__setup_minimalmodbus_for_485()
if __name__ == "__main__":
RoverScience()

1
software/rover_setup.sh
View File

@@ -15,6 +15,7 @@ folders_to_link=(
nimbro_topic_transport
rover_main
rover_odometry
rover_science
)
# Print heading

15
software/testing/modbus/mining/mining_tester.py
View File

@@ -19,7 +19,7 @@ import minimalmodbus
#####################################
NODE_NAME = "chassis_pan_tilt_control"
DEFAULT_PORT = "/dev/rover/ttyChassisPanTilt"
DEFAULT_PORT = "/dev/rover/ttyEffectors"
DEFAULT_BAUD = 115200
DEFAULT_INVERT = False
@@ -57,7 +57,7 @@ NODE_LAST_SEEN_TIMEOUT = 2 # seconds
#####################################
class MiningControl(object):
def __init__(self):
self.port = "/dev/ttyUSB0"
self.port = DEFAULT_PORT
self.baud = 115200
self.mining_node = None
@@ -93,8 +93,8 @@ class MiningControl(object):
while True:
try:
print self.mining_node.read_registers(0, 7)
# self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = int(input("Enter new cal value:"))
# self.mining_node.write_registers(0, self.mining_registers)
self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]] = int(input("Enter new tilt value:"))
self.mining_node.write_registers(0, self.mining_registers)
except Exception, e:
print e
@@ -106,12 +106,11 @@ class MiningControl(object):
def initialize_mining_system(self):
self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]] = 1023
self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]] = 350
self.mining_registers[MINING_MODBUS_REGISTERS["CAL_FACTOR"]] = 114
lift_current = 0
tilt_current = 0
while abs(self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]]) > POSITIONAL_THRESHOLD or abs(self.mining_registers[MINING_MODBUS_REGISTERS["TILT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]]) > POSITIONAL_THRESHOLD:
while abs(self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["LIFT_SET"]]) > POSITIONAL_THRESHOLD or \
abs(self.mining_registers[MINING_MODBUS_REGISTERS["TILT_POSITION"]] - self.mining_registers[MINING_MODBUS_REGISTERS["TILT_SET"]]) > POSITIONAL_THRESHOLD:
try:
self.mining_node.write_registers(0, self.mining_registers)
self.mining_registers = self.mining_node.read_registers(0, 7)

28
software/testing/udp_debug.py Normal file
View File

@@ -0,0 +1,28 @@
import socket
import sys
# Create a UDP socket
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
server_address = ('task.cstag.ca', 4547)
messages = ["HELP", "LOGIN MTECH GITRDONE", "STATUS", "START", "STOP", "LOGOUT"]
print "Connected.... Enter commands now..."
# for message in messages:
while True:
try:
# Send data
message = raw_input()
# print type(message)
if message not in messages:
print "Invalid command. Please try again."
continue
sent = sock.sendto(message, server_address)
# Receive response
# print 'waiting to receive'
data, server = sock.recvfrom(4096)
print data
except:
pass