mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-08 18:21:15 +00:00
Added beginnings of getting motor control working from within ROS. Current launch file and tester node work and make the motor movegit status!
This commit is contained in:
15
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15
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14
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12
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598
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||||
<module name="rover_drive" />
|
||||
<method />
|
||||
</configuration>
|
||||
<configuration default="true" type="js.build_tools.gulp" factoryName="Gulp.js">
|
||||
<node-interpreter>project</node-interpreter>
|
||||
<node-options />
|
||||
<gulpfile />
|
||||
<tasks />
|
||||
<arguments />
|
||||
<envs />
|
||||
<method />
|
||||
</configuration>
|
||||
<configuration default="true" type="js.build_tools.npm" factoryName="npm">
|
||||
<command value="run-script" />
|
||||
<scripts />
|
||||
<node-interpreter value="project" />
|
||||
<envs />
|
||||
<method />
|
||||
</configuration>
|
||||
<configuration default="true" type="tests" factoryName="Attests">
|
||||
<option name="INTERPRETER_OPTIONS" value="" />
|
||||
<option name="PARENT_ENVS" value="true" />
|
||||
<envs />
|
||||
<option name="SDK_HOME" value="" />
|
||||
<option name="WORKING_DIRECTORY" value="" />
|
||||
<option name="IS_MODULE_SDK" value="false" />
|
||||
<option name="ADD_CONTENT_ROOTS" value="true" />
|
||||
<option name="ADD_SOURCE_ROOTS" value="true" />
|
||||
<module name="rover_drive" />
|
||||
<EXTENSION ID="PythonCoverageRunConfigurationExtension" enabled="false" sample_coverage="true" runner="coverage.py" />
|
||||
<option name="SCRIPT_NAME" value="" />
|
||||
<option name="CLASS_NAME" value="" />
|
||||
<option name="METHOD_NAME" value="" />
|
||||
<option name="FOLDER_NAME" value="" />
|
||||
<option name="TEST_TYPE" value="TEST_SCRIPT" />
|
||||
<option name="PATTERN" value="" />
|
||||
<option name="USE_PATTERN" value="false" />
|
||||
<method />
|
||||
</configuration>
|
||||
<configuration default="true" type="tests" factoryName="Doctests">
|
||||
<option name="INTERPRETER_OPTIONS" value="" />
|
||||
<option name="PARENT_ENVS" value="true" />
|
||||
<envs />
|
||||
<option name="SDK_HOME" value="" />
|
||||
<option name="WORKING_DIRECTORY" value="" />
|
||||
<option name="IS_MODULE_SDK" value="false" />
|
||||
<option name="ADD_CONTENT_ROOTS" value="true" />
|
||||
<option name="ADD_SOURCE_ROOTS" value="true" />
|
||||
<module name="rover_drive" />
|
||||
<EXTENSION ID="PythonCoverageRunConfigurationExtension" enabled="false" sample_coverage="true" runner="coverage.py" />
|
||||
<option name="SCRIPT_NAME" value="" />
|
||||
<option name="CLASS_NAME" value="" />
|
||||
<option name="METHOD_NAME" value="" />
|
||||
<option name="FOLDER_NAME" value="" />
|
||||
<option name="TEST_TYPE" value="TEST_SCRIPT" />
|
||||
<option name="PATTERN" value="" />
|
||||
<option name="USE_PATTERN" value="false" />
|
||||
<method />
|
||||
</configuration>
|
||||
<configuration default="true" type="tests" factoryName="Nosetests">
|
||||
<option name="INTERPRETER_OPTIONS" value="" />
|
||||
<option name="PARENT_ENVS" value="true" />
|
||||
<envs />
|
||||
<option name="SDK_HOME" value="" />
|
||||
<option name="WORKING_DIRECTORY" value="" />
|
||||
<option name="IS_MODULE_SDK" value="false" />
|
||||
<option name="ADD_CONTENT_ROOTS" value="true" />
|
||||
<option name="ADD_SOURCE_ROOTS" value="true" />
|
||||
<module name="rover_drive" />
|
||||
<EXTENSION ID="PythonCoverageRunConfigurationExtension" enabled="false" sample_coverage="true" runner="coverage.py" />
|
||||
<option name="SCRIPT_NAME" value="" />
|
||||
<option name="CLASS_NAME" value="" />
|
||||
<option name="METHOD_NAME" value="" />
|
||||
<option name="FOLDER_NAME" value="" />
|
||||
<option name="TEST_TYPE" value="TEST_SCRIPT" />
|
||||
<option name="PATTERN" value="" />
|
||||
<option name="USE_PATTERN" value="false" />
|
||||
<option name="PARAMS" value="" />
|
||||
<option name="USE_PARAM" value="false" />
|
||||
<method />
|
||||
</configuration>
|
||||
<configuration default="true" type="tests" factoryName="Unittests">
|
||||
<option name="INTERPRETER_OPTIONS" value="" />
|
||||
<option name="PARENT_ENVS" value="true" />
|
||||
<envs />
|
||||
<option name="SDK_HOME" value="" />
|
||||
<option name="WORKING_DIRECTORY" value="" />
|
||||
<option name="IS_MODULE_SDK" value="false" />
|
||||
<option name="ADD_CONTENT_ROOTS" value="true" />
|
||||
<option name="ADD_SOURCE_ROOTS" value="true" />
|
||||
<module name="rover_drive" />
|
||||
<EXTENSION ID="PythonCoverageRunConfigurationExtension" enabled="false" sample_coverage="true" runner="coverage.py" />
|
||||
<option name="SCRIPT_NAME" value="" />
|
||||
<option name="CLASS_NAME" value="" />
|
||||
<option name="METHOD_NAME" value="" />
|
||||
<option name="FOLDER_NAME" value="" />
|
||||
<option name="TEST_TYPE" value="TEST_SCRIPT" />
|
||||
<option name="PATTERN" value="" />
|
||||
<option name="USE_PATTERN" value="false" />
|
||||
<option name="PUREUNITTEST" value="true" />
|
||||
<option name="PARAMS" value="" />
|
||||
<option name="USE_PARAM" value="false" />
|
||||
<method />
|
||||
</configuration>
|
||||
<configuration default="true" type="tests" factoryName="py.test">
|
||||
<option name="INTERPRETER_OPTIONS" value="" />
|
||||
<option name="PARENT_ENVS" value="true" />
|
||||
<envs />
|
||||
<option name="SDK_HOME" value="" />
|
||||
<option name="WORKING_DIRECTORY" value="" />
|
||||
<option name="IS_MODULE_SDK" value="false" />
|
||||
<option name="ADD_CONTENT_ROOTS" value="true" />
|
||||
<option name="ADD_SOURCE_ROOTS" value="true" />
|
||||
<module name="rover_drive" />
|
||||
<EXTENSION ID="PythonCoverageRunConfigurationExtension" enabled="false" sample_coverage="true" runner="coverage.py" />
|
||||
<option name="SCRIPT_NAME" value="" />
|
||||
<option name="CLASS_NAME" value="" />
|
||||
<option name="METHOD_NAME" value="" />
|
||||
<option name="FOLDER_NAME" value="" />
|
||||
<option name="TEST_TYPE" value="TEST_SCRIPT" />
|
||||
<option name="PATTERN" value="" />
|
||||
<option name="USE_PATTERN" value="false" />
|
||||
<option name="testToRun" value="" />
|
||||
<option name="keywords" value="" />
|
||||
<option name="params" value="" />
|
||||
<option name="USE_PARAM" value="false" />
|
||||
<option name="USE_KEYWORD" value="false" />
|
||||
<method />
|
||||
</configuration>
|
||||
<configuration default="false" name="Local Launch" type="PythonConfigurationType" factoryName="Python" singleton="true">
|
||||
<option name="INTERPRETER_OPTIONS" value="" />
|
||||
<option name="PARENT_ENVS" value="true" />
|
||||
<envs>
|
||||
<env name="PYTHONUNBUFFERED" value="1" />
|
||||
</envs>
|
||||
<option name="SDK_HOME" value="/usr/bin/python2" />
|
||||
<option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/src" />
|
||||
<option name="IS_MODULE_SDK" value="false" />
|
||||
<option name="ADD_CONTENT_ROOTS" value="true" />
|
||||
<option name="ADD_SOURCE_ROOTS" value="true" />
|
||||
<module name="rover_drive" />
|
||||
<EXTENSION ID="PythonCoverageRunConfigurationExtension" enabled="false" sample_coverage="true" runner="coverage.py" />
|
||||
<option name="SCRIPT_NAME" value="$PROJECT_DIR$/src/rover_drive_node_tester.py" />
|
||||
<option name="PARAMETERS" value="" />
|
||||
<option name="SHOW_COMMAND_LINE" value="false" />
|
||||
<method />
|
||||
</configuration>
|
||||
<list size="1">
|
||||
<item index="0" class="java.lang.String" itemvalue="Python.Local Launch" />
|
||||
</list>
|
||||
</component>
|
||||
<component name="ShelveChangesManager" show_recycled="false">
|
||||
<option name="remove_strategy" value="false" />
|
||||
</component>
|
||||
<component name="SvnConfiguration">
|
||||
<configuration />
|
||||
</component>
|
||||
<component name="TaskManager">
|
||||
<task active="true" id="Default" summary="Default task">
|
||||
<changelist id="3407228a-beb9-4e3b-a11a-9d0898be4da8" name="Default" comment="" />
|
||||
<created>1517699292320</created>
|
||||
<option name="number" value="Default" />
|
||||
<option name="presentableId" value="Default" />
|
||||
<updated>1517699292320</updated>
|
||||
</task>
|
||||
<servers />
|
||||
</component>
|
||||
<component name="ToolWindowManager">
|
||||
<frame x="1920" y="0" width="1680" height="1020" extended-state="6" />
|
||||
<editor active="true" />
|
||||
<layout>
|
||||
<window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
|
||||
<window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="true" content_ui="tabs" />
|
||||
<window_info id="Database" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Python Console" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.32897604" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Run" active="true" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.32897604" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Structure" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Favorites" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="true" content_ui="tabs" />
|
||||
<window_info id="Debug" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Cvs" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="4" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Message" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Commander" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Inspection" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="5" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Hierarchy" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="2" side_tool="false" content_ui="combo" />
|
||||
<window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Ant Build" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
|
||||
</layout>
|
||||
</component>
|
||||
<component name="Vcs.Log.UiProperties">
|
||||
<option name="RECENTLY_FILTERED_USER_GROUPS">
|
||||
<collection />
|
||||
</option>
|
||||
<option name="RECENTLY_FILTERED_BRANCH_GROUPS">
|
||||
<collection />
|
||||
</option>
|
||||
</component>
|
||||
<component name="VcsContentAnnotationSettings">
|
||||
<option name="myLimit" value="2678400000" />
|
||||
</component>
|
||||
<component name="XDebuggerManager">
|
||||
<breakpoint-manager />
|
||||
<watches-manager />
|
||||
</component>
|
||||
<component name="editorHistoryManager">
|
||||
<entry file="file://$PROJECT_DIR$/src/rover_drive_node.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="0">
|
||||
<caret line="0" column="0" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
|
||||
<folding>
|
||||
<element signature="e#132#151#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/msg/RoverMotorDrive.msg">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="108">
|
||||
<caret line="6" column="25" selection-start-line="6" selection-start-column="25" selection-end-line="6" selection-end-column="25" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/launch/example.launch">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="72">
|
||||
<caret line="4" column="32" selection-start-line="4" selection-start-column="32" selection-end-line="4" selection-end-column="32" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/CMakeLists.txt">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="360">
|
||||
<caret line="71" column="20" selection-start-line="71" selection-start-column="20" selection-end-line="71" selection-end-column="20" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/package.xml">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="567">
|
||||
<caret line="58" column="0" selection-start-line="58" selection-start-column="0" selection-end-line="58" selection-end-column="0" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/launch/example.launch">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="144">
|
||||
<caret line="8" column="0" selection-start-line="8" selection-start-column="0" selection-end-line="8" selection-end-column="0" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/msg/RoverMotorDrive.msg">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="108">
|
||||
<caret line="6" column="25" selection-start-line="6" selection-start-column="25" selection-end-line="6" selection-end-column="25" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/src/rover_drive_node.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="334">
|
||||
<caret line="94" column="107" selection-start-line="94" selection-start-column="107" selection-end-line="94" selection-end-column="107" />
|
||||
<folding>
|
||||
<element signature="e#132#151#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$USER_HOME$/PycharmProjects/485_test/test.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="82">
|
||||
<caret line="16" column="0" selection-start-line="16" selection-start-column="0" selection-end-line="18" selection-end-column="12" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/src/rover_drive_node_tester.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="162">
|
||||
<caret line="9" column="16" selection-start-line="9" selection-start-column="16" selection-end-line="9" selection-end-column="16" />
|
||||
<folding>
|
||||
<element signature="e#0#12#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
</component>
|
||||
</project>
|
||||
198
software/rover/rover_drive/CMakeLists.txt
Normal file
198
software/rover/rover_drive/CMakeLists.txt
Normal file
@@ -0,0 +1,198 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(rover_drive)
|
||||
|
||||
## 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
|
||||
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
|
||||
RoverMotorDrive.msg
|
||||
)
|
||||
|
||||
## 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 # Or other packages containing 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 rover_drive
|
||||
# CATKIN_DEPENDS rospy
|
||||
# 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/${PROJECT_NAME}/rover_drive.cpp
|
||||
# )
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${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/rover_drive_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_rover_drive.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)
|
||||
8
software/rover/rover_drive/launch/example.launch
Normal file
8
software/rover/rover_drive/launch/example.launch
Normal file
@@ -0,0 +1,8 @@
|
||||
<launch>
|
||||
<group ns="drive">
|
||||
<node name="" pkg="rover_drive" type="rover_drive_node.py" launch-prefix="taskset -c 5" output="screen">
|
||||
<param name="port" value="/dev/ttyUSB0"/>
|
||||
<param name="baud" value="2000000"/>
|
||||
</node>
|
||||
</group>
|
||||
</launch>
|
||||
7
software/rover/rover_drive/msg/RoverMotorDrive.msg
Normal file
7
software/rover/rover_drive/msg/RoverMotorDrive.msg
Normal file
@@ -0,0 +1,7 @@
|
||||
bool first_motor_direction
|
||||
bool first_motor_sleep
|
||||
uint16 first_motor_speed
|
||||
|
||||
bool second_motor_direction
|
||||
bool second_motor_sleep
|
||||
uint16 second_motor_speed
|
||||
65
software/rover/rover_drive/package.xml
Normal file
65
software/rover/rover_drive/package.xml
Normal file
@@ -0,0 +1,65 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>rover_drive</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The rover_drive package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="caperren@todo.todo">caperren</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>TODO</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_drive</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>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_export_depend>rospy</build_export_depend>
|
||||
<build_export_depend>std_msgs</build_export_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>
|
||||
104
software/rover/rover_drive/src/rover_drive_node.py
Executable file
104
software/rover/rover_drive/src/rover_drive_node.py
Executable file
@@ -0,0 +1,104 @@
|
||||
#!/usr/bin/env python
|
||||
#####################################
|
||||
# Imports
|
||||
#####################################
|
||||
# Python native imports
|
||||
import serial.rs485
|
||||
import minimalmodbus
|
||||
import time
|
||||
|
||||
import rospy
|
||||
from rover_drive.msg import RoverMotorDrive
|
||||
|
||||
# Custom Imports
|
||||
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
NODE_NAME = "rover_drive"
|
||||
|
||||
DEFAULT_PORT = "/dev/ttyUSB0"
|
||||
DEFAULT_BAUD = 2000000
|
||||
|
||||
MOTOR_TOPIC = "motoroneandtwo"
|
||||
|
||||
FIRST_MOTOR_ID = 1
|
||||
SECOND_MOTOR_ID = 2
|
||||
|
||||
COMMUNICATIONS_TIMEOUT = 0.3 # Seconds
|
||||
|
||||
MOTOR_DRIVERS_DIRECTION = {
|
||||
"FORWARDS": 1,
|
||||
"BACKWARDS": 0
|
||||
}
|
||||
|
||||
MOTOR_DRIVER_REGISTER_MAP = {
|
||||
"DIRECTION": 0,
|
||||
"SPEED": 1
|
||||
}
|
||||
|
||||
MOTOR_DRIVER_DEFAULT_MESSAGE = [
|
||||
MOTOR_DRIVERS_DIRECTION["FORWARDS"],
|
||||
0
|
||||
]
|
||||
|
||||
|
||||
#####################################
|
||||
# RoverDrive Class Definition
|
||||
#####################################
|
||||
class RoverDrive(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.first_motor_modbus_id = rospy.get_param("first_motor_modbus_id", FIRST_MOTOR_ID)
|
||||
self.second_motor_modbus_id = rospy.get_param("second_motor_modbus_id", SECOND_MOTOR_ID)
|
||||
|
||||
self.motors_subscriber_topic = rospy.get_param("topic", MOTOR_TOPIC)
|
||||
|
||||
self.first_motor = minimalmodbus.Instrument(self.port, self.first_motor_modbus_id)
|
||||
self.second_motor = minimalmodbus.Instrument(self.port, self.second_motor_modbus_id)
|
||||
|
||||
self.motors_subscriber = rospy.Subscriber(MOTOR_TOPIC, RoverMotorDrive, self.__motor_message_callback)
|
||||
|
||||
self.__setup_minimalmodbus_for_485()
|
||||
|
||||
self.run()
|
||||
|
||||
def run(self):
|
||||
while not rospy.is_shutdown():
|
||||
time.sleep(0.25)
|
||||
# try:
|
||||
# self.first_motor.write_register(1, 10000)
|
||||
# except IOError, error:
|
||||
# pass
|
||||
#
|
||||
# try:
|
||||
# self.second_motor.write_register(1, 30000)
|
||||
# except IOError, error:
|
||||
# pass
|
||||
|
||||
def __setup_minimalmodbus_for_485(self):
|
||||
self.first_motor.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=COMMUNICATIONS_TIMEOUT)
|
||||
self.first_motor.serial.rs485_mode = \
|
||||
serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0, delay_before_rx=0, delay_before_tx=0)
|
||||
|
||||
self.second_motor.serial = serial.rs485.RS485(self.port, baudrate=self.baud, timeout=COMMUNICATIONS_TIMEOUT)
|
||||
self.second_motor.serial.rs485_mode = \
|
||||
serial.rs485.RS485Settings(rts_level_for_rx=1, rts_level_for_tx=0, delay_before_rx=0, delay_before_tx=0)
|
||||
|
||||
def __motor_message_callback(self, data):
|
||||
first_motor_register_data = list(MOTOR_DRIVER_DEFAULT_MESSAGE) # Makes a copy
|
||||
first_motor_register_data[MOTOR_DRIVER_REGISTER_MAP["DIRECTION"]] = int(data.first_motor_direction)
|
||||
first_motor_register_data[MOTOR_DRIVER_REGISTER_MAP["SPEED"]] = data.first_motor_speed
|
||||
print first_motor_register_data
|
||||
self.first_motor.write_registers(0, first_motor_register_data)
|
||||
|
||||
#####################################
|
||||
# Main Definition
|
||||
#####################################
|
||||
if __name__ == "__main__":
|
||||
drive = RoverDrive()
|
||||
31
software/rover/rover_drive/src/rover_drive_node_tester.py
Normal file
31
software/rover/rover_drive/src/rover_drive_node_tester.py
Normal file
@@ -0,0 +1,31 @@
|
||||
import rospy
|
||||
import time
|
||||
|
||||
from rover_drive.msg import RoverMotorDrive
|
||||
|
||||
rospy.init_node("drive_tester")
|
||||
|
||||
pub = rospy.Publisher("/drive/motoroneandtwo", RoverMotorDrive, queue_size=10)
|
||||
|
||||
speed_step = 500
|
||||
|
||||
last_dir = 0
|
||||
|
||||
sleep_time = 0.01
|
||||
|
||||
while not rospy.is_shutdown():
|
||||
drive = RoverMotorDrive()
|
||||
|
||||
last_dir = not last_dir
|
||||
for i in range(0, 65535, speed_step):
|
||||
drive.first_motor_direction = last_dir
|
||||
drive.first_motor_speed = i
|
||||
pub.publish(drive)
|
||||
time.sleep(sleep_time)
|
||||
print i
|
||||
for i in range(65535, 0, -speed_step):
|
||||
drive.first_motor_direction = last_dir
|
||||
drive.first_motor_speed = i
|
||||
pub.publish(drive)
|
||||
time.sleep(sleep_time)
|
||||
print i
|
||||
Reference in New Issue
Block a user