diff --git a/software/firmware/tower/tower.ino b/software/firmware/tower/tower.ino index 4fd25d2..045fd69 100644 --- a/software/firmware/tower/tower.ino +++ b/software/firmware/tower/tower.ino @@ -1,6 +1,10 @@ ////////// Includes ////////// #include #include +#include +#include "FastLED.h" + +#include /* Imu/data (Imu) @@ -49,13 +53,6 @@ enum HARDWARE { enum MODBUS_REGISTERS { DIRECTION = 0, // Input - SPEED = 1, // Input - SLEEP = 2, // Input - - CURRENT = 3, // Output - FAULT = 4, // Output - - TEMPERATURE = 5 // Output }; #define GPS_SERIAL_PORT Serial3 @@ -83,11 +80,17 @@ char float_decimal_places = 8; ///// GPS char current_byte = '$'; String nmea_sentence = ""; +char gps_buffer[255]; +unsigned char buffer_count = 0; ////////// Class Instantiations ////////// Modbus slave(node_id, mobus_serial_port_number, HARDWARE::COMMS_RS485_EN); -Adafruit_BNO055 bno = Adafruit_BNO055(WIRE_BUS, -1, BNO055_ADDRESS_A, I2C_MASTER, I2C_PINS_18_19, I2C_PULLUP_INT, I2C_RATE_100, I2C_OP_MODE_ISR); +Adafruit_BNO055 bno = Adafruit_BNO055(WIRE_BUS, -1, BNO055_ADDRESS_A, I2C_MASTER, I2C_PINS_18_19, I2C_PULLUP_INT, I2C_RATE_100, I2C_OP_MODE_IMM); + +NMEAGPS gps; + +const char baud115200[] = "PUBX,41,1,3,3,115200,0"; void setup() { // Debugging @@ -122,10 +125,20 @@ void setup() { } void loop() { + // Reset JSON for next loop + StaticJsonBuffer<1000> jsonBuffer; + JsonObject& root = jsonBuffer.createObject(); + + // Do normal polling poll_modbus(); set_leds(); - send_imu_stream_line(); - process_gps_and_send_if_ready(); + send_imu_stream_line(root); + process_gps_and_send_if_ready(root); + + // Print JSON and newline + root.printTo(GPS_IMU_STREAMING_PORT); + GPS_IMU_STREAMING_PORT.println(); + } @@ -145,45 +158,25 @@ void setup_hardware() { } -void send_imu_stream_line() { +void send_imu_stream_line(JsonObject &root) { + JsonObject& imu_object = root.createNestedObject("imu"); + quat = bno.getQuat(); linear_accel = bno.getVector(Adafruit_BNO055::VECTOR_LINEARACCEL); angular_vel = bno.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE); - GPS_IMU_STREAMING_PORT.print("ox:"); - GPS_IMU_STREAMING_PORT.print(quat.x(), float_decimal_places); - GPS_IMU_STREAMING_PORT.print(","); - GPS_IMU_STREAMING_PORT.print("oy:"); - GPS_IMU_STREAMING_PORT.print(quat.y(), float_decimal_places); - GPS_IMU_STREAMING_PORT.print(","); - GPS_IMU_STREAMING_PORT.print("oz:"); - GPS_IMU_STREAMING_PORT.print(quat.z(), float_decimal_places); - GPS_IMU_STREAMING_PORT.print(","); - GPS_IMU_STREAMING_PORT.print("ow:"); - GPS_IMU_STREAMING_PORT.print(quat.w(), float_decimal_places); + imu_object["ox"] = quat.x(); + imu_object["oy"] = quat.y(); + imu_object["oz"] = quat.z(); + imu_object["ow"] = quat.w(); - GPS_IMU_STREAMING_PORT.print(","); - GPS_IMU_STREAMING_PORT.print("lax:"); - GPS_IMU_STREAMING_PORT.print(linear_accel.x(), float_decimal_places); - GPS_IMU_STREAMING_PORT.print(","); - GPS_IMU_STREAMING_PORT.print("lay:"); - GPS_IMU_STREAMING_PORT.print(linear_accel.y(), float_decimal_places); - GPS_IMU_STREAMING_PORT.print(","); - GPS_IMU_STREAMING_PORT.print("laz:"); - GPS_IMU_STREAMING_PORT.print(linear_accel.z(), float_decimal_places); + imu_object["lax"] = linear_accel.x(); + imu_object["lay"] = linear_accel.y(); + imu_object["laz"] = linear_accel.z(); - - GPS_IMU_STREAMING_PORT.print(","); - GPS_IMU_STREAMING_PORT.print("avx:"); - GPS_IMU_STREAMING_PORT.print(angular_vel.x(), float_decimal_places); - GPS_IMU_STREAMING_PORT.print(","); - GPS_IMU_STREAMING_PORT.print("avy:"); - GPS_IMU_STREAMING_PORT.print(angular_vel.y(), float_decimal_places); - GPS_IMU_STREAMING_PORT.print(","); - GPS_IMU_STREAMING_PORT.print("avz:"); - GPS_IMU_STREAMING_PORT.print(angular_vel.z(), float_decimal_places); - - GPS_IMU_STREAMING_PORT.println(); + imu_object["avx"] = angular_vel.x(); + imu_object["avy"] = angular_vel.y(); + imu_object["avz"] = angular_vel.z(); // // /* Display calibration status for each sensor. */ @@ -199,19 +192,29 @@ void send_imu_stream_line() { // Serial.print(mag, DEC); } -void process_gps_and_send_if_ready() { - if (GPS_SERIAL_PORT.available() > 0 ) { - current_byte = GPS_SERIAL_PORT.read(); +void process_gps_and_send_if_ready(JsonObject &root) { + root["gps"] = ""; - if (current_byte != '\r' && current_byte != '\n') { - nmea_sentence += current_byte; - } + char num_in_bytes = GPS_SERIAL_PORT.available(); + + if (num_in_bytes > 0) { + for (char i = 0 ; i < num_in_bytes ; i++) { + char in_byte = GPS_SERIAL_PORT.read(); + + if (in_byte != '\n' && in_byte != '\r') { + gps_buffer[buffer_count] = in_byte; + buffer_count++; + } + + if (in_byte == '\r') { + gps_buffer[buffer_count] = '\0'; + root["gps"] = gps_buffer; + buffer_count = 0; + } - if (current_byte == '\r') { - GPS_IMU_STREAMING_PORT.println(nmea_sentence); - nmea_sentence = ""; } } + } void poll_modbus() { diff --git a/software/firmware/tower_pan_tilt/tower_pan_tilt.ino b/software/firmware/tower_pan_tilt/tower_pan_tilt.ino index 843263c..f7bd4b1 100644 --- a/software/firmware/tower_pan_tilt/tower_pan_tilt.ino +++ b/software/firmware/tower_pan_tilt/tower_pan_tilt.ino @@ -27,7 +27,7 @@ enum MODBUS_REGISTERS { }; ////////// Global Variables ////////// -const uint8_t node_id = 1; +const uint8_t node_id = 2; const uint8_t mobus_serial_port_number = 3; uint16_t modbus_data[] = {0, 0, 0, 0, 0}; diff --git a/software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_pan_tilt_control.py b/software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py similarity index 100% rename from software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_pan_tilt_control.py rename to software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py diff --git a/software/ros_packages/rover_odometry/CMakeLists.txt b/software/ros_packages/rover_odometry/CMakeLists.txt new file mode 100644 index 0000000..40e44b1 --- /dev/null +++ b/software/ros_packages/rover_odometry/CMakeLists.txt @@ -0,0 +1,204 @@ +cmake_minimum_required(VERSION 2.8.3) +project(rover_odometry) + +## 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) diff --git a/software/ros_packages/rover_odometry/package.xml b/software/ros_packages/rover_odometry/package.xml new file mode 100644 index 0000000..afa620c --- /dev/null +++ b/software/ros_packages/rover_odometry/package.xml @@ -0,0 +1,68 @@ + + + rover_odometry + 0.0.0 + The rover_tower package + + + + + none + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + message_generation + + + + + + message_runtime + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/software/ros_packages/rover_odometry/src/odometry.py b/software/ros_packages/rover_odometry/src/odometry.py new file mode 100755 index 0000000..ab73a15 --- /dev/null +++ b/software/ros_packages/rover_odometry/src/odometry.py @@ -0,0 +1,98 @@ +#!/usr/bin/env python +##################################### +# Imports +##################################### +# Python native imports +import rospy + +from time import time, sleep +import json + +import serial.rs485 + +from nmea_msgs.msg import Sentence + + +##################################### +# Global Variables +##################################### +NODE_NAME = "tower_odometry" + +# DEFAULT_PORT = "/dev/rover/ttyOdometry" +DEFAULT_PORT = "/dev/ttyUSB0" +DEFAULT_BAUD = 115200 + + +# DEFAULT_GPS_SENTENCE_TOPIC = "gps/sentence" +DEFAULT_GPS_SENTENCE_TOPIC = "/nmea_sentence" +DEFAULT_DRIVE_CONTROL_STATUS_TOPIC = "drive_status/rear" + +DEFAULT_HERTZ = 100 + + +##################################### +# DriveControl Class Definition +##################################### +class Odometry(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.gps_sentence_topic = rospy.get_param("~gps_sentence_topic", DEFAULT_GPS_SENTENCE_TOPIC) + + self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ) + + self.odom_serial = serial.Serial(port=self.port, baudrate=self.baud) + self.odom_serial.setRTS(0) + + self.sentence_publisher = rospy.Publisher(self.gps_sentence_topic, Sentence, queue_size=1) + + self.run() + + + def run(self): + while not rospy.is_shutdown(): + start_time = time() + + try: + self.process_messages() + + except Exception, error: + print "Error occurred:", error + + + time_diff = time() - start_time + + sleep(max(self.wait_time - time_diff, 0)) + + def process_messages(self): + if self.odom_serial.inWaiting(): + line = self.odom_serial.readline() # type:s + # print line + + temp = json.loads(line) + gps = temp.get('gps', None) + + if gps: + self.broadcast_gps(gps) + + imu = temp.get('imu', None) + + if imu: + print imu + + + # if not line.startswith("ox"): + # print line, + # if line[0] == '$': + # print line, + + def broadcast_gps(self, gps): + # print gps + self.sentence_publisher.publish(Sentence(sentence=gps)) + + +if __name__ == "__main__": + Odometry() \ No newline at end of file diff --git a/software/rover_setup.sh b/software/rover_setup.sh index bc1a002..2209c80 100755 --- a/software/rover_setup.sh +++ b/software/rover_setup.sh @@ -14,6 +14,7 @@ folders_to_link=( zed_wrapper nimbro_topic_transport rover_main + rover_odometry ) # Print heading