Working on odometry. Got firmware and ros node separating out gps/imu data. Needs to get sent to the right topics, but hard part is done!

2025-11-08 18:21:15 +00:00 · 2018-07-06 21:48:32 -07:00
parent ecd52aa8a4
commit ddd4953495
7 changed files with 427 additions and 53 deletions
--- a/software/firmware/tower/tower.ino
+++ b/software/firmware/tower/tower.ino
@@ -1,6 +1,10 @@
 ////////// Includes //////////
 #include <ModbusRtu.h>
 #include <Adafruit_BNO055_t3.h>
+#include <ArduinoJson.h>
+#include "FastLED.h"
+
+#include <NMEAGPS.h>

 /*
   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() {
--- 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};
--- a/software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py
+++ b/software/ros_packages/rover_control/src/tower_pan_tilt_control/tower_and_pan_tilt_control.py
--- a/software/ros_packages/rover_odometry/CMakeLists.txt
+++ 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)
--- a/software/ros_packages/rover_odometry/package.xml
+++ b/software/ros_packages/rover_odometry/package.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>rover_odometry</name>
+  <version>0.0.0</version>
+  <description>The rover_tower package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="none@none.com">none</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>
--- a/software/ros_packages/rover_odometry/src/odometry.py
+++ 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()
--- 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