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Added 2017-2018 mars rover repository.

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Corwin Perren
2018-08-22 14:54:52 -07:00
parent a56690ca18
commit 7fd2641766
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198
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(rover_main)
## 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
)
## 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
# )
## 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 rover
# CATKIN_DEPENDS 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/${PROJECT_NAME}/rover.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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_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.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)

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/ground_station.launch Normal file
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<launch>
<!-- ########## Start Nimbro Topic Transport Nodes ########## -->
<include file="$(find rover_main)/launch/ground_station/topic_transport_senders.launch"/>
<include file="$(find rover_main)/launch/ground_station/topic_transport_receivers.launch"/>
<!-- ########## Start Ground Station Interface ########## -->
<node name="ground_station" pkg="ground_station" type="ground_station_launch.sh" required="true" output="screen"/>
</launch>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch Normal file
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<launch>
<group ns="cameras">
<node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17001" />
</node>
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17002" />
</node>
<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17003" />
</node>
<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17004" />
</node>
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17005" />
</node>
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17006" />
</node>
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17007" />
</node>
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17008" />
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17009" />
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17010" />
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17011" />
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17012" />
</node>
</group>
<group>
<node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17013" />
</node>
<node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17014" />
</node>
<node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17015" />
</node>
<node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17016" />
</node>
<node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17017" />
</node>
<node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17018" />
</node>
<node name="udp_statuses" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<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>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/ground_station/topic_transport_senders.launch Normal file
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<launch>
<group ns="sender_transports">
<arg name="target" default="192.168.1.10" />
<node name="ground_station_drive_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17100" />
<rosparam param="topics">
[{name: "/rover_control/command_control/ground_station_drive", compress: true, rate: 15.0},
{name: "/rover_control/tower/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/chassis/pan_tilt/control", compress: true, rate: 30.0},
{name: "/rover_control/mining/control", compress: true, rate: 30.0},
{name: "/rover_arm/control/relative", compress: true, rate: 30.0},
{name: "/rover_control/gripper/control", compress: true, rate: 30.0}]
</rosparam>
</node>
<node name="ground_station_tcp_sender" pkg="nimbro_topic_transport" type="tcp_sender" output="screen">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17101" />
<rosparam param="topics">
[{name: "/cameras/chassis/camera_control", compress: false, rate: 5.0},
{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_arm/control/absolute", compress: true, rate: 5.0},
{name: "/rover_control/camera/control", compress: true, rate: 5.0}]
</rosparam>
</node>
</group>
</launch>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover.launch Normal file
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<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"/>
<!-- ########## Start System Status Monitoring Nodes ########## -->
<include file="$(find rover_main)/launch/rover/status.launch"/>
<!-- ########## Start Nimbro Topic Transport Nodes ########## -->
<include file="$(find rover_main)/launch/rover/topic_transport_senders.launch"/>
<include file="$(find rover_main)/launch/rover/topic_transport_receivers.launch"/>
<!-- ########## Start Odometry Nodes ########## -->
<include file="$(find rover_main)/launch/rover/odometry2.launch"/>
</launch>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/arm.launch Normal file
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<launch>device.name
<node name="rover_arm" pkg="rover_arm" type="rover_arm" respawn="true" output="screen"/>
</launch>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/cameras.launch Normal file
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<launch>
<group ns="cameras">
<!-- Start Undercarriage Camera -->
<node name="undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" respawn="true" output="screen">
<param name="device_path" value="/dev/rover/camera_undercarriage"/>
<param name="upside_down" value="true"/>
</node>
<!--&lt;!&ndash; Start Main Navigation Camera &ndash;&gt;-->
<node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" respawn="true" output="screen" >
<param name="device_path" value="/dev/rover/camera_main_navigation" />
</node>
<!--&lt;!&ndash; Start Chassis Camera &ndash;&gt;-->
<node name="chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" respawn="true" output="screen" >
<param name="device_path" value="/dev/rover/camera_chassis" />
</node>
<!--&lt;!&ndash; Start End Effector Camera &ndash;&gt;-->
<node name="end_effector" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 4" respawn="true" output="screen" >
<param name="is_rtsp_camera" value="true" />
<param name="device_path" value="rtsp://192.168.1.11" />
</node>
</group>
</launch>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/control.launch Normal file
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<launch>
<group ns="rover_control">
<node name="iris_controller" pkg="rover_control" type="iris_controller.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyIRIS"/>
<param name="hertz" value="20"/>
</node>
<node name="rear_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyREAR"/>
<param name="drive_control_topic" value="drive_control/rear"/>
<param name="drive_control_status_topic" value="drive_status/rear"/>
<param name="first_motor_id" value="2"/>
<param name="second_motor_id" value="1"/>
</node>
<node name="left_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyLEFT"/>
<param name="drive_control_topic" value="drive_control/left"/>
<param name="drive_control_status_topic" value="drive_status/left"/>
<param name="invert_first_motor" value="True"/>
<param name="invert_second_motor" value="True"/>
</node>
<node name="right_bogie" pkg="rover_control" type="drive_control.py" respawn="true" output="screen">
<param name="port" value="/dev/rover/ttyRIGHT"/>
<param name="drive_control_topic" value="drive_control/right"/>
<param name="drive_control_status_topic" value="drive_status/right"/>
<param name="first_motor_id" value="2"/>
<param name="second_motor_id" value="1"/>
</node>
<node name="drive_coordinator" pkg="rover_control" type="drive_coordinator.py" respawn="true" output="screen"/>
<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">
<!--<param name="port" value="/dev/rover/ttyARM"/>-->
</node>
<!--<node name="scale" pkg="rover_control" type="emergency_scale.py" respawn="true" output="screen">-->
<!--</node>-->
</group>
</launch>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/odometry.launch Normal file
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<launch>
<!-- https://github.com/vikiboy/AGV_Localization/blob/master/robot_localization/launch/ekf.launch -->
<!-- https://answers.ros.org/question/241222/fusing-imu-gps-with-robot_location-package/ -->
<group ns="odometry">
<!-- ########## Processes GPS and IMU Messages ########## -->
<node name="odom_record" pkg="rosbag" type="record" args="-o /home/nvidia/BAGS/odometry /odometry/gps/fix /odometry/gps/sentence /odometry/imu/data /odometry/odometry/filtered /odometry/odometry/gps /odometry/vel" output="screen" />
<!-- ########## Processes GPS and IMU Messages ########## -->
<node name="gps_and_imu" pkg="rover_odometry" type="odometry.py" respawn="true" output="screen" />
<!-- ########## Converts GPS Sentences to GPS Fix data ########## -->
<node name="navsat_driver" pkg="nmea_navsat_driver" type="nmea_topic_driver" output="screen">
<remap from="nmea_sentence" to="gps/sentence"/>
<remap from="fix" to="gps/fix"/>
</node>
<!-- ########## Performs a tranform on the GPS and IMU frames so odom can use it ########## -->
<node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>
<node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link gps 20"/>
<!-- ########## Main Odometry Localization Node ########## -->
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
<remap from="/gpx/fix" to="gps/fix"/>
<param name="output_frame" value="odom"/>
<param name="frequency" value="20"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="true"/>
<param name="vo_used" value="false"/>
<param name="sensor_timeout" value="0.1"/>
<param name="two_d_mode" value="false"/>
<param name="map_frame" value="map"/>
<param name="odom_frame" value="odom"/>
<param name="base_link_frame" value="base_link"/>
<param name="world_frame" value="odom"/>
<param name="odom0" value="gps"/>
<param name="imu0" value="imu/data"/>
<rosparam param="odom0_config">[true, true, true,
false, false, false,
false , false, false,
false, false, false,
false, false, false]</rosparam>
<rosparam param="imu0_config">[false, false, false,
true , true , true,
false, false, false,
true , true , true ,
true , true , true ]</rosparam>
<param name="odom0_differential" value="false"/>
<param name="imu0_differential" value="false"/>
<param name="imu0_remove_gravitational_acceleration" value="true"/>
<param name="odom0_relative" value="false"/>
<param name="imu0_relative" value="false"/>
<param name="print_diagnostics" value="true"/>
<!-- ======== ADVANCED PARAMETERS ======== -->
<param name="odom0_queue_size" value="2"/>
<param name="imu0_queue_size" value="10"/>
</node>
<node name="navsat_transform" pkg="robot_localization" type="navsat_transform_node" output="screen">
<param name="broadcast_utm_transform" value="true"/>
</node>
</group>
</launch>

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OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/odometry2.launch Normal file
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<launch>
<!-- https://github.com/vikiboy/AGV_Localization/blob/master/robot_localization/launch/ekf.launch -->
<!-- https://answers.ros.org/question/241222/fusing-imu-gps-with-robot_location-package/ -->
<group ns="rover_odometry">
<!-- ########## Processes GPS and IMU Messages ########## -->
<node name="gps_and_imu" pkg="rover_odometry" type="odometry.py" respawn="true" output="screen" >
<!--<param name="gps_sentence_topic" value="/nmea_sentence"/>-->
<!--<param name="imu_data_topic" value="/imu/data"/>-->
<!--<remap from="nmea_sentence" to="gps/sentence"/>-->
<!--<remap from="imu/data" to="/imu/data"/>-->
</node>
<!-- ########## Converts GPS Sentences to GPS Fix data ########## -->
<node name="navsat_driver" pkg="nmea_navsat_driver" type="nmea_topic_driver" output="screen">
<remap from="nmea_sentence" to="gps/sentence"/>
</node>
<!--<node pkg="tf" type="static_transform_publisher" name="imu_tf" args="0 0 0 0 0 0 1 base_link imu 20"/>-->
<!--<node pkg="tf" type="static_transform_publisher" name="gps_tf" args="0 0 0 0 0 0 1 base_link gps 20"/>-->
<!--<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">-->
<!--<param name="output_frame" value="odom"/>-->
<!--<param name="frequency" value="20"/>-->
<!--<param name="odom_used" value="true"/>-->
<!--<param name="imu_used" value="true"/>-->
<!--<param name="vo_used" value="false"/>-->
<!--<param name="sensor_timeout" value="0.1"/>-->
<!--<param name="two_d_mode" value="false"/>-->
<!--<param name="map_frame" value="map"/>-->
<!--<param name="odom_frame" value="odom"/>-->
<!--<param name="base_link_frame" value="base_link"/>-->
<!--<param name="world_frame" value="odom"/>-->
<!--<param name="odom0" value="fix"/>-->
<!--<param name="imu0" value="imu/data"/>-->
<!--<rosparam param="odom0_config">[true, true, false,-->
<!--false, false, false,-->
<!--false , false, false,-->
<!--false, false, false,-->
<!--false, false, false]</rosparam>-->
<!--<rosparam param="imu0_config">[false, false, false,-->
<!--true , true , true,-->
<!--false, false, false,-->
<!--true , true , true ,-->
<!--true , true , true ]</rosparam>-->
<!--<param name="odom0_differential" value="false"/>-->
<!--<param name="imu0_differential" value="false"/>-->
<!--<param name="imu0_remove_gravitational_acceleration" value="true"/>-->
<!--<param name="odom0_relative" value="false"/>-->
<!--<param name="imu0_relative" value="false"/>-->
<!--<param name="print_diagnostics" value="true"/>-->
<!--&lt;!&ndash; ======== ADVANCED PARAMETERS ======== &ndash;&gt;-->
<!--<param name="odom0_queue_size" value="2"/>-->
<!--<param name="imu0_queue_size" value="10"/>-->
<!--</node>-->
<!--<node name="navsat_transform" pkg="robot_localization" type="navsat_transform_node" output="screen">-->
<!--<param name="broadcast_utm_transform" value="true"/>-->
<!--</node>-->
</group>
</launch>

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<launch>
<group ns="rover_science">
<node name="rover_science" pkg="rover_science" type="rover_science_node.py" respawn="true" output="screen"/>
</group>
</launch>

5
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<launch>
<group ns="rover_status">
<node name="rover_status" pkg="rover_status" type="system_statuses_node.py" output="screen"/>
</group>
</launch>

6
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/test_control.launch Normal file
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<launch>
<group ns="rover_control">
<node name="effectors" pkg="rover_control" type="effectors_control.py" respawn="true" output="screen">
</node>
</group>
</launch>

11
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/topic_transport_receivers.launch Normal file
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<launch>
<group ns="rover_control">
<node name="ground_station_drive_command" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
<param name="port" value="17100" />
</node>
<node name="ground_station_tcp_topics" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
<param name="port" value="17101" />
</node>
</group>
</launch>

177
OSU Robotics Club/Mars Rover 2017-2018/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch Normal file
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<launch>
<group ns="sender_transports">
<arg name="target" default="192.168.1.15" />
<node name="chassis_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17001" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="undercarriage_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17002" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="main_navigation_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17003" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="end_effector_1280x720" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17004" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_1280x720/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="chassis_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17005" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="undercarriage_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17006" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="main_navigation_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17007" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="end_effector_640x360" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17008" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_640x360/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="chassis_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17009" />
<rosparam param="topics">
[{name: "/cameras/chassis/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="undercarriage_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17010" />
<rosparam param="topics">
[{name: "/cameras/undercarriage/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="main_navigation_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17011" />
<rosparam param="topics">
[{name: "/cameras/main_navigation/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17012" />
<rosparam param="topics">
[{name: "/cameras/end_effector/image_256x144/compressed", compress: false, rate: 0.0}]
</rosparam>
</node>
<node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17013" />
<rosparam param="topics">
[{name: "/rover_status/wheel_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="camera_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17014" />
<rosparam param="topics">
[{name: "/rover_status/camera_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="frsky_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17015" />
<rosparam param="topics">
[{name: "/rover_status/frsky_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="gps_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17016" />
<rosparam param="topics">
[{name: "/rover_status/gps_status", compress: false, rate: 1.0},
{name: "/rover_odometry/fix", compress: false, rate: 5.0}]
</rosparam>
</node>
<node name="jetson_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17017" />
<rosparam param="topics">
[{name: "/rover_status/jetson_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17018" />
<rosparam param="topics">
[{name: "/rover_status/misc_status", compress: false, rate: 1.0}]
</rosparam>
</node>
<node name="udp_statuses_sender" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17019" />
<rosparam param="topics">
[
{name: "/rover_status/battery_status", compress: false, rate: 1.0},
{name: "/rover_control/tower/status/co2", compress: false, rate: 1.0},
{name: "/rover_odometry/imu/data", compress: false, rate: 10.0},
{name: "/rover_control/mining/status", compress: false, rate: 5.0},
{name: "/rover_control/gripper/status", compress: false, rate: 5.0},
{name: "/rover_science/soil_probe/data", compress: false, rate: 5.0},
{name: "/rover_science/rdf/data", compress: false, rate: 50.0},
{name: "/rover_control/scale/measurement", compress: false, rate: 20.0}
]
</rosparam>
</node>
<node name="arm_status_udp_sender" pkg="nimbro_topic_transport" type="udp_sender">
<param name="destination_addr" value="$(arg target)" />
<param name="destination_port" value="17020" />
<rosparam param="topics">
[
{name: "/rover_arm/status", compress: false, rate: 5.0}
]
</rosparam>
</node>
</group>
</launch>

65
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<?xml version="1.0"?>
<package format="2">
<name>rover_main</name>
<version>0.0.0</version>
<description>The rover 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</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>