mirror of
https://github.com/caperren/school_archives.git
synced 2025-11-09 21:51:15 +00:00
Added 2017-2018 mars rover repository.
This commit is contained in:
@@ -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)
|
||||
@@ -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>
|
||||
@@ -0,0 +1,157 @@
|
||||
#!/usr/bin/env python
|
||||
#####################################
|
||||
# Imports
|
||||
#####################################
|
||||
# Python native imports
|
||||
import rospy
|
||||
import serial
|
||||
from time import time, sleep
|
||||
import json
|
||||
import re
|
||||
|
||||
from nmea_msgs.msg import Sentence
|
||||
from sensor_msgs.msg import Imu
|
||||
|
||||
#####################################
|
||||
# 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 = "gps/sentence"
|
||||
DEFAULT_IMU_TOPIC = "imu/data"
|
||||
|
||||
DEFAULT_HERTZ = 100
|
||||
|
||||
ODOM_LAST_SEEN_TIMEOUT = 1 # seconds
|
||||
|
||||
|
||||
#####################################
|
||||
# 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.imu_data_topic = rospy.get_param("~imu_data_topic", DEFAULT_IMU_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.imu_data_publisher = rospy.Publisher(self.imu_data_topic, Imu, queue_size=1)
|
||||
|
||||
self.odom_last_seen_time = time()
|
||||
|
||||
self.run()
|
||||
|
||||
def run(self):
|
||||
while not rospy.is_shutdown():
|
||||
start_time = time()
|
||||
|
||||
try:
|
||||
self.process_messages()
|
||||
self.odom_last_seen_time = time()
|
||||
|
||||
except Exception, error:
|
||||
pass
|
||||
|
||||
if (time() - self.odom_last_seen_time) > ODOM_LAST_SEEN_TIMEOUT:
|
||||
print "Odometry not seen for", ODOM_LAST_SEEN_TIMEOUT, "seconds. Exiting."
|
||||
return # Exit so respawn can take over
|
||||
|
||||
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()
|
||||
|
||||
temp = json.loads(line)
|
||||
|
||||
gps = temp.get('gps', None)
|
||||
imu = temp.get('imu', None)
|
||||
imu_cal = temp.get('imu_cal', None)
|
||||
|
||||
if gps:
|
||||
# ###### THIS IS HERE TO DEAL WITH UBLOX GPS #####
|
||||
if "GNGGA" in gps:
|
||||
gps = gps.replace("GNGGA", "GPGGA")
|
||||
gps = gps[:-2] + str(self.chksum_nmea(gps))[2:]
|
||||
# print gps
|
||||
# #####
|
||||
|
||||
self.broadcast_gps(gps)
|
||||
|
||||
if imu:
|
||||
# print imu
|
||||
self.broadcast_imu(imu)
|
||||
|
||||
# if imu_cal:
|
||||
# print imu_cal
|
||||
|
||||
@staticmethod
|
||||
def chksum_nmea(sentence):
|
||||
# String slicing: Grabs all the characters
|
||||
# between '$' and '*' and nukes any lingering
|
||||
# newline or CRLF
|
||||
chksumdata = re.sub("(\n|\r\n)", "", sentence[sentence.find("$") + 1:sentence.find("*")])
|
||||
|
||||
# Initializing our first XOR value
|
||||
csum = 0
|
||||
|
||||
# For each char in chksumdata, XOR against the previous
|
||||
# XOR'd char. The final XOR of the last char will be our
|
||||
# checksum to verify against the checksum we sliced off
|
||||
# the NMEA sentence
|
||||
|
||||
for c in chksumdata:
|
||||
# XOR'ing value of csum against the next char in line
|
||||
# and storing the new XOR value in csum
|
||||
csum ^= ord(c)
|
||||
|
||||
# Do we have a validated sentence?
|
||||
return hex(csum)
|
||||
|
||||
def broadcast_gps(self, gps):
|
||||
message = Sentence()
|
||||
message.header.frame_id = "gps"
|
||||
message.header.stamp = rospy.get_rostime()
|
||||
message.sentence = gps
|
||||
self.sentence_publisher.publish(message)
|
||||
|
||||
def broadcast_imu(self, imu):
|
||||
message = Imu()
|
||||
message.header.frame_id = "imu"
|
||||
message.header.stamp = rospy.get_rostime()
|
||||
|
||||
message.orientation.x = imu["ox"]
|
||||
message.orientation.y = imu["oy"]
|
||||
message.orientation.z = imu["oz"]
|
||||
message.orientation.w = imu["ow"]
|
||||
|
||||
message.angular_velocity.x = imu["avx"]
|
||||
message.angular_velocity.y = imu["avy"]
|
||||
message.angular_velocity.z = imu["avz"]
|
||||
|
||||
message.linear_acceleration.x = imu["lax"]
|
||||
message.linear_acceleration.y = imu["lay"]
|
||||
message.linear_acceleration.z = imu["laz"]
|
||||
|
||||
self.imu_data_publisher.publish(message)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
Odometry()
|
||||
Reference in New Issue
Block a user