mirror of
https://github.com/caperren/school_archives.git
synced 2025-11-09 21:51:15 +00:00
Added applied robotics code to archive.
This commit is contained in:
@@ -0,0 +1,200 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(denso_master)
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|
||||
## 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(
|
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FILES
|
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DensoStatusMessage.msg
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||||
# 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(
|
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# INCLUDE_DIRS include
|
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# LIBRARIES network_master
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CATKIN_DEPENDS rospy std_msgs message_runtime
|
||||
# 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/${PROJECT_NAME}/network_master.cpp
|
||||
# )
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${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/network_master_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_network_master.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 +1,11 @@
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||||
float32[] positions
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float32[] joints
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bool motor_enabled
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bool arm_normal
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||||
bool arm_busy
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||||
string error
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||||
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||||
uint8 speed
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|
||||
uint8 tank_psi
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||||
@@ -0,0 +1,67 @@
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<?xml version="1.0"?>
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||||
<package format="2">
|
||||
<name>denso_master</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The network_master package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="denso@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/network_master</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_depend>message_generation</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>
|
||||
<exec_depend>message_runtime</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,121 @@
|
||||
#!/usr/bin/env python
|
||||
#####################################
|
||||
# Imports
|
||||
#####################################
|
||||
# Python native imports
|
||||
import rospy
|
||||
from time import time, sleep
|
||||
import socket
|
||||
import json
|
||||
|
||||
from network_master.msg import DensoStatusMessage
|
||||
from std_msgs.msg import Float32MultiArray, Bool, UInt8
|
||||
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
NODE_NAME = "robot_control_control_sender"
|
||||
DEFAULT_HERTZ = 100
|
||||
|
||||
DEFAULT_IP = "192.168.1.5"
|
||||
DEFAULT_PORT = 9877
|
||||
|
||||
ABS_POS_TOPIC = "denso_control/absolute_position"
|
||||
REL_POS_TOPIC = "denso_control/relative_position"
|
||||
ABS_JOINT_TOPIC = "denso_control/absolute_joints"
|
||||
REL_JOINT_TOPIC = "denso_control/relative_joints"
|
||||
|
||||
SPEED_TOPIC = "denso_control/speed"
|
||||
MOTOR_TOPIC = "denso_control/motors_enabled"
|
||||
|
||||
|
||||
#####################################
|
||||
# ControlSender Class Definition
|
||||
#####################################
|
||||
class ControlSender(object):
|
||||
def __init__(self):
|
||||
super(ControlSender, self).__init__()
|
||||
|
||||
rospy.init_node(NODE_NAME)
|
||||
|
||||
self.address = rospy.get_param("~server_address", DEFAULT_IP)
|
||||
self.port = rospy.get_param("~server_port", DEFAULT_PORT)
|
||||
|
||||
self.abs_position_topic = rospy.get_param("~abs_position_topic_sub", ABS_POS_TOPIC)
|
||||
self.rel_position_topic = rospy.get_param("~rel_position_topic_sub", REL_POS_TOPIC)
|
||||
self.abs_joint_topic = rospy.get_param("~abs_joint_topic_sub", ABS_JOINT_TOPIC)
|
||||
self.rel_joint_topic = rospy.get_param("~rel_joint_topic_sub", REL_JOINT_TOPIC)
|
||||
|
||||
self.speed_topic = rospy.get_param("~speed_topic_sub", SPEED_TOPIC)
|
||||
self.motor_topic = rospy.get_param("~motor_control_topic_sub", MOTOR_TOPIC)
|
||||
|
||||
self.abs_position_subscriber = rospy.Subscriber(self.abs_position_topic, Float32MultiArray, self.abs_position_callback)
|
||||
self.rel_position_subscriber = rospy.Subscriber(self.rel_position_topic, Float32MultiArray, self.rel_position_callback)
|
||||
self.abs_joints_subscriber = rospy.Subscriber(self.abs_joint_topic, Float32MultiArray, self.abs_joints_callback)
|
||||
self.rel_joints_subscriber = rospy.Subscriber(self.rel_joint_topic, Float32MultiArray, self.rel_joints_callback)
|
||||
|
||||
self.speed_subscriber = rospy.Subscriber(self.speed_topic, UInt8, self.speed_control_callback)
|
||||
self.speed_subscriber = rospy.Subscriber(self.motor_topic, Bool, self.motor_control_callback)
|
||||
|
||||
self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
|
||||
|
||||
self.control_tcp_client = None
|
||||
|
||||
self.command_queue = []
|
||||
|
||||
# ########### Start class ##########
|
||||
self.run()
|
||||
|
||||
def run(self):
|
||||
self.initalize_tcp_client()
|
||||
|
||||
while not rospy.is_shutdown():
|
||||
start_time = time()
|
||||
|
||||
self.process_command_queue_item()
|
||||
|
||||
time_diff = time() - start_time
|
||||
sleep(max(self.wait_time - time_diff, 0))
|
||||
|
||||
def initalize_tcp_client(self):
|
||||
self.control_tcp_client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.control_tcp_client.connect((self.address, self.port))
|
||||
|
||||
def process_command_queue_item(self):
|
||||
if self.command_queue:
|
||||
data = self.command_queue[0]
|
||||
del self.command_queue[0]
|
||||
|
||||
try:
|
||||
self.control_tcp_client.sendall(json.dumps(data))
|
||||
self.control_tcp_client.sendall("#####")
|
||||
# print "sending"
|
||||
except:
|
||||
pass
|
||||
|
||||
def speed_control_callback(self, data):
|
||||
# print data.data
|
||||
self.command_queue.append({"change_robot_speed": data.data})
|
||||
|
||||
def motor_control_callback(self, data):
|
||||
self.command_queue.append({"enable_motors": data.data})
|
||||
|
||||
def abs_position_callback(self, data):
|
||||
# print data.data
|
||||
self.command_queue.append({"move_position_abs": data.data})
|
||||
|
||||
def rel_position_callback(self, data):
|
||||
# print data.data
|
||||
self.command_queue.append({"move_position_rel": data.data})
|
||||
|
||||
def abs_joints_callback(self, data):
|
||||
# print data.data
|
||||
self.command_queue.append({"move_joint_abs": data.data})
|
||||
|
||||
def rel_joints_callback(self, data):
|
||||
# print data.data
|
||||
self.command_queue.append({"move_joint_rel": data.data})
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
ControlSender()
|
||||
@@ -0,0 +1,24 @@
|
||||
#!/usr/bin/env python
|
||||
import rospy
|
||||
from std_msgs.msg import Float32MultiArray, UInt8
|
||||
import time
|
||||
import random
|
||||
|
||||
rospy.init_node("another_test")
|
||||
|
||||
pub = rospy.Publisher("/denso_control/relative_joints", Float32MultiArray, queue_size=1)
|
||||
|
||||
message = Float32MultiArray()
|
||||
|
||||
time.sleep(2)
|
||||
|
||||
|
||||
while not rospy.is_shutdown():
|
||||
|
||||
|
||||
message.data = (0, 0, 0.25, 0, 0, 0) # Catch
|
||||
|
||||
pub.publish(message)
|
||||
|
||||
time.sleep(3)
|
||||
|
||||
@@ -0,0 +1,12 @@
|
||||
import rospy
|
||||
from std_msgs.msg import Float32MultiArray
|
||||
|
||||
rospy.init_node("ano")
|
||||
|
||||
pub = rospy.Publisher("/denso_control/relative_joints", Float32MultiArray, queue_size=1)
|
||||
|
||||
message = Float32MultiArray()
|
||||
|
||||
message.data = (20, 0, 0, 0, 0, 0)
|
||||
|
||||
pub.publish(message)
|
||||
@@ -0,0 +1,112 @@
|
||||
#!/usr/bin/env python
|
||||
#####################################
|
||||
# Imports
|
||||
#####################################
|
||||
# Python native imports
|
||||
import rospy
|
||||
from time import time, sleep
|
||||
import socket
|
||||
import json
|
||||
|
||||
from network_master.msg import DensoStatusMessage
|
||||
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
NODE_NAME = "robot_control_status_receiver"
|
||||
DEFAULT_HERTZ = 1000
|
||||
|
||||
DEFAULT_IP = "192.168.1.5"
|
||||
DEFAULT_PORT = 9876
|
||||
|
||||
DEFAULT_STATUS_TOPIC = "denso_status"
|
||||
|
||||
|
||||
#####################################
|
||||
# ControlSender Class Definition
|
||||
#####################################
|
||||
class StatusReceiver(object):
|
||||
def __init__(self):
|
||||
super(StatusReceiver, self).__init__()
|
||||
|
||||
rospy.init_node(NODE_NAME)
|
||||
|
||||
self.address = rospy.get_param("~server_address", DEFAULT_IP)
|
||||
self.port = rospy.get_param("~server_port", DEFAULT_PORT)
|
||||
self.status_publish_topic = rospy.get_param("~status_topic_pub", DEFAULT_STATUS_TOPIC)
|
||||
self.wait_time = 1.0 / rospy.get_param("~hertz", DEFAULT_HERTZ)
|
||||
|
||||
self.status_publisher = rospy.Publisher(self.status_publish_topic, DensoStatusMessage, queue_size=1)
|
||||
|
||||
self.status_tcp_client = None
|
||||
self.pound_count = 0
|
||||
|
||||
self.current_message = ""
|
||||
|
||||
# ########### Start class ##########
|
||||
self.run()
|
||||
|
||||
def run(self):
|
||||
self.initalize_tcp_client()
|
||||
|
||||
while not rospy.is_shutdown():
|
||||
start_time = time()
|
||||
|
||||
self.current_message += self.status_tcp_client.recv(4096)
|
||||
|
||||
found_pound = self.current_message.find("#####")
|
||||
|
||||
if found_pound != -1:
|
||||
split_message = str(self.current_message[:found_pound])
|
||||
|
||||
self.current_message = self.current_message[found_pound + 5:]
|
||||
|
||||
try:
|
||||
json_message = json.loads(split_message)
|
||||
|
||||
message = DensoStatusMessage()
|
||||
|
||||
message.positions = (
|
||||
json_message["position"]["x"],
|
||||
json_message["position"]["y"],
|
||||
json_message["position"]["z"],
|
||||
json_message["position"]["rx"],
|
||||
json_message["position"]["ry"],
|
||||
json_message["position"]["rz"],
|
||||
json_message["position"]["fig"]
|
||||
|
||||
)
|
||||
|
||||
message.joints = (
|
||||
json_message["joints"]["1"],
|
||||
json_message["joints"]["2"],
|
||||
json_message["joints"]["3"],
|
||||
json_message["joints"]["4"],
|
||||
json_message["joints"]["5"],
|
||||
json_message["joints"]["6"],
|
||||
)
|
||||
|
||||
message.motor_enabled = json_message["statuses"]["motor_enabled"]
|
||||
message.arm_normal = json_message["statuses"]["arm_normal"]
|
||||
message.error = json_message["statuses"]["error"]
|
||||
message.speed = json_message["statuses"]["speed"]
|
||||
message.arm_busy = json_message["statuses"]["arm_busy"]
|
||||
message.tank_psi = json_message["statuses"]["tank_psi"]
|
||||
|
||||
self.status_publisher.publish(message)
|
||||
|
||||
except Exception, e:
|
||||
print e
|
||||
|
||||
self.current_message = ""
|
||||
|
||||
time_diff = time() - start_time
|
||||
sleep(max(self.wait_time - time_diff, 0))
|
||||
|
||||
def initalize_tcp_client(self):
|
||||
self.status_tcp_client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.status_tcp_client.connect((self.address, self.port))
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
StatusReceiver()
|
||||
Reference in New Issue
Block a user