## 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 urdf)
+find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation urdf controller_manager)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Declare a cpp executable
# add_executable(roboint_node src/roboint_node.cpp)
add_executable(libft_adapter src/libft_adapter.cpp)
+add_executable(robo_explorer_hardware src/robo_explorer_hardware.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# ${catkin_LIBRARIES}
# )
target_link_libraries(libft_adapter ${catkin_LIBRARIES} roboint)
+target_link_libraries(robo_explorer_hardware ${catkin_LIBRARIES})
#############
## Install ##
--- /dev/null
+joint_state_controller:
+ type: "joint_state_controller/JointStateController"
+ publish_rate: 10
+
+diff_drive_controller:
+ type: "diff_drive_controller/DiffDriveController"
+ left_wheel: 'left_wheel_joint'
+ right_wheel: 'right_wheel_joint'
+ pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
+ twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 0.03]
+ publish_rate: 10
+++ /dev/null
-<?xml version="1.0"?>
-<launch>
- <param name="robot_description" textfile="$(find roboint)/urdf/explorer.urdf" />
-
- <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
- </node>
-
- <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen">
- <!-- Distance between both wheels in meter (18.55cm) -->
- <param name="wheel_dist" value="0.1855" />
- <!-- Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm -->
- <param name="wheel_size" value="0.02575" />
- </node>
-
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-
- <include file="$(find roboint)/launch/move_base.launch"/>
-</launch>
--- /dev/null
+#include <hardware_interface/joint_command_interface.h>
+#include <hardware_interface/joint_state_interface.h>
+#include <hardware_interface/robot_hw.h>
+#include "roboint/Inputs.h"
+#include "roboint/Motor.h"
+
+class RoboExplorer : public hardware_interface::RobotHW
+{
+ public:
+ RoboExplorer(ros::NodeHandle nh) {
+ this->nh = nh;
+ pub_motor = nh.advertise<roboint::Motor>("ft/set_motor", 10);
+ sub_inputs = nh.subscribe("ft/get_inputs", 10, &RoboExplorer::cbInputs, this);
+
+ // connect and register the joint state interface
+ hardware_interface::JointStateHandle state_handle_left("left_wheel_joint", &pos[0], &vel[0], &eff[0]);
+ jnt_state_interface.registerHandle(state_handle_left);
+ hardware_interface::JointStateHandle state_handle_right("right_wheel_joint", &pos[1], &vel[1], &eff[1]);
+ jnt_state_interface.registerHandle(state_handle_right);
+ registerInterface(&jnt_state_interface);
+
+ // connect and register the joint velocity interface
+ hardware_interface::JointHandle joint_handle_left(state_handle_left, &cmd[0]);
+ jnt_velocity_interface.registerHandle(joint_handle_left);
+ hardware_interface::JointHandle joint_handle_right(state_handle_right, &cmd[1]);
+ jnt_velocity_interface.registerHandle(joint_handle_right);
+ registerInterface(&jnt_velocity_interface);
+ }
+
+ // Converts pos_encoder from wheels to wheel angles
+ void read(ros::Duration period) {
+ static double pos_last[2];
+
+ pos[0] = pos_encoder[0] * M_PI/8;
+ pos[1] = pos_encoder[1] * M_PI/8;
+ vel[0] = (pos[0] - pos_last[0])/period.toSec();
+ vel[1] = (pos[1] - pos_last[1])/period.toSec();
+
+ std::copy(std::begin(pos), std::end(pos), std::begin(pos_last));
+ }
+
+ // Writes current velocity command to hardware
+ void write() {
+ double speed_l = 0;
+ double speed_r = 0;
+ double wish_speed_left = cmd[0];
+ double wish_speed_right = cmd[1];
+ roboint::Motor msg;
+
+ if (fabs(wish_speed_left) > 0) {
+ speed_l = 64.3*fabs(wish_speed_left) -1.7;
+ if (wish_speed_left < 0) speed_l*=-1;
+ }
+ if (fabs(wish_speed_right) > 0) {
+ speed_r = 64.3*fabs(wish_speed_right) -1.7;
+ if (wish_speed_right < 0) speed_r*=-1;
+ }
+
+ // check limits
+ if (speed_l < -7) speed_l = -7;
+ else if (speed_l > 7) speed_l = 7;
+ if (speed_r < -7) speed_r = -7;
+ else if (speed_r > 7) speed_r = 7;
+
+ msg.num = 0;
+ msg.speed = round(speed_l);
+ pub_motor.publish(msg);
+
+ msg.num = 1;
+ msg.speed = round(speed_r);
+ pub_motor.publish(msg);
+ }
+
+ // Reads current input state and increases pos_encoder on change
+ void cbInputs(const roboint::Inputs::ConstPtr& msg) {
+ static std::array<uint8_t, 8> input_last;
+
+ if (msg->input[0] != input_last[0]) { // left input changed
+ // outputs have direction information
+ if (msg->output[0] > 0) pos_encoder[0]++;
+ else if (msg->output[1] > 0) pos_encoder[0]--;
+ }
+ if (msg->input[1] != input_last[1]) { // right input changed
+ // outputs have direction information
+ if (msg->output[2] > 0) pos_encoder[1]++;
+ else if (msg->output[3] > 0) pos_encoder[1]--;
+ }
+
+ std::copy(std::begin(msg->input), std::end(msg->input), std::begin(input_last));
+ }
+
+ private:
+ hardware_interface::JointStateInterface jnt_state_interface;
+ hardware_interface::VelocityJointInterface jnt_velocity_interface;
+ ros::NodeHandle nh;
+ ros::Publisher pub_motor;
+ ros::Subscriber sub_inputs;
+ double cmd[2];
+ double pos[2];
+ double vel[2];
+ double eff[2];
+ int64_t pos_encoder[2] = {0, 0};
+};
--- /dev/null
+<?xml version="1.0"?>
+<launch>
+ <param name="robot_description" textfile="$(find roboint)/urdf/explorer.urdf" />
+ <!-- Load controller configurations from YAML file to parameter server -->
+ <rosparam file="$(find roboint)/config/control.yaml" command="load" />
+
+ <node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen"/>
+ <node pkg="roboint" type="robo_explorer_hardware" name="robo_explorer_hw" output="screen">
+ <remap from="/diff_drive_controller/cmd_vel" to="/cmd_vel" />
+ <remap from="/diff_drive_controller/odom" to="/odom" />
+ </node>
+
+ <node pkg="roboint" type="robo_explorer.py" name="robo_explorer" output="screen"/>
+
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+ <!-- load the controllers -->
+ <node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="joint_state_controller diff_drive_controller"/>
+
+ <include file="$(find roboint)/launch/move_base.launch"/>
+</launch>
<run_depend>tf</run_depend>
<build_depend>urdf</build_depend>
<run_depend>urdf</run_depend>
+ <build_depend>controller_manager</build_depend>
+ <run_depend>controller_manager</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
#!/usr/bin/env python
import roslib; roslib.load_manifest('roboint')
import rospy
-import tf
from math import *
-from geometry_msgs.msg import Twist, TransformStamped, Point32, PoseWithCovarianceStamped
from sensor_msgs.msg import Range
-from nav_msgs.msg import Odometry
-from roboint.msg import Motor
from roboint.msg import Inputs
def __init__(self):
rospy.init_node('robo_explorer')
- self.x = 0
- self.y = 0
- self.alpha = 0
- self.last_in = None
- self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
self.last_time = rospy.Time.now()
- self.x_last = 0
- self.y_last = 0
- self.alpha_last = 0
-
- # Distance between both wheels in meter (18.55cm)
- self.wheel_dist = float(rospy.get_param('~wheel_dist', "0.1855"))
- # Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm
- self.wheel_size = float(rospy.get_param('~wheel_size', "0.02575"))
- # Speed to PWM equation gradiant (The m in pwm = speed*m+b)
- self.speed_gradiant = float(rospy.get_param('~speed_gradiant', "64.3"))
- # Speed to PWM equation constant (The b in pwm = speed*m+b)
- self.speed_constant = float(rospy.get_param('~speed_constant', "-1.7"))
-
- self.pub_motor = rospy.Publisher("ft/set_motor", Motor, queue_size=16)
self.pub_sonar = rospy.Publisher("sonar", Range, queue_size=16)
- self.pub_odom = rospy.Publisher("odom", Odometry, queue_size=16)
-
- rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
rospy.Subscriber("ft/get_inputs", Inputs, self.inputsReceived)
- rospy.Subscriber("initialpose", PoseWithCovarianceStamped, self.posReceived)
rospy.spin()
- def posReceived(self, msg):
- self.x = msg.pose.pose.position.x
- self.y = msg.pose.pose.position.y
- orientation = msg.pose.pose.orientation
- angles = tf.transformations.euler_from_quaternion([orientation.x, orientation.y, orientation.z, orientation.w])
- self.alpha = angles[2]
-
def inputsReceived(self, msg):
current_time = rospy.Time.now()
- self.update_odometry(msg, current_time)
+ #self.update_odometry(msg, current_time)
if (current_time - self.last_time).to_nsec() > 100e6: # send every 100ms
- self.send_odometry(msg, current_time)
+ #self.send_odometry(msg, current_time)
self.send_range(msg, current_time)
self.last_time = current_time
- def update_odometry(self, msg, current_time):
- in_now = msg.input[:2]
- if self.last_in is not None:
- in_diff = [abs(a - b) for a, b in zip(in_now, self.last_in)] # get changed inputs
- # fix in_diff from actual motor direction
- if msg.output[1] > 0: # left reverse
- in_diff[0] = -in_diff[0]
- elif msg.output[0] == 0 and msg.output[1] == 0: # left stop
- in_diff[0] = 0
- if msg.output[3] > 0: # right reverse
- in_diff[1] = -in_diff[1]
- elif msg.output[2] == 0 and msg.output[3] == 0: # right stop
- in_diff[1] = 0
-
- dist_dir = (in_diff[1] - in_diff[0]) * self.wheel_size*pi/8 # steps_changed in different direction => m
- delta_alpha = dist_dir/self.wheel_dist
-
- dist = (in_diff[0] + in_diff[1])/2.0 * self.wheel_size*pi/8 # steps_changed same direction => m
-
- delta_x = cos(self.alpha + delta_alpha/2)*dist
- delta_y = sin(self.alpha + delta_alpha/2)*dist
-
- self.alpha += delta_alpha
- if self.alpha > 2*pi:
- self.alpha -= 2*pi
- elif self.alpha < -2*pi:
- self.alpha += 2*pi
- self.x += delta_x
- self.y += delta_y
-
- self.last_in = in_now
-
- def send_odometry(self, msg, current_time):
- # speeds
- dt = (current_time - self.last_time).to_sec()
- vx = sqrt((self.x - self.x_last)**2 + (self.y - self.y_last)**2) / dt
- if (msg.output[0]-msg.output[1] + msg.output[2]-msg.output[3]) < 0:
- # moving backward
- vx*=-1
- valpha = (self.alpha - self.alpha_last) / dt
- self.x_last = self.x
- self.y_last = self.y
- self.alpha_last = self.alpha
-
- # since all odometry is 6DOF we'll need a quaternion created from yaw
- odom_quat = tf.transformations.quaternion_from_euler(0, 0, self.alpha)
-
- # first, we'll publish the transform over tf
- self.tf_broadcaster.sendTransform((self.x, self.y, 0.0), odom_quat, current_time, "base_link", "odom")
-
- # next, we'll publish the odometry message over ROS
- odom = Odometry()
- odom.header.stamp = current_time
- odom.header.frame_id = "/odom"
-
- # set the position
- odom.pose.pose.position.x = self.x
- odom.pose.pose.position.y = self.y
- odom.pose.pose.position.z = 0.0
- odom.pose.pose.orientation.x = odom_quat[0]
- odom.pose.pose.orientation.y = odom_quat[1]
- odom.pose.pose.orientation.z = odom_quat[2]
- odom.pose.pose.orientation.w = odom_quat[3]
-
- # set the velocity
- odom.child_frame_id = "base_link"
- odom.twist.twist.linear.x = vx
- odom.twist.twist.linear.y = 0.0
- odom.twist.twist.angular.z = valpha
-
- # publish the message
- self.pub_odom.publish(odom)
-
def send_range(self, msg, current_time):
# ultra sonic range finder
scan = Range()
scan.range = msg.d1/100.0
self.pub_sonar.publish(scan)
- # test with rostopic pub -1 cmd_vel geometry_msgs/Twist '[0, 0, 0]' '[0, 0, 0]'
- def cmdVelReceived(self, msg):
- trans = msg.linear.x
- rot = msg.angular.z # rad/s
-
- # handle rotation as offset to speeds
- speed_offset = (rot * self.wheel_dist)/2.0 # m/s
-
- # handle translation
- speed_l = 0
- wish_speed_left = trans - speed_offset
- if abs(wish_speed_left) > 0:
- speed_l = self.speed_gradiant*abs(wish_speed_left) + self.speed_constant
- if wish_speed_left < 0:
- speed_l*=-1
- speed_r = 0
- wish_speed_right = trans + speed_offset
- if abs(wish_speed_right) > 0:
- speed_r = self.speed_gradiant*abs(wish_speed_right) + self.speed_constant
- if wish_speed_right < 0:
- speed_r*=-1
-
- # check limits
- if speed_l < -7: speed_l = -7
- elif speed_l > 7: speed_l = 7
- if speed_r < -7: speed_r = -7
- elif speed_r > 7: speed_r = 7
-
- #print "Speed wanted: %.2f m/s %.2f rad/s, set: %d %d" % (trans, rot, round(speed_l), round(speed_r))
-
- outmsg = Motor()
- outmsg.num = 0
- outmsg.speed = round(speed_l)
- self.pub_motor.publish(outmsg)
-
- outmsg = Motor()
- outmsg.num = 1
- outmsg.speed = round(speed_r)
- self.pub_motor.publish(outmsg)
-
if __name__ == '__main__':
RoboExplorer()
static FT_TRANSFER_AREA *transfer_area = NULL;
-static char pwm[8] = {0};
-static char pwm_next[8] = {0};
+static int8_t pwm[8] = {0};
+static int8_t pwm_next[8] = {0};
static pthread_mutex_t pwm_mutex = PTHREAD_MUTEX_INITIALIZER;
void cb_set_output(const ::roboint::OutputConstPtr& msg) {
--- /dev/null
+#include "ros/ros.h"
+#include "robo_explorer_hardware.h"
+#include "controller_manager/controller_manager.h"
+
+int main(int argc, char **argv) {
+ ros::init(argc, argv, "robo_explorer_hardware");
+
+ ros::NodeHandle n;
+
+ RoboExplorer robot(n);
+ controller_manager::ControllerManager cm(&robot);
+
+ ros::AsyncSpinner spinner(1);
+ spinner.start();
+
+ ros::Time prev_time = ros::Time::now();
+ ros::Rate loop_rate(10);
+ while(ros::ok()) {
+ const ros::Time time = ros::Time::now();
+ const ros::Duration period = time - prev_time;
+
+ robot.read(period);
+ cm.update(time, period);
+ robot.write();
+
+ prev_time = time;
+ loop_rate.sleep();
+ }
+
+ return 0;
+}
<color rgba="0 0 0 1"/>
</material>
</visual>
+ <collision>
+ <geometry>
+ <cylinder radius="0.026" length="0.02"/>
+ </geometry>
+ </collision>
</link>
<link name="right_wheel">
<color rgba="0 0 0 1"/>
</material>
</visual>
+ <collision>
+ <geometry>
+ <cylinder radius="0.026" length="0.02"/>
+ </geometry>
+ </collision>
</link>
<link name="aft_wheel">
<child link="forward_sensor"/>
<origin xyz="0.07 0 0.06" rpy="0 0 0"/>
</joint>
+
+ <transmission name="left_wheel_trans" type="SimpleTransmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="left_wheel_joint">
+ <hardwareInterface>VelocityJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="left_wheel_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="right_wheel_trans" type="SimpleTransmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="right_wheel_joint">
+ <hardwareInterface>VelocityJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="right_wheel_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
</robot>
projects / ros_roboint.git / commitdiff